The SubSim GUI

Controlling the View

Sliders (3-8)

The view can be controlled by the sliders (3-7)

(3) Rotate the view above the x-axis
(4) Slide the view up and down
(5) Rotate the view above the y-axis
(6) Slide the view to the left and to the right
(7) Zoom in and zoom out.
(8) Homing button. The view will return to a default sight. All sliders will be reseted.

Mouse and Keyboard

To move the camera with the mouse, move the mouse pointer inside the main window, press and hold the left mouse button, then drag the mouse pointer across the screen. The motion of the camera approximates a "trackball", meaning the view changes as if there was a large ball that you were spinning by clicking and dragging it. The following table lists the keys and their affect on the view. UP, DOWN, LEFT, and RIGHT refer to the arrow keys. A plus sign means that keys must be depressed at the same time

UP	Pan camera up
DOWN	Pan camera down
LEFT	Pan camera to left
RIGHT	Pan camera to right
CTRL + UP	Move camera forward
CTRL + DOWN	Move camera backward
CTRL + LEFT	Rotate camera to left
CTRL + RIGHT	Rotate camera to right
SHIFT + CTRL + UP	Rotate camera up
SHIFT + CTRL + DOWN	Rotate camera down

The Message window (2)

The Message window is currently used to display notes from the simulation file.

The Menubar

File

Load World - To load a new simulation environment, the worldfiles can be found int the directory: \subsim\world
Exit - End the simulation program.

Simulation

Start - start the simulation-programm loaded with the client manager. This can also be done with the start button (9)
Pause - pause the simulation programm. This can also be done with the pause button (9)
Stop - stop the simulation and end the programm. This can also be done with the stop button (9)

Tools

Under the tools all the loaded plugins are listed, if you click on one of the plugins with an own GUI the plugin GUI will appear if it is hidden by default.

Visualize

With these options you have the possibility to make the sensors, that the submarine is equiped with, visible in the simulator. This makes it easy to see the sensor orientation and also at what time what sensor is used for a sensor reading.

Camera - The cameras on the AUV will be marked and highlighted when used.
PSD Sensors/static - The PSD sensors will be drawn, and visible all the time. The sensors are highlighted when used.
PSD Sensors/dynamic - The PSD sensors will be drawn when used and visible for about a second on the postion of usage.

Help

About - Information about SubSim.