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Pathfinder DVL Guide April 2018
EAR-Controlled Technology Subject to Restrictions Contained on the Cover Page.
Page 217
Table 50: Pathfinder Output Data Format (PD6)
Line Description
7 BOTTOM-TRACK, INSTRUMENT-REFERENCED VELOCITY DATA
:BI,±XXXXX,±YYYYY,±ZZZZZ,±EEEEE,S <CR><LF>
where:
±XXXXX = X-axis velocity data in mm/s (+ = Bm1 Bm2 xdcr movement relative to bottom)
±YYYYY = Y-axis velocity data in mm/s (+ = Bm4 Bm3 xdcr movement relative to bottom)
±ZZZZZ = Z-axis velocity data in mm/s (+ = transducer movement away from bottom)
±EEEEE = Error velocity data in mm/s
S = Status of velocity data (A = good, V = bad)
8 BOTTOM-TRACK, SHIP-REFERENCED VELOCITY DATA
:BS,±TTTTT,±LLLLL,±NNNNN,S <CR><LF>
where:
±TTTTT = Transverse vel. data in mm/s (+ = Port Stbd ship movement relative to bottom)
±LLLLL = Longitudinal vel. data in mm/s (+ = Aft Fwd ship movement relative to bottom)
±NNNNN = Normal velocity data in mm/s (+ = ship movement away from bottom)
S = Status of velocity data (A = good, V = bad)
9 BOTTOM-TRACK, EARTH-REFERENCED VELOCITY DATA
:BE,±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)
10 BOTTOM-TRACK, EARTH-REFERENCED DISTANCE DATA
:BD,±EEEEEEEE.EE,±NNNNNNNN.NN,±UUUUUUUU.UU,DDDD.DD,TTT.TT <CR><LF>
where:
+EEEEEEEE.EE = East (u-axis) distance data in meters
+NNNNNNNN.NN = North (v-axis) distance data in meters
+UUUUUUUU.UU = Upward (w-axis) distance data in meters
DDDD.DD = Range to bottom in meters
TTT.TT = Time since last good-velocity estimate in seconds
11 SYSTEM HEALTH MONITOR DATA
:HM,A,B,AAAA,BBBB,VV.VVV,C.CCC,RR.RRR<CR><LF>
where:
A = Status of leak sensor A (“G” = Good, “L” = Leak detected, “D” = Disconnect)
B = Status of leak sensor B (“G” = Good, “L” = Leak detected, “D” = Disconnect)
AAAA = Leak sensor A raw A/D reading, as four hexadecimal digits
BBBB = Leak sensor B raw A/D reading, as four hexadecimal digits
VV.VVV = Transmit voltage, in volts
C.CCC = Transmit current, in amperes
RR.RRR = transducer impedance, in ohms.
(The voltage and current readings are omitted if they are not available)
(The transducer resistance reading is omitted if either the voltage or current readings are not available.)
(The transducer resistance reading will saturate at 65.535 ohms, i.e. any resistance higher than that will still be reported as 65.535
ohms.)