Teledyne PATHFINDER, Manual, Page: 232 / 240

April 2018 Pathfinder DVL Guide
Page 220
EAR-Controlled Technology Subject to Restrictions Contained on the Cover Page.
Table 51. Pathfinder Output Data Format (PD13)
Line Description
0x80 HEM data corrupt or not initialized.
0x81 HEM data corrupt or not initialized.
0x82 Failed to update HEM data.
0x83 Failed to update HEM data.
0x84 Failed to read HEM time data.
0x85 Failed to read HEM pressure data.
0x86 Failed to read HEM SPI state
0x87 Operating time over max.
0x88 Pressure reading over sensor limit.
0x89 Leak detected in sensor A.
0x8A Leak detected in sensor B.
0xFF
Power failure
BIT Number of Errors byte 14
Number of BIT errors
If there is more than one BIT error, then it will take several ensembles to output all the BIT errors. For ex-
ample, if there are 3 BIT errors detected, then the output will be BBB = 3xx on ensemble n, BBB = 3yy on
ensemble n+1, and BBB = 3zz on ensemble n+2, where xx, yy, and zz are the three different error mes-
sages detected.
3
PRESSURE AND RANGE TO BOTTOM DATA
:RA,PPP.PP,RRRR.RR,RRRR.RR,RRRR.RR,RRRR.RR
where:
PPP.PP = Pressure in kPa
RRRR.RR = Range to the bottom in deci-meters Beam 1, Beam 2, Beam 3, Beam 4
4 WATER-MASS, INSTRUMENT-REFERENCED VELOCITY DATA
:WI,±XXXXX,±YYYYY,±ZZZZZ,±EEEEE,S <CR><LF>
where:
±XXXXX = X-axis vel. data in mm/s (+ = Bm1 Bm2 xdcr movement relative to water mass)
±YYYYY = Y-axis vel. data in mm/s (+ = Bm4 Bm3 xdcr movement relative to water mass)
±ZZZZZ = Z-axis vel. data in mm/s (+ = transducer movement away from water mass)
±EEEEE = Error velocity data in mm/s
S = Status of velocity data (A = good, V = bad)
5 WATER-MASS, SHIP-REFERENCED VELOCITY DATA
:WS,±TTTTT,±LLLLL,±NNNNN,S <CR><LF>
where:
±TTTTT = Transverse vel. data in mm/s (+ = Port Stbd ship movement rel. to water mass)
±LLLLL = Longitudinal vel. data in mm/s (+ = Aft Fwd ship movement rel. to water mass)
±NNNNN = Normal velocity data in mm/s (+ = ship movement away from water mass)
S = Status of velocity data (A = good, V = bad)
6 WATER-MASS, EARTH-REFERENCED VELOCITY DATA
:WE,±EEEEE,±NNNNN,±UUUUU,S <CR><LF>
where:
±EEEEE = East (u-axis) velocity data in mm/s (+ = DVL movement to east)
±NNNNN = North (v-axis) velocity data in mm/s (+ = DVL movement to north)
±UUUUU = Upward (w-axis) velocity data in mm/s (+ = DVL movement to surface)
S = Status of velocity data (A = good, V = bad)