Alvin In-hull Navigation Data Log Files - DVLNAV ".CVS" FILES 
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COMMA-DELIMITED LOG FILES for SPREADSHEET LOADING:

   These files provide a simple comma-delimited ASCII data log of the
vehicle's basic navigation and scientific sensor data.  File names
encode the year, month, day, hour, and minute that the log file was
created, and has a ".CVS" suffix. Data is logged at one hertz. The
ASCII format is designed to be easily imported into standard spreadsheet
programs.  The data columns are labeled. 

  The comma-delimited ASCII log files contain repeated entries once a
second for sensor and navigation data, and also for information such as
local XY origin and sound velocity.  Parameters such as local XY origin
can be changed by the DVLNAV user on-the-fly, thus it is important to
log the values continuously. 

  A new .CSV log file is opened when the DVLNAV program starts.
Thereafter, DVLNAV will write into the same file until midnight GMT.
At midnight GMT, the current .CSV log file is closed and a new log
file is opened.
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DATA LOG FILES NAMES: 

  The name of the .CSV log file encodes the year, month, day,
hour, and minute that the log file was opened. For example, the file
"2002_04_26_0112.CSV" was opened on year 2002, month 4 (April), day 26,
at 01:12 GMT.
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DATA DESCRIPTION - DATA FIELDS:

DATA                            Units
--------------------------      ----------------------------------------
Alvin Dive Number               Integer
Year                            Integer GMT
Month                           Integer 1-12 GMT
Day                             Integer 1-31 GMT
Hour                            Integer 0-23 GMT
Minute                          Integer 0-59 GMT
Second                          Decimal, 0.000 - 0.999 GMT
Second Since Midnight           Decimal, 0.000 - 86399.999 GMT
   
Depth                           Meters, decimal

Altimeter                       Altitude from Paroscientific Altimeter. Meters, decimal
                                Paroscientific should return 300.0 when altitude is bad
                                due to loss of bottom-lock, but in practice, it often 
                                returns incorrect values between 0 and 300 when bottom lock
                                is lost.  Use carefully.

Gyro Heading                    Degrees, decimal, 0.00-359.99.
Gyro Heading Tag                String, "T" for True, "M" for Magnetic.
				The gyro will normally be an OCTANS unit
                                that can only return TRUE heading.
Gyro Status                     Integer.
      				A value of zero indicates normal gyro
      				operation.  Nonzero values indicate
      				various errors.  When the octans is
      				first powered up, the status word is
      				non-zero for 2-5 minutes while the
      				unit finds north.

Doppler Heading                 Doppler Mag Compass Heading, Corrected To True, Degrees, decimal.
Doppler Heading Tag             String, "T" For True, "M" For Magnetic.

Pitch                           Degrees, signed decimal   
				Positive is bow up.
                                Negative is bow down.
				Attitude source is selectable. Normally it is the Octans.
Roll                            Degrees, signed decimal.  
				Positive is starbord side down.
                                Negative is starbord side up.
				Attitude source is selectable. Normally it is the Octans.

Lbl X                           Meters, decimal.  Local XY coords, Pos=East,  Neg=West.
Lbl Y                           Meters, decimal.  Local XY coords, Pos=North, Neg=South.
Lbl Depth                       Meters, decimal.  Depth used in LBL solution computation.
Lbl X UTM                       Meters, decimal.  Note: UTM is not parallel to XY or Lat/Lon.
Lbl Y UTM                       Meters, decimal.  Note: UTM is not parallel to XY or Lat/Lon.
Lbl Lat                         Degrees, decimal. Pos=North, Neg=South.
Lbl Lon                         Degrees, decimal. Pos=East,  Neg=West.
Lbl Mode                        0=two transponder mode, 1=full auto mode
Lbl Baseline                    String: "AB", "AC", etc...  Unused in "full auto" mode.
Lbl Side                        String: "CW", "CCW", "ON_BASELINE", "SIDE_UNKNOWN".      
                                Unused in "full auto" mode.  
Lbl Status                      Status of this LBL fix, integer:
                                RANGE_UNKNOWN       = 0  <- bad
                                RANGE_GOOD          = 1  <- this means a good fix
                                RANGE_OLD           = 2  <- bad
                                RANGE_TOO_LONG      = 3  <- bad
                                RANGE_TOO_SHORT     = 4  <- bad
                                RANGE_FAILED_MEDIAN = 5  <- bad
                                RANGE_HIGH_ERROR    = 6  <- bad
Lbl Fix Time                    Decimal, second of day.

Dop X                           Meters, decimal.  Local XY coords, Pos=East,  Neg=West.
Dop Y                           Meters, decimal.  Local XY coords, Pos=North, Neg=South.
Dop X UTM                       Meters, decimal.  Note: UTM is not parallel to XY or Lat/Lon.
Dop Y UTM                       Meters, decimal.  Note: UTM is not parallel to XY or Lat/Lon.
Dop Lat                         Degrees, decimal. 
				Pos=North, Neg=South.
Dop Lon                         Degrees, decimal. 
				Pos=East,  Neg=West.
Dop Altitude                    Doppler altitude.  Average of up to four good beams. May be 
                                inaccurate on slopes.  				
Dop Temperature                 Doppler's ambient temperature sensor. Centigrade.
Dop Status                      Method of this Doppler fix, integer:
                                NONE (bad)   = 0
                                BOTTOM TRACK = 1
                                WATER TRACK  = 2
Dop Fix Time (Second Of Day)    Decimal, second of day.
Dop Reset Time (Second Of Day)  Decimal, second of day.

Low  Temp                       Decimal, Degrees C.
High Temp                       Decimal, Degrees C.
ICL  Temp                       Decimal, Degrees C.

Maggie X                        Decimal, Gauss.
Maggie Y                        Decimal, Gauss.
Maggie Z1                       Decimal, Gauss.
Maggie Z2                       Decimal, Gauss.
Maggie time (second of day)     Decimal, second of day.

CTD C                           Decimal, Seimens per meter.
CTD T                           Decimal, Degrees C.
CTD D                           Decimal, meters.

Sound velocity                  Decimal, meters per second.

Local XY origin Lat             Decimal, Degrees.
				Pos=North, Neg=South.
Local XY origin Lon             Decimal, Degrees.
				Pos=East,  Neg=West.
UTM Zone                        Integer.
Time zone                       Integer, Neg=West of GMT, Pos=East of GMT.
				This is for curiosity only, all times
                                appearing in log file are GMT. 
				No local times appear in the log files
Local magnetic variation        Decimal, Degrees. Pos=East, Neg=West.
                                True Hdg = Mag Hdg + Local Mag Var
Salinity                        Decimal, parts per thousand.

Target #                        Numerical number of target
Target Label			Text label of target, from INI file or "New Target #" for
                                newly dropped targets .
Target Time String              From ini file, or YYYY/MM/DD HH:MM:SS.SSS for
                                newly dropped targets .
Target X                        Meters, decimal.  Local XY coords, Pos=East,  Neg=West.
Target Y                        Meters, decimal.  Local XY coords, Pos=North, Neg=South.
Target Depth                    Meters, decimal.  Depth used in LBL solution computation.
Target X UTM                    Meters, decimal.  Note: UTM is not parallel to XY or Lat/Lon.
Target Y UTM                    Meters, decimal.  Note: UTM is not parallel to XY or Lat/Lon.
Target Lat                      Degrees, decimal. Pos=North, Neg=South.
Target Lon                      Degrees, decimal. Pos=East,  Neg=West.
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COORDINATE FRAME CONVENTION SPECIFICATION:

Attitude Conventions are a right handed, naval architecture standard.
Vehicle axes, fixed rigidly in the vehicle are defined as:
              X forward
              Y starboard
              Z  down.

Heading is TRUE compass heading.
Positive roll is starboard side down.
Positive pitch is bow up.

Heading is positive rotation about the Z axis.
Roll    is positive rotation about the X axis.
Pitch   is positive rotation about the Y axis.

The rotation matrix from vehicle frame to the
ZERO frame defined as: 
  ZERO frame: X North
              Y East
              Z Down, normal to earth surface.

is computed as follows:

  /* rotation about X azis by ROLL radians */
  n_mat_t rx = {{    1.0,     0.0,      0.0, 0.0 },
                {    0.0,  cos(r),  -sin(r), 0.0 },
                {    0.0,  sin(r),   cos(r), 0.0 },
                {    0.0,     0.0,      0.0, 1.0 }};

  /* rotation about Y axis by PITCH radians */
  n_mat_t ry = {{ cos(p),     0.0,   sin(p), 0.0 },
                {    0.0,     1.0,      0.0, 0.0 },
                {-sin(p),     0.0,   cos(p), 0.0 },
                {    0.0,     0.0,      0.0, 1.0 }};

  /* rotation about Z axis by HDG radians */
  n_mat_t rz = {{ cos(h), -sin(h),      0.0, 0.0 },
                { sin(h),  cos(h),      0.0, 0.0 },
                {    0.0,     0.0,      1.0, 0.0 },
                {    0.0,     0.0,      0.0, 1.0 }};


  vehicle_to_zero = rx * ry * rx
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OCTANS STATUS INDICATOR:

The bit map of the Octans heading and atitude sensor
status word is:
      
      Bit 0 Heading not valid         
      Bit 1 Roll not valid
      Bit 2 Pitch not valid
      Bit 3 Position (Heave, surge and sway)
      not valid
      Bit 4 Position calculation starting
      Bit 5 Initialization
      Bit 6 Reserved
      Bit 7 Reserved
      Bit 8 FOG X1 Error
      Bit 9 FOG X2 Error
      Bit 10 FOG X3 Error
      Bit 11 Optical source error
      Bit 12 Accelerometer X1 error
      Bit 13 Accelerometer X2 error
      Bit 14 Accelerometer X3 error
      Bit 15 Analog input A or B error
      Bit 16 Serial input A error
      Bit 17 Serial input B error
      Bit 18 Serial input C error
      Bit 19 FIFO Full
      Bit 20 Serial output A full
      Bit 21 Serial output B full
      Bit 22 Serial output C full
      Bit 23 Manual log used
      Bit 24 Manual latitude used     



