1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
|
'''
Support for proprietary messages from Nortek Doppler Velocity Log (DVL).
'''
from ... import ProprietarySentence, nmea_utils
from datetime import datetime
class NOR(ProprietarySentence):
sentence_types = {}
def __new__(_cls, manufacturer, data):
name = manufacturer + data[0]
cls = _cls.sentence_types.get(name, _cls)
return super(NOR, cls).__new__(cls)
def __init__(self, manufacturer, data):
self.sentence_type = manufacturer + data[0]
super(NOR, self).__init__(manufacturer, data[1:])
def identifier(self):
return 'P%s,' % (self.sentence_type)
##################################################################
## ##
## DVL Bottom Track ASCII formats ##
## ##
## Invalid estimates of Velocity are set to set to -32.768. ##
## Invalid estimates of Range are set to 0.0. ##
## Invalid estimates of FOM are set to 10.0 ##
##################################################################
class NORBT0(NOR, nmea_utils.DatetimeFix):
# Bottom Track DF350/DF351 - NMEA $PNORBT1/$PNORBT0
# Example: $PNORBT0,1,040721,131335.3341,23.961,-48.122,-32.76800,10.00000,0.00,0x00000000*48
fields = (
('Beam number', 'beam', int),
('Date', 'datestamp', nmea_utils.datestamp),
('Time', 'timestamp', nmea_utils.timestamp),
('Time (Trigger)', 'dt1', float),
('Time (NMEA)', 'dt2', float),
('Beam Velocity', 'bv', float),
('Figure of Merit', 'fom', float),
('Vertical Distance', 'dist', float),
('Status ', 'stat'),
)
class NORBT4(NOR, nmea_utils.DatetimeFix):
# Bottom Track DF354/DF355 - NMEA $PNORBT3/$PNORBT4
# Example: $PNORBT4,1.234,-1.234,1.234,23.4,12.34567,12.3*09
fields = (
('Time (Trigger)', 'dt1', float),
('Time (NMEA)', 'dt2', float),
('Speed of Sound', 'sound_speed', float),
('Direction', 'dir', float),
('Figure of Merit', 'fom', float),
('Vertical Distance', 'dist', float),
)
class NORBT7(NOR):
# Bottom Track DF356/DF357 - NMEA $PNORBT6/$PNORBT7
# Example: $PNORBT7,1452244916.7508,1.234,-1.234,0.1234,0.1234,0.1234,12.34,23.45,23.45,23.45,23.45*39
fields = (
('Ping Time', 'timestamp', lambda x: datetime.utcfromtimestamp(float(x))),
('Time (Trigger)', 'dt1', float),
('Time (NMEA)', 'dt2', float),
('Velocity X', 'vx', float),
('Velocity Y', 'vy', float),
('Velocity Z', 'vz', float),
('Figure of Merit', 'fom', float),
('Vertical Distance Beam 1', 'd1', float),
('Vertical Distance Beam 2', 'd2', float),
('Vertical Distance Beam 3', 'd3', float),
('Vertical Distance Beam 4', 'd4', float),
)
class NORBT9(NOR):
# Bottom Track DF358/DF359 - NMEA $PNORBT8/$PNORBT9
# Example: $PNORBT9,1452244916.7508,1.234,-1.234,0.1234,0.1234,0.1234,12.34,23.45,23.45,23.45,23.45,23.4,1567.8,1.2,12.3,0x000FFFFF*1E
fields = (
('Ping Time', 'timestamp', lambda x: datetime.utcfromtimestamp(float(x))),
('Time (Trigger)', 'dt1', float),
('Time (NMEA)', 'dt2', float),
('Velocity X', 'vx', float),
('Velocity Y', 'vy', float),
('Velocity Z', 'vz', float),
('Figure of Merit', 'fom', float),
('Vertical Distance Beam 1', 'd1', float),
('Vertical Distance Beam 2', 'd2', float),
('Vertical Distance Beam 3', 'd3', float),
('Vertical Distance Beam 4', 'd4', float),
('Battery Voltage', 'battery_voltage', float),
('Speed of Sound', 'sound_speed', float),
('Pressure', 'pressure', float),
('Temperature', 'temp', float),
('Status ', 'stat'),
)
##################################################################
## ##
## DVL Water Track ASCII formats ##
## ##
## Invalid estimates of Velocity are set to set to -32.768. ##
## Invalid estimates of Range are set to 0.0. ##
## Invalid estimates of FOM are set to 10.0 ##
##################################################################
class NORWT4(NOR):
# Water Track DF404/DF405 - NMEA $PNORWT3/$PNORWT4
# Example: $PNORWT4,1.2345,-1.2345,1.234,23.4,12.34,12.3*1C
fields = (
('Time Trigger ', 'dt1', float),
('Time NMEA', 'dt2', float),
('Speed of sound', 'sound_speed', float),
('Direction', 'dir', float),
('Figure of Merit', 'fom', float),
('Vertical Distance', 'dist', float),
)
class NORWT7(NOR):
# Water Track DF406/DF407 - NMEA $PNORWT6/$PNORWT7
# Example: $PNORWT7,1452244916.7508,1.234,-1.234,0.1234,0.1234,0.1234,12.34,23.45,23.45,23.45,23.45*2C
fields = (
('Ping Time', 'timestamp', lambda x: datetime.utcfromtimestamp(float(x))),
('Time (Trigger)', 'dt1', float),
('Time (NMEA)', 'dt2', float),
('Velocity X', 'vx', float),
('Velocity Y', 'vy', float),
('Velocity Z', 'vz', float),
('Figure of Merit', 'fom', float),
('Vertical Distance Beam 1', 'd1', float),
('Vertical Distance Beam 2', 'd2', float),
('Vertical Distance Beam 3', 'd3', float),
('Vertical Distance Beam 4', 'd4', float),
)
class NORWT9(NOR):
# Water Track DF408/DF409 - NMEA $PNORWT8/$PNORWT9
# Example: $PNORWT9,1452244916.7508,1.234,-1.234,0.1234,0.1234,0.1234,12.34,23.45,23.45,23.45,23.45,23.4,1567.8,1.2,12.3,0x000FFFFF*0B
fields = (
('Ping Time', 'timestamp', lambda x: datetime.utcfromtimestamp(float(x))),
('Time (Trigger)', 'dt1', float),
('Time (NMEA)', 'dt2', float),
('Velocity X', 'vx', float),
('Velocity Y', 'vy', float),
('Velocity Z', 'vz', float),
('Figure of Merit', 'fom', float),
('Vertical Distance Beam 1', 'd1', float),
('Vertical Distance Beam 2', 'd2', float),
('Vertical Distance Beam 3', 'd3', float),
('Vertical Distance Beam 4', 'd4', float),
('Battery Voltage', 'battery_voltage', float),
('Speed of Sound', 'sound_speed', float),
('Pressure', 'pressure', float),
('Temperature', 'temp', float),
('Status ', 'stat'),
)
##################################################################
## ##
## DVL Current Profile ASCII formats ##
## ##
##################################################################
class NORI1(NOR):
# Information Data DF101/DF102 - NMEA Format 1 and 2
# Example: $PNORI1,4,123456,3,30,1.00,5.00,BEAM*5B
fields = (
('Instrument type', 'it', int),
('Head ID', 'sn', int),
('Number of Beams', 'nb', int),
('Number of Cells', 'nc', int),
('Blanking Distance', 'bd', float),
('Cell Size', 'cs', float),
('Coordinate System', 'cy', str),
)
class NORS1(NOR, nmea_utils.DatetimeFix):
# Sensors Data DF101/DF102 - NMEA Format 1 and 2
# Example: $PNORS1,161109,132455,0,34000034,23.9,1500.0,123.4,0.02,45.6,0.02,23.4,0.02,123.456,0.02,24.56*51
fields = (
('Date', 'datestamp', nmea_utils.datestamp),
('Time', 'timestamp', nmea_utils.timestamp),
('Error Code', 'ec', int),
('Status Code', 'sc'),
('Battery Voltage', 'battery_voltage', float),
('Speed of Sound', 'sound_speed', float),
('Heading', 'heading', float),
('Heading Std. Dev.', 'heading_std', float),
('Pitch', 'pitch', float),
('Pitch Std. Dev.', 'pitch_std', float),
('Roll', 'roll', float),
('Roll Std. Dev.', 'roll_std', float),
('Pressure', 'pressure', float),
('Pressure Std. Dev.', 'pressure_std', float),
('Temperature', 'temp', float),
)
class NORS4(NOR, nmea_utils.DatetimeFix):
# Sensors Data DF103/DF104
# Example: $PNORS4,23.6,1530.2,0.0,0.0,0.0,0.000,23.30*66
fields = (
('Battery Voltage', 'battery_voltage', float),
('Speed of Sound', 'sound_speed', float),
('Heading', 'heading', float),
('Pitch', 'pitch', float),
('Roll', 'roll', float),
('Pressure', 'pressure', float),
('Temperature', 'temp', float),
)
class NORC1(NOR, nmea_utils.DatetimeFix):
# Current Data DF101/DF102 - NMEA Format 1 and 2
# Example: $PNORC1,083013,132455,3,11.0,0.332,0.332,0.332,78.9,78.9,78.9,78,78,78*46
fields = (
('Date', 'datestamp', nmea_utils.datestamp),
('Time', 'timestamp', nmea_utils.timestamp),
('Cell Number', 'cn', int),
('Cell Position', 'cp', float),
('Velocity X', 'vx', float),
('Velocity Y', 'vy', float),
('Velocity Z', 'vz', float),
('Velocity Z2', 'vz2', float),
('Amplitude Beam 1', 'amp1', float),
('Amplitude Beam 2', 'amp2', float),
('Amplitude Beam 3', 'amp3', float),
('Amplitude Beam 4', 'amp4', float),
('Correlation Beam 1', 'r1', int),
('Correlation Beam 2', 'r2', int),
('Correlation Beam 3', 'r3', int),
('Correlation Beam 4', 'r4', int),
('Correlation Beam 4', 'r5', int),
)
class NORC4(NOR, nmea_utils.DatetimeFix):
# Current Data DF103/DF104
# Example: $PNORC4,1.5,1.395,227.1,32,32*7A
fields = (
('Cell Position', 'cp', float),
('Speed', 'sp', float),
('Direction', 'dir', float),
('Correlation', 'r', int),
('Amplitude', 'amp', int),
)
class NORH4(NOR, nmea_utils.DatetimeFix):
# Header Data DF103/DF104
# Example: $PNORH4,161109,143459,0,204C0002*38
fields = (
('Date', 'datestamp', nmea_utils.datestamp),
('Time', 'timestamp', nmea_utils.timestamp),
('Error Code', 'ec', int),
('Status Code', 'sc'),
)
|
