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April

2018

Pathfinder DVL Guide

Page 148

EAR-Controlled Technology Subject to Restrictions Contained on the Cover Page.

WV – Ambiguity Velocity

Purpose

Sets the radial ambiguity velocity for profile and water mass mode (see

BK - Water-Mass

Layer Mode

Format

WVnnn

Range

nnn = 020 to 700 cm/s

Default

WV383

It is strongly recommended that the WV command be left at its’ default value of 383.

Description

Set WV as low as possible to attain maximum performance, but not too low or ambiguity

errors will occur.

The WV command (ambiguity velocity setting) sets the maximum velocity that can be

measured along the beam. WV is used to improve the single-ping standard deviation. The

lower the value of the WV command, the lower the single-ping standard deviation.

Set the WV command based on the maximum apparent velocity (Pathfinder motion plus

water speed). The following formula is used to determine the setting of the WV com-

mand: WV = (Max. Apparent Vel. cm/s) * sin(beam angle) * 1.2

Be aware that the firmware will accept larger values for the WV command; however, WV

values that exceed the default values will result in collecting data with ambiguity resolving

errors or completely erroneous values.

Example

If the maximum expected Pathfinder horizontal velocity (vessel velocity) is 250 cm/s (

≈

kt) and the maximum expected horizontal water velocity is 100 cm/s, set WV to

([250+100]*0.5*1.2=) 210 cm/s.

Содержание PATHFINDER

Страница 1: ...nse exception or other approval from the appropriate U S Government agency before being exported from the United States or provided to any foreign person Diversion contrary to U S law is prohibited PATHFINDER DOPPLER VELOCITY LOG DVL GUIDE 600 KHZ P N 95B 6116 00 April 2018 2018 Teledyne RD Instruments Inc All rights reserved ...

Страница 2: ...Page ii EAR Controlled Technology Subject to Restrictions Contained on the Cover Page ...

Страница 3: ...col 20 Ethernet Module Firmware Update 22 Testing the Pathfinder System 23 Caring for the Pathfinder System 24 General Handling Guidelines 24 Installation Guidelines 24 CHAPTER 2 SYSTEM INTEGRATION 25 System Integration Introduction 26 DVL Theory 26 BroadBand Doppler 26 Bottom Tracking 26 Water Tracking 27 Required Conditions for Water Tracking 27 Water Tracking Parameters 28 Current Profiling 28 ...

Страница 4: ... System Synchronization 49 Operational and Setup Considerations 49 Unfavorable Environments 49 Triggering 50 Design Considerations Bench Test 50 Troubleshooting 51 Communications Issues 51 Initial Shakedown Deployment 51 Troubleshooting Checklist 51 Identify Unit 51 Run Built In Tests 51 Provide Unit Setup 52 Describe Deployment Environment Operational Conditions 53 Describe the System Installatio...

Страница 5: ...nal Specifications 89 Environmental Specifications 90 Electrical Specifications 90 Communications Specifications 90 Outline Installation Drawings 90 CHAPTER 7 COMMANDS 93 Data Communication and Command Format 94 Command Input Processing 94 Data Output Processing 95 Command Summary 95 Command Descriptions 98 Help Menus 98 Break 99 OL Display Feature List 99 Y Display Banner 100 Bottom Track Command...

Страница 6: ...ng 120 EP Pitch and Roll Angles 120 ER Roll Angle 121 ES Salinity 122 ET Temperature 122 EU Up Down Orientation 123 EV Heading Bias 123 EX Coordinate Transformation 124 EZ Sensor Source 125 Expert Environmental Commands 126 EE Environmental Data Output 126 EI Roll Misalignment Angle 128 EJ Pitch Misalignment Angle 129 Recorder Commands 130 Recorder Command Descriptions 130 ME Erase Recorder 130 MM...

Страница 7: ... 8 OUTPUT DATA FORMATS 153 Choosing a Data Format 154 PD0 Output Data Format 156 Header Data Format 158 Fixed Leader Data Format 160 Variable Leader Data Format 166 Velocity Data Format 174 Correlation Magnitude Echo Intensity Percent Good and Status Data Format 176 Binary Bottom Track Data Format 180 Environmental Command Parameters Output Format 185 Bottom Track Command Output Format 187 Bottom ...

Страница 8: ... Figure 19 Pathfinder Pitch and Roll 30 Figure 20 Transducer Alignment Reference Points 36 Figure 21 End Cap view of the transducer showing mounting holes 37 Figure 22 Do not use Zip Ties Directly on Cables 38 Figure 23 Ground Fault Current Check 40 Figure 24 Pathfinder Power Circuit 42 Figure 25 Transducer View 75 Figure 26 Top View 75 Figure 27 Replacing an Anode 78 Figure 28 Outline Installatio...

Страница 9: ... Tracking Depths 109 Table 23 Serial Port Control 112 Table 24 Flow Control 114 Table 25 Retrieve Parameters 115 Table 26 Input Trigger 116 Table 27 Coordinate Transformation Processing Flags 124 Table 28 Sensor Source Switch Settings 125 Table 29 Data Stream Selections 140 Table 30 Bandwidth Control 145 Table 31 Summary of Output Data Formats 155 Table 32 Header Data Format 159 Table 33 Fixed Lea...

Страница 10: ...tput Data Buffer Format Added information on PD0 variable leader transmit voltage current and impedance Updated the HEM Status byte 67 in the Variable Leader data Updated Bottom Track Water Track STD Deviation description in Navigation Parameters Data Corrected Bottom Track Command Output Data format Added figures for Environmental Command Parameters Output Format Bottom Track Com mand Output Data...

Страница 11: ...rance Phone 1 858 842 2600 Phone 33 0 492 110 930 FAX 1 858 842 2822 FAX 33 0 492 110 931 Sales rdisales teledyne com Sales rdie teledyne com Field Service rdifs teledyne com Field Service rdiefs teledyne com Client Services Administration rdicsadmin teledyne com Web http www teledynemarine com rdi Technical Support For all your customer service needs including our emergency 24 7 technical support...

Страница 12: ...alics include program names TRDI Toolz and file names TestWH rds Code or sample files are printed using a fixed font Here is an example Pathfinder Teledyne RD Instruments c 2017 All rights reserved Firmware Version 67 xx There are four visual aids to help Notes Cautions Recommended Settings and References This paragraph format indicates additional information that may help avoid problems or that s...

Страница 13: ... Page Page 1 Chapter 1 AT A GLANCE In this chapter you will learn System Overview Models and Options Computer Considerations Power Overview Setting up the PathFinder System How to connect and disconnect the cables Cable wiring diagrams Using the Network Configuration Page Caring for the PathFinder System ...

Страница 14: ... urethane face covers the transducer ceramics and provides a robust flexible waterproof seal Avoid setting the transducer on bumpy surfaces that may leave an indentation in the urethane or damage the urethane face anodized finish or paint The Pathfinder housing contains Electrostatic Sensitive Devices Take accepted ESD prevention measures before removing the housing The PWR COMM cable connects the...

Страница 15: ...Pathfinder DVL Guide April 2018 EAR Controlled Technology Subject to Restrictions Contained on the Cover Page Page 3 Figure 2 Pathfinder ROV Version Face View Figure 3 OEM Version Transducer ...

Страница 16: ...le is used for testing the system prior to installing it on a ROV The 73b 6059 00 OEM test cable is used for testing the system prior to installing it on a ROV The Ethernet command and control port is included with all systems but can be removed upon request This option must be selected when the system is ordered Current Profiling Mode is a firmware upgrade Low altitude is a firmware upgrade High ...

Страница 17: ... and connectors Use a soft pad to protect the transducer 97B 7010 00 ROV hard Shipping Case Shipping case with foam inserts 73B 6058 00 ROV PWR COMM Pigtail Cable The DVL PWR COMM pigtail cable allows you to build custom cable to connect the Pathfinder to your vehicle platform It provides all the leads for serial and Ethernet COM Power and Trigger 95B 6116 00 or 90Z 8002 00 Pathfinder DVL Software...

Страница 18: ...ility and testing software package that can be used to test the DVL 95B 6120 00 Pathfinder OEM Getting Started Guide A printed quick start card showing test setup is included A PDF version is included on the documentation CD 95B 6121 00 Pathfinder OEM Integra tion Guide A printed quick reference showing how to integrate the Pathfinder DVL onto a ROV Re fer to Chapter 2 of the Pathfinder DVL guide ...

Страница 19: ...PDM DURO 90A VENT PLUG 2 DES6 DESICCANT SEALED BAG 1 6 UNI 1 5020 SILICONE LUBRICANT 4 PACK 2 425 THREADLOCKER PLAS SCREW 1 81B 6042 00 O RING TOOL TELEDYNE 1 M7COMBINATION WRENCH 7MM COMBINATION 1 7289A13 KEY HEX 2 5MM 1 84Z 6000 00 TOOL BAG CANVA 1 95B 6116 00 Pathfinder DVL Documentation CD 1 95B 6117 00 Pathfinder DVL Quick Start Card 1 Table 7 75BK6089 00 Kit Field Service OEM Pathfinder P N ...

Страница 20: ... electronic section Leak Sensor B is only available on the ROV Self Contained version Transducer Monitor The Pathfinder monitors the transmit voltage and current of the transducer and reports Transducer Impedance as a result This information provides insight in near real time to the status of the transducer and alerts the user should problems arise This data is re layed back to the user in the PD0...

Страница 21: ...ng all of the critical updates recommended updates and the service releases for the version of Windows being used prior to installing any TRDI software Table 8 Minimum Computer Hardware Requirements Windows 7 8 1 or 10 1GHz class PC 32 bit 64 bit recommended 2GB of RAM 4GB or more RAM recommended 50 MB Free Disk Space plus space for data files A large fast hard drive is recommended Minimum display...

Страница 22: ...e Power is put in then removed within a very short time few secs and then applied again then the Inrush limiter will not be able to limit the current pulled from the DVL which would result in a higher than 4Amps Inrush current spike Cables and Connector Protective Cap The underwater cables connector protective cap is a molded wet mate able connector The end cap con nectors are a factory installed ...

Страница 23: ...ricant prior to each connection To disconnect the cable 1 Place the Pathfinder on a soft pad to protect the transducer face 2 Release the cable by turning the locking sleeve counter clockwise until it can be moved away from the connector 3 Pull the cable straight out away from the housing 4 Install the connector protective cap to protect the connector pins ...

Страница 24: ...ector is straight thread the locking sleeve onto the receptacle to complete the connection Do NOT use any tools to tighten the locking sleeve It should only be finger tight 3 Attach the Power Comm cable to the computer s serial communication port or Ethernet port 4 Place the Pathfinder system in water at least a few inches to cover the transducer face 5 Connect the power adapter cable to the Power...

Страница 25: ...m 1 black Beam 2 red Beam 3 yellow Beam 4 blue Attach the only 4 pin connector to the board 4 Remove the screw and attach the ground wire lug Tighten the ground screw to 4 IN LB 5 Thread the cables through the slot and attach the cover Tighten the four M3 screws on the cover to 4 IN LB Tighten the two screws next to the cable exit slot to hold the cables in place 6 Connect P1 to the Electronics Ch...

Страница 26: ...April 2018 Pathfinder DVL Guide Page 14 EAR Controlled Technology Subject to Restrictions Contained on the Cover Page ...

Страница 27: ...quests may cause changes to the basic wiring system and may not be shown here If there is a conflict contact TRDI for specific information about the system The following figures show various Pathfinder cable locations connectors and pin outs Figure 9 Pathfinder Power Comm Cable 73B 6057 005 Optional Test Cable The connector protective cap should be installed any time the cable is removed Use the c...

Страница 28: ...0 Power Adapter Cable 73B 6046 00 Figure 11 Pathfinder ROV Power Comm Cable 73B 6058 Pigtail Cable Where shown RX is the incoming signal TX is the outgoing signal Cable bend radius is 4 5 inches The connector part number is MKS W 3L10 CCP SB from Teledyne Impulse Figure 12 Pathfinder OEM Power Comm Cable 73B 6060 Pigtail Cable ...

Страница 29: ... Soft Break The wakeup banner will dis play in the terminal window Pathfinder Teledyne RD Instruments c 2017 All rights reserved Firmware Version 67 xx It may be necessary to click inside the terminal window and then click the Break button to wake up the system If the network assigns a Dynamic IP address the Static IP address 192 168 1 100 will not work Connect using the serial port and use the CE...

Страница 30: ...iguration choose STATIC or DHCP Use Dynamic Host Configuration Pro tocol DHCP server protocol when the network automatically provides an Internet Protocol IP host with its IP address and other related configuration information such as the subnet mask and default gateway If you are using a STATIC network then configure the Base IP Address Network Mask Gateway Address Name Server Address and Command...

Страница 31: ...o connect to this port using TCP protocols to con trol the Pathfinder system Send data from the Pathfinder to user equipment such as a PC or a data logging device The data channel is established over a UDP socket It is possible to output ensemble data in two ways 1 Send ensemble data to a specific destination IP and port number using TCP protocol 2 Send ensemble data to a network directed broadcas...

Страница 32: ...e the UDP IP address matches the com puter s IP address The computer s IP address can be found using ipconfig in a command prompt window The computer s IP address can also be found by using Control Panel Navigate to Network and Inter net Network and Sharing Center Click on Local area Connection x under View Active networks Click on Properties and then click on Internet protocol Version 4 TCP IPv4 ...

Страница 33: ...3 The DVL acts as a server and will accept a connection from any IP on the subnet 2 Configuration of the PDX outputs and general IP config happens via the webpage default IP 192 168 1 100 port 80 acts as HTTP server 3 PDX output happens on one of several ports a Each PDX PD0 PD4 PD5 PD6 and PD13 can be configured to be output on a separate port b Each can be configured to output via TCP or UDP c T...

Страница 34: ...e output The nominal case would be to install TDRI Toolz Select Ethernet Connection set IP or host name to 192 168 1 100 port 1033 and TCP This presumes the PC in use is on the same 192 168 1 xxx subnet since this is a non routable IP Ethernet Module Firmware Update To install an Ethernet module firmware update 1 Use our online customer portal at http www teledynemarine com rdi and click on the Su...

Страница 35: ...beam velocity Transducer Type PHASEDARRAY Beam Angle 30 Degrees Beam Pattern CONVEX Sensors TEMP CPU Firmware 67 00c MH0 FPGA Version 1 00 003 0x1003 Board Serial Number Data FF 00 00 08 0A 1A E1 28 DS18B20 TMP SNS 52 00 00 02 7B 85 3C 23 ETH72B 2305 00A 5F 00 00 02 61 E5 71 23 DSP72B 2303 00A B5 00 00 02 1A 90 C3 23 PTX72B 2304 00A C3 00 00 02 63 57 0B 23 RCV72B 2302 03A C6 00 00 02 7B 8C F7 23 X...

Страница 36: ...ce may develop cracks Cover the transducer face on the Pathfinder if it will be exposed to sunlight Do not store the Pathfinder in temperatures over 60 degrees C or under 25 degrees C The inter nal components and or urethane face may be damaged Do not scratch or damage the O ring surface or grooves on the transducer If scratches or damage exists they may provide a leakage path and cause the Pathfi...

Страница 37: ...r Page Page 25 Chapter 2 SYSTEM INTEGRATION In this chapter you will learn DVL Theory Mechanical Integration Considerations Electrical Integration Considerations Acoustic Integration Considerations Reference Data Timing Considerations PathFinder DVL Sensor Integration Operational and Setup Considerations ...

Страница 38: ...gation delay is extracted by computing the au tocorrelation at the time lag separating the coded pulses The success of this computation requires that the different echoes from the coded pulses all buried inside the same echo be correlated with one an other Bottom Tracking Bottom tracking is implemented using separate pings from water profiling The transmit pulse is a longer duration and the receiv...

Страница 39: ...ngs per ensemble and this command setting Water track pinging is acti vated from the BL command Use the BL command to set the location of the Water Track ping Required Conditions for Water Tracking Water Track ping output data is available when both the BK Water Mass Layer Mode and BP Bottom Track Pings per Ensemble instrument settings are nonzero values The bottom must be at least the Mini mum La...

Страница 40: ...lumn The DVL as with all TRDI ADCPs measures current by dividing the veloc ity profile into uniform segments called depth cells depth cells are often called bins Each depth cell is comparable to a single current meter Therefore a DVL velocity profile is like a string of current meters uniformly spaced on a mooring Figure 16 Thus we can make the following definitions by analogy Depth cell size dist...

Страница 41: ...4 1 Figure 17 When you look at the face of the transducer head the transducers are labeled clockwise in the order 3 1 4 2 see Figure 18 page 30 The X axis lies in the direction from transducer Beam 1 towards transducer Beam 2 and the Y axis lies in the direction from transducer Beam 4 towards transducer Beam 3 The Z axis lies along the axes of sym metry of the four beams pointing away from the wat...

Страница 42: ...e earth axes regardless of up down orientation The sense of internal sensors Tilt 1 pitch and Tilt 2 roll is positive for counterclockwise tilts respectively about the S and F axes using the right hand rule see Figure 19 One can use the Ship Frame and the alignment commands to align the DVL Ship axis with the vehicle platform Ship axis See Mechanical Integration Considera tions for more informatio...

Страница 43: ... source of long term error When measuring velocity the bias represents a small error When using these velocities for navigation the bias errors will accumulate and the total error will grow over time This bias error can be mitigated using various approaches TRDI can offer application support in this area Bottom Track The most important source of long term bottom track error is the beam angle error...

Страница 44: ...ities off of a water track layer while Bottom Track ing The commands for controlling this mode are BK BL for Pathfinder DVLs However there are some important consequences of enabling this mode that will be discussed First the time required to complete a ping is significantly increased because two separate and inde pendent pings are involved TRDI does not currently have ping time models for the Wat...

Страница 45: ...L will operate to greater altitudes TRDI uses a reasonably conservative value of 28dB for the pre diction of a DVL s altitude performance While our experience shows that this works in most environ ments bottoms that are bright some rocks and or gravel will allow the DVL to operate to higher altitudes while bottoms that are dull mud will limit operation to somewhat lower altitudes than are specifie...

Страница 46: ... specified but has been shown to be less influenced by environmental factors It is important to know that the systems do not measure the altitude by using a beam that is directed straight down as an altimeter might do Rather they measure the slant range along the four narrow beams that are at an angle to the vertical normally 30 In doing this they measure the time it takes for the transmitted puls...

Страница 47: ...1 1 1 1 1 1 2 3 4 1 2 1 2 3 4 3 4 2 Where h is the altitude and the h1 h2 h3 h4 are the four beam slant ranges projected into the vertical This equation is exact if the bottom is a plane surface Pitch Roll Pitch and or roll of the instrument causes the h components shown in 1 above to change Because it is complicated to compute the h components for all combinations of pitch roll and bottom slope t...

Страница 48: ...ansducer head as level as possible us ing the ship s roll and pitch references TRDI recommends mounting the transducer head with Beam 3 instrument Y axis rotated 45 relative to the ship forward axis Figure 20 This causes the magnitude of the signal in each beam to be about the same This improves error rejection reduces the effect of ringing and increases the Pathfinder s effective velocity range b...

Страница 49: ...r systems and they depend on the application Use the four mounting holes on the transducer ROV version only See the Outline Installation Drawings for di mensions and weights Figure 21 End Cap view of the transducer showing mounting holes Your Pathfinder DVL transducer housing is made of aluminum that is protected by sacrificial anodes and a hard anodize coat and paint Do not connect other metal to...

Страница 50: ...d watertight spaces Make al lowances in cable length and engineering design plans for cable routing When necessary use strain re liefs on the cables Route cables so Cable does not have kinks or sharp bends The cable bend radius is 4 5 inches Protect the cable with hose if zip ties are used to secure it to structures see Figure 22 The Pathfinder cable or junction box if one is used must NOT be expo...

Страница 51: ... then back to the hull or frame to the vehicle The likelihood of this ground path occurring is increased if the hull of the vehicle is connected to the Power ground of the DVL through the vehicle s grounding circuitry Typically this resistance is very high resulting in only a few microamperes of current and is limited by the size of the DVL anode and the distance between the Anode and the grounded...

Страница 52: ...hm 10 1 4W resistor in series with this wire 5 Connect the other end of this wire you can use an alligator clip to one of the Anodes 6 Connect the of the Independent power supply or battery to the PWR of your Pathfinder i e also Neutral of your Power Supply see figure below The goal is to create a 12 volt EMF relative to the ground of the standard DVL supply Then use the 12 volts to check the leak...

Страница 53: ...n potential on signal or ground electronic lines as is discussed below EMI Coupling Through Cables A remote head DVL is susceptible to interference along the length of the cable connecting the DVL to the receiver located in the electronics chassis Interference signals injected into or adjacent to the remote head cables may be increased in voltage more than 100 000 times due to the gains of the int...

Страница 54: ...ssing electronics as long as the Pathfinder is not in the sleep mode aka Idle Power The average power consumption depends upon the transmit duty cycle Inrush Currents The DVL power supply must be specified with consideration to the instrument inrush current The inrush current inherent to the DVL is due to the current required to fully charge the front end internal electronics capacitors The capaci...

Страница 55: ...the system s transmit frequency While some ringing is nor mal in DVLs its magnitude must be minimized It is helpful to review the transmitted acoustic signal associated with DVLs in order to fully characterize the phenomenon of ringing The DVL transmits an acoustic pulse into the water The main lobe of this pulse bounces off of the sea bottom bottom track or particles in the water column water tra...

Страница 56: ...w Advantages Well will not fill with air bubbles caused by the ship moving through the surface water Flow noise is reduced The well can be filled with fresh water to limit corrosion Barnacles cannot grow on the transducer faces Barnacle growth is the number one cause of failure of the transducer beams The transducer is protected from debris floating in the water Disadvantages The range of the DVL ...

Страница 57: ... are very good for use as a DVL window The thick ness of the materials depends on the frequency you intend to use and the weight of the water inside the window as noted above Table 10 is provided as a guide for choosing the maximum thickness window to use Table 10 Window Thickness Frequency Thickness 600 0 25 inches One concern with window selection is that it has be able to support the weight of ...

Страница 58: ...receiver in some cases up to 40 of the carrier frequency of the DVL or if the other device has a harmonic component that is within the DVL frequency receive bandwidth Initiating a well conceived triggering scheme triggering the interfering device the DVL or both will keep the interfering device from operating during the DVL s transmit and receive period It is im portant to note that the TRDI recei...

Страница 59: ...lied by the DVL firmware Second it is easier to measure and account for separate horizontal and vertical scale factor errors if the velocity is already in instrument or ship coordinates For the majority of applications instru ment or ship coordinates will be the optimum solution For more advanced applications the instrument can output velocity in beam coordinates The ad vantage of using beam coord...

Страница 60: ...h only three beams are able to have adequate reflection from the bottom while the fourth beam is not The three beam solution makes it possible to operate in such severe environments Ping Timing It is usually desirable to minimize the time it takes a Pathfinder to complete a ping cycle because this ena bles faster data update rates It is important to note that using the Water Layer Track in additio...

Страница 61: ...d over the full working range of altitudes in cluding an altitude beyond bottom track range These tests should be made with water mass layer meas urement both on and off Operational and Setup Considerations Unfavorable Environments There are certain environmental conditions where the DVL s errors may be large or where the instrument does not function at all In the surf zone where waves are activel...

Страница 62: ...her Self Deploy and never look for Trigger again or Ping once and then go back to waiting for Trigger The input trigger voltage is 3 3VDC to 7VDC Design Considerations Bench Test To avoid problems when the DVL is installed in the final system it is helpful to perform a bench test prior to installation In the bench test the DVL should be exercised along with all the other components that will be in...

Страница 63: ...ill also work Initial Shakedown Deployment Troubleshooting Checklist This list contains the different tasks that should be performed on the site where you experience data qual ity issue s Identify Unit Prepare a separate log file If using TRDI Toolz press the Log icon or add at the beginning of your logged deployment data the returns from the following commands or if using TRDI Toolz you can eithe...

Страница 64: ...um in contact with water is a relevant test If possible run at least one PA test on the deployment site Provide Unit Setup Provide a text file with the commands sent to the unit during deployment Pre or Suffix it Script_File_ Vehicle_or Deployment_Name_and or_Date Time_Goes_Here txt If you do not send commands and use an unknown user default setting query the following groups of commands B B C C E...

Страница 65: ...ts or ensemble numbers to locate region s showing the unexpected data be havior Provide Additional Data for Analysis by TRDI If the data you recorded does not match alternate instrumentation providing the same data in the same reference frame please provide the other device s data in a text file or an ASCII Text comma or other ASCII character delimited format file If none of the above are feasible...

Страница 66: ...y slow because writ ing the data to the recorder is time consuming Try not to change depths quickly so the unit won t have trouble keeping up with at the lower ping rate After the test you can download the data off the loop recorder by connecting to the Pathfinder and opening a TRDI Toolz session see Connecting to the Pathfinder Then change the baud rate to 115200 by entering the CB811 command The...

Страница 67: ...it receives from the Pathfinder and then plots the resulting frequency response in a graphical form for each sonar channel in terms of RSSI versus Fre quency RSSI is a Teledyne RD Instruments nomenclature for Received Signal Strength Intensity in A D counts The frequency span is centered at the carrier frequency for Pathfinder this is 614 400 Hz and spans 12 5 bandwidth in NB mode from for Pathfin...

Страница 68: ... 7 to 36 Volts DC Set the current limit to 1 5A for Pathfinder 600 3 Connect to the computers comport 4 Start the TRDI Toolz software and establish communication with the Pathfinder After sending a break you will see something like the following The firmware version may be different Pathfinder Teledyne RD Instruments c 2017 All rights reserved Firmware Version 67 xx 5 Type CB811 ENTER then type CK...

Страница 69: ...k again to zoom out Mouse Over By placing the cursor over a frequency of interest a mouse over window will appear with more infor mation about that frequency and amplitude Examples of Clean FFT Plots No Interference The following is a screen shot of a typical clean 512 sample FFT of a 614 400 kHz Pathfinder The bandwidth of the plot is approximately 23 to 24 and is typical of the Pathfinder FFT in...

Страница 70: ...erference term at the center frequency on Beam 2 and smaller interfer ence terms on Beam 4 at center frequency and at about 630 kHz just to the right of center frequency No tice the Filtered Data Test Results in the upper left of the screen for beam 2 has a Yellow background color indicating Marginal for its score The following interference is on all channels and at 710 kHz ...

Страница 71: ...amplitude is stronger than these very weak interfering terms The following types of interference will have significant effects on accuracy of water profiling and bottom track and should cause failures of the Built in Tests The first image shows Beam 3 at 546 kHz 20 dB in and on beams 1 2 and 4 in the 2nd image Notice that the filter function is off and you still clearly see that you have an interf...

Страница 72: ...htly different from the NGSPFFT thus you will find similarities in data pro vided You will need to change the way you run it by following these steps instead 1 In QCMon after you set Comm Port and clicked on the right Baudrate using Comm Bau drate click on Comm BREAK and you should see the Pathfinder DVL banner as depicted be low Pathfinder DVL Teledyne RD Instruments c 2017 All rights reserved Fi...

Страница 73: ...Acoustic pulses It is also advised to do the same with the DVL Built in test and go back to the terminal and send PT200 for each of these scenarios To do so Go To Test STOP then Go To Comm Termi nal and then send PT200 Same as the FFT you will have to take snapshots for each scenario Matlab Output Variable Definitions The following includes a basic definition of the Matlab output variable definiti...

Страница 74: ...o Amplitude beam 2 SerEA3cnt Echo Amplitude beam 3 SerEA4cnt Echo Amplitude beam 4 SerEnsembles Number of ensembles SerErmmpersec Error velocity in mm s SerHour Hour time SerHund Hundredths of a second time SerMagmmpersec Magnitude in mm s SerMin Minute time SerMon Month time SerPG1 Percent good beam 1 SerPG2 Percent good beam 2 SerPG3 Percent good beam 3 SerPG4 Percent good beam 4 SerSec Seconds ...

Страница 75: ...bject to Restrictions Contained on the Cover Page Page 63 Chapter 3 COLLECTING DATA In this chapter you will learn PathFinder General Deployment Flow Creating or Modifying Command Files Compass Calibration Sending Commands to the PathFinder External Sensor Setup ...

Страница 76: ...r 3 Collecting Data DVL QA QC Set the DVL s Clock Test the DVL PA FFT etc DVL Setup Run TRDI Toolz and send command script Refer to the PathFinder DVL Guide Chapter 3 CollectingData Install the DVL in the vehicle Refer to the PathFinder DVL Guide Chapter 2 System Integration Communication and Power Setup Connect the DVL Power COMM cable pigtail cables are provided with the PathFinder DVL Refer to ...

Страница 77: ...nction of each command It is a good idea to keep the comments and edit them when making command changes The following shows an example printout of a command file Pathfinder type 600 kHz Pathfinder Setup name Pathfinder txt Setup type Bottom Track only NOTE Any line beginning with a semicolon in the first column is treated as a comment and is ignored by the software Modified Last 18 March 2015 Path...

Страница 78: ... specialized attitude data types Phased Array transducer default EE0000010 Set Heading Bias to 0 degrees NOTE Set EV local magnetic declaration 100 EV00000 Select type of external sensor to use EY 0 0 0 0 0 0 0 0 Set output data format to PD0 PD0 Save this setup to non volatile memory in the Pathfinder CK Start pinging CS The commands shown in Table 14 explain each command set by the example comma...

Страница 79: ...ES Salinity EX10111 Coordinates Use Tilts 3 beam solution bin map ping Sets coordinate system use tilts allow 3 beam solutions and allow depth cell bin mapping see EX Coordinate Transformation EZ22000010 Sensor source Calculate speed of sound from internal sensor readings Temperature see EZ Sensor Source TE00 00 00 00 Time per ensemble Ping as fast as possible see TE Time Per Ensemble TP00 00 00 T...

Страница 80: ...ult EE0000010 see EE Environmental Data Out put EV00000 EV 17999 to EV18000 Sets the Heading Variation in degrees Set EV local magnetic declina tion 100 see EV Heading Bias PDx PD0 default PD4 PD5 PD6 Sets the output data format see PD0 Output Data Format CK Keep parameters as user defaults If power is lost and then restored all commands will be restored as last sent see CK Keep Parameters Sent ri...

Страница 81: ...to set the clock click Tools PC Time to ADCP 5 To test the system use the PA command 6 To send the command file on the Tools menu select Script Editor 7 Click the Open icon and select the file to run from the scroll down list If no extension is given for the script file an extension of txt is assumed 8 Click the Send icon Teledyne RD Instruments does not recommend the use of entering commands one ...

Страница 82: ...April 2018 Pathfinder DVL Guide Page 70 EAR Controlled Technology Subject to Restrictions Contained on the Cover Page NOTES ...

Страница 83: ...pril 2018 EAR Controlled Technology Subject to Restrictions Contained on the Cover Page Page 71 Chapter 4 MAINTENANCE In this chapter you will learn How to spot problems How to do periodic maintenance items on the PathFinder ...

Страница 84: ...6 75BK6087 00 Kit Field Service ROV Pathfinder P N Description QTY M4WASHSMOD WASHER SMALL OD 8MM SST 14 M4WASHSPL WASHER SPLIT LOCK SST 8 M4WASHNYLON WASHER FLAT 9MM OD NYLON 8 M4X0 7NUT NUT HEX SST 8 91145A148 ISOLATOR 1 4 LONG SCREW 8 NYLON 8 M4X0 7X25SH SCREW BUTTON SOCKET HEAD 316 SST 8 81B 4146 00 ANODE PIONEER 300 2 810 4106 00 ANODE SMALL OD 4 M5X0 8X10FH SCREW FLAT HEAD SST 2 M2 5X0 45X8F...

Страница 85: ...e 17 75BK6089 00 Kit Field Service OEM Pathfinder P N Description QTY 5020 SILICONE LUBRICANT 4 PACK 2 2 037 O RING FACE SEAL DURO 70 2 84Z 6000 00 TOOL BAG CANVAS 1 7289A13 KEY HEX 2 5MM 1 5503A37 L KEY HEX 2MM 1 81B 6042 00 O RING TOOL TELEDYNE 1 95B 6116 00 Pathfinder DVL Documentation CD 1 95B 6117 00 Pathfinder DVL Quick Start Card 1 90D 8002 00 TRDI Toolz Software CD 1 Table 18 75BK6090 00 K...

Страница 86: ...he cable connectors for cracks or bent pins Inspect the full length of the cable for cuts nicks in the insulation and exposed conductors before each deployment Repair of the connectors should only be done by TRDI The connector is made of rubber and as a general maintenance item TRDI recommends that the connector be replaced every five years or whenever visible signs of wear or corrosion appear Hou...

Страница 87: ...r a deployment clean and remove any accumulated sand or mud from the both the connector on the Pathfinder DVL and the socket on the cable To clean the connectors 1 Flush the connector pins and sockets with soap and fresh water deionized water if available to remove all dirt grit and lubricant 2 Rinse out with alcohol allowing the connector to air dry Do NOT use spray based contact cleaner The use ...

Страница 88: ...htly abraded to allow the antifouling coating to adhere As a rule the surface must be kept smooth unless an antifouling coating will be applied Removing Biofouling To remove foreign matter and biofouling 1 Remove soft bodied marine growth or foreign matter with soapy water Waterless hand cleaners remove most petroleum based fouling Do not use power scrubbers abrasive cleansers scouring pads high p...

Страница 89: ...remove and replace the zinc anode s 1 Remove the RTV from the anode screw heads Remove the screws 2 The anode may stick to the Pathfinder because of the RTV used during assembly To break this bond first place a block of wood on the edge of the anode to protect the housing anodizing and paint Carefully strike the block to loosen the anode 3 Clean the bonding area under the anode Remove all foreign ...

Страница 90: ...y cause corrosion damage Use isolating bushings when mounting the Pathfinder to a metal structure Do not use zinc anodes with an iron content of more than 0 0015 The major factor controlling the electrical current output characteristics of zinc in seawater is the corrosion film that forms on the surface of the zinc Corrosion product films containing iron have a high electrical resistance As little...

Страница 91: ...V Pathfinder or 757BK6089 00 Kit Field Service OEM Pathfinder These maintenance kits includes all of the hardware O rings and desiccant required to seal the system Instructions on how to open and close the housing are included with the ROV field service kit Updating the DVL Firmware To update the Pathfinder DVL firmware 1 Connect the serial cable and apply power as described in Connecting to the P...

Страница 92: ...April 2018 Pathfinder DVL Guide Page 80 EAR Controlled Technology Subject to Restrictions Contained on the Cover Page NOTES ...

Страница 93: ...Technology Subject to Restrictions Contained on the Cover Page Page 81 Chapter 5 RETURNING SYSTEMS TO TRDI FOR SERVICE In this chapter you will learn How to pack and ship the PathFinder How to get a RMA number Where to send the PathFinder for repair ...

Страница 94: ...ity All costs associated with customer applied coatings will be at the customer s expense When shipping the Pathfinder through a Customs facility be sure to place the unit so identifying labels are not covered and can be seen easily by the Customs Inspector Failure to do so could delay transit time TRDI strongly recommends using the original shipping crate whenever transporting the Pathfinder Use ...

Страница 95: ...of the Field Service Engineer that knows about the issue When you need the instrument returned TRDI s Customer Service will then respond with the RMA number for the shipment Please include this number on all packages and correspondence Step 2 Provide a MSDS as necessary Please provide a Material Safety Data Sheet MSDS if the system transducer is painted with antifouling paint Step 3 Ship via air f...

Страница 96: ...ns for the return of the instrument do one of the following Contact Customer Service Administration at rdiefs teledyne com Call 33 0 492 110 930 When requesting a RMA number please give us the following information What is being shipped include the serial number When you plan to send the shipment What issue s need to be corrected Name of the Field Service Engineer that knows about the issue When y...

Страница 97: ...following in formation Contents of the shipment Value Purpose of shipment example American made goods returned for repair Any discrepancy or inaccuracy in the Customs statement could cause the shipment to be delayed in Customs Step 5 Send the Following Information by Fax or Telephone to TRDI Attention Sales Administration Phone 33 0 492 110 930 Fax 33 0 492 110 931 Detailed descriptions of what yo...

Страница 98: ...April 2018 Pathfinder DVL Guide Page 86 EAR Controlled Technology Subject to Restrictions Contained on the Cover Page NOTES ...

Страница 99: ... Guide April 2018 EAR Controlled Technology Subject to Restrictions Contained on the Cover Page Page 87 Chapter 6 SPECIFICATIONS In this chapter you will learn Operational Specifications Outline Installation Drawings ...

Страница 100: ...nt velocities throughout the wa ter column i e Water Profile When bottom tracking the Pathfinder calculates velocity data relative to itself The velocity data has both speed and direction information If the Pathfinder is moving and is within range of the bottom it can ob tain a velocity from returns off the bottom The bottom track information can be used to calculate the ab solute velocity of the ...

Страница 101: ...rementat 1 m s 4 7 5 cm s 2m bin size Standard Deviation of WP measurementat 3 m s 4 7 5 cm s 2m bin size Standard Deviation of WP measurementat 5 m s 4 7 7 cm s 2m bin size Resolution 1 mm s Cell Sizes 0 1 to 4 m Number of Depth Cells 1 to 255 Acoustic Center Frequency 614 4 kHz Source Level re 1μPa 215 dB 1m 1 Way Beam Width 2 2 Number of Beams 4 phased array Beam Angle 30 Bandwidth nominal 6 25...

Страница 102: ...1 3 2 2Nd Ed 1997 3 Shock Operation IEC 1010 1 Electrical Specifications Parameter Value DC Input 10 7 to 36 VDC 24 VDC typical Surge Current 4 A Average Power while transmitting 24VDC 32 VDC 2 5W 3 3 W with Ethernet enabled Average Quiescent Power 1W 2 W with Ethernet enabled Communications Specifications Parameter Value Communications Ethernet RS 232 Master Channel Baud Rate 1200 to 115 200 bps ...

Страница 103: ...Pathfinder DVL Guide April 2018 EAR Controlled Technology Subject to Restrictions Contained on the Cover Page Page 91 Figure 28 Outline Installation Drawing OEM ...

Страница 104: ...April 2018 Pathfinder DVL Guide Page 92 EAR Controlled Technology Subject to Restrictions Contained on the Cover Page Figure 29 Outline Installation Drawing ROV Pathfinder ...

Страница 105: ...athfinder DVL Guide April 2018 EAR Controlled Technology Subject to Restrictions Contained on the Cover Page Page 93 Chapter 7 COMMANDS In this chapter you will learn Command formats Command descriptions ...

Страница 106: ...RDI initially sets the Pathfinder at the factory to communicate at 115200 baud no parity and one stop bit Immediately after power is applied to the Pathfinder it enters the STANDBY mode Send a software break may be sent by sending either or When the Pathfinder first powers up or receives a BREAK signal it responds with a wake up message similar to the one shown below The Pathfinder is now ready to...

Страница 107: ... Data Format When data collection begins the Pathfinder uses the settings last entered user settings or the factory default settings The same settings are used for the entire deployment If the user setting are saved see CK Keep Parameters then the Pathfinder will always use the user settings until a factory default is re called or use the last entered settings if any or until power is turned off T...

Страница 108: ... dm BMn 8 Yes Bottom Mode 8 9 BNx y 0 999 Yes Speed log hold drop control x hold 1 clear 0 y 0 to 999 seconds BOk 025 Yes Distance measure filter constant 0 to 100 1 100th s BPnnn 1 Yes Bottom Track Pings per Ensemble BQ 32768 Yes Set outvel when over range limit mm s BS N A Yes Clear distance traveled BXnnnn 01100 Yes Max Depth dm BYnn 20 No Transmit Length pct BZ 1 No Low Altitude Mode CBnnn 811...

Страница 109: ...00 00 No Time per ensemble hours minutes seconds 100th of seconds TF N A No Set First Ping Time yy mm dd hh mm ss TPmm ss ff 00 00 00 No Time between pings minutes seconds 100th of seconds TSyy mm dd hh mm ss N A No Set real time clock year month day hours minutes seconds TTccyy mm dd hh mm ss N A No Set real time clock Y2k compatible century year month day hours minutes sec onds WAnnn WAnnn 050 Y...

Страница 110: ... groups To display help for one command group enter x where x is the command group to view When the Pathfinder displays the help for a command group it also shows the format and present setting of those com mands To see the help or setting for one command enter the command followed by a question mark For example to view the WP command setting enter WP Examples See below Pathfinder DVL Teledyne RD ...

Страница 111: ...ents c 2017 All rights reserved Firmware Version 67 xx Software Breaks can be used with TRDI Toolz From the Break button drop down menu select Hard Break or Soft Break as needed for the DVL to wake up If Soft Break is selected the Pathfinder will use the string instead of a break OL Display Feature List Purpose Lists the special firmware upgrades that are installed Format OL Description Lists spec...

Страница 112: ...isplay Banner Purpose Displays the Pathfinder banner Format Y Recommended Setting Use as needed Description Displays the Pathfinder banner Example Y y Pathfinder Teledyne RD Instruments c 2017 All rights reserved Firmware Version 67 xx Current time is 17 04 10 13 32 08 80 Ethernet detected Yes MAC Address is IP Address is ...

Страница 113: ...ttom Mode 8 9 101 BN 0 999 Speed Log Hold Drop Control BO 025 Distance Accum Filter Tau 1 100ths BP 1 Number of BT Pings in ensemble 0 999 BQ 32768 Set outvel when over range limit mm s BS Clear Distance Traveled BX 01100 Max Depth dm BY 20 Transmit Length pct BZ 1 Low Altitude Mode 0 off 1 ON B Display B Command Menu BP Bottom Track Pings per Ensemble Purpose Sets the number of bottom track pings...

Страница 114: ... default 2900 dm Now if the Pathfinder loses track of the bottom it will stop searching for the bottom at 210 dm 21 m rather than spend time searching down to 2900 dm 290 m The BX command limits the search range for bottom tracking If the Pathfinder loses lock on the bottom it goes into search mode which iteratively searches increasing ranges until either the bottom is found or the maximum range i...

Страница 115: ...WMass Params min near far dm BM 8 Bottom Mode 8 9 10 BN 0 999 Speed Log Hold Drop Control BO 025 Distance Accum Filter Tau 1 100ths BQ 32768 Set outvel when over range limit mm s BS Clear Distance Traveled BY 20 Transmit Length pct BZ 1 Low Altitude Mode 0 off 1 ON B Display B Command Menu B1 Blank Range with Bad Velocity Purpose Sets the Bottom Track range to zero whenever velocity correlation dr...

Страница 116: ...n very useful to prevent the DVL from locking onto interfering signals in noisy environments BA Evaluation Amplitude Minimum Purpose Sets the minimum value for valid bottom detection Format BAnnn The BA commands work with or without the sign For example using BA or BA are both valid commands Range nnn 1 to 255 counts Default BA24 The default setting for this command is recommended for most applica...

Страница 117: ...n For example using BE or BE are both valid commands Range nnnn 0 to 9999 mm s Default BE1000 The default setting for this command is recommended for most applications The default setting is set purposely high and as a result effectively disabled We recommend extreme caution and testing before changing this setting Data rejected by this command is lost and cannot be regained Description The Pathfi...

Страница 118: ... the Gain Switch Altitude set by the BI command When the altitude is above the Gain Switch Altitude Switch to high gain when RSSI is below the low threshold set by the BH command Switch to low gain when RSSI is above the high threshold set by the BH command Using two thresholds provides hysteresis so that the gain does not need to switch on every ping when the RSSI is at some in between level BI G...

Страница 119: ...e Navigation Parameters Data Format for data type definition Range 0 or 1 for each digit Default BJ 100 000 000 The default setting for this command is recommended for most applications Description This command controls the data types that are output in the ensemble Include the spaces between the groups of three digits for readability The command is accepted with or without spaces BK Water Mass La...

Страница 120: ...be true Far Near Min The Far boundary cannot exceed 80 of the range to bottom of the beam with the short est altitude If the bottom comes up so that the Far boundary does not meet this require ment then the Far boundary is automatically adjusted to ensure this requirement is met unless the minimum layer size cannot be maintained in which case the water track ping is skipped and the data is marked ...

Страница 121: ...to Bottom Mode 8 except that it does not have a shallow mode BM101 enables the Side Lobe coupling test Note that this command doesn t work in the non version of the menu it s expert only BN Speed Log Hold Drop Control Purpose Controls the behavior of the distance measure calculation when Bottom Track is lost Format BNx y The BN commands work with or without the sign For example using BN or BN are ...

Страница 122: ... following equation v k vnew 100 k vold 100 Where vnew is the current velocity measurement vold 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 accum...

Страница 123: ... energy consumption and the ability to detect the bottom with combined tilt slope of up to about 15 degrees Smaller values result in shorter transmits which use less energy but which may not fully ensonify the beam on the sea bottom especially if the instrument is tilted or if the bottom has a slope resulting in velocity bias Larger values result in longer transmit pulses up to a point which may a...

Страница 124: ...efault CB811 The Pathfinder defaults to CB811 115200 baud if this parameter has never been saved to non volatile memory Otherwise it uses the value last saved i e the last time a CK command was issued Description The Pathfinder can be set to communicate at baud rates from 1200 to 115200 see Chang ing the Pathfinder s Baud Rate The Pathfinder and the external device dumb terminal computer software ...

Страница 125: ...wing disconnected RJ45 Ethernet cable CE Ethernet Detected Yes Timed out waiting for response from Eth module Ethernet ON Example with connected RJ45 Ethernet cable CE Ethernet Detected Yes MAC Address is 00 90 C2 FA A2 73 IP Address is 192 168 1 100 Static Network Status Up Ethernet ON You must have the RJ45 connector plugged into the network switch for the CE command to return the Ethernet setti...

Страница 126: ... No ensemble data are sent out the RS 232 422 interface Example CF01010 selects manual ensemble cycling automatic ping cycling Hex ASCII data output and ena bles serial output When operating in HEX mode all console text appears in HEX including the prompt HEX 3E and any additional commands that are typed CK Keep Parameters Purpose Stores present parameters to non volatile memory Format CK The CR1 ...

Страница 127: ... Purpose Allows the Pathfinder to initialize to predefined parameters and start pinging within 10 seconds after power is applied or a break is received if no command is entered Format CTn The CT commands work with or without the sign For example using CT or CT are both valid commands Range n 0 to 1 0 Off 1 Turnkey Default CT0 The default setting for this command is recommended for most application...

Страница 128: ...o low transition 3 Pings after either low to high or high to low transition 4 Ping while trigger is low 5 Pings while trigger is high The polarity is defined as the electrical level at the connector J3 on the electronics enclosure see Table 2 Note that commanded time between pings TP takes higher precedence than this command That is the unit will ping on the next trigger after TP has been satisfie...

Страница 129: ...Pathfinder processing is interrupted and the DVL goes in the STANDBY mode RAM is maintained Example See below cz Powering Down A Hard Break will re wake the unit Note that this only works over serial not Ethernet Only a Hard Break will wake up the DVL from sleep Using a Software Break will not work Expert Control System Commands This section lists the expert Control System commands Commands that s...

Страница 130: ...mations EZ 10000010 Sensor Source c d h p r s t u E Display E Command Menu EA Heading Alignment Purpose Corrects for physical misalignment between Beam 3 and the heading reference Format EA nnnnn The EA command work ONLY without the sign Range nnnnn 17999 to 18000 179 99 to 180 00 degrees Default EA00000 Set as needed Description EA is a heading alignment angle referenced to Beam 3 used as a new z...

Страница 131: ...C value and calculates speed of sound using the values determined by ED ED Depth of Transducer ES ES Salinity and ET ET Temperature EZ also selects the source for ED ES and ET ED Depth of Transducer Purpose Sets the Pathfinder transducer depth Format EDnnnnn The ED command work ONLY without the sign Range nnnnn 0 to 65535 decimeters meters x 10 Default ED00000 Use the EZ command see EZ Sensor Sour...

Страница 132: ... and will be used in subsequent pings Example Convert heading values of 21 5 degrees to EH command values referenced to ship coor dinates Heading in hundredths 21 50º 100 2150 EH 2150 1 in front of 2150 is optional If the EZ Heading field 1 the Pathfinder overrides the manually set EH value and uses heading from the transducer s internal sensor If the EZ Heading field two the Pathfinder takes head...

Страница 133: ...h in hundredths 14 00 100 1400 Roll in hundredths 3 50 100 350 EP 1400 350 1 in front of 1400 is optional ER Roll Angle Purpose Sets the Pathfinder roll angle that will be used by the system if the corresponding EZ bit is set to 0 Format ER nnnnn The ER command works with or without the sign For example using ER or ER are both valid commands Range nnnnn 17999 to 18000 hundredths of a degree Defaul...

Страница 134: ...ture value Format ET nnnn The ET command works with or without the sign For example using ET or ET are both valid commands Range nnnn 500 to 4000 5 00 C to 40 00 C Default ET2100 Use the EZ command see EZ Sensor Source Description ET sets the temperature value of the water The Pathfinder uses ET in its speed of sound calculations see the primer The Pathfinder assumes the speed of sound reading is ...

Страница 135: ...n The EV command works with or without the sign For example using EV or EV are both valid commands Range nnnnn 17999 to 18000 1 100ths of a degree Default EV0 Set as needed Description EV is the heading angle that counteracts the local biasor magnetic variation declination between the Pathfinder and the heading source EV is added to heading either in ship or instrument coordinates for use in veloc...

Страница 136: ...sed but not the EV command If Bit 3 of the EX command is a 1 then Pitch Roll applied EX11xxx Earth coordinates Note 1 East North Vertical vectors relative to Earth Heading applied EA and EV commands used If Bit 3 of the EX command is a 1 then Pitch Roll applied EXxx1xx Use tilts pitch and roll in transformation Note 2 EXxxx1x Allows 3 beam solutions if one beam is below the correlation threshold s...

Страница 137: ...ernal SBG AHRS External Compass R Roll tilt 2 Manual ER see ER Roll Angle Not used Roll source specified by Pitch field Not used Roll source specified by Pitch field S Salinity Manual ES see ES Salinity Not Allowed External Salinity Sensor T Temp Manual ET see ET Temperature Internal transducer sensor External Temp Sensor U Up Down Orientation Manual EU see EU Up Down Orientation Not Allowed Not A...

Страница 138: ...must be sent with the sign Range Firmware switches see description Default EE 0000010 The default setting for this command is recommended for most applications Description Bits a and b reserved for future use Bits c and d are reserved for future use Bit e controls the output of Environmental Command Parameters Bit e one causes this data type to be output See Environmental Command Parameters Output...

Страница 139: ...and wants to correct the vertical velocity using the actual speed of sound the correction formula is 𝑉𝑉𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 𝑉𝑉𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑡𝑡 1 𝐶𝐶𝑢𝑢𝑢𝑢𝑢𝑢𝑢𝑢 2 1 4𝐶𝐶0 2 1 𝐶𝐶𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 2 1 4𝐶𝐶0 2 Where Cuser is the fixed speed of sound that was set by the user C0 1536m s Cactual is the speed of sound from a SOS sensor or computed from measured temp and salinity Voutput is the vertical velocity output by the DV...

Страница 140: ...the instrument and the ship s starboard axis Format EI nnnnn The EI command must be sent with the sign Range nnnnn 17999 to 18000 1 100ths of a degree Default EI0 Set as needed Description EI is a rotation about the ship s forward axis It is defined as the roll of the ship when the instrument is level For systems that have a roll source referenced to ship coordinates typical for vehicles use EI to...

Страница 141: ...oard axis It is defined as the pitch of the ship when the instrument is level For systems that are fixed in place on a moving vessel and that have an external pitch source or an internal pitch source use EJ to set the amount of rotation that the instru ment s y axis is physically offset from the ship s forward axis For systems that are stationary and have an internal compass EJ is typically set to...

Страница 142: ...acters MR 0 Set recorder on off 0 off 1 on MY Y Modem output M Display M Command Menu Recorder Command Descriptions This section lists the Recorder commands ME Erase Recorder Purpose Erase the contents of the recorder Format ME ErAsE Use as needed Description ME ErAsE erases the recorder memory To make it more difficult to accidentally erase the data the word erase must be typed with exactly one s...

Страница 143: ...475 000 would contain data for the deployment named Pathfinder the 3281997475 in the filename is the number of seconds since Jan uary 1st 1900 The file extension is always 000 Waiting 25 seconds and downloading the same data again the file name will change to Pathfinder3281997500 000 MR Set Recorder On Off Purpose Turns the recorder on or off Format MRn Range n 0 turn recorder off n 1 turn recorde...

Страница 144: ...k the major modules and signal paths TRDI recommends run ning this command before a deployment These tests check non volatile memory and ROM of the processor board Also the transmit and receive circuitry is tested using the PT3 and PT5 tests respectively See PT3 Receive Test and PT5 Transmit Receive Continuity Check Test for more details Submerge the transducer face in a few inches of water when r...

Страница 145: ...2 test updates the data inline using cursor commands and the PC20 test performs the same test but output the data in a line by line fashion to accommodate terminals that do not properly support cur sor commands pc2 Sensor data is sampled and displayed in a loop The number to the right of each backslash indicates the ID of the sensor used for that data Press any key to exit the loop Temp degC Press...

Страница 146: ...0048 c Compare the Values to the threshold shown below to determine leak status Leak No Leak Sensor Not Connected Less than 1 24 Volts 1 25 to 2 3 Volts Greater than 2 3 Volts In our example above Leak Sensor A is operating properly and did not detect a leak while Leak Sensor B is detecting a leak PS Display System Parameters Purpose Displays Pathfinder system configuration data Format PSn Range n...

Страница 147: ...t are typed PS3 Instrument Transformation Matrix PS3 sends information about the transducer beams The Pathfinder uses this information in its coordi nate transformation calculations for example the output may look like this ps3 Instrument Transformation Matrix 1 004537 1 004879 0 005736 0 006243 0 007302 0 005948 1 000888 0 996154 0 289602 0 288031 0 286187 0 290252 0 707468 0 707612 0 706830 0 71...

Страница 148: ...nsmit Receive Loop Test PT9 Transmit Memory Test PT10 Receive Memory Test PT11 FRAM Test PT12 RAM Test PT13 ROM Test PT14 Recorder Test PT19 Ringing Test PT3 Receive Test This test displays receive path characteristics This test must be done with the transducer in water Submerge the transducer face in a few inches of water when running the PT3 test The test may fail in air and if so is not relevan...

Страница 149: ...plitude level of the system in counts this is used as a reference in the test The transducer electronics connection is tested by comparing the amplitude level in the middle of the transmit pulse to the noise level If it is above a threshold the transducer electronics are connected to the electronics enclosure The test to determine whether the ceramics are connected to the transducer electronics is...

Страница 150: ...ress bus by writing consecutive number to addresses that have only 1 bit set i e write 1 to 0x00000001 then write 2 to 0x00000002 then write 3 to 0x00000004 and so on After writing to these locations we read the data back and verify that it is what we d expect Data Test This tests the data bus in FRAM memory by writing data values that have only one bit set i e 0x01 0x02 0x04 to consecutive locati...

Страница 151: ...random sector in each flash chip which is fairly quick The PT14 recorder test will quickly fail with an er ror message if the recorder has not been erased first pt14 Performing Recorder Flash Test Blank check MEM0 65536 Blank check MEM1 32768 Rec Flash Pattern Test Testing 10 addresses in sector 36 Rec Flash Pattern Test Testing 10 addresses in sector 33 Recorder Flash Test PASS PT19 Ringing Test ...

Страница 152: ...Table 29 Data Stream Selections Format Description PD0 PD0 output is a binary output that is somewhat configurable via other commands such as WD BJ EE and can send all bottom track water track profile and sensor data being collected by the DVL For a full description of the PD0 format see PD0 Output Data Format PD4 PD4 Sends CSS DVL output data structure without sensor and made good data For a full...

Страница 153: ...1 Ethernet Data Streams Bitmask PD0 4 5 6 13 Default PE 00000 The default setting for this command is recommended for most applications Description When the Pathfinder is configured for Ethernet operation the PE command enables each output format selected from PD0 PD4 PD5 PD6 and PD13 using the Network Config uration page see Using the Network Configuration Page allowing multiple formats to be ena...

Страница 154: ... Default TE00 00 00 00 Set as needed Description During the ensemble interval set by TE the Pathfinder transmits the number of pings set by the WP command see WP Pings Per Ensemble If TE 00 00 00 00 the Path finder starts collecting the next ensemble immediately after processing the previous en semble Example TE01 15 30 00 tells the Pathfinder to collect data ensembles every 1 hour 15 minutes 30 s...

Страница 155: ...AK clears the TF time 4 The delimiters are optional and may be spaces TP Time Between Pings Purpose Sets the minimum time between pings Format TPmm ss ff Range mm 00 to 59 minutes ss 00 to 59 seconds ff 00 to 99 hundredths of seconds Default TP00 00 00 Set as needed Description The Pathfinder interleaves individual pings within a group so they are evenly spread throughout the ensemble During the e...

Страница 156: ...d sets hundredths of seconds to zero 2 If the entry is not valid the Pathfinder sends an error message and does not update the real time clock TT Set Real Time Clock Y2k Compliant Purpose Sets the Pathfinder s internal real time clock Format TTccyy mm dd hh mm ss Range cc century 19 20 yy year 00 99 mm month 01 12 dd day 01 31 hh hour 00 23 mm minute 00 59 ss second 00 59 Set using TRDI Toolz Exam...

Страница 157: ... 1 255 WP 000 Number of Pings 0 16384 WS 0200 Bin Size cm WT 0000 Transmit Length cm WV 0383 Ambiguity Velocity 20 700cm s W Display W Command Menu All water profile commands can be accessed without a leading character The descriptions for WA WC WE WJ and WT commands are described in the Expert Water Profiling Command Descriptions section WB Bandwidth Purpose Sets the profiling bandwidth sampling ...

Страница 158: ...t to one means output data zero means suppress data 2 If WP zero the Pathfinder does not collect water profile data 3 Spaces in the command line are allowed 4 Status data is not used as it does not mean anything WF Blank after Transmit Purpose Moves the location of first depth cell away from the transducer head to allow the transmit circuits time to recover before the receive cycle begins Format W...

Страница 159: ...d when output WP Pings per Ensemble Purpose Sets the number of pings to average in each data ensemble Format WPnnnnn Range nnnnn 0 to 16384 pings Default WP00000 Set as needed Description WP sets the number of pings to average in each ensemble before sending recording the data 1 If WP zero the Pathfinder does not collect water profile data 2 The Pathfinder automatically extends the ensemble interv...

Страница 160: ...sured along the beam WV is used to improve the single ping standard deviation The lower the value of the WV command the lower the single ping standard deviation Set the WV command based on the maximum apparent velocity Pathfinder motion plus water speed The following formula is used to determine the setting of the WV com mand WV Max Apparent Vel cm s sin beam angle 1 2 Be aware that the firmware w...

Страница 161: ...etting for this command is recommended for most applications Description The Pathfinder uses the WA command to screen water track data for false targets usu ally fish WA sets the maximum difference between echo intensity readings among the four profiling beams If the WA threshold value is exceeded the Pathfinder rejects ve locity data on a cell by cell basis for either the affected beam fish detec...

Страница 162: ...commend extreme caution and testing before changing this setting Data rejected by this command is lost and cannot be regained Description The WE command sets a threshold value used to flag water current data as good or bad If the Pathfinder s error velocity value exceeds this threshold it flags data as bad for a given depth cell The WE command screens for error velocities in both beam and trans fo...

Страница 163: ... WT is set to zero the transmit signal is set to the depth cell size WS command This is the default setting Setting WT allows selection of a transmit length different than the area depth cell size sampling length WX Set single beam transmit mode Purpose Sets the single beam transmit mode Format WX n The WX command works with or without the sign For example using WX or WX are both valid commands Ra...

Страница 164: ...April 2018 Pathfinder DVL Guide Page 152 EAR Controlled Technology Subject to Restrictions Contained on the Cover Page NOTES ...

Страница 165: ...ubject to Restrictions Contained on the Cover Page Page 153 Chapter 8 OUTPUT DATA FORMATS In this chapter you will learn Choosing a Data Format PD0 Output Data Format Special Output Data Formats PD4 PD5 PD6 and PD13 External Sensor Suite Interface Descriptions ...

Страница 166: ... the prompt HEX 3E and any additional commands that are typed Individual parameters within a data string may be enabled disabled All binary output formats have the option of outputting data in HEX ASCII instead of true binary using the CF command see CF Flow Con trol HEX ASCII is an ASCII representation of the binary data Binary output formats include PD0 PD4 and PD5 Text output formats include PD...

Страница 167: ...tude Echo Intensity Percent Good Bottom Range Bottom Velocity SOG Water Mass Layer Velocity STW Bottom Track Configuration Distance Over Ground Sea Bird Binary ASCII NMEA Serial Output Recorded on PC Card PD0 PD4 PD5 None None SOG Speed Over Ground STW Speed Through Water The PD0 Bottom Track output data format assumes that the instrument is stationary and the bottom is moving See the EX Coordinat...

Страница 168: ...type of leader ID 0080h This distinction is based on the dynamic other distinctions are present such as velocity types such as data type of leader ID 0100h which groups all the Water Profile Velocity data and leader ID 0600h stores all Bottom Track Velocity data The Pathfinder sends all the data for a given type for all depth cells and all beams before the next data type begins The PD0 Header ID i...

Страница 169: ...R DOPPLER PROCESSING 62 BYTES SD command 541Ch STATUS 24 BYTES 541Dh IMU DATA 60 BYTES 541Eh EULER Data 34 BYTES 541Fh SHIP MOTION 48 BYTES ALWAYS OUTPUT CHECKSUM 2 BYTES Figure 30 PD0 Standard Output Data Buffer Format Some data outputs are in bytes per depth cell For example if the WN command 30 default WD com mand WD 111 110 000 default WP command 0 BP command 0 the required data buffer storage...

Страница 170: ...HEADER ID 7Fh 2 DATA SOURCE ID 7Fh 3 NUMBER OF BYTES IN ENSEMBLE LSB 4 MSB 5 SPARE 6 NUMBER OF DATA TYPES 7 OFFSET FOR DATA TYPE 1 LSB 8 MSB 9 OFFSET FOR DATA TYPE 2 LSB 10 MSB 11 OFFSET FOR DATA TYPE 3 LSB 12 MSB SEQUENCE CONTINUES FOR UP TO N DATA TYPES 2N 5 OFFSET FOR DATA TYPE N LSB 2N 6 MSB See Table 32 for a description of the fields Figure 31 Binary Header Data Format ...

Страница 171: ...ed for collection This field will therefore have a value of six 4 data types 2 for the Fixed Variable Leader data 13 16 7 8 Address Offset for Data Type 1 Offset for Data Type 1 This field contains the internal memory address offset where the Pathfinder will store information for data type 1 with this firm ware always the Fixed Leader Adding 1 to this offset number gives the absolute Binary Byte n...

Страница 172: ...PU F W VER 4 CPU F W REV 5 SYSTEM CONFIGURATION LSB 6 MSB 7 REAL SIM FLAG 8 LAG LENGTH 9 NUMBER OF BEAMS 10 NUMBER OF CELLS 11 PINGS PER ENSEMBLE LSB 12 MSB 13 DEPTH CELL LENGTH LSB 14 MSB 15 BLANK AFTER TRANSMIT LSB 16 MSB 17 PROFILING MODE 18 LOW CORR THRESH 19 NO CODE REPS 20 21 ERROR VELOCITY MAXIMUM LSB 22 MSB 23 TPP MINUTES 24 TPP SECONDS 25 TPP HUNDREDTHS 26 COORDINATE TRANSFORM 27 HEADING ...

Страница 173: ...SB 30 MSB 31 SENSOR SOURCE 32 SENSORS AVAILABLE 33 BIN 1 DISTANCE 34 35 XMIT PULSE LENGTH LSB 36 MSB 37 SPARE LSB 38 MSB 39 FALSE TARGET THRESH 40 SPARE 41 TRANSMIT LAG DISTANCE LSB 42 MSB 43 SPARE LSB 50 MSB 51 SYSTEM BANDWIDTH LSB 52 MSB 53 SPARE 54 SPARE 55 System Serial Number LSB 58 MSB See Table 33 for a description of the fields Figure 32 Fixed Leader Data Format ...

Страница 174: ...1 600 kHz SYSTEM 1 0 0 1200 kHz SYSTEM 1 0 1 2400 kHz SYSTEM 0 CONCAVE BEAM PAT 1 CONVEX BEAM PAT 0 0 SENSOR CONFIG 1 0 1 SENSOR CONFIG 2 1 0 SENSOR CONFIG 3 0 XDCR HD NOT ATT 1 XDCR HD ATTACHED 0 DOWN FACING BEAM 1 UP FACING BEAM MSB BITS 7 6 5 4 3 2 1 0 0 0 15E BEAM ANGLE 0 1 20E BEAM ANGLE 1 0 30E BEAM ANGLE 1 1 OTHER BEAM ANGLE 0 1 0 0 4 BEAM JANUS CONFIG 0 1 0 1 5 BM JANUS CFIG DEMOD 1 1 1 1 ...

Страница 175: ...ing LSD 1 centimeter Range 0 to 9999 cm 328 feet 33 34 17 Signal Pro cessing Mode Contains the Signal Processing Mode This field will always be set to 1 35 36 18 WC Low Corr Thresh Contains the minimum threshold of correlation that water profile data can have to be considered good data WC Low Correlation Threshold Scaling LSD 1 count Range 0 to 255 counts 37 38 19 cr No code reps Contains the numb...

Страница 176: ...urce of environmental sensor data EZ Sensor Source These firmware switches indicate the following FIELD DESCRIPTION 1xxxxxxx CALCULATES EC SPEED OF SOUND FROM ED ES AND ET x1xxxxxx USES ED FROM DEPTH SENSOR xx1xxxxx USES EH FROM TRANSDUCER HEADING SENSOR xxx1xxxx USES EP FROM TRANSDUCER PITCH SENSOR xxxx1xxx USES ER FROM TRANSDUCER ROLL SENSOR xxxxx1xx USES ES SALINITY FROM CONDUCTIVITY SENSOR xxx...

Страница 177: ...ulse used Scaling LSD 1 centimeter Range 0 to 65535 cm 2150 feet 73 74 75 76 37 38 Spare Spare 77 78 39 WA False Tar get Threshold Contains the threshold value used to reject data received from a false target usually fish WA False Target Threshold Maximum Scaling LSD 1 count Range 0 to 255 counts 255 disables 79 80 40 Spare Contains the CX command setting Range 0 to 5 81 84 41 42 LagD Transmit lag...

Страница 178: ... 80h 2 00h 3 ENSEMBLE NUMBER LSB 4 MSB 5 RTC YEAR 6 RTC MONTH 7 RTC DAY 8 RTC HOUR 9 RTC MINUTE 10 RTC SECOND 11 RTC HUNDREDTHS 12 ENSEMBLE MSB 13 BIT RESULT LSB 14 MSB 15 SPEED OF SOUND LSB 16 MSB 17 DEPTH OF TRANSDUCER LSB 18 MSB 19 HEADING LSB 20 MSB 21 PITCH TILT 1 LSB 22 MSB 23 ROLL TILT 2 LSB 24 MSB 25 SALINITY LSB 26 MSB 27 TEMPERATURE LSB 28 MSB 29 MPT MINUTES 30 MPT SECONDS 31 MPT HUNDRED...

Страница 179: ...7 6 5 4 3 2 1 0 32 HDG STD DEV 33 PITCH STD DEV 34 ROLL STD DEV 35 ADC CHANNEL 0 36 ADC CHANNEL 1 37 ADC CHANNEL 2 38 ADC CHANNEL 3 39 ADC CHANNEL 4 40 ADC CHANNEL 5 41 ADC CHANNEL 6 42 ADC CHANNEL 7 43 ERROR STATUS WORD ESW LSB 44 45 46 MSB 47 SPARE 48 49 PRESSURE LSB 50 51 52 MSB 53 PRESSURE SENSOR VARIANCE LSB 54 55 56 MSB 57 SPARE 66 ...

Страница 180: ... 4 Ens Ensemble Number This field contains the sequential number of the ensemble to which the data in the output buffer apply Scaling LSD 1 ensemble Range 1 to 65 535 ensembles NOTE The first ensemble collected is 1 At rollover we have the following sequence 1 ENSEMBLE NUMBER 1 65535 ENSEMBLE NUMBER 65 535 ENSEMBLE 0 ENSEMBLE NUMBER 65 536 MSB FIELD 1 ENSEMBLE NUMBER 65 537 BYTE 12 INCR 9 10 11 12...

Страница 181: ... 0x50 RTC low battery 0x51 RTC time not set 0x60 Lost Nonvolatile pointers 0x61 Erase operation failed 0x62 Error writing from flash to buffer 1 0x63 Error writing from buffer 1 to flash 0x64 Timed out checking if page is erased 0x65 Bad return when checking page 0x66 Loop recorder Slate Full 0x70 Unable to write to FRAM 0x80 HEM data corrupt or not initialized 0x81 HEM data corrupt or not initial...

Страница 182: ... is spatially higher than Beam 4 The coordinate frame this data is referenced to is specified by the EP command Scaling LSD 0 01 degree Range 20 00 to 20 00 degrees 45 48 23 24 ER Roll Tilt 2 Contains the Pathfinder roll angle This value may be a manual setting ER Roll Angle or a reading from a tilt sensor For an up facing Pathfinder system positive values mean that Beam 2 is above the earth s hor...

Страница 183: ...VDD1 ADC Channel 3 VDD3 ADC Channel 4 Leak Sensor A ADC Channel 5 Leak Sensor B ADC Channel 6 Reserved ADC Channel 7 Reserved The values for ADC channels 0 through 5 are displayed by the PC4 command The values for ADC channels 4 and 5 are sampled dur ing pinging and are output in the Variable Leader for the PD0 output format and in the PD6 output format See PC5 50 command for more details on how t...

Страница 184: ...e details on how to decode the raw A D counts into Leak Status 143 146 72 73 Tx Voltage Voltage delivered to transducer during transmit See Transducer Voltage Current and Impedance for more information Scaling LSD 0 001 volt Value set to 0xFFFF if a valid reading is not available 147 150 74 75 Tx Current Current delivered to transducer during transmit See Transducer Voltage Current and Impedance f...

Страница 185: ...nt and Transducer Impedance values output in the PD0 Variable Leader are obtained from the Transducer Health Monitor measurement which is part of the HEM fea tures The measurement is made at the following times During the transmit pulse of a BM8 ping if the expected altitude 20 m During the transmit pulse of a BM9 ping if the expected altitude 20 m The transmit signal needs to be at least a certai...

Страница 186: ...VELOCITY 4 LSB 10 MSB 11 DEPTH CELL 2 VELOCITY 1 LSB 12 MSB 13 DEPTH CELL 2 VELOCITY 2 LSB 14 MSB 15 DEPTH CELL 2 VELOCITY 3 LSB 16 MSB 17 DEPTH CELL 2 VELOCITY 4 LSB 18 MSB SEQUENCE CONTINUES FOR UP TO 128 CELLS 1019 DEPTH CELL 128 VELOCITY 1 LSB 1020 MSB 1021 DEPTH CELL 128 VELOCITY 2 LSB 1022 MSB 1023 DEPTH CELL 128 VELOCITY 3 LSB 1024 MSB 1025 DEPTH CELL 128 VELOCITY 4 LSB 1026 MSB See Table 3...

Страница 187: ...YS VEL 1 VEL 2 VEL 3 VEL 4 00xxx BEAM TO BEAM 1 TO BEAM 2 TO BEAM 3 TO BEAM 4 01xxx INST Bm1 Bm2 Bm4 Bm3 TO XDUCER ERR VEL 10xxx SHIP PRT STBD AFT FWD TO SURFACE ERR VEL 11xxx EARTH TO EAST TO NORTH TO SURFACE ERR VEL POSITIVE VALUES INDICATE WATER MOVEMENT Table 35 Velocity Data Format Hex Digit Binary Byte Field Description 1 4 1 2 Velocity ID Stores the velocity data identification word MSB 01h...

Страница 188: ...PTH CELL 1 FIELD 3 6 DEPTH CELL 1 FIELD 4 7 DEPTH CELL 2 FIELD 1 8 DEPTH CELL 2 FIELD 2 9 DEPTH CELL 2 FIELD 3 10 DEPTH CELL 2 FIELD 4 SEQUENCE CONTINUES FOR UP TO 128 BINS 511 DEPTH CELL 128 FIELD 1 512 DEPTH CELL 128 FIELD 2 513 DEPTH CELL 128 FIELD 3 514 DEPTH CELL 128 FIELD 4 See Table 36 through Table 39 for a description of the fields Figure 35 Correlation Magnitude Echo Intensity Percent Go...

Страница 189: ...for depth cell 1 beam 4 See above 13 1028 7 514 Cells 2 128 if used These fields store correlation magnitude data for depth cells 2 through 128 depending on WN Number of Depth Cells for all four beams These fields follow the same format as listed above for depth cell 1 The echo intensity scale factor is about 0 61 dB per Pathfinder count The Pathfinder does not directly check for the validity of e...

Страница 190: ...s with three beams instead of four beams When the DVL does 3 beam solutions it stops calculat ing the error velocity because it needs four beams to do this At some further depth cell the DVL rejects all cell data because of the weak echo As an example let us assume depth cell 60 has returned the follow ing percent good data FIELD 1 50 FIELD 2 5 FIELD 3 0 FIELD 4 45 If the EX command was set to col...

Страница 191: ...ng on WN Number of Depth Cells following the same format as listed above for depth cell 1 These fields contain information about the status and quality of DVL data A value of 0 means the meas urement was good A value of 1 means the measurement was bad Table 39 Status Data Format Hex Digit Binary Byte Field Description 1 4 1 2 ID Code Stores the status data identification word 00 05h 5 6 3 Depth ce...

Страница 192: ...BLE LSB 4 MSB 5 RESERVED LSB 6 MSB 7 BT CORR MAG MIN 8 BT EVAL AMP MIN 9 RESERVED 10 BT MODE 11 BT ERR VEL MAX LSB 12 MSB 13 RESERVED 14 15 16 17 BEAM 1 BT RANGE LSB 18 MSB 19 BEAM 2 BT RANGE LSB 20 MSB 21 BEAM 3 BT RANGE LSB 22 MSB 23 BEAM 4 BT RANGE LSB 24 MSB 25 BEAM 1 BT VEL LSB 26 MSB 27 BEAM 2 BT VEL LSB 28 MSB 29 BEAM 3 BT VEL LSB 30 MSB 31 BEAM 4 BT VEL LSB 32 MSB 33 BEAM 1 BT CORR 34 BEAM...

Страница 193: ... BT GOOD 44 BEAM 4 BT GOOD 45 REF LAYER MIN LSB 46 MSB 47 REF LAYER NEAR LSB 48 MSB 49 REF LAYER FAR LSB 50 MSB 51 BEAM 1 REF LAYER VEL LSB 52 MSB 53 BEAM 2 REF LAYER VEL LSB 54 MSB 55 BEAM 3 REF LAYER VEL LSB 56 MSB 57 BEAM 4 REF LAYER VEL LSB 58 MSB 59 BM 1 REF CORR 60 BM 2 REF CORR 61 BM 3 REF CORR 62 BM 4 REF CORR 63 BM 1 REF INT 64 BM 2 REF INT 65 BM 3 REF INT 66 BM 4 REF INT 67 BM 1 REF GOOD...

Страница 194: ...than zero and PD0 is selected The LSB is always sent first Table 40 Bottom Track Data Format Hex Digit Binary Byte Field Description 1 4 1 2 ID Code Stores the bottom track data identification word MSB 06hLSB 00h 5 8 3 4 BP BT Pings per ensemble Stores the number of bottom track pings to average together in each ensemble BP Bottom Track Pings per Ensemble If BP 0 the Pathfinder does not collect bo...

Страница 195: ...ordinates East North Upward Error Scaling LSD 1 mm s Range 10 000mm s to 10 000mm s 65 72 33 36 BTCM Beam 1 4 BT Corr Contains the correlation magnitude in relation to the sea bottom or surface as determined by each beam Bottom track correlation magnitudes have the same format and scale factor as water profil ing magnitudes 73 80 37 40 BTEA Beam 1 4 BT Eval Amp Contains the evaluation amplitude of...

Страница 196: ...ottom track pings that have passed a water mass validity algo rithm during an ensemble Scaling LSD 1 percent Range 0 to 100 percent 141 144 71 72 BX BT Max Depth Stores the maximum tracking depth value BX Maximum Tracking Depth Scaling LSD 1 decimeter Range 10 to 65535 decimeters 145 152 73 76 RSSI Bm 1 4 RSSI Amp Contains the Receiver Signal Strength Indicator RSSI value in the center of the bott...

Страница 197: ...DE OUTPUT COORDINATES and PROCESSING CONTROL USING INTERPOLATED ATTITUDE EE 4 5 6 7 8 9 10 11 RESERVED 12 FIXED HEADING SCALING EH 13 14 FIXED HEADING COORDINATE FRAME EH 15 ROLL MISALIGNMENT EI 16 17 PITCH MISALIGNMENT EJ 18 19 USER INPUT FOR PITCH ROLL and COORDINATE FRAME EP 20 21 22 23 24 USER INPUT FOR UP DOWN ORIENTATION EU 25 USER INPUT FOR HEADING BIAS VARIATION SYNCHRO OFFSET EV 26 27 SEN...

Страница 198: ...mmand a user input for the Variable At titude data to be output EE Environmental Data Output 21 22 11 Reserved 23 27 12 13 Fixed Heading Scaling Stores the setting of the EH command a user input for heading EH Heading 28 14 Fixed Heading Co ordinate Frame Stores the setting of the EH command coordinate frame 1 is ship 0 is instrument EH Heading 29 32 15 16 Roll Misalignment Stores the setting of t...

Страница 199: ...ature 83 86 42 43 SoS Stores the setting of the EC command a user input defining the speed of sound see EC Speed of Sound 87 88 44 Transform Stores the setting of the right two digits of the EX command that de scribe the coordinate transformations see EX Coordinate Transfor mation 89 90 45 3 Beam Solution Stores the setting of the fourth bit of the EX command that allows 3 beams good instead of 4 ...

Страница 200: ...20 21 WATER MASS LAYER FAR BOUNDARY 22 23 BOTTOM TRACK MODE 24 SPEED LOG HOLD TRACK 25 SPEED LOG TIME OUT 26 27 SPEED LOG FILTER TIME CONSTANT 28 PINGS PER ENSEMBLE 29 30 RESOLUTION OF BOTTOM 31 TERRAIN BIAS CORRECTION 32 33 BM7 BOTTOM BLANK 34 35 BM7 CORRELATION THRESHOLD 36 BM7 SHORT LAG OUTPUT CONTROL 37 BT MAXIMUM TRACKING DEPTH 38 39 WATER REFERENCE INTERVAL 40 41 MAX TRANSMIT PERCENT 42 BT A...

Страница 201: ...n Switch Depth BI Gain Switch Altitude 16 BK Water Mass Layer Mode 0 to 3 BK Water Mass Layer Mode 17 18 BL1 Water Mass Layer Min Size 1 to 999 dm BL Water Mass Layer Parameters 19 20 BL2 Water Mass Layer Near Boundary 6 to 9999 dm 21 22 BL3 Water Mass Layer Far Boundary 7 to 9999 dm 23 Reserved Bottom Track Mode 8 24 Reserved Speed log param 1 Hold Distance or zero if timeout 25 26 Reserved Speed...

Страница 202: ... High Resolution Velocity Format BIT POSITIONS BYTE 7 6 5 4 3 2 1 0 1 BOTTOM TRACK HIGH RESOLUTION VELOCITY ID LSB 03h 2 MSB 58h 3 BT VELOCITY 1 4 5 6 7 BT VELOCITY 2 8 9 10 11 BT VELOCITY 3 12 13 14 15 BT VELOCITY 4 16 17 18 19 BT DISTANCE MADE GOOD 1 20 21 22 23 BT DISTANCE MADE GOOD 2 24 25 26 27 BT DISTANCE MADE GOOD 3 28 29 30 ...

Страница 203: ...IONS BYTE 7 6 5 4 3 2 1 0 31 BT DISTANCE MADE GOOD 4 32 33 34 35 WATER MASS VELOCITY 1 36 37 38 39 WATER MASS VELOCITY 2 40 41 42 43 WATER MASS VELOCITY 3 44 45 46 47 WATER MASS VELOCITY 4 48 49 50 51 WATER MASS DISTANCE MADE GOOD 1 52 53 54 55 WATER MASS DISTANCE MADE GOOD 2 56 57 58 59 WATER MASS DISTANCE MADE GOOD 3 60 61 62 ...

Страница 204: ... Velocity 3 Bottom Track Axis 3 Velocity in 0 01mm s Reference frame dependent on EX command 15 18 BT Velocity 4 Bottom Track Axis 4 Velocity in 0 01mm s Reference frame dependent on EX command 19 22 BT DMG 1 Bottom Track Axis 1 Distance in 0 01mm made good Reference frame de pendent on EX command 23 26 BT DMG 2 Bottom Track Axis 2 Distance in 0 01mm made good Reference frame de pendent on EX comm...

Страница 205: ...ame de pendent on EX command 55 58 WM DMG 2 Water Mass Axis 2 Distance in 0 01mm made good Reference frame de pendent on EX command 59 62 WM DMG 3 Water Mass Axis 3 Distance in 0 01mm made good Reference frame de pendent on EX command 63 66 WM DMG 4 Water Mass Axis 4 Distance in 0 01mm made good Reference frame de pendent on EX command 67 70 SoS Speed of Sound 106 Bottom Track Range Format BIT POS...

Страница 206: ... 20 21 22 BEAM 2 Raw Range 23 24 25 26 BEAM 3 Raw Range 27 28 29 30 BEAM 4 Raw Range 31 32 33 34 BEAM 1 Raw Max BT Filter 35 BEAM 2 Raw Max BT Filter 36 BEAM 3 Raw Max BT Filter 37 BEAM 4 Raw Max BT Filter 38 BEAM 1 RAW MAX BT AMPLITUDE 39 BEAM 2 RAW MAX BT AMPLITUDE 40 BEAM 3 RAW MAX BT AMPLITUDE 41 BEAM 4 RAW MAX BT AMPLITUDE Figure 40 Bottom Track Range Output Data Format ...

Страница 207: ... even if fewer than 3 beams detect the bottom Units 0 1mm 22 25 BM 2 Raw Range Slant range to the bottom along beam 2 multiplied by cos Janus averaged over the ensemble even if fewer than 3 beams detect the bottom Units 0 1mm 26 29 BM 3 Raw Range Slant range to the bottom along beam 3 multiplied by cos Janus averaged over the ensemble even if fewer than 3 beams detect the bottom Units 0 1mm 30 33 ...

Страница 208: ...an 3 beams detect the bottom Amplitude value corresponds to the middle of the bottom return 40 BM 3 Raw Max BT Amp Bottom amplitude at measured range in counts averaged over the ensem ble for beam 3 even if fewer than 3 beams detect the bottom Amplitude value corresponds to the middle of the bottom return 41 BM 4 Raw Max BT Amp Bottom amplitude at measured range in counts averaged over the ensem b...

Страница 209: ...BOTTOM BEAM 1 LSB 4 5 6 MSB 7 TIME TO BOTTOM BEAM 2 LSB 8 9 10 MSB 11 TIME TO BOTTOM BEAM 3 LSB 12 13 14 MSB 15 TIME TO BOTTOM BEAM 4 LSB 16 17 18 MSB 19 BOTTOM TRACK STANDARD DEVIATION BEAM 1 LSB 20 MSB 21 BOTTOM TRACK STANDARD DEVIATION BEAM 2 LSB 22 MSB 23 BOTTOM TRACK STANDARD DEVIATION BEAM 3 LSB 24 MSB 25 BOTTOM TRACK STANDARD DEVIATION BEAM 4 LSB 26 MSB 27 SHALLOW OPERATION FLAG 28 TIME TO ...

Страница 210: ...BEAM 3 LSB 37 38 39 MSB 40 TIME TO WATER MASS LAYER BEAM 4 LSB 41 42 43 MSB 44 RANGE TO WATER MASS CELL LSB 45 MSB 46 WATER TRACK STANDARD DEVIATION BEAM 1 LSB 47 MSB 48 WATER TRACK STANDARD DEVIATION BEAM 2 LSB 49 MSB 50 WATER TRACK STANDARD DEVIATION BEAM 3 LSB 51 MSB 52 WATER TRACK STANDARD DEVIATION BEAM 4 LSB 53 MSB 54 BOTTOM TRACK TIME OF VALIDITY BEAM 1 LSB 55 56 57 MSB 58 BOTTOM TRACK TIME...

Страница 211: ...CK TIME OF VALIDITY BEAM 3 LSB 63 64 65 MSB 66 BOTTOM TRACK TIME OF VALIDITY BEAM 4 LSB 67 68 69 MSB 70 WATER TRACK TIME OF VALIDITY BEAM 1 LSB 71 72 73 MSB 74 WATER TRACK TIME OF VALIDITY BEAM 2 LSB 75 76 77 MSB 78 WATER TRACK TIME OF VALIDITY BEAM 3 LSB 79 80 81 MSB 82 WATER TRACK TIME OF VALIDITY BEAM 4 LSB 83 84 85 MSB Figure 41 Navigation Parameters Data Format ...

Страница 212: ...allow mode with one beam pinging at a time If this value is 0 then the Pathfinder is operating in Deep Mode with all beams pinging at the same time 54 86 28 43 TIME TO WATER MASS BEAMS 1 4 Stores Twm the time interval between the hardware trigger de fined by the CX command and the center time or time the ping hits the center of the water mass layer of the water mass measurement for Beams 1 4 Unit ...

Страница 213: ...the DVL for the water mass ping transmission When CX 0 i e trigger disabled stores time elapsed between the center and the first character in the PD0 sentence Unit is 1µsec Accuracy is within 5msec Unsigned integer Note the value will be set to 0 if the water track ping is bad or if there is a valid bottom track velocity solution Sensor Source for Doppler Processing Format BIT POSITIONS BYTE 7 6 5...

Страница 214: ...on the Cover Page BIT POSITIONS BYTE 7 6 5 4 3 2 1 0 22 ROLL SOURCE 23 24 SOS 25 26 27 28 SOS STATUS 29 SOS SOURCE 30 31 TEMPERATURE 32 33 34 35 TEMPERATURE STATUS 36 TEMPERATURE SOURCE 37 38 SALINITY 39 40 41 42 SALINITY STATUS 43 SALINITY SOURCE 44 45 DEPTH 46 47 48 49 DEPTH STATUS 50 DEPTH SOURCE 51 ...

Страница 215: ...s no valid data 1 indicates sensor data valid from sensor specified by EZ Sensor Source A value of 2 indicates sensor data valid from al ternate sensor or user input 8 9 Heading Source See notes below 10 13 Pitch Pitch in 1 100ths of a degree 14 Pitch Status A value of 0 indicates no valid data A value of 1 indicates sensor data valid from sensor specified by EZ A value of 2 indicates sensor data ...

Страница 216: ...value of 1 indicates sensor data valid from sensor specified by EZ A value of 2 indicates sensor data valid from alternate sensor or user input 50 51 Depth Source See notes below 52 55 Pressure Pressure in kPa 56 Pressure Sta tus A value of 0 indicates no valid data A value of 1 indicates sensor data valid from sensor specified by EZ A value of 2 indicates sensor data valid from alternate sensor o...

Страница 217: ...ormat Hex Digit Binary Byte Field Description 1 4 1 2 Checksum Data This field contains a modulo 65536 checksum If the sum is 12345678 then it is divided by 65536 and the remainder is output For example 12345678 65536 188 3800964 188 24910 65536 so the number 24910 converted to hex as 614E would be output An easier way to compute the checksum is using the sum 12345678 converted to hex it is the nu...

Страница 218: ...nd a detailed de scription of every item in the Pathfinder binary output buffers The Pathfinder output data formats are available with or without bottom track However if bottom track is not available they will contain no data The PD0 Bottom Track output data format assumes that the instrument is stationary and the bottom is moving If Beam 3 is going forward then the Y velocity is negative If Beam ...

Страница 219: ...2 1 0 1 Pathfinder DATA ID 7Dh 2 DATA STRUCTURE 3 NO OF BYTES LSB 4 MSB 5 SYSTEM CONFIG 6 X VEL BTM LSB 7 MSB 8 Y VEL BTM LSB 9 MSB 10 Z VEL BTM LSB 11 MSB 12 E VEL BTM LSB 13 MSB 14 BM1 RNG TO BTM LSB 15 MSB 16 BM2 RNG TO BTM LSB 17 MSB 18 BM3 RNG TO BTM LSB 19 MSB 20 BM4 RNG TO BTM LSB 21 MSB 22 BOTTOM STATUS 23 X VEL REF LAYER LSB 24 MSB 25 Y VEL REF LAYER 26 27 Z VEL REF LAYER 28 ...

Страница 220: ... 6 5 4 3 2 1 0 29 E VEL REF LAYER 30 31 REF LAYER START 32 33 REF LAYER END 34 35 REF LAYER STATUS 36 TOFP HOUR 37 TOFP MINUTE 38 TOFP SECOND 39 TOFP HUNDREDTHS 40 BIT RESULTS 41 42 SPEED OF SOUND 43 44 TEMPERATURE 45 46 CHECKSUM 47 Figure 44 Pathfinder Binary Data Format PD4 PD5 IF 0 THEN PD4 BYTES 1 47 IF 1 THEN PD5 BYTES 1 45 Table 49 ...

Страница 221: ...LATIONS xx1xxxxx TILT INFORMATION USED IN CALCULATIONS xxx0xxxx 3 BEAM SOLUTIONS NOT COMPUTED xxx1xxxx 3 BEAM SOLUTIONS COMPUTED xxxxx001 150 kHz Pathfinder xxxxx010 300 kHz Pathfinder xxxxx011 600 kHz Pathfinder xxxxx100 1200 kHz Pathfinder 11 14 15 18 19 22 23 26 6 7 8 9 10 11 12 13 X Vel Btm Y Vel Btm Z Vel Btm E Vel Btm These fields contain the velocity of the vessel in relation to the bottom ...

Страница 222: ...nces the velocity data EX CMD COORD SYS Velocity 1 Velocity 2 Velocity 3 Velocity 4 xxx00xxx Beam To Beam 1 To Beam 2 To Beam 3 To Beam 4 xxx01xxx Instrument Bm1 Bm2 Bm4 Bm3 To Xducer Err Vel xxx10xxx Ship Port Stbd Aft Fwd To Surface Err Vel xxx11xxx Earth To East To North To Surface Err Vel Positive values indicate water movement see notes at end of this ta ble 61 64 65 68 31 32 33 34 Ref Layer ...

Страница 223: ...dulo 65536 checksum The Pathfinder computes the checksum by summing all the bytes in the output buffer excluding the checksum NOTE This field contains the checksum only when the PD4 command is used If PD5 is used the remaining bytes are ex plained in Table 49 The Pathfinder packs velocity data into a two byte two s complement integer 32768 32767 with the LSB sent first The Pathfinder scales veloci...

Страница 224: ...SITION Byte 7 6 5 4 3 2 1 0 46 SALINITY 47 DEPTH LSB 48 MSB 49 PITCH LSB 50 MSB 51 ROLL LSB 52 MSB 53 HEADING LSB 54 MSB 55 DISTANCE MADE GOOD BTM EAST LSB 56 57 58 MSB 59 DISTANCE MADE GOOD BTM NORTH LSB 60 61 62 MSB 63 DISTANCE MADE GOOD BTM UP LSB 64 65 66 MSB 67 DISTANCE MADE GOOD BTM ERROR LSB 68 69 70 MSB 71 DISTANCE MADE GOOD REF EAST LSB 72 73 74 MSB ...

Страница 225: ... Contained on the Cover Page Page 213 BIT POSITION Byte 7 6 5 4 3 2 1 0 75 DISTANCE MADE GOOD REF NORTH LSB 76 77 78 MSB 79 DISTANCE MADE GOOD REF UP LSB 80 81 82 MSB 83 DISTANCE MADE GOOD REF ERROR LSB 84 85 86 MSB 87 CHECKSUM LSB 88 MSB Figure 45 Pathfinder Binary Data Format PD5 ...

Страница 226: ...ay be a manual setting or a reading from a tilt sensor For an up facing Path finder system positive values mean that Beam 2 is spatially higher than Beam 1 For a down facing Pathfinder system positive values mean that Beam 1 is spatially higher than Beam 2 Scaling LSD 0 01 degree Range 20 00 to 20 00 degrees 105 108 53 54 Heading Contains the Pathfinder heading angle EH Heading This value may be a...

Страница 227: ...of transducer face in meters CCCC C Speed of sound in meters per second BBB Built in Test BIT result code where the first B on the left is the number of BIT errors MSB and the last 2 BB LSB are the actual BIT error as describe below BIT byte13 Error Code Description 0x01 Transmitter Shutdown 0x02 Transmitter Overcurrent 0x03 Transmitter Undercurrent 0x04 Transmitter Undervoltage 0x10 FIFO interrup...

Страница 228: ...1 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 4 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 re...

Страница 229: ... 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 d...

Страница 230: ...68 32768 32768 32768 V WS 32768 32768 32768 V WE 32768 32768 32768 V WD 0 00 0 00 0 00 20 00 0 00 BI 24 6 20 4 A BS 13 21 20 A BE 17 18 20 A BD 0 02 0 03 0 02 7 13 0 21 HM G G 0C8E 0B2E 33 214 1 215 27 337 CR LF 33 214 Volts 1 215 amps 27 337 ohms Pathfinder Output Data Format PD13 The Pathfinder sends this data format only when the PD13 command is used The DVL outputs data in the following line o...

Страница 231: ...e actual BIT error as describe below BIT byte13 Error Code Description 0x01 Transmitter Shutdown 0x02 Transmitter Overcurrent 0x03 Transmitter Undercurrent 0x04 Transmitter Undervoltage 0x10 FIFO interrupt missed 0x11 FIFO ISR re entry 0x21 Sensor start failure 0x22 temperature sensor failure 0x23 pressure sensor failure 0x24 tilt sensor failure 0x27 Bad Comms with sensor 0x28 Bad Comms with senso...

Страница 232: ...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 ...

Страница 233: ...ror velocity data in mm s S Status of velocity data A good V bad 9 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 ...

Страница 234: ...der 0x0100 Velocity Profile Data 0x0200 Correlation Profile Data 0x0300 Echo Intensity Profile Data 0x0400 Percent Good Profile Data 0x0500 Status Profile Data 0x0600 Bottom Track Data 2 Once a data type has been given an ID number and the format of that data has been published we consider the format for each field has being fixed Fixed refers to units used for a given field the number of bytes in...

Страница 235: ...number of bytes in the ensemble excluding the checksum The checksum is calculated by adding the value of each byte The 2 byte least significant digits cal culated will be the checksum c Read the 2 byte checksum word at the end of the ensemble located by using the checksum offset in the header determined in step 2 a and compare this checksum word to the value calculated in step 2 b d If the checksu...

Страница 236: ...April 2018 Pathfinder DVL Guide Page 224 EAR Controlled Technology Subject to Restrictions Contained on the Cover Page NOTES ...

Страница 237: ...Guide April 2018 EAR Controlled Technology Subject to Restrictions Contained on the Cover Page Page 225 Appendix A NOTICE OF COMPLIANCE In this chapter you will learn China RoHS requirements Material disclosure table ...

Страница 238: ...red products as required in Chinese law and does not reflect in any way the safety quality or warranty associated with these TRDI products Some homogenous substance within the EIP contains toxic or hazardous substances or elements above the requirements listed in SJ T 11363 2006 These substances are identified in Table 53 WEEE The mark shown to the left is in compliance with the Waste Electrical a...

Страница 239: ...s PBDE 换能器配件 Transducer Assy X O O O O O 换能器接口电路板 Transducer Intfc PCB O O O O O O 底座装配 End Cap Assy X O O O O O 接收机电路板 Receiver PCB O O O O O O 数据处理器电路板 DSP PCB O O O O O O 输入输出口电路板 PIO PCB O O O O O O 通讯接口板 Personality Module O O O O O O 外接电缆 External Cables X O O O O O 专用装运箱和泡沫塑料垫 Shipping Case w Foam O O O O O O O 表示该有毒或有害物质在该部件所有均质材料中的含量均在 SJ T 11363 2006 标准规定的限量要求以下 O Indicates that the toxi...

Страница 240: ...April 2018 Pathfinder DVL Guide Page 228 EAR Controlled Technology Subject to Restrictions Contained on the Cover Page NOTES ...

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