Rachel Carson - Previous Version
This page documents the Navproc and Logging system on the Rachel Carson with the previous version deployed of Navproc and Logging.
---
title: Rachel Carson Current Navproc Flow
---
flowchart LR
subgraph Rachel Carson Network
direction LR
subgraph Devices-Sources
vorne-display[Vorne Display]
ship-gyro[Ship Gyro]
ship-gps[Ship GPS]
seabird-ctd[Seabird CTD]
ventana[Ventana]
nav4d[Nav4D]
sonardyne[Sonardyne]
octans[Octans]
dvl[DVL]
mesotech[Mesotech]
uhs[UHS]
lodestar[Lodestar]
sprintins[SprintINS]
lapbox4k[Lapbox 4K]
gtdpro[GTD Pro]
end
subgraph digi-ts-16-a[Digi TS 16 TS 1]
ts-16-a-port-1[Port 1]
ts-16-a-port-2[Port 2]
ts-16-a-port-3[Port 3]
ts-16-a-port-4[Port 4]
ts-16-a-port-5[Port 5]
ts-16-a-port-6[Port 6]
ts-16-a-port-7[Port 7]
ts-16-a-port-8[Port 8]
ts-16-a-port-9[Port 9]
ts-16-a-port-10[Port 10]
ts-16-a-port-11[Port 11]
ts-16-a-port-12[Port 12]
ts-16-a-port-13[Port 13]
ts-16-a-port-14[Port 14]
ts-16-a-port-15[Port 15]
ts-16-a-port-16[Port 16]
ts-16-a-ip>134.89.22.61]
end
subgraph digi-ts-16-b[Digi TS 16 TS 2]
ts-16-b-port-1[Port 1]
ts-16-b-port-2[Port 2]
ts-16-b-port-3[Port 3]
ts-16-b-port-4[Port 4]
ts-16-b-port-5[Port 5]
ts-16-b-port-6[Port 6]
ts-16-b-port-7[Port 7]
ts-16-b-port-8[Port 8]
ts-16-b-port-9[Port 9]
ts-16-b-port-10[Port 10]
ts-16-b-port-11[Port 11]
ts-16-b-port-12[Port 12]
ts-16-b-port-13[Port 13]
ts-16-b-port-14[Port 14]
ts-16-b-port-15[Port 15]
ts-16-b-port-16[Port 16]
ts-16-b-ip>134.89.22.62]
end
subgraph rcnavproc1.rc.mbari.org
subgraph Virtual Serial Ports
ts-16-a-port-1-tty["/dev/ttya00"]
ts-16-a-port-2-tty["/dev/ttya01"]
ts-16-a-port-3-tty["/dev/ttya02"]
ts-16-a-port-4-tty["/dev/ttya03"]
ts-16-a-port-5-tty["/dev/ttya04"]
ts-16-a-port-6-tty["/dev/ttya05"]
ts-16-a-port-7-tty["/dev/ttya06"]
ts-16-a-port-8-tty["/dev/ttya07"]
ts-16-a-port-9-tty["/dev/ttya08"]
ts-16-a-port-10-tty["/dev/ttya09"]
ts-16-a-port-11-tty["/dev/ttya10"]
ts-16-a-port-12-tty["/dev/ttya11"]
ts-16-a-port-13-tty["/dev/ttya12"]
ts-16-a-port-14-tty["/dev/ttya13"]
ts-16-a-port-15-tty["/dev/ttya14"]
ts-16-a-port-16-tty["/dev/ttya15"]
ts-16-b-port-1-tty["/dev/ttyb00"]
ts-16-b-port-2-tty["/dev/ttyb01"]
ts-16-b-port-3-tty["/dev/ttyb02"]
ts-16-b-port-4-tty["/dev/ttyb03"]
ts-16-b-port-5-tty["/dev/ttyb04"]
ts-16-b-port-6-tty["/dev/ttyb05"]
ts-16-b-port-7-tty["/dev/ttyb06"]
ts-16-b-port-8-tty["/dev/ttyb07"]
ts-16-b-port-9-tty["/dev/ttyb08"]
ts-16-b-port-10-tty["/dev/ttyb09"]
ts-16-b-port-11-tty["/dev/ttyb10"]
ts-16-b-port-12-tty["/dev/ttyb11"]
ts-16-b-port-13-tty["/dev/ttyb12"]
ts-16-b-port-14-tty["/dev/ttyb13"]
ts-16-b-port-15-tty["/dev/ttyb14"]
ts-16-b-port-16-tty["/dev/ttyb15"]
end
subgraph Navproc Processes
vorne-ser-out[vorne_ser_out]
lapbox-4k-pub[lapbox_4k_pub]
ship-gyro-pub[shipGyro_pub]
nmea-gps-pub[nmeaGPS_pub]
seabird-ctd-pub[seabird_ctd_pub]
nav4d-pub[nav4d_pub]
nav4d-ser-out[nav4d_ser_out]
ventanaCSP-pub[ventanaCSP_pub]
serout-rovdepth-mesotech[serout_rovdepth_mesotech]
serout-rovdepth-sonardyne[serout_rovdepth_sonardyne]
serout-soundv-sprintins[serout_soundv_sprintins]
serout-ctdmsg-gss[serout_ctdmsg_gss]
serout-gpsmsg-lodestar[serout_gpsmsg_lodestar]
serin-lodestar[serin_lodestar]
serin-gtdpro[serin_gtdpro]
serin-uhsmsg[serin_uhsmsg]
serout-ushmsg-gss[serout_ushmsg_gss]
octans-pub[octans_pub]
dvl-reader[dvl_reader]
lapbox-hd-pub[lapbox_hd_pub]
gps-octans-udp[gps_octans_udp]
end
subgraph LCM Messages
winfrog-lcm["NAV4D:winfrog"]
ventana-lcm["VENTANA_CSP:ventanaCSP"]
shipgyro-lcm["SHIP_GYRO:shipGyro"]
shipgyro-msg-lcm["SHIP_GYRO_MSG:serial_msg_string"]
nmea-gps-lcm["NMEA_GPS:nmeaGPS"]
nmea-gps-msg-lcm["NMEA_GPS_MSG:serial_msg_string"]
seabird-ctd-lcm["SEABIRD_CTD:seabirdctd"]
seabird-ctd-msg-lcm["SEABIRD_CTD_MSG:serial_msg_string"]
ventana-csp-msg-lcm["VENTANA_CSP_MSG:serial_msg_string"]
nav4d-ser-msg-lcm["NAV4D_SER_OUT:lcm_string"]
nav4d-msg-lcm["NAV4D_MSG:serial_msg_string"]
octans-lcm["IMU_OCTANS:octans"]
lapbox-hd-lcm["LAPBOX_HD:lapbox_hd"]
dvl-string-lcm["DVL_PD5:lcm_string"]
uhs-msg-lcm["UHS_MSG:serial_msg_string"]
lodestar-ser-msg-lcm["LODESTAR_MSG:serial_msg_string"]
lapbox-4k-msg-lcm["?"]
gtdpro-ser-msg-lcm["GTDPRO_MSG:serial_msg_string"]
gps-octans-udp-msg["GPS_OCTANS_UDP_MSG:lcm_string"]
end
end
end
vorne-display <--> ts-16-a-port-1
ship-gyro --> ts-16-a-port-3
ship-gps --> ts-16-a-port-4
seabird-ctd --> ts-16-a-port-5
ventana <--> ts-16-a-port-6
nav4d <--> ts-16-a-port-8
sonardyne <--> ts-16-a-port-9
ventana --> ts-16-a-port-10
nav4d --> ts-16-a-port-11
octans --> ts-16-a-port-13
dvl --> ts-16-a-port-14
mesotech <--> ts-16-b-port-1
uhs --> ts-16-b-port-3
ventana <--> ts-16-b-port-4
lodestar <--> ts-16-b-port-6
lodestar --> ts-16-b-port-7
sprintins <--> ts-16-b-port-8
lapbox4k --> ts-16-b-port-9
gtdpro--> ts-16-b-port-11
ts-16-a-port-1 <--> ts-16-a-port-1-tty
ts-16-a-port-2 <--> ts-16-a-port-2-tty
ts-16-a-port-3 <--> ts-16-a-port-3-tty
ts-16-a-port-4 <--> ts-16-a-port-4-tty
ts-16-a-port-5 <--> ts-16-a-port-5-tty
ts-16-a-port-6 <--> ts-16-a-port-6-tty
ts-16-a-port-7 <--> ts-16-a-port-7-tty
ts-16-a-port-8 <--> ts-16-a-port-8-tty
ts-16-a-port-9 <--> ts-16-a-port-9-tty
ts-16-a-port-10 <--> ts-16-a-port-10-tty
ts-16-a-port-11 <--> ts-16-a-port-11-tty
ts-16-a-port-12 <--> ts-16-a-port-12-tty
ts-16-a-port-13 <--> ts-16-a-port-13-tty
ts-16-a-port-14 <--> ts-16-a-port-14-tty
ts-16-a-port-15 <--> ts-16-a-port-15-tty
ts-16-a-port-16 <--> ts-16-a-port-16-tty
ts-16-b-port-1 <--> ts-16-b-port-1-tty
ts-16-b-port-2 <--> ts-16-b-port-2-tty
ts-16-b-port-3 <--> ts-16-b-port-3-tty
ts-16-b-port-4 <--> ts-16-b-port-4-tty
ts-16-b-port-5 <--> ts-16-b-port-5-tty
ts-16-b-port-6 <--> ts-16-b-port-6-tty
ts-16-b-port-7 <--> ts-16-b-port-7-tty
ts-16-b-port-8 <--> ts-16-b-port-8-tty
ts-16-b-port-9 <--> ts-16-b-port-9-tty
ts-16-b-port-10 <--> ts-16-b-port-10-tty
ts-16-b-port-11 <--> ts-16-b-port-11-tty
ts-16-b-port-12 <--> ts-16-b-port-12-tty
ts-16-b-port-13 <--> ts-16-b-port-13-tty
ts-16-b-port-14 <--> ts-16-b-port-14-tty
ts-16-b-port-15 <--> ts-16-b-port-15-tty
ts-16-b-port-16 <--> ts-16-b-port-16-tty
ts-16-a-port-1-tty <--> vorne-ser-out
ts-16-a-port-3-tty --> ship-gyro-pub
ts-16-a-port-4-tty --> nmea-gps-pub
ts-16-a-port-5-tty --> seabird-ctd-pub
ts-16-a-port-6-tty <--> serout-ctdmsg-gss
ts-16-a-port-8-tty <--> nav4d-ser-out
ts-16-a-port-9-tty <--> serout-rovdepth-sonardyne
ts-16-a-port-10-tty --> ventanaCSP-pub
ts-16-a-port-11-tty --> nav4d-pub
ts-16-a-port-13-tty --> octans-pub
ts-16-a-port-14-tty --> dvl-reader
ts-16-b-port-1-tty <--> serout-rovdepth-mesotech
ts-16-b-port-3-tty --> serin-uhsmsg
ts-16-b-port-4-tty <--> serout-ushmsg-gss
ts-16-b-port-6-tty <--> serout-gpsmsg-lodestar
ts-16-b-port-7-tty --> serin-lodestar
ts-16-b-port-8-tty <--> serout-soundv-sprintins
ts-16-b-port-9-tty --> lapbox-4k-pub
ts-16-b-port-11-tty --> serin-gtdpro
vorne-ser-out <--> winfrog-lcm
vorne-ser-out <--> ventana-lcm
lapbox-hd-pub --> lapbox-hd-lcm
ship-gyro-pub --> shipgyro-lcm
ship-gyro-pub --> shipgyro-msg-lcm
nmea-gps-pub --> nmea-gps-lcm
nmea-gps-pub --> nmea-gps-msg-lcm
seabird-ctd-pub --> seabird-ctd-lcm
seabird-ctd-pub --> seabird-ctd-msg-lcm
ventanaCSP-pub --> ventana-lcm
ventanaCSP-pub --> ventana-csp-msg-lcm
serout-ctdmsg-gss <--> seabird-ctd-msg-lcm
nav4d-ser-out <--> ventana-lcm
nav4d-ser-out --> nav4d-ser-msg-lcm
nav4d-pub --> winfrog-lcm
nav4d-pub --> nav4d-msg-lcm
serout-rovdepth-sonardyne <--> ventana-lcm
octans-pub --> octans-lcm
dvl-reader --> dvl-string-lcm
serout-ushmsg-gss <--> uhs-msg-lcm
serout-rovdepth-mesotech <--> ventana-lcm
serout-gpsmsg-lodestar <--> nmea-gps-msg-lcm
serin-uhsmsg --> uhs-msg-lcm
serin-lodestar --> lodestar-ser-msg-lcm
serout-soundv-sprintins <--> seabird-ctd-lcm
lapbox-4k-pub --> lapbox-4k-msg-lcm
serin-gtdpro --> gtdpro-ser-msg-lcm
gps-octans-udp <--> nmea-gps-msg-lcm
gps-octans-udp --> gps-octans-udp-msg
---
title: Rachel Carson Current Logging Flow
---
flowchart LR
subgraph Rachel Carson Network
direction LR
subgraph LCM Source Messages
winfrog-lcm["NAV4D:winfrog"]
ventana-lcm["VENTANA_CSP:ventanaCSP"]
shipgyro-lcm["SHIP_GYRO:shipGyro"]
nmea-gps-lcm["NMEA_GPS:nmeaGPS"]
seabird-ctd-lcm["SEABIRD_CTD:seabirdctd"]
lapbox-hd-lcm["LAPBOX_HD:lapbox_hd"]
lodestar-ser-msg-lcm["LODESTAR_MSG:serial_msg_string"]
gtdpro-ser-msg-lcm["GTDPRO_MSG:serial_msg_string"]
end
subgraph Loggers
csprawlogr[csprawlogr]
dataprobelogr[dataprobelogr]
gtdprologr[gtdprologr]
lodestarlogr[lodestarlogr]
m3rslogr[m3rslogr]
nav4dlogr[nav4dlogr]
rovctdlogr[rovctdlogr]
shipnavlogr[shipnavlogr]
videologr[videologr]
end
subgraph Log Files
csprawlogr-file["YYYDDDcsprawlogr.dat"]
dataprobelogr-file["YYYDDDdataprobelogr.dat"]
gtdprologr-file["YYYDDDgtdprologr.dat"]
lodestarlogr-file["YYYDDDlodestarlogr.dat"]
m3rslogr-file["YYYDDDm3rslogr.dat"]
nav4dlogr-file["YYYDDDnav4dlogr.dat"]
rovctdlogr-file["YYYDDDrovctdlogr.dat"]
shipnavlogr-file["YYYDDDshipnavlogr.dat"]
videologr-file["YYYDDDvideologr.dat"]
end
subgraph LCM Logger Message
csprawlogr-msg["csprawlogr:serial_msg_string"]
dataprobelogr-msg["dataprobelogr:serial_msg_string"]
gtdprologr-msg["gtdprologr:serial_msg_string"]
lodestarlogr-msg["lodestarlogr:serial_msg_string"]
m3rslogr-msg["m3rslogr:serial_msg_string"]
nav4dlogr-msg["nav4dlogr:serial_msg_string"]
rovctdlogr-msg["rovctdlogr:serial_msg_string"]
shipnavlogr-msg["shipnavlogr:serial_msg_string"]
videologr-msg["videologr:serial_msg_string"]
end
subgraph BC Servers
port-54018[54018] --- m3rsserver --- port-54019[54019]
port-54006[54006] --- rovctdserver --- port-54007[54007]
port-54008[54008] --- dataprobeserver --- port-54009[54009]
port-54016[54016] --- nav4dserver --- port-54017[54017]
port-54004[54004] --- videoserver --- port-54005[54005]
port-54002[54002] --- shipnavserver --- port-54003[54003]
end
end
ventana-lcm --> csprawlogr --> csprawlogr-msg
nmea-gps-lcm --> dataprobelogr --> dataprobelogr-msg
shipgyro-lcm --> dataprobelogr --> dataprobelogr-msg
ventana-lcm --> dataprobelogr --> dataprobelogr-msg
winfrog-lcm --> dataprobelogr --> dataprobelogr-msg
seabird-ctd-lcm --> dataprobelogr --> dataprobelogr-msg
lapbox-hd-lcm --> dataprobelogr --> dataprobelogr-msg
gtdpro-ser-msg-lcm --> gtdprologr --> gtdprologr-msg
lodestar-ser-msg-lcm --> lodestarlogr --> lodestarlogr-msg
ventana-lcm --> m3rslogr --> m3rslogr-msg
seabird-ctd-lcm --> m3rslogr --> m3rslogr-msg
winfrog-lcm --> nav4dlogr --> nav4dlogr-msg
nmea-gps-lcm --> rovctdlogr --> rovctdlogr-msg
ventana-lcm --> rovctdlogr --> rovctdlogr-msg
winfrog-lcm --> rovctdlogr --> rovctdlogr-msg
seabird-ctd-lcm --> rovctdlogr --> rovctdlogr-msg
nmea-gps-lcm --> shipnavlogr --> shipnavlogr-msg
ventana-lcm --> shipnavlogr --> shipnavlogr-msg
winfrog-lcm --> shipnavlogr --> shipnavlogr-msg
seabird-ctd-lcm --> shipnavlogr --> shipnavlogr-msg
shipgyro-lcm --> shipnavlogr --> shipnavlogr-msg
nmea-gps-lcm --> videologr --> videologr-msg
ventana-lcm --> videologr --> videologr-msg
seabird-ctd-lcm --> videologr --> videologr-msg
lapbox-hd-lcm --> videologr --> videologr-msg
csprawlogr --> csprawlogr-file
dataprobelogr --> dataprobelogr-file
gtdprologr --> gtdprologr-file
lodestarlogr --> lodestarlogr-file
m3rslogr --> m3rslogr-file
nav4dlogr --> nav4dlogr-file
rovctdlogr --> rovctdlogr-file
shipnavlogr --> shipnavlogr-file
videologr --> videologr-file
m3rslogr --> port-54018
rovctdlogr --> port-54006
dataprobelogr --> port-54008
nav4dlogr --> port-54016
videologr --> port-54004
shipnavlogr --> port-54002