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April 2018 Pathfinder DVL Guide
Page 110
EAR-Controlled Technology Subject to Restrictions Contained on the Cover Page.
#BO - Distance Measure Filter Constant
Purpose: Sets the value of the filter constant used by the distance measurement calculation in
PD6
.
Format: #BOk
The BO commands work with or without the # sign. For example, using BO or #BO are both
valid commands.
Range: k = 0 to 100
Default: #BO25
The default setting for this command is recommended for most applications.
Description: When calculating the earth referenced distance data for output in the PD6 data format,
the Pathfinder applies a simple exponential filter to the velocity measurements before cal-
culating the distance. The velocity used to calculate the distance is given by the following
equation:
v = (k
•
v
new
+ (100 – k)
•
v
old
) / 100
Where v
new
is the current velocity measurement, v
old
is the value of v calculated for the
previous distance calculation, and k is the value of the #BO command. Setting k to 100
effectively disables the exponential filter.
#BQ – Over Range Limit
This command is only used for 38 kHz systems.
#BS - Clear Distance Traveled
Purpose Clears internal distance traveled accumulators.
Format #BS
The BS commands work with or without the # sign. For example, using BS or #BS are both
valid commands.
Use as needed.
Description Distance traveled is calculated and output in the following Pathfinder output formats;
• PD0
high resolution output (see BJ – Data Type Output Control and Bottom Track High Resolu-
tion Velocity Format )
•
PD5 (see Pathfinder Binary Data Format ( PD5 ) ).
•
PD6 (see Pathfinder Output Data Format ( PD6 ) )
The accumulator is zeroed on <BREAK> or by using this command in the manual ensem-
ble cycling mode (see CF - Flow Control ).