Triton Isis - Manual (Page 130)

June 2004 Isis® Sonar User's Manual, Volume 2
120
Appendix H Using a Seatex MRU with Isis
H.1 Setting up the MRU
If you are using a Seatex Motion Reference Unit (MRU) with Isis, configure the sensor with the
Seatex software. All data should be transmitted as 4-byte float values (the default). In the
sensor’s software, set the following parameters:
Baud Rate:
9600 or higher (although any will work)
Auto Transmit: Asynchronous
Interval (ms): 200 (Use 50 when collecting SeaBat bathymetry.)
H.2 Setting up Isis to Work with the MRU
From the Isis main menu, choose File →Record Setup →Serial Ports. Select whichever
serial port(s) the MRU is connected to. Select the port ON, and press the Seatex MRU button.
Verify that the baud rate matches the rate set in the MRU software. You can use the Test
button in the Serial Setup dialog box to verify that the data is being transmitted from the MRU.
H.3 Saving MRU Data in Isis
It is possible to configure the MRU to transmit a wide variety of attitude and sensor data. Much
of this will have no meaning in Isis. Relevant settings are shown in Table H-1.
Table H-1. Seatex MRU characteristics as used in Isis
Seatex MRU Isis
63 Roll Roll angle, stored in degrees
64 Pitch Pitch angle, stored in degrees
65 Yaw Yaw angle, stored in degrees
68 Heading Heading angle, stored in degrees
105 Heave Heave, stored in meters
27 MagN Tesla, stored as Mag-Y
28 MagE Tesla, stored as Mag-X
Appendix H: Using a Seatex MRU with Isis