Page 1 ELOCITY UIDE P/N 95B-6116-00 (April 2018) © 2018 Teledyne RD Instruments, Inc. All rights reserved. Information included herein is controlled by the Export Administration Regulations (EAR) and may require an export license, license exception or other approval from the appropriate U.S. Government agency before being exported from the United States or...
Page 2 Page ii EAR-Controlled Technology Subject to Restrictions Contained on the Cover Page.
Page 3: Table Of Contents
Software Installation ..........................9 Power Overview ........................... 10 Cables and Connector Protective Cap ....................10 Setting Up the Pathfinder ROV System ....................12 Setting Up the Pathfinder OEM System ....................13 Cable Wiring Diagrams ......................... 15 Connecting to the Pathfinder ........................17 Using the Network Configuration Page ....................
Page 4 Purpose ..............................55 Adjustments ............................55 Operation ............................. 55 Install the NGSPFFT Software ......................56 Connecting to the Pathfinder DVL ....................56 Check the Adjustments ........................57 Zoom .............................. 57 Mouse-Over: ..........................57 Examples of Clean FFT Plots, No Interference ..................57 Examples of Interference ........................
Page 5 Creating or Modifying Command Files ......................65 Sending Commands to the Pathfinder ......................69 4 - M ..........................71 HAPTER AINTENANCE Replaceable Parts ............................72 Inspection Schedule ............................. 74 Periodic Maintenance Items ........................75 Cleaning the Cable Connectors ......................75 Transducer Inspection .......................... 76 Removing Biofouling ..........................
Page 6 #BO - Distance Measure Filter Constant ..................110 #BQ – Over Range Limit ......................... 110 #BS - Clear Distance Traveled ......................110 #BY – Transmit Length ........................111 #BZ – Low Altitude Mode ....................... 111 Control System Commands .......................... 112 Available Control System Commands ....................
Page 7 Binary Checksum Data Format ......................205 Special Output Data Formats ........................206 Pathfinder Binary Data Format (PD4/PD5) ................... 207 Pathfinder Output Data Format (PD4/PD5) Details ................209 Pathfinder Binary Data Format (PD5) ....................212 Pathfinder Output Data Format (PD5) Details ..................214 Pathfinder Output Data Format (PD6) ....................
Page 8 OEM Version Electronics Chassis ....................4 Figure 5. Connecting the Cable ....................... 11 Figure 6. ROV Pathfinder Connections for Bench Test [73B-6057-00 & 73B-6046-00 Cables]....12 Figure 7. OEM Pathfinder Transducer Connections ................13 Figure 8. OEM Pathfinder Connections for Bench Test [73B-6059-00 Cable] ......... 15 Figure 9.
Page 9 Pathfinder..............7 Table 8: Minimum Computer Hardware Requirements ................9 Table 9. Pathfinder Nominal Voltage versus Bottom Tracking Range with Ethernet ......34 Table 10: Window Thickness ........................45 Table 11: Wavelength of sound in seawater (1500 m/s sound speed) ............ 46 Table 12: Transmit and Receive for Pathfinder DVLs ................
Page 10 Updated Figure 8, OEM Pathfinder Connections for Bench Test [73B-6059-00 Cable] • Added additional pictures to OEM Pathfinder Transducer Connections • Added bend radius and connector part number to Figure 11 Pathfinder ROV Power/Comm Cable 73B-6058 Pigtail Cable • Updated Using UDP Protocol •...
Page 11 Self-Service Customer Portal Use our online customer portal at http://www.teledynemarine.com/rdi and click on the Support link to down- load manuals, firmware updates, software, or other Teledyne RDI documentation. Page xi EAR-Controlled Technology Subject to Restrictions Contained on the Cover Page.
Page 12 Thank you for purchasing a Teledyne RD Instruments Pathfinder Doppler Velocity Log (DVL). Conven- tions used in the Pathfinder DVL Guide have been established to help learn how to use the system. Menu items are printed in bold: Collect Data. Items that need to be typed by the user or keys to press will be shown as <F1>.
Page 13: Chapter 1 - A T A Glance
• 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 Page 1 EAR-Controlled Technology Subject to Restrictions Contained on the Cover Page.
Page 14: Overview
April 2018 Pathfinder DVL Guide Overview The Pathfinder transducer assembly contains the connectors with connector protective cap s, housing, transducer ceramics, and electronics. The standard acoustic frequency is 600 kHz. See the Outline Instal- lation Drawings for dimensions and weights.
Page 15: Figure 2. Pathfinder Rov Version Face View
Pathfinder DVL Guide April 2018 Figure 2. Pathfinder ROV Version Face View Figure 3. OEM Version Transducer Page 3 EAR-Controlled Technology Subject to Restrictions Contained on the Cover Page.
Page 16: Pathfinder Options
April 2018 Pathfinder DVL Guide Figure 4. OEM Version Electronics Chassis Pathfinder Options The following options are available: • The 73B-6057-00 ROV test cable 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.
Page 17: Inventory
• DVL Development Package: The DVL Development Package is a complete package to integrate, evaluate and use your PathFinder DVL. The DVL Development Package was designed to help you start testing, configuring and integrating your new devices quickly. • DVL Integration Kit: The DVL Integration Kit has been designed to save you both time and money by speeding up the evaluation and the integration of our products into your vehicle.
Page 18: Optional Kits
Pathfinder to your vehicle/platform. It provides all the leads for serial and Ethernet Cable COM, Power and Trigger. This CD has PDF versions of all of the Pathfinder DVL software and documentation in- 95B-6116-00 Pathfinder DVL Software cluding the Pathfinder DVL Guide. Please read the manual! The CD also includes the and Documentation CD TRDI Toolz Software.
Page 19: Pathfinder
Pathfinder DVL Guide April 2018 Table 6. 75BK6087-00 – Kit, Field Service, ROV Pathfinder Description 2-152 O-RING, -152, EPDM 70 DURO 97Z-6084-01 O-RING, 3-094, .072DIAX.351 ID, EPDM, DURO90A, VENT PLUG 7295K1 TIE WRAP, FASTENER MOUNT, 4.5 97Z-6007-00 O-RING, 2-011, DURO 70, EPDM...
Page 20: Health & Environment Monitoring Sensors
DVL, such as loss of naviga- tion ability. The Pathfinder detects water leaking into the system and reports it in the PD0, PD4, PD5, and PD6 messages. The Pathfinder also supports the PC5 user interactive test reporting the status of the leak sensors.
Page 21: Setting Up The Pathfinder System
Toolz software in order to communicate with the Pathfinder. Computer and Software Considerations The Pathfinder system includes the utility program TRDI Toolz to help set up, use, test, and troubleshoot the Pathfinder. Use this program to “talk” to the Pathfinder and to run script files (see...
Page 22: Power Overview
Power Overview The Pathfinder requires a DC supply between 10.7 to 36 VDC. Either an external DC power supply or bat- tery can provide this power. The power supply should be able to source at least two Amps for a bench test setup (no pinging).
Page 23: Figure 5. Connecting The Cable
Apply lubricant 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.
Page 24: Setting Up The Pathfinder Rov System
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/Comm cable power connector by pushing it all the way in until it “clicks”...
Page 25: Setting Up The Pathfinder Oem System
Setting Up the Pathfinder OEM System To set up the OEM Pathfinder: 1. Place the Pathfinder transducer face down on a soft surface. 2. With an ESD wrist strap on, remove the top cover on the transducer. Loosen, but do not remove the two screws next to the cable exit slot.
Page 26 April 2018 Pathfinder DVL Guide Page 14 EAR-Controlled Technology Subject to Restrictions Contained on the Cover Page.
Page 27: Cable Wiring Diagrams
OEM Pathfinder Connections for Bench Test [73B-6059-00 Cable] Cable Wiring Diagrams This section has information on Pathfinder cabling. Special user-requests 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.
Page 28: Figure 10. Power Adapter Cable 73B-6046-00
Figure 10. 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.
Page 29: Connecting To The Pathfinder
Pathfinder DVL Guide April 2018 Connecting to the Pathfinder To establish communications with the Pathfinder: 1. Connect the system and apply power. 2. Start the TRDI Toolz software. 3. Select New Serial Connection or New Ethernet Connection. 4. Enter the Pathfinder’s communication settings.
Page 30: Using The Network Configuration Page
® ® 3. Enter the Pathfinder’s DHCP server IP address 192.168.1.100 into the address bar. 4. On Network Configuration, 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.
Page 31: Using The Ethernet Communications
1034: To be able to listen to this stream, you will need to create a TCP connection to the PathFinder DVL IP ad- dress, here 192.168.1.100 through port 1034. This can be done in TRDI Toolz for verification.
Page 32: Using Udp Protocol
April 2018 Pathfinder DVL Guide Using UDP Protocol In this example below, a stream was created over UDP on port 1034: To be able to listen to that UDP stream, you will need to make sure the UDP IP address matches the com- puter’s IP address.
Page 33 Pathfinder DVL Guide April 2018 In this next example, the computer’s IP address is 192.168.1.2. Therefore, set the UDP IP address on the web portal to be the same. You can now simply open a UDP stream to listen to that feed simply by us- ing the port number, here in our example 1034.
Page 34: Ethernet Module Firmware Update
1. Select the file and click Update. 5. The firmware will install. 6. Once the firmware update is complete, the Pathfinder will reboot. Close the browser and recon- nect to the Pathfinder Network Configuration Page. 7. If the new firmware does not install, contact Customer Service.
Page 35: Testing The Pathfinder System
To test the Pathfinder: 1. Interconnect the system as described in Setting Up the Pathfinder System. 2. Place the Pathfinder transducer in water (at least a few inches to cover the transducer face). 3. Apply power to the system. 4. Start the TRDI Toolz program (for help on using TRDI Toolz, see the TRDI Toolz Help file).
Page 36: Caring For The Pathfinder System
See Troubleshooting EMI for more information. Caring for the Pathfinder System This section contains a list of items to be aware of every time handling, using, or deploying the Pathfinder. Please refer to this list often. General Handling Guidelines •...
Page 37: Chapter 2 - System Integration
• Mechanical Integration Considerations • Electrical Integration Considerations • Acoustic Integration Considerations • Reference, Data & Timing Considerations • PathFinder DVL Sensor Integration • Operational and Setup Considerations Page 25 EAR-Controlled Technology Subject to Restrictions Contained on the Cover Page.
Page 38: System Integration Introduction
DVL systems on various platform types. In addition, the procedures described provide a step-by-step guide that will enable the client to configure the Pathfinder DVL sonar for optimum utilization. DVL Theory BroadBand Doppler Doppler sonars by definition, measure the Doppler shift, i.e.
Page 39: Water Tracking
Pathfinder DVL Guide April 2018 Figure 14. Short Pulse versus Long Pulse A long Pulse is needed for the beams to ensonify (illuminate) the entire bottom all at once. Water Tracking Water tracking is used when the bottom is out of range or a reference velocity is desired. All TRDI DVLs are configured to provide Water Tracking data.
Page 40: Water Tracking Parameters
The water-mass layer is operational only if BP > zero and BK > zero. Current Profiling The Pathfinder DVL has optional firmware configurations that enable the instruments to measure current velocities in the water column. 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).
Page 41: Beam Coordinate Systems
Pathfinder DVL Guide April 2018 Beam Coordinate Systems The Pathfinder can produce velocity measurements in any of the following four sets of coordinate axes by setting the command. Except for the first, they are all right-handed orthogonal systems. The user op- erational requirements dictate the best coordinate system to be used.
Page 42: Figure 18. Pathfinder Ship Coordinates (Oem Transducer Shown)
Figure 18. Pathfinder Ship Coordinates (OEM Transducer Shown) The importance of the ship axis is that the attitude angles (pitch, roll, and heading) measure the orienta- tion of the ship axes relative to the 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).
Page 43: Dvl Performance And Influencing Factors
TRDI specifies the long-term velocity error of its DVL products as a combination of a percentage of speed (known as “scale factor error”) and an offset (e.g., ±0.3% ±0.2 cm/s for the Pathfinder 600 kHz bottom track measurement). The water- and bottom-track versions have the same form but may have somewhat different values.
Page 44: Short Term Performance
At the lower altitudes, it increases inversely with alti- tude. Below these altitudes, the systems attempt to change modes and if successful, the standard deviation drops considerably as the Pathfinder flies below its deep switching altitude and then again when it flies below its shallow switching altitudes.
Page 45: Altitude Performance
A typical bottom type being level • A temperature of 5° C, a salinity of 35ppt • An input voltage of 24v for Pathfinder DVLs • ±5° vehicle pitch or roll Changes in these values will affect the altitude capability as discussed below.
Page 46: Pitch & Roll
The altitude capability of a DVL will vary as the input voltage to the system varies. Table 9 below gives an approximation of the range versus battery voltage. Table 9. Pathfinder Nominal Voltage versus Bottom Tracking Range with Ethernet Idle Idle...
Page 47: Bottom Slope
1% when operating at 100m altitude. Bottom Slope Pathfinder DVLs multiply the measured “slant range” of each beam by the Cosine of the Janus angle (normally 30°) to indicate the vertical distance. While a simple solution is to average the four beam values obtained for altitude, this is not the preferred method.
Page 48: Mechanical Integration Considerations
(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 by a factor of 1.4. If Beam 3 is aligned at an angle other than zero, use the EA command to describe the rotation between instrument Y axis (beam 3) and ship forward axis.
Page 49: Beam Clearance
This is mostly critical when performing Water Tracking or Water Profiling. Mounting the Instrument There are many options for mounting the Pathfinder systems and they depend on the application. Use the four mounting holes on the transducer (ROV version only). See the...
Page 50: Routing Cables
Cable can easily be replaced it if it fails. Figure 22. Do not use Zip-Ties Directly on Cables When attaching the Pathfinder cable to a mount, do not zip-tie the cables directly to the structure. Zip-ties slowly cut through the cable’s outer jacket and cause leaks. Page 38...
Page 51: Electrical Integration Considerations
Additionally, bypass- ing of the DVL isolation/ground filter can lead to accelerated corrosion. Your Pathfinder DVL transducer housing is made of aluminum that is protected by sacrificial Do not connect other metal to the DVL.
Page 52: Electrical And Grounding Testing Best Practices
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).
Page 53: Electro-Magnetic Interference (Emi)
Pathfinder DVL Guide April 2018 leak Where is the voltage across the resistor and = 12V in our example. battery 11. The impedance noted should be 32MΩ at 32V. Do not short the housing to any grounded surface (such as an ESD mat) or water tank while conducting this part of the test.
Page 54: Power Consumption
April 2018 Pathfinder DVL Guide Power Consumption The reference for the average electrical power in Watts used by the Pathfinder is that which occurs at the maximum pinging rate and maximum altitude for Pathfinder systems are: System Type Average Power...
Page 55: Acoustic Integration Considerations
Optimized transformer heads are can be custom made by Teledyne RD Instruments for specialized applications and may exist as commercial off the shelf product for more standard applications.
Page 56: Mounting Considerations
April 2018 Pathfinder DVL Guide Mounting Considerations Well Mounting: The effects of ringing will last longer if the transmit signal becomes trapped inside the transducer well. This can occur because the well itself is ringing with the transducer or when windows covering the opening of the well reflect the signal back inside the well.
Page 57: Recommended Practices For Window Use
Pathfinder DVL Guide April 2018 Recommended Practices for Window Use Window Orientation: The acoustic window should be flat and parallel to the transducer mounting plate. Note this is not an absolute requirement but can make the transducer susceptible to differentials in water temperature as well as variations in absorption characteristics.
Page 58: Sonar Interference Considerations
6.25%. Any other sonar emissions in this frequency range will potentially be received by the DVL and in- terfere with its operation. The following table summarizes the transmit and receive bandwidth for each frequency available for the Pathfinder DVL systems: Table 12:...
Page 59: Reference, Data & Timing Considerations
Pathfinder measurements suffer from occasional data outliers which, although rare, can still be far more frequent that would be expected from a normal (Gaussian) probability function. To prevent the navigation system from giving undue weight to data outliers, it is important to screen the Pathfinder data to detect and reject them.
Page 60: Three-Beam Solution
For example, a 600 kHz Pathfinder has a default BX altitude of 110 meters. If the user knows that the alti- tude will never exceed 50 meters, he can set the BX command to 50 meters and then when operating at 50 meters it potentially reduces the search time required to reacquire the bottom after bottom lock has been lost, because it bypasses the search pings that look for greater altitudes.
Page 61: System Synchronization
Pathfinder clock synchronized to the navigation system clock and also because the 10 ms resolution is arguably too coarse when the Pathfinder is combined with an INS. It is recom- mended instead that synchronization be achieved using a hardware trigger (CX1 or CX2 command) with the data time-tagged with the navigation system time recorded at the time of the hardware trig- ger.
Page 62: Triggering
April 2018 Pathfinder DVL Guide Triggering There are two methods for triggering the DVL: Sending ASCII Character through Serial Port. When the system is interfaced to a serial port (e.g. a navigation computer), the system can be setup to wait for an input before each ping. To setup the DVL in this fash-...
Page 63: Troubleshooting
Other magnetic or acoustic devices or high current system are in the vicinity of the unit, • The Pathfinder DVL is exposed to electrical interference such as that from other acoustic devices or SONARs or other electronic devices (i.e. cellphones, radios, computers, TV’s, etc.).
Page 64: Provide Unit Setup
Pathfinder DVL Guide • The Pathfinder DVL or its cable is exposed or installed near potential sources of EMI’s such as high voltage lines like main engine cables, galley equipment, winches, engine room equipment, cranes, high voltage lighting circuit, etc.
Page 65: Describe Deployment Environment & Operational Conditions
TRDI Toolz Before new data can be acquired, the recorder has to be erased. This is done by opening a Pathfinder) and then send the command me ErAsE to your Pathfinder. session (see Connecting to the This will erase the recorder.
Page 66 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).
Page 67: Identifying Emi
308,400 Hz to 921,600 Hz.) Once the user learns the basics of the FFT software, you can use the Pathfinder cables and transducer as probes by holding them or locating them next to equipment you would like to include in your vehicle (ROV, AUV).
Page 68: Install The Ngspfft Software
Notepad® or similar and edit the two lines. The first line is the COM port number. Change this to number of the COM port your computer will use to talk with the Pathfinder. The second number is the baud rate. Change this to “115200”. Then save this file with the changes.
Page 69: Check The Adjustments
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 broadband re- ceiver mode.
Page 70: Examples Of Interference
April 2018 Pathfinder DVL Guide Examples of Interference The following image shows an interference 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”...
Page 71 Pathfinder DVL Guide April 2018 Although not ideal, the two previous interfering terms are small, and the DVL will still bottom track accu- rately as long as the bottom echo return amplitude is stronger than these very weak interfering terms.
Page 72: Alternative Fft Tool For Virtual Comports
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:...
Page 73: Matlab Output Variable Definitions
Pathfinder DVL Guide April 2018 4. If all this works up to this point and you have a high baudrate then go to Test > FFT (HL) > Go to turn the FFT spectrum analyzer mode on each beam: •...
Page 74 April 2018 Pathfinder DVL Guide SerC4cnt – Beam 4 correlation SerDay – day (time) SerDir10thDeg – Heading to 1/10 of a degree SerEA1cnt – Echo Amplitude beam 1 SerEA2cnt – Echo Amplitude beam 2 SerEA3cnt – Echo Amplitude beam 3 SerEA4cnt –...
Page 75: 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 Page 63 EAR-Controlled Technology Subject to Restrictions Contained on the Cover Page.
Page 76: Pathfinder General Deployment Flow
Install the Documentation CD Install TRDI Toolz Communication and Power Setup Connect the DVL Power/COMM cable (pigtail cables are provided with the PathFinder DVL) (Refer to the PathFinder DVL Guide, Chapter 2 - System Integration) Install the DVL in the vehicle...
Page 77: Creating Or Modifying Command Files
April 2018 Creating or Modifying Command Files Command files are simply ASCII files produced by ASCII editors such as NotePad that set Pathfinder command parameters. In general, they contain ASCII characters that are sent out through the serial port. To create a command file: •...
Page 78 ; Start pinging The commands shown in Table 14 explain each command set by the example command file. These com- mands directly affect the range of the Pathfinder, standard deviation (accuracy) of the data, ping time, and power usage. Teledyne RD Instruments...
Page 79: Table 14: Recommended Commands
BP1 (see BP – Bottom-Track Pings per En- semble). BX01100 600 kHz = BX1100 Sets the Maximum Tracking Depth to 110m for Pathfinder 600 (1100 decimeters) (see BX – Maximum Tracking Depth) EA00000 EA-17999 to EA18000 Heading alignment uses beam-3 as the heading alignment.
Page 80 Last command sent to begin collecting data (see CS – Start Pinging (Go)). The CR1 command must be the first command sent to the Pathfinder. The CK command must be sent just before the CS command. Other commands may be sent in any order. Page 68...
Page 81: Sending Commands To The Pathfinder
3. Send a BREAK to the Pathfinder by pressing the icon. When the Pathfinder receives a BREAK signal, it responds with a wake-up message similar to the one shown below. The Pathfinder is now ready to accept commands at the “>” prompt.
Page 82 April 2018 Pathfinder DVL Guide OTES Page 70 EAR-Controlled Technology Subject to Restrictions Contained on the Cover Page.
Page 83: Chapter 4 - Maintenance
Pathfinder DVL Guide April 2018 Chapter AINTENANCE In this chapter, you will learn: • How to spot problems • How to do periodic maintenance items on the PathFinder Page 71 EAR-Controlled Technology Subject to Restrictions Contained on the Cover Page.
Page 84: Replaceable Parts
April 2018 Pathfinder DVL Guide Replaceable Parts Use the following table to order replacement parts: Table 15: Pathfinder ROV Spare Parts – Part of 75BK6084-00 Description Part number Where used Anode, housing, top 81B-4146-00 Anode, housing, bottom 810-4106-00 Anodes for Housing Exterior Anode Screw M5X0.8X10FH...
Page 85: Table 16. 75Bk6087-00 - Kit, Field Service, Rov Pathfinder
Pathfinder DVL Guide April 2018 Table 16. 75BK6087-00 – Kit, Field Service, ROV Pathfinder Description 5020 SILICONE LUBRICANT, 4-PACK THREADLOCKER, PLAS SCREW 81B-6042-00 O-RING TOOL, TELEDYNE M7COMBINATION WRENCH, #7MM COMBINATION 7289A13 KEY, HEX, 2.5MM 84Z-6000-00 TOOL BAG, CANVA 95B-6116-00 Pathfinder DVL Documentation CD...
Page 86: Inspection Schedule
Inspection Criteria Transducer The urethane coating on the transducer face is important to Pathfinder watertight integ- rity. Mishandling, chemicals, abrasive cleaners, and excessive depth pressures can damage the transducer ceramics or urethane coating. Inspect the transducer face for dents, chip- ping, peeling, urethane shrinkage, hairline cracks, and damage that may affect watertight integrity or transducer operation.
Page 87: Periodic Maintenance Items
Cleaning the Cable Connectors After 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.
Page 88: Transducer Inspection
® nacles. If barnacles have entered more than 1.0 to 1.5 mm (0.06 in.) into the transducer face urethane, send the Pathfinder to TRDI for repair. If the barnacles can not be removed without damaging the transducer faces, Contact TRDI.
Page 89: Zinc Anode Inspection And Replacement
The Pathfinder has three zinc anodes on the instrument housing, one anode on the top of the transducer housing, and two on the bottom of the housing. If the Pathfinder does not have exposed bare metal, a properly installed anode helps protect the Pathfinder from corrosion while deployed. Read all instructions before doing the required actions.
Page 90: Figure 27. Replacing An Anode
Do not connect other metal to the Pathfinder. Other metals may 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.
Page 91: Protective Coating Inspection
Pathfinder.bat file. Open Pathfinder.bat file with Notepad ® and change the setting to the serial port number; e.g. to 6 if the Pathfinder is connected to COM6. Save the file, and then close. 4. Double-click on the Pathfinder.bat file. This will start the firmware upload process.
Page 92 April 2018 Pathfinder DVL Guide OTES Page 80 EAR-Controlled Technology Subject to Restrictions Contained on the Cover Page.
Page 93: Returning
TRDI ETURNING YSTEMS TO ERVICE 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 Page 81 EAR-Controlled Technology Subject to Restrictions Contained on the Cover Page.
Page 94: Shipping The Pathfinder
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.
Page 95: Returning Systems To The Trdi Factory
Returning Systems to the TRDI Factory When shipping the system to TRDI from either inside or outside the United States, the following instruc- tions will help ensure the Pathfinder arrives with the minimum possible delay. Any deviation from these instructions increases the potential for delay.
Page 96: Returning Systems To Trdi Europe Factory
Carrier route and flight numbers for all flights the package will take Returning Systems to TRDI Europe Factory When shipping the system to TRDI Europe, the following instructions will help ensure the Pathfinder ar- rives with the minimum possible delay. Any deviation from these instructions increases the potential for delay.
Page 97 Pathfinder DVL Guide April 2018 Mark the package(s) as follows: To: Teledyne RD Instruments, Inc. (RMA Number) 2A Les Nertieres 5 Avenue Hector Pintus 06610 La Gaude, France Step 4 - Include Proper Customs Documentation The Customs statement must be completed. It should be accurate and truthfully contain the following in- formation.
Page 98 April 2018 Pathfinder DVL Guide OTES Page 86 EAR-Controlled Technology Subject to Restrictions Contained on the Cover Page.
Page 99: Chapter 6 - Specifications
Pathfinder DVL Guide April 2018 Chapter PECIFICATIONS In this chapter, you will learn: • Operational Specifications • Outline Installation Drawings Page 87 EAR-Controlled Technology Subject to Restrictions Contained on the Cover Page.
Page 100 The Pathfinder does not measure velocity at a single point; it measures its speed over the seabed, i.e. Bot- tom Track, its speed through the water current, i.e. Water Track and current velocities throughout the wa- ter column, i.e.
Page 101: Operational Specifications
Pathfinder DVL Guide April 2018 Operational Specifications 600 kHz Bottom Tracking Maximum Altitude 89 m (1) (3) Minimum Altitude 0.2 m (<20 c m with low altitude option) Velocity Range ±9 m/s (or +16 m/s upon request) (2,8) High Accuracy Bottom Track Long Term Accuracy ±0.2% ±...
Page 102: Environmental Specifications
April 2018 Pathfinder DVL Guide Environmental Specifications Parameter Value Operating Temperature -5 to 45 Degrees C Storage Temperature -30 to 60 Degrees C Vibration (Operation) IEC 60945, 4th ED, 2002-08 Vibration (Transport) IEC 60721-3-2, 2Nd Ed, 1997-3 Shock (Transport) IEC 60721-3-2, 2Nd Ed, 1997-3...
Page 103: Figure 28. Outline Installation Drawing - Oem
Pathfinder DVL Guide April 2018 Figure 28. Outline Installation Drawing – OEM Page 91 EAR-Controlled Technology Subject to Restrictions Contained on the Cover Page.
Page 104: Figure 29. Outline Installation Drawing - Rov Pathfinder
April 2018 Pathfinder DVL Guide Figure 29. Outline Installation Drawing – ROV Pathfinder Page 92 EAR-Controlled Technology Subject to Restrictions Contained on the Cover Page.
Page 105: Chapter 7 - Commands
Pathfinder DVL Guide April 2018 Chapter OMMANDS In this chapter, you will learn: • Command formats • Command descriptions Page 93 EAR-Controlled Technology Subject to Restrictions Contained on the Cover Page.
Page 106: Data Communication And Command Format
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 accept commands at the “>”...
Page 107: Data Output Processing
The Pathfinder will continue to be configured from volatile memory until it receives a CR-command or until the volatile memory loses its backup power. If the Pathfinder receives a CR0 it will load into volatile memory the command set last stored in non-volatile memory (semi-permanent user settings) through the CK-command.
Page 108: Table 20. Pathfinder Commands And Defaults
Customer Service page (www.rdinstruments.com). Please check our web site often. The Pathfinder DVL accepts command changes during operation without the need to stop the ping cycle (by sending a <BREAK>). This allows for dynamic setup configuration without stopping the operation of the Pathfinder DVL.
Page 109 Highlighted commands are “expert” commands. Changing these command parameters can have severe consequences to data collection. Commands queried (e.g., B?) during an ensemble will, in general, cause the Pathfinder to respond with the usual description. Editing or adding expert commands (#xx) to the command file will allow items to be set that if set incorrectly can cause the data to be the wrong format, bad, and/or uncorrectable even in post processing.
Page 110: Command Descriptions
When appropriate, we include amplifying notes and examples. If a numeric value follows the command, the Pathfinder uses it to set a processing value (time, range, percentage, processing flags). All measurement values are in metric units (mm, cm, and dm).
Page 111: Break
A BREAK signal interrupts Pathfinder processing. It is leading-edge triggered and should last at least 300 ms. Pathfinder may respond to shorter breaks so care should be taken to avoid spurious signals on the communication lines. A BREAK initializes the system, sends a wake-up (copyright) message, and places the Pathfinder in the DATA I/O mode.
Page 112: Y - Display Banner
April 2018 Pathfinder DVL Guide Y – Display Banner Purpose Displays the Pathfinder banner. Format Recommended Setting. Use as needed. Description Displays the Pathfinder banner. Example >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 **.**.**.**.**.**...
Page 113: Bottom Track Commands
Profile pings if water profiling is enabled. If BP = zero, the Pathfinder will not collect bottom track data or water track data. Also, the Pathfinder will not collect water profile data if WP=0, or if the water profile feature is not enabled (see TP –...
Page 114: Bx - Maximum Tracking Depth
While this does not prevent the Pathfinder from bottom tracking to ranges beyond the BX range, use caution in setting this command to less than the expected maximum depth as the Pathfinder will be less likely to hold a lock on the bottom if there is any slope beyond the BX range.
Page 115: Expert Bottom Track Commands
Pathfinder DVL Guide April 2018 Expert Bottom Track Commands This section lists the expert Bottom Track commands. Commands that start with the # sign are considered “expert” commands. >#B? Available Commands: #B1 0 ---------------------- Blank Range with Bad Velocity [0..1] #B2 0 ---------------------- Depth Memory Timeout [0=off, 1-30s] #BA 024 -------------------- Amplitude Threshold [0..255]...
Page 116: B2 - Depth Memory Timeout
#BB0005 The default setting for this command is recommended for most applications. Description The Pathfinder will search for the bottom starting at the length of transmit plus this blanking interval. Page 104 EAR-Controlled Technology Subject to Restrictions Contained on the Cover Page.
Page 117: Bc - Correlation Magnitude Minimum
The Pathfinder uses this parameter to determine good bottom-track velocity data. If the error velocity is greater than this value, the Pathfinder marks as bad all four beam veloci- ties (or all four coordinate velocities, if transformed). If three beam solutions are allowed (see EX –...
Page 118: Bh - Gain Switch Threshold
The default setting for this command is recommended for most applications. Description When set to a non-zero value, the Pathfinder transmits a fixed pulse based on a given bot- tom range. This is useful for applications with fixed range bottoms. The command re- duces the amount of time the Pathfinder uses to search for the bottom if lost.
Page 119: Bj - Data Type Output Control
The default setting for this command is recommended for most applications. Description The BK command selects how often the Pathfinder performs a water-mass layer ping while bottom tracking. The number of water-mass layer pings per ensemble is dependent on the BP-command (see BP –...
Page 120: Bl - Water-Mass Layer Parameters
Layer Size + Near Layer Boundary + 20% of the reported depth away from the trans- ducer. The Far Layer Boundary (ffff) must be less than the maximum profiling distance or the Pathfinder sends Error Code 011. For more information, see Water Tracking, page 27.
Page 121: Bm - Bottom Mode
The #BN command governs the behavior of the earth referenced distance measurement calculation in the PD6 data format when the Pathfinder can’t get a lock on the bottom. The y parameter represents a timeout period during which zero is used for the current veloc- ity measurement in the equation shown in the #BO command.
Page 122: Bo - Distance Measure Filter Constant
When calculating the earth referenced distance data for output in the PD6 data format, the Pathfinder applies a simple exponential filter to the velocity measurements before cal- culating the distance. The velocity used to calculate the distance is given by the following equation: •...
Page 123: By - Transmit Length
Pathfinder DVL Guide April 2018 #BY – Transmit Length Purpose Scales the bottom mode transmit. Format #BYnn The BY commands work with or without the # sign. For example, using BY or #BY are both valid commands. nn = 0 to 100 %...
Page 124: Control System Commands
= baud rate, parity, stop bits (see description) Range Default 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).
Page 125: Ce - Enable Ethernet
The default setting for this command is recommended for most applications. Description The CF-command defines whether the Pathfinder: generates data ensembles automati- cally or manually; generates pings immediately or manually; sends serial output data in binary or Hex-ASCII format; sends or does not send output data to the serial interface.
Page 126: Ck - Keep Parameters
Purpose Stores present parameters to non-volatile memory. Format The CR1 command must be the first command sent to the Pathfinder. The CK command must be sent just before the CS command. Other commands may be sent in any order. Description CK saves the present user command parameters to non-volatile memory on the CPU board.
Page 127: Cs - Start Pinging (Go)
CS command. The CS command is the last command sent. Use CS (or the Tab key) to tell the Pathfinder system to start pinging its transducer and Description collecting data as programmed by the other commands.
Page 128: Cx - Input Trigger Enable
April 2018 Pathfinder DVL Guide CX – Input Trigger Enable Purpose Enables or disables the trigger. CX n d t [p] Format Use as needed. n: n = 0 to 5 per Table 26. Range d: 0 to 65535 one hundredths of a second delay time.
Page 129: Cz - Power Down Adcp
Format Recommended Setting. Use as needed. Description Sending the CZ command powers down the DVL and draws a minimal amount of current. Pathfinder processing is interrupted and the DVL goes in the STANDBY mode (RAM is maintained). Example See below >cz...
Page 130: Environmental Commands
(i.e. clockwise) from the forward axis of the ship/vehicle. Use the EA command to tell the Pathfinder where beam 3 is in relation to the ship’s centerline. To convert +45 to an EA- command value, multiply the desired alignment angle in degrees by 100: EA = +45.00 ×...
Page 131: Ec - Speed Of Sound
See the primer for information on speed of sound calculations. If the EZ Transducer Depth field = 1 or 2, the Pathfinder overrides the manually set ED value and uses depth from the internal or external pressure sensor, respectively. If a pressure sensor is not available, the Pathfinder uses pressure data from the best available sensor or ED command.
Page 132: Eh - Heading
EH sets the Pathfinder heading and heading coordinate frame if both arguments are en- tered. EH sets the Pathfinder heading if only one argument is entered. This heading value is as- sumed to be in instrument coordinates. Figure 18 shows transducer beam axis and tilt signs.
Page 133: Er - Roll Angle
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.
Page 134: Es - Salinity
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 taken at the transducer head.
Page 135: Eu - Up/Down Orientation
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 velocity transformation and ensemble output.
Page 136: Ex - Coordinate Transformation
No transformation. Radial beam coordinates, i.e., 1, 2, 3, 4. Heading/Pitch/Roll not applied. EX01xxx Instrument coordinates. X, Y, Z vectors relative to the Pathfinder. Heading/Pitch/Roll not applied. EX10xxx Ship coordinates (Note 1) X, Y, Z vectors relative to the ship. Heading not applied. EA-command used, but not the #EV-command.
Page 137: Ez - Sensor Source
Setting the EZ-command firmware switches tells the Pathfinder to use data from a man- ual setting or from an associated sensor. When a switch value is nonzero, the Pathfinder overrides the manual E-command setting and uses data from the appropriate sensor. If...
Page 138: Expert Environmental Commands
April 2018 Pathfinder DVL Guide Expert Environmental Commands This section lists the expert Environmental commands. Commands that start with the # sign are consid- ered “expert” commands. >#E? Available Commands: #EC 1500 ------------------- Speed Of Sound [m/s] #EE 0000010 ---------------- Rsrvd[4]; Cmd[1]; Rw/Nm[1]; Snsr Out[1] #EH 00000,1 ---------------- Heading {heading;frame}...
Page 139 Pathfinder DVL Guide April 2018 Bit g controls the output of a data type with sensor source for parameters needed for Doppler calculations. This data indicates what sensors data were used for parameters of the Doppler calculation. This may be...
Page 140: Ei - Roll Misalignment Angle
April 2018 Pathfinder DVL Guide Vertical Range correction for Phased Arrays: If the user setup for using manual SoS, i.e. using EC instead of sending in the actual SoS or instead of hav- ing the DVL calculate the SoS, then the equation for correcting altitude is: ��...
Page 141: Ej - Pitch Misalignment Angle
Pathfinder DVL Guide April 2018 #EJ - Pitch Misalignment Angle Purpose Corrects for a physical pitch-like misalignment between the y-axis of the instrument and the ship’s forward axis. Format #EJ±nnnnn The #EJ command must be sent with the # sign.
Page 142: Recorder Commands
The recorder contains approximately 16 megabytes of solid-state nonvolatile memory, which can be used to continuously record data. Once the recorder is full, it will stop recording data. The recorder is intended to be used on the Pathfinder for troubleshooting purposes during commissioning and integration of the system.
Page 143: Mn - Set File Name
For example, the file Pathfinder3281997475.000 would contain data for the deployment named “Pathfinder” (the 3281997475 in the filename is the number of seconds since Jan- uary 1 , 1900). The file extension is always “.000”. Waiting 25 seconds and downloading the same data again, the file name will change to Pathfinder3281997500.000.
Page 144: Performance And Testing Commands
April 2018 Pathfinder DVL Guide Performance and Testing Commands The Pathfinder uses the following commands for calibration and testing. Available Performance and Testing Commands This section lists the available Performance and Testing commands. >P? Available Commands: PA ------------------------ Run Go/No-Go Tests...
Page 145: Pc - Built-In Tests
Pathfinder DVL Guide April 2018 PC - Built-In Tests Purpose Allow the user to view the values of sensor data used in Doppler processing and to iden- tify the source of the data IDs. Format PCnnn Range nnn = 0, 2, 20, 4, 40, 5, 50 Description PC0 displays the help menu.
Page 146: Ps - Display System Parameters
PS – Display System Parameters Purpose Displays Pathfinder system configuration data. Format Range n = 0, 1, 3 to 5 P S 0 – Sy st e m C onf i g ur at i on Inf o >ps0...
Page 147 P S 3 – In st r u m ent Tr a ns f or m at io n M at r ix 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...
Page 148: Pt - Diagnostic Tests
The PT0 command displays the test menu (shown below). As implied by the NOTE, adding 100 to the test number repeats the test continually until the Pathfinder receives a <BREAK>. Sending PT200 runs the PT3 and PT5 tests. PT300 runs the PT3 and PT5 tests continually until the Pathfinder receives a <BREAK>.
Page 149: Pt5 - Transmit/Receive Continuity Check Test
Pathfinder DVL Guide April 2018 Sin Duty Cycle (percent) Cos Duty Cycle (percent) RSSI Noise Floor (counts) RESULT...PASSED PT3 is considered to have normal values if: Correlation at the last lag is less than 25%. 2. The duty cycle of sine and cosine does not vary from 50% by more than +/-15%.
Page 150: Pt9 - Transmit Memory Test
April 2018 Pathfinder DVL Guide PT9 - Transmit Memory Test The PT9 test performs a write/read test of each memory location in the transmit RAM, which is used to hold the signal pattern that is transmitted during a ping. >pt9 XMIT RAM Test..PASSED...
Page 151: Pt14 - Recorder Test
Pathfinder DVL Guide April 2018 PT14 - Recorder Test The PT14 recorder test takes about 10 minutes to complete, as it checks all 32768 pages of each flash chip (x2), at 256 bytes per page to ensure the chips are completely blank. It then performs a pattern test of a random sector in each flash chip, which is fairly quick.
Page 152: Expert Performance And Testing Commands
PD4 Sends CSS-DVL output data structure (without sensor and made-good data). For a full descrip- tion of the PD4 format, see Pathfinder Binary Data Format (PD4/PD5). PD5 Sends CSS-DVL output data structure (with sensor and made-good data). For a full description...
Page 153: Pe - Ethernet Data Streams Bitmask
Pathfinder DVL Guide April 2018 #PE – Ethernet Data Streams Bitmask Purpose Selects the multiple formats to be enabled simultaneously for Pathfinder systems with the optional Ethernet module. Format #PEnnnnn The PE command works only with the # sign. Range...
Page 154: Timing Commands
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.
Page 155: Tp - Time Between Pings
TF13/11/23, 13:37:15. If the Pathfinder should begin pinging immediately after receiving the CS command (see notes), do not enter a TF command value. 1. Although a TF command may be sent to the Pathfinder, the CS command also must be sent before deploying the Pathfinder.
Page 156: Ts - Set Real-Time Clock
1. When the Pathfinder receives the carriage return after the TS-command, it enters the new time into the real-time clock and 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.
Page 157: Water Profiling Commands
Command Descriptions section. WB – Bandwidth Purpose Sets the profiling bandwidth (sampling rate). Smaller bandwidths allow the Pathfinder to profile farther, but the standard deviation is increased by as much as 2.5 times. Format Range n = 0 (Wide), 1 (Narrow) Default The default setting for this command is recommended for most applications.
Page 158: Wd - Data Out
WD uses firmware switches to tell the Pathfinder the types of data to collect. The Path- finder always collects header data, fixed and variable leader data, and checksum data. Setting a bit to one tells the Pathfinder to collect that data type. The bits are described as follows:...
Page 159: Wn - Number Of Depth Cells
Default WN030 Set as needed. Description The range of the Pathfinder is set by the number of depth cells (WN) times the size of each depth cell WS – Depth Cell Size). Be careful when setting up long profiles. System memory limitations will limit the amount of data actually collected.
Page 160: Wv - Ambiguity Velocity
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.
Page 161: Expert Water Profiling Command Descriptions
#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 detected in only one beam) or for the affected cell in all four beams (fish detected in more than one beam).
Page 162: We - Error Velocity Threshold
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- formed-coordinate data.
Page 163: Wt - Transmit Length
Pathfinder DVL Guide April 2018 #WT – Transmit Length Purpose Selects a transmit length different from the depth cell length (cell sampling interval) as set by the WS command (see WS – Depth Cell Size). Format #WTnnnn The WT command works with or without the # sign. For example, using WT or #WT are both valid commands.
Page 164 April 2018 Pathfinder DVL Guide OTES Page 152 EAR-Controlled Technology Subject to Restrictions Contained on the Cover Page.
Page 165: Chapter 8 - Output Data Formats
Pathfinder DVL Guide April 2018 Chapter UTPUT ORMATS 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 Page 153 EAR-Controlled Technology Subject to Restrictions Contained on the Cover Page.
Page 166: Choosing A Data Format
Other standard ASCII characters (text) and control commands (carriage re- turn, line feed, end of file, etc.) are interpreted normally. In the Hex ASCII mode, the Pathfinder sends data in one line of ASCII characters. There are no carriage returns and/or line feed sequences (CR/LF) sent from the Pathfinder.
Page 167: Table 31: Summary Of Output Data Formats
Pathfinder DVL Guide April 2018 The following table is a summary of the type of data outputted by PD0 through PD6 data output formats. Note that this is not an exhaustive list and it is advised to check out the full description of a format before choosing it above another.
Page 168: Pd0 Output Data Format
The following description is for the standard PD0 Pathfinder output data format. Figure 31 through Figure 39 shows the ASCII and binary data formats for the Pathfinder PD0 mode. Table 32 through Table 47 de- fines each field in the output data structure.
Page 169: Figure 30. Pd0 Standard Output Data Buffer Format
Pathfinder DVL Guide April 2018 HEADER 7F7Fh (6 BYTES + [2 x No. OF DATA TYPES]) FIXED LEADER DATA ALWAYS OUTPUT 0000h (58 BYTES) VARIABLE LEADER DATA 0080h (77 BYTES) VELOCITY 0100h (2 BYTES + 8 BYTES PER DEPTH CELL)
Page 170: Header Data Format
April 2018 Pathfinder DVL Guide Header Data Format BIT POSITIONS BYTE HEADER ID (7Fh) DATA SOURCE ID (7Fh) NUMBER OF BYTES IN ENSEMBLE SPARE NUMBER OF DATA TYPES OFFSET FOR DATA TYPE #1 OFFSET FOR DATA TYPE #2 OFFSET FOR DATA TYPE #3 (SEQUENCE CONTINUES FOR UP TO N DATA TYPES) ↓...
Page 171: Table 32: Header Data Format
Pathfinder DVL Guide April 2018 Header information is the first item sent by the Pathfinder to the output buffer. The Pathfinder always sends the Least Significant Byte (LSB) first. Table 32: Header Data Format Hex Digit Binary Field Description Byte HDR ID / Header Stores the header identification byte (7Fh).
Page 172: Fixed Leader Data Format
April 2018 Pathfinder DVL Guide Fixed Leader Data Format BIT POSITIONS BYTE FIXED LEADER ID LSB 00h MSB 00h CPU F/W VER. CPU F/W REV. SYSTEM CONFIGURATION REAL/SIM FLAG LAG LENGTH NUMBER OF BEAMS NUMBER OF CELLS PINGS PER ENSEMBLE...
Page 173: Figure 32. Fixed Leader Data Format
Pathfinder DVL Guide April 2018 BIT POSITIONS BYTE HEADING BIAS SENSOR SOURCE SENSORS AVAILABLE BIN 1 DISTANCE XMIT PULSE LENGTH SPARE FALSE TARGET THRESH SPARE TRANSMIT LAG DISTANCE ↓ SPARE ↓ SYSTEM BANDWIDTH SPARE SPARE ↓ ↓ System Serial Number See Table 33 for a description of the fields Figure 32.
Page 174 April 2018 Pathfinder DVL Guide Fixed Leader data refers to the non-dynamic Pathfinder data that only changes when certain commands are changed. Fixed Leader data also contains hardware information. The Pathfinder always sends Fixed Leader data as output data (LSBs first).
Page 175 Field Description Byte 19,20 WN / Number Contains the number of depth cells over which the Pathfinder col- of Cells lects data (WN – Number of Depth Cells). Scaling: LSD = 1 depth cell; Range = 1 to 255 depth cells...
Page 176: Table 33: Fixed Leader Data Format
(only applicable to heading, roll, and pitch). Although a “2” in the EZ-command string can be entered, the Pathfinder only displays a 0 (manual) or 1 (int/ext sensor).
Page 177 This field, set by the WT-command (WT - Transmit Length), contains length the length of the transmit pulse. When the Pathfinder receives a <BREAK> signal, it sets the transmit pulse length as close as possible to the depth cell length (WS – Depth Cell Size).
Page 178: Variable Leader Data Format
April 2018 Pathfinder DVL Guide Variable Leader Data Format BIT POSITIONS BYTE VARIABLE LEADER ID ENSEMBLE NUMBER RTC YEAR RTC MONTH RTC DAY RTC HOUR RTC MINUTE RTC SECOND RTC HUNDREDTHS ENSEMBLE # MSB BIT RESULT SPEED OF SOUND DEPTH OF TRANSDUCER...
Page 179 Pathfinder DVL Guide April 2018 BIT POSITIONS BYTE HDG STD DEV PITCH STD DEV ROLL STD DEV ADC CHANNEL 0 ADC CHANNEL 1 ADC CHANNEL 2 ADC CHANNEL 3 ADC CHANNEL 4 ADC CHANNEL 5 ADC CHANNEL 6 ADC CHANNEL 7...
Page 180: Figure 33. Variable Leader Data Format
TRANSDUCER IMPEDANCE Figure 33. Variable Leader Data Format Variable Leader data refers to the dynamic Pathfinder data (from clocks/sensors) that change with each ping. The Pathfinder always sends Variable Leader data as output data (LSBs first). Table 34: Variable Leader Data Format...
Page 181: Table 34: Variable Leader Data Format
Binary Field Description Byte 25-28 13,14 BIT / BIT Result This field contains the results of the Pathfinder’s Built-in Test function. A zero code indicates a successful BIT result. See BIT De- coding Method for non-zero values. byte13 Error Code...
Page 182 Scaling: LSD = 1 decimeter; Range = 1 to 9999 decimeters 37-40 19,20 EH / Heading Contains the Pathfinder heading angle. This value may be a man- ual setting (EH - Heading) or a reading from a heading sensor. The variation angle from the EV command is added to heading before output.
Page 183 LSD = 0.1°; Range = 0.0 to 20.0° 69-70 ADC Channel 0 These fields contain the outputs of the Analog-to-Digital Con- 71-72 ADC Channel 1 verter (ADC). The ADC channels in the Pathfinder are defined as 73-74 ADC Channel 2 follows: 75-76 ADC Channel 3...
Page 184 April 2018 Pathfinder DVL Guide Table 34: Variable Leader Data Format Hex Digit Binary Field Description Byte 133-134 Health Status Contains the leak sensor flags and flags to indicate whether the transmit voltage, transmit current, and transducer impedance have been updated. These update flags are set when the meas- urement is made, and cleared after each ensemble output.
Page 185 Pathfinder DVL Guide April 2018 B I T D ec o di n g M et h o d In order to verify if the system has a BIT set for an ensemble, run the file through BBCheck.exe or decode it from the PD0 binary output using BBConv.exe.
Page 186: Velocity Data Format
April 2018 Pathfinder DVL Guide Velocity Data Format BIT POSITIONS BYTE LSB 00h VELOCITY ID MSB 01h DEPTH CELL #1, VELOCITY 1 DEPTH CELL #1, VELOCITY 2 DEPTH CELL #1, VELOCITY 3 DEPTH CELL #1, VELOCITY 4 DEPTH CELL #2, VELOCITY 1...
Page 187: Table 35: Velocity Data Format
The Pathfinder packs velocity data for each depth cell of each beam into a two-byte, two’s-complement integer [-32768, 32767] with the LSB sent first. The Pathfinder scales velocity data in millimeters per sec- ond (mm/s). A value of –32768 (8000h) indicates bad velocity values.
Page 188: Correlation Magnitude, Echo Intensity, Percent-Good, And Status Data Format
April 2018 Pathfinder DVL Guide Correlation Magnitude, Echo Intensity, Percent- Good, and Status Data Format BIT POSITIONS BYTE ID CODE DEPTH CELL #1, FIELD #1 DEPTH CELL #1, FIELD #2 DEPTH CELL #1, FIELD #3 DEPTH CELL #1, FIELD #4...
Page 189: Table 36: Correlation Magnitude Data Format
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 echo intensity data.
Page 190 The percent-good data field is a data-quality indicator that reports the percentage (0 to 100) of good data collected for each depth cell of the velocity profile. The setting of the EX-command (Coordinate Transfor- mation) determines how the Pathfinder references percent-good data as shown below. EX-Command Coordinate Velocity 1...
Page 191: Table 38: Percent-Good Data Format
Pathfinder DVL Guide April 2018 Table 38: Percent-Good Data Format Hex Digit Binary Field Description Byte ID Code Stores the percent-good data identification word (MSB=04h LSB=00h). Depth cell 1, Field Stores percent-good data for depth cell #1, field 1. See above.
Page 192: Binary Bottom-Track Data Format
April 2018 Pathfinder DVL Guide Binary Bottom-Track Data Format BIT POSITIONS BYTE LSB 00h BOTTOM-TRACK ID MSB 06h BT PINGS PER ENSEMBLE RESERVED BT CORR MAG MIN BT EVAL AMP MIN RESERVED BT MODE BT ERR VEL MAX RESERVED BEAM#1 BT RANGE...
Page 193 Pathfinder DVL Guide April 2018 BIT POSITIONS BYTE BEAM#1 EVAL AMP BEAM#2 EVAL AMP BEAM#3 EVAL AMP BEAM#4 EVAL AMP BEAM#1 BT %GOOD BEAM#2 BT %GOOD BEAM#3 BT %GOOD BEAM#4 BT %GOOD REF LAYER MIN REF LAYER NEAR REF LAYER FAR...
Page 194: Figure 36. Binary Bottom-Track Data Format
Special Output Data Formats) assume that the bottom is stationary and that the Pathfinder or vessel is moving. This data is output only if the BP-command is greater than zero and PD0 is selected. The LSB is always sent first.
Page 195 81-88 41-44 BT %Good dicate the reliability of bottom-track data. It is the percentage of bottom-track pings that have passed the Pathfinder’s bottom-track validity algorithm during an ensemble. Scaling: LSD = 1 percent; Range = 0 to 100 percent 89-92...
Page 196 Contains the most significant byte of the vertical range from the MSB/Bm #1-4 Pathfinder to the sea bottom (or surface) as determined by each beam. This vertical range does not consider the effects of pitch and roll. When bottom detections are bad, BT Range=0. See bytes 17 through 24 for LSB description and scaling.
Page 197: Environmental Command Parameters Output Format
Pathfinder DVL Guide April 2018 Environmental Command Parameters Output Format BIT POSITIONS BYTE LSB 00h FIXED ATTITUDE ID MSB 30h ATTITUDE OUTPUT COORDINATES and PROCESSING CONTROL USING INTERPOLATED ATTITUDE (#EE) RESERVED FIXED HEADING SCALING (#EH) FIXED HEADING COORDINATE FRAME (#EH)
Page 198: Figure 37. Environmental Command Parameters Output Format
Figure 37. Environmental Command Parameters Output Format Environmental Command Parameters correspond to the most useful “E” menu command parameters. The Pathfinder will output Fixed Attitude data as output data (LSBs first). See Command Descriptions for de- tailed descriptions of commands used to set these values.
Page 199: Bottom Track Command Output Format
Pathfinder DVL Guide April 2018 Table 41: Environmental Command Parameters Output Format Binary Field Description Digit Byte 53-68 27-34 Sensor Source Stores the setting of the EZ command; a user input defining the use of internal, external, or fixed sensors (EZ - Sensor Source).
Page 200: Figure 38. Bottom Track Command Output Data Format
April 2018 Pathfinder DVL Guide BIT POSITIONS BYTE GAIN SWITCH DEPTH WATER MASS LAYER MODE WATER MASS LAYER MIN SIZE WATER MASS LAYER NEAR BOUNDARY WATER MASS LAYER FAR BOUNDARY BOTTOM TRACK MODE SPEED LOG HOLD TRACK SPEED LOG TIME-OUT...
Page 201: Table 42: Bottom Track Command Output Data Format
Speed log filter time constant 28-29 Pings Per Ensemble, 1 to 999 (BP – Bottom-Track Pings per Ensemble) Reserved BT (Vertical Depth) Resolution, 0 to 2 (not used in Pathfinder) 31-32 Reserved Terrain Bias Correction 33-34 Reserved BM7 Bottom Blank...
Page 202: Bottom Track High Resolution Velocity Format
April 2018 Pathfinder DVL Guide Bottom Track High Resolution Velocity Format BIT POSITIONS BYTE LSB 03h BOTTOM TRACK HIGH RESOLUTION VELOCITY ID MSB 58h BT VELOCITY 1 BT VELOCITY 2 BT VELOCITY 3 BT VELOCITY 4 BT DISTANCE MADE GOOD 1...
Page 203 Pathfinder DVL Guide April 2018 BIT POSITIONS BYTE BT DISTANCE MADE GOOD 4 WATER MASS VELOCITY 1 WATER MASS VELOCITY 2 WATER MASS VELOCITY 3 WATER MASS VELOCITY 4 WATER MASS DISTANCE MADE GOOD 1 WATER MASS DISTANCE MADE GOOD 2...
Page 204: Figure 39. Bottom Track High Resolution Velocity Output Format
April 2018 Pathfinder DVL Guide BIT POSITIONS BYTE WATER MASS DISTANCE MADE GOOD 4 SPEED OF SOUND Figure 39. Bottom Track High Resolution Velocity Output Format This format is selected via the #BJ command (see BJ – Data Type Output Control).
Page 205: Bottom Track Range Format
Pathfinder DVL Guide April 2018 Table 43: Bottom Track High Resolution Velocity Output Format Binary Byte Field Description 47-50 WM Velocity Water Mass Axis 4 Velocity in 0.01mm/s. Reference frame dependent on EX command. 51-54 WM DMG 1 Water Mass Axis 1 Distance in 0.01mm made good. Reference frame de- pendent on EX command.
Page 206: Figure 40. Bottom Track Range Output Data Format
April 2018 Pathfinder DVL Guide BIT POSITIONS BYTE BEAM 1 Raw Range BEAM 2 Raw Range BEAM 3 Raw Range BEAM 4 Raw Range BEAM 1 Raw Max BT Filter BEAM 2 Raw Max BT Filter BEAM 3 Raw Max BT Filter...
Page 207: Table 44: Bottom Track Range Output Data Format
Pathfinder DVL Guide April 2018 This format is selected via the #BJ command (see BJ – Data Type Output Control). Table 44: Bottom Track Range Output Data Format Binary Bytes Field Description PD0 ID (MSB=58h LSB=04h) Slant Range Average range to bottom along the Z axis of the instrument frame, aver- aged over the ensemble.
Page 208 April 2018 Pathfinder DVL Guide Table 44: Bottom Track Range Output Data Format Binary Bytes Field Description BM 2 Raw Bottom amplitude at measured range in counts, averaged over the ensem- Max BT Amp ble, for beam 2 even if fewer than 3 beams detect the bottom.
Page 209: Navigation Parameters Data Format
Pathfinder DVL Guide April 2018 Navigation Parameters Data Format BIT POSITIONS BYTE LSB 13h ID_NAV_PARAMS (0x2013) MSB 20h TIME-TO-BOTTOM BEAM 1 TIME-TO-BOTTOM BEAM 2 TIME-TO-BOTTOM BEAM 3 TIME-TO-BOTTOM BEAM 4 BOTTOM TRACK STANDARD DEVIATION BEAM 1 BOTTOM TRACK STANDARD DEVIATION BEAM 2...
Page 210 April 2018 Pathfinder DVL Guide BIT POSITIONS BYTE TIME-TO-WATER MASS LAYER BEAM 2 TIME-TO-WATER MASS LAYER BEAM 3 TIME-TO-WATER MASS LAYER BEAM 4 RANGE TO WATER MASS CELL WATER TRACK STANDARD DEVIATION BEAM 1 WATER TRACK STANDARD DEVIATION BEAM 2...
Page 211: Figure 41. Navigation Parameters Data Format
Pathfinder DVL Guide April 2018 BIT POSITIONS BYTE BOTTOM TRACK TIME-OF-VALIDITY BEAM 3 BOTTOM TRACK TIME-OF-VALIDITY BEAM 4 WATER TRACK TIME-OF-VALIDITY BEAM 1 WATER TRACK TIME-OF-VALIDITY BEAM 2 WATER TRACK TIME-OF-VALIDITY BEAM 3 WATER TRACK TIME-OF-VALIDITY BEAM 4 Figure 41.
Page 212: Table 45. Navigation Parameters Data Format
Stores the flag indicating whether the Pathfinder is operating in FLAG shallow mode or not. If this value is set to 1, then the Pathfinder is operating in shallow 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.
Page 213: Sensor Source For Doppler Processing Format
Pathfinder DVL Guide April 2018 Table 45. Navigation Parameters Data Format Hex Digit Binary Field Description Byte When CX=1, stores the time interval between the center time, 139-170 70-85 WATER TRACK TIME- or “time the ping hits the center of the water mass layer”, and...
Page 214 April 2018 Pathfinder DVL Guide BIT POSITIONS BYTE ROLL SOURCE SOS STATUS SOS SOURCE TEMPERATURE TEMPERATURE STATUS TEMPERATURE SOURCE SALINITY SALINITY STATUS SALINITY SOURCE DEPTH DEPTH STATUS DEPTH SOURCE Page 202 EAR-Controlled Technology Subject to Restrictions Contained on the Cover Page.
Page 215: Figure 42. Sensor Source For Doppler Processing Output Format
Pathfinder DVL Guide April 2018 BIT POSITIONS BYTE PRESSURE PRESSURE STATUS PRESSURE SOURCE ENSEMBLE TIMER TICKS Figure 42. Sensor Source for Doppler Processing Output Format This format is selected via the #EE command (see EE - Environmental Data Output Table 46:...
Page 216 April 2018 Pathfinder DVL Guide Table 46: Sensor Source for Doppler Processing Output Format Binary Field Description Bytes SOS 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 valid from alternate sensor or user input.
Page 217: Binary Checksum Data Format
Pathfinder DVL Guide April 2018 Binary Checksum Data Format BIT POSITIONS BYTE CHECKSUM DATA Figure 43. Binary Checksum Data Format Table 47: Checksum Data Format Hex Digit Binary Field Description Byte 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;...
Page 218: Special Output Data Formats
The Pathfinder collects all data in the output buffer during an ensemble. Figure 44 through Figure 45 shows the format of these buffers and the sequence in which the Pathfinder sends the data. Table 48 through Table 50 lists the format, bytes, fields, scaling factors, and a detailed de- scription of every item in the Pathfinder binary output buffers.
Page 219: Pathfinder Binary Data Format (Pd4/Pd5)
Pathfinder DVL Guide April 2018 Pathfinder Binary Data Format (PD4/PD5) BIT POSITION Byte Pathfinder DATA ID 7Dh DATA STRUCTURE* NO. OF BYTES SYSTEM CONFIG X-VEL BTM Y-VEL BTM Z-VEL BTM E-VEL BTM BM1 RNG TO BTM BM2 RNG TO BTM...
Page 220: Figure 44. Pathfinder Binary Data Format (Pd4/Pd5)
BIT RESULTS SPEED OF SOUND TEMPERATURE CHECKSUM Figure 44. Pathfinder Binary Data Format (PD4/PD5) *IF 0, THEN PD4 (BYTES 1-47) *IF 1, THEN PD5 (BYTES 1-45 + Table 49) Page 208 EAR-Controlled Technology Subject to Restrictions Contained on the Cover Page.
Page 221: Pathfinder Output Data Format (Pd4/Pd5) Details
Pathfinder DVL Guide April 2018 Pathfinder Output Data Format (PD4/PD5) Details The Pathfinder sends this data format only when the PD4 or PD5 command is used. Table 48: Pathfinder Output Data Format (PD4/PD5) Details Hex Digit Binary Field Description Byte Pathfinder Data Stores the Pathfinder (speed log) identification word (7Dh).
Page 222: Table 48: Pathfinder Output Data Format (Pd4/Pd5) Details
65-68 33,34 Ref Layer End ing boundary (near bottom) of the water-mass layer (BL-command). If the minimum size field is zero, the Pathfinder does not calculate water mass data. Scaling: LSD = 1 dm; Range = 0-9999 dm 69,70 Ref Layer Status This field shows the status of water mass depth and correlation data.
Page 223 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 velocity data in millimeters per second (mm/s). A value of –32768 (8000h) indicates a bad velocity.
Page 224: Pathfinder Binary Data Format (Pd5)
April 2018 Pathfinder DVL Guide Pathfinder Binary Data Format (PD5) BIT POSITION Byte SALINITY DEPTH PITCH ROLL HEADING DISTANCE MADE GOOD/BTM (EAST) DISTANCE MADE GOOD/BTM (NORTH) DISTANCE MADE GOOD/BTM (UP) DISTANCE MADE GOOD/BTM (ERROR) DISTANCE MADE GOOD/REF (EAST) Page 212...
Page 225: Figure 45. Pathfinder Binary Data Format (Pd5)
Pathfinder DVL Guide April 2018 BIT POSITION Byte DISTANCE MADE GOOD/REF (NORTH) DISTANCE MADE GOOD/REF (UP) DISTANCE MADE GOOD/REF (ERROR) CHECKSUM Figure 45. Pathfinder Binary Data Format (PD5) Page 213 EAR-Controlled Technology Subject to Restrictions Contained on the Cover Page.
Page 226: Pathfinder Output Data Format (Pd5) Details
Pathfinder DVL Guide Pathfinder Output Data Format (PD5) Details The Pathfinder sends this data format (Figure 44 and Figure 45) only when the PD5 command is used. Ta- ble 48 explains the first part of this data structure. Table 49:...
Page 227: Pathfinder Output Data Format (Pd6)
Note that not all data items may be displayed. Examples: (1) If #BK = zero, the Pathfinder does not send water-mass data (line items beginning with W); (2) If #BK = three, the Path- finder does not send bottom-track data (line items beginning with B).
Page 228 April 2018 Pathfinder DVL Guide Table 50: Pathfinder Output Data Format (PD6) Line Description 0x80 HEM data corrupt or not initialized. 0x81 HEM data corrupt or not initialized. 0x82 Failed to update HEM data. 0x83 Failed to update HEM data.
Page 229 Pathfinder DVL Guide April 2018 Table 50: Pathfinder Output Data Format (PD6) Line Description BOTTOM-TRACK, INSTRUMENT-REFERENCED VELOCITY DATA :BI,±XXXXX,±YYYYY,±ZZZZZ,±EEEEE,S <CR><LF> where: ±XXXXX = X-axis velocity data in mm/s (+ = Bm1 Bm2 xdcr movement relative to bottom) ±YYYYY = Y-axis velocity data in mm/s (+ = Bm4 Bm3 xdcr movement relative to bottom) ±ZZZZZ = Z-axis velocity data in mm/s (+ = transducer movement away from bottom)
Page 230: Pathfinder Output Data Format (Pd13)
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 order. The DVL may not sent all data lines. Examples: (1) If BK = zero, the DVL does not send water-mass data (line items beginning with W);...
Page 231: Table 51. Pathfinder Output Data Format (Pd13)
Pathfinder DVL Guide April 2018 Table 51. Pathfinder Output Data Format (PD13) Line Description SYSTEM ATTITUDE DATA :SA,±PP.PP,±RR.RR,HH.HH <CR><LF> where: PP.PP = Pitch in degrees RR.RR = Roll in degrees HHH.HH = Heading in degrees TIMING AND SCALING DATA :TS,YYMMDDHHmmsshh,SS.S,±TT.T,DDDD.D,CCCC.C,BBB <CR><LF>...
Page 232 April 2018 Pathfinder DVL Guide Table 51. Pathfinder Output Data Format (PD13) Line Description 0x80 HEM data corrupt or not initialized. 0x81 HEM data corrupt or not initialized. 0x82 Failed to update HEM data. 0x83 Failed to update HEM data.
Page 233 Pathfinder DVL Guide April 2018 Table 51. Pathfinder Output Data Format (PD13) Line Description WATER-MASS, EARTH-REFERENCED DISTANCE DATA :WD,±EEEEEEEE.EE,±NNNNNNNN.NN,±UUUUUUUU.UU,DDDD.DD,TTT.TT <CR><LF> where: +EEEEEEEE.EE = East (u-axis) distance data in meters +NNNNNNNN.NN = North (v-axis) distance data in meters +UUUUUUUU.UU = Upward (w-axis) distance data in meters DDDD.DD = Range to water-mass center in meters...
Page 234: Decoding A Pathfinder Ensemble
The format for the bytes 1-53 are now specified by changes added in support to the Pathfinder. If additional sensor data is to be added to the variable leader data then it must be added to the end of the data string (bytes 54-x as an example).
Page 235: Decoding Sequence For Pd0 Data
5. Locate the data ID type to decode by using the offset to each data type and confirm the data ID number at that offset matches the ID type looking for. 6. Once the proper ID type has been located, use the Pathfinder Technical Manual to understand what each byte represents in that particular data type.
Page 236 April 2018 Pathfinder DVL Guide OTES Page 224 EAR-Controlled Technology Subject to Restrictions Contained on the Cover Page.
Page 237: Appendix
Pathfinder DVL Guide April 2018 Appendix OTICE OF OMPLIANCE In this chapter, you will learn: • China RoHS requirements • Material disclosure table Page 225 EAR-Controlled Technology Subject to Restrictions Contained on the Cover Page.
Page 238: Date Of Manufacture
April 2018 Pathfinder DVL Guide Date of Manufacture China RoHS requires that all Electrical and Electronic Products are marked with a Date of Manufacture. This is the starting point for the Environmental Friendly Use Period, described below. Environmental Friendly Use Period (EFUP) Per SJ/T 11364-2006 –...
Page 239: Material Disclosure Table
Pathfinder DVL Guide April 2018 Material Disclosure Table In accordance with SJ/T 11364-2006, the following table disclosing toxic or hazardous substances con- tained in the product is provided. Table 53. Toxic or Hazardous Substances and Elements Contained in Product 零件项目(名称) 有毒有害物质或元素...
Page 240 April 2018 Pathfinder DVL Guide OTES Page 228 EAR-Controlled Technology Subject to Restrictions Contained on the Cover Page.

Teledyne PATHFINDER Manual

Chapter 1 - a T a Glance

Chapter 2 - System Integration

Chapter 3 - Collecting Data

Chapter 4 - Maintenance

Chapter 5 Returning

Chapter 6 - Specifications

Chapter 7 - Commands

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