Messages; Status Message - Klein 3000 Series Operation And Maintenance Manual

B-10
APPENDIX B TPU Software Interface and Control
B.5 Messages
B.5.1 Status Message
Upon query of the system by the ST (status) command the system outputs a status
message of the form:
$PKLA,ST,RSdWFdRMdSMdDMdTPdVFdRCdSDdHDddERdd*hh<CR><LF>
where the fields are as described above and HD is the percentage of hard drive
space used and ER is an error/health monitoring byte (in ASCII hex
representation) where zero indicates normal operation and a non-zero value
indicates an error state defined as:
0:
1:
2:
3:
4:
5:
Series 3000 Sonar System Operations and Maintenance Manual
Over-speed, the vehicle is above the maximum speed for the
given range scale/resolution mode.
Navigation Data Error, the navigation data is incorrect
either in format or checksum.
Telemetry Error, the telemetry link between the TPU and
the towfish is malfunctioning. Note: this feature is currently
unsupported. Future hardware revisions plan support for
link monitoring and this is a place holder for those
revisions.
Sensor Checksum Error, the checksum in the sensor data
packet does not equal the computed checksum. Occasional
errors are no cause for alarm as sometimes a sensor packet
is corrupted by the strong electromagnetic field generated
when the towfish "fires". Repeated errors, however, may
indicate a telemetry or other fault and should be
investigated.
Leak, there is a leak in the electronics bottle. This is only
supported if the towfish is equipped with a leak sensor and
the appropriate initializer is present in the startup script.
Statistical analysis indicates data may be compromised. The
TPU monitors the data quality by performing power
spectrum measurements on the data. If the results of these
measurements indicate that the data is static (indicating a
software or DSP crash) or has little energy (indicating a
hardware failure) then this flag is raised. Note that if the
towfish is operated out of water then it is quite common for
this flag to be set as there is little energy in the return echo
and the TPU will assume that the hardware has failed.
11210066, Rev. 11