The DVL or doppler velocity logger is an additional sensor we have which tells us very accurate velocities in our x, y, and z axis. (Note it actually gives us velocities in cone axis which we need to convert to the subs x, y, z axis).

Basic Info

Our DVL is from Cerulean Sonar, it is the Tracker 650 and the documentation for it can be found here Tracker 650 Docs (although they are sometimes not super helpful).

Setup / Network

The DVL interfaces with the the rest of our components through the ethernet interface, and therefore should be plugged directly into our network switch. We communicate with the DVL using UDP communication protocol, to send messages to the DVL from terminal use netcat (nc on linux) with the -u flag then the ip of the DVL which has been set to 192.168.2.9 (Note you will need to be on the same subnet as the DVL to communicate with it, your ip must start with 192.168). You can listen to the DVL from terminal using nc -ul 27000, which will listen to port 27000, the host ip for the DVL is set to 192.168.2.3 which is the ip of the jetson and port 27000, so this should listen to the DVL. You can also run the python script python udp_listener.py which will automatically connect to that port and listen to it. The commands you can send to the DVL can be found at the docs linked above. Attached is an image of the configuration of the DVL.

Trouble Shooting DVL

To trouble shoot the DVL you likely want to connect to it from the base station, the easiest way to check it and trouble shoot is by using netcat to send messages to the DVL and netcat to listen to messages. To send messages to the DVL use the command nc -u 192.168.2.9 50000 which sends UDP messages to the DVL's ip at port 50000. You can use this to send messages to the DVL such as CONFIGUTAION. To listen to the DVL's response use the command nc -ul 27000, which listens to port 27000 on the base station. In order for the DVL to know what IP to send the messages to you need to set the host ip, do this by sending the command HOST-ADDRESS 192.168.2.3 (which is the ip for the jetson). Then you should be getting messages from the DVL on the listening command.