TASMAN

DOPPLER VELOCITY LOG (DVL) GUIDE

600 AND 300 KHZ

P/N 95B-6157-00 (November 2020)

© 2020 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
provided to any foreign person. Diversion contrary to U.S. law is prohibited.
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TABLE OF CONTENTS

CHAPTER 1 - AT A GLANCE ...................................................................................................................................1

Overview ...................................................................................................................................................... 2
Tasman Options ........................................................................................................................................... 3
Health & Environment Monitoring Sensors ................................................................................................. 3
Setting up the Tasman System ..................................................................................................................... 4
Computer and Software Considerations .............................................................................................. 4
Software Installation ............................................................................................................................ 4
Power Overview ................................................................................................................................... 5
Cable and Connector Protective Cap.................................................................................................... 6
Setting Up the Tasman System............................................................................................................. 7
Cable Wiring Diagrams ......................................................................................................................... 8
Connecting to the Tasman ........................................................................................................................... 10
Using the Network Configuration Page ................................................................................................ 11
Using Ethernet Communications .......................................................................................................... 12
Using TCP Protocol ......................................................................................................................... 12
Using UDP Protocol ........................................................................................................................ 13
Ethernet Module Firmware Update ..................................................................................................... 15
Testing the Tasman System.......................................................................................................................... 16
Caring for the Tasman System ..................................................................................................................... 17
General Handling Guidelines ................................................................................................................ 17
CHAPTER 2 – SYSTEM INTEGRATION .......................................................................................................................19
System Integration Introduction .................................................................................................................. 20
DVL Theory ................................................................................................................................................... 20
BroadBand Doppler .............................................................................................................................. 20
Bottom Tracking ................................................................................................................................... 20
Water Tracking ..................................................................................................................................... 21
Required Conditions for Water Tracking ....................................................................................... 21
Water Tracking Parameters ........................................................................................................... 22
Current Profiling ................................................................................................................................... 22
Beam Coordinate Systems ................................................................................................................... 23
DVL Performance and Influencing Factors ........................................................................................... 25
Long Term Performance ................................................................................................................ 25
Bottom Track ................................................................................................................................. 25
Water Track ................................................................................................................................... 25
Short Term Performance ...................................................................................................................... 26
Bottom Track ................................................................................................................................. 26
Water Track ................................................................................................................................... 26
Altitude Performance ........................................................................................................................... 27
Bottom Type & Slope ..................................................................................................................... 27
Temperature & Salinity .................................................................................................................. 27
Pitch & Roll..................................................................................................................................... 28
Transmit Power .............................................................................................................................. 28
Slant Range Performance ..................................................................................................................... 29
Speed of Sound Variation .............................................................................................................. 29
Bottom Slope ................................................................................................................................. 29
Pitch & Roll..................................................................................................................................... 30
Resolution ...................................................................................................................................... 30
Mechanical Integration Considerations ....................................................................................................... 31
Alignment ............................................................................................................................................. 31
Beam Clearance ................................................................................................................................... 32
Mounting the Instrument..................................................................................................................... 32
Pitch & Rolls ......................................................................................................................................... 32
Routing Cables...................................................................................................................................... 33

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 Electrical Integration Considerations ........................................................................................................... 34
Grounding Recommendations ............................................................................................................. 34
Electrical and Grounding Testing Best Practices .................................................................................. 35
Electro-Magnetic Interference (EMI) ................................................................................................... 36
EMI Coupling Through Cables .............................................................................................................. 36
Power Consumption ............................................................................................................................. 36
Inrush Currents..................................................................................................................................... 37
Acoustic Integration Considerations ............................................................................................................ 38
Flow Noise ............................................................................................................................................ 38
Cavitation ............................................................................................................................................. 38
Ringing.................................................................................................................................................. 38
Mounting Considerations ..................................................................................................................... 39
Windows Use Considerations............................................................................................................... 39
Recommended Practices for Window Use..................................................................................... 40
SONAR Interference Considerations .................................................................................................... 41
Interference Detection and Mitigation ................................................................................................ 41
Reference, Data & Timing Considerations ................................................................................................... 42
Coordinate Frames ............................................................................................................................... 42
Data Screening ..................................................................................................................................... 42
Three-Beam Solution............................................................................................................................ 43
Ping Timing ........................................................................................................................................... 43
System Synchronization ....................................................................................................................... 44
INS Integration ..................................................................................................................................... 45
Operational and Setup Considerations ........................................................................................................ 46
Unfavorable Environments .................................................................................................................. 46
Triggering ............................................................................................................................................. 46
Design Considerations & Bench Test .................................................................................................... 47
Troubleshooting ........................................................................................................................................... 48
Communications Issues ........................................................................................................................ 48
Initial Shakedown Deployment .................................................................................................................... 48
Troubleshooting Checklist .................................................................................................................... 48
Identify Unit ................................................................................................................................... 48
Run Built-In Tests ........................................................................................................................... 48
Provide Unit Setup ......................................................................................................................... 49
Describe Deployment Environment & Operational Conditions ..................................................... 50
Describe the System Installation.................................................................................................... 50
Provide Raw Data & Describe Issue for Analysis by TRDI ............................................................... 50
Provide Additional Data for Analysis by TRDI ................................................................................ 50
Record Engineering Data for Analysis by TRDI ............................................................................... 50
Identifying EMI ............................................................................................................................................. 52
Using NGSPFFT to Identify Interference ............................................................................................... 53
Examples of Clean FFT Plots, No Interference ...................................................................................... 54
Examples of Interference ..................................................................................................................... 55
Alternative FFT Tool for Virtual Comports ........................................................................................... 57
CHAPTER 3 – COLLECTING DATA ............................................................................................................................59
Tasman General Deployment Flow .............................................................................................................. 60
Creating or Modifying Command Files ......................................................................................................... 61
Sending Commands to the Tasman.............................................................................................................. 65
Using the SBG Ellipse AHRS Sensor .............................................................................................................. 65
Set LLA & Date ...................................................................................................................................... 66
Calibrating the AHRS Sensor ................................................................................................................ 67
2D Calibration Example .................................................................................................................. 68
3D Calibration Example .................................................................................................................. 69
Reset AHRS to Factory Defaults ..................................................................................................... 71
CHAPTER 4 - MAINTENANCE .................................................................................................................................73
Replaceable Parts ......................................................................................................................................... 74

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 Inspection Schedule ..................................................................................................................................... 75
Periodic Maintenance Items ........................................................................................................................ 76
Cleaning the Cable Connector .............................................................................................................. 76
Transducer Inspection .......................................................................................................................... 76
Anode Inspection and Replacement .................................................................................................... 77
Anode Inspection ........................................................................................................................... 77
Anode Electrical Continuity Check ................................................................................................. 78
Anode Replacement....................................................................................................................... 78
Removing Biofouling ............................................................................................................................ 79
Protective Coating Inspection .............................................................................................................. 79
Corrective Maintenance items ..................................................................................................................... 80
Replacing the Transducer ..................................................................................................................... 80
Long Term Maintenance Items .................................................................................................................... 81
Installing Firmware and Feature Upgrades .......................................................................................... 81
Firmware Upgrades........................................................................................................................ 81
Feature Upgrades .......................................................................................................................... 82
CHAPTER 5 - RETURNING SYSTEMS TO TRDI FOR SERVICE ............................................................................................83
Shipping the Tasman .................................................................................................................................... 84
Returning Systems to the TRDI Factory........................................................................................................ 85
Returning Systems to TRDI Europe Factory.................................................................................................. 86
CHAPTER 6 - SPECIFICATIONS ................................................................................................................................89
Operational Specifications ........................................................................................................................... 91
Environmental Specifications ....................................................................................................................... 92
Electrical Specifications ................................................................................................................................ 92
Communications Specifications ................................................................................................................... 92
Outline Installation Drawings ....................................................................................................................... 92
CHAPTER 7 - COMMANDS ....................................................................................................................................97
Data Communication and Command Format .............................................................................................. 98
Command Input Processing ................................................................................................................. 98
Data Output Processing........................................................................................................................ 99
Command Summary..................................................................................................................................... 99
Command Descriptions ................................................................................................................................ 102
? – Help Menus .............................................................................................................................. 102
Break .............................................................................................................................................. 103
OI – Install Feature ......................................................................................................................... 103
OL – Display Feature List ................................................................................................................ 103
Y – Display Banner ......................................................................................................................... 104
Bottom Track Commands............................................................................................................................. 105
Available Bottom Track Commands ..................................................................................................... 105
BP – Bottom Track Pings per Ensemble ......................................................................................... 105
BX – Maximum Tracking Depth ...................................................................................................... 106
Expert Bottom Track Commands ......................................................................................................... 107
#B1 – Blank Range with Bad Velocity ............................................................................................. 107
#B2 – Depth Memory Timeout ...................................................................................................... 108
#BA – Evaluation Amplitude Minimum .......................................................................................... 108
#BB – Bottom Blanking Interval ..................................................................................................... 108
#BC – Correlation Magnitude Minimum ........................................................................................ 109
#BE – Error Velocity Maximum ...................................................................................................... 109
#BF – Depth Guess ......................................................................................................................... 109
#BH – Gain Switch Threshold ......................................................................................................... 110
#BI – Gain Switch Altitude.............................................................................................................. 110
#BJ – Data Type Output Control..................................................................................................... 111
#BK – Water-Mass Layer Mode...................................................................................................... 111
#BL – Water-Mass Layer Parameters ............................................................................................. 112
#BM – Bottom Mode ..................................................................................................................... 113
#BN – Speed Log Hold/Drop Control.............................................................................................. 113

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 #BO – Distance Measure Filter Constant ....................................................................................... 114
#BQ – Over Range Limit ................................................................................................................. 114
#BS – Clear Distance Traveled ........................................................................................................ 114
#BY – Transmit Length ................................................................................................................... 115
#BZ – Low Altitude Mode ............................................................................................................... 115
Control System Commands .......................................................................................................................... 116
Available Control System Commands .................................................................................................. 116
CB – Serial Port Control .................................................................................................................. 116
CE – Enable Ethernet...................................................................................................................... 117
CF – Flow Control ........................................................................................................................... 117
CK – Keep Parameters .................................................................................................................... 118
CR – Retrieve Parameters .............................................................................................................. 118
CS – Start Pinging (Go) ................................................................................................................... 119
CT – Turnkey Operation ................................................................................................................. 119
CX – Input Trigger Enable ............................................................................................................... 120
CZ – Power Down ADCP ................................................................................................................. 121
Expert Control System Commands ....................................................................................................... 122
#CO – Output Trigger Enable ......................................................................................................... 122
Environmental Commands ........................................................................................................................... 123
Available Environmental Commands ................................................................................................... 123
EA – Heading Alignment ................................................................................................................ 123
EC – Speed of Sound ...................................................................................................................... 124
ED – Depth of Transducer .............................................................................................................. 124
EH – Heading .................................................................................................................................. 125
EP – Pitch and Roll Angles .............................................................................................................. 125
ER – Roll Angle ............................................................................................................................... 126
ES – Salinity .................................................................................................................................... 127
ET – Temperature .......................................................................................................................... 127
EU – Up/Down Orientation ............................................................................................................ 128
EV – Heading Bias........................................................................................................................... 128
EX – Coordinate Transformation .................................................................................................... 129
EZ – Sensor Source ......................................................................................................................... 130
Expert Environmental Commands........................................................................................................ 131
#EE – Environmental Data Output ................................................................................................. 131
#EI – Roll Misalignment Angle........................................................................................................ 133
#EJ – Pitch Misalignment Angle ..................................................................................................... 134
#EY – Sensor Source Override for Doppler Parameters ................................................................. 134
Recorder Commands .................................................................................................................................... 135
Recorder Command Descriptions......................................................................................................... 135
ME – Erase Recorder ...................................................................................................................... 135
MM – Show Memory Usage .......................................................................................................... 135
MN – Set File Name ....................................................................................................................... 136
MR – Set Recorder On/Off ............................................................................................................. 136
MY – Y-Modem Output .................................................................................................................. 136
Performance and Testing Commands .......................................................................................................... 137
Available Performance and Testing Commands ................................................................................... 137
PA – Run Go/No-Go Tests .............................................................................................................. 137
PC – Built-In Tests .......................................................................................................................... 138
PS – Display System Parameters .................................................................................................... 139
PT – Diagnostic Tests ..................................................................................................................... 141
PT0 – Help ...................................................................................................................................... 141
PT3 – Receive Test ......................................................................................................................... 142
PT5 – Transmit/Receive Continuity Check Test.............................................................................. 142
PT9 – Transmit Memory Test ......................................................................................................... 143
PT10 – Receive Memory Test ......................................................................................................... 143
PT11 – FRAM Test .......................................................................................................................... 143
PT12 – RAM Test ............................................................................................................................ 143

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 PT13 – ROM Test............................................................................................................................ 143
PT14 – Recorder Test ..................................................................................................................... 144
PT19 – Ringing Test ........................................................................................................................ 144
Expert Performance and Testing Commands ....................................................................................... 145
#PD – Data Stream Select .............................................................................................................. 145
#PE – Ethernet Data Streams Bitmask ........................................................................................... 146
Sensor Commands ....................................................................................................................................... 147
Available Sensor Commands ................................................................................................................ 147
SD - Sensor PD0 Data Output ......................................................................................................... 147
SM – Auxiliary Sensor Menu .......................................................................................................... 148
SZ - Zero Out Keller30 Pressure ..................................................................................................... 149
Timing Commands ....................................................................................................................................... 150
Available Timing Commands ................................................................................................................ 150
TE – Time Per Ensemble ................................................................................................................. 150
TF – Time of First Ping .................................................................................................................... 150
TP – Time Between Pings ............................................................................................................... 151
TS – Set Real-Time Clock ................................................................................................................ 152
TT – Set Real-Time Clock (Y2k Compliant)...................................................................................... 152
Water Profiling Commands .......................................................................................................................... 153
Available Water Profiling Commands................................................................................................... 153
WB – Bandwidth ............................................................................................................................ 153
WD – Data Out ............................................................................................................................... 154
WF – Blank after Transmit ............................................................................................................. 154
WN – Number of Depth Cells ......................................................................................................... 155
WP – Pings per Ensemble............................................................................................................... 155
WS – Depth Cell Size ...................................................................................................................... 155
WV – Ambiguity Velocity ............................................................................................................... 156
Expert Water Profiling Command Descriptions.................................................................................... 157
#WA – False Target Threshold Maximum ...................................................................................... 157
#WC – Low Correlation Threshold ................................................................................................. 157
#WE – Error Velocity Threshold ..................................................................................................... 158
#WJ – Receiver Gain Select ............................................................................................................ 158
#WT – Transmit Length .................................................................................................................. 159
#WX – Set Single-Beam Transmit Mode ........................................................................................ 159
CHAPTER 8 – OUTPUT DATA FORMAT .....................................................................................................................161
Choosing a Data Format ............................................................................................................................... 162
PD0 Output Data Format ............................................................................................................................. 164
Header Data Format ............................................................................................................................. 166
Fixed Leader Data Format .................................................................................................................... 168
Variable Leader Data Format ............................................................................................................... 174
Velocity Data Format............................................................................................................................ 182
Correlation Magnitude, Echo Intensity, Percent-Good, and Status Data Format ................................184
Binary Bottom Track Data Format........................................................................................................ 188
Environmental Command Parameters Output Format ........................................................................ 193
Bottom Track Command Output Format ............................................................................................. 196
Bottom Track High Resolution Velocity Format ................................................................................... 199
Bottom Track Range Format ................................................................................................................ 202
Navigation Parameters Data Format .................................................................................................... 206
Sensor Source for Doppler Processing Format ..................................................................................... 211
SBG AHRS Sensor Data Format............................................................................................................. 214
Binary Checksum Data Format ............................................................................................................. 220
Special Output Data Formats ....................................................................................................................... 221
Tasman Binary Data Format (PD4/PD5) ............................................................................................... 222
Tasman Output Data Format (PD4/PD5) Details .................................................................................. 224
Tasman Binary Data Format (PD5) ....................................................................................................... 227
Tasman Output Data Format (PD5) Details .......................................................................................... 229
Tasman Output Data Format (PD6) ...................................................................................................... 230

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 Tasman NMEA Output (PD11)...................................................................................................................... 233
Tasman Output Data Format (PD13) .................................................................................................... 235
Tasman Speed Log Format (PD26) ....................................................................................................... 238
$VMVBW – Dual Ground/Water Speed ......................................................................................... 238
$VMDBT – Depth Below Transducer .............................................................................................. 239
$VMVLW – Distance Traveled through Water ............................................................................... 239
Decoding a Tasman Ensemble...................................................................................................................... 241
Rules for the BroadBand Data Format PD0 .......................................................................................... 241
Decoding Sequence for PD0 Data ........................................................................................................ 242
APPENDIX A – NOTICE OF COMPLIANCE ..................................................................................................................243
Date of Manufacture .................................................................................................................................... 244
Environmental Friendly Use Period (EFUP) .................................................................................................. 244
WEEE ............................................................................................................................................................ 244
CE ................................................................................................................................................................. 244
Material Disclosure Table............................................................................................................................. 245

LIST OF FIGURES

Figure 1. Tasman Overview ....................................................................................................................... 2

Figure 2. Tasman Test Cable [Optional Test Cable 73B-6094-00] ............................................................. 7
Figure 3. Tasman Power/Comm Cable 73B-6085-003 Pigtail Cable .......................................................... 8
Figure 4. Tasman Optional Power/Comm Cable 73B-6094-00 Test Cable ................................................ 9
Figure 5. Tasman Network Configuration Page ....................................................................................... 11
Figure 6. Short Pulse versus Long Pulse .................................................................................................. 21
Figure 7. Water-Mass Layer Processing .................................................................................................. 21
Figure 8. DVL Depth Cells for Current Measurements ............................................................................ 22
Figure 9. X, Y, and Z Velocities................................................................................................................. 23
Figure 10. Tasman Ship Coordinates ......................................................................................................... 24
Figure 11. Tasman Pitch and Roll .............................................................................................................. 24
Figure 12. Transducer Alignment Reference Points .................................................................................. 31
Figure 13. Do not use Zip-Ties Directly on Cables ..................................................................................... 33
Figure 14. Ground Fault Current Check ..................................................................................................... 35
Figure 15. Tasman Power Circuit............................................................................................................... 37
Figure 16. Tasman Assembly ..................................................................................................................... 77
Figure 17. Outline Installation Drawing –Tasman 600 kHz, 4000m, Sheet 1 .............................................93
Figure 18. Outline Installation Drawing –Tasman 600 kHz, 4000m, Sheet 2 .............................................94
Figure 19. Outline Installation Drawing –Tasman 300 kHz, 4000m, Sheet 1 .............................................95
Figure 20. Outline Installation Drawing –Tasman 300 kHz, 4000m, Sheet 2 .............................................96
Figure 21. PD0 Standard Output Data Buffer Format ............................................................................. 165
Figure 22. Binary Header Data Format .................................................................................................... 166
Figure 23. Fixed Leader Data Format ...................................................................................................... 169
Figure 24. Variable Leader Data Format ................................................................................................. 176
Figure 25. Velocity Data Format.............................................................................................................. 182
Figure 26. Correlation Magnitude, Echo Intensity, Percent-Good, and Status Data Format...................184
Figure 27. Binary Bottom Track Data Format .......................................................................................... 190
Figure 28. Environmental Command Parameters Output Format .......................................................... 194
Figure 29. Bottom Track Command Output Data Format ....................................................................... 197
Figure 30. Bottom Track High Resolution Velocity Output Format ......................................................... 201
Figure 31. Bottom Track Range Output Data Format .............................................................................. 203
Figure 32. Navigation Parameters Data Format ...................................................................................... 208
Figure 33. No Trigger Timing ................................................................................................................... 210
Figure 34. External Trigger Timing .......................................................................................................... 210
Figure 35. Sensor Source for Doppler Processing Output Format........................................................... 212
Figure 36. Binary Checksum Data Format ............................................................................................... 220
Figure 37. Tasman Binary Data Format (PD4/PD5) ................................................................................. 223

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Figure 38. Tasman Binary Data Format (PD5) ......................................................................................... 228

LIST OF TABLES

Table 1. Minimum Computer Hardware Requirements........................................................................... 4

Table 2. Tasman Nominal Voltage versus Bottom Tracking Range ........................................................ 28
Table 3. Maximum Window Thickness .................................................................................................. 40
Table 4. Transmit and Receive for Tasman DVLs ................................................................................... 41
Table 5. Approximate Bottom Track Ping Times (in milliseconds) ......................................................... 43
Table 6. Recommended Commands ...................................................................................................... 63
Table 7. Tasman Spare Parts Kit P/N 75BK6108-00 ............................................................................... 74
Table 8. Tasman Clamp Kit P/N TASMAN-CLAMP KIT ............................................................................ 74
Table 9. Tasman Replaceable Transducers ............................................................................................ 74
Table 10. Visual Inspection Criteria.......................................................................................................... 75
Table 11. Tasman Commands and Defaults ........................................................................................... 100
Table 12. Water-Mass Reference-Layer Modes ..................................................................................... 112
Table 13. BM8 Minimum Tracking Depths ............................................................................................. 113
Table 14. Serial Port Control .................................................................................................................. 116
Table 15. Flow Control ........................................................................................................................... 118
Table 16. Retrieve Parameters ............................................................................................................... 119
Table 17. Input Trigger ........................................................................................................................... 120
Table 18: Output Trigger State ............................................................................................................... 122
Table 19. Coordinate Transformation Processing Flags ......................................................................... 129
Table 20. Sensor Source Switch Settings................................................................................................ 130
Table 21. Data Stream Selections .......................................................................................................... 145
Table 22: Sensor PD0 Data Output ........................................................................................................ 147
Table 23. Bandwidth Control ................................................................................................................. 153
Table 24. Summary of Output Data Formats ......................................................................................... 163
Table 25. Header Data Format ............................................................................................................... 167
Table 26. Fixed Leader Data Format ...................................................................................................... 170
Table 27. Variable Leader Data Format ................................................................................................. 176
Table 28. Velocity Data Format.............................................................................................................. 183
Table 29. Correlation Magnitude Data Format ...................................................................................... 185
Table 30. Echo Intensity Data Format .................................................................................................... 185
Table 31. Percent-Good Data Format .................................................................................................... 187
Table 32. Status Data Format................................................................................................................. 187
Table 33. Bottom Track Data Format ..................................................................................................... 190
Table 34. Environmental Command Parameters Output Format .......................................................... 194
Table 35. Bottom Track Command Output Data Format ....................................................................... 197
Table 36. Bottom Track High Resolution Velocity Output Format ......................................................... 201
Table 37. Bottom Track Range Output Data Format .............................................................................. 204
Table 38. Navigation Parameters Data Format ...................................................................................... 209
Table 39. Sensor Source for Doppler Processing Output Format........................................................... 213
Table 40: SBG Status Data ...................................................................................................................... 214
Table 41. GENERAL_STATUS Definition ................................................................................................. 215
Table 42. COM_STATUS Definition ........................................................................................................ 215
Table 43. CAN_BUS Status Definition .................................................................................................... 215
Table 44. AIDING_STATUS Definition ..................................................................................................... 216
Table 45: SBG IMU DATA ....................................................................................................................... 216
Table 46. IMU_STATUS Definition.......................................................................................................... 217
Table 47: SBG Euler Data ....................................................................................................................... 217
Table 48. SOLUTION_STATUS Definition ................................................................................................ 218
Table 49. SOLUTION_MODE Definition .................................................................................................. 218
Table 50: SBG Ship Motion Data ............................................................................................................ 219
Table 51. Ship Motion STATUS Definition .............................................................................................. 219

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 Table 52. Checksum Data Format .......................................................................................................... 220
Table 53. Tasman Output Data Format (PD4/PD5) Details .................................................................... 224
Table 54. Tasman Output Data Format (PD5) Details ............................................................................ 229
Table 55. Tasman Output Data Format (PD6) ........................................................................................ 230
Table 56. Tasman Output Data Format (PD13) ...................................................................................... 235
Table 57. Common Data Format IDs ...................................................................................................... 241
Table 58. Toxic or Hazardous Substances and Elements Contained in Product .....................................245

REVISION HISTORY

November 2020
• Updated Figure 1 to show the updated customer interface end-plate.
• Updated Table 2, Tasman Nominal Voltage versus Bottom Tracking Range.
• Updated replaceable parts tables in Chapter 4.
• Updated Figure 16 to show the updated customer interface end-plate.
• Added the #CO command.
• Changed Fixed Leader Data format byte 40 from Spare to Input Trigger Enable (CX command).
• Fixed NAV Parameters format byte 27 shallow operation flag to show all flag settings.
• Updated System Synchronization section.
• Added SBG support.
• Fixed LED flash indication.
• Updated outline installation drawings 96B-9120 and 96B-9121 to rev D.
• Corrected anode material – anodes are aluminum, not zinc.
• Fixed table 24, page 163 for PD26.
• Added reference to NavUI software.
• Removed Appendix B.
May 2020
• Updated Figure 1 to show the updated customer interface end-plate.
• Updated customer interface end-plate part number from 81b-6093-00 to 81b-6104 on Table 7.
• Updated Figure 16 and added the torque setting for the 6-32 screws.
• Updated outline installation drawings 96B-9120 and 96B-9121.
April 2020
• Removed the isolators from the housing assembly drawing.
• Updated mounting the DVL section.
• Updated Replacing the Transducer section.
• Change TIME-OF-VALIDITY to Time of Validity so it will show up in a search.
• Added updating firmware using the Ethernet port.
• Added NavUI software to the Navigation CD.

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December 2019
• Corrected test cable part number and drawing.
• Updated the acoustic integration considerations section.
• Updated Figure 1 temperature sensor location.
• Updated the PT5 command.
October 2019
• Initial Release.

HOW TO CONTACT TELEDYNE RD INSTRUMENTS

If you have technical issues or questions involving a specific application or deployment with your instru-
ment, contact our Field Service group:

Teledyne RD Instruments Teledyne RD Instruments Europe

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06610 La Gaude, France
Phone +1 (858) 842-2600 Phone +33(0) 492-110-930
Sales – [email protected] Sales – [email protected]
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For all your customer service needs including our emergency 24/7 technical support, call +1 (858) 842-2700
Self-Service Customer Portal
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If you have an urgent need, please call our Technical Support hotline at +1-858-842-2700.

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 CONVENTIONS USED IN THIS MANUAL

Thank you for purchasing a Teledyne RD Instruments Tasman Doppler Velocity Log (DVL). Conventions
used in the Tasman 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>. If a key combination were joined with a plus sign (<ALT+F>), press and hold the
first key while pressing the second key. Words printed in italics include program names (TRDI Toolz) and
file names (TestWH.rds).
Code or sample files are printed using a fixed font. Here is an example:
Tasman
Teledyne RD Instruments (c) 2019
All rights reserved.
Firmware Version: 74.xx
Current time is: 19/08/01,21:01:38.47
Break received, serial
>

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
should be considered in using the described features.

This paragraph format warns the reader of hazardous procedures (for example, activities that
may cause loss of data or damage to the Tasman).

This paragraph format indicates additional information that may help set command
parameters.

This paragraph format tells the reader where they may find additional information.

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Tasman DVL Guide P/N 95B-6157-00 (November 2020)

Chapter 1
AT A GLANCE

This chapter covers:

• System Overview
• Tasman Options
• Computer Considerations
• Power Overview
• Setting up the Tasman System
• How to connect and disconnect the cables
• Cable wiring diagrams
• Using the Network Configuration Page
• Caring for the Tasman System

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P/N 95B-6157-00 (November 2020) Tasman DVL Guide

Overview
The Tasman transducer assembly contains one connector with connector protective cap, housing, trans-
ducer ceramics, and electronics. The standard acoustic frequencies are 300 and 600 kHz. See the Outline
Installation Drawings for dimensions and weights.

The urethane transducer 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 or anodized finish.

The Power/Comm cable connects the Tasman to the computer and external power supply.
When the cable is not connected, use the connector protective cap to protect the connector.

Tasman systems rated for 4000 meters depth have a red transducer face. Systems rated to
6000 meters have a black transducer face.

Figure 1. Tasman Overview

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Tasman DVL Guide P/N 95B-6157-00 (November 2020)

Tasman Options
The following options are available:
• The optional 73B-6086-005 test cable is used for testing the system prior to installing it on a
ROV.
• Current Profiling Mode is a feature upgrade.
• XRT (Extended Range Tracking) feature upgrade delivers 40% increase in bottom tracking
range.
• Optional SBG ELLIPSE2-E-G4A2-B1 Attitude and Heading Reference System (AHRS) and must
be selected when the system is ordered.

Health & Environment Monitoring Sensors

Health and Environment Monitoring (HEM) Sensors monitor the health of the Tasman system.
• Leak Detection – Water leaking into a Tasman DVL can not only potentially destroy the DVL, but
also cause severe issues for the host vehicle that is carrying the DVL, such as loss of navigation
ability. The Tasman detects water leaking into the system and reports it in the PD0, PD4, PD5, and
PD6 messages. The Tasman also supports the PC4 and PC5 user interactive test for reporting the
status of the leak sensors. The leak sensor is mounted in the main electronics compartment near
the connector.
• Transducer Monitor – The Tasman 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 Bytes 76 and 77 and PD6 output data structure.
• Operating Time – The Tasman system records the total time of operation in minutes where “oper-
ation” is defined as the time that the system ping loop is active (CS command has been sent). The
record of the total awake time has a maximum value of 33,554,432 minutes, which corresponds
to over 500,000 hours of operation. The value of the counter can be read as part of the PS5 com-
mand. Although the time is stored in minutes, the operating time is reported in hours with one
decimal place.
Example PS5 output:
PS5
Operating time: 4327.5 hours

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Setting up the Tasman System

Use this section to connect the Tasman to a computer and establish communications. Install the TRDI
Toolz software to communicate with the Tasman.

Computer and Software Considerations

The Tasman system includes the utility program TRDI Toolz to help set up, use, test, and troubleshoot the
Tasman. Use this program to “talk” to the Tasman and to run script files (see Creating or Modifying Com-
mand Files and send the Commands to the Tasman). For detailed information on how to use TRDI Toolz, see
the TRDI Toolz Help file.
NavUI can be used directly via Ethernet with a Tasman DVL. NavUI can also be used ‘behind’ a TSS
TOGSNAV or TOGSINS and the DVL data is ‘relayed’ (by the TOGS) to NavUI using UDP. NavUI can de-
code any DVL PD0 data received from ‘the INS’ connection.

For information on NavUI, see the NavUI documentation.

TRDI designed the Tasman to use a Windows® compatible computer. Table 1 lists the minimum com-
puter requirements.

TRDI highly recommends downloading and installing all the critical updates, recommended
updates, and the service releases for the version of Windows® being used prior to installing
any TRDI software.

Table 1. 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 resolution of 1024 x 768, 256 colors (higher recommended)
CD-ROM Drive (if software is installed from CD)
Mouse or another pointing device or touch-enabled PC / Tablet

Software Installation
To install the Tasman Documentation and Software:
1. Insert the CD into the drive.
2. Use Windows Explorer® to open the CD drive folder.
3. Double-click on the launch.exe file. Use the browser to view or copy the
Tasman documentation to your computer.
4. Recommended software to install:
• Install TRDI Toolz and NavUI

Many companies require that Autorun is disabled. Double-click on Launch.exe to start the
browser on all TRDI software and documentation CDs.

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Power Overview
The 600 kHz Tasman requires a DC supply between 10.7 to 36 VDC (24 VDC typical) and the 300 kHz
Tasman uses 12 to 36 VDC. Either an external DC power supply or battery can provide this power. The
power supply should be able to source at least two Amps for a bench test setup (no pinging).
Power on Cycle
The power supply must be able to handle the inrush current as well. Inrush current is the current required
to fully charge up the capacitors when power is applied to the Tasman. The capacitors provide a store of
energy for use during transmit. The inrush current is as much as four amps if plugged in after the DVL
Transmit Cap is fully discharged. The Tasman will draw this amperage until its capacitors are fully
charged (less than 200ms).

If the power supply limits the current or the power drop on the cable is significant, then the
power on cycle will fail or the system will reset during pinging. Therefore, TRDI recommends
a 1.5 to 2 Amp power supply to cover all performance cases. For more information, see
Electrical Specifications.

If the 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.

Wait approximately 30-seconds between back to back power cycles. This will ensure the
electronics residual charges have been dissipated and for the Wake Logic to properly detect
the next Cold Start.

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Cable and Connector Protective Cap

The underwater cable connector protective cap is a molded wet-mate-able connector. The connectors are
a factory-installed item. TRDI does not recommend removing it for any routine maintenance.

The connector protective cap should be installed any time the cable is removed. Use the
protective connector cap when the DVL is in storage or is being handled.

Prior to each connection:

1. Lubricate the connector by placing a light amount of silicone lubricant on the female cable con-
nector mating surfaces (rubber portion only). Silicone lubricant is included in the Spare Parts kit.

Use ONLY silicone-based lubricants. DO NOT use petroleum-based lubricants.

Apply lubricant prior to each connection. Lubricant aids seating the connector and helps form
a watertight seal as the locking sleeve is tightened.

To connect the cable:

1. Place the Tasman on a soft pad to protect the anodized surface.
2. Check all pins for signs of damage (broken or bent pins or corrosion).
3. Push the cable straight onto the connector ensuring the pins are properly aligned. While keeping a
slight inward pressure on the cable connector and ensuring that the connector 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”.

To disconnect the cable:

1. Place the Tasman on a soft pad to protect the anodized surface.
2. Release the cable by turning the locking sleeve counterclockwise 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.

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Setting Up the Tasman System

To set up the Tasman:
1. Apply lubricant prior to each connection. Lubricant aids seating the connector and helps form a
watertight seal as the locking sleeve is tightened. Lubricate the connector by placing a light
amount of silicone lubricant on the female cable connector mating surfaces (rubber portion only).
Silicone lubricant is included in the Spare Parts kit.
2. Place the Tasman on its end-plate on a soft pad. Remove the Power/Comm connector protective
cap and push the cable straight onto the Power/ Comm connector ensuring the key and pins are
properly aligned. While keeping a slight inward pressure on the cable connector and ensuring that
the connector 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 Tasman system in water (at least 2 to 4cm to cover the transducer face).
5. Connect +10.7 to 36 VDC power using the banana plugs for a 600 kHz Tasman and 12 to 36 VDC
for a 300 kHz system. The power supply should be able to source at least two Amps for a bench
test setup (no pinging).

Figure 2. Tasman Test Cable [Optional Test Cable 73B-6094-00]

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Cable Wiring Diagrams

This section has information on Tasman 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. The following figures show various Tasman cable locations, connectors, and pinouts.

Figure 3. Tasman Power/Comm Cable 73B-6085-003 Pigtail Cable

Where shown, RX is the incoming signal; TX is the outgoing signal.
RS-422 is not supported (future release).
Cable bend radius is 11.4cm (4.5 inches).
The connector part number is MKS(W)-3XL12-CCP from Teledyne Impulse.

The connector protective cap should be installed any time the Power/Comm cable is
removed. Use the connector protective cap when the Tasman is in storage or is being
handled.

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Figure 4. Tasman Optional Power/Comm Cable 73B-6094-00 Test Cable

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Connecting to the Tasman

The command and control port can be Serial or Ethernet, but NOT both. The last port used to send a
break is the command and control port.
To establish communications with the Tasman:
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 Tasman’s communication settings.

Serial Communications:
Select the COM Port the serial cable is
connected to and set the Baud Rate from
the drop-down list to 115200

Ethernet Communications:
Enter the Static DHCP server IP or host
name 192.168.1.100
Enter the Port Number 1033
Select TCP

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 command to verify the IP address.
You must have the RJ45 connector plugged into the network switch for the CE command to
return the Ethernet setting info.

5. Click the Connect button. Once connected, the button will change to Disconnect.

6. Click the Break ( ) button. From the Break button drop down
menu, select Soft Break (= = =). The wakeup banner will display
in the terminal window.
Tasman
Teledyne RD Instruments (c) 2019
All rights reserved.
Firmware Version: 74.xx
Current time is: 19/08/01,21:01:38.47
Break received, serial
>

It may be necessary to click inside the terminal window and then click the Break button to
wake up the system.
The command and control port can be Serial or Ethernet, but NOT both. The last port used to
send a break is the command and control port.

7. The LED should be solid on if no data is moving over the serial port or the Ethernet interface.
• The LED blinks twice per second when there is data on the serial port.
• The LED blinks once per second when there is data on the Ethernet port.

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Using the Network Configuration Page

The system must be connected to the Ethernet port to use the Network Configuration page.

To establish communications with the Network Configuration page:

1. Connect the system and apply power.
2. Open a browser on the laptop (Internet Explorer®, FireFox®, Google Chrome®, etc.).
3. Enter the Tasman’s DHCP server IP address (shown here as 10.20.230.17) into the address bar.
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 command to verify the IP address.
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.
If you are using a STATIC network, then configure the Base IP Address, Network Mask,
Gateway Address, Name Server Address, and Command/Control Port as needed. The
default configuration is shown in Figure 5.
5. On the Output Formats section, enable or disable the output data formats (PD0, PD4, PD5, PD6,
PD11, PD13, and PD26), Protocol (TCP or UDP), Address, and Ports.
6. Once done, click Submit.

If all outputs are enabled, it can affect the ping rate.

Figure 5. Tasman Network Configuration Page

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Using Ethernet Communications

Tasman systems supports an optional Ethernet output. These systems must be factory configured. Ether-
net can be used for following scenarios:
• Send commands to the ADCP and receive responses on the CMD channel. The CMD channel is
used to connect to a Tasman system and control it using a two-letter command system and must
use port 1033. Use TRDI Toolz software to connect to this port using TCP protocols to control
the Tasman system.
• Send data from the Tasman 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 broadcast IP and port number using UDP protocol.

Using TCP Protocol

In the example below a TCP PD0 stream was created on port 1034:

To be able to listen to this stream, create a TCP connection to the Tasman DVL IP address (shown here as
192.168.1.100 through port 1034). This can be done in TRDI Toolz for verification.

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Using UDP Protocol

In this example below, a PD0 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. 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). Click on the Prop-
erties button, and then verify the computer’s IP address.

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In this next example, the computer’s IP address is 192.168.1.2. Therefore, set the output UDP IP address
on the web portal to be the same. You can now simply open a UDP stream to listen to that PD0 feed simply
by using the port number, here in our example 1034.
This example also includes a PD6 stream over UDP on port 1037 that points to the computer’s IP address
192.168.1.2 – here is the snapshot from listening to this PD6 stream using TRDI Toolz:

UDP is a connection-less protocol. Therefore, UDP packets can be lost in an unreliable or

highly congested network.

The Ethernet portion of the DVL acts as a server on (potentially) several fronts:
1. Command/Control of the DVL happens via the TCP port on the command interface (default port
1033). 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, PD11, PD13, and PD26) can be configured to be output on a
separate port.
b. Each can be configured to output via TCP or UDP.
c. TCP connections can be made from any address – you will connect to the same IP address
as the webpage, and on the specified port. For example, by default only PD0 is enabled.
One would connect a TCP client to 192.168.1.100 at port 1034. The DVL acts as a server
and will accept a connection from any IP.
d. UDP connections will be broadcast by the Ethernet module to the specified Address and
port. By default, these broadcast to 192.168.1.1 on ports 1034 through 1038. For example,
one could configure PD4 to output on UDP, to IP 192.168.1.1 on port 1035, then one would
need a UDP client on a machine at address 192.168.1.1 listening to port 1035. One can
also configure the UDP to use the “broadcast” address such as 192.168.1.255, which would

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send traffic to the whole 192.168.1.xxx subnet. The DVL acts as a server and outputs this
data whether a UDP client is connected or not (given the connectionless nature of UDP.)
4. The Ethernet module will not act as a DHCP server (can be configured to be a DHCP client, or to
use static addressing). However, when configured as a DHCP client, the unit will “failover” to us-
ing the specified “static” IP address (192.168.1.100, by default) if it times out when looking for a
DHCP server. This prevents the unit from being “unreachable” if placed on a network without a
server.

Ethernet Module Firmware Update

The ethernet module has its own firmware which is separate from the Tasman DVL firmware.
To install an Ethernet module firmware update:
1. Request firmware updates from TRDI Field Service. Save the file to the computer and unzip the
file. The file will be Tasman_xx.xx.xx.xx.bin format where xxxx = firmware version.
2. Connect to the Tasman Network Configuration Page.
3. On the upper right corner, select Update.

4. Click the Choose file button and locate the firmware file Tasman_xx.xx.xx.xx.bin file down-
loaded in step 1. Select the file and click Update.
5. The firmware will install.
6. Once the firmware update is complete, the Tasman will reboot. Close the browser and reconnect
to the Tasman Network Configuration Page.
7. If the new firmware does not install, contact Customer Service.

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Testing the Tasman System

You should test the Tasman DVL:
• When you first receive the system.
• Before each deployment or every six months.
• When you suspect instrument problems.
• After each deployment.
To test the Tasman:
1. Interconnect the system as described in Setting Up the Tasman System.
2. Place the Tasman transducer in water (at least 20cm 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).
5. Click the Break button. The wakeup banner appears on the log file window.
Tasman
Teledyne RD Instruments (c) 2019
All rights reserved.
Firmware Version: 74.xx
Current time is: 19/08/01,21:01:38.47
Break received, serial
>

6. At the “>” prompt in the communication window, enter the command CR1 then press the Enter
key. This will set the Tasman to the factory default settings.
7. At the “>” prompt in the communication window, enter the command CK then press the Enter
key. This will save the factory default setting.
8. At the “>” prompt in the communication window, enter the command PS0 then press the Enter
key. This will display the Tasman system configuration data.
>ps0
Serial Number: 0
Frequency: 614400 Hz
Configuration: DVL : 4-beam velocity.
Transducer Type: PHASEDARRAY
Beam Angle: 30 Degrees
Beam Pattern: CONVEX
Sensors: TEMP PRESS 600BAR
CPU Firmware: 74.xx
FPGA Version: 1.00.011 [0x100b]

Board Serial Number Data:

E3 00 00 0A 8D 30 7A 28 DS18B20 TMP SNS
B6 00 00 03 02 D9 CA 23 ETH72B-2306-01A
15 00 00 02 D5 6F 6A 23 XDC72B-2356-00A
CA 00 00 02 96 27 11 23 PTX72B-2304-10A
F4 00 00 01 F1 91 75 23 DSP72B-2303-01B
EF 00 00 02 A7 21 8B 23 RCV72B-2302-13A

9. At the “>” prompt in the communication window, enter the command PA then press the Enter
key. This will run the Tasman Pre-Deployment test.

Submerge the transducer face in 2 to 4cm of water. The PA test may fail in air. Only a failure
with the transducer in water is a relevant test.

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This test may fail if the Tasman 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.). The test may also fail if the Tasman 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.
Interference from the mentioned sources may contaminate the Tasman’s data as well.
Oftentimes, a noisy (i.e. non-UPS) power supply may cause failures in this test as well.

>PA
ROM Test...PASS [ 3aad ]
RAM test...PASS
FRAM test...PASS
Receive Buffer Test...PASSED
XMIT RAM Test....PASSED
Receive Path Test (Hard Limited)...PASSED
Transmit/Receive Continuity Check...PASSED

Composite Result:
GO for Deployment

10. If the wakeup displays, PS0 displays, and PA message displays with a result of “GO for Deploy-
ment”, the Tasman is functioning normally.
11. If the result shows “NO-GO for deployment” then run a PT200 test to obtain a more detailed log
of the failure. See Troubleshooting EMI for more information.

Caring for the Tasman System

This section contains a list of items to be aware of every time handling, using, or deploying the Tasman.
Please refer to this list often.

General Handling Guidelines

• Never set the Tasman transducer on a hard or rough surface. This may leave an indentation in the
urethane or damage the urethane face or anodized finish.
• Do not expose the transducer face to prolonged sunlight (24 hours or more). The urethane face
may develop cracks. Cover the transducer face on the Tasman if it will be exposed to sunlight.
• Do not store the Tasman in temperatures over 60 degrees C or under -25 degrees C. The internal
components and/or urethane face may be damaged.
• Do not lift or support a Tasman by the external cable. The connector or cable will break.
• Apply lubricant prior to each cable connection. Regular lubrication is required: Apply silicone lubri-
cant prior to each connection.
• Do not connect or disconnect the Power/Comm cable with power applied. Connecting the cable
with power applied may cause a small spark. The connector pins may become pitted and worn.

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NOTES

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Chapter 2
SYSTEM INTEGRATION

This chapter covers:

• DVL Theory
• Mechanical Integration Considerations
• Electrical Integration Considerations
• Acoustic Integration Considerations
• Reference, Data & Timing Considerations
• Tasman DVL Sensor Integration
• Operational and Setup Considerations

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System Integration Introduction

This chapter is intended to provide both the basic operating theory and the necessary and often critical
implementation and integration considerations for the use of 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 Tasman DVL sonar for optimum utilization.

DVL Theory
BroadBand Doppler
Doppler sonars, by definition, measure the Doppler shift, i.e. the frequency shift due to the relative mo-
tion of the DVL to either the seabed or suspended scatter particles in the water column. TRDI uses a more
precise method of measurement that is a refinement to standard Doppler phase shift measurements called
BroadBand. The methodology uses time dilation, by measuring the change in arrival times from succes-
sive acoustic pulses. TRDI uses phase to measure time dilation instead of measuring frequency changes
because the phase measurement gives a more precise Doppler shift measurement.
TRDI also incorporates a technique called autocorrelation for error checking and thus a further refine-
ment of velocity measurements. Autocorrelation works by transmitting a series of coded pulses, all in se-
quence and inside a single long pulse. The resulting received signal is composed of many echoes from
many scatterers, all combined into a single echo. The propagation 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 received acoustic signal incorporates a different processing scheme.
While water-profiling uses short transmit pulses to obtain vertical resolution, Bottom Tracking requires
long duration pulses. Long pulses are utilized because this provides ensonification over a lager bottom
area for each individual pulse (Figure 6).
If the pulse is too short or long, the echo returns first from the leading edge of the beam, followed later by
the trailing edge. Because the beam has a finite beam width, the angle of the beam relative to the horizon-
tal is different on these two edges, thus resulting in a Doppler shift that is different from one side of the
beam to the other. By illuminating the bottom across the beam all at once, a long pulse produces an accu-
rate and stable estimate of velocity, more accurate than is typically obtained from water profiles.
The disadvantage of long transmit pulses is that a considerable part of the echo can come from water-
mass echoes. Where water-mass echoes are weak relative to the bottom echo, there is no adverse impact.
For environments with high concentrations of suspended sediment (i.e. in some rivers) the water-mass
echoes can introduce significant water bias. The added water bias causes an undesirable shift of the bot-
tom-track velocity toward the ambient water velocity.

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Figure 6. 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. Water tracking is desirable in situations where the bottom
is not always within range of the DVL because of suspect Bottom Track data. The BK command configures
how often water track pings are sent. The number of Water Track pings per ensemble is dependent on
the BP-command (bottom pings per ensemble) and this command setting. Water track pinging is activated
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 Layer Size + Near Layer Boundary + 20% of the reported depth away from the transducer. The Far
boundary cannot exceed 80% of the range-to-bottom of the beam with the shortest altitude. If the bottom
comes up so that the Far boundary does not meet this requirement, then the Far boundary is automati-
cally 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 bad.

Figure 7. Water-Mass Layer Processing

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Water Tracking Parameters

The parameters for DVL Water Tracking feature is either preset in the instrument default mode or user
defined (see the BK command and Table 12, page 112). The user-defined Water Track ping layer is used un-
less the layer comes within 20% of the water boundary (sea floor for down-looking systems; surface for
up-looking systems). As the user-defined Water Track ping layer comes within 20% of the boundary
(Figure 7, B), the layer compresses in size until the minimum water-mass layer size is reached. No Water
Track ping will be sent when the boundary exceeds the 20% limit (Figure 7, C).

The water-mass layer is operational only if BP > zero and BK > zero.

Current Profiling
The Tasman 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). 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 8). Thus, we can make the following definitions by analogy:
Depth cell size = distance between current meters. Number of depth cells = number of current meters

Figure 8. DVL Depth Cells for Current Measurements

The water profile data used for current measurements includes the four different kinds of standard profile
data shown below. These data types can be incorporated to varying degrees, depending on the user re-
quirements and mission.
• Velocity – as measured from the Doppler shift of the individual beams of the DVL/ADCP.
• Echo intensity – A byproduct of the ADCP system. Sometimes used to measure relative sedi-
ment, plankton or other suspended particle quantities.
• Correlation – an indicator of the fidelity of the ping echo, used for QA.
• Percent good – percent of pings that meet specified quality thresholds used for QA.

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Beam Coordinate Systems

The Tasman can produce velocity measurements in any of the following four sets of coordinate axes by
setting the EX command. Except for the first, they are all right-handed orthogonal systems. The user opera-
tional requirements dictate the best coordinate system to be used.
Earth Axis, also known as Geographic or Geodetic Coordinates. (E, N, U) Earth Axis are selected (default set-
ting) with command EX11xxx. These axes are named east, north, and up. Strictly speaking, these terms
refer to true orientations, although magnetic orientations are often used instead. This is the most com-
monly used coordinate system because it provides a stable reference frame for ensemble averaging.
Radial Beam Coordinates. (BM1, BM2, BM3, BM4) Radial Beam Coordinates are selected by the EX00xxx
command. These are the “raw” velocity measurements measured independently by each transducer, in
units of millimeters per second. The sense is positive when the motion is towards the transducer. These
axes are not orthogonal.
Instrument Coordinates. (X, Y, Z) Instrument Coordinates are selected by the EX01xxx command. This set
of axes is always oriented the same relative to the transducer head. Looking at the end view of the hous-
ing, the transducers are labeled clockwise in the order 3-2-4-1 (Figure 9). When you look at the face of the
transducer head, the transducers are labeled clockwise in the order, 3-1-4-2 (see Figure 10, page 24). 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 symmetry
of the four beams, pointing away from the water towards the housing.

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 veloc-
ity is negative.
• If Beam 2 is going forward, then X velocity is
negative.
• If the bottom is going towards the face of a
down facing DVL, then Z is positive.
The PD0 High Resolution Bottom Track and PD3
through PD6 data formats assume that the bottom is
stationary and that the DVL or vessel is moving.
• If Beam 3 is going forward, then the Y veloc-
ity is positive.
• If Beam 2 is going forward, then X velocity is
positive.
• If the bottom is going towards the face of a
Figure 9. X, Y, and Z Velocities down facing DVL, then Z is negative.

Ship Coordinates (or Righted Instrument Coordinates). (S, F, M) Ship Coordinates are selected by the
EX10xxx command. TRDI uses the names Starboard, Forward, and Mast, although these axes are more
commonly called the roll, pitch, and yaw-axes, respectively. Assuming that Beam 3 is aligned with the keel
on the forward side of the DVL, for the downward-looking orientation, these axes are identical to the in-
strument axes:
S = X, F = Y, M = Z
For the upward-looking orientation, these axes are rotated 180° about the Y-axis:
S = -X, F = Y, M = -Z

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The M (mast) axis points in a direction that is closer to upward than downward (mast is always in the
same direction no matter if looking down or up).

Figure 10. Tasman Ship Coordinates

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 11). 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 Considerations
for more information, and see the EA and EP commands. In addition if Tilts are fed to the DVL then the
DVL Ship Frame is then Level.

Figure 11. Tasman Pitch and Roll

Sign of Angle for a Unit Facing Up Down
Tilt 1 (Pitch) Beam 3 higher than Beam 4 + +
Tilt 2 (Roll) Beam 2 higher than Beam 1 + -

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DVL Performance and Influencing Factors

Long Term Performance
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 Tasman 600 kHz bottom track
measurement). The water- and bottom-track versions have the same form but may have somewhat differ-
ent values. For water track, the first term scales with the speed through the water (the magnitude of the
vector difference between current and boat velocity). For bottom track, it scales with the magnitude of the
boat velocity over the bottom.
Almost all known bias mechanisms (other than rounding error) in DVLs approach zero as the speed ap-
proaches zero, although it is difficult to demonstrate this empirically. (Note that when the speed is exactly
zero, frozen short-term error can look like bias.) The offset specification term should not be interpreted as
the standard deviation of the bias at zero velocity, but rather as a way of accommodating non-linear be-
havior such as biases that oscillate with velocity or that give an increased scale factor bias at low velocity.
The long-term error is also known as systematic error or bias. If we assume that the predictable compo-
nent of the long-term error has been subtracted out, then the long-term error can be considered to have
zero mean, although it may be non-stationary, in which case the mean may not exist. An example of a bias
that can be subtracted out is the beam pointing error, which can be removed using a calibrated beam-to-
instrument transformation matrix. A calibration always leaves some small residual uncertainty, which can
be considered to be another 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 horizontal component of the bottom track velocity measured by TRDI phased-array systems are in-
variant to the speed of sound (refer to the #EE – Environmental Data Output section for further explanation).
The vertical component of the bottom track velocity measurement is proportional to the speed of sound in
water. Any error in the sound speed propagates directly into a scale factor error of the vertical velocity
component. If a significant vertical component of the velocity measurement is expected, it is important
that DVL is configured with either an accurate speed of sound or a salinity from which it can calculate the
speed of sound.

Water Track
Water Track accuracy is susceptible to the same error sources outlined above. The first term for long-term
accuracy is determined only by the uncertainty of the beam angles, which is the same for water profile,
water track, and bottom track. Thus, one can use the same Long-Term accuracy as presented for Bottom
Track above for water profile and water track. When using the Water Layer mode, one must also be aware
of the water movement, i.e. currents will be an additional source of error.

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Short Term Performance

Short-term errors are random errors with short correlation times that quickly average to zero. They are
characterized by the standard deviation. The short-term error in each beam is independent of that in
every other beam. Except at very slow speeds, the short-term error in each ping is independent of that of
every other ping. The correlation distances at very slow speeds are not accurately known. As the name in-
dicates, the short-term error will reduce the accuracy of instantaneous velocity readings but over larger
intervals of time, these errors will not affect the average velocity reading or navigation.

Bottom Track
The standard deviation of the bottom track velocity measurement varies with altitude and can vary with
velocity. The default modes have two primary sub modes, one for shallow water at low speed (Bottom
Mode 8) and one for other cases (Bottom Mode 9).
The Tasman standard deviation performance depends on altitude. It generally decreases as the altitude
gets greater and increases as the altitude gets lower. 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 Tasman flies below its deep switching altitude and then again when it flies be-
low its shallow switching altitudes.

Water Track
The standard deviation of the velocity measurement for Water Layer will vary as the size of the Water
Layer varies – see the descriptions for the #BL command to determine the Water Layer size and the follow-
ing equation:
Std. Dev. shown
Std. Dev. =
Water Layer Size
10 meters
Tasman DVLs have the capability to compute velocities off of a water track layer while Bottom Tracking.
The commands for controlling this mode are #BK & #BL for Tasman DVLs. However, there are some im-
portant 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 Water Track ping.
If required, the times would have to be obtained experimentally.
Secondly, there is the opportunity for ping-to-ping interference when the Water Track is enabled. After
transmitting an acoustic pulse, the Tasman DVLs open their receivers and listen for a return (either from
the bottom for a Bottom Track ping or from the water column for a Water Track ping). The return
MUST be from the particular ping that is transmitted. If it is from a previous ping, interference results
and the system might not work at all, or worse, might give erroneous results.
For example, on a Bottom Track ping, a return from the bottom from the previous Water Track ping
might look like the return from the Bottom Track ping, but at the wrong altitude. The problem is usually
worse when using Water Track and the previous Bottom Track ping is the cause of the interference. The
return from the Bottom Track ping is usually much larger than that from water scattering and when the
operating altitude is low, that return can make several round trips from the bottom to water surface to the
bottom again and still be large enough to cause interference with the Water Track ping. TRDI recom-
mends that the time between pings be set so that there is enough time for each ping to travel four
round trips to the bottom and back when the altitude is significantly less than the specified operating alti-
tude. This time can be calculated by doubling the altitude and then dividing by the Cosine of the Janus
angle (normally 30°) and then dividing by the speed-of-sound and multiplying by four.
altitude
Minimum Ping Time = 8 ⋅
cos( J ) ⋅ SoS

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When operating at altitudes approaching the altitude capability of the DVL, the ping time should be:
Minimum Ping Time > 1.5 times the round trip time at the maximum specified operating altitude.
The long-term and short-term accuracy characteristics of the Water Track mode are discussed in the re-
spective accuracy sections of this document.

Altitude Performance
The altitude (distance above the bottom) capability of TRDI DVL’s is influenced by:
• Bottom type
• The average temperature and salinity of the water column from the DVL to the bottom
• The voltage supplied to the system
• The attitude of the DVL
• Bottom slope
TRDI specifies this altitude capability for:
• A typical bottom type being level
• A temperature of 5° C, a salinity of 35ppt
• An input voltage of 24v for Tasman DVLs
• ±5° vehicle pitch or roll
Changes in these values will affect the altitude capability as discussed below.

Bottom Type & Slope

Robert J. Urick (3rd edition, 1983) shows curves of backscatter strength vs. bottom type, frequency, and
grazing angle. This analysis shows that the scattering strength of bottoms can vary from approxi-
mately -10dB for bottoms of “sand and rock” to -40dB for “muddy” bottoms. A higher value (less nega-
tive) of backscatter strength means that the reflected signal from the bottom is larger and that the
DVL 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 specified. In general, a 1dB change in backscatter strength will affect the altitude capability of a
DVL by approximately 4m and 2m for 300 kHz and 600 kHz Tasman systems respectively. Larger
(less negative) values increase the altitude capability. Bottom slope also strongly affects the return.

Temperature & Salinity

The transmitted acoustic pulse from a DVL is attenuated as a function of range due to a phenomenon
called absorption. Absorption is caused by the conversion of some of the transmitted acoustic energy be-
ing converted to heat while traveling through the water. This lowers the available energy for the detection
and processing of the reflected pulse from the bottom and affects the DVL’s altitude capability. This ab-
sorption loss is influenced through complex physics by the frequency and the average temperature and
salinity of the water column.
The 600 kHz systems are minimally affected by temperature and salinity changes. The 300 kHz system is
slightly affected by an increase in temperature and salinity. Warmer temperatures continue to degrade its
performance. Operation in fresh water enhances a DVL’s altitude capability; in general low-salinity waters
will increase the operating range of the unit.

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Pitch & Roll

The distance to the bottom of a transmitted pulse for a given beam is a function of the angle of the beam
to the vertical. As the vehicle pitches and rolls, this angle can be different for the four beams. Some
beams will have further to travel and others will have less. The bottom slope has similar effects. The
transmitted energy density of the bottom track pulse is attenuated as it travels through the water col-
umn and the further it has to travel, the smaller the energy that is left for detection. As a result, the
altitude capability of a DVL may be reduced by the effects of bottom slope, pitch, and roll.

Transmit Power
The altitude capability of a DVL will vary as the input voltage to the system varies. Table 2 below gives an
approximation of the Bottom Track range versus battery voltage.
Table 2. Tasman Nominal Voltage versus Bottom Tracking Range

Input Typical Maximum1 Maximum Typical Typical Standard

Peak Current XRT BT Range
Voltage Peak Peak Average Average BT Range
Duration (m)
(V) Current (A) Current (A) Current (A) Power (W) (m)
(msec)
10.7
12 2.6 2.9 117 0.37 4.5 253 391
16 3.6 8.1 121 0.40 6.4 264 404
20 4.5 10.1 124 0.44 8.8 272 414
300 kHz
24 5.4 12.0 126 0.52 12.5 275 420
30 6.1 7.2 125 0.52 15.7 271 416
32 6.5 7.8 125 0.55 17.6 273 418
36 7.3 8.8 127 0.60 22 277 422
10.7 0.9 1.1 45 0.27 2.9 92 151
12 1.0 1.2 45 0.25 3.0 91 151
16 1.3 1.6 46 0.23 3.7 95 154
20 1.5 1.9 47 0.22 4.4 98 157
600 kHz
24 1.8 2.3 48 2.54 6.0 100 160
30 2.3 2.8 49 0.24 7.2 103 163
32 2.4 3.0 49 0.25 7.9 104 163
36 2.7 3.4 50 0.26 9.4 105 165

1. All data is based on the Tasman DVL operating in water. Peak Current when operating in air may be up to twice
the listed values. Actual peak current will vary with individual transducer characteristics.

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Slant Range Performance

The accuracy of the altitude measurement of TRDI DVL’s is not 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 pulse to travel to the bottom, be reflected, and travel back to
the instrument. This time is then multiplied by the speed of sound that either the user enters or is com-
puted from the temperature and salinity data that the instrument has. The “slant range” is then projected
into the vertical by multiplying by the Cosine of the Janus angle (normally 30°). Naturally, each beam’s
measurement of this “slant range” will change as the environment changes. These changes include vehi-
cle attitude (pitch and roll), bottom slope, and changes in the speed of sound. The next sections dis-
cuss the errors that these environmental changes cause. This is followed by a brief discussion of the addi-
tional, improved outputs that the Tasman DVLs provide.

Speed of Sound Variation

As the speed of sound changes through the water column either due to temperature or salinity changes,
the time it takes for the round-trip travel time changes. For example, a decrease in sound speed will cause
an increase in travel time and the instrument (not knowing about the change in sound speed) will
interpret this as a longer “slant-range”. A somewhat mitigating effect is that the beams will refract as the
sound speed changes. For example, a decrease in sound speed will refract the beam towards the vertical
which decreases the distance the pulse has to travel and this partly offsets the change in travel time.
This error is difficult to calculate because one needs to know the actual speed of sound profile in the
water column. A couple of examples are given below:
Example 1: A linearly changing temperature from 15°C at the instrument to 4°C at 250m depth will cause
the “slant range” measurement to read high by about 1% at an altitude of 250 meters.
Example 2: A step change in temperature of 10°C at a depth of 50 meters will increase the “slant range”
measurement a little less than 1% when operating at 100m altitude.

Bottom Slope
Tasman DVLs multiply the measured “slant range” of each beam by the Cosine of the Janus angle (nor-
mally 30°) to indicate the vertical distance. While a simple solution is to average the four beam values ob-
tained for altitude, this is not the preferred method. The equation for this is shown as (1) below. This is
reasonably accurate when there is no bottom slope, but a better algorithm is shown in (2) below for bot-
toms that are sloped.

h1 + h2 + h3 + h4
h≈
4 (1)

1 1 h1h2 h3 h4
h = + = +
h1 + h2
1 1
h3 + h4
1 1
h1 + h2 h3 + h4
(2)

Where h is the altitude and the h 1, h2, h3, h4 are the four beam “slant ranges” projected into the vertical.
This equation is exact if the bottom is a plane surface.

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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, the worst-
case relative error as calculated by equation (1) above is used and is approximately:
∆h
≈ 1 + 12 φ 2 ± βφ − 12 β 2 tan 2 θ
h
where β is the bottom slope in radians,
φ is the instrument tilt in radians, and
θ is the beam Janus angle.
This method is used in the case that tilts and bottom slope are in the same direction. Note that the error is
second order in the bottom slope and tilt parameters. An 8-degree tilt will cause the simple four-beam av-
erage to be 1% long. A 14-degree bottom slope will cause it to be 1% short (when the beam Janus angle is
300).

Resolution
The Tasman DVLs provide two additional altitude outputs in the Bottom Track Range Format. The first is
called “Slant Range” which is actually a range to the bottom in the Z-axis. It is a combination of the
four slant ranges per equation (2) above. The second is called “Vertical Range” where the instrument pitch
and roll are used to calculate the altitude. This is the most accurate output for altitude since it compen-
sates for the orientation of the instrument.

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Mechanical Integration Considerations

Alignment
The mechanical alignment of the transducer head is important to DVL data accuracy. Mechanically mount
the head as close as possible to your reference point. This is usually with the Beam 3 mark at 0° or 45° rel-
ative to the ship’s fore-to-aft centerline. You also must mount the transducer 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 12). 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 Tasman’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. Refer to EA - Heading
Alignment.

Figure 12. Transducer Alignment Reference Points

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Beam Clearance
Acoustic obstacles such as cables, hull, other instruments, etc. are numerous on undersea vehicles. Special
care should be observed in clearing the DVL beams of any acoustic obstacles. A 90 degree cone around the
face of the transducer should be observed to account for each beam acoustic spread. This Beam clearance
should be observed when Bottom Tracking, Water Tracking and Water Profiling. Any acoustic obstacle in
the Main Beam and acoustic spread will interfere with the DVL measurement or worse prevent the meas-
urement altogether. If the DVL is used near a quay wall for instance, then a quick rule of thumb is that for
every meter of vertical separation between the DVL face and the seabed the same separation is necessary
between the DVL and the Quay wall. DVL transducers also have side lobes, which could collect energy
backscattered by acoustic obstacles in the beam clearance cone as shown in the outline installation drawings.
This is mostly critical when performing Water Tracking or Water Profiling.

Mounting the Instrument

There are many options for mounting the Tasman systems and they depend on the application. Use the
eight mounting holes on the customer interface plate. The customer interface plate, 81B-6104-00 can be
machined to accommodate your needs.
The customer needs to install the Customer Interface Mounting Plate (P/N 81B-6104) onto their installa-
tion point, and then ‘clamp’ the Tasman DVL to the installed Customer Interface Mounting Plate. See Fig-
ure 16, page 77 and the Outline Installation Drawings for dimensions and weights.

The Customer Mounting Plate is non-metallic, so metal to metal contact is resolved.

Pitch & Rolls

Pitch and Roll should be limited to avoid a beam pointing vertically toward the bottom. The Tasman DVL
beams are slanted 30 degrees from the DVL vertical axes. This beam angle was selected as the best trade-
off between velocity accuracy, resolution and acoustic energy throughout the water column (which is
greater for greater smaller angles).
Moreover, a DVL can only measure velocity relative to itself by measuring the Doppler shift along each
beam. If a DVL beam were to be pointing vertically towards the sea bottom, then it would be unable to
measure the Doppler effect of a DVL motion parallel to the sea bottom. Therefore, the DVL should never
be tilted 30 degrees so that a beam would be pointing vertically at the medium of reference, i.e. sea bot-
tom or ice.

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Use the ship’s roll and pitch reference to mount the transducer head aligned with the ship axes as closely
as possible. If the instrument x and y axes are not in the same plane as the ship forward and starboard
axes, then use the #EI (see EI - Roll Misalignment Angle) and #EJ (see EJ - Pitch Misalignment Angle) com-
mands to align them.

If the transducer is not level, and no Tilts are fed to the DVL using the #EP command, then
Water Profile bin-mapping will be incorrect. Large misalignments can cause large velocity
measurement errors.

Routing Cables
Use care when routing the Power/Comm cable through bulkheads, deck plates, cable runs, and watertight
spaces. Make allowances in cable length and engineering design plans for cable routing. When necessary,
use strain reliefs on the cables.
Route cables so:
• Cable does not have kinks or sharp bends. The cable bend radius is 11.4 cm (4.5 inches).
• Protect the cable with hose if zip-ties are used to secure it to structures (see Figure 13).
• The Tasman cable (or junction box, if one is used) must NOT be exposed or installed next to
high voltage lines or circuits, motors or engines.
• If a junction box is used, make sure that all the cable conductors are connected properly and
avoid ground loop effects. Make sure that the conductors are electrically isolated from each
other.
• Route the cable so it can easily be replaced it if it fails.

Figure 13. Do not use Zip-Ties Directly on Cables

When attaching the Tasman 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.

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Electrical Integration Considerations

Grounding Recommendations
The DVL has three isolated grounds to achieve the desired performance levels of the instrument. The
grounding systems are as follows:
• Communication ground
• Power ground
• Chassis ground
Multiple grounds connected to a vehicle hull or to a vehicle chassis can have undesirable consequences.
Grounding problems can be avoided by implementing prudent grounding schemes.
The grounded systems noted above are isolated from each other. The Power Ground is isolated from the
Chassis Ground by an isolation / ground noise filter circuit. This ‘link’ between these two grounds is sus-
ceptible to EMI from outside sources if the isolation is not properly maintained outside the DVL. If the
DVL’s isolation / ground noise filter circuit is shorted, the DVL may experience an increased noise floor,
ultimately propagating into the signal receivers.
This same isolation circuit will be shorted if the chassis (DVL GND) is in direct contact with the vehicle
chassis (vehicle GND) and the Power supply ground connected to the DVL is also connected to the ve-
hicle chassis (vehicle GND).
Typically, the DVL chassis is anodized, thereby providing electrical insulation when the instrument is
mounted into what are usually metal hulls. The anodized coating is required to maintain chassis ground
isolation.
Another potential electrical path bypassing the isolation/ground filter can occur through seawater. The
current generated can pass via the DVL anode, (or scratches in the DVL coating), through the sea-
water, and 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 hull of
the vehicle (the greater the separation the greater the resistance).
For the condition described, if the exposed surface resistance is great, the DVL will not be adversely af-
fected, as is usually the case. For conditions where the surface resistance of the DVL chassis and vehicle
are low, undesired interferences will occur.
Another way that you can have undesired grounding of the DVL to the frame or hull of a vehicle is
that mounting holes can lose their anodized coating by scraping of the anodized inner wall with the
mounting screws. The use of an isolation plate and plastic bushings and washers are good practices to
avoid this grounding path.
In summary, bypassing or shorting the DVL isolation / ground noise filter circuit will increase the sensi-
tivity of the DVL to vehicle noise, which will increase noise floor in the instrument and in the data, thereby
resulting in a reduced operational range and data contamination from interference. Additionally, bypass-
ing of the DVL isolation/ground filter can lead to accelerated corrosion.

Your Tasman DVL transducer housing is made of aluminum that is protected by sacrificial
anodes and a hard anodize coat and the Customer Interface Plate is non-metallic. Do not
connect other metal to the DVL. Other metals may cause corrosion damage.

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Electrical and Grounding Testing Best Practices

Suggested steps to verify possible ground leakage of the Tasman DVL:
1. Turn your Power Supply output to OFF.
2. Connect the standard power connections from the Tasman cable to your power supply (24 volt
typical but could be anywhere in the Tasman supply range).
3. Connect a single, 2ft +/-10% long, 22-gauge wire to the - terminal of the Independent 12-volt sup-
ply or battery.
4. Add a 10K to 62kohm (+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 Tasman 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 leakage current through a kΩ resistor.

Figure 14. Ground Fault Current Check

7. After all the connections are made, turn the voltage supply output ON.
8. Assure that the DVL system is awake via TRDI Toolz.
9. After 30 seconds, measure the voltage across the resistor.
10. Apply the following equations to find the isolation impedance.

Vbattery − Vr
RIsolation / Bleed =
I leak

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Vr
I leak =
R
Where Vr is the voltage across the resistor and Vbattery = 12V in our example.
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. Otherwise you create a ground short, and leakage current
will rise above the acceptable limit, indicating a false failure.

Electro-Magnetic Interference (EMI)

The main sources of EMI are induced voltages from signal and power lines that are in proximity to the ef-
fected component or signal. These problems are avoided or minimized by the proper routing of wires,
proper shielding of wires and proper location of individual systems components. EMI is also caused by
unwanted differences in 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 internal amplifi-
ers. It is critical that to route all DVL cables such that they are not in proximity to interfering signal
sources, such as clocks, CPU’s, DC-DC converters, engine controls, and hydroelectric power units, power
lines, acoustic devices and their power electronic. In the case of radiated EMI to the cables, then the EMI
can be rapidly reduced as the power reduction goes by square of the separation distance between the
source and the DVL cables. It is recommended that detailed bench trials be conducted on all cabling con-
figurations before implementing this configuration into the operational platform. For more information,
see the Built-In Tests such as PT200.

Power Consumption
The reference for the average electrical power in Watts used by the Tasman is that which occurs at the
maximum pinging rate and maximum altitude for Tasman systems are:

System Type Average Power Input Voltage

Tasman 600 kHz 6.0 W 24V
Tasman 300 kHz 12.5 W 24V

It should also be noted that there is a constant background power consumption of 1.1 watt for the pro-
cessing electronics if the Tasman is not in the “sleep mode”, aka Idle Power.
The average power consumption depends upon the transmit duty cycle.

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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 electron-
ics capacitors. The capacitors store and then provide power on demand during the DVL transmit phase of
operation. The maximum inrush current of two amps is only seen on initial instrument startup and is re-
quired to provide the initial capacitor charge.
It is essential that the power supply used to power the Tasman be of sufficient capacity to meet the startup
inrush and operational current demands described.

Figure 15. Tasman Power Circuit

If the 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.

Wait approximately 30-seconds between back to back power cycles. This will ensure the
electronics residual charges have been dissipated and for the Wake Logic to properly detect
the next Cold Start.

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Acoustic Integration Considerations

Flow Noise
Water flowing over the transducer faces increases the acoustic noise level, which in turn decreases the op-
erational range of the DVL. Flow noise can be reduced across the transducer faces by mounting the DVL
behind a sea chest, fairing, or acoustic window. Flow noise can also be reduced by optimizing the trans-
ducer head type and design to conform to the platform hull form being used. 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.

Cavitation
Cavitation is the formation of air bubbles due to the reduction of ambient pressure because of hydrody-
namic flow conditions. Cavitation at the edges of the transducer or surrounding area near the trans-
ducer often results in increased acoustic noise, and a corresponding reduction in operating range. As with
flow noise, cavitation can also be reduced by optimizing the transducer head type and design to the plat-
form hull form being used.

Ringing
Definition: Ringing occurs in DVLs when the energy from the side lobes of the transmitted signal excites
the metal portion of the DVL transducer such that a resonant condition occurs. This causes the transducer
and anything attached to it to resonate at 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 to fully characterize the phe-
nomenon of ringing. The DVL transmits an acoustic pulse into the water. The main lobe of this pulse
bounces off the sea bottom (bottom track) or particles in the water column (water track) and the signals re-
turned from these particles are used to calculate the velocity of the water.
Along with the main lobe of the transmitted pulse are many associated side lobes. It is these side lobes
that come in contact with metal the housing of the DVL transducer and as noted above are the source of
the ringing.
If the DVL is in the receive mode while the transducer is ringing, then it will receive both the return sig-
nals from the water and the “ringing.” Both signals are then processed by the DVL. The ringing causes
bias to the velocity data.
All DVLs “ring” for some amount of time. Therefore, each DVL requires a blanking period (time of no data
processing) to keep from processing the ringing energy. During this time the transmitted pulse is traveling
away from the DVL at the speed of sound, so this “blanking period” corresponds to a range near the DVL
that cannot be profiled. Each DVL frequency has a different typical ringing duration.
These typical ringing values are recommended as the minimum setting for all DVLs using default set-
ups (minimum value for the blanking period as set by the #BB command and #WF command).
It should be noted, on some installations the effects of ringing will last longer than the recommended set-
tings above.

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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.
The window causes the transmit signal to reflect back into the well due to the difference in acoustic
impedance between the window and the water. When the transmit signal is reflected in the well it be-
comes trapped and this results in longer ringing periods. To keep from processing this signal, the
blanking period would have to be increased. This is possible for Water Profile using the WF command
and for Bottom Track using the BB command.
To mitigate the effects of ringing inside the transducer well, a sound absorbing material can be mated with
a mounting plate or a clamp to reduce acoustic coupling increasing the ringing period. Also, the inside
walls of the well can be lined with a sound absorbing material to damp the ringing effect. Using stand-
ard neoprene wet suit material has been found to work well.

Windows Use Considerations

Windows can be used to produce overall performance improvements in vessel-mounted DVLs. There
are several advantages and disadvantages to consider before using an acoustic window.
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 may be reduced because the window can and will absorb some of the
transmit and receive energy.
• The transmit signal could be reflected into the well, causing the well to “ring”. This will
cause the data being collected during the ringing to be biased. Some vessels have reported a
loss in range as great as 50 meters. As noted, the ringing may be damped by applying
sound absorbing material on the well walls (standard neoprene wet suit material has
been found to work well).
• The transmit signal could be reflected off the window and back into the other beams.
If the well has excessive ringing (due to reflection from the window or ringing within the mechanical
structure itself) the DVL can be instructed to keep from processing this signal. To do this, the blanking
period of the instrument would have to be increased. This is possible for Water Profile using the #WF
command and for Bottom Track using the #BB command.
Temperature differentials should also be considered because if the water temperatures inside the window
and outside the window are not the same, all four beams will be refracted, and actual velocity components
will be rotated into a new coordinate system. In particular, some of the horizontal velocity will appear
as a vertical velocity

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Recommended Practices for Window Use

Window Orientation: The acoustic window should be flat and parallel to the transducer face. Note this
is not an absolute requirement but a tilted or curved acoustic window can make the transducer susceptible
to differentials in the water temperature.
Window Material: Our experience has shown that Polycarbonate is very good for use as an acoustic win-
dow. The speed of sound of polycarbonate is approximately 2423 m/s. That makes a quarter lambda
0.99mm at 614.4 kHz, so the recommended thickness would be 0.5 to 0.75mm. If this is too thin to sup-
port the weight of the water inside the well then it would be better to use 0.5 lambda, rather than being
exactly at a quarter (being too close to a quarter lambda will cause a strong reflection). This would be
1.97mm at 614 kHz and 3.94mm at 307 kHz.
The thickness of the Polycarbonate material depends on the frequency you intend to use and the weight of
the water inside the window as noted above. Table 3 is provided as a guide for choosing the maximum
thickness window to use. If additional thickness is still required due to the weight of the water in dry dock,
then increase the thickness in increments of ½ lambda. Be warned that increasing the thickness beyond
the values listed in Table 3 can degrade the performance such that the system will no longer meet the per-
formance specifications as listed in Chapter 6 - Specifications. Increase window thickness at your own risk.
Table 3. Maximum Window Thickness
Frequency Thickness
614.4 kHz 2mm
307.2 kHz 4mm

One concern with window selection is that it has be able to support the weight of the water
inside the well once the ship is dry-docked. TRDI recommends that you always fill/drain the
well while you are either filling/draining the dry dock area.

Spacing between window and transducer: The primary geometrical factor in design of windows is the reflec-
tion of a beam into another beam, causing crosstalk between the beams. The distance of the transducer
from the window should be at least 1cm. Never allow the transducer to touch the window. If installed far-
ther than 1cm, then it is imperative to ensure that the window aperture is large enough to clear the beams.
The farther away the transducer is from the window, the more the sound is reflected off one beam and
then reflected into another beam.
Acoustically-absorbing well lining: A sound absorbing material should be used inside the well to minimize
the effects of sound ringing within the well. The recommend material for both 300 and 600 kHz systems
is Precision Acoustics F48 anechoic tile.
Fluid in the well: The well should be filled with fresh water. Seawater can be used, but at the cost of in-
creased corrosion. Seawater should not be circulated through the well unless the well has been painted
with anti-fouling paint. The pressure within the well should be adjusted to keep the window from bow-
ing in and out, and thereafter, the volume should be kept constant.

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SONAR Interference Considerations

Interference from other acoustic and electromagnetic devices can cause velocity and direction bias. In
extreme cases, interference may prevent the DVL from operating. It is possible to avoid interference
by using a suitable triggering scheme. This is particularly recommended if the other device is operating
within the bandwidth of our DVL 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 receivers have 90 to 110 dB of gain, which for the sake of clarity is
greater than 100,000 times of voltage amplification.
Coded Signal Theory Review
In the default bottom track Broadband mode, the DVL transmits two acoustic pulses composed of a series
of coded sequences. The acoustic signal transmitted into the water is composed of a series of elements,
where each element consists of 16 carrier cycles. The frequency spectrum of this signal is a sin(x)/x func-
tion centered at the carrier frequency, with a -3dB bandwidth of 6.25% of the carrier frequency. As a re-
sult, any nearby sonar equipment which is sensitive to this frequency range will receive interference from
the DVL transmit pulses.
TRDI DVL transducers are manufactured with the ability to transmit and receive more than the required
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 Tasman DVL systems:
Table 4. Transmit and Receive for Tasman DVLs
System Carrier Frequency Transmit & Receive Bandwidth
600 kHz 614400 Hz 38.4 kHz (6.25%)

Interference Detection and Mitigation

TRDI has several tools to detect and mitigate interference. One of these is a FFT software program (see
Identifying EMI) that in function turns the DVL into a semi real time Fourier spectrum software analyzer.
Another technique for interference detection is the use of very long water profiles.
FFT can be useful in catching continuous interference. However, its sampling is dependent on the number
of FFT samples selected by the user. It may therefore update too slowly to detect an intermittent acoustic
interference source. On the other hand, the long water profile may detect interference from an intermit-
tent source as it listens for a longer period, although this method may not be effective for detecting
self-interference or continuous low level source interference. When using the water profiling tech-
nique to identify interference, the user must monitor both RSSI and Correlation to distinguish external
interference from the DVL’s own echo signal.
If interference is present from another device on the vessel, the most efficient mitigation technique is to
use a triggering scheme to coordinate their operation. For example, an external trigger commands the ex-
ternal device and the DVL to alternate their transmissions, and this external synchronization ensures that
the two devices will never interfere with each other.

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Reference, Data & Timing Considerations

Coordinate Frames
As described in Beam Coordinate Systems, a DVL can output the measured velocity vector in one of the fol-
lowing coordinate frames: beam, instrument, ship, leveled-ship, and geographic (“earth”) frames. The
distinction between instrument and ship frames is that the latter takes into account intentional align-
ment angles such as the azimuth angle of Beam 3 relative to the fore-aft axes of the vehicle. The coor-
dinate frame may be selected.
There are two main advantages to using instrument or ship coordinates. First, if the instrument has
been calibrated so that the beam-to-instrument transformation matrix contains instrument-specific
corrections for beam pointing errors, then these corrections will have already been applied 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 coordinates is that beam velocities are the fundamental quantities that the Tas-
man measures. Even if only one beam is able to give a valid measurement, it can still provide useful in-
formation whereas a minimum of three valid beams are necessary for measurements in other coordinate
frames. Using this technique an external transformation would have to be performed to obtain velocity in
instrument or earth coordinates. The beam-to-instrument transformation matrix can be extracted from
the Tasman using the &V command.

Data Screening
Tasman measurements suffer from occasional data outliers which, although rare, can still be far more fre-
quent 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 Tasman data to detect and
reject them.
Data outliers are often the result of ambient data environmental factors. The Tasman DVLs have several
internal routines to detect and account for the false data described. Unless the bottom is detectable, and
the correlation value is above a threshold criterion, bottom track velocity will be marked bad (0x8000
which equates to the full-scale negative value of -32768 decimal). The presence of fish in one or more
beams will also cause data outliers. The Tasman also can screen for fish using the information in the in-
tensity data for all four beams.
For operations in coordinate frames other than beam coordinates, if all four beams pass these screening
tests, the Error Velocity (representing the redundant information among the four beam velocities) is cal-
culated and its magnitude compared to a threshold as an additional screen. Measurements exceeding this
Error Velocity threshold will be rejected. When using beam coordinates this velocity screening is not done
by the Tasman firmware. It can however, be performed outside the Tasman.
To keep the Tasman errors as independent as possible from ping to ping, the Tasman does not screen for
unreasonably abrupt changes in altitude or velocity. These kinds of screens are most appropriately per-
formed at the front end of a navigation system. An isolated abrupt change in altitude is most likely an out-
lier (fish or other false target) that should be rejected, whereas a step function with a persistent final alti-
tude might be real (a cliff or a transition from a ship hull to the real bottom, for example). A robust algo-
rithm will reject the isolated data outlier while quickly recovering from a persistent step. Similar screening
can be done on velocities.

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Three-Beam Solution
The default operation of DVL’s requires all four beams to be tracking and providing good data. When this
occurs, the instrument screens the velocity data by comparing the magnitude of the Error Velocity to a
commanded threshold. The Error Velocity has redundant information among the four beam velocities.
This is done for all coordinate systems other than Beam. A three-beam solution is produced if, on a partic-
ular ping, only three beams have good data, and in that case only, error velocity screening cannot be per-
formed. When three-beam solutions are enabled, the DVL still computes a four-beam solution with error
velocity screening on all pings where all four beams have good data. There are operating circumstances
where due to the bottom slope and/or pitch only three beams can have adequate reflection from the bot-
tom, 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 Tasman to complete a ping cycle because this enables
faster data update rates. It is important to note that using the Water Layer Track in addition to the Bottom
Track mode significantly lowers the update rate of the Bottom Track data because there is an extra ping(s)
between Bottom Track pings. Therefore, it is recommended that the Water Layer mode be commanded off
when the Altitude is well within the Altitude capability of the Bottom Track (Bottom Track is providing
good data).
When the maximum operating altitude is known, the BX command can be used to limit the maximum ping
time in Bottom Track mode, since time to receive data from the bottom is proportional to the distance to
the bottom.
For example, a 600 kHz Tasman 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. Therefore, if BX is set to 50
meters, and if the DVL is operating at 50 meters altitude, and loses the bottom, then the search algorithm
will not look at 110 meters if it does not find the bottom at 50-meters, and will only search at altitudes up
to 50 meters, which may result in a faster reacquisition.
Table 5 shows the approximate Bottom Track ping times for a Tasman DVL as a function of altitude above
the bottom. The data is for the case where there are no external sensors being used:
Table 5. Approximate Bottom Track Ping Times (in milliseconds)
Altitude in meters Ping Time in ms
3 110

The following equation provides an estimate for the time between pings for ranges greater than 3.8m for
the 600 kHz and 7.6m for the 300 kHz (deep mode):
Ping time (seconds) = RTB*3.8e-3+ 40e-3
Where RTB is the Range to Bottom in meters.

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System Synchronization
Typically, data from the Tasman is fed into a larger user supplied acquisition and control system, which
collects data from other sources as well. In such situations, it is important to have all the data accurately
referenced to a common time base.
The Tasman data ensembles in PD0 format contain a time stamp having a resolution of 10 ms that is
from a reading of the real-time clock before the ping. This time stamp is of limited utility because it is
difficult to keep the Tasman clock synchronized to the navigation system clock and also because the
10 ms resolution is arguably too coarse when the Tasman is combined with an INS. The PD0 Navigation
Parameter Data format provides Time to Bottom (T2B) and Time of Validity (TOV) that an INS system can
use for ‘latency’.
The biggest advantage of system synchronization using Trig_IN is to not interfere with other acoustic sen-
sors and sonars. The trouble with external trigger input time stamping is that the Tasman needs multiple
trigger inputs for doing more than just BP=1 bottom track ping. Note that the minimum time interval be-
tween pings (which is the maximum velocity update rate) is altitude dependent, thus the triggering
scheme should be tested over the full working range of altitudes (including an altitude beyond bottom
track range). These tests should be made with water mass layer measurement both on and off.

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INS Integration
The Tasman is integrated into the vehicle and connected to its network. The user accesses the Tasman’s
configuration HTML page and navigates to the network configuration page. The network configuration
page provides a selection of PD outputs and a network configuration for each. The web page automatically
refreshes and displays the current setting.

1. Configure the Tasman to output PD0 via UDP broadcast socket 255:255:255:255, port 1001.
2. The command file used by the Tasman enables Ethernet turnkey mode, and sets the delay start
time to 30 seconds (CT command set to CT 2 30) (see Creating or Modifying Command Files).
3. Cycle power to the Tasman (wait 30 seconds between power off and power on) and monitor the
output via Wireshark. The user can also command the DVL to start (as an alternative to waiting
for Turn Key timeout) by sending a CS command to the DVL TCP Command and Control Port
(192.168.1.100, port 1033).
4. 30 seconds after application of power the UDP broadcast packets from the Tasman are observed.
Use TRDI Toolz to see that the DVL is outputting the Broadcast UDP data (255.255.255.255: port
1001).
5. The Bottom Track High Resolution Velocity (Data ID 5803h) and Navigation Parameters Data (Data ID
2013h) blocks provide aid in the velocity measurement resolution and quality information for use
in an Extended Kalman Filter (EKF) Inertial Navigation System (INS) solution. TIME OF
VALIDITY output for highly accurate coupling with an INS further improves your resulting DVL
aided INS position accuracy. See the Navigation Parameters Data Format, bytes 54-69.
• The Figure of Merit (FOM) is calculated for every velocity estimate and each beam
• Estimates the standard velocity error
• Confidence that when FOM is low, error is low
• FOM can provide warning for individual beams, not entire velocity solution
• May be used to filter data to reduce standard deviation and bias

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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 actively breaking, the acoustic beams may not be able to pene-
trate the bubble clouds, and even if they do, the sound speed may be significantly affected by the
high concentration of bubbles. This changes the Doppler scale factor.
• The dense growth of weeds or kelp on the bottom may prevent the DVL from detecting the true
bottom. If the DVL locks onto the top of the weeds by mistake, they may have motion relative to
the bottom due to wave action, which would give inaccurate velocity measurements.
• In areas of high salinity (>35ppt), the absorption of the sound by the water column will reduce
the altitude capability of the DVL. Absorption (maximum range) can also be affected by water
temperature, as outlined in Temperature & Salinity.
• In areas where the salinity varies as a function of location and/or time, the Doppler scale factor
will be varying, and it may be necessary to integrate a speed-of-sound sensor into the navigation
system to keep the velocity measurement errors to an acceptable value. Temperature gradients
can cause similar issues, as outlined in Speed of Sound Variation. This is only for the Z-axis veloc-
ity, as SoS does not impact 2D velocities on a Phased Array Transducer.

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-
ion, clear the Auto Ping Cycle bit in the CF command by sending CFx0xxx, where the x’s represent the set-
tings of the other parameters. Start the DVL pinging with the CS command. The DVL will output a ‘<’ be-
fore each ping and wait for input. Send any valid ASCII character to trigger the ping. The instrument will
not enter sleep mode while it is waiting for the trigger.
Using Low-Latency Triggering. The trigger methods shown above all have latencies ranging from a few mil-
liseconds to a few hundred milliseconds, which may be excessive for high-precision applications. Conse-
quently, TRDI has developed a low-latency trigger method (see CX command). To configure the DVL for
low-latency triggering, set the CX command to enable trigger input. Start the DVL pinging with the
CS command. The DVL will then wait for a trigger before each ping. Setting the trigger lines to a
break state for no less than 10 microseconds sends the trigger. The DVL will then ping within 1 millisec-
ond of the leading edge of the break pulse. Note that it is possible through the CX command settings to
set a timeout for the DVL to wait for a Trigger and then shall no Trigger occur during that time it will ei-
ther 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 5VDC.

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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 installed in the final system. By performing this initial bench test, EMI and acoustic interference
issues can be identified and remedied while all the system components are easily accessible.
The recommended types of systems that should be bench tested are described below.
1. If possible, select components and systems that are acoustically, and RF wise “out of band”, based
on the specifications from the manufacturer of that equipment.
2. It is important to test for all EMI interference that may be occurring in the system. Bench test all
the equipment in air and see if there are interfering sources by using the FFT tool (refer to Iden-
tifying EMI for instructions on it use), after which you can plan the shielding and grounding strat-
egy.
3. Spread out the various systems and components that you intend to use on the bench in a pattern
similar to how they will work.
4. While observing the FFT use the DVL as a “probe” and pass the DVL over live components (in-
cluding hydraulic actuators) you intend to use in your design. Identify any unacceptable interfer-
ence.
5. While observing the FFT use the DVL as a “probe” and touch it against components or systems to
check their acoustic signature. Identify any unacceptable interference.
6. Try varying bench test temperatures, so it can be determined if there are tank circuits in your sys-
tem that “tunes into” our band, or visa-versa.

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Troubleshooting
The purpose of this section is to provide a list of critical tests to perform when the system is not operat-
ing to either specifications or expectations. Additionally, this procedure will also provide a step by
step guide to configuration of the TRDI DVL to record all available data for troubleshooting with TRDI
support. The information acquired from these procedures will allow the user to solve many encoun-
tered technical problems. Should assistance from TRDI be required, the information acquired will
greatly expedite our analysis and service provided.

Communications Issues
Follow the steps in Connecting to the Tasman. If you have problems communicating with the Tasman check
to make sure that you are selecting the right COM port, baud rate, parity (none), stop bits (1), flow control
(none).

Windows is finicky when it comes to USB to serial adapters. Most adapters that TRDI tried did
not work. One adapter that works well is http://www.easysync-ltd.com/product/527/es-u-
1001-r100.html. Possibly any device with FTDI drivers and devices will 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 either send $B, click the Break button, or press <End> on
the keyboard
PS0
PA ;e nsu re t ran sd uce r be ams a re fully subm erged i n water prior to performing this test

The returns from these commands will provide the unit Firmware version, the system operating fre-
quency, beam matrix information and verify that the electronics are working as expected.

Run Built-In Tests

If something FAILED in the PA test, repeat the test several times rotating the unit by 90 degrees for each
test. By doing so, it may be determined that the failure is directional and most likely due to external envi-
ronment. Please be sure to log the results by pressing <F3> if using TRDI Toolz to communicate with the
system.
Failures might be observed IF:
• Other magnetic or acoustic devices or high current system are in the vicinity of the unit,
• The Tasman 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.).

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• The Tasman 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.
• Oftentimes, a noisy (i.e. non-UPS) power supply could cause failures in this test as well.
Strategy if Failure is found in the BIT tests:
• Power down these devices and remove or move the suspect systems at least three meters away
during diagnostic testing.
• Re-run the PT300 command and log the data for about 30 seconds to 1 minute.
• Modify the log file by adding a note as of what has been done prior to a PT300 test such as:
“Turning 300KHz Sonar off” for instance.

Always run the PA test with unit transducer beams submerged in water. The test may fail in
air and if so, is not relevant. Only a failure with the transducer at a minimum 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?
>#E?
>T?
>W?
>#W?

For example, the bottom track group of commands for a Tasman DVL:
>b?
Available Commands:

BA 024 -------------------- Amplitude Threshold [0..255]

BB 0030 ------------------- Blanking distance (cm)
BC 220 -------------------- Correlation Threshold [0..255]
BE 1000 ------------------- Error Velocity Threshold [0-9999mm/s]
BF 00000 ------------------ Depth Guess [0=Auto, 1-MaxAlt dm]
BH 105,180 ---------------- Gain Switch Threshold (0-255cnts:lo;hi)
BI 025 -------------------- Gain Switch Altitude (meters)
BJ 100000000 -------------- Data Out {t;c;*;h;r;n;*;*;*}
BK 0 ---------------------- WMass Mode [0=off 1=WB 2=LostB 3=W]
BL 160, 320, 480 -------- WMass Params [min, near, far (dm)]
BM 8 ---------------------- Bottom Mode [8 & 9]
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 02750 ------------------ Max Depth (dm)
BY 20 --------------------- Transmit Length (pct)
B? ------------------------ Display B-Command Menu

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Describe Deployment Environment & Operational Conditions

It is important to document the deployment environment of the test or mission that has occurred. The fol-
lowing parameters are important:
• Location
• Water description
• Bottom Type – topography and bottom type
• Depth
• Sediment conditions
• Temperatures
• Salinity
• Proximity to ocean structures or acoustic reflectors
• Speed through water

Describe the System Installation

Provide a description of your vehicle, and more specifically a description of the system, ADCP and/or
DVL, installation (coupling with the vehicle, material used for the mounting plate, beams behind a fair-
ing, voltage sent to the unit, triggering scenario implemented, etc.).

Provide Raw Data & Describe Issue for Analysis by TRDI

• Describe the performance issue or problem.
• Recover the raw data from your instrument. This will preferably be done in the PD0 output for-
mat. The information will be sent to TRDI with the complete deployment data if it is not possible
to provide PD0 data please identify the data format in which the data was collected.
• Provide screenshots 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, screenshots of data plots could be
provided in place of the above. Attach a description of the data and of the instrument from which it was
recorded.

Record Engineering Data for Analysis by TRDI

Re-deploy in the closest conditions and location from where the previous deployment occurred. However,
prior to deployment add the following commands to your Script File or set-up commands.

If you are already decoding PD0 and your decoding algorithm can handle more bytes in each
ensemble [engineering data bytes] then you can record this Engineering PD0 data into a file
for us to review it with our Engineering software suite. It is not mandatory to use the MR1
command to enable recording onto the loop recorder, nor to erase the loop recorder first as
described below.

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Before new data can be acquired, the recorder has to be erased. This is done by opening a TRDI Toolz
session (see Connecting to the Tasman) and then send the command me ErAsE to your Tasman. This will
erase the recorder.
Capture the data from the instrument by opening a log file in TRDI Toolz. You can do this by clicking the
icon and then entering a filename.
Send the following commands to the unit by copying them to the clipboard of any editor and pasting them
into TRDI Toolz by typing Ctrl V:
CR1
BP1
;[set BX value in dm to 20% more than the water column depth]
BX00350
#BK0
; output standard BT, High Resolution, and Precision Navigation data blocks
#BJ100 101 000
EX00010
;[set the EA angle between Beam3 and forward centerline of the vehicle)
EA+13500
CF11110
;Output data format PD0 or #PDx with x different from 0
#PD0
&O1000
&N3FFC
; Turn recorder on
MR1
CK
CS

Press enter after the CS to start pinging.

Alternatively, you can download the commands by saving these into a text file and typing Control+T in
TRDI Toolz. This will open the Script Editor.
It is important to leave the system powered up after the command file is sent; otherwise, the &O and
&N commands will be lost (these are not saved in the flash). The ping rate will be very 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 Tasman and open-
ing a TRDI Toolz session (see Connecting to the Tasman). Then change the baud rate to 115200 by entering
the CB811 command. Then select the Tools menu and the Download Data option of this menu. TRDI
Toolz will ask you what directory you want to store the data.
The process should be automatic from this point. There should be about 2MB downloaded from the re-
corder if it was full and it likely will be since the ensemble size is quite large with all the engineering data
included. The full data set should be about 92 ensembles. .
As previously mentioned in reference to the PA testing, if other devices are in the vicinity of the unit
and are suspected to be the origin of the data quality issue, then those devices should be isolated to the
greatest extent possible. It is best to power the device down or remove it from the area (at least 3m)
and then re-deploy using either one of the above set-ups. Recover and provide TRDI Field Service with
the raw binary (PD0) data.

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Identifying EMI
Purpose – Observation of the plots will provide information about interference to the DVL. This will proba-
bly NOT help in determining if the DVL emits interfering signals to other devices. The NGSPFFT software
provides the user with a frequency domain plot (~100% bandwidth) of the Tasman’s four receiver chan-
nels during a sampling interval.

Contact TRDI Field Service for a copy of NGSPFFT.

Adjustments – The NGSPFFT software has several easy to use adjustments. For example, the Filter is
a moving average of the last 30 samples; and the FFT N is the FFT sample size, with a default of 512. The
FFT sample size is directly proportional to the bandwidth of the FFT resolution. Additionally, the Hard-
ware Bandwidth and Hardware Gain and System Frequency can be adjusted. In addition, the
communication port number and communication baud rate can be adjusted to match the communica-
tion parameters of the Tasman.
Operation – The NGSPFFT software connects to the Tasman DVL using a computer’s serial port and sends
the Tasman DVL a special set of commands. The Tasman responds with a stream of digitally processed
values, from the receive portion of the circuit and firmware. The sonar transmitter is not used for the FFT,
i.e. the FFT routine uses the sonar receive transducer, circuitry and firmware only, not the sonar transmit.
The NGSPFFT computer software processes the values it receives from the Tasman, 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 Tasman, this is 614,400 Hz) and
spans ±12.5% bandwidth in NB mode, from (for Tasman or other 614400 kHz systems this is 308,400 Hz
to 921,600 Hz.)
Once the user learns the basics of the FFT software, you can use the Tasman cables and transducer as
probes by holding them or locating them next to equipment you would like to include in your vehicle
(ROV, AUV). The user will see the effect of “in air” interference. If interference is noted, different strate-
gies can be incorporated to mitigate the interference.
For example, separating devices or shielding may be help. Note that the transducer face (where the
urethane is on the transducer) will always be submerged in water during real operation. You can simulate
this in water performance by placing the transducer at the bottom of a small bucket, with just enough
water to wet the urethane faces of the transducers. Often what appears to be interference when the trans-
ducer is in air may be completely gone when the transducer is submerged in water. The inverse may be
true as well. If there are other sonars or mechanical devices such as hydraulic power units that create
acoustic signals, these may interfere with the Tasman system and the interference may only be detected
when both our transducer and the other device are submerged in a larger bucket or tank of water or
somehow acoustically coupled through a hull or structural framework.
Install the NGSPFFT Software – Use the install package. Installation of the NGSPFFT software is similar to
installing older windows software. After successfully installing the NGSPFFT software there will be two
folders added to your computer: C:\Program Files\RD Instruments\NGSPFFT and C:\FFT. Inside the
second folder, will be a file, C:\FFT\Port.txt that stores the serial COM port number and the baud rate to
be used. Please open this text file using 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
Tasman. The second number is the baud rate. Change this to 115200. Then save this file with the changes.

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Using NGSPFFT to Identify Interference

Equipment needed:
• A computer with at least one serial communication port from the computer to the Tasman’s
Communication Port 1 (a USB to serial converter works fine).
• The same computer with TRDI Toolz software provided or from the TRDI website.
• The same computer with the NGSPFFT software loaded.
• A power supply for the Tasman (10.7 – 36 volts DC (24 VDC typical), 1.5A is sufficient).
1. Connect to the Tasman using TRDI Toolz and change the baud rate to 115200 baud.
2. Apply power to the Tasman 10.7 to 36 Volts DC (24 VDC typical). Set the current limit to 1.5A for
Tasman 600.
3. Connect to the computers comport.
4. Start the TRDI Toolz software and establish communication with the Tasman. After sending a
“break” you will see something like the following (The firmware version may be different):
Tasman
Teledyne RD Instruments (c) 2019
All rights reserved.
Firmware Version: 74.xx
Current time is: 19/08/01,21:01:38.47
Break received, serial
>

5. Type “CB811” <ENTER> then type “CK” <ENTER> you will see something like:
>cb811
>ck
[Parameters saved as USER defaults]

This sets the baud rate to 115200 and speeds up the FFT data transfer when using the NGSPFFT software.
6. Close the TRDI Toolz.exe program.
7. Place the transducer into a bucket of water, just deep enough to cover the urethane faces of the
four transducers. This will help to properly match the acoustic impedance of the transducer and to
reduce interference from radio stations or other nearby RF sources. Later, when the NGSPFFT
software is running you can remove the transducer from the water and hold it next to a laptop or a
computer terminal and see what effect these devices have on the FFT, and hence the DVL.
8. Open the NGSPFFT.exe program. The program will immediately attempt to establish communica-
tions and send appropriate commands. Within 30 seconds, you should see four plots of the FFT
for each of the Tasman’s receive channels.
9. If no plots are generated, there is no communicating with the Tasman. You can select by clicking
on the Comms menu and select the port that Tasman is connected to.
10. Click on Comms menu and select the baud rate (115200).
11. If you still don’t see any plots after 30 seconds, try cycling the power to the DVL. If that does not
help, please exit the NGSPFFT software and reopen TRDI Toolz and assure the communications
are set at CB811 (115200 baud).

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Check the Adjustments: At the bottom of the NGSPFFT window, assure the following settings:
• FFT N = 512
• Window = On
• Filter = Off
• Click the Hardware Bandwidth button Narrow
• Click the Hardware Gain button High.
• Click the + / - buttons to set the system frequency.

When selecting Narrow in NGSPFFT, the DVL will select the appropriate filter width for
processing the data. If Wide is selected, then it is possible that interference terms will show
up in the FFT that will not affect the DVL’s accuracy.

Zoom: By clicking on the “beam” of interest, you can zoom in to see only that beam. Click again to zoom
out.
Mouse-Over: By placing the cursor over a frequency of interest, a mouse-over window will appear with
more information 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 system with the Fil-
ter Off. The bandwidth of the plot is approximately 6.25% of the system frequency FFT in narrowband
receiver mode.

The following is the same “clean”, 512 sample FFT, with the Filter On radio button selected. It is simply a
moving average of the last 30 FFTS. The color changes from light blue to dark blue once the FFT has ac-
quired an average of the 30 previous (the Score will count down from 30 each time a setting is changed).

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Examples of Interference
The following image shows an interference term on all channels at 601 kHz just to the left of center fre-
quency. Notice the Filtered Data Test Results in the upper left of the screen has a yellow background color
indicating Marginal for its score.

Although not ideal, the previous interfering terms is small, and the DVL will still bottom track accurately
if the bottom echo return amplitude is stronger than this very weak interfering term.

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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. Notice that the filter function is off, and you still
clearly see that you have an interference issue, and you can identify the frequency if you Mouse-Over.

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Alternative FFT Tool for Virtual Comports

For those applications where the DVL is not directly connectable through a physical RS232 comport, the
NGSPFFT will unfortunately not be able to run, as it needs a physical UART/comport to be able to send a
Serial Break to the Tasman DVL to respond and start acquiring the FFTs.
An alternative software exists called QCMon, which sends a software break instead, i.e. “+++”. The ‘look
and feel’ of QCMon is only slightly 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 Tasman DVL banner as depicted be-
low:
Tasman DVL
Teledyne RD Instruments (c) 2019
All rights reserved.
Firmware Version: XX.xx

>

2. Then go to Comm > Terminal and then in the QCMon window type any commands (B?, TS?,
etc.) like you would with TRDI Toolz and you should get replies from the Tasman.
3. If this is working, send PT200.
>pt3
Receive Path Test (Hard Limited):
H-Gain W-BW L-Gain W-BW H-Gain N-BW L-Gain N-BW
↓
↓
RESULT...PASSED

>pt5
Transmit/Receive Continuity Check:

↓
↓
RESULT...PASSED

>
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:
• Anything that looks different in overall shape or spikes anywhere that show on the light blue line
(realtime FFT) is of concern even more when it shows on the dark blue line (averaged FFT).
• Note that you can click on any beam to Zoom on it if this helps.
• The way to ‘collect’ FFT data with QCMon is to take snapshots in different scenarios, such as take
one for baseline in water with the vehicle ON but no active sensors, arms, thrusters, (or even us-
ing a known cleaner external power source) then take a snapshot for each of the major vehicle
components* turned ON to active mode.
• * anything that is powered on the vehicle and can be placed into an active mode (which usually
means either or both driving more current or creating EMI or 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.

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Example plot with no interference

Example plot showing interference

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Chapter 3
COLLECTING DATA

This chapter covers:

• Tasman General Deployment Flow
• Creating or Modifying Command Files
• Sending Commands to the Tasman

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Tasman General Deployment Flow

DVL QA/QC

Run TRDI Toolz: Set the DVL's Clock Test the DVL PA, PS0, etc.

DVL Setup

Run TRDI Toolz and send command script

Collect Data

Log raw data from the DVL )

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Creating or Modifying Command Files

Command files are simply ASCII files produced by ASCII editors such as NotePad that set Tasman com-
mand parameters. In general, they contain ASCII characters that are sent out through the serial port.
To create a command file:
• Copy the example command file into NotePad and edit the commands as needed. Refer to the
Command Descriptions for detailed information on each command.
• If the first character of a line is a semi-colon, then all characters after the semi-colon (including
the semi-colon) are ignored. This feature is to provide file comments that the user may insert for
clarity.
• Use one command per line.
• Save the file. Command files can have *.rds, *.txt, *.scr, or any other extension as long as they are
ASCII text files.

The example command file has comments that explain the function 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.

;--------------------------------------------------------------------------
; Tasman type: 600 kHz Tasman
; Setup name: Tasman.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: 30 July 2019
;-------------------------------------------------------------------------
; **************************************
; Tasman Basic Setup Commands
; **************************************
; Restore factory default settings in the Tasman
CR1
; set the data collection baud rate to 15200 bps,
; no parity, one stop bit, 8 data bits
CB811
; Flow Control – set to default
CF11110
; **************************************
; Tasman Bottom Track Setup Commands
; **************************************
; Enable single-ping bottom track,
BP001
Set maximum bottom search depth to 110 meters (600 kHz default with XRT mode off)
BX01100
; output standard BT, High Resolution, and Precision Navigation data blocks
#BJ100 101 000
; **************************************
; Tasman Environment Setup Commands
; **************************************
; Set Heading Alignment to 0 degrees
; NOTE. If the Tasman Beam 3 is rotated +45 degrees starboard
; (recommended alignment), set EA to EA+45000
EA45000
; Set manual transducer depth in case depth sensor fails
ED0000
; Set Salinity to saltwater
ES35
; Output earth coordinates, use tilts, allow 3 beam
; solutions and bin mapping
EX10111
; Set to use internal sensors

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EZ11011010
; Use EZ11000010 if the user wants to send 'dynamic' commands
;(EC, EH, EP, etc.) then the EZ field for that sensor needs
; to be set to zero.
; **************************************
; Tasman Timing Setup Commands
; **************************************
; Set Time between Ensembles to zero (Tasman will ping as fast as possible)
TE00000000
; Set Time between Pings to zero (Tasman will ping as fast as possible)
TP00:00.00
; **************************************
; Tasman Water Profiling Setup Commands
; **************************************
; Note: By default, water profiling is turned off.
; To use water profiling, set the WP command >0
WP0
; Bin size set to 400 cm
WS0400
; Number of bins set to 50
WN050
;
; **************************************
; Tasman Expert Command Section
; **************************************
;
; CAUTION - Editing or adding expert commands to the command file will
; allow items that if set incorrectly can cause the data to
; be the wrong format, bad, and/or uncorrectable even in post
; processing.
;
; Disable Water-Mass Layer Mode (default)
BK0
; **************************************
; Turnkey mode on - Tasman will ping 30 seconds after power turned on.
; CT n T
; n = 0 to 2 (0 = Off, 1 = Turnkey On-Output Serial, 2 = Turnkey On-Output Ethernet)
; T = 5 to 100 (integer seconds)
; **************************************
#CT 1 30
;
; Environmental Data Output – sets 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 Tasman
CK
; Start pinging
CS

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The commands shown in Table 6 explain each command set by the example command file. These com-
mands directly affect the range of the Tasman, standard deviation (accuracy) of the data, ping time, and
power usage.
Teledyne RD Instruments strongly recommends that the commands shown in Table 6 be the minimum
commands that should be sent to the Tasman.

Although these are TRDI’s recommended minimum commands, they may not be the only
commands needed for the deployment to be successful!
Editing or adding expert commands (#xx) to the command file will allow items that if set
incorrectly can cause the data to be the wrong format, bad, and/or uncorrectable even in
post processing.

The deployment may require additional commands and these commands can be sent any
time after the CR1 command but must be placed before the CK command.

Table 6. Recommended Commands

Command Choices Description
CR1 Sets factory defaults This is the first command sent to the DVL to place it in a “known” state.
CBxxx CB111 to CB811 Sets the baud rate from 1200 to 115200 baud. Recommended to leave at
default setting of 115200 baud (CB811) (see CB - Serial Port Control).
CF11110 See manual for descrip- Flow control - Recommended to leave at default setting of CF11110 (see
tion CF - Flow Control).
BP1 BP0 (off) to BP999 Sets the Bottom Track Pings Ping to once per ensemble. Recommended
to leave at default setting of BP1 (see BP – Bottom Track Pings per En-
semble).
BX01100 600 kHz = BX1100 Sets the Maximum Tracking Depth to 110m for Tasman 600 (1100 deci-
meters) (see BX – Maximum Tracking Depth)
EA00000 EA-17999 to EA18000 Heading alignment uses beam-3 as the heading alignment. If the Tasman
is rotated +45 degrees starboard (recommended alignment), set EA to
EA+45000 (see EA - Heading Alignment)
ED0000 ED0 to ED65535 Manually set depth of the transducer in decimeters. If a pressure sensor
is available, the ED-command will be used only if the depth sensor fails
(see ED - Depth of Transducer).
ES35 ES0 to ES40 Salinity of water is set to 35 (saltwater) (see ES – Salinity).
EX10111 Coordinates, Use Tilts, 3- Sets coordinate system, use tilts, allow 3-beam solutions, and allow
beam solution, bin map- depth cell (bin) mapping (see EX – Coordinate Transformation).
ping
EZ11011010 or Sensor source Default EZ 11011010 setting means calculate speed of sound from availa-
EZ11000010 ble depth, salinity, and temperature, use internal pressure sensor, EH
heading, use Inclinometer (if installed), Roll source specified by Pitch
field, ES command sets salinity, use TRDI internal temperature sensor,
manual up/down orientation set with the EU command
Use EZ11000010 if the user wants to send 'dynamic' commands (EC, EH,
EP, etc.) then the EZ field for that sensor needs to be set to zero. (see EZ
- Sensor Source).
TE00:00:00.00 Time per ensemble Ping as fast as possible (see TE – Time Per Ensemble).
TP00:00.00 Time per ping Ping as fast as possible (see TP – Time Between Pings).

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Table 6. Recommended Commands

Command Choices Description
WP0 WP0 to WP16384 Water Profiling – The default setting WP0 will turn off water profiling
(see WP – Pings Per Ensemble).
WS0200 WS10 to WS400 Sets the depth cell size in cm. Recommended to leave at default setting
(see WS – Depth Cell Size).
WN030 WN1 to WN255 Sets the number of depth cells. Recommended to leave at default setting
of WN030 (see WN – Number of Depth Cells).
BKx BK0, BK1, BK2, BK3 This command selects the when the Water-Mass Layer ping will be used.
Recommended to send the BK0 (default) command to disable the Water-
Mass Layer (this also disables the #BL command) (see BK - Water-Mass
Layer Mode).
If the Water-Mass Layer pings need to be enabled, see the BK and #BL
commands.
#BLmmmm,nnnn,ffff Min, Near, Far layer This command sets the Water-Mass Layer boundaries. Recommended to
boundary leave at the default settings: #BL80,160,240 (see BL - Water-Mass Layer
Parameters).
#BJtc*hrn*** Bottom Data Types This command sets the Bottom Data Types that will be output. Recom-
mended to set to #BJ100 101 000 to select the standard BT, Hight Reso-
lution BT, and Precision Navigation data (see BJ – Data Type Output Con-
trol).
CT n T n = 0 to 2 (0 = Off, 1 = Setting the CT command to CT 1 30 (serial) or CT 2 30 (ethernet) turns
Turnkey On-Output Se- the Turnkey mode on. The Tasman will ping 30 seconds after power is
rial, 2 = Turnkey On-Out- turned on (see CT - Turnkey Operation).
put Ethernet)
T = 5 to 100 (integer sec-
onds)
#EE0000010 Environmental data out- Selects specialized Environmental data. Recommended to leave at the
put default settings: default#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, Sets the output data format (see PD0 Output Data Format).
PD6, PD11, PD13, PD26
CK Keep parameters as user If power is lost and then restored, all commands will be restored as last
defaults sent (see CK - Keep Parameters). Sent right before the CS-command.
CS Start pinging Last command sent to begin collecting data (see CS – Start Pinging (Go)).

The CR1 command must be the first command sent to the Tasman. The CK command must be
sent just before the CS command. Other commands may be sent in any order.

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Sending Commands to the Tasman

To send the commands to the Tasman:
1. Place the Tasman system in water.
2. Start TRDI Toolz.
3. Send a BREAK to the Tasman by pressing the icon. When the Tasman receives a BREAK sig-
nal, it responds with a wake-up message like the one shown below. The Tasman is now ready to
accept commands at the “>” prompt.
Tasman
Teledyne RD Instruments (c) 2019
All rights reserved.
Firmware Version: 74.xx
Current time is: 19/08/01,21:01:38.47
Break received, serial
>

4. Use TRDI Toolz 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 at a time
as the primary way of deploying a Tasman system as any incorrect command setting can
have severe consequences to data collection. Always use a script file to send the commands.
See the Command Descriptions and Introduction to Output Data Format sections for
information on each command setting.

Script files can have any extension as long as they are ASCII text files.

Using the SBG Ellipse AHRS Sensor

This section describes the Attitude Heading Reference System (AHRS) sensor model “Ellipse A” manufac-
tured by SBG which can be integrated into the Tasman. This sensor outputs heading, pitch and roll (HPR)
data which will be used by the host vehicle for navigation purposes. Use the SM command to change the
AHRS settings. When the Tasman is outputting PD0 data, the SD command enables and disables additional
data from the AHRS (see Table 40 through Table 51). Use the SM command to change the AHRS settings.
The SBG Ellipse AHRS, if installed, is setup automatically by the Tasman firmware except for the working
Latitude and Longitude (Set LLA & Date).

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Set LLA & Date

Use the SM command to update the latitude, longitude, altitude, and date of the SBG Ellipse (used for its
internal modeling of local magnetic phenomena) as follows:

Parameter Meaning Acceptable Values

Latitude Latitude of present location, in degrees -90.0 to +90.0
Longitude Longitude of present location, in degrees -180.0 to +180.0
Altitude Initial altitude, in meters, above WGS84 ellipsoid. -6000.0 to +6000.0
Year Year at startup 2000 to 3000
Month Month at startup 1 to 12
Day Day in month at startup 1 to 28, 29, 30, or 31 depending
on calendar year or month.

Example terminal session:

>sm 12
SBG Ellipse-A Auxiliary Menu
0 ---------- Help
D ---------- Display SBG Status and Settings
H ---------- Display Heading, Pitch & Roll
M ---------- Modify Settings
P ---------- Pass-Through Mode
2 ---------- 2D Magnetometer Calibration
3 ---------- 3D Magnetometer Calibration
F ---------- Restore Factory Settings and Calibration
T ---------- Restore Internal Settings and Alignment
R ---------- Reboot SBG Ellipse-A AHRS
X ---------- Exit

>sm 12 m

SBG Ellipse-A Settings Menu

0 ---------- Help
A ---------- Set Alignments [xdir ydir rerr perr yerr xla yla zla]
L ---------- Set LLA & Date [lat long alt yyyy mm dd]
X ---------- Exit
x

>sm 12 m l ?
30.0 -126.5 0.10 2014 12 10

>sm 12 m l -10.0 178 -0.5 2015 02 06

>sm 12 m l ?

-10.0 178 -0.5 2015 02 06

Any changes to these settings are automatically saved the AHRS.

The date set here does not change or need to match the Real-Time Clock time set by the TS
command. It is used to set the magnetic variation for the location and date.
Use http://www.mapcoordinates.net/en to locate your Lat/Long and Altitude.

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Calibrating the AHRS Sensor

Tasman AHRS calibration corrects for distortions in the earth’s magnetic fields caused by permanent
magnets or ferromagnetic materials near the Tasman. These magnetic field distortions, if left uncorrected,
will create errors in the heading data from the Tasman. An AHRS calibration should be conducted at each
measurement location, and whenever the mounting fixture, boat/float, or ancillary equipment such as
batteries or radios are changed or rearranged. Be aware of the following items:
• Compass calibration is especially important when using the Tasman on a ROV/AUV as they
often have significant magnetic field distortions from the hull, engine(s), and ancillary equip-
ment. Accurate calibration may not be possible in extreme cases.
• If the mounting fixture or frame has some magnetic field or magnetic permeability, calibrate
the Tasman inside the fixture. Depending on the strength and complexity of the fixture’s field,
the calibration procedure may be able to correct it.
• The compass should be calibrated in the same orientation (beams-up/beams-down) as it will
be deployed. Failure to do so will cause a 2 to 4 degrees RMS error on the compass reading. In
addition, the EU command must match the orientation of the compass calibration and deploy-
ment.
• Ferromagnetic structures such as bridges or sheet piling in the measurement location may
interfere with proper compass operation. The compass calibration procedure can NOT correct
for heading errors due to these types of structures.

Note that the magnetometer sampling design makes it impossible to reject signal frequencies
above 180Hz. Ensure that high frequency noise is not disturbing the magnetometers at the
sensor's location.

To calibrate the SBG Ellipse-A AHRS magnetometer:

1. Start TRDI Toolz.
2. Use the SM command to start the field calibration. Send SM 12 2 for a 2D calibration (no tilts re-
quired) or SM 12 3 for a 3D calibration (tilts required).
• The 2D calibration mode is only designed to be used when roll and pitch motions are less
than ± 5°.
• The 3D magnetic calibration offers the best accuracy but needs at least ± 30° motion on the
roll and pitch angles.

If the vehicle cannot be rotated freely in all orientations, the calibration will still be accurate,
but only in orientations that were covered during the calibration procedure.

3. The AHRS reports the internal latitude, longitude, and altitude (LL&A) and date and prompts to
update the LL&A and date if needed. Type Y to update (see Set LLA & Date) or N to use the current
setting and continue with the calibration.
4. Begin moving the system through the desired orientations to collect magnetometer data. To work
correctly, the Tasman system should be rotated through at least a full circle.

The AHRS is mounted near the mounting plate and should be the center of rotation. Too
much movement of the AHRS position between calibration points will lower the calibration
score.

5. As the system is moved through the various orientations, the SM command provides a continual
report of the number of points collected and overall data quality.

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6. As the system is acquiring data, press any key to pause the acquisition process.
• When paused, the SM command provides a quality report on the data collected thus far.
• To resume the calibration, press any key other than <ESC>. When the calibration is re-
sumed, then the system returns to collecting data points.
7. End the calibration process by pressing the <ESC> key. The final quality data is reported by the
AHRS. The magnetic calibration quality indicator is computed based on the magnetic field
norm deviation after calibration:
• Optimal – All acquired points fit very well on a unit sphere after the calibration.
• Good – Small deviations of the magnetic field norm have been detected. The magnetic cali-
bration should although provide accurate heading.
• Poor – Large deviations of the magnetic field norm have been detected. It may come from
external magnetic distortions during the calibration.
• Invalid – No valid magnetic calibration has been computed. It could come from too much
magnetic disturbances, insufficient or invalid motions.
The better the magnetic field is mapped, the better the confidence indicator is. If you only
cover very few portions of the 3D sphere or 2D circle, the confidence indicator will be low.
• High – Reported quality indicator can be trusted as enough remarkable magnetic field points
have been acquired.
• Medium – Few remarkable magnetic field points have been used to compute the magnetic
calibration leading to a medium confidence in reported quality indicators.
• Low – Even if the quality indicator could report an excellent calibration, the data set used to
compute the magnetic calibration was not meaningful enough to compute meaningful quality
indicators. This calibration should be used carefully.
8. Press Y to save and apply the calibration, or N to discard it and quit.

2D Calibration Example
Example calibration (user entries are indicated in BOLD):
>sm 12
SBG Ellipse-A Auxiliary Menu
0 ---------- Help
D ---------- Display SBG Status and Settings
H ---------- Display Heading, Pitch & Roll
M ---------- Modify Settings
P ---------- Pass-Through Mode
2 ---------- 2D Magnetometer Calibration
3 ---------- 3D Magnetometer Calibration
F ---------- Restore Factory Settings and Calibration
T ---------- Restore Internal Settings and Alignment
R ---------- Reboot SBG Ellipse-A AHRS
X ---------- Exit
2

Verify location data:

48.8688 deg 2.1577 deg 30.00 m 2014/04/20
Do you want to change location data (y/n)?
Yes
SBG Ellipse: Enter new LL&A [lat long alt year month day]:
-10.0 178 -0.5 2015 02 06 (Note this is the San Diego office location: Use http://www.latlong.net/ to
enter your LLA. Enter the current date.
SBG Ellipse: New LL&A and date saved.

SBG Ellipse: Acquiring magnetic field data for a 2D calibration.

SBG Ellipse: Will use up to 1000 points for calibration.
SBG Ellipse: Press any key to pause the magnetic field acquisition.

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SBG Ellipse: and display the current results.

- nPoints= 46, Q=Optimal . (NOTE this line is updated in-line with an animated text indicator)
(User presses any key on the keyboard)

Magnetic calibration report:

Quality: Optimal
Confidence: Medium
Used Points: 46
Max Points: 1000
Magnetic field deviations (degrees):
Mean Stdev Max
Before 12.94 0.16 13.33
After 0.12 0.08 0.29
Accuracy 0.00 0.00 0.01
Advanced status bits: 00000000 00010100
Press ESC to quit, or any other key to continue calibration.

(User presses any key besides <ESC>)

\ nPoints= 65, Q=Optimal . (Updated in-line, as before)

(User presses any key on the keyboard)

Magnetic calibration report:

Quality: Optimal
Confidence: Medium
Used Points: 65
Max Points: 1000
Magnetic field deviations (degrees):
Mean Stdev Max
Before 13.17 0.19 13.70
After 0.12 0.08 0.37
Accuracy 0.00 0.00 0.01
Advanced status bits: 00000000 00000000
Press ESC to quit, or any other key to continue calibration.

(User presses <ESC>)

Calibration quality is Optimal. Number of points collected is 65

Do you want to apply the new calibration (y/n)?
n

Calibration discarded. Rebooting the SBG Ellipse.

SBG Ellipse: system reboot
Command response time = 20 ms
Resetting DVL.

Tasman 300/600 DVL

Teledyne RD Instruments (c) 2015
All rights reserved.
Firmware Version: 57.xx

>

3D Calibration Example
Note that the user communications for the 3D calibration are virtually indistinguishable from the 2D cali-
bration; the only difference is the calibration mode that was commanded by the user. Example calibration
(user entries are indicated in BOLD):
>sm 12
SBG Ellipse-A Auxiliary Menu
0 ---------- Help
D ---------- Display SBG Status and Settings
H ---------- Display Heading, Pitch & Roll
M ---------- Modify Settings
P ---------- Pass-Through Mode
2 ---------- 2D Magnetometer Calibration
3 ---------- 3D Magnetometer Calibration
F ---------- Restore Factory Settings and Calibration

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R ---------- Reboot SBG Ellipse-A AHRS

X ---------- Exit
3

SBG Ellipse: Current LL&A and date is: -10.0 178 -0.5 2015 02 06
SBG Ellipse: Do you need to update LL&A and date(y/n)?
No

Cal started. Error Code = 0

SBG Ellipse: Acquiring magnetic field data for a 3D calibration.
SBG Ellipse: Will use up to 1000 points for calibration.
SBG Ellipse: Press any key to pause the magnetic field acquisition.
SBG Ellipse: and display the current results.
- nPoints= 46, Q=Optimal . (NOTE this is updated in-line with an animated text indicator)

(User presses any key on the keyboard)

Magnetic calibration report:

Quality: Optimal
Confidence: Medium
Used Points: 46
Max Points: 1000
Magnetic field deviations (degrees):
Mean Stdev Max
Before 12.94 0.16 13.33
After 0.12 0.08 0.29
Accuracy 0.00 0.00 0.01
Advanced status bits: 00000000 00010100
Press ESC to quit, or any other key to continue calibration.

(User presses any key besides <ESC>)

\ nPoints= 65, Q=Optimal . (Updated inline, as before)

(User presses any key on the keyboard)

Magnetic calibration report:

Quality: Optimal
Confidence: Medium
Used Points: 65
Max Points: 1000
Magnetic field deviations (degrees):
Mean Stdev Max
Before 13.17 0.19 13.70
After 0.12 0.08 0.37
Accuracy 0.00 0.00 0.01
Advanced status bits: 00000000 00000000
Press ESC to quit, or any other key to continue calibration.

(User presses <ESC>)

Calibration quality is Optimal. Number of points collected is 65

Do you want to save the new calibration (y/n)?
y

SBG Ellipse: The new magnetic calibration has been saved.

SBG Ellipse: system reboot
Command response time = 20 ms
Resetting DVL.

Tasman 300/600 DVL

Teledyne RD Instruments (c) 2015
All rights reserved.

>

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Reset AHRS to Factory Defaults

In certain situations, the user may wish to reset the AHRS to its factory default settings and calibration
data, for example:
• User is in a magnetically poor environment and unable to successfully calibrate the unit.
• Anomalies seen during operation; suspected root cause is misconfiguration of the device.

Loading the factory calibration on the AHRS may not provide accurate heading data as the
AHRS sensor would not use a calibration relevant to the field of operation. It is highly
recommended to perform a user 2D or 3D calibration. A 3D calibration is always preferred
when possible.

To accommodate this, use the SM command to reset the AHRS to its factory default settings and calibra-
tion. For example:
>sm 12
SBG Ellipse-A Auxiliary Menu
0 ---------- Help
D ---------- Display SBG Status and Settings
H ---------- Display Heading, Pitch & Roll
M ---------- Modify Settings
P ---------- Pass-Through Mode
2 ---------- 2D Magnetometer Calibration
3 ---------- 3D Magnetometer Calibration
F ---------- Restore Factory Settings and Calibration
T ---------- Restore Internal Settings and Alignment
R ---------- Reboot SBG Ellipse-A AHRS
X ---------- Exit
F

The AHRS will automatically reboot on this command.

Use the T option (Restore Internal Settings and Alignment) to restore settings, but not the
calibration.

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NOTES

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Chapter 4
MAINTENANCE

This chapter covers:

• How to spot problems
• How to do periodic maintenance items on the Tasman
• Corrective maintenance

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Replaceable Parts
Use the following tables to order replacement parts (see Figure 16, page 77):
Table 7. Tasman Spare Parts Kit P/N 75BK6108-00
Description Part number Where used
Anode 81B-4216-00
Anodes for Housing Exterior
Anode Screw M5X0.8X10FH
Screw, Button Head, 5/64 HEX DRV, 316SST 6-32X5/16BH
Washer, Split Lock #6 SST #6WASHSPL Closing hardware for clamps
L-KEY, 5/64, HEX, Ballpoint 57185A43

Power/Comm connector (rubber portion only) and

Silicone Lubricant 5020
Field Replaceable Transducer 9-pin connector

Tool Bag, Canvas 84Z-6000-00 Spare parts are located inside bag

Table 8. Tasman Clamp Kit P/N TASMAN-CLAMP KIT

Description Part number
Clamp, Transducer 71B-4074-00

Clamp, Customer Interface 71B-4076-00

Plate, Customer Interface 81B-6104-00

Spare Parts kit (shown in Table 7) 75BK6108-00

Table 9. Tasman Replaceable Transducers

Description Part number Where used

600 kHz Transducer, 4000 meters 71B-1144-00

600 kHz Transducer, 6000 meters 71B-1144-01
Field Replaceable Transducer
300 kHz Transducer, 4000 meters 71B-1143-00
300 kHz Transducer, 6000 meters 71B-1143-01

Tasman systems rated for 4000 meters depth have a red transducer face. Systems rated to
6000 meters have a black transducer face.

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Inspection Schedule
TRDI recommends the following regular inspection to be performed before every deployment:
Table 10. Visual Inspection Criteria
Item Inspection Criteria
Transducer Before each deployment, check the urethane coating on the transducer faces for dents,
chipping, peeling, urethane shrinkage, hairline cracks and damage that may affect water-
tight integrity or transducer operation. Replace the transducer if there is any damage.
Check the Power/Comm connector for cracks or bent pins before each deployment.
Cables and Check the cable connectors for cracks or bent pins. Inspect the full length of the cable for
Connectors cuts, nicks in the insulation, and exposed conductors before each deployment. Repair of
the connector should only be done by TRDI. TRDI recommends that the connector be re-
placed every five years or whenever visible signs of wear or corrosion appear.
Anodize coating Inspect the housing, and transducer assembly for corrosion, scratches, cracks, abrasions,
or exposed metal (silver-colored aluminum). Be critical in judgment; the useful life of the
Tasman depends on it.
Thoroughly clean the exterior of the Tasman after retrieval. See Removing Biofouling for
details. After each deployment, systems need to be cleaned thoroughly.
Anodes Inspect the anodes on the housing assembly for corrosion and pitting. If the RTV has de-
cayed enough to let water enter between the screws and the anode, replace the RTV. Re-
place anodes whenever the mounting screw is in less than 75% in contact with the an-
ode. Replace all anodes every year.
Hardware Check all screws and clamps for signs of corrosion before each deployment. TRDI recom-
(bolts, etc.) mends replacement every 5 years. Damaged hardware should never be used.

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Periodic Maintenance Items

These maintenance items should be done prior to deploying the DVL.

To ensure continued optimal results from the Tasman DVL, TRDI recommends that every
system be returned to our factory for an inspection every two to three years. We’ll provide
the unit with a thorough multi-point inspection and notify if any refurbishment services are
required to properly maintain the unit. To learn more about this service, please contact field
service.

Cleaning the Cable Connector

After a deployment, clean and remove any accumulated sand or mud from the connector on the Tasman
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 of some oil-based propellants in spray cans
can cause conductivity problems in neoprene.

3. Lubricate the connector by placing a light amount of silicone lubricant on the connector pins (rub-
ber portion only). Silicone lubricant is included in the Spare Parts kit.

Use ONLY silicone-based lubricants. DO NOT use petroleum-based lubricants.

Transducer Inspection
Never set the transducer face on a rough surface; always use a soft pad to protect the
transducer.

The urethane coating on the transducer face is important to Tasman watertight integrity. Mishandling,
chemicals, abrasive cleaners, and excessive depth pressures can damage the transducer ceramics or ure-
thane coating. Inspect the transducer face for dents, chipping, peeling, urethane shrinkage, hairline
cracks, and damage that may affect watertight integrity or transducer operation. Replace the transducer
head if there is any damage.

As originally manufactured, the transducer face has a smooth surface that makes it
inhospitable for most biofouling to develop. Preserving this smooth surface is an effective
way to prevent heavy bio-growth on the transducer face. However, if an antifouling coating is
desired on the transducer face, then the face must be lightly abraded to allow the antifouling
coating to adhere. As a rule, the surface must be kept smooth unless an antifouling coating
will be applied.

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Anode Inspection and Replacement

The Tasman has two anodes on the housing; one anode on the upper housing and one on the lower hous-
ing assembly. If the Tasman does not have exposed bare metal, a properly installed anode helps protect
the Tasman from corrosion while deployed. Read all instructions before doing the required actions.

Anode Inspection
The life of an anode is not predictable. An anode may last as long as one year, but dynamic sea conditions
may reduce its life. Use a six-month period as a guide. If the total deployment time for the anodes has
been six months or more, replace the anodes. Replace all anodes every year.
To inspect the anodes:
1. Remove the Customer Interface and Transducer clamps.
2. Inspect the anodes for corrosion and pitting. If most of an anode still exists, it may not need to be
replaced.
3. Inspect the Room-Temperature-Vulcanizing (RTV) silicone-covered screws that fasten each an-
ode. If the RTV has decayed enough to let water enter between the screws and the anode, replace
the RTV.
4. If there are doubts about the condition of the anodes, remove and replace the anode.
5. Install the Customer Interface and Transducer clamps.
6. Tighten the 6-32 screws to 5.5 IN-LB.

Figure 16. Tasman Assembly

Do not open the housing. This will void the warranty.

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Anode Electrical Continuity Check

Check the electrical continuity using a digital multi-meter (DMM). Measure the resistance between the
two anodes attached to the same part of the instrument (transducer or housing). The resistance should be
less than two ohms. If not, reinstall the affected anode.

Anode Replacement
To remove and replace the anode/s:
1. Remove the RTV from the anode screw heads. Remove the screws.
2. The anode may stick to the Tasman 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. Carefully
strike the block to loosen the anode.
3. Clean the bonding area under the anode. Remove all foreign matter and corrosion. Look for signs
of corrosion such as white deposits. If corrosion caused part of the housing to be visibly damaged,
do not redeploy the system. Send it back to TRDI for inspection (see Returning DVLs to TRDI for Ser-
vice). Clean the mounting hole with a thin brush and lime-based product. Flush the hole with the
lime-based product if there is no brush available. Be sure to clean and remove any signs of corro-
sion.

TRDI knows from our experience that it is difficult to anodize sharp edges on threaded holes
such as these. In marine and freshwater environments, poor anodizing on aluminum will lead
to corrosion problems. Although TRDI has rarely seen corrosion around the anode mounting
holes, TRDI would like to remind our customers that it is good practice to always inspect for
corrosion in this (and all) areas between deployments.

4. Apply a thin bead of RTV sealant around the edge of the threaded anode mounting hole.
5. Set the new anode in place and tighten the screw to 1.7 ± 0.2 N-M (15 ± 1.5 IN-LB).
6. Fill the counter bore above the screw head with RTV. Pop any air bubbles in the RTV and wipe off
any excess RTV at the base or on top of the anode. The RTV protects the screw heads from water
and prevents breaking the electrical continuity between the anode, screw, and housing. Allow the
RTV to cure for two hours at room temperature.

Do not cover the top surface of the anode with RTV. The anode must contact seawater.

7. Check the electrical continuity. If any measurement is greater than one ohm, reinstall the affected
anode.

Do not connect other metal to the Tasman. Other metals may cause corrosion damage. Use
isolating bushings when mounting the Tasman to a metal structure.

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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-pressure marine cleaning
systems or brushes stiffer than hand cleaning brushes on the transducer faces. The urethane
coating on the transducer face could be damaged.

If there is heavy fouling or marine growth, the transducer faces may need a thorough cleaning to
restore acoustic performance. Barnacles do not usually affect Tasman operation, but TRDI does
recommend removal of the barnacles to prevent water leakage through the transducer face. Lime
dissolving liquids such as Lime-Away® break down the shell-like parts. Scrubbing with a medium
stiffness brush usually removes the soft-bodied parts. Do NOT use a brush stiffer than a hand
cleaning brush. Scrubbing, alternated with soaking in Lime-Away®, effectively removes large bar-
nacles.

If barnacles have entered more than 1.0 to 1.5 mm (0.06 in.) into the transducer face
urethane, replace the transducer head.

2. Rinse with fresh water to remove soap or Lime-Away® residue.

3. Dry the transducer faces with low-pressure compressed air or soft lint-free towels.

Always dry the Tasman before placing it in the storage case to avoid fungus or mold growth.
Do not store the Tasman in wet or damp locations.

Protective Coating Inspection

For more protection, the case and the transducer assembly are anodized per MIL-A-8625, Type III, Class
2, Nickel Acetate Seal. Do not damage the surface coatings when handling the Tasman.
Inspect the housing, and transducer assemblies for corrosion, scratches, cracks, abrasions, and exposed
metal (silver-colored aluminum). Be critical in your judgment; the useful life of the Tasman depends on it.

If there is any damage to the anodizing, DO NOT DEPLOY THE TASMAN. Please contact TRDI
Support Team for advice.

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Corrective Maintenance items

Use the following procedures to repair the Tasman DVL in the field.

Replacing the Transducer

The Tasman system includes a field replaceable transducer. Replace the transducer if the transducer head
is damaged from a bottom strike, or shows signs of cracks, dents, peeling, or other damage.
To replace the transducer head:

1. Disconnect the Power/Comm cable and place

the protective cap on the connector.

WARNING - SHOCK HAZARD! Approximately

200 VDC on the 9-pin connector with power on.
Do NOT remove the transducer with power ap-
plied.
2. Set the transducer on a soft pad.
3. Remove both screws and lock washers on the
transducer clamp. The clamp is hinged and will
stay as one piece. Set the clamp aside.
4. Gently pull the damaged transducer straight
away from the Tasman housing assembly until
the 9-pin connector is disconnected. Set the
damaged transducer aside.
5. Check for damage on the 9-pin male connector.
If this connector is damaged, contact TRDI for in-
structions.

6. Lubricate the 9-pin connector by placing a light

amount of silicone lubricant on the male con-
nector pins (rubber portions only) and female
connector face. Silicone lubricant is included in
the Spare Parts kit.
7. Align the new transducer with the 9-pin con-
nector and dowel pins. Push down until the con-
nector is fully seated.
8. Install the transducer clamp.
9. Tighten the 6-32 screws to 5.5 IN.-LB.
10. Test the system. See Testing the Tasman System.

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Long Term Maintenance Items

Firmware updates and feature upgrades may be done when needed.

Installing Firmware and Feature Upgrades

Tasman firmware updates can be requested from TRDI field service. Contact Field Service at
[email protected] or by phone 858-842 2700.

Firmware Upgrades
To install a firmware upgrade using the Serial Port:
1. Connect the Tasman to the computer as shown in Setting up the Tasman System.
2. Run the Tasman_XX-xx.exe file (where XX-xxx is the firmware number). This is a self-extracting
zip file that contains all the files needed for the upload. You can specify a location to where the
files will be extracted. If no location is specified, the files will be extracted to the current directory.
3. The default serial port in the firmware download batch file is com 1. If the Tasman is connected to
another serial port edit the Tasman.bat file. Open the Tasman.bat file with Notepad® and
change the setting to the serial port number. For example, if the Tasman is connected to com6,
change the line set port=1 to set port=6. Save the file, then close.
4. Double-click on the Tasman.bat file. This will start the firmware upload process.
5. If you are not able to install the new firmware, contact Customer Service.
6. After successfully upgrading the firmware, use TRDI Toolz to test the ADCP (see Testing the Tas-
man System).
To install a firmware upgrade using the Ethernet port:

Firmware updates over Ethernet require using NavUI or TRDI Toolz version 1.02.00.03 or
higher software.

For information on NavUI, see the NavUI documentation.

1. Connect to the Tasman using Ethernet and TRDI Toolz as shown in Using Ethernet Communications.
2. On TRDI Toolz, click Tools, Firmware Update.
3. Navigate to where the firmware file is located. The file name will be TS_xx.xx.m0, where xx.xx is the
firmware version.
4. Click OK. The firmware will install. It takes several minutes to load the new firmware and the
screen may be blank during the update process. Do not close TRDI Toolz while the firmware is
updating.
5. Once the firmware update is complete, the Tasman will reboot. Close TRDI Toolz and reconnect
to the Tasman.
6. If the new firmware does not install, contact Customer Service.
7. After successfully upgrading the firmware, use TRDI Toolz to test the Tasman (see Testing the Tas-
man System).

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Feature Upgrades
The feature upgrade installation program is used to install new capabilities in an Tasman system.

Contact your local sales representative if you are interested in upgrading your system.

The upgrade file is specific to the unit for which it was ordered. DO NOT attempt to install this
feature for any other unit.

Many feature upgrades require the latest firmware version to be installed in your DVL. If you
need to update the firmware, do this before installing the feature upgrade.

To install a feature upgrade:

1. Set up the Tasman as shown in Setting up the Tasman System.
2. Start the program Activate_Tasman_xxxxx.exe (where xxxxx is the Tasman’s serial number) to
install the feature file using Serial communications.
If you are using NavUI or TRDI Toolz to install the feature file using Ethernet communications,
use the Tasman_xxxxx.feature file. For TRDI Toolz, click Tools, Activate Features.
3. The installation program will start. The program is encoded with the Tasman’s serial number and
the requested feature upgrade.
4. To select the port settings, check the I would like to specify the port setting box and click
Next.

5. Select the Serial Port and Baud Rate.

6. Click Next to install the feature upgrade.
7. Click the Finish button to exit the program.
8. Start TRDI Toolz and use the OL command to verify the feature upgrade has been installed.

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Chapter 5
RETURNING SYSTEMS TO TRDI FOR
SERVICE

This chapter covers:

• How to pack and ship the Tasman
• How to get a RMA number
• Where to send the Tasman for repair

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Shipping the Tasman

This section explains how to ship the Tasman.

Remove all customer-applied coatings or provide certification that the coating is nontoxic if
shipping a Tasman to TRDI for repair or upgrade. This certification must include the name of a
contact person who is knowledgeable about the coating, the name, manufacturer of the
coating and the appropriate telephone numbers. If the equipment is returned without
meeting these conditions, TRDI has instructed our employees not to handle the equipment
and to leave it in the original shipping container pending certification. If certification is not
provided, TRDI will return the equipment or send it to a customer-specified cleaning facility.
All costs associated with customer-applied coatings will be at the customer's expense.

When shipping the Tasman 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
Tasman.

Use the original shipping crate whenever possible. If the original packaging material is unavailable or un-
serviceable, additional material is available through TRDI.
For repackaging with commercially available materials:
1. Use a strong wood or plastic shipping container.
2. Install a layer of shock-absorbing static-shielding material, 70-mm to 100-mm thick, around all
sides of the instrument to firmly cushion and prevent movement inside the container.
3. Seal the shipping container securely.
4. Mark the container FRAGILE to ensure careful handing.
5. In any correspondence, refer to the Tasman by model and serial number.

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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 Tasman arrives with the minimum possible delay. Any deviation from these in-
structions increases the potential for delay.
Step 1 - Request a Return Material Authorization
To obtain a Return Material Authorization (RMA) number and shipping instructions for the return of the
instrument, do one of the following:
• Contact Customer Service Administration at [email protected]
• Online: http://www.teledynemarine.com/RDI/support#
• Call +1 (858) 842-2700
When requesting an 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 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 freight, prepaid
Urgent Shipments should be shipped direct to TRDI via overnight or priority air services. Do not send ur-
gent airfreight as part of a consolidated shipment. Consolidated shipping will cost less, but may lose up to
three days in transit time.
Non-urgent shipments may be shipped as part of a consolidated cargo shipment to save money. In addi-
tion, some truck lines may offer equivalent delivery service at a lower cost, depending on the distance to
San Diego.
Mark the Package(s)
To: Teledyne RD Instruments, Inc. (RMA Number)
14020 Stowe Drive
Poway, California 92064

Airport of Destination = San Diego

Notify Paxton, Shreve and Hayes

Phone: +1 (619) 232-8941

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Step 4 - Urgent shipments

Send the following information by telephone to TRDI.
Attention: Customer Service Administration
Phone: +1 (858) 842-2700
• Detailed descriptions of what you are shipping (number of packages, sizes, weights and contents).
• The name of the freight carrier
• Master Air bill number
• 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 Tasman arrives
with the minimum possible delay. Any deviation from these instructions increases the potential for delay.
Step 1 - Request a Return Material Authorization
To obtain a Return Material Authorization (RMA) number and shipping instructions for the return of the
instrument, do one of the following:
• Contact Customer Service Administration at [email protected]
• 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 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 Freight, Prepaid
Urgent Shipments should be shipped direct to TRDI via overnight or priority air services. Do not send ur-
gent airfreight as part of a consolidated shipment. Consolidated shipping will cost less, but may lose up to
three days in transit time.
Non-urgent shipments may be shipped as part of a consolidated cargo shipment to save money.
Mark the package(s) as follows:
To: Teledyne RD Instruments, Inc. (RMA Number)
2A Les Nertieres
5 Avenue Hector Pintus
06610 La Gaude, France

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Step 4 - Include Proper Customs Documentation

The Customs statement must be completed. It should be accurate and truthfully contain the 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 Telephone to TRDI
Attention: Sales Administration
Phone: +33(0) 492-110-930
• Detailed descriptions of what you are shipping (number of packages, sizes, weights and contents).
• The name of the freight carrier
• Master Air bill number
• Carrier route and flight numbers for all flights the package will take

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NOTES

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Chapter 6
SPECIFICATIONS

This chapter covers:

• Operational Specifications
• Outline Installation Drawings

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A brief review of Tasman operation may help explain the specifications listed in this section. The discus-
sion below regarding water profiling is generally applicable to bottom track as well.

The specifications and dimensions listed in this section are subject to change without notice.

The Tasman emits an acoustic pulse called a PING. The seabed and scatterers that float ambiently with
the water currents reflect some of the energy from the ping back to the Tasman transducer. The Tasman
uses the return signal to calculate a velocity.
The energy in this signal is the echo intensity. The echo intensity returned from the seabed is used to de-
tect the bottom. The echo intensity returned by floating scatterers is sometimes used to determine infor-
mation about the scatterers.
The velocity calculated from each ping has a statistical uncertainty; however, each ping is an independent
sample. The Tasman reduces this statistical uncertainty by averaging a collection of pings. A collection of
pings averaged together is an ensemble. The Tasman’s maximum ping rate limits the time required to re-
duce the statistical uncertainty to acceptable levels.
The Tasman does not measure velocity at a single point; it measures its speed over the seabed, i.e. Bottom
Track, its speed through the water current, i.e. Water Track and current velocities throughout the water
column, i.e. Water Profile.
When bottom tracking, the Tasman calculates velocity data relative to itself. The velocity data has both
speed and direction information. If the Tasman is moving, and is within range of the bottom, it can obtain
a velocity from returns off the bottom. The bottom track information can be used to calculate the absolute
velocity of the water. The Tasman can get absolute direction information from a heading sensor.
When water profiling the Tasman measures velocities from its transducer head to a specified range and
divides this range into uniform segments called depth cells (or bins). The collection of depth cells yields a
profile. The Tasman produces two profiles, one for velocity, and one for echo intensity.
The following tables list the specifications for the Tasman. About the specifications:
1. Except where noted, these specification tables apply to typical setups and conditions. Typical set-
ups use the default input values for each parameter (exceptions include Pings per Ensemble and
Number of Depth Cells). Typical conditions assume uniform seawater velocities at a given depth,
moderate shear, moderate Tasman motion, and typical echo intensity levels.
2. The total measurement error of the Tasman is the sum of:
• Long-term instrument error (as limited by instrument accuracy),
• The remaining statistical uncertainty after averaging,
• Errors introduced by measurement of Tasman heading and motion.
3. Because individual pings are independent, the statistical uncertainty of the measurement can be
reduced according to the equation:

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Operational Specifications
Bottom Tracking 600 kHz 300 kHz

Maximum Altitude (1) 100 m (160 m optional) 275 m (420 m optional)

Minimum Altitude 0.15 m 0.3 m

Velocity Range (2)

±9 m/s (or +16 m/s upon request)

High Accuracy Bottom Track Long Term Accuracy (3)

±0. 06% ± 0.1mm/s (< 4 m altitude) ±0. 08% ± 0.1mm/s (50cm < altitude < 8m)
±0.2% ± 0.1mm/s (> 4 m altitude) ±0.3% ± 0.1mm/s (> 8 m altitude)

Base Bottom Track Long Term Accuracy (4) ±1.15% ± 0.2cm/s

Precision @ 1 m/s ±0.5 cm/s @ ½ alt. ±0.6 cm/s @ ½ alt.

Resolution 0.01mm/s

Ping Rate (5) 12 Hz max 7 Hz max

Water Tracking 600 kHz 300 kHz

Maximum Far Boundary (1) 70 m 171 m

Minimum Near Boundary 1.0 m 2.5 m

Velocity Range (2) ±12 m/s ±17 m/s

Long Term Accuracy 0.3% ± 0.1 mm/s 0.6% ± 0.1 mm/s

Resolution 0.01 mm/s

Reference Layer Size 2 to 32 m 2 to 64 m

Water Profiling 600 kHz 300 kHz

Maximum Range (1) 60 m 150 m

Minimum Range 1.9 m 4.5 m

Velocity Range (2) ±12 m/s ±17 m/s

Long Term Accuracy 0.3% ± 0.1 mm/s 0.6% ± 0.1 mm/s

Resolution 1 mm/s

Cell Sizes 0.1 to 4 m 0.5 to 8 m

Number of Depth Cells 1 to 255

Acoustic 600 kHz 300 kHz

Center Frequency 614.4 kHz 307.2 kHz

Source Level (re 1μPa) 215 dB @ 1m 220 dB @ 1m

1-Way Beam Width 2.2° 2.7°

Number of Beams 4-phased array

Beam Angle 30°

Bandwidth (nominal) 6.25% of center frequency

Depth Rating

Maximum Depth (8) 4000m, 6000m

1. @5°C and 35 ppt, salinity, @ 24 V input.
2. When mounted with beam @ 45°. Also, for platforms with forward velocity higher than reverse (or vice versa), the maximum velocity can be increased to [-2 m/s
-> +16 m/s] for bottom track via firmware modification.
3. ECCN 6A001.
4. ECCN 6A991.
5. @ 5% of maximum altitude
6. Max speed = ±1.6 m/s (<0.35 m altitude) & ±9 m/s (≥0.35 m altitude) No Tilt.
7. For units with pressure sensors, the maximum pressure rating is considered that of the pressure sensor.

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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

Shock (Operation) IEC 1010-1

Electrical Specifications
Parameter 600 kHz 300 kHz

DC Input 10.7 to 36 VDC (24 VDC typical) 12 to 36 VDC (24 VDC typical)

In Rush Current <6A <6A

Typical Peak Current 1.8 A 5.4 A

Maximum Peak Current1 2.8 A 12.0 A

Typical Average Power 6.0 W 12.5 W

Average Quiescent Power 1.3 W 1.3 W

Average Quiescent Power with Ethernet 2.2 W 2.2 W

1. All data is based on the Tasman DVL operating in water. Peak Current when operating in air may be up to twice the listed values. Actual peak
current will vary with individual transducer characteristics.

Communications Specifications
Parameter Value
Communications Ethernet & RS-232
Master Channel Baud Rate 1200 to 115,200 bps
Ensemble Types PD0, PD4, PD5, PD6, PD11, PD13, PD26

Outline Installation Drawings

Drawing Number Description
96B-9120-00 OUTLINE/INSTALLATION, TASMAN 600, 4000m

96B-9121-00 OUTLINE/INSTALLATION, TASMAN 300, 4000m

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Figure 17. Outline Installation Drawing –Tasman 600 kHz, 4000m, Sheet 1

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Figure 18. Outline Installation Drawing –Tasman 600 kHz, 4000m, Sheet 2

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Figure 19. Outline Installation Drawing –Tasman 300 kHz, 4000m, Sheet 1

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Figure 20. Outline Installation Drawing –Tasman 300 kHz, 4000m, Sheet 2

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Chapter 7
COMMANDS

This chapter covers:

• Command formats
• Command descriptions

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This section defines the commands to set up and control the Tasman. Teledyne RD Instruments recom-
mend using a TRDI Toolz script file to control the Tasman because entering commands directly from a
terminal can be difficult. Make sure to read and understand Creating or Modifying Command Files before
deploying the Tasman. Most Tasman command settings use factory-set values (Table 11). If these values
are changed without thought, the deployment may be ruined. Be sure to know what effect each command
has before using it. Call Teledyne RD Instruments for help in understanding the function of any com-
mand.

This section applies to Tasman firmware 67.15.

When new firmware versions are released, some commands may be modified, added, or
removed. Read the README file on the upgrade disk or online. When an addition or
correction to this manual is needed, an Interim Change Notice (ICN) will be posted to our web
site. Please check our Teledyne RD Instrument’s web site often at www.rdinstruments.com.

Data Communication and Command Format

Enter commands with a Windows®-compatible computer running TRDI Toolz. The Tasman communi-
cates with the computer through an RS-232 serial interface or Ethernet. TRDI initially sets the Tasman at
the factory to communicate at 115200 baud, no parity, and one stop bit.
Immediately after power is applied to the Tasman, it enters the STANDBY mode. Send a software break
may be sent by sending either “+++” or “===”. When the Tasman first powers up or receives a BREAK
signal, it responds with a wake-up message similar to the one shown below. The Tasman is now ready to
accept commands at the “>” prompt from either a terminal or computer program.
Tasman
Teledyne RD Instruments (c) 2019
All rights reserved.
Firmware Version: 74.xx
Current time is: 19/08/01,21:01:38.47
Break received, serial
>

If using a terminal/program other than TRDI Toolz, the BREAK length (up to down transition)
must last at least 300 ms. The Tasman may respond to breaks shorter than this, so care must
be taken to avoid transients on the communication lines.

By default, the Turnkey mode is OFF (CT0). If Turnkey mode is ON (CT1 or CT2) then the
Tasman DVL will ping within 10 seconds if a command is not received (see CT - Turnkey
Operation).

Command Input Processing

Input commands set Tasman operating parameters, start data collection, run built-in tests (BIT), and asks
for output data. All commands are ASCII character(s) and must end with a carriage return <CR>. For ex-
ample,
>BP0001<CR> [input]

If the entered command is valid, the Tasman executes the command. If the command is one that does not
provide output data, the Tasman sends a carriage return line feed <CR> <LF> and displays a new “>”
prompt. Continuing the example,
>BP00001<CR> [the original input]
> [Tasman response to a valid, no-output command]

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If a valid command is entered that produces output data, the Tasman executes the command, displays the
output data, and then redisplays the “>” prompt. Some examples of commands that produce output data
are ? (help menus), CS (start pinging), PS (system configuration data), and PA (run built-in tests).
If the command is not valid, the Tasman responds with an error message similar to the following.
>BPA<CR> [input]
>BPA ERR: Bad command parameters!<CR><LF> [Tasman response]
>
After correctly entering all the commands for the application, send the CK to save the setup and then a CS
command to begin the data collection cycle.

Data Output Processing

After the Tasman completes a data collection cycle, it sends a block of data called a data ensemble
through the serial communication lines. A data ensemble consists of the data collected, processed, and
averaged during the ensemble interval (see TE – Time Per Ensemble). A data ensemble can contain header,
leader, velocity, correlation magnitude, echo intensity, percent good, and status data.
Tasman output data can be in either hexadecimal-ASCII (Hex-ASCII) or binary format (set by CF - Flow
Control). The Hex-ASCII mode is useful when using a terminal to communicate with, and view data from
the Tasman. The binary mode is useful for high-speed communication with a computer program. Do not
use the binary mode to view data on a terminal because the terminal could interpret some binary data as
control codes.

Most of Teledyne RD Instruments’ software supports binary PD0 Output Data Format.

When data collection begins, the Tasman uses the settings last entered (user settings) or the factory-de-
fault settings. The same settings are used for the entire deployment. If the user setting are saved (see CK -
Keep Parameters) then the Tasman will always use the user settings until a factory default is recalled, or
use the last entered settings, if any, or until power is turned off. The following three rules apply for set-
ting-up the Tasman:
1. The last entered command of a particular command takes precedence,
2. The last entered commands will be kept in volatile memory until power is shutdown (only CK will
keep these in non-volatile memory, see CK - Keep Parameters).
3. The user can recall the factory default-settings at any time (see CR – Retrieve Parameters).
The Tasman 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 Tasman 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. If the Tasman receives a CR1, it will load into volatile memory the factory default command set
stored in ROM (permanent or factory settings).

Command Summary
Table 11 gives a summary of the Tasman input commands, their format, default setting, whether the Tas-
man will follow the command change if sent while pinging, and a brief description of the parameters they
control. Commands that start with the # sign are considered “expert” commands. Commands sent while
pinging will be used on the next ensemble after the one during which they are received.

When newer firmware versions are released, some commands may be modified or added.
Read the README file included with the firmware on the for the latest changes.

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When an addition or correction to the manual is needed, an Interim Change Notice (ICN) will
be posted to our web site on the Customer Service page (www.rdinstruments.com). Please
check our web site often.

The Tasman 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 Tasman DVL. These dynamic setup commands are defined in
the column Dynamic Commands in the table below.

Table 11. Tasman Commands and Defaults

Command Default Default 300 Dynamic Description
600 kHz kHz Command
? N/A N/A N/A Shows command menu
<BREAK> End N/A N/A N/A Interrupts or wakes up Tasman DVL and loads last settings used
OL N/A N/A N/A Features
OI N/A N/A N/A Install New Feature
Y N/A N/A N/A Display banner
#B1 n 0 0 Yes Blank Range with Bad Velocity [0..1]
#B2 n 0 0 Yes Depth Memory Timeout [0=off, 1-30s]
#BA nnn 024 024 Yes Evaluation amplitude minimum (1 to 255 counts)
#BB nnnn 0005 0030 Yes Bottom Blanking Interval (cm)
#BC nnn 220 220 Yes Bottom Correlation Magnitude minimum (0 to 255 counts)
#BE nnnn 1000 1000 Yes Bottom Error velocity maximum (0 to 9999 mm/s)
#BF nnnnn 00000 00000 Yes Bottom Depth guess (1 to 65535 dm, 0 = automatic)
#BH nnn nnn 105,180 105,180 Yes Gain Switch Threshold (0-255cnts:lo;hi)
#BI nnn 003 025 Yes Gain Switch Altitude (meters)
#BJ nnnnnnnnn 100000000 100000000 No Bottom Data Out {t;c;*;h;r;*;*;*;*}
BK n,#BK n 0 0 Yes WMass Mode [0=off 1=WB 2=LostB 3=W]
#BL mmm,nnnn,ffff 80, 160, 240 160, 320, 480 Yes Water mass layer parameters: Min Size (dm), Near (dm), Far (dm)
#BM n 8 8 Yes Bottom Mode [8 & 9]
#BN x,y 0, 999 0, 999 Yes Speed log hold/drop control (x = hold (1), clear (0), y = 0 to 999 seconds)
#BO k 025 025 Yes Distance measure filter constant (0 to 100 1/100th s)
BP nnn 1 1 Yes Bottom Track Pings per Ensemble
#BQ -32768 -32768 Yes Set outvel when over range limit (mm/s)
#BS N/A N/A Yes Clear distance traveled
BXnnnn (XRT Off) 01100 02900 Yes Max Depth (dm)
BXnnnn (XRT On) 01600 04800
#BY nn 20 20 No Transmit Length (pct)
#BZ 1 1 No Low Altitude Mode
CB nnn 811 811 No Serial port control (baud rate/parity/stop bits)
CE n CE1 CE1 No Enable Ethernet
CF nnnn 11110 11110 No Flow control
CK N/A N/A No Keep parameters as user defaults
CR n N/A N/A No Retrieve parameters (0 = User, 1 = Factory, 2=Eth parms)
CS or Tab N/A N/A No Start pinging
#CT n T 0 10 0 10 No Turnkey mode (0 = Off, 1 = Turnkey On-Output Serial, 2 = Turnkey On-Out-
put Ethernet) T = 5 to 100 (integer seconds)
CX n d t p 0 0 65535 0 0 0 65535 0 Yes Set Input Trigger [mode, dly, timeout, ping-once]
CZ N/A N/A Yes Put ADCP to Sleep
EA ±nnnn +00000 +00000 Yes Heading Alignment [.01 deg cw]
#EC nnnn 1500 1500 Yes Speed of Sound (1400 to 1600 m/s)
ED nnnn 00000 00000 Yes Transducer Depth (0 to 65535 dm)
#EE abcdefg 0000010 0000010 No Environmental Data Output Rsrvd[4]; Cmd[1]; Rw/Nm[1]; Snsr Out[1]
#EH nnnn,n 00000,1 00000,1 Yes Heading {heading; frame}
#EI nnnnn +00000 +00000 Yes Roll Misalignment Angle [.01 deg cw]
#EJ nnnnn +00000 +00000 Yes Pitch Misalignment Angle [.01 deg cw]
#EP ±nnnnn,nnnnn,n +00000, +00000, Yes Tilts {pitch; roll; frame}
+00000,1 +00000,1
#ER ±nnnn +00000 +00000 Yes Roll [.01 deg cw]
ES nn 35 35 Yes Salinity (0 to 40 parts per thousand)
#ET ±nnnn 2100 2100 Yes Temperature (-5.00 to +40.00 degrees C) [.01 deg C]
#EU n 0 0 Yes Orientation [0=Switch,1=Up,2=Down]
#EV nnnnn +00000 +00000 Yes Heading Variation [.01 deg cw]
EX nnnn 10111 10111 Yes Coordinate Transformation (Xform:Type; Tilts; 3Bm; Map)
EZ nnnnnn 11011010 11011010 Yes Sensor Source (C;D;H;P;R;S;T; U)

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Table 11. Tasman Commands and Defaults

Command Default Default 300 Dynamic Description
600 kHz kHz Command
ME N/A N/A No ErAsE recorder
MM N/A N/A No Show memory usage
MN name MN DVL_ MN DVL_ No Set file name [1..32 characters]
MR 0 0 0 No Set recorder on/off [0=off,1=on]
MY N/A N/A No Y-Modem output
PA N/A N/A No Pre-deployment tests
PC N/A N/A No Display Pressure, Temperature, Heading, Pitch, Roll Built-in test
PC 0 N/A N/A No Help
PC 2 N/A N/A No Display Sensor Data
PC 4 N/A N/A No Display Voltage Monitor ADC Data
PC 5 N/A N/A No Display Leak Sensor ADC Data
PC 20 N/A N/A No Display Scrolling Sensor Data
PC 40 N/A N/A No Display Scrolling Voltage Monitor Data
PC 50 N/A N/A No Display Scrolling Leak Sensor ADC Data
PD n PD0 PD0 No Data stream select (0, 4,5,6,11,13,26)
#PE nnnnn #PE 00000 #PE 00000 No Ethernet Data Streams Bitmask (PD0,4,5,6,11,13,26)
PS0 N/A N/A No Display System Configuration
PS 1 N/A N/A No Display fixed leader (binary).
PS 3 N/A N/A No Display Instrument Transformation Matrix
PS 4 N/A N/A No Display Ping Sequence
PS5 N/A N/A No Display Health and Environment Monitoring Sensors
PT 0 N/A N/A No Built-In test – Help
PT 3 N/A N/A No Built-In test - Receive Path
PT 5 N/A N/A No Built-In test - Transmit/Receive Continuity
PT 9 N/A N/A No Built-In test - Transmit Memory Test
PT 10 N/A N/A No Built-In test - Receive Memory Test
PT 11 N/A N/A No Built-In test - FRAM Test
PT 12 N/A N/A No Built-In test - RAM Test
PT 13 N/A N/A No Built-In test - ROM Test
PT 14 N/A N/A No Built-In test - Recorder Test
PT 19 N/A N/A No Reserved for TRDI use.
SM N/A N/A No Sensor Auxiliary Menus [sid]
SZ N/A N/A No Zero out keller30 Pressure
TE hh:mm:ss.ff 00:00:00.00 00:00:00.00 No Time per ensemble (hours:minutes:seconds.100th of seconds)
TF --/--/--,--:--:-- N/A N/A No Set First Ping Time (yy/mm/dd,hh:mm:ss)
TP mm:ss.ff 00:00.00 00:00.00 No Time between pings (minutes:seconds.100th of seconds)
TS yy/mm/dd, N/A N/A No Set real-time clock (year/month/day, hours:minutes:seconds)
hh:mm:ss
TT ccyy/mm/dd, N/A N/A No Set real-time clock (Y2k compatible) (century year /month/day,
hh:mm:ss hours:minutes:seconds)
WA nnn, #WA nnn 050 050 Yes False target threshold maximum (0 to 255 counts)
WB n 1 1 Yes Bandwidth 0=Wide, 1=Narrow
WC nnn, #WC nnn 064 064 Yes Correlation threshold (0 to 255 counts)
WD nnn nnn nnn 111110000 111110000 No Data Out {v;c;a;p;s;*;*;*;*}
WE nnnn, #WE nnnn 2000 2000 Yes Error velocity threshold (0 to 5000 mm/s)
WF nnnn 0088 0176 Yes Blanking Distance [0 to 999 cm]
WJ n, #WJ n 1 1 Yes BroadBand Receiver gain (0 = Low, 1 = High)
WN nnn 030 030 Yes Number of Bins (1 to 255)
WP nnnn 000 000 Yes Pings per ensemble (0 to 16384)
WS nnnn 0200 0400 Yes Bin size 10 to 800 cm
WT nnnn, #WT nnnn 0000 0000 Yes Transmit length (0 to 3200 cm)
WV nnn 0383 0383 Yes Ambiguity velocity (020 to 700 cm/s radial)
#WX n 0 0 Yes Set Single Beam Xmit - Use this command only for debugging and testing!

Commands queried (e.g., B?) during an ensemble will, in general, cause the Tasman to
respond with the usual description.

Commands highlighted in yellow are “expert” commands. Changing these command

parameters can have severe consequences to data collection.
Blue Highlighted commands have frequency dependent default settings.

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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.

Command Descriptions
Each listing includes the command’s purpose, format, default setting (if applicable) range, recommended
setting, and description. When appropriate, we include amplifying notes and examples. If a numeric value
follows the command, the Tasman uses it to set a processing value (time, range, percentage, processing
flags). All measurement values are in metric units (mm, cm, and dm).

? – Help Menus
Purpose Lists the major help groups.
Format x? (see description)
Description Entering ? by itself displays all command groups. To display help for one command
group, enter x?, where x is the command group to view. When the Tasman 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.
Tasman
Teledyne RD Instruments (c) 2019
All rights reserved.
Firmware Version: 74.xx
Current time is: 19/08/01,21:01:38.47
Break received, serial
>

>?
Available Commands:

# ------------------------ Expert Commands

B ------------------------ Bottom Track Commands
C ------------------------ Control Commands
E ------------------------ Environment Commands
M ------------------------ Loop Recorder Commands
O ------------------------ Feature Control
P ------------------------ Performance Test Commands
T ------------------------ Time Commands
W ------------------------ Water Profiling Commands
? ------------------------ Display Main Menu

>#p?
Available Commands:

#PD 0 ---------------------- Data Stream Select, 0,4,5,6,13

#PE 00000 ------------------ Ethernet Data Streams Bitmask (PD0,4,5,6,13)
#P? ------------------------ Display P-Command Menu

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Break
Purpose Interrupts Tasman without erasing present settings.
Format <BREAK>
Description A BREAK signal interrupts Tasman processing. It is leading-edge triggered and should
last at least 300 ms. Tasman 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 Tasman in the DATA I/O mode. The
BREAK command does not erase any settings or data. Using TRDI Toolz, pressing the
icon in the lower left corner of the screen sends a BREAK.
Example <BREAK>
Tasman
Teledyne RD Instruments (c) 2019
All rights reserved.
Firmware Version: 74.xx
Current time is: 19/08/01,21:01:38.47
Break received, serial
>

Software Breaks can be used with TRDI Toolz. From the TRDI Toolz 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 Tasman will use the "= = =" string instead of a break.

OI – Install Feature
Purpose This command is used to install features.
Format OI nnnxxxxxxxxxxxxxxxxxxxxxxx
>OI
----+----1----+----2----+-
Enter Code:
Code entered: ABBxxxxxxxxxxxxxxxxxxxxx76
Features installed. Send <BREAK> to activate.
>

OL – Display Feature List

Purpose Lists the special firmware upgrades that are installed.
Format OL
Description Lists special features that are installed. See Installing Firmware and Feature Upgrades for in-
formation on how to install additional capability in the Tasman.
Examples See below.
>ol FEATURES
---------------------------------------------------------------
Feature Installed
---------------------------------------------------------------
Base Accuracy Bottom Track No
Water Profile Yes
High Accuracy Bottom Track Yes
Low-Altitude Bottom Track Yes
Ethernet Interface No
XRT Mode Yes

See your technical manual or contact TRDI for information on

how to install additional capability in your unit. >
>

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Base Accuracy Bottom Track (Export-Compliant) and High Accuracy Bottom Track are
mutually exclusive modes. Only one may be enabled.

Y – Display Banner
Purpose Displays the Tasman banner.
Format Y

Recommended Setting. Use as needed.

Description Displays the Tasman banner.

Example Y

>y
Tasman
Teledyne RD Instruments (c) 2019
All rights reserved.
Firmware Version: 74.xx
Current time is: 19/03/10,13:32:08.80

Ethernet detected: Yes

MAC Address is **.**.**.**.**.**
IP Address is ***.***.***.***

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Bottom Track Commands

The Tasman system uses these commands for bottom-tracking applications. Bottom track commands tell
the Tasman to collect speed-over-bottom data and detected range-to-bottom data. If the Tasman were fac-
ing UP, all bottom-track information would apply to the surface boundary instead of the bottom bound-
ary. The default state of bottom tracking is ON (BP1) for Tasman systems. To turn OFF the bottom-track-
ing process, send a BP0 command.

Available Bottom Track Commands

This section lists the available Bottom Track commands.
>b?
Available Commands:

BA 024 -------------------- Amplitude Threshold [0..255]

BB 0005 ------------------- Blanking distance (cm)
BC 220 -------------------- Correlation Threshold [0..255]
BE 1000 ------------------- Error Velocity Threshold [0-9999mm/s]
BF 00000 ------------------ Depth Guess [0=Auto, 1-MaxAlt dm]
BH 105,180 ---------------- Gain Switch Threshold (0-255cnts:lo;hi)
BI 003 -------------------- Gain Switch Altitude (meters)
BJ 100000000 -------------- Data Out {t;c;*;h;r;n;*;*;*}
BK 0 ---------------------- WMass Mode [0=off 1=WB 2=LostB 3=W]
BL 80, 160, 240 ----------- WMass Params [min, near, far (dm)]
BM 8 ---------------------- Bottom 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)
B? ------------------------ Display B-Command Menu

BP – Bottom Track Pings per Ensemble

Purpose Sets the number of bottom-track pings to average together in each data ensemble.
Format BP nnn

The BP command works only without the # sign.

Range nnn = 0 to 999 pings

Default BP 001

The default setting for this command is recommended for most applications.

Description BP sets the number of bottom-track pings to average together in each ensemble before
sending/recording bottom-track data.

The Tasman interleaves bottom track pings with water track pings, if water-mass layer mode
is enabled, and with Profile pings if water profiling is enabled. If BP = zero, the Tasman will
not collect bottom track data or water track data. Also, the Tasman will not collect water
profile data if WP=0, or if the water profile feature is not enabled (see TP – Time Between
Pings, WP – Pings Per Ensemble and BK - Water-Mass Layer Mode).
The Tasman automatically extends the ensemble interval (TE) if BP x TP > TE (see TE – Time
Per Ensemble).

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BX – Maximum Tracking Depth

Purpose Sets the maximum tracking depth in bottom-track mode.
Format BX nnnnn

The BX command works only without the # sign.

Range nnnnn = 6 to 3000 (300 kHz), 3 to 1100 (600 kHz) decimeters (meters x 10)
Default XRT mode Disabled: BX2900 (300 kHz), BX 1100 (600 kHz)
XRT mode Enabled: BX4800 (300 kHz), BX 1600 (600 kHz)

Set BX to a depth slightly greater than the expected maximum depth.

Description The BX command sets the maximum tracking depth used by the Tasman during bottom
tracking depending on if the Extended Range Tracking (XRT) mode is enabled or disa-
bled (see the OL command). This prevents the Tasman from searching too long and too
deep for the bottom, allowing a faster ping rate when the Tasman loses track of the bot-
tom.
Example If the maximum depth in the deployment area is 20 meters (200 decimeters), set BX to a
value slightly larger than 200 dm; say 210 dm, instead of the default 2900 dm. Now if the
Tasman 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 Tasman 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 is reached, and then the process starts over at the
minimum range. The BX command will prevent the Tasman from searching to ranges beyond
the BX range value and can result in shorter search cycles if the bottom is known to be within
this range.

In addition to limiting the search range, the BX command indirectly limits the bottom track
range. While this does not prevent the Tasman from bottom tracking to ranges beyond the
BX range, use caution in setting this command to less than the expected maximum depth as
the Tasman will be less likely to hold a lock on the bottom if there is any slope beyond the BX
range.

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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]
#BB 0005 ------------------- Blanking distance (cm)
#BC 220 -------------------- Correlation Threshold [0..255]
#BE 1000 ------------------- Error Velocity Threshold [0-9999mm/s]
#BF 00000 ------------------ Depth Guess [0=Auto, 1-MaxAlt dm]
#BH 105,180 ---------------- Gain Switch Threshold (0-255cnts:lo;hi)
#BI 003 -------------------- Gain Switch Altitude (meters)
#BJ 100000000 -------------- Data Out {t;c;*;h;r;n;*;*;*}
#BK 0 ---------------------- WMass Mode [0=off 1=WB 2=LostB 3=W]
#BL 80,160,240 ------------- 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 drops below the mini-
mum magnitude.
Format #B1 n

Correlation Magnitude Minimum is set via the CE or #CE command.

Range n = 0 to 1
Default #B1 0

The default setting for this command is recommended for most applications.

Description #B1 allows for filtering out ranges when velocity shows a low correlation. This is espe-
cially useful when another system in the vicinity of the DVL is causing interference which
mimics a Bottom Pulse but thanks to our velocity filtering ends-up with a low correlation
when processed for velocity.

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#B2 – Depth Memory Timeout

Purpose Enables Bottom Track to preserve the range-to-bottom across a Break. #B2 0 (default)
disables the feature. Setting #B2 to 1 to 30 sets a timeout, in seconds, after which the de-
vice will search for the bottom as normal.
Format #B2 n
Range n = 0, 1 to 30
Default #B2 0

The default setting for this command is recommended for most applications.

Description # B2 sets a time during which the DVL can retain the last known good range when a
Break is received followed by a CS command. This is especially useful as when sending a
Break the DVL will search for the bottom in its default configuration, setting the #B2 al-
lows to avoid searching for the bottom and thus benefits the user by offering a faster re-
start post break. In addition, this command has proven 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 #BA nnn

The BA commands work with or without the # sign. For example, using BA or #BA are both
valid commands.

Range nnn = 0 to 255 counts

Default #BA 024

The default setting for this command is recommended for most applications.

Description #BA sets the minimum amplitude of an internal bottom-track filter that determines bot-
tom detection. Reducing #BA increases the bottom-track detection range, but also may
increase the possibility of false bottom detections.

#BB – Bottom Blanking Interval

Purpose This command sets the near limit of bottom detection beyond the transmit pulse.
Format #BB nnnn

The BB commands work with or without the # sign. For example, using BB or #BB are both
valid commands.

Range nnnn = 0 to 3200

Default #BB 0005 (600 kHz), #BB 0030 (300 kHz)

The default setting for this command is recommended for most applications.

Description The Tasman will search for the bottom starting at the length of transmit plus this blank-
ing interval.

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#BC – Correlation Magnitude Minimum

Purpose Sets minimum correlation magnitude for valid velocity data.
Format #BC nnn

The BC commands work with or without the # sign. For example, using BC or #BC are both
valid commands.

Range nnn = 0 to 255 counts

Default #BC 220

The default setting for this command is recommended for most applications.

Description Sets a minimum threshold for good bottom-track data. Any bottom-track data with a cor-
relation magnitude less than this value will be flagged as bad.

A count value of 255 is a perfect correlation (i.e. solid target)

#BE – Error Velocity Maximum

Purpose Sets maximum error velocity for good bottom-track data.
Format #BE nnnn

The BE commands work with or without the # sign. For example, using BE or #BE are both
valid commands.

Range nnnn = 0 to 9999 mm/s

Default #BE 1000

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 Tasman uses this parameter to determine good bottom-track velocity data. If the er-
ror velocity is greater than this value, the Tasman marks as bad all four beam velocities
(or all four coordinate velocities, if transformed). If three beam solutions are allowed (see
EX – Coordinate Transformation) and only three beams are good, then the data is accepted
since four good beams are needed for error velocity calculation.

#BF – Depth Guess

Purpose Sets a “best-guess” of expected bottom range for internal calculations.
Format #BF nnnnn

The BF commands work with or without the # sign. For example, using BF or #BF are both
valid commands.

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Range nnnnn = 1 to Maximum Altitude dm (0 = automatic)

Default #BF 0

The default setting for this command is recommended for most applications.

Description When set to a non-zero value, the Tasman 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 Tasman uses to search for the bottom if lost.

#BH – Gain Switch Threshold

Purpose Sets the RSSI thresholds for switching the receiver gain for a bottom track ping.
Format #BH nnn, nnn (lo;hi)
Range nnn = 0 to 255 counts
Default #BH 105,180

The default setting for this command is recommended for most applications.

Description Receiver gain control for bottom track always uses low gain when the altitude over the sea
bottom is less than 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 – Gain Switch Altitude

Purpose Selects the maximum vertical distance from the transducer to the bottom at which the
Tasman operates at low gain.
Format #BI nnn

The BI commands work with or without the # sign. For example, using BI or #BI are both valid
commands.

Range nnn = 0 to 25 meters (300 kHz), 0 to 3 meters (600 kHz)

Default #BI025 (300 kHz), #BI003 (600 kHz)

The default setting for this command is recommended for most applications.

Description When the vertical range to the bottom is less than #BI, the unit operates in low gain.
When the vertical range is greater than #BI, internal logic determines which gain (low or
high) is optimal. In high backscatter areas, it may be necessary to raise this setting to de-
tect bottom throughout the range of the system.

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#BJ – Data Type Output Control

Purpose: Bottom data types that will be output in the ensemble.
Format: Format #BJ tc* hrn ***

The BJ commands work with or without the # sign. For example, using BJ or #BJ are both valid
commands.
The High Accuracy Bottom Track feature must be installed for the #BJ command to be
enabled (see OL – Display Feature List).

*: not used; reserved for future use (set to zero).

t: Standard bottom track output (see Binary Bottom Track Data Format)
c: Commands output (see Bottom Track Command Output Format for a definition of this
data type)
h: High resolution bottom and water mass velocity and distance (note that this will cause
distance to be accumulated). See Bottom Track High Resolution Velocity Format for a data
type definition)
r: Range (corrected) output. See Bottom Track Range Format for a data type definition.
n: Precision Navigation Output. See Navigation Parameters Data Format for data type defini-
tion.
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 Layer Mode

Purpose Selects the ping frequency of the water-mass layer ping
Format #BK n

The BK commands work with or without the # sign. For example, using BK or #BK are both
valid commands.

Range n = 0 to 3
Default BK 0

The default setting for this command is recommended for most applications.

Description The BK command selects how often the Tasman 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 – Bottom Track Pings per Ensemble) and this command setting. Use
the #BL-command to set the location of the water-mass layer (see BL - Water-Mass Layer
Parameters).

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Table 12. Water-Mass Reference-Layer Modes

Command Description
#BK0 Disables the water-mass layer ping.
#BK1 Sends a water-mass layer ping after every bottom-track ping
#BK2 Sends a water-mass layer ping after every bottom-track ping that is unable to find the bot-
tom.
#BK3 Disables the bottom-track ping and enables the water-mass ping.

#BL – Water-Mass Layer Parameters

Purpose Sets bottom-track water-mass layer boundaries and minimum layer size.
Format #BL mmm,nnnn,ffff

The BL commands work with or without the # sign. For example, using BL or #BL are both
valid commands.

Range mmm = Min Layer Size (1 to 640 decimeters) [meters x 10]

nnnn = Near Layer Boundary (0 to 9999 decimeters) [meters x 10]
ffff = Far Layer Boundary (0 to 9999 decimeters) [meters x 10]
In addition, the following must 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 bad.
Default #BL 160,320,480 (300 kHz), #BL 80,160,240 (600 kHz)

The default setting for this command is recommended for most applications.

Description The #BL-command sets a water-mass layer. Use this layer as a reference point when the
bottom is out of range or is incorrect. Water-mass layer output data are available when
both #BK (see BK - Water-Mass Layer Mode) and BP (see BP – Bottom Track Pings per Ensem-
ble) commands are nonzero values, and the bottom must be at least the Minimum Layer
Size + Near Layer Boundary + 20% of the reported depth away from the transducer. The
Far Layer Boundary (ffff) must be less than the maximum profiling distance or the Tas-
man sends Error Code 011.

For more information, see Water Tracking, page 21.

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#BM – Bottom Mode

Purpose: Sets the Bottom Track mode.
Format: #BM n

The BM commands work with or without the # sign. For example, using BM or #BM are both
valid commands.

Range: n = 8, 9, or 101
Default: #BM 8

The default setting for this command is recommended for most applications.

Description: Bottom Mode 8 was developed for the following improvements in shallow operations:
• Much improved accuracy by pinging Beams around, one at a time.
• Better handling of slopes by independently setting lags on each beam based on accurate bottom
detection before each ping.
• Better handling of station keeping application using longer lag.
• Higher resolution Bottom Detection using short lag Bottom Feeler pings.
Table 13. BM8 Minimum Tracking Depths
Frequency Min Tracking Depths With Low Altitude feature
600KHz 0.2m <20cm

Bottom Mode 9 is identical to Bottom Mode 8 except that it does not have a shallow mode.
#BM 101 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: #BN x,y

The BN commands work with or without the # sign. For example, using BN or #BN are both
valid commands.

Range: x = 0 to 1
y = 0 to 999 seconds
Default: #BN 0,999

The default setting for this command is recommended for most applications.

Description: The #BN command governs the behavior of the earth referenced distance measurement
calculation in the PD6 data format when the Tasman can’t get a lock on the bottom. The y
parameter represents a timeout period during which zero is used for the current velocity
measurement in the equation shown in the #BO command. After the expiration of the y
timeout, the behavior is governed by the x parameter. If x is zero, then the accumulated
distance is set to zero. If x is one, then the accumulated distance is maintained at its cur-
rent value until the Tasman achieves bottom lock.

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#BO – Distance Measure Filter Constant

Purpose: Sets the value of the filter constant used by the distance measurement calculation in PD6.
Format: #BO k

The BO commands work with or without the # sign. For example, using BO or #BO are both
valid commands.

Range: k = 0 to 100
Default: #BO 25

The default setting for this command is recommended for most applications.

Description: When calculating the earth referenced distance data for output in the PD6 data format, the
Tasman applies a simple exponential filter to the velocity measurements before calculat-
ing the distance. The velocity used to calculate the distance is given by the following equa-
tion:
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 accumulators.
Format #BS

The BS commands work with or without the # sign. For example, using BS or #BS are both
valid commands.

Use as needed.

Description Distance traveled is calculated and output in the following Tasman output formats;
• PD0 high resolution output (see BJ – Data Type Output Control and Bottom Track High Resolution Ve-
locity Format)
• PD5 (see Tasman Binary Data Format (PD5)).
• PD6 (see Tasman Output Data Format (PD6))
The accumulator is zeroed on <BREAK> or by using this command in the manual ensem-
ble cycling mode (see CF - Flow Control).

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#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.

Range: nn = 0 to 100 %
Default: #BY20

The default setting for this command should never be changed without through testing, as changes to
this parameter have the potential to produce incorrect velocity and/or range data.

Description The BY command sets the transmit length for a bottom track ping as a percentage of the
altitude over the sea bottom. The default setting has been designed to optimize the
tradeoff between 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 allow bottom detection at
larger values of tilt/slope, but will consume more energy, and may decrease the resolution
of the range-to-bottom measurement.

#BZ – Low Altitude Mode

Purpose Turns on or off the Low Altitude Bottom Track mode.
Format #BZn

The BZ command works only with the # sign.

Range: n = 0 to 1 (0 = OFF, 1 = ON)

Default: #BZ1

The default setting for this command is recommended for most applications.

Description #BZ 0 turns off the Low-Altitude bottom function. #BZ 1 turns on the Low-Altitude bot-
tom function.

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Control System Commands

The Tasman uses the following commands to control certain system parameters.

Available Control System Commands

This section lists the available Control System commands.
>c?
Available Commands:

CB 811 -------------------- Serial Port Control {baud;parity;stop}

CE 1 ---------------------- Enable Ethernet [0 = OFF, 1 = ON]
CF 11110 ------------------ Set Ctrl Flags {e;p;b;s;*}
CK ------------------------ Save Command Parameters to Flash
CR ------------------------ Restore Cmd defaults [0=user,1=factory, 2=Eth parms]
CS ------------------------ Start Pinging
CT 0 10 ------------------- Turnkey [0 = OFF, 1 = ON]
CX 0 0 65535 0--------- Set Input Trigger [mode, dly, timeout, ping-once]
CZ ------------------------ Put the ADCP to sleep
C? ------------------------ Display C-Command Menu

CB – Serial Port Control

Purpose Sets the RS-232/422 serial port communications parameters (Baud Rate/Parity/Stop
Bits).
Format CBnnn
Range nnn = baud rate, parity, stop bits (see description)
Default CB 811

The Tasman 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 Tasman can be set to communicate at baud rates from 1200 to 115200 (see Changing
the Tasman’s Baud Rate). The Tasman and the external device (dumb terminal, computer
software) MUST use the same communication parameters to talk to each other. After en-
tering a valid CB parameters, the Tasman responds with a “>” prompt. Then change the
external device’s communication parameters to match the Tasman parameters before
sending another command.

If a BREAK is sent before changing the external device’s communication parameters, the
Tasman returns to the communication parameters stored in non-volatile memory (user
settings).

Table 14. Serial Port Control

Baud Rate Parity Stop Bits
1 = 1200 1 = None (Default) 1 = 1 Bit (Default)
2 = 2400 2 = Even 2 = 2 Bits
3 = 4800 3 = Odd
4 = 9600 4 = Low (Space, logical 0)
5 = 19200 5 = High (Mark, logical 1)
6 = 38400
7 = 57600
8 = 115200 (Default)

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CE – Enable Ethernet
Purpose Use this command to check the IP address/settings.
Format CE n
Range 0 to 1 (0 = OFF, 1 = ON)
Default CE 1

The default setting for this command is recommended for most applications.

Description The CE command default is CE 1 only if the Ethernet feature is activated. CE 1 will enable
the Ethernet if it was switched off. CE0 will switch off the Ethernet. This command also
reports whether Ethernet is functional based on verifying coms between the DSP circuit
and the Ethernet module; this is done regardless of whether Ethernet feature is activated.
The CE command can be used with no arguments to show the Ethernet interface status.
Example showing 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 setting info.

CF – Flow Control
Purpose Sets various Tasman data flow-control parameters.
Format CFnnnnn
Range Firmware switches (see description)
Default CF11110

The default setting for this command is recommended for most applications.

Description The CF-command defines whether the Tasman: generates data ensembles automatically
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.

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Table 15. Flow Control

Command Description
CF1xxxx Automatic Ensemble Cycling – Automatically starts the next data collection cycle after the current
cycle is completed. Only a <BREAK> can stop this cycling.
CF0xxxx Manual Ensemble Cycling – Enters the STANDBY mode after transmission of the data ensemble,
displays the > prompt and waits for a new command.
CFx1xxx Automatic Ping Cycling – Pings immediately when ready.
CFx0xxx Manual Ping Cycling – Sends a < character to signal ready to ping, and then waits to receive an <En-
ter> before pinging. The <Enter> sent to the Tasman is not echoed. This feature manually controls
ping timing within the ensemble. Note the prompt output by the Tasman when ready to ping is a
less-than symbol (<), to distinguish it from the normal command prompt.
CFxx1xx Binary Data Output – Sends the ensemble in binary format, if serial output is enabled.
CFxx0xx Hex-ASCII Data Output – Sends the ensemble in readable hexadecimal-ASCII format, if serial output
is enabled.
CFxxx1x Enable Serial Output – Sends the data ensemble out the RS-232/422 serial interface.
CFxxx0x Disable Serial Output – 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 command must be the first command sent to the Tasman. 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. The Tasman maintains data stored in the non-volatile memory (user settings) even
if power is lost. It does not need a battery. Use the CR command to recall parameters
stored in non-volatile memory (see CR – Retrieve Parameters).

CR – Retrieve Parameters
Purpose Resets the Tasman command set to factory settings.
Format CR n
Range n = 0 (User), 1 (Factory), 2 (Eth parameters)

The CR1 command must be the first command sent to the Tasman. The CK command must be sent just
before the CS command. Other commands may be sent in any order.

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Description The Tasman automatically stores the last set of commands used in volatile memory. The
Tasman will continue to be configured from volatile memory unless it receives a CR com-
mand or until the volatile memory loses its power.
Table 16. Retrieve Parameters
Format Description
CR 0 Loads into volatile memory the command set last stored in non-volatile memory (user settings) using
the CK Command.
CR 1 Loads into volatile memory the factory default command set stored in ROM (factory settings).
CR 2 Loads into volatile memory the factory defaults Ethernet Settings stored in ROM (Ethernet Parame-
ters).

The CR command keeps the present baud rate and does not change it to the value stored in
non-volatile memory or ROM. This ensures the Tasman maintains communications with the
terminal/computer.

CS – Start Pinging (Go)

Purpose Starts the data collection cycle (same as the Tab key).
Format CS

The CR1 command must be the first command sent to the Tasman. The CK command must be sent just
before the CS command. The CS command is the last command sent.

Description Use CS (or the Tab key) to tell the Tasman system to start pinging its transducer and col-
lecting data as programmed by the other commands.

CT – Turnkey Operation
Purpose Allows the Tasman to initialize to predefined parameters and start pinging within 5-100
integer seconds after power is applied, or a break is received, if no command is entered.
Format CT n T
The CT commands work with or without the # sign. For example, using CT or #CT are both
valid commands.

Range n = 0 to 2 (0 = Off, 1 = Turnkey On - Output Serial, 2 = Turnkey On - Output Ethernet)

T = 5 to 1o0 (integer seconds)
Default CT 0 10

The default setting for this command is recommended for most applications.

Description Setting the CT command to CT 1 10 lets the Tasman automatically initialize to a prede-
fined command set during any power up or after a break.
To place the Tasman in turnkey mode, first set all other commands to the desired config-
uration. Then send the CT 1 10 and CK commands to save this configuration (see CK - Keep
Parameters). When power is cycled, or a break is sent, the Tasman will start up with the
desired configuration and begin the data collection process unless a valid command is
sent within 10 seconds.

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Turnkey mode can be interrupted by sending a <BREAK>. This will place the Tasman in
the command mode, ready to accept input for another 10 seconds. To turn off the turnkey
mode, first send a <BREAK> to the Tasman. Now send the CT 0 10 and CK commands to
save this configuration. When power is cycled, or a break is again sent, the Tasman will
NOT begin the data collection process.

CX – Input Trigger Enable

Purpose Enables or disables the trigger.
Format CX n d t [p]

Use as needed.

Range n: n = 0 to 5 per Table 17.

d: 0 to 65535 one hundredths of a second delay time.
t: 0 to 65535 one hundredths of a second time-out time. Setting “t” to 65535 disables the
time-out.
p: (optional) 0 or 1. Setting “p” to 1 enables ping-once mode after time-out.
Default CX 0 0 65535 0
Description The unit will ping once within 1ms after the trigger transitions as indicated in Table 17 for
CX = 1 to 3.
For CX 4 to 5, the Tasman will trigger while the trigger is in the state described in Table
17.
If “p” set to 1, ping only once after time-out, then wait again for another Trigger or time-
out. If set to 0 (default) or is not set (legacy CX command), it will default to 0 and the
DVL will self-deploy normally after time-out.
Table 17. Input Trigger
CX (n) System Behavior
0 Trigger off
1 Pings after low to high transition
2 Pings after high to 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 satisfied.
The trigger delay causes the unit to wait after a trigger is received for pinging to start. Delay
after trigger is received is valid only for first ping for CX n=4 or 5.
The time-out is effective the first time the time-out occurs. The unit pings without waiting for
the trigger after the first time-out.
De-asserting the trigger after it has been asserted and the ping started will not stop the ping
for CX n=4 or 5. That is, the trigger condition only delays the ping prior to transmit and will
not be checked until the Tasman unit is ready to transmit again.

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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 satisfied (see TP – Time
Between Pings).

The Trigger In line must be referenced to D_COM (see Cable Wiring Diagrams).

CZ – Power Down ADCP

Purpose Tells the Tasman to power down.
Format CZ

Recommended Setting. Use as needed.

Description Sending the CZ command powers down the DVL and draws a minimal amount of current.
Tasman 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.
Note that TRDI Toolz defaults to a Soft Break.

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Expert Control System Commands

This section lists the expert Control System commands. Commands that start with the # sign are consid-
ered “expert” commands.
>#c? Available Commands:
#CO 0 1 -------------------- Set Out Trig ([0-3]=[off r/x x r], pol)
#CT 0 10 ------------------- Turnkey[CT n T; n:0=Off, 1=Serial, 2=Ethernet; T=5 to 100 seconds]
#C? ------------------------ Display #C-Command Menu

#CO – Output Trigger Enable

Purpose Enable or disable the output trigger. This trigger gives an approximate indication of when
transmit and receive occur for the Tasman. It is not intended to provide exact timing of
transmit or receive. This trigger can be used to hold off pinging of other devices that
would otherwise interfere with Tasman operation.
Format #CO n p
The #CO commands work ONLY with the # sign.
This command is for a future hardware release.

Range n: 0 to 3 trigger event as described below.

p: 0 to 1 polarity as described below.
Default #CO 0 1

The default setting for this command is recommended for most applications.

Description The “n” parameter of this command can cause the system to output a trigger through the
trigger out line on the end-cap connector during transmit, receive or both transmit and
receive as indicated in Table 18.
Table 18: Output Trigger State
#CO (n) Output Trigger State
#CO 0 Trigger off.
#CO 1 Trigger active during transmit and receive interval.
#CO 2 Trigger active during transmit interval only. Reverts to n=1 for BM8 when shallow due to multi-
pulse transmission.
#CO 3 Trigger active during receive interval only. Reverts to n=1 for BM8 when shallow due to multi-
pulse transmission.

The “p” parameter of this command causes the polarity to be electrically high for p = 1 when the trigger is
active, otherwise it is electrically low.
To avoid interference between the Tasman and other devices on the vehicle in general applications, n = 1
is recommended.

Trigger In line must be referenced to D COM 1.

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Environmental Commands
The Tasman uses the following commands to control the environmental and positional information that
affects internal data processing.

Available Environmental Commands

This section lists the available Environmental commands.
>E?
Available Commands:

EA +00000 ----------------- Heading Alignment [.01 deg cw]

EC 1500 ------------------- Speed Of Sound [m/s]
ED 00000 ------------------ Xdcr Depth [dm]
EH 00000,1 ---------------- Heading {heading;frame}
EP +0000,+0000,1 ---------- Tilts {pitch;roll;frame}
ER +0000 ------------------ Roll [.01 deg cw]
ES 35 --------------------- Salinity [ppt]
ET 2100 ------------------- Water Temperature [.01 deg C]
EU 0 ---------------------- Orientation [0=Switch,1=Up,2=Down]
EV +00000 ----------------- Heading Bias [.01 deg cw]
EX 10111 ------------------ Coordinate Transformations
EZ 11011010 --------------- 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 EA 00000

Set as needed.

Description EA is a heading alignment angle (referenced to Beam 3) used as a new zero reference for
heading output and for transformation to earth coordinates. Use the EV - Heading Bias
command to correct for heading bias (e.g., magnetic declination).
Example The Tasman is mounted on a ship/vehicle with beam 3 aligned at a +45 degree angle (i.e.
clockwise) from the forward axis of the ship/vehicle. Use the EA command to tell the Tas-
man 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 × 100 = +4500 = EA+04500

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EC – Speed of Sound
Purpose Sets the speed of sound value used for Tasman data processing.
Format EC nnnn
Range nnnn = 1400 to 1600 meters per second
Default EC 1500

The EC command works with or without the # sign. For example, using EC or #EC are both
valid commands.

The default setting for this command is recommended for most applications.

Description EC sets the sound speed value used by the Tasman to scale velocity data, depth cell size,
and range to the bottom. The Tasman assumes the speed of sound reading is taken at the
transducer head. See the primer for information on speed of sound calculations.

If the EZ Speed of Sound field = 1, the Tasman overrides the manually-set EC 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 Tasman transducer depth.
Format ED nnnnn

The ED command work ONLY without the # sign.

Range nnnnn = 0 to 65535 decimeters (meters x 10)

Default ED 00000

Use the EZ-command (see EZ - Sensor Source).

Description ED sets the Tasman transducer depth. This measurement is taken from sea level to the
transducer face. The Tasman uses ED in its speed of sound calculations. The Tasman as-
sumes the speed of sound reading is taken at the transducer head. See the primer for in-
formation on speed of sound calculations.

If the EZ Transducer Depth field = 1 or 2, the Tasman 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 Tasman uses pressure data from the best available sensor or ED command.

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EH – Heading
Purpose Sets the Tasman heading and the coordinate frame (instrument or ship) to which EH-
command input refers.
Format EH xxxx, y

The EH command works with or without the # sign. For example, using EH or #EH are both
valid commands.

Range xxxx = 0 to 35999 1/100ths of a degree

y = 0 for instrument coordinates
y = 1 for ship coordinates
Default EH 0,0 (Stationary systems), EH 0,1 (Vessel)

The default setting for this command is recommended for most applications.

Description EH sets the Tasman heading and heading coordinate frame if both arguments are en-
tered.
EH sets the Tasman heading if only one argument is entered. This heading value is as-
sumed to be in instrument coordinates. Figure 10 shows transducer beam axis and tilt
signs.
EH may be entered after the unit is commanded to ping (CS command) 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 Tasman overrides the manually-set EH value and uses heading
from the transducer’s internal sensor. If the EZ Heading field = two the Tasman takes heading
from an external synchro. If EZ Heading field is zero, the Tasman uses the manual EH
command settings.
See EZ - Sensor Source for more details and restrictions for the case of mixed heading
sources.

EP – Pitch and Roll Angles

Purpose Sets the Tasman pitch (tilt 1) and, optionally, the roll (tilt 2) and the coordinate frame (in-
strument or ship) to which all pitch and roll inputs (including sensors) refer. Alterna-
tively, the EP commands may be used with single arguments, in which case it is assumed
that the pitch and roll inputs represent the pitch and roll of the instrument rather than
those of the ship.
Format EP ±xxxxx, ±yyyyy, z

The EP command works with or without the # sign. For example, using EP or #EP are both
valid commands.

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Range ±xxxxx and ±yyyyy = -17999 to +18000 hundredths of a degree

z = 0 for instrument coordinates,
z = 1 for ship coordinates
Default EP 0,0,1

Set as needed.

Description EP sets the Tasman pitch (tilt 1) and roll (tilt 2) and the pitch/roll coordinate frame if all
three arguments are entered. EP sets the Tasman pitch (tilt 1) if only one argument is en-
tered. This pitch value is assumed to be in instrument coordinates.
If only two fields are entered, a command entry error is issued. Figure 10 shows trans-
ducer beam axis and tilt signs.
Example Convert pitch and roll values of +14 degrees and -3.5 degrees to EP-command values ref-
erenced to ship coordinates.
Pitch 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 Tasman 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

Default ER0

Set as needed.

Description This command allows the user to input a roll (tilt 2) value that will be used if the roll EZ
bit is set to zero. The coordinate frame of this data corresponds to the third parameter of
the EP command. Roll can also be entered with pitch and the pitch/roll coordinate frame
in the EP command (see EP - Pitch and Roll Angles). See the description of the EZ command
(EZ - Sensor Source) to see how this commands value is used.
Example Convert roll values of +14 and -3.5 to ER command values.
#ER = 14.00 × 100 = 1400 = #ER01400 (+ is understood)
#ER = -3.50 × 100 = -350 = #ER-00350

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ES – Salinity
Purpose Sets the water’s salinity value.
Format ES nn

The ES command work ONLY without the # sign.

Range nn = 0 to 40
Default ES 35

The default setting for this command is recommended for most applications.

Description The ES command sets the water’s salinity value. The Tasman uses ES in its speed of
sound calculations. The Tasman assumes the speed of sound reading is taken at the trans-
ducer head.

ET – Temperature
Purpose Sets the water’s temperature 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 ET 2100

Use the EZ-command (see EZ - Sensor Source).

Description ET sets the temperature value of the water. The Tasman uses ET in its speed of sound cal-
culations (see the primer). The Tasman assumes the speed of sound reading is taken at
the transducer head.
Example Convert temperatures of +14 C and -3.5 C to ET-command values.
ET = 14.00 × 100 = 1400 = ET1400 (+ is understood)
ET = -3.50 × 100 = -350 = ET-0350

If the EZ Temperature field = one, the Tasman overrides the manually set ET value and uses
temperature from the transducer’s temperature sensor. If the sensor is not available, the
Tasman uses the manual ET setting.

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EU – Up/Down Orientation
Purpose Sets the Tasman up/down orientation.
Format EU n

The EU command works with or without the # sign. For example, using EU or #EU are both
valid commands.

Range n = 0 or 1 (0 = down, 1 = up)

Default EU 0

Use the EZ-command (see EZ - Sensor Source).

Description In conjunction with the EZ command, EU is used to manually specify the orientation of
the Tasman.

The EU command can be used to align an upward pointing unit (e.g., mounted on a
submarine) if the roll source is in instrument coordinates. In this case, the EU command will
invert instrument coordinate roll. Use the #EI command instead if the roll source is
referenced to ship coordinates (see EI - Roll Misalignment Angle).

EV – Heading Bias
Purpose Corrects for electrical/magnetic bias between the Tasman heading value and the heading
reference.
Format EV ±nnnnn

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 EV 0

Set as needed.

Description EV is the heading angle that counteracts the local bias or magnetic variation (declination)
between the Tasman and the heading source. EV is added to heading (either in ship or
instrument coordinates) for use in velocity transformation and ensemble output.
Use the EA-command to correct for physical heading misalignment between the Tasman
and a vessel’s centerline (see EA - Heading Alignment).
Examples 1. A Tasman system is receiving heading from a compass. A magnetic variation chart for
the deployment area shows a variation of W3.5 (-3.5). To counteract the effects of this
magnetic field, enter a heading bias value of -3.5. To convert -3.5 to a EV-command value,
multiply the desired bias angle in degrees by 100: EV = -3.5 × 100 = -350 = EV-350.
2. Magnetic maps (such as NOAA) usually provides these types of reading: 10°10′W 1995
(9′E/year). This means the magnetic offset in the year 2001 at this location is
(- (10+10/60) + (9/60*6)) = -9.26666 degrees. Set the EV command value to EV-926.

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EX – Coordinate Transformation
Purpose Sets the coordinate transformation processing flags.
Format EX xxptb

The EX command works ONLY without the # sign.

Range xx = Transformation
p = Pitch and Roll
t = 3 beam solutions
b = Bin mapping
Default EX 10111

The default setting for this command is recommended for most applications.

Description EX sets firmware switches that control the coordinate transformation processing for ve-
locity and percent-good data.

For more information on coordinate transformations, see Beam Coordinate Systems, page
23.

Table 19. Coordinate Transformation Processing Flags

Setting Description
EX 00xxx No transformation. Radial beam coordinates, i.e., 1, 2, 3, 4. Heading/Pitch/Roll not applied.

EX 01xxx Instrument coordinates. X, Y, Z vectors relative to the Tasman. Heading/Pitch/Roll not applied.

EX 10xxx Ship coordinates (Note 1) X, Y, Z vectors relative to the ship. Heading not applied. EA-command used,
but not the #EV-command. If Bit 3 of the EX-command is a 1, then Pitch/Roll applied.
EX 11xxx 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.
EX xx1xx Use tilts (pitch and roll) in transformation (Note 2)

EX xxx1x Allows 3-beam solutions if one beam is below the correlation threshold set by WC

EX xxxx1 Allow bin mapping (see Note 3)

1. For ship and earth-coordinate transformations to work properly set the Heading Alignment
(EA - Heading Alignment) and Heading Bias (EV - Heading Bias) correctly. Ensure that the tilt
and heading sensors are active (EZ - Sensor Source).
2. Setting EX bit 3 (Use Tilts) to 0 collects tilt data without using it in the ship or earth-
coordinate transformations.
3. TRDI outputs the water profile bin 1 position for a level system only. We do not adjust the
bin 1 position, or the cell sizes, for any tilt. Bin mapping attempts to combine data from
sections of the beams that are at the same depth in the water, and does not make any
attempt to calculate how that depth might change for a tilted system. The setting of the EX
command has no effect on the reported bin 1 distance or the cell size.

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EZ – Sensor Source
Purpose Selects the source of environmental sensor data.
Format EZ cdhprstu

The EZ command work ONLY without the # sign.

Range Firmware switches (see description)

Default EZ 11011010

The default setting for this command is recommended for most applications.

Description Setting the EZ-command firmware switches tells the Tasman to use data from a manual
setting or from an associated sensor. When a switch value is nonzero, the Tasman over-
rides the manual E-command setting and uses data from the appropriate sensor. If the
sensor specified by this command is not available, the best alternate sensor will be used
(see the EY – Sensor Source Override for Doppler Parameters command for more infor-
mation).
The following table shows how to interpret the sensor source switch settings.
Table 20. Sensor Source Switch Settings
FIELD VALUE = 0 VALUE = 1 VALUE = 2

C Speed of sound Manual #EC (see EC - Speed of Calculates using available depth, salin- Reserved for future use
Sound) ity and temperature.

D Depth Manual ED (see ED - Depth of Trans- Internal Keller pressure sensor Reserved for future use
ducer) Keller30 74B-111x series

H Heading Manual #EH (see EH - Heading) Not Allowed Reserved for future use

P Pitch (tilt 1) Manual #EP (see EP - Pitch and Roll Internal SBG AHRS Reserved for future use
Angles) Ellipse-A AHRS (future release)

R Roll (tilt 2) Manual #ER (see ER - Roll Angle) Not used (Roll source specified by Pitch Not used (Roll source specified
field) by Pitch field)

S Salinity Manual ES (see ES – Salinity) Not Allowed Reserved for future use

T Temp Manual #ET (see ET - Temperature) Internal Temperature sensor Reserved for future use
Dallas 18B20 One Wire

U Up/Down Orientation Manual #EU (see EU - Up/Down Ori- Not Allowed Not Allowed
entation)

Example EZ 11011010 means calculate speed of sound from available depth, salinity, and tempera-
ture, use internal pressure sensor, EH heading, use Inclinometer, ES command sets salin-
ity, TRDI internal temp sensor, manual up/down orientation set with EU command.
When a PS1-command is sent, the displayed Fixed Leader data shows the available internal sensors
connected to the Tasman DVL. It does not show external sensors. To interpret this PS1 field, convert the
value to binary.
If EZ pitch is one (internal sensor), a pendulum pitch correction will be applied that removes the effect
of roll on pitch. This effect is common to most tilt sensors (electrolytic tilt and pendulum).
The pitch field of the EZ command controls the source for roll. The roll field is ignored and has only been
retained for legacy purposes.
The heading coordinate frame is determined by the coordinate frame parameter of the #EH command
for any heading source (command, internal or external). The pitch and roll coordinate frame is specified
by the coordinate frame parameter of the #EP command for any heading source (command, internal or
external). See EH - Heading and EP - Pitch and Roll Angles for more details.

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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}
#EI +00000 ----------------- Roll Misalignment Angle [.01 deg cw]
#EJ +00000 ----------------- Pitch Misalignment Angle [.01 deg cw]
#EP +0000,+0000,1 ---------- Tilts {pitch;roll;frame}
#ER +0000 ------------------ Roll [.01 deg cw]
#ET 2100 ------------------- Water Temperature [.01 deg C]
#EU 0 ---------------------- Orientation [0=Switch,1=Up,2=Down]
#EV +00000 ----------------- Heading Bias [.01 deg cw]
#EY 0 0 0 0 0 0 0 0 -------- Dplr Param Override Src {c;d;h;p;r;s;t;u}
#E? ------------------------ Display #E-Command Menu

#EE – Environmental Data Output

Purpose Controls output of specialized data types; controls whether a transform of velocity data to
raw or nominal beam is done with associated corrections in the case of the phased array
system.
Format #EE abcdefg

The #EE command 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 Format for a
description of this data type.
Bit f signifies the use of the Phased Array transducer. For Phased Array systems, bit f controls the type of
correction performed on the beam velocity data. For phased arrays, setting bit f to one applies the follow-
ing corrections for all coordinate transforms of all ping types:
• Speed of Sound correction to vertical component
• Phase slope error due to vertical component.
Setting bit f to one also results in nominal 30° beam coordinate velocities output in the ensemble, and ap-
ply the system Beam correction matrix to correct for Beam pointing errors and hence output velocities in
nominal 30° Beam coordinate system.
Setting bit f to zero results in raw beam velocities output in the ensemble and no Speed of sound or Phase
Slope corrections applied.

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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
different than that specified by the EZ (EZ - Sensor Source) and EY (EY – Sensor Source Override for Doppler
Parameters) commands depending on whether a sensor failed. Setting bit g to one causes this data type to
be output. See Table 39 for a definition of this data type.

Correction for vertical speed of sound for Phased Arrays

Bit ‘f’ of the #EE command must be set to 1 for the firmware to do the internal computations required to
output the correct horizontal and vertical velocities.
If the user has set a fixed speed of sound for their phased array DVL using EZ and EC (or using the default
of 1500 for EC) and wants to correct the vertical velocity using the actual speed of sound, the correction
formula is

1 1
�𝐶𝐶 2 −
𝑢𝑢𝑢𝑢𝑢𝑢𝑢𝑢 4𝐶𝐶02
𝑉𝑉𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 = 𝑉𝑉𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜 ∗
1 1
� 2 −
𝐶𝐶𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 4𝐶𝐶02

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 DVL
For Cuser =1500 and Cactual = 1450 the correction factor is 0.9569 while the ration of the speeds of sound
would give 0.9667 and error of 1% for the corrected speed of sound if the ratio were used instead of the
above equation.
Derivation:
By design, for our phased array ADCPs, the actual beam angle in the water is given by
𝑐𝑐
sin(𝜃𝜃) =
2𝑐𝑐0
Where c0 = 1536meters/sec.
Therefore

𝑐𝑐 2
cos(𝜃𝜃) = �1 − 𝑠𝑠𝑠𝑠𝑠𝑠2 (𝜃𝜃) = �1 − � �
2𝑐𝑐0

If velocity is purely vertical, the velocity solution for a given Doppler frequency fd is given by
𝑓𝑓𝑑𝑑 ∗ 𝑐𝑐 𝑓𝑓𝑑𝑑 ∗ 𝑐𝑐 𝑓𝑓𝑑𝑑
𝑣𝑣 = = =
2𝑓𝑓0 cos (𝜃𝜃) 𝑐𝑐 2
2𝑓𝑓0 �1 − � � 1 1
2𝑐𝑐0 2𝑓𝑓0 � −
𝑐𝑐 2 4𝑐𝑐02

Where f0 is the system frequency.

Taking the ratio of two vertical velocity solutions determined using different values for c obtains the equa-
tion at the top.

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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:

2 𝐶𝐶𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 2
𝑅𝑅𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶 = 𝑅𝑅𝑅𝑅𝑅𝑅𝑅𝑅 ∗ ∗ ��1 − � � �
√3 2 ∗ 𝐶𝐶𝑢𝑢𝑢𝑢𝑢𝑢𝑢𝑢

Where
Cuser is the fixed speed of sound that was set by the user
Cactual is the speed of sound from a SoS sensor or computed from measured temp and salinity
RRaw is the vertical range to bottom obtained by the averaging the 4 vertical ranges to the bottom from
DVL (‘vertical’ here means DVL vertical axis, i.e. not tilt corrected)

#EI – Roll Misalignment Angle

Purpose Corrects for a physical roll-like misalignment between the x-axis of 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 #EI 0

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 set the amount of rotation that the instrument’s x-axis is physically offset from
the ship’s starboard axis. For such systems, the #EI command can also be used to align an
upward pointing unit (e.g., mounted on a submarine) to the ship’s axis by setting it to
18000.
For systems that have attitude referenced to internal coordinates, #EI is typically set to
zero since the velocity data is referenced to either beam, instrument or geographic coordi-
nates instead of ship coordinates.
For an upward pointing unit with instrument referenced attitude, use EU to align the in-
strument attitude data with the ship coordinates for use in velocity transformation.

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#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.

Range ±nnnnn = -17999 to 18000 1/100ths of a degree

Default #EJ 0

Set as needed.

Description #EJ is a rotation about the ship's starboard 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 zero
since the velocity data is referenced to either beam, instrument or geographic coordinates
instead of ship coordinates. However, a non-zero value may be used if ship attitude out-
put data is desired for other purposes (see EE - Environmental Data Output).

#EY – Sensor Source Override for Doppler Parameters

Purpose Reserved for future use.

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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 Tasman for troubleshooting purposes during commissioning and integration of the sys-
tem.
>M?
Available Commands:

ME ------------------------ ErAsE recorder

MM ------------------------ Show memory usage
MN DVL_ ----- Set file name [1..32 characters]
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 space after the “ME” (which is not
case sensitive) and with alternating upper and lower-case letters, as shown.
>ME ErAsE
[ERASING...]

Once erased, data is not recoverable.

MM – Show Memory Usage

Purpose Shows recorder memory usage.
Format MM

Use as needed.

Description Shows memory usage and the number of used and free pages.
>MM
Recorder Usage: used = 0, free = 16777216

>

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MN – Set File Name

Purpose Sets the file name for the recorder.
Format MN xxx
Range xxx = file name up to 32 characters long
Default MN DVL_

Use as needed.

Description The MN command sets the deployment name to be used for any future deployments. The
deployment name can be up to 32 characters long, and may contain letters, numbers, or
the underscore (i.e. “_”) character. If no deployment name is specified a default of
“DVL_” is used. The deployment name is used as part of the file name for data files when
downloaded to the computer using TRDI Toolz.
To prevent data files on the computer from being overwritten, a ten-digit time stamp is
appended to the file name when OK is clicked on the Download Directory dialog box.
For example, the file Tasman3281997475.000 would contain data for the deployment
named “Tasman” (the 3281997475 in the filename is the number of seconds since Janu-
ary 1st, 1900). The file extension is always “.000”. Waiting 25 seconds and downloading
the same data again, the file name will change to Tasman3281997500.000.

MR – Set Recorder On/Off

Purpose Turns the recorder on or off.
Format MRn
Range n = 0, turn recorder off;
n = 1, turn recorder on
Default MR0

Use as needed.

Description Use the MR command to turn the recorder on/off.

MY – Y-Modem Output
Purpose Uploads recorder data to a host computer using standard YMODEM protocol.
Format MY

Use TRDI Toolz to recover data.

Description Use the MY command to recover data from the recorder only when TRDI Toolz is not
available to recover the data.
The MY command uploads the entire contents of the recorder via the serial interface to a
host computer using the standard YMODEM protocol for binary file transfer. Any com-
munications program that uses the YMODEM protocol may be used to upload the re-
corder data. The data is transferred to the host and stored as DOS files.

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Performance and Testing Commands

The Tasman 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

PC ------------------------ Built In Tests [0=help]
PD 0 ---------------------- Data Stream Select [0,4,5,6,13]
PS ------------------------ System Info [0=config,1=fldr,3=xform]
PT ------------------------ Built-in-Test Commands [PT0=help]
P? ------------------------ Display P-Command Menu

PA – Run Go/No-Go Tests

Purpose Sends/displays results of a series of system diagnostic tests.
Format PA
Range N/A
Default N/A
Description These diagnostic tests check 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 Continu-
ity Check Test for more details.

Submerge the transducer face in 2 to 4cm of water when running the PA test. The test may
fail in air and if so, is not relevant. Only a failure with the transducer at a minimum in contact
with water is a relevant test.

Example See below

>pa
ROM Test...PASS [ 3aad ]
RAM test...PASS
FRAM test...PASS
Receive Buffer Test...PASSED
XMIT RAM Test....PASSED
Receive Path Test (Hard Limited)...PASSED
Transmit/Receive Continuity Check...PASSED
Recorder test...........PASS

Composite Result:
GO for Deployment

The PA test takes a little over 10 minutes to run, since it includes the PT14 recorder test.

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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. PC1 and PC3 are reserved for TRDI use. PC2 continuously
displays at approximately 1 sec update the current system temperature, pressure, depth,
heading, pitch and roll. The sensor ID corresponding to their source is displayed next to
each. Refer to the EY command for a list of sensors. The source of the data is assigned by
the EZ and the EY commands or internal logic if the primary sensor is not available. See
EY – Sensor Source Override for Doppler Parameters for a description of that logic. PC4 displays
the input power information.
Example See below.

PC 2 or PC 20
The PC 2 test updates the data inline using cursor commands, and the PC 20 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.
>pc 2
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(kPa) Depth(m) Hdg(deg) Pitch(deg) Roll(deg) Vin

/ 24.94/10 99.063/10 10.104/10 0.00/0 0.18/10 0.59/10 27.58

>

This test can be run on the bench, on deck, or in the water.

PC 4 or PC 40
The PC 4 test updates the data inline using cursor commands, and the PC 40 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.
>pc 4
Battery ADC data is sampled and displayed in a loop.
Press any key to exit the loop.

Count Chan0 Chan1 Chan2 Chan3 Chan4 Chan5 Vbatt Ibatt VDD1 VDD3 Vlsu Vlsl
/ 4 05c6 0428 068f 0095 0d31 0b82 20.58 2.046 1.64 0.09 2.06 1.80
>

See Table 27. Variable Leader Data Format, bytes 35 to 42 for a description of the ADC
channels.

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PC 5 or PC 50
The PC 5 test updates the data inline using cursor commands, and the PC 50 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.
>pc 50
Leak detector ADC data is sampled and displayed in a loop.
Press any key to exit the loop.
DetA DetB
0dc0 0ffd
0dc1 0ffd
0dc2 0ffd
>

The leak sensor status can be decoded as follow:

1- Convert hex asci to decimal. For example:
a. DetA(hex) 0dc0 → to dec = 3520
b. DetB(hex) 0ffd → to dec = 4093
2- Convert these values to Voltages by x2.5 and /4095. For example:
a. DetA(hex) 3520*2.5/4095= 2.14
b. DetB(hex) 4093*2.5/4095= 2.49
c. Compare the Values to the threshold shown below to determine leak
status:
Leak No Leak Sensor Not Connected
Less than 1.25 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 not connected.

PS – Display System Parameters

Purpose Displays Tasman system configuration data.
Format PSn
Range n = 0, 1, 3, 4, 5

PS0 – System Configuration Info

>ps0
Serial Number: 0
Frequency: 614400 Hz
Configuration: DVL : 4-beam velocity.
Transducer Type: PHASEDARRAY
Beam Angle: 30 Degrees
Beam Pattern: CONVEX
Sensors: TEMP PRESS 600BAR
CPU Firmware: 74.xx
FPGA Version: 1.00.011 [0x100b]

Board Serial Number Data:

E3 00 00 0A 8D 30 7A 28 DS18B20 TMP SNS
B6 00 00 03 02 D9 CA 23 ETH72B-2306-01A
15 00 00 02 D5 6F 6A 23 XDC72B-2356-00A
CA 00 00 02 96 27 11 23 PTX72B-2304-10A
F4 00 00 01 F1 91 75 23 DSP72B-2303-01B
EF 00 00 02 A7 21 8B 23 RCV72B-2302-13A

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PS1 – Display Fixed Leader (binary)

PS1 sends the Fixed Leader parameters (i.e., fixed system commands and hardware/firmware infor-
mation) in Hex-ASCII or binary format with the Least Significant Byte (LSB) first (see Fixed Leader Data
Format). For example, a Hex-ASCII output may look like this:
>PS1
3B00001C0D4C21003502320A001900190001480300E8030000320A941100007D2D3D0023000101FF000C000
00000000000000000000000DC12000019143E

The output format of the PS1 command is determined by the CF command (see CF - Flow
Control).

When operating in HEX mode, all console text appears in HEX - including the prompt ">" (HEX
"3E") and any additional commands that are typed.

PS3 – Instrument Transformation Matrix

PS3 sends information about the transducer beams. The Tasman uses this information in its coordinate-
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 0.711150

>

PS4 – Ping Sequence

This command returns the Bottom Track and Water profile ping sequence (see example below). Send PS4
to the Tasman anytime to get the ping sequence for one ensemble:
Tasman DVL
Teledyne RD Instruments (c) 2019
All rights reserved.
Firmware Version: 74.xx
Current time is: 19/08/01,21:01:38.47
Break received, serial
>

>B?
Available Commands:

BK 0 ---------------------- WMass Mode [0=off 1=WB 2=LostB 3=W]

BP 1 ---------------------- Number of BT Pings in ensemble [0-999]
BX 06500 ------------------ Max Depth (dm) [10-65535 dm]
B? ------------------------ Display B-Command Menu

>ps4
Ping Sequence: B

>WP1
>ps4
Ping Sequence: WB

>BP2
>ps4
Ping Sequence: B WB

>WP2
>BP1
>ps4

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Ping Sequence: W WB

>
‘W’ stands for one single Water Profiling ping and ‘B’ stands for one single Bottom Tracking ping.

PS5 - Health and Environment Monitoring Sensors

The PS5 command reports the value of HEM operating time sensor.
PS5
Operating time: 4327.5 hours

PT – Diagnostic Tests
Purpose Displays results of the system diagnostic tests.
Format PTnnn
Range n = 0, 3, 5, 9, 10, 11, 13, 14, 19, 200, 300
Description See below

PT0 – Help
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 Tasman receives a <BREAK>. Sending PT200 runs the PT3
and PT5 tests. PT300 runs the PT3 and PT5 tests continually until the Tasman receives a <BREAK>.
Example:
>pt0
Built In Tests
----------------
PT0 = Help
PT3 = Receive Path Test
PT5 = Transmit/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

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PT3 – Receive Test

This test displays receive path characteristics. This test must be done with the transducer in water.

Submerge the transducer face 2 to 4cm in water with at least 10cm between the face of the
transducer and the bottom when running the PT3 test. The test may fail in air and if so, is not
relevant. Only a failure with the transducer at a minimum in contact with water is a relevant
test.

Example:
>pt3
Receive Path Test (Hard Limited)
H-Gain W-BW L-Gain W-BW H-Gain N-BW L-Gain N-BW
Correlation Magnitude (percent)
Lag Bm1 Bm2 Bm3 Bm4 Bm1 Bm2 Bm3 Bm4 Bm1 Bm2 Bm3 Bm4 Bm1 Bm2 Bm3 Bm4
0 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100
1 79 80 79 81 81 80 79 82 80 82 83 83 81 84 81 83
2 45 46 47 46 48 45 40 47 47 47 48 47 47 50 47 52
3 13 18 20 17 23 15 14 17 21 21 17 16 19 27 20 30
4 5 8 8 9 5 1 3 1 7 9 4 3 10 15 9 13
5 13 8 3 13 3 6 9 6 5 4 6 8 13 10 6 10
6 8 5 6 11 7 5 8 5 8 4 6 8 12 6 7 9
7 6 2 6 9 8 5 9 4 6 3 3 9 9 4 9 8
P P P P
Sin Duty Cycle (percent)
45 51 49 51 55 49 43 51 50 44 47 46 45 48 47 51
P P P P
Cos Duty Cycle (percent)
53 47 46 52 48 47 51 49 48 55 53 53 50 54 49 56
P P P P
RSSI Noise Floor (counts)
46 47 38 46 38 41 34 46 29 29 22 33 28 29 23 35
P P P P
RESULT...PASSED

PT3 is considered to have normal values if:

1. 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%.
3. RSSI noise level is less than 90 counts for the high gain, wide bandwidth setting.

PT5 – Transmit/Receive Continuity Check Test

Submerge the transducer face 2 to 4cm in water with at least 10cm between the face of the
transducer and the bottom when running the PT5 test.
The test may fail in air and if so, is not relevant. Only a failure with the transducer at a
minimum in contact with water is a relevant test.

The PT5 test is used to ensure continuity to the transducer and attempts to verify both transmit and re-
ceive pathways.
Example:
Transducer Continuity Check:
Beams 1,2: pass
Beams 3,4: pass

PT5 has an optional parameter:

• 1 = verbose mode
• 0/no character = standard mode

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Example verbose mode 300 kHz:

>PT5 1
Transducer Continuity Check:
300Khz criteria 6 < R (ohms) < 12
Beams 1,2: V: 20.43 (volts) I: 1.96 (amps) R: 10.8 (ohms) PASS <FAIL>
Beams 3,4: V: 20.43 (volts) I: 1.86 (amps) R: 10.8 (ohms) PASS <FAIL>
>

Verbose mode 600 kHz:

>PT5 1
Transducer Continuity Check:
600Khz criteria 13 < R (ohms) < 24
Beams 1,2: V: 19.88 (volts) I: 3.69 (amps) R: 21.0 (ohms) PASS <FAIL>
Beams 3,4: V: 19.88 (volts) I: 3.69 (amps) R: 21.0 (ohms) PASS <FAIL>
>

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

PT10 – Receive Memory Test

>pt10
Receive Buffer Test...PASSED

PT11 – FRAM Test

The PT11 command performs the following tests of the FRAM (used to store recorder directory infor-
mation):
• Pattern Test: Writes 4 patterns to each address in the FRAM space, and reads back from these
addresses to make sure the data was correctly written.
• Address Test: This tests the address 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 locations in memory. Then we read back to make
sure that all data was written properly.
Failure on any of these tests will produce a FAIL result for PT11.
>pt11
FRAM test...PASS

PT12 – RAM Test

The PT12 command performs the tests described for PT11 above on the RAM.
>pt12
RAM test...PASS

PT13 – ROM Test

The PT13 command performs a test of the flash ROM by comparing the CRC of the data in ROM with the
CRC value stored in FLASH. If the values differ, PT13 will result in a FAIL.
>pt13
ROM Test...PASS [ 60e0 ]

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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. 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

The PT19 Ringing test is reserved for TRDI use. It has a binary output that is used by special TRDI test
software and is not meant to be run manually.

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Expert Performance and Testing Commands

This section lists the expert Performance and Testing commands. Commands that start with the # sign are
considered “expert” commands.
>#p?
Available Commands:

#PD 0 ---------------------- Data Stream Select, 0,4,5,6,13

#PE 00000 ------------------ Ethernet Data Streams Bitmask (PD0,4,5,6,13)
#P? ------------------------ Display P-Command Menu

#PD – Data Stream Select

Purpose Selects the type of ensemble output data structure.
Format #PDn

The PD command works with or without the # sign. For example, using PD or #PD are both
valid commands.

Range n = 0, 4, 5, 6, 11, 13, and 26 (see description)

Default #PD0

The default setting for this command is recommended for most applications.

Description #PD selects the normal output data structure, a special application data structure, or a
fixed data set for transmission/display as the data ensemble (see Table 21).
Table 21. 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 descrip-
tion of the PD4 format, see Tasman Binary Data Format (PD4/PD5).
PD5 PD5 Sends CSS-DVL output data structure (with sensor and made-good data). For a full description
of the PD5 format, see Tasman Binary Data Format (PD5).
PD6 PD6 Sends an ASCII data stream containing bottom track and water layer velocity information for
all coordinate transformations. For a full description of the PD6 format, see Tasman Output Data
Format (PD6).
PD11 PD11 is a text output format. It complies with the NMEA 0183 version 2.30 standard. For a full de-
scription of the PD11 format, see Tasman NMEA Output (PD11).
PD13 PD13 outputs similar to PD6, except it adds Pressure and Range-to-bottom for all four beams, and
omits System Health Monitor Data line. For a full description of the PD13 format, see Tasman Out-
put Data Format (PD13).
PD26 PD26 Speed Log Format includes the $VMVBW, $VMDBT, and $VMVLW messages. For a full de-
scription of the PD26 format, see Tasman Speed Log Format (PD26).

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#PE – Ethernet Data Streams Bitmask

Purpose Selects the multiple formats to be enabled simultaneously for Tasman systems with the
optional Ethernet module.
Format #PEnnnnn

The PE command works only with the # sign.

Range n = 0, 1 Ethernet Data Streams Bitmask (PD0,4,5,6,13)

Default #PE 00000

The #PE command settings are set by the Ethernet Module and WEB Page setup. The user should not
use the #PE command to enable Ethernet data output. Use the WEB interface (see Using the Network
Configuration Page).

Description When the Tasman is configured for Ethernet operation, the #PE command enables each
output format selected from PD0, PD4, PD5, PD6, and PD13 using the Network Configura-
tion page (see Using the Network Configuration Page), allowing multiple formats to be ena-
bled simultaneously. For example, #PE10001 indicates that PD0 and PD13 output formats
were selected on the Network Configuration page.

If all outputs are enabled, it can affect the ping rate.

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Sensor Commands
The Tasman uses the following commands for the sensors.

Available Sensor Commands

This section lists the available Sensor commands.
>s?
Available Commands:

SM ------------------------ Sensor Auxiliary Menus [sid]

SZ ------------------------ Zero out keller30 Pressure
S? ------------------------ Display S-Command Menu

SD - Sensor PD0 Data Output

Purpose Controls the ensemble data types that are output.
Format SD n abc def ghi
Range n: sensor id per Table 22. This must be entered as a two-digit number. Sensors with ID
less than 10 should be prefixed with a 0.
a-d: data type per Table 22, which also indicates the tables that describes the format of
the data:
Table 22: Sensor PD0 Data Output
Sensor ID a b c d
N/A 01 N/A N/A N/A N/A
N/A 02 N/A N/A N/A N/A
N/A 03 N/A N/A N/A N/A
N/A 04 N/A N/A N/A N/A
N/A 05 N/A N/A N/A N/A
N/A 06 N/A N/A N/A N/A
N/A 07 N/A N/A N/A N/A
N/A 08 N/A N/A N/A N/A
N/A 09 N/A N/A N/A N/A
N/A 10 N/A N/A N/A N/A
N/A 11 N/A N/A N/A N/A
SBG AHRS 12 Status (Table 40) IMU Data (Table 45) EULER Data (Table 47) Ship Motion (Table 50)
N/A 13 N/A N/A N/A N/A

N/A: no data type

Setup data is sampled and output only if the corresponding bit of the SD command is set;
Variable data is always sampled (if the sensor is assigned to a port) but only output if the
corresponding bit of the SD command is set.
Digits e-i are reserved for future use.

Default SD n 000 000 000

Set as needed.

Description This command controls the output of data types in PD0 binary ensembles for each sensor.
Note that the sensor must be assigned to a communication port for the data to be in-
cluded in the output ensemble.

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Each sensor data type includes at least one 32-bit word whose individual bits show what
data in the structure is valid. In addition, each data type includes at least one 32-bit word
whose bits show sensor errors and errors the Tasman has encountered trying to com-
municate with the sensor. One bit of the error word indicates whether the data is fresh
(appearing first in this ensemble) or stale (a repeat from a previous ensemble). Stale data
may be caused by environmental sensors that are sampled at multiple ensemble intervals
or by communication problems with the sensor.

SM – Auxiliary Sensor Menu

Purpose Allow access to individual sensor auxiliary command menus, such as compass calibration
commands.
Format SM n
Range 1 to 13 corresponding to each of the sensors listed in the SD command.
Default There is no default.

Set as needed. At this time, only the SBG Ellipse IMU is supported.

Description If no argument (n, above) is entered with the command, then a list of sensors with their
corresponding numbers is presented for the user to choose.
The user can stack command menu selections. For example, SM 6 T could be entered,
which accesses the Paros. 8CDP Pressure sensor command menu and then selects the ter-
minal mode (T) of that menu.
Note that if the sensor is not connected to the system, the sensor’s menu will still be avail-
able, but some items of the menu may not execute.

For more information on the SBG sensor commands, see Using the AHRS Sensor.

Example
>sm 12
SBG Ellipse-A Auxiliary Menu
0 ---------- Help
D ---------- Display SBG Status and Settings
H ---------- Display Heading, Pitch & Roll
M ---------- Modify Settings
P ---------- Pass-Through Mode
2 ---------- 2D Magnetometer Calibration
3 ---------- 3D Magnetometer Calibration
F ---------- Restore Factory Settings and Calibration
T ---------- Restore Internal Settings and Alignment
R ---------- Reboot SBG Ellipse-A AHRS
X ---------- Exit

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SZ - Zero Out Keller30 Pressure

Purpose Zeros the pressure sensor.
Format SZ
Default N/A

Use as needed.

Description This command zeros the Keller30 pressure sensor at the specific location where the DVL
will be used.

If the pressure sensor is not installed, using the SZ command will generate the following error.
>sz
Keller 30 Pressure was NOT zeroed ...

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Timing Commands
These commands set the timing of various profiling functions.

Available Timing Commands

This section lists the available Timing commands.
>T?
Available Commands:

TE 00:00:00.00 ------------ Time Between Ensembles

TF --/--/--,--:--:-- ------ Set First Ping Time (yy/mm/dd,hh:mm:ss)
TP 00:00.00 --------------- Time Between Pings
TS 15/04/21,10:15:59.14 --- Set System Date and Time
TT 2015/04/21,10:15:59.14 - Set System Date and Time (4-digit year)
T? ------------------------ Display T-Command Menu

TE – Time Per Ensemble

Purpose Sets the minimum interval between data collection cycles (data ensembles).
Format TE hh:mm:ss.ff
Range hh = 00 to 23 hours
mm = 00 to 59 minutes
ss = 00 to 59 seconds
ff = 00 to 99 hundredths of seconds
Default TE 00:00:00.00

Set as needed.

Description During the ensemble interval set by TE, the Tasman transmits the number of pings set by
the WP-command (see WP – Pings Per Ensemble). If TE = 00:00:00.00, the Tasman starts
collecting the next ensemble immediately after processing the previous ensemble.
Example TE01:15:30.00 tells the Tasman to collect data ensembles every 1 hour, 15 minutes, 30
seconds.

1. The Tasman automatically increases TE if (WP x TP > TE).

2. The time tag for each ensemble is the time of the first ping of that ensemble.

TF – Time of First Ping

Purpose Sets the time the Tasman starts data collection.
Format TF yy/mm/dd, hh:mm:ss
Range yy = year 00-99
mm = month 01-12
dd = day 01-31 (leap years are accounted for)
hh = hour 00-23
mm = minute 00-59
ss = second 00-59
Description The TF command delays the start of data collection. The Tasman can be deployed in the
Standby mode and have it automatically start data collection at a preset time. When the
command is given to the Tasman to start pinging, TF is tested for validity. If valid, the

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Tasman sets its alarm clock to TF, goes to sleep, and waits until time TF before beginning
the data collection process.
Example If the exact time of the first ping needs to be on November 23, 2018 at 1:37:15 pm, enter
TF 18/11/23, 13:37:15. If the Tasman 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 Tasman, the CS command also must be sent
before deploying the Tasman.
2. If the entry is not valid, the Tasman sends an error message and does not update the wake-
up time.
3. Sending a <BREAK> 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 TP mm:ss.ff
Range mm = 00 to 59 minutes
ss = 00 to 59 seconds
ff = 00 to 99 hundredths of seconds
Default TP 00:00.00

Set as needed.

Description The Tasman interleaves individual pings within a group so they are evenly spread
throughout the ensemble.
During the ensemble interval set by TE, the Tasman transmits the number of pings set by
the WP and BP commands (see WP – Pings Per Ensemble and BP – Bottom Track Pings per
Ensemble). TP determines the spacing between the pings. If TP = 0, the Tasman pings as
quickly as it can based on the time it takes to transmit each ping plus the overhead that
occurs for processing. Several commands determine the actual ping time WF – Blank after
Transmit, WN – Number of Depth Cells, WS – Depth Cell Size, and actual water depth).
Example TP 00:00.10 sets the time between pings to 0.10 second.

The Tasman automatically increases TE if (WP x TP) > TE.

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TS – Set Real-Time Clock

Purpose Sets the Tasman’s internal real-time clock.
Format TS yy/mm/dd, hh:mm:ss
Range 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.

Example TS 18/06/17, 13:15:00 sets the real-time clock to 1:15:00 pm, June 17, 2018.

1. When the Tasman 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 Tasman sends an error message and does not update the real-
time clock.

TT – Set Real-Time Clock (Y2k Compliant)

Purpose Sets the Tasman’s internal real-time clock.
Format TT ccyy/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.

Example TT 2018/06/17, 13:15:00 sets the real-time clock to 1:15:00 pm, June 17, 2018.

1. When the Tasman receives the carriage return after the TT-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 Tasman sends an error message and does not update the real-
time clock.

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Water Profiling Commands

These commands define the criteria used to collect the water-profile data.

Available Water Profiling Commands

This section lists the available Water Profiling commands.
>W?
Available Commands:

WA 050 -------------------- False Target Amplitude Threshold [0-255]

WB 1 ---------------------- Bandwidth 0=Wide, 1=Narrow
WC 064 -------------------- Correlation Threshold [0-255]
WD 111110000 -------------- Data Out {v;c;a;p;s;*;*;*;*}
WE 2000 ------------------- Error Velocity Threshold (mm/s)
WF 0088 ------------------- Blanking Distance [0-9999cm]
WJ 1 ---------------------- BroadBand Rcvr Gain [0=Lo,1=Hi]
WN 030 -------------------- Number of Bins [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 rate). Smaller bandwidths allow the Tasman to
profile farther, but the standard deviation is increased by as much as 2.5 times.
Format WB n
Range n = 0 (Wide - Not Allowed), 1 (Narrow)
Default WB 1

The default setting for this command is recommended for most applications.

Description See table below.

Table 23. Bandwidth Control
Bandwidth Sample rate Data variance Profiling range

0 = Wide (25%) Not Allowed Not Allowed Not Allowed

1 = Narrow (6.25%) Low High High

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WD – Data Out
Purpose Selects the data types collected by the Tasman.
Format WD abc def ghi
Range Firmware switches (see description)
Default WD 111 110 000

The default setting for this command is recommended for most applications.

Description WD uses firmware switches to tell the Tasman the types of data to collect. The Tasman
always collects header data, fixed and variable leader data, and checksum data. Setting a
bit to one tells the Tasman to collect that data type. The bits are described as follows:

a = Velocity d = Percent good g = Reserved

b = Correlation e = Status h = Reserved
c = Echo Intensity f = Reserved I = Reserved
Example WD 111 100 000 (default) tells the Tasman to collect velocity, correlation magnitude, echo
intensity, percent-good and status.
1. Each bit can have a value of one or zero. Setting a bit to one means output data, zero
means suppress data.
2. If WP = zero, the Tasman 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 WF nnnn
Range nnnn = 0 to 9999 cm
Default WF 0176 (300 kHz), WF 0088 (600 kHz)

The default setting for this command is recommended for most applications.

Description WF positions the start of the first depth cell at some vertical distance from the transducer
head. This allows the Tasman transmit circuits time to recover before beginning the re-
ceive cycle. In effect, WF blanks out bad data close to the transducer head, thus creating a
depth window that reduces unwanted data in the ensemble.

1. The distance to the middle of depth cell #1 is a function of WF, WS – Depth Cell Size, and
speed of sound. The fixed leader data contains this distance.
2. Small WF values may show ringing/recovery problems in the first depth cells that cannot be
screened by the Tasman.

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WN – Number of Depth Cells

Purpose Sets the number of depth cells over which the Tasman collects data.
Format WN nnn
Range nnn = 001 to 255 depth cells
Default WN 030

Set as needed.

Description The range of the Tasman 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. Those bins not processed will be marked invalid when output.

WP – Pings per Ensemble

Purpose Sets the number of pings to average in each data ensemble.
Format WP nnnnn
Range nnnnn = 0 to 16384 pings
Default WP 000

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 Tasman does not collect water-profile data.

2. The Tasman automatically extends the ensemble interval TE – Time Per Ensemble) if
(WP+BP) x TP > TE.

WS – Depth Cell Size

Purpose Selects the volume of water for one measurement cell.
Format WS nnnn
Range WS 50 to WS 800 (300 kHz), WS 10 to WS 400 (600 kHz)
Default WS 0400 (300 kHz), WS 0200 (600 kHz)

The default setting for this command is recommended for most applications.

Description The Tasman collects data over a variable number of depth cells. WS sets the size of each
cell in vertical centimeters.

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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 WV 383

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 (Tasman motion plus wa-
ter speed). The following formula is used to determine the setting of the WV command:
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 Tasman horizontal velocity (vessel velocity) is 250 cm/s (≈5 kt)
and the maximum expected horizontal water velocity is 100 cm/s, set WV to
([250+100]*0.5*1.2=) 210 cm/s.

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Expert Water Profiling Command Descriptions

This section lists the expert Water Profiling commands. Commands that start with the # sign are consid-
ered “expert” commands.
>#W?
Available Commands:

#WA 050 -------------------- False Target Amplitude Threshold [0-255]

#WC 064 -------------------- Correlation Threshold [0-255]
#WE 2000 ------------------- Error Velocity Threshold (mm/s)
#WJ 1 ---------------------- BroadBand Rcvr Gain [0=Lo,1=Hi]
#WT 0000 ------------------- Transmit Length (cm)
#WX 0 ---------------------- Set single-beam transmit mode
#W? ------------------------ Display #W-Command Menu

#WA – False Target Threshold Maximum

Purpose Sets a false target (fish) filter.
Format #WA nnn

The WA command works with or without the # sign. For example, using WA or #WA are both
valid commands.

Range nnn = 0 to 255 counts (255 disables this filter)

Default #WA 050

The default setting for this command is recommended for most applications.

Description The Tasman uses the #WA-command to screen water-track data for false targets (usually
fish). #WA sets the maximum difference between echo intensity readings among the four
profiling beams. If the #WA threshold value is exceeded, the Tasman rejects velocity 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). This usually oc-
curs when fish pass through one or more beams.

A #WA value of 255 turns off this feature.

#WC – Low Correlation Threshold

Purpose Sets the minimum threshold of water-track data that must meet the correlation criteria
for profile and water mass mode (see BK - Water-Mass Layer Mode).
Format #WC nnn

The WC command works with or without the # sign. For example, using WC or #WC are both
valid commands.

Range nnn = 0 to 255 counts

Default #WC 64

The default setting for this command is recommended for most applications.

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Description The Tasman uses #WC to screen water-track data for the minimum acceptable correla-
tion requirements. The nominal (maximum) correlation depends on system frequency
and depth cell size (WS – Depth Cell Size). The #WC command sets the threshold of the
correlation below, which the Tasman flags the data as bad and does not average the data
into the ensemble.

The default threshold for all frequencies is 64 counts. A solid target would have a correlation
of 255 counts.

#WE – Error Velocity Threshold

Purpose Sets the maximum error velocity for good water-current data.
Format WE nnnn

The WE command works with or without the # sign. For example, using WE or #WE are both
valid commands.

Range nnnn = 0 to 5000 mm/s

Default #WE 2000

The default setting is set purposely high. We recommend 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 Tasman’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. Setting the #WE command to zero (#WE0) disables error veloc-
ity screening.

#WJ – Receiver Gain Select

Purpose Allows the Tasman to reduce receiver gain by 40 dB for profile and water mass mode (see
BK - Water-Mass Layer Mode).
Format #WJ n

The WJ command works with or without the # sign. For example, using WJ or #WJ are both
valid commands.

Range n = 0 (low), 1 (high)

Default #WJ 1

The default setting for this command is recommended for most applications.

Description #WJ 0 tells the Tasman to reduce receiver gain by 40 dB. This may increase data reliabil-
ity in shallow-water applications where there is a high content of backscatter material.
#WJ 1 (the default) uses the normal receiver gain.

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#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 #WT nnnn

The WT command works with or without the # sign. For example, using WT or #WT are both
valid commands.

Range nnnn = 0 to 3200 cm

Default #WT 0000

The default setting for this command is recommended for most applications.

Description When #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.

Range n = 0 to 4
Default #WX 0

Use this command only for debugging and testing. The default setting for this command is
recommended for most applications.

Description Use this command only for debugging and testing. #WX 0 (default) disables the feature
and transmits on all beams normally. #WX 1 to 4 selects one beam that will transmit,
while data will be received on all four beams.

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NOTES

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Chapter 8
OUTPUT DATA FORMAT

This chapter covers:

• Choosing a Data Format
• PD0 Output Data Format
• Special Output Data Formats PD4, PD5, PD6, and PD13
• NMEA Output Data Formats PD11 and PD26
• External Sensor Suite Interface Descriptions

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Choosing a Data Format

The Tasman can output data in several user selectable formats using the PD command (see PD - Data
Stream Select). Depending on the output format selected, data will be either binary or ASCII text.
Binary Output Data Format
Use the binary format (CFxx1xx) when recording/processing Tasman data on an external device. The bi-
nary format uses less storage space and has a faster transmission time than the Hex ASCII format. A
dumb terminal is of little use in binary format because the terminal interprets some of the data as control
characters.

All of TRDI’s software supports binary PD0 formatted data only.

Hexadecimal-ASCII Output Data

Use the hexadecimal-ASCII (Hex ASCII) format (CFxx2xx) when viewing raw Tasman data on a com-
puter/dumb terminal. This format uses the standard ASCII codes for 0 through F to represent numeric
values as hexadecimal digits. 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 Tasman sends data
in one line of ASCII characters. There are no carriage returns and/or line feed sequences (CR/LF) sent
from the Tasman. The CRT provides a CR/LF after 60 characters.

Hex ASCII PD0 data is not supported by TRDI’s software.

When operating in HEX mode, all console text appears in HEX - including 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 PD6.
Deciding on which format to use depends on the needs of the deployment. The following describes the ba-
sics of the formats available.
• PD0 – PD0 is Teledyne RD Instrument’s standard format. PD0 is a binary output format. It pro-
vides the most information possible including a header, fixed and variable leader, bottom track,
and water profile information. The fixed and variable leader is a recording of time, DVL setup,
orientation, heading, pitch, roll, temperature, pressure, and self-test diagnostic results. Data
fields to be output are user selectable. PD0 has distance made good in the output if the Bottom
Track High Resolution Velocity Output Format is selected. This format is selected via the #BJ
command (see BJ – Data Type Output Control).

The Bottom Track High Resolution Velocity (5803h) and Navigation Parameters Data (2013h)
blocks provide aid in the velocity measurement resolution and quality information for use in
an Extended Kalman Filter (EKF) Inertial Navigation System (INS) solution.

• PD4 – PD4 is a binary output format of bottom track speed over the bottom, speed through the
water, and range to bottom information.
• PD5 – PD5 is a superset of PD4 and includes information on salinity, depth, pitch, roll, heading,
and distance made good.

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• PD6 – PD6 is a text output format. Data is grouped into separate sentences containing system at-
titude data, timing and scaling, and speed through the water relative to the instrument, vehicle,
and earth. Each sentence contains a unique starting delimiter and comma delimited fields. If PD6
is selected, there is no data written to the recorder.
• PD11 is a text output format. It complies with the NMEA 0183 version 2.30 standard.
• PD13 - PD13 outputs like PD6, except it adds Pressure and Range-to-bottom for all four beams
and omits the System Health Monitor Data line.
• PD26 - The PD26 format includes the $VMVBW, $VMDBT, and $VMVLW NMEA Speed Log For-
mats.
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.
Table 24. Summary of Output Data Formats
PD0 PD4 PD5 PD6 PD11 PD13 PD26
System Info   
Temperature     
Depth      
Pressure 
Tilts (H,P,R)     
Time of Ping     
Speed of Sound     
Water Profile Configura- 
tion
Water Profile Velocities 
Correlation Magnitude 
Echo Intensity 
Percent Good 
Bottom Range       
Bottom Velocity (SOG*)      
Water-Mass Layer Ve-     
locity (STW*)
Bottom Track Configura- 
tion
Distance Over Ground  see note    
Sea-Bird

Binary   
ASCII  
NMEA  
Serial Output       
Recorded on PC Card PD0 PD4 PD5 None None 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 – Coordinate Transformation command and Beam Coordinate
Systems for details.
• If Beam 3 is going forward, then the Y velocity is negative.
• If Beam 2 is going forward, then X velocity is negative.
• If the bottom is going towards the face of a down facing DVL, then Z is negative.

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The PD0 Bottom Track High Resolution Velocity Output (velocity in 0.01mm/s) and PD3
through PD26 data formats assume that the bottom is stationary and that the DVL or vessel is
moving.
• If Beam 3 is going forward, then the Y velocity is positive.
• If Beam 2 is going forward, then X velocity is positive.
• If the bottom is going towards the face of a down facing DVL, then Z is positive.

PD0 has distance made good in the output if the Bottom Track High Resolution Velocity
Output Format is selected. This format is selected via the #BJ command (see BJ – Data Type
Output Control).

PD0 Output Data Format

The following description is for the standard PD0 Tasman output data format. Figure 22 through Figure
36 shows the ASCII and binary data formats for the Tasman PD0 mode. Table 25 through Table 52 defines
each field in the output data structure.
The binary output data formats are composed of at least one data type, i.e. a group of bytes all related by
their dynamic or field. For instance in the PD0 data format, variables that do not change during the de-
ployment are stored in the Fixed Leader data type of leader ID 0000h, whereas the dynamic variables, ex-
cept velocities, which dynamically change during the deployment are stored under the Variable Leader data
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 Tasman 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 is 7F7Fh, which makes it easy to detect. In the PD0 Header are the number of bytes in
the ensemble, the number of data types and the offset respective to each data type location in the binary
ensemble.
PD0 is the only binary output data format which provides a Header that describes the data included in the
ensemble since some data types presence in the PD0 output are dependent on commands parameters. For
example, if the number of Bottom Track pings is 0 (BP0), then there will be no Bottom track data type in
the ensemble. The table below shows which data types are always output against command dependable
data types:

Output ID (MSB LSB) Description

HEADER
7F 7Fh
(6 BYTES + [2 x No. OF DATA TYPES])
FIXED LEADER DATA
ALWAYS OUTPUT 00 00h
(58 BYTES)
VARIABLE LEADER DATA
00 80h
(77 BYTES)
VELOCITY
01 00h
(2 BYTES + 8 BYTES PER DEPTH CELL)
WATER PROFILING CORRELATION MAGNITUDE
DATA 02 00h
(2 BYTES + 4 BYTES PER DEPTH CELL)
WD command ECHO INTENSITY
03 00h
WP command (2 BYTES + 4 BYTES PER DEPTH CELL)
PERCENT GOOD
04 00h
(2 BYTES + 4 BYTES PER DEPTH CELL)

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BOTTOM TRACK DATA

06 00h
(81 BYTES)
BOTTOM TRACK COMMAND OUTPUT
58 00h
(43 BYTES)
BP command BOTTOM TRACK HIGH RESOLUTION VELOCITY
58 03h
#BJ command (70 BYTES)
BOTTOM TRACK RANGE
58 04h
(41 BYTES)
NAVIGATION PARAMETERS DATA
20 13h
(85 BYTES)
ENVIRONMENT COMMAND PARAMETERS OUTPUT
30 00h
(47 BYTES)
#EE command
SENSOR SOURCE FOR DOPPLER PROCESSING
30 01h
(62 BYTES)
STATUS
54 1Ch
(24 BYTES)
IMU DATA
54 1Dh
(60 BYTES)
SD command
EULER Data
54 1Eh
(34 BYTES)
SHIP MOTION
54 1Fh
(48 BYTES)
CHECKSUM
ALWAYS OUTPUT
(2 BYTES)
Figure 21. PD0 Standard Output Data Buffer Format

The Tasman always sends the Least Significant Byte (LSB) first.

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
space is 968 bytes per ensemble. There are seven data types output for this example: Fixed Leader, Varia-
ble Leader, Velocity, Correlation Magnitude, Echo Intensity, Percent Good, and Bottom Track.
20 BYTES OF HEADER DATA (6 + [2 x 7 Data Types])
58 BYTES OF FIXED LEADER DATA (FIXED)
77 BYTES OF VARIABLE LEADER DATA (FIXED)
242 BYTES OF VELOCITY DATA (2 + 8 x 30)
122 BYTES OF CORRELATION MAGNITUDE DATA (2 + 4 x 30)
122 BYTES OF ECHO INTENSITY (2 + 4 x 30)
122 BYTES OF PERCENT-GOOD DATA (2 + 4 x 30)
122 BYTES OF PROFILE STATUS DATA (2 + 4 x 30)
81 BYTES OF BOTTOM TRACK DATA (FIXED)
2 BYTES OF CHECKSUM DATA (FIXED)
968 BYTES OF DATA PER ENSEMBLE

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Header Data Format

BIT POSITIONS
BYTE 7 6 5 4 3 2 1 0
1 HEADER ID (7Fh)
2 DATA SOURCE ID (7Fh)
3 LSB
NUMBER OF BYTES IN ENSEMBLE
4 MSB
5 SPARE
6 NUMBER OF DATA TYPES
7 LSB
OFFSET FOR DATA TYPE #1
8 MSB
9 LSB
OFFSET FOR DATA TYPE #2
10 MSB
11 LSB
OFFSET FOR DATA TYPE #3
12 MSB

↓ (SEQUENCE CONTINUES FOR UP TO N DATA TYPES) ↓

2N+5 LSB
OFFSET FOR DATA TYPE #N
2N+6 MSB
See Table 25 for a description of the fields.
Figure 22. Binary Header Data Format

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Header information is the first item sent by the Tasman to the output buffer. The Tasman always sends
the Least Significant Byte (LSB) first.

Table 25. Header Data Format

Hex Digit Binary Field Description
Byte
1,2 1 HDR ID / Header Stores the header identification byte (7Fh).
ID
3,4 2 HDR ID / Data Stores the data source identification byte (7Fh for the Tasman).
Source ID
5-8 3,4 Bytes / Number This field contains the number of bytes from the start of the current
of bytes in en- ensemble up to, but not including, the 2-byte checksum (Figure 36).
semble
9,10 5 Spare 3-byte checksum offset, which would allow the output of a very
large data type in the PD0 message, although no data type can start
beyond the reach of a 16-bit offset word in the header.
11,12 6 No. DT / Num- This field contains the number of data types selected for collection.
ber of Data By default, fixed/variable leader, velocity, correlation magnitude,
Types echo intensity, and percent good are selected 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 This field contains the internal memory address offset where the
for Data Type #1 Tasman will store information for data type #1 (with this firmware,
/ Offset for Data always the Fixed Leader). Adding “1” to this offset number gives the
Type #1 absolute Binary Byte number in the ensemble where Data Type #1
begins (the first byte of the ensemble is Binary Byte #1).
17-20 9,10 Address Offset This field contains the internal memory address offset where the
for Data Type #2 Tasman will store information for data type #2 (with this firmware,
/ Offset for Data always the Variable Leader). Adding “1” to this offset number gives
Type #2 the absolute Binary Byte number in the ensemble where Data Type
#2 begins (the first byte of the ensemble is Binary Byte #1).
21-24 thru 11,12 Address Offsets These fields contain internal memory address offset where the Tas-
2n+13 to thru for Data Types man will store information for data type #3 through data type #n.
2n+16 2n+5, #3-n / Offset for Adding “1” to this offset number gives the absolute Binary Byte
2n+6 Data Type #3 number in the ensemble where Data Types #3-n begin (first byte of
through #n ensemble is Binary Byte) #1).

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Fixed Leader Data Format

BIT POSITIONS
BYTE 7 6 5 4 3 2 1 0
1 FIXED LEADER ID LSB 00h
2 MSB 00h
3 CPU F/W VER.
4 CPU F/W REV.
5 LSB
SYSTEM CONFIGURATION
6 MSB
7 REAL/SIM FLAG
8 LAG LENGTH
9 NUMBER OF BEAMS
10 NUMBER OF CELLS
11 LSB
PINGS PER ENSEMBLE
12 MSB
13 LSB
DEPTH CELL LENGTH
14 MSB
15 LSB
BLANK AFTER TRANSMIT
16 MSB
17 PROFILING MODE
18 LOW CORR THRESH
19 NO. CODE REPS
20
21 LSB
ERROR VELOCITY MAXIMUM
22 MSB
23 TPP MINUTES
24 TPP SECONDS
25 TPP HUNDREDTHS
26 COORDINATE TRANSFORM
27 HEADING ALIGNMENT LSB
28 MSB

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BIT POSITIONS
BYTE 7 6 5 4 3 2 1 0
29 LSB
HEADING BIAS
30 MSB
31 SENSOR SOURCE
32 SENSORS AVAILABLE
33
BIN 1 DISTANCE
34
35 LSB
XMIT PULSE LENGTH
36 MSB
37 LSB
SPARE
38 MSB
39 FALSE TARGET THRESH
40 INPUT TRIGGER ENABLE
41 LSB
TRANSMIT LAG DISTANCE
42 MSB
43 LSB
↓ SPARE ↓
50 MSB
51 LSB
SYSTEM BANDWIDTH
52 MSB
53 SPARE
54 SPARE
55 LSB
↓ System Serial Number ↓
58 MSB
See Table 26 for a description of the fields
Figure 23. Fixed Leader Data Format

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Fixed Leader data refers to the non-dynamic Tasman data that only changes when certain commands are
changed. Fixed Leader data also contains hardware information. The Tasman always sends Fixed Leader
data as output data (LSBs first).

Table 26. Fixed Leader Data Format

Hex Digit Binary Field Description
Byte
1-4 1,2 FID / Fixed Stores the Fixed Leader identification word (00 00h).
Leader ID
5,6 3 fv / CPU F/W Contains the version number of the CPU firmware.
Ver.
7,8 4 fr / CPU F/W Contains the revision number of the CPU firmware.
Rev.
9-12 5,6 Sys Cfg / System This field defines the Tasman hardware configuration. Convert this
Configuration field (2 bytes, LSB first) to binary and interpret as follows.
LSB
BITS 7 6 5 4 3 2 1 0
- - - - - 0 0 0 75-kHz SYSTEM
- - - - - 0 0 1 150-kHz SYSTEM
- - - - - 0 1 0 300-kHz SYSTEM
- - - - - 0 1 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 - - - - 5-BM JANUS CFIG.(2 DEMD)
Example: Hex 5249 (i.e., hex 49 followed by hex 52) identifies a
150-kHz system, convex beam pattern, down-facing, 30E beam an-
gle, 5 beams (3 demods).
13,14 7 PD / Real/Sim This field is set by default as real data (0).
Flag
15,16 8 Lag Length Lag Length. The lag is the time period between sound pulses.
17,18 9 #Bm / Number Contains the number of beams used to calculate velocity data (not
of Beams physical beams). The Tasman needs only three beams to calculate
water-current velocities. The fourth beam provides an error velocity
that determines data validity. If only three beams are available, the
Tasman does not make this validity check. Table 31 (Percent-Good
Data Format) has more information.

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Table 26. Fixed Leader Data Format

Hex Digit Binary Field Description
Byte
19,20 10 WN / Number Contains the number of depth cells over which the Tasman collects
of Cells data (WN – Number of Depth Cells).
Scaling: LSD = 1 depth cell; Range = 1 to 255 depth cells
21-24 11,12 WP / Pings Per Contains the number of pings averaged together during a data en-
Ensemble semble (WP – Pings Per Ensemble). If WP = 0, the Tasman does not
collect the WD water-profile data. Note: The Tasman automatically
extends the ensemble interval (TE) if the product of WP and time
per ping (TP) is greater than TE (i.e., if WP x TP > TE).
Scaling: LSD = 1 ping; Range = 1 to 16,384 pings
25-28 13,14 WS / Depth Cell Contains the length of one depth cell (WS – Depth Cell Size).
Length Scaling: LSD = 1 centimeter; Range = 1 to 1600 cm (52.5 feet)
29-32 15,16 WF / Blank after Contains the blanking distance used by the Tasman to allow the
Transmit transmit circuits time to recover before the receive cycle begins
(WF – Blank after Transmit).
Scaling: LSD = 1 centimeter; Range = 0 to 9999 cm (328 feet)
33,34 17 Signal Pro- Contains the Signal Processing Mode. This field will always be set to
cessing Mode 1.
35,36 18 WC / Low Corr Contains the minimum threshold of correlation that water-profile
Thresh 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 Contains the number of code repetitions in the transmit pulse.
reps Scaling: LSD = 1 count; Range = 0 to 255 counts
39,40 20 % Good Contains the minimum percentage of water-profiling pings in an en-
Minimum semble that must be considered good to output velocity data.
Scaling: LSD = 1 percent; Range = 1 to 100 percent
41-44 21,22 WE / Error Ve- This field, initially set by the WE-command, contains the actual
locity Threshold threshold value used to flag water-current data as good or bad. If
the error velocity value exceeds this threshold, the Tasman flags all
four beams of the affected bin as bad (see WE - Error Velocity
Threshold).
Scaling: LSD = 1 mm/s; Range = 0 to 5000 mm/s
45,46 23 Minutes These fields, set by the TP-command, contain the amount of time
47,48 24 Seconds between ping groups in the ensemble. NOTE: The Tasman auto-
matically extends the ensemble interval (set by TE) if
49,50 25 Hundredths
(WP x TP > TE). See TP – Time Between Pings.

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Table 26. Fixed Leader Data Format

Hex Digit Binary Field Description
Byte
51,52 26 EX / Coord Contains the coordinate transformation processing parameters (EX
Transform – Coordinate Transformation). These firmware switches indicate
how the Tasman collected data.
xxx00xxx =
NO TRANSFORMATION (BEAM COORDINATES)
xxx01xxx =
INSTRUMENT COORDINATES
xxx10xxx =
SHIP COORDINATES
xxx11xxx =
EARTH COORDINATES
xxxxx1xx =
TILTS (PITCH AND ROLL) USED IN SHIP
OR EARTH TRANSFORMATION
xxxxxx1x = 3-BEAM SOLUTION USED IF ONE BEAM IS
BELOW THE CORRELATION THRESHOLD SET
BY THE WC-COMMAND
xxxxxxx1 = BIN MAPPING USED
53-56 27,28 EA / Heading Contains a correction factor for physical heading misalignment (EA -
Alignment Heading Alignment).
Scaling: LSD = 0.01 degree; Range = -179.99 to 180.00 degrees
57-60 29,30 #EV / Heading Contains a correction factor for electrical/magnetic heading bias (EV
Bias - Heading Bias).
Scaling: LSD = 0.01 degree; Range = -179.99 to 180.00 degrees
61,62 31 EZ / Sensor Contains the selected source of environmental sensor data (EZ -
Source 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
xxxxxx1x = USES ET FROM TRANSDUCER TEMPERATURE
SENSOR
xxxxxxx1 = USES EU FROM TRANSDUCER TEMPERATURE
SENSOR

NOTE: If the field = 0, or if the sensor is not available, the Tasman

uses the manual command setting. If the field = 1, the Tasman uses
the reading from the internal sensor or an external synchro sensor
(only applicable to heading, roll, and pitch). Although a “2” in the
EZ-command string can be entered, the Tasman only displays a 0
(manual) or 1 (int/ext sensor).
63,64 32 Sensor Avail This field reflects which sensors are available. The bit pattern is the
same as listed for the EZ-command (above).
65-68 33,34 dis1 / Bin 1 dis- This field contains the distance to the middle of the first depth cell
tance (bin). This distance is a function of depth cell length (WS), the profil-
ing mode (WM), the blank after transmit distance (WF), and speed
of sound.
Scaling: LSD = 1 centimeter; Range = 0 to 65535 cm (2150 feet)

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Table 26. Fixed Leader Data Format

Hex Digit Binary Field Description
Byte
69-72 35,36 WT Xmit pulse This field, set by the WT-command (WT - Transmit Length), contains
length the length of the transmit pulse. When the Tasman receives a
<BREAK> signal, it sets the transmit pulse length as close as possible
to the depth cell length (WS – Depth Cell Size). This means the Tas-
man uses a WT command of zero. However, the WT field contains
the actual length of the transmit pulse used.
Scaling: LSD = 1 centimeter; Range = 0 to 65535 cm (2150 feet)
73,74 37,38 Spare Spare
75,76
77,78 39 #WA / False Tar- Contains the threshold value used to reject data received from a
get Threshold false target, usually fish (WA - False Target Threshold Maximum).
Scaling: LSD = 1 count; Range = 0 to 255 counts (255 disables)
79,80 40 CX/Input Trigger Contains the CX-command setting. Range = 0 to 5
Enable
81-84 41,42 LagD / Transmit This field, determined mainly by the setting of the WM-command,
lag distance contains the distance between pulse repetitions.
Scaling: LSD = 1 centimeter; Range = 0 to 65535 centimeters
85-100 43-50 Spare Spare
101-105 51-52 System Band- Contains the system bandwidth setting.
width Range = 0 to 1
106-107 53 Spare Spare
108-109 54 Spare Spare
110-119 55-58 System Serial System Serial Number
Number

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Variable Leader Data Format

BIT POSITIONS

BYTE 7 6 5 4 3 2 1 0

1 VARIABLE LEADER ID LSB 80h

2 MSB 00h

3 LSB
ENSEMBLE NUMBER
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 LSB
BIT RESULT
14 MSB

15 LSB
SPEED OF SOUND
16 MSB

17 LSB
DEPTH OF TRANSDUCER
18 MSB

19 LSB
HEADING
20 MSB

21 LSB
PITCH (TILT 1)
22 MSB

23 LSB
ROLL (TILT 2)
24 MSB

25 LSB
SALINITY
26 MSB

27 LSB
TEMPERATURE
28 MSB

29 MPT MINUTES
30 MPT SECONDS
31 MPT HUNDREDTHS

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BIT POSITIONS

BYTE 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 LSB

44
ERROR STATUS WORD (ESW)
45

46 MSB

47
SPARE
48

49 LSB

50
PRESSURE
51

52 MSB

53 LSB

54
PRESSURE SENSOR VARIANCE
55

56 MSB

57

↓ ↓
SPARE
↓ ↓

66

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BIT POSITIONS

BYTE 7 6 5 4 3 2 1 0

67 HEALTH STATUS
68 LSB
LEAK A COUNT
69 MSB
70 LSB
LEAK B COUNT
71 MSB
72 LSB
TX VOLTAGE
73 MSB
74 LSB
TX CURRENT
75 MSB
76 LSB
TRANSDUCER IMPEDANCE
77 MSB
Figure 24. Variable Leader Data Format
Variable Leader data refers to the dynamic Tasman data (from clocks/sensors) that change with each
ping. The Tasman always sends Variable Leader data as output data (LSBs first).

Table 27. Variable Leader Data Format

Hex Digit Binary Field Description
Byte
1-4 1,2 VID / Variable Stores the Variable Leader identification word (MSB=00h
Leader ID LSB=80h).
5-8 3,4 Ens / Ensemble This field contains the sequential number of the ensemble to
Number 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 5 RTC Year These fields contain the time from the Tasman’s real-time clock
11,12 6 RTC Month (RTC) that the current data ensemble began. The TS-command
13,14 7 RTC Day (TS – Set Real-Time Clock) initially sets the clock. The Tasman
15,16 8 RTC Hour does account for leap years.
17,18 9 RTC Minute
19,22 10 RTC Second
21,22 11 RTC Hundredths
23-24 12 Ensemble # MSB This field increments each time the Ensemble Number field (bytes
3, 4) “rolls over.” This allows ensembles up to 16,777,215. See En-
semble Number field above.

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Table 27. Variable Leader Data Format

Hex Digit Binary Field Description
Byte
25-28 13,14 BIT / BIT Result This field contains the results of the Tasman’s Built-in Test func-
tion. A zero code indicates a successful BIT result. See BIT Decod-
ing Method for non-zero values.
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
0x27 Bad Comms with sensor
0x28 Bad Comms with sensor
0x29 Sensor Cal Data checksum failure
0x2A Sensor Stream Data Fault

0x30 Stuck UART

0x31 QUART Transmit timeout
0x32 QUART IRQ Stuck
0x33 QUART Buffer stuck
0x34 QUART IRQ Active
0x35 QUART cannot clear interrupt

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 initialized.
0x82 Failed to update HEM data.
0x83 Failed to update HEM data.
0x84 Failed to read HEM time data.
0x85 Failed to read HEM pressure data.
0x86 Failed to read HEM SPI state.
0x87 Operating time over max.
0x88 Pressure reading over sensor limit.
0x89 Leak detected in sensor A.
0x8A Leak detected in sensor B.

0xFF Power failure

BIT Number of Errors byte 14

Number of BIT errors

29-32 15,16 EC / Speed of Contains either manual or calculated speed of sound information
Sound (EC - Speed of Sound).
Scaling: LSD = 1 meter per second; Range = 1400 to 1600 m/s

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Table 27. Variable Leader Data Format

Hex Digit Binary Field Description
Byte
33-36 17,18 ED / Depth of Contains the depth of the transducer below the water surface (ED
Transducer - Depth of Transducer). This value may be a manual setting or a
reading from a depth sensor.
Scaling: LSD = 1 decimeter; Range = 1 to 9999 decimeters
37-40 19,20 EH / Heading Contains the Tasman heading angle. This value may be a manual
setting (EH - Heading) or a reading from a heading sensor. The
variation angle from the EV command is added to heading before
output. The coordinate frame this data is referenced to is speci-
fied by the EH command.
Scaling: LSD = 0.01 degree; Range = 000.00 to 359.99 degrees
41-44 21,22 EP / Pitch (Tilt 1) Contains the Tasman pitch angle. This value may be a manual set-
ting (EP - Pitch and Roll Angles) or a reading from a tilt sensor.
Positive values mean that Beam #3 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 Tasman roll angle. This value may be a manual set-
ting (ER - Roll Angle) or a reading from a tilt sensor. For an up-fac-
ing Tasman system, positive values mean that Beam #2 is above
the earth’s horizontal while than Beam #1is below the earth’s
horizontal. For a down-facing Tasman system, positive values
mean that Beam #1 is above the earth’s horizontal and then
Beam #2 is below the earth’s horizontal. 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
49-52 25,26 ES / Salinity Contains the salinity value of the water at the transducer head (ES
– Salinity). This value may be a manual setting or a reading from a
conductivity sensor.
Scaling: LSD = 1 part per thousand; Range = 0 to 40
53-56 27,28 ET / Temperature Contains the temperature of the water at the transducer head.
This value may be a manual setting (ET - Temperature) or a read-
ing from a temperature sensor.
Scaling: LSD = 0.01 degree; Range = -5.00 to +40.00 degrees
57,58 29 MPT minutes This field contains the Minimum Pre-Ping Wait Time between
59,60 30 MPT seconds ping groups in the ensemble.
61,62 31 MPT hundredths
63,64 32 H/Hdg Std Dev These fields contain the standard deviation (accuracy) of the
65,66 33 P/Pitch Std Dev heading and tilt angles from the gyrocompass/pendulums.
67,68 34 R/Roll Std Dev Scaling (Heading): LSD = 1°; Range = 0 to 180° Scaling (Tilts):
LSD = 0.1°; Range = 0.0 to 20.0°

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Table 27. Variable Leader Data Format

Hex Digit Binary Field Description
Byte
69-70 35 ADC Channel 0 These fields contain the outputs of the Analog-to-Digital Con-
71-72 36 ADC Channel 1 verter (ADC). The ADC channels in the Tasman are defined as fol-
73-74 37 ADC Channel 2 lows:
75-76 38 ADC Channel 3 CHANNEL DESCRIPTION
77-78 39 ADC Channel 4 0 Not Used
1 Rounded voltage as measured during pinging
79-80 40 ADC Channel 5 2 Not Used
81-82 41 ADC Channel 6 3 Not Used
83-84 42 ADC Channel 7 4 Not Used
5 Not Used
6 Not Used
7 Not Used
Note that the ADC values may be “noisy” from sample-to-sample,
but are useful for detecting long-term trends.
85-86 43 Error Status Word Reserved for TRDI use.
87-88 44 Reserved for TRDI use.
89-90 45 Reserved for TRDI use.
91-92 46 Reserved for TRDI use.
93-96 47-48 Reserved Reserved for TRDI use.
97-104 49-52 Pressure Contains the pressure of the water at the transducer head rela-
tive to one atmosphere (sea level). Output is in deca-pascals.
Scaling: LSD=1 deca-pascal; Range=0 to 4,294,967,295 deca-pas-
cals
105-112 53-56 Pressure variance Contains the variance (deviation about the mean) of the pressure
sensor data. Output is in deca-pascals.
Scaling: LSD=1 deca-pascal; Range=0 to 4,294,967,295 deca-pas-
cals
113-114 57-66 Spare Spare
133-134 67 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.

BITS 07 06 05 04 03 02 01 00
* * * * * * * 1 Leak sensor A leak detected
* * * * * * 1 * Leak sensor A open circuit
* * * * * 1 * * Leak sensor B leak detected
* * * * 1 * * * Leak sensor B open circuit
* * * 1 * * * * Tx voltage updated
* * 1 * * * * * Tx current updated
* 1 * * * * * * Transducer impedance updated

135-138 68-69 Leak A Count Raw A/D reading, in counts, for leak sensor A. See PC5/50 com-
mand for more details on how to decode the raw A/D counts into
Leak Status.

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Table 27. Variable Leader Data Format

Hex Digit Binary Field Description
Byte
139-142 70-71 Leak B Count Raw A/D reading, in counts, for leak sensor B. See PC5/50 com-
mand for more 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 for more information.
Scaling: LSD = 0.001 ampere
(Value set to 0xFFFF if a valid reading is not available.)
151-154 76-77 Transducer Imped- Measured impedance of transducer, calculated by dividing volt-
ance age by current. See Transducer Voltage, Current, and Impedance
for more information.
Scaling: LSD = 0.001 ohm
(Value set to 0xFFFF if a valid reading is not available or for any
reading greater than 65.535 ohms.)

If there is more than one BIT error, then it will take several ensembles to output all the BIT
errors. For example, if there are 3 BIT errors detected, then the output will be Bytes13, 14 =
03,xx on ensemble n, Bytes13, 14 = 03,yy on ensemble n+1, and Bytes13, 14 = 03,zz on
ensemble n+2, where xx, yy, and zz are the three different error messages detected.

BIT Decoding Method

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.

BBCheck and BBConv are included with RDI Tools and are included on the Navigation
Software and Documentation CD.

In any case, one will obtain a decimal value greater than zero if a BIT was set during the ensemble.
To decode it, simply convert the decimal value to Hexadecimal and take the first number to the far left as
being the number of BIT failure occurrences during the ensemble and the 2 other numbers on the far right
to be the BIT code.
For example:
• BIT obtained from BBCheck or BBConv.exe is ‘290’.
• Converted to hexadecimal (one can use the Windows calculator for this) gives: ‘122’.
• Where ‘1’ is the number of occurrences for that BIT and ‘22’ is the BIT failure code which means
“Temperature Sensor failure” (see binary bytes 13 and 14).

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Transducer Voltage, Current, and Impedance

The Transmit Voltage, Transmit Current, and Transducer Impedance values output in the PD0 Variable
Leader are obtained from the Transducer Health Monitor measurement, which is part of the HEM features.
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 certain length in order to make a valid
measurement.

The measurement is not made during any profile ping or water mass layer ping. Therefore, if bottom
pings are not enabled (or not working), then the output of these parameters will be 0xFFFF (i.e. hex
FFFF) to mark them as invalid (Note that hex FFFF is equal to decimal 65535 if interpreted as an un-
signed number, or -1 if interpreted as a signed number).
If bottom pings are enabled, but the altitude never attains 20 m or above, then the outputs for these pa-
rameters will remain at their initial values of 0xFFFF.
If a bottom track ping ever sees an altitude >= 20 m then these parameters will be measured and output.
If the altitude then goes below 20 m, the output of these parameters will remain at their last measured
value; i.e. you need a bottom track ping with altitude >= 20 m to update these values.

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Velocity Data Format

BIT POSITIONS
BYTE 7/S 6 5 4 3 2 1 0
1 LSB 00h
VELOCITY ID
2 MSB 01h
3 LSB
DEPTH CELL #1, VELOCITY 1
4 MSB
5 LSB
DEPTH CELL #1, VELOCITY 2
6 MSB
7 LSB
DEPTH CELL #1, VELOCITY 3
8 MSB
9 LSB
DEPTH CELL #1, VELOCITY 4
10 MSB
11 LSB
DEPTH CELL #2, VELOCITY 1
12 MSB
13 LSB
DEPTH CELL #2, VELOCITY 2
14 MSB
15 LSB
DEPTH CELL #2, VELOCITY 3
16 MSB
17 LSB
DEPTH CELL #2, VELOCITY 4
18 MSB
↓ (SEQUENCE CONTINUES FOR UP TO 128 CELLS) ↓
1019 LSB
DEPTH CELL #128, VELOCITY 1
1020 MSB
1021 LSB
DEPTH CELL #128, VELOCITY 2
1022 MSB
1023 LSB
DEPTH CELL #128, VELOCITY 3
1024 MSB
1025 LSB
DEPTH CELL #128, VELOCITY 4
1026 MSB
See Table 28 for description of fields
Figure 25. Velocity Data Format

The number of depth cells is set by the WN-command (WN – Number of Depth Cells).

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The Tasman packs velocity data for each depth cell of each beam into a two-byte, two’s-complement inte-
ger [-32768, 32767] with the LSB sent first. The Tasman scales velocity data in millimeters per second
(mm/s). A value of –32768 (8000h) indicates bad velocity values.
All velocities are relative based on a stationary instrument. To obtain absolute velocities, algebraically re-
move the velocity of the instrument. For example,
RELATIVE WATER CURRENT VELOCITY: EAST 650 mm/s
INSTRUMENT VELOCITY : (-) EAST 600 mm/s
ABSOLUTE WATER VELOCITY : EAST 50 mm/s

The setting of the EX-command (Coordinate Transformation) determines how the Tasman references the
velocity data as shown below.
EX-CMD COORD SYS 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 28. Velocity Data Format

Hex Digit Binary Field Description
Byte
1-4 1,2 Velocity ID Stores the velocity data identification word (MSB=01h LSB=00h).
5-8 3,4 Depth Cell 1, Stores velocity data for depth cell #1, velocity 1. See above.
Velocity 1
9-12 5,6 Depth Cell 1, Stores velocity data for depth cell #1, velocity 2. See above.
Velocity 2
13-16 7,8 Depth Cell 1, Stores velocity data for depth cell #1, velocity 3. See above.
Velocity 3
17-20 9,10 Depth Cell 1, Stores velocity data for depth cell #1, velocity 4. See above.
Velocity 4
21-2052 11-1026 Cells 2 – 128 (if These fields store the velocity data for depth cells 2 through 128
used) (depending on the setting of WN – Number of Depth Cells). These
fields follow the same format as listed above for depth cell 1.

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Correlation Magnitude, Echo Intensity, Percent-

Good, and Status Data Format
BIT POSITIONS
BYTE 7/S 6 5 4 3 2 1 0
1 ID CODE LSB
2 MSB
3 DEPTH CELL #1, FIELD #1
4 DEPTH CELL #1, FIELD #2
5 DEPTH 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 29 through Table 32 for a description of the fields.
Figure 26. Correlation Magnitude, Echo Intensity, Percent-Good, and Status Data Format

The number of depth cells is set by the WN-command (WN – Number of Depth Cells).

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Correlation magnitude data give the magnitude of the normalized echo autocorrelation at the lag used for
estimating the Doppler phase change. The Tasman represents this magnitude by a linear scale between 0
and 255, where 255 is perfect correlation (i.e., a solid target). A value of zero indicates bad correlation val-
ues.

Table 29. Correlation Magnitude Data Format

Hex Digit Binary Field Description
Byte
1-4 1,2 ID Code Stores the correlation magnitude data identification word
(MSB=02h LSB=00h).
5,6 3 Depth Cell 1, Stores correlation magnitude data for depth cell #1, beam #1. See
Field 1 above.
7,8 4 Depth Cell 1, Stores correlation magnitude data for depth cell #1, beam #2. See
Field 2 above.
9,10 5 Depth Cell 1, Stores correlation magnitude data for depth cell #1, beam #3. See
Field 3 above.
11,12 6 Depth Cell 1, Stores correlation magnitude data for depth cell #1, beam #4. See
Field 4 above.
13 – 1028 7 – 514 Cells 2 – 128 (if These fields store correlation magnitude data for depth cells 2
used) 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 Tasman count. The Tasman does not directly check for
the validity of echo intensity data.

Table 30. Echo Intensity Data Format

Hex Digit Binary Field Description
Byte
1–4 1,2 ID Code Stores the echo intensity data identification word (MSB=03h
LSB=00h).
5,6 3 Depth Cell 1, Stores echo intensity data for depth cell #1, beam #1. See above.
Field 1
7,8 4 Depth Cell 1, Stores echo intensity data for depth cell #1, beam #2. See above.
Field 2
9,10 5 Depth Cell 1, Stores echo intensity data for depth cell #1, beam #3. See above.
Field 3
11,12 6 Depth Cell 1, Stores echo intensity data for depth cell #1, beam #4. See above.
Field 4
13 – 1028 7 – 514 Cells 2 – 128 (if These fields store echo intensity data for depth cells 2 through 128
used) (depending on WN – Number of Depth Cells) for all four beams.
These fields follow the same format as listed above for depth cell 1.

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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 Tasman references percent-good data as shown below.
EX-Command Coordinate Velocity 1 Velocity 2 Velocity 3 Velocity 4
System

Percentage Of Good Pings For:

00xxx Beam Beam 1 BEAM 2 BEAM 3 BEAM 4

EX-Command Coordinate Velocity 1 Velocity 2 Velocity 3 Velocity 4

System

Percentage Of:
01xxx Instrument 3-Beam Transformations More Than One 4-Beam
10xxx Ship Transformations Rejected Beam Bad In Bin Transformations
(note 1) (note 2)
11xxx Earth

Note 1. Because profile data did not exceed correlation threshold (WC command).
Note 2. Because the error velocity threshold was exceeded (WE command).

At the start of the velocity profile, the backscatter echo strength is typically high on all four beams. Under
this condition, the DVL uses all four beams to calculate the orthogonal and error velocities. As the echo
returns from far away depth cells, echo intensity decreases. At some point, the echo will be weak enough
on any given beam to cause the DVL to reject some of its depth cell data. This causes the DVL to calculate
velocities 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 collect velocities in BEAM coordinates, the example values show the percent-
age of pings having good solutions in cell 60 for each beam based on the Low Correlation Threshold (WC
command). Here, beam 1=50%, beam 2=5%, beam 3=0%, and beam 4=45%. These are neither typical nor
desired percentages. Typically, all four beams should be about equal and greater than 25%.
On the other hand, if velocities were collected in Instrument, Ship, or Earth coordinates, the example val-
ues show:
Field 1 – Percentage of good 3-beam solutions – Shows percentage of successful velocity calculations
(50%) using 3-beam solutions because the correlation threshold (WC command) was not exceeded.
Field 2 – Percentage of transformations rejected – Shows percent of error velocity (5%) that was less than
the WE command setting. WE has a default of 2000 mm/s. This large WE setting effectively prevents the
DVL from rejecting data based on error velocity.
Field 3 – Percentage of more than one beam bad in bin – 0% of the velocity data were rejected because
not enough beams had good data.
Field 4 – Percentage of good 4-beam solutions – 45% of the velocity data collected during the ensemble
for depth cell 60 were calculated using four beams.

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Table 31. Percent-Good Data Format

Hex Digit Binary Field Description
Byte
1-4 1,2 ID Code Stores the percent-good data identification word (MSB=04h
LSB=00h).
5,6 3 Depth cell 1, Field Stores percent-good data for depth cell #1, field 1.
1
7,8 4 Depth cell 1, Field Stores percent-good data for depth cell #1, field 2. See above.
2
9,10 5 Depth cell 1, Field Stores percent-good data for depth cell #1, field 3. See above.
3
11,12 6 Depth cell 1, Field Stores percent-good data for depth cell #1, field 4. See above.
4
13-1028 7-514 Depth cell 2 – 128 These fields store percent-good data for depth cells 2 through 128
(if used) (depending 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. This output is off by default (see the WD
command).

Table 32. Status Data Format

Hex Digit Binary Field Description
Byte
1-4 1,2 ID Code Stores the status data identification word (MSB=05h LSB=00h).
5,6 3 Depth cell 1, Field Stores status data for depth cell #1, beam #1.
1
7,8 4 Depth cell 1, Field Stores status data for depth cell #1, beam #2. See above.
2
9,10 5 Depth cell 1, Field Stores status data for depth cell #1, beam #3. See above.
3
11,12 6 Depth cell 1, Field Stores status data for depth cell #1, beam #4. See above.
4
13-1028 7-514 Depth cell 2 – 128 These fields store status data for depth cells 2 through 128 (de-
(if used) pending on the WN – Number of Depth Cells) for all four beams.
These fields follow the same format as listed above for depth cell 1.

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Binary Bottom Track Data Format

BIT POSITIONS
BYTE 7/S 6 5 4 3 2 1 0
1 LSB 00h
BOTTOM-TRACK ID
2 MSB 06h

3 LSB
BT PINGS PER ENSEMBLE
4 MSB

5 LSB
RESERVED
6 MSB

7 BT CORR MAG MIN

8 BT EVAL AMP MIN

9 RESERVED

10 BT MODE

11 LSB
BT ERR VEL MAX
12 MSB

13

14
RESERVED
15

16

17 LSB
BEAM#1 BT RANGE
18 MSB

19 LSB
BEAM#2 BT RANGE
20 MSB

21 LSB
BEAM#3 BT RANGE
22 MSB

23 LSB
BEAM#4 BT RANGE
24 MSB

25 LSB
BEAM#1 BT VEL
26 MSB

27 LSB
BEAM#2 BT VEL
28 MSB

29 LSB
BEAM#3 BT VEL
30 MSB

31 LSB
BEAM#4 BT VEL
32 MSB

33 BEAM#1 BT CORR.

34 BEAM#2 BT CORR.

35 BEAM#3 BT CORR.

36 BEAM#4 BT CORR.

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BIT POSITIONS
BYTE 7/S 6 5 4 3 2 1 0
37 BEAM#1 EVAL AMP

38 BEAM#2 EVAL AMP

39 BEAM#3 EVAL AMP

40 BEAM#4 EVAL AMP

41 BEAM#1 BT %GOOD

42 BEAM#2 BT %GOOD

43 BEAM#3 BT %GOOD

44 BEAM#4 BT %GOOD

45 LSB
REF LAYER MIN
46 MSB

47 LSB
REF LAYER NEAR
48 MSB

49 LSB
REF LAYER FAR
50 MSB

51 LSB
BEAM#1 REF LAYER VEL
52 MSB

53 LSB
BEAM #2 REF LAYER VEL
54 MSB

55 LSB
BEAM #3 REF LAYER VEL
56 MSB

57 LSB
BEAM #4 REF LAYER VEL
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

68 BM#2 REF %GOOD

69 BM#3 REF %GOOD

70 BM#4 REF %GOOD

71 LSB
BT MAX. DEPTH
72 MSB

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BIT POSITIONS
BYTE 7/S 6 5 4 3 2 1 0
73 BM#1 RSSI AMP

74 BM#2 RSSI AMP

75 BM#3 RSSI AMP

76 BM#4 RSSI AMP

77 GAIN

78 (*SEE BYTE 17)

79 (*SEE BYTE 19)

80 (*SEE BYTE 21)

81 (*SEE BYTE 23)

Figure 27. Binary Bottom Track Data Format

This data is output only if the BP-command is > 0 and PD0 is selected. See Table 33 for a
description of the fields.

The PD0 output data format assumes that the instrument is stationary and the bottom is
moving. Tasman (Speed Log) output data formats (see Special Output Data Formats) assume
that the bottom is stationary and that the Tasman 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.
Table 33. Bottom Track Data Format
Hex Digit Binary Field Description
Byte
1-4 1,2 ID Code Stores the bottom-track data identification word (MSB=06h
LSB=00h).
5-8 3,4 BP/BT Pings per Stores the number of bottom-track pings to average together in
ensemble each ensemble (BP – Bottom Track Pings per Ensemble). If BP = 0, the
Tasman does not collect bottom-track data. The Tasman automati-
cally extends the ensemble interval (TE – Time Per Ensemble) if BP x
TP > TE.
Scaling: LSD = 1 ping; Range = 1 to 999 pings
9-12 5,6 Reserved Reserved
13,14 7 BC/BT Corr Mag Stores the minimum correlation magnitude value (BC - Correlation
Min Magnitude Minimum).
Scaling: LSD = 1 count; Range = 0 to 255 counts
15,16 8 BA/BT Eval Amp Stores the minimum evaluation amplitude value (BA - Evaluation
Min Amplitude Minimum).
Scaling: LSD = 1 count; Range = 1 to 255 counts
17,18 9 Reserved Reserved
19,20 10 BM/BT Mode Stores the bottom-tracking mode.

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Table 33. Bottom Track Data Format

Hex Digit Binary Field Description
Byte
21-24 11,12 BE/BT Err Vel Max Stores the error velocity maximum value (BE - Error Velocity Maxi-
mum).
Scaling: LSD = 1 mm/s; Range = 0 to 5000 mm/s (0 = did not screen
data)
25-32 13–16 Reserved Reserved
33-48 17-24 BT Range/Beam Contains the two lower bytes of the vertical range from the Tasman
#1-4 BT Range 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 78 through 81
for MSB description and scaling.
Scaling: LSD = 1 cm; Range = 0 to 65535 cm
49-64 25-32 BT Velocity/Beam The meaning of the velocity depends on the coordinate system
#1-4 BT Vel command setting (EX – Coordinate Transformation).
For more information on coordinate transformations, see Beam Co-
ordinate Systems, page 23.
The four velocities are as follows:
a) Beam Coordinates: Beam 1, Beam 2, Beam 3, Beam 4
b) Instrument Coordinates: 1 2, 43, toward face, error
c) Ship Coordinates: Starboard, Fwd, Mast, Error
d) Earth Coordinates: 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 Contains the correlation magnitude in relation to the sea bottom
BT Corr. (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 Contains the evaluation amplitude of the matching filter used in de-
BT Eval Amp termining the strength of the bottom echo.
Scaling: LSD = 1 count; Range = 0 to 255 counts
81-88 41-44 BTPG/Beam #1-4 Contains bottom-track percent-good data for each beam, which in-
BT %Good dicate the reliability of bottom-track data. It is the percentage of
bottom-track pings that have passed the Tasman’s bottom-track va-
lidity algorithm during an ensemble.
Scaling: LSD = 1 percent; Range = 0 to 100 percent
89-92 45,46 Ref Layer (Min, Stores the minimum layer size, the near boundary, and the far
93-96 97 47,48 Near, Far) boundary of the bottom track water-reference layer (BL - Water-Mass
– 100 49,50 Layer Parameters).
Scaling (minimum layer size): LSD = 1 dm; Range = 1-999 dm
Scaling (near/far boundaries): LSD = 1 dm; Range = 6-9999 dm
101- 116 51-58 Ref Vel/Beam Contains velocity data for the water mass for each beam. Water
#1-4 Ref Layer Vel mass velocities have the same format and scale factor as water-pro-
filing velocities (Table 28). The BL-command explains the water
mass.

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Table 33. Bottom Track Data Format

Hex Digit Binary Field Description
Byte
117- 124 59-62 RLCM/Bm #1-4 Contains correlation magnitude data for the water mass for each
Ref Corr beam. Water mass correlation magnitudes have the same format
and scale factor as water-profiling magnitudes.
125- 132 63-66 RLEI/Bm #1-4 Ref Contains echo intensity data for the Water mass for each beam.
Int Water mass intensities have the same format and scale factor as
water-profiling intensities.
133- 140 67-70 RLPG/Bm #1-4 Ref Contains percent-good data for the water mass for each beam.
%Good They indicate the reliability of water mass data. It is the percentage
of bottom-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 Contains the Receiver Signal Strength Indicator (RSSI) value in the
Amp center of the bottom echo as determined by each beam.
Scaling: LSD ≈ 0.61 dB per count; Range = 0 to 255 counts
153, 154 77 GAIN Contains the Gain level for shallow water. See WJ - Receiver Gain
Select.
155-162 78-81 BT Range Contains the most significant byte of the vertical range from the
MSB/Bm #1-4 Tasman 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.
Scaling: LSD = 65,536 cm, Range = 65,536 to 16,777,215 cm

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Environmental Command Parameters Output

Format
BIT POSITIONS
BYTE 7 6 5 4 3 2 1 0

1 LSB 00h
FIXED ATTITUDE ID
2 MSB 30h

6 ATTITUDE OUTPUT COORDINATES and

PROCESSING CONTROL USING INTERPOLATED ATTITUDE
7 (#EE)
8

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

20

21 USER INPUT FOR PITCH, ROLL, and COORDINATE FRAME (#EP)

22

23

24 USER INPUT FOR UP/DOWN ORIENTATION (#EU)

25 USER INPUT FOR

26 HEADING BIAS/VARIATION/SYNCHRO OFFSET (#EV)

27

↓ SENSOR SOURCE (EZ) ↓

34

35
36
TRANSDUCER DEPTH (ED)
37
38

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BIT POSITIONS
BYTE 7 6 5 4 3 2 1 0

39 SALINITY (ES)

40
WATER TEMPERATURE (ET)
41

42
SPEED OF SOUND (EC)
43

44 COORDINATE TRANSFORMATION (EX)

45 3 BEAM SOLUTION (EX)

46 BIN MAP (EX)

47 MSB COORDINATE TRANSFORMATION (EX)

Figure 28. Environmental Command Parameters Output Format

Environmental Command Parameters correspond to the most useful “E” menu command parameters. The
Tasman will output Fixed Attitude data as output data (LSBs first). See Command Descriptions for detailed
descriptions of commands used to set these values.

Table 34. Environmental Command Parameters Output Format

Hex Binary Field Description
Digit Byte
1-4 1,2 FAID / Fixed Atti- Environmental Command Parameters Output word (MSB=30h,
tude ID LSB=00h).
5-20 3-10 Attitude Output Stores the setting of the #EE command; a user input for the Variable At-
Coordinates titude data to be output (EE - Environmental Data Output).
21,22 11 Reserved
23-27 12-13 Fixed Heading Stores the setting of the #EH command; a user input for heading (EH -
Scaling Heading).
28 14 Fixed Heading Co- Stores the setting of the #EH command coordinate frame: 1 is ship, 0 is
ordinate Frame instrument (EH - Heading).
29-32 15,16 Roll Misalignment Stores the setting of the #EI command; a user input for the roll misa-
lignment (EI - Roll Misalignment Angle).
33-36 17,18 Pitch Misalign- Stores the setting of the #EJ command; a user input for the pitch misa-
ment lignment (EJ - Pitch Misalignment Angle).
37-46 19-23 Pitch, Roll, and Stores the setting of the #EP command; a user input for the pitch, roll,
Coordinate Frame and coordinate (instrument or ship) frame (EP - Pitch and Roll Angles).
47,48 24 Orientation Stores the setting of the #EU command; a user input for the up/down
orientation (EU - Up/Down Orientation).
49-52 25,26 Heading Offset Stores the setting of the #EV command; a user input for the heading
offset due to heading bias, variation, or synchro initialization (EV -
Heading Bias).

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Table 34. Environmental Command Parameters Output Format

Hex 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).
69-76 35-38 Transducer Depth Stores the setting of the ED command; a user input defining depth of
the transducer (see ED - Depth of Transducer).
77-78 39 Salinity Stores the setting of the ES command; a user input defining the salinity
of the water (see ES – Salinity).
79-82 40,41 Water Temp Stores the setting of the ET command; a user input defining the temper-
ature of the water (see ET - Temperature).
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) transformations.
91-92 46 Bin Map Stores the setting of the fifth bit of the EX command that controls bin
mapping.
93-94 47 MSB of EX trans- Stores the setting of the left digit of the EX command that describes the
formation coordinate transformations.

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Bottom Track Command Output Format

BIT POSITIONS
BYTE 7 6 5 4 3 2 1 0

1. LSB 00h
BOTTOM TRACK COMMAND ID
2. MSB 58h

3. AMPLITUDE THRESHOLD
4. CORRELATION MAGNITUDE
5.
RESERVED
6.

7.
ERROR VELOCITY MAXIMUM
8.

9.
DEPTH GUESS
10.

11. RESERVED
12. GAIN SWITCH THRESHOLD LOW
13. GAIN SWITCH THRESHOLD HIGH
14.
GAIN SWITCH ALTITUDE
15.

16. WATER MASS LAYER MODE

17.
WATER MASS LAYER MIN SIZE
18.

19.
WATER MASS LAYER NEAR BOUNDARY
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.

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BIT POSITIONS
BYTE 7 6 5 4 3 2 1 0

30.
31.
32.
33. RESERVED
34.
35.
36.

37.
BT MAXIMUM TRACKING DEPTH
38.

39.
RESERVED
40.

41. TRANSMIT LENGTH

42.
RESERVED
43.

Figure 29. Bottom Track Command Output Data Format

This format is selected via the #BJ command (see BJ – Data Type Output Control).

Table 35. Bottom Track Command Output Data Format

Binary Field Description
Byte
1-2 ID Stores the bottom-track command identification word (MSB=58h LSB=00h)
3 Evaluation Amplitude Stores the setting of the BA command; Units are 1 to 255 counts (see #BA –
Evaluation Amplitude Minimum)
4 Correlation Magni- Stores the setting of the BC command; Units are 0 to 255 counts (see #BC –
tude Correlation Magnitude Minimum)
5-6 Reserved Reserved
7-8 Error Velocity Stores the setting of the BE command; Units are 0 to 9999 mm/s (see #BE –
Maximum Error Velocity Maximum)
9-10 Depth Guess Stores the setting of the BF command; Units are 1 to 65535 dm (0 for auto-
matic search) (see #BF – Depth Guess)
11 Reserved Reserved
12 Gain Threshold Low Stores the setting of the #BH command low threshold; Units are 0 to 255
counts (see #BH – Gain Switch Threshold)
13 Gain Threshold High Stores the setting of the #BH command high threshold; Units are 0 to 255
counts (see #BH – Gain Switch Threshold)
14-15 Gain Switch Altitude Stores the setting of the #BI command; Units are 0 to 25 meters (300 kHz), 0
to 3 meters (600 kHz) (see #BI – Gain Switch Altitude)

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Table 35. Bottom Track Command Output Data Format

Binary Field Description
Byte
16 Water Mass Layer Stores the setting of the #BK command; Setting are 0 to 3 [0=off, 1=WB,
Mode 2=LostB, 3=W] (see #BK – Water-Mass Layer Mode)
17-18 Water Mass Layer Stores the setting of the #BL command; Setting are 1 to 999 dm (see #BL –
Min Size Water-Mass Layer Parameters)
19-20 Water Mass Layer Stores the setting of the #BL command; Setting are 6 to 9999 dm (see #BL –
Near Boundary Water-Mass Layer Parameters)
21-22 Water Mass Layer Far Stores the setting of the #BL command; Setting are 7 to 9999 dm (see #BL –
Boundary Water-Mass Layer Parameters)
23 Bottom Track Mode Stores the setting of the #BM command; Setting are 8 or 9 (see #BM – Bot-
tom Mode)
24 Speed Log Hold Stores the setting of the #BN command; Hold Distance or zero if timeout
(see #BN – Speed Log Hold/Drop Control)
25-26 Speed Log Drop Stores the setting of the #BN command; Speed log time-out units in 0 to 999
Control seconds (see #BN – Speed Log Hold/Drop Control)
27 Speed Log Time Stores the setting of the #BO command; Settings are 0 to 100 (see #BO –
Constant Distance Measure Filter Constant)
28-29 Pings Per Ensemble Stores the setting of the BP command; Setting are 0 to 999 pings (see BP –
Bottom Track Pings per Ensemble)
30 - 36 Reserved Reserved
37-38 Maximum Tracking Stores the setting of the BX command; Setting are 10 to 65535 dm (see BX –
Depth Maximum Tracking Depth)
39 - 40 Reserved Reserved
41 Transmit Length Stores the setting of the #BY command; Setting are 0 to 100% (see #BY –
Transmit Length)
42-43 Reserved Reserved

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Bottom Track High Resolution Velocity Format

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

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

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BIT POSITIONS
BYTE 7 6 5 4 3 2 1 0
63.
64.
WATER MASS DISTANCE MADE GOOD 4
65.
66.
67.
68.
SPEED OF SOUND
69.
70.
Figure 30. Bottom Track High Resolution Velocity Output Format
The sign of the bottom track and water mass layer velocities in the Bottom Track High
Resolution Velocity Format indicate the direction the DVL or vessel is moving with respect to
a stationary bottom and is the opposite sign of the velocities in the Binary Bottom Track Data
Format.

This format is selected via the #BJ command (see BJ – Data Type Output Control).

Table 36. Bottom Track High Resolution Velocity Output Format

Binary Byte Field Description
1-2 ID PD0 ID (MSB=58h LSB=03h)
3-6 BT Velocity 1 Bottom Track Axis 1 Velocity in 0.01mm/s. Reference frame dependent on
EX – Coordinate Transformation.
7-10 BT Velocity 2 Bottom Track Axis 2 Velocity in 0.01mm/s. Reference frame dependent on
EX command.
11-14 BT 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 command.
27-30 BT DMG 3 Bottom Track Axis 3 Distance in 0.01mm made good. Reference frame de-
pendent on EX command.
31-34 BT DMG 4 Bottom Track Axis 4 Distance in 0.01mm made good. Reference frame de-
pendent on EX command.
35-38 WM Velocity Water Mass Axis 1 Velocity in 0.01mm/s. Reference frame dependent on EX
1 command.

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Table 36. Bottom Track High Resolution Velocity Output Format

Binary Byte Field Description
39-42 WM Velocity Water Mass Axis 2 Velocity in 0.01mm/s. Reference frame dependent on EX
2 command.
43-46 WM Velocity Water Mass Axis 3 Velocity in 0.01mm/s. Reference frame dependent on EX
3 command.
47-50 WM Velocity Water Mass Axis 4 Velocity in 0.01mm/s. Reference frame dependent on EX
4 command.
51-54 WM DMG 1 Water Mass Axis 1 Distance in 0.01mm made good. Reference frame 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 POSITIONS
BYTE 7 6 5 4 3 2 1 0

1. LSB 04h
BOTTOM TRACK RANGE ID
2. MSB 58h
3.
4.
Slant Range
5.
6.
7.
8.
Axis Delta Range
9.
10.
11.
12.
Vertical Range
13.
14.

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BIT POSITIONS
BYTE 7 6 5 4 3 2 1 0

15. % Good 4 Bm
16. % Good Bm 1&2
17. % Good Bm 3 & 4
18.
19.
BEAM 1 Raw Range
20.
21.
22.
23.
BEAM 2 Raw Range
24.
25.
26.
27.
BEAM 3 Raw Range
28.
29.
30.
31.
BEAM 4 Raw Range
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 31. Bottom Track Range Output Data Format

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This data type is output when selecting PD0 and the High Accuracy Bottom Track feature is installed (see
OL – Display Feature List) and then selected via the #BJ command (see BJ – Data Type Output Control).

Table 37. Bottom Track Range Output Data Format

Binary Bytes Field Description
1-2 ID PD0 ID (MSB=58h LSB=04h)
3-6 Slant Range Average range to bottom along the Z axis of the instrument frame, aver-
aged over the ensemble. Valid only for at least 2 beams good on axis; zero
is output for invalid data. Units are 0.1mm.
7-10 Axis Delta Difference in slant range between beam 1 & 2 estimate and beam 3 & 4
Range estimate averaged over the ensemble. Valid only for 4 beam good pings.
Units are 0.1mm.
11-14 Vertical Range Average vertical range (altitude) of bottom depth (accounting for instru-
ment tilt) over the ensemble. Zero is output if vertical range cannot be cal-
culated because less than three beams are good, etc. Units are 0.1mm.
15 % Good 4 Bm Percent Good 2 axis (4 Bm) slant range solutions.
16 % Good Bm Percent Good axis Bm 1 & 2 slant range solutions.
1&2
17 % Good Bm 3 Percent Good axis Bm 3 & 4 slant range solutions.
&4
18-21 BM 1 Raw Slant range to the bottom along beam 1 multiplied by cos(Janus), averaged
Range over the ensemble, even if fewer than 3 beams detect the bottom. Units
0.1mm
22-25 BM 2 Raw Slant range to the bottom along beam 2 multiplied by cos(Janus), averaged
Range over the ensemble, even if fewer than 3 beams detect the bottom. Units
0.1mm
26-29 BM 3 Raw Slant range to the bottom along beam 3 multiplied by cos(Janus), averaged
Range over the ensemble, even if fewer than 3 beams detect the bottom. Units
0.1mm
30-33 BM 4 Raw Slant range to the bottom along beam [n] multiplied by cos(Janus), aver-
Range aged over the ensemble, even if fewer than 3 beams detect the bottom.
Units 0.1mm
34 BM 1 Raw Maximum Bottom detection filter output in counts averaged over the en-
Max BT Filter semble for beam 1 even if less than 3 beams detecting bottom.
35 BM 2 Raw Maximum Bottom detection filter output in counts averaged over the en-
Max BT Filter semble for beam 2 even if less than 3 beams detecting bottom.
36 BM 3 Raw Maximum Bottom detection filter output in counts averaged over the en-
Max BT Filter semble for beam 3 even if less than 3 beams detecting bottom.
37 BM 4 Raw Maximum Bottom detection filter output in counts averaged over the en-
Max BT Filter semble for beam 4 even if less than 3 beams detecting bottom.
38 BM 1 Raw Bottom amplitude at measured range in counts, averaged over the ensem-
Max BT Amp ble, for beam 1 even if fewer than 3 beams detect the bottom. Amplitude
value corresponds to the middle of the bottom return.

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Table 37. Bottom Track Range Output Data Format

Binary Bytes Field Description
39 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. Amplitude
value corresponds to the middle of the bottom return.
40 BM 3 Raw Bottom amplitude at measured range in counts, averaged over the ensem-
Max BT Amp 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 Bottom amplitude at measured range in counts, averaged over the ensem-
Max BT Amp ble, for beam 4 even if fewer than 3 beams detect the bottom. Amplitude
value corresponds to the middle of the bottom return.

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Navigation Parameters Data Format

BIT POSITIONS
BYTE 7 6 5 4 3 2 1 0
1 LSB 13h
ID_NAV_PARAMS
2 MSB 20h
3 LSB
4
TIME-TO-BOTTOM BEAM 1
5
6 MSB
7 LSB
8
TIME-TO-BOTTOM BEAM 2
9
10 MSB
11 LSB
12
TIME-TO-BOTTOM BEAM 3
13
14 MSB
15 LSB
16
TIME-TO-BOTTOM BEAM 4
17
18 MSB
19 LSB
BOTTOM TRACK STANDARD DEVIATION BEAM 1
20 MSB
21 LSB
BOTTOM TRACK STANDARD DEVIATION BEAM 2
22 MSB
23 LSB
BOTTOM TRACK STANDARD DEVIATION BEAM 3
24 MSB
25 LSB
BOTTOM TRACK STANDARD DEVIATION BEAM 4
26 MSB
27 SHALLOW OPERATION FLAG
28 LSB
29
TIME-TO-WATER MASS LAYER BEAM 1
30
31 MSB

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BIT POSITIONS
BYTE 7 6 5 4 3 2 1 0
32 LSB
33
TIME-TO-WATER MASS LAYER BEAM 2
34
35 MSB
36 LSB
37
TIME-TO-WATER MASS LAYER BEAM 3
38
39 MSB
40 LSB
41
TIME-TO-WATER MASS LAYER BEAM 4
42
43 MSB
44 LSB
RANGE TO WATER MASS CELL
45 MSB
46 LSB
WATER TRACK STANDARD DEVIATION BEAM 1
47 MSB
48 LSB
WATER TRACK STANDARD DEVIATION BEAM 2
49 MSB
50 LSB
WATER TRACK STANDARD DEVIATION BEAM 3
51 MSB
52 LSB
WATER TRACK STANDARD DEVIATION BEAM 4
53 MSB
54 LSB
55
BOTTOM TRACK TIME OF VALIDITY BEAM 1
56
57 MSB
58 LSB
59
BOTTOM TRACK TIME OF VALIDITY BEAM 2
60
61 MSB

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BIT POSITIONS
BYTE 7 6 5 4 3 2 1 0
62 LSB
63
BOTTOM TRACK TIME OF VALIDITY BEAM 3
64
65 MSB
66 LSB
67
BOTTOM TRACK TIME OF VALIDITY BEAM 4
68
69 MSB
70 LSB
71
WATER TRACK TIME OF VALIDITY BEAM 1
72
73 MSB
74 LSB
75
WATER TRACK TIME OF VALIDITY BEAM 2
76
77 MSB
78 LSB
79
WATER TRACK TIME OF VALIDITY BEAM 3
80
81 MSB
82 LSB
83
WATER TRACK TIME OF VALIDITY BEAM 4
84
85 MSB
Figure 32. Navigation Parameters Data Format

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This data type is output when selecting PD0 and the High Accuracy Bottom Track feature is installed (see
OL – Display Feature List) and then selected via the #BJ command (see BJ – Data Type Output Control).

Table 38. Navigation Parameters Data Format

Hex Digit Binary Field Description
Byte
1-4 1, 2 ID_NAV_PARAMS / Stores the navigation parameters identification word,
Navigation Parameters ID_NAV_PARAMS, (MSB=20h LSB=13h)
ID
5-36 3-18 TIME-TO-BOTTOM Stores Tbot, the time interval between the DVL Ensemble/hard-
BEAMS 1-4 ware trigger and the center time, or “time the ping hits the bot-
tom,” of the bottom track measurement for Beams 1-4 (see Fig-
ure 33 and Figure 34). Unit is 8 carrier cycles (52.08 µs for 153.6
kHz). Unsigned integer.
DVL Type Frequency Carrier Cycle 8 x Carrier Cycles
600 614.4 KHz 1.628 uSec 13.02 uSec
300 307.2 KHz 3.255 uSec 26.04 uSec
150 153.6 KHz 6.510 uSec 52.08 uSec

37-52 19-26 BOTTOM TRACK STD Stores a prediction of the single ping bottom-track standard de-
DEVIATION BEAMS 1-4 viation calculated with the velocity variance model. Units are
mm/sec.
53 27 SHALLOW OPERATION Stores the flag indicating whether the Tasman is operating in
FLAG shallow mode or not.
If this value is set to 0, then the DVL is operating in BM8 Deep
Mode (BM9) with all beams pinging at the same time.
If this value is set to 1, then the DVL is operating in BM8 Shallow
Mode (BM8) with one beam pinging at a time in sequence.
If this value is set to 2, then the DVL is operating in Extended
Range Tracking Mode (XRT) with all beams pinging at the same
time.
54-86 28-43 TIME-TO-WATER MASS Stores Twm, the time interval between the hardware trigger (de-
BEAMS 1-4 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 is 8 carrier cycles (52.08 µs for
153.6 kHz). Unsigned integer.
87-90 44-45 RANGE TO WATER The range to the water mass cell being tracked. Units are in car-
MASS CELL rier cycles (6.51µs for 153.6 kHz).
91-106 46-53 WATER TRACK STD Stores a prediction of the single ping water-track standard devia-
DEVIATION BEAMS 1-4 tion calculated with the velocity variance model. Units are
mm/sec.

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Table 38. Navigation Parameters Data Format

Hex Digit Binary Field Description
Byte
107-138 54-69 BOTTOM TRACK TIME Stores the time elapsed between when the bottom track echo is
OF VALIDITY centered on the bottom and the first character in the PD0 sen-
BEAMS 1-4 tence.
Unit is 1µsec. Accuracy is within ± 5msec. Unsigned integer.
Note the value will be set to zero if the bottom track velocity for
the corresponding beam is bad.
139-170 70-85 WATER TRACK TIME OF Stores the time elapsed between when the water mass layer
VALIDITY echo is centered on the tracking bin and the first character in the
BEAMS 1-4 PD0 sentence.
Unit is 1µsec. Accuracy is within ± 5msec. Unsigned integer.
Note the value will be set to zero if the bottom track velocity for
the corresponding beam is bad.

Figure 33. No Trigger Timing

Figure 34. External Trigger Timing

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Sensor Source for Doppler Processing Format

BIT POSITIONS
BYTE 7 6 5 4 3 2 1 0
1. 01h LSB
SENSOR SOURCE FOR DOPPLER PROCESSING FORMAT ID
2. 30h MSB
3.
4.
HEADING
5.
6.
7. HEADING STATUS
8.
HEADING SOURCE
9.
10.
11.
PITCH
12.
13.
14. PITCH STATUS
15.
PITCH SOURCE
16.
17.
18.
ROLL
19.
20.
21. ROLL STATUS
22.
ROLL SOURCE
23.
24.
25.
SOS
26.
27.
28. SOS STATUS
29.
SOS SOURCE
30.
31. TEMPERATURE

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BIT POSITIONS
BYTE 7 6 5 4 3 2 1 0
32.
33.
34.
35. TEMPERATURE STATUS
36.
TEMPERATURE SOURCE
37.
38.
39.
SALINITY
40.
41.
42. SALINITY STATUS
43.
SALINITY SOURCE
44.
45.
46.
DEPTH
47.
48.
49. DEPTH STATUS
50.
DEPTH SOURCE
51.
52.
53.
PRESSURE
54.
55.
56. PRESSURE STATUS
57.
PRESSURE SOURCE
58.
59.
60.
ENSEMBLE TIMER TICKS
61.
62.
Figure 35. Sensor Source for Doppler Processing Output Format

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This format is selected via the #EE command (see EE - Environmental Data Output).

Table 39. Sensor Source for Doppler Processing Output Format

Binary Field Description
Bytes
1-2 ID PD0 ID (MSB=30h LSB=01h)
3-6 Heading Heading in 1/100ths of a degree.
7 Heading Sta- A value of 0 indicates no valid data; 1 indicates sensor data valid from sensor
tus specified by EZ - Sensor Source; A value of 2 indicates sensor data valid from al-
ternate sensor or user input.
8-9 Heading See notes, below.
Source
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 valid from alternate
sensor or user input.
15-16 Pitch Source See notes, below.
17-20 Roll Roll in 1/100ths of a degree.
21 Roll 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.
22-23 Roll Source See notes, below.
24-27 SOS Speed of Sound 1/100ths of a m/s.
28 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.
29-30 SOS Source See notes, below.
31-34 Temperature Temperature in 1/100ths of a °C.
35 Temperature A value of 0 indicates no valid data; A value of 1 indicates sensor data valid from
Status sensor specified by EZ; A value of 2 indicates sensor data valid from alternate
sensor or user input.
36-37 Temperature See notes, below.
Source
38-41 Salinity Salinity in parts-per-ten thousand
42 Salinity 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.
43-44 Salinity Source See notes, below.
45-48 Depth Depth in centimeters
49 Depth 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.

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Table 39. Sensor Source for Doppler Processing Output Format

Binary Field Description
Bytes
50-51 Depth Source See notes, below.
52-55 Pressure Pressure in kPa.
56 Pressure Sta- A value of 0 indicates no valid data; A value of 1 indicates sensor data valid from
tus sensor specified by EZ; A value of 2 indicates sensor data valid from alternate
sensor or user input.
57-58 Pressure See notes, below.
Source
59-62 Ensemble Timer Ticks Recorded when the RTC clock was read at the start of the ensemble.
Timer Ticks Intended for use in matching sensor TimeTags to RTC based ensemble time.

This data corresponds to the last ping of the ensemble for those sensors sampled at ping
intervals. It is intended for single ping ensembles.
Output of this data is controlled by the 7th bit of the EE command (EE - Environmental Data
Output).
The sensor source is identified by the detailed list of sensors in the table of the main text or
the #EY description (EY – Sensor Source Override for Doppler Parameters). In addition to the
sensors in that command, a sensor ID of -1 indicates that the parameter has been calculated
based on other parameters (for example, speed of sound calculated based on salinity,
pressure and temperature). A sensor ID of 0 indicates the parameter is from a user input
command.

SBG AHRS Sensor Data Format

This output combines all system status data, divided into six categories: General, Clock, Communications,
Aiding, Solution and Heave. This log is useful for advanced status information. The SD command enables
and disables this output.

Table 40: SBG Status Data

Length in Field Description
Bytes
2 ID 2-byte Data Type ID (MSB=54h LSB=1Ch)
4 TIME STAMP Time since sensor is powered up, in microseconds
2 GENERAL STATUS General status bitmask and enums (see Table 41)
2 RESERVED_0 Reserved field for backward compatibility
4 COM STATUS Communication status bitmask and enums (see Table 42)
4 AID STATUS Aiding equipments status bitmask and enums (see Table 44)
4 RESERVED_1 Reserved field for backward compatibility
2 RESERVED Reserved field for future use

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Table 41. GENERAL_STATUS Definition

Bit Name Type Description
0 SBG_ECOM_GENERAL_MAIN_POWER_OK Mask Set to 1 when main power supply is OK.
1 SBG_ECOM_GENERAL_IMU_POWER_OK Mask Set to 1 when IMU power supply is OK.
2 SBG_ECOM_GENERAL_GPS_POWER_OK Mask Set to 1 when GPS power supply is OK.
3 SBG_ECOM_GENERAL_SETTINGS_OK Mask Set to 1 if settings were correctly loaded.
4 SBG_ECOM_GENERAL_TEMPERATURE_OK Mask Set to 1 when temperature is within specified lim-
its.

Table 42. COM_STATUS Definition

Bit Name Type Description
0 SBG_ECOM_PORTA_VALID Mask Set to 0 in case of low level communications error.
1 SBG_ECOM_PORTB_VALID Mask Set to 0 in case of low level communications error.
2 SBG_ECOM_PORTC_VALID Mask Set to 0 in case of low level communications error.
3 SBG_ECOM_PORTD_VALID Mask Set to 0 in case of low level communications error.
4 SBG_ECOM_PORTE_VALID Mask Set to 0 in case of low level communications error.
5 SBG_ECOM_PORTA_RX_OK Mask Set to 0 in case of saturation on PORT A input.
6 SBG_ECOM_PORTA_TX_OK Mask Set to 0 in case of saturation on PORT A output.
7 SBG_ECOM_PORTB_RX_OK Mask Set to 0 in case of saturation on PORT B input.
8 SBG_ECOM_PORTB_TX_OK Mask Set to 0 in case of saturation on PORT B output.
9 SBG_ECOM_PORTC_RX_OK Mask Set to 0 in case of saturation on PORT C input.
10 SBG_ECOM_PORTC_TX_OK Mask Set to 0 in case of saturation on PORT C output.
11 SBG_ECOM_PORTD_RX_OK Mask Set to 0 in case of saturation on PORT D input.
12 SBG_ECOM_PORTD_TX_OK Mask Set to 0 in case of saturation on PORT D output.
25 SBG_ECOM_CAN_RX_OK Mask Set to 0 in case of saturation on CAN Bus output buffer
26 SBG_ECOM_CAN_TX_OK Mask Set to 0 in case of saturation on CAN Bus input buffer
27-29 SBG_ECOM_CAN_BUS Enum Define the CAN Bus status (see Table 43)

Table 43. CAN_BUS Status Definition

Value Name Description
0 SBG_ECOM_CAN_BUS_OFF Bus OFF operation due to too many errors.
1 SBG_ECOM_CAN_BUS_TX_RX_ERR Transmit or receive error.
2 SBG_ECOM_CAN_BUS_OK The CAN bus is working correctly.
3 SBG_ECOM_CAN_BUS_ERROR A general error has occurred on the CAN bus.

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Table 44. AIDING_STATUS Definition

Bit Name Type Description
0 SBG_ECOM_AIDING_GPS1_POS_RECV Mask Set to 1 when valid GPS 1 position data is received.
1 SBG_ECOM_AIDING_GPS1_VEL_RECV Mask Set to 1 when valid GPS 1 velocity data is received.
2 SBG_ECOM_AIDING_GPS1_HDT_RECV Mask Set to 1 when valid GPS 1 true heading data is re-
ceived.
3 SBG_ECOM_AIDING_GPS1_UTC_RECV Mask Set to 1 when valid GPS 1 UTC time data is received.
8 SBG_ECOM_AIDING_MAG_RECV Mask Set to 1 when valid Magnetometer data is received.
9 SBG_ECOM_AIDING_ODO_RECV Mask Set to 1 when Odometer pulse is received.
10 SBG_ECOM_AIDING_DVL_RECV Mask Set to 1 when valid DVL data is received.

Provides accelerometers, gyros, delta angles and delta velocities data directly from the IMU. The SD com-
mand enables and disables this output.

Table 45: SBG IMU DATA

Length in Field Description
Bytes
2 ID 2-byte Data Type ID (MSB=54h LSB=1Dh)
2 TIME_STAMP Time since sensor is powered up in microseconds
4 IMU_STATUS IMU Status bitmask (see Table 46)
4 ACCEL_X Filtered Accelerometer – X axis in m/s2 (lsb = 1E-6)
4 ACCEL_Y Filtered Accelerometer – Y axis in in m/s2 (lsb = 1E-6)
4 ACCEL_Z Filtered Accelerometer – X axis in in m/s2 (lsb = 1E-6)
4 GYRO_X Filtered Gyroscope – X axis in rad/s (lsb = 1E-6)
4 GYRO_Y Filtered Gyroscope – Y axis in rad/s (lsb = 1E-6)
4 GYRO_Z Filtered Gyroscope – Z axis in rad/s (lsb = 1E-6)
4 TEMP Internal Temperature in °C (lsb = 1E-6)
4 DELTA_VEL_X Sculling output – X axis in m/s2 (lsb = 1E-6)
4 DELTA_VEL_Y Sculling output – Y axis in m/s2 (lsb = 1E-6)
4 DELTA_VEL_Z Sculling output – Z axis in m/s2 (lsb = 1E-6)
4 DELTA_ANGLE_X Coning output – X axis rad/s (lsb = 1E-6)
4 DELTA_ANGLE_Y Coning output – Y axis in rad/s (lsb = 1E-6)
4 DELTA_ANGLE_Z Coning output – Z axis in rad/s (lsb = 1E-6)

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Table 46. IMU_STATUS Definition

Bit Name Description
0 SBG_ECOM_IMU_COM_OK Set to 1 if the communication with the IMU is ok.
1 SBG_ECOM_IMU_STATUS_BIT Set to 1 if internal IMU passes Built In Test (Calibration, CPU)
2 SBG_ECOM_IMU_ACCEL_X_BIT Set to 1 if accelerometer X passes Built In Test
3 SBG_ECOM_IMU_ACCEL_Y_BIT Set to 1 if accelerometer Y passes Built In Test
4 SBG_ECOM_IMU_ACCEL_Z_BIT Set to 1 if accelerometer Z passes Built In Test
5 SBG_ECOM_IMU_GYRO_X_BIT Set to 1 if gyroscope X passes Built In Test
6 SBG_ECOM_IMU_GYRO_Y_BIT Set to 1 if gyroscope Y passes Built In Test
7 SBG_ECOM_IMU_GYRO_Z_BIT Set to 1 if gyroscope Z passes Built In Test
8 SBG_ECOM_IMU_ACCELS_IN_RANGE Set to 1 if accelerometers are within operating range
9 SBG_ECOM_IMU_GYROS_IN_RANGE Set to 1 if gyroscopes are within operating range

Provides computed orientation in Euler angles format. The SD command enables and disables this output.

Table 47: SBG Euler Data

Length in Field Description
Bytes
2 ID 2-byte Data Type ID (MSB=54h LSB=1Eh)
4 TIME_STAMP Time since sensor is powered up in microseconds
4 ROLL Roll angle in radians (LSB = 1E-6)
4 PITCH Pitch angle in radians (LSB = 1E-6)
4 YAW Yaw angle (heading) in radians (LSB = 1E-6)
4 ROLL_ACC 1σ Roll angle accuracy in radians (LSB = 1E-6)
4 PITCH_ACC 1σ Pitch angle accuracy in radians (LSB = 1E-6)
4 YAW_ACC 1σ Yaw angle accuracy in radians (LSB = 1E-6)
4 SOLUTION_STATU Global solution status. See SOLUTION_STATUS definition for more de-
S tails.

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Table 48. SOLUTION_STATUS Definition

Bit Name Description
0-3 SBG_ECOM_SOLUTION_MODE Defines the Kalman filter computation mode (see Table 49).
4 SBG_ECOM_SOL_ATTITUDE_VALID Set to 1 if Attitude data is reliable (Roll/Pitch error < 0.5
deg)
5 SBG_ECOM_SOL_HEADING_VALID Set to 1 if Heading data is reliable (error < 1 deg)
6 SBG_ECOM_SOL_VELOCITY_VALID Set to 1 if Velocity data is reliable (velocity error < 1.5 m/s)
7 SBG_ECOM_SOL_POSITION_VALID Set to 1 if Position data is reliable (position error < 10 m)
8 SBG_ECOM_SOL_VERT_REF_USED Set to 1 if vertical reference is used in solution
9 SBG_ECOM_SOL_MAG_REF_USED Set to 1 if magnetometer is used in solution
10 SBG_ECOM_SOL_GPS1_VEL_USED Set to 1 if GPS1 velocity is used in solution
11 SBG_ECOM_SOL_GPS1_POS_USED Set to 1 if GPS1 position is used in solution
12 SBG_ECOM_SOL_GPS1_COURSE_USED Set to 1 if GPS1 course is used in solution
13 SBG_ECOM_SOL_GPS1_HDT_USED Set to 1 if GPS1 true heading is used in solution
14 SBG_ECOM_SOL_GPS2_VEL_USED Set to 1 if GPS2 velocity heading is used in solution
15 SBG_ECOM_SOL_GPS2_POS_USED Set to 1 if GPS2 position is used in solution
16 SBG_ECOM_SOL_GPS2_COURSE_USED Set to 1 if GPS2 course is used in solution
17 SBG_ECOM_SOL_GPS2_HDT_USED Set to 1 if GPS2 true heading is used in solution
18 SBG_ECOM_SOL_ODO_USED Set to 1 if Odometer is used in solution

Table 49. SOLUTION_MODE Definition

Value Name Description
0 SBG_ECOM_SOL_MODE_UNINITIALIZED The Kalman filter is not initialized and the returned; data
are all invalid.
1 SBG_ECOM_SOL_MODE_VERTICAL_GYRO The Kalman filter only relies on a vertical reference to
compute roll and pitch angles. Heading and navigation
data drift freely.
2 SBG_ECOM_SOL_MODE_AHRS A heading reference is available, the Kalman filter pro-
vides full orientation but navigation data drift freely.
3 SBG_ECOM_SOL_MODE_NAV_VELOCITY The Kalman filter computes orientation and velocity. Po-
sition is freely integrated from velocity estimation
4 SBG_ECOM_SOL_MODE_NAV_POSITION Nominal mode, the Kalman filter computes all parame-
ters (attitude, velocity, position). Absolution position is
provided.

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Provides ship motion data (heave), velocity and accelerations. The SD command enables and disables this
output.

Table 50: SBG Ship Motion Data

Length in Field Description
Bytes
2 ID 2-byte Data Type ID (MSB=54h LSB=1Fh)
4 TIME_STAMP Time since sensor is powered up in microseconds
4 HEAVE_PERIOD Main heave period in seconds (LSB = 1E-6)
4 SURGE Surge at main location in meters (LSB = 1E-6). Fixed to 0
4 SWAY Sway at main location in meters (LSB = 1E-6). Fixed to 0
4 HEAVE Heave at main location (positive down), in meters (LSB = 1E-6)
4 ACCEL_X Longitudinal acceleration in m/s2 (LSB = 1E-6). Fixed to 0
4 ACCEL_Y Lateral acceleration in m/s2 (LSB = 1E-6). Fixed to 0
4 ACCEL_Z Vertical acceleration (positive down) in m/s2 (LSB = 1E-6).
4 VEL_X Longitudinal velocity in m/s (LSB = 1E-6). Fixed to 0
4 VEL_Y Lateral velocity in m/s (LSB = 1E-6). - Fixed to 0
4 VEL_Z Vertical velocity (positive down), in m/s (LSB = 1E-6)
2 STATUS Ship motion output status (see Table 51).

Table 51. Ship Motion STATUS Definition

Bit Name Description
0 SBG_ECOM_HEAVE_VALID Set to 1 after heave convergence time.
Set to 0 in following conditions:
- Turn occurred and no velocity aiding is available
- Heave reached higher/lower limits
- If a step is detected and filter has to re-converge
- If internal failure
1 SBG_ECOM_HEAVE_VEL_AIDED Set to 1 if heave output is compensated for transient acceler-
ations
3 SBG_ECOM_PERIOD_AVAILABLE Set to 1 if the swell period is provided in this output
4 SBG_ECOM_PERIOD_VALID Set to 1 if the period returned is assumed to be valid

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Binary Checksum Data Format

BIT POSITIONS
BYTE 7 6 5 4 3 2 1 0
1 LSB
CHECKSUM DATA
2 MSB
Figure 36. Binary Checksum Data Format

Table 52. Checksum Data Format

Hex Digit Binary Field Description
Byte
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 number 00BC614E. The least-
significant four hex digits are output; i.e. 614E.

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Special Output Data Formats

The PD4, PD5, PD6 and PD13 commands select the desired Tasman (speed log) output data format.
The Tasman binary output data buffers can contain header, configuration, bottom-velocity, water-mass
reference-layer, range to bottom, status, built-in test, sensor, and distance made good data (plus a check-
sum). The Tasman collects all data in the output buffer during an ensemble.
Figure 37 through Figure 38 shows the format of these buffers and the sequence in which the Tasman
sends the data. Table 53 through Table 55 lists the format, bytes, fields, scaling factors, and a detailed de-
scription of every item in the Tasman binary output buffers.

The Tasman 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 2 is going forward, then X velocity is negative.
• If the bottom is going towards the face of a down facing DVL, then Z is positive.
The PD4, 5, 6, and 13 data formats assume that the bottom is stationary and that the DVL or
vessel is moving.
• If Beam 3 is going forward, then the Y velocity is positive.
• If Beam 2 is going forward, then X velocity is positive.
• If the bottom is going towards the face of a down facing DVL, then Z is negative.

For more information on coordinate transformations, see Beam Coordinate Systems, page
23.

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Tasman Binary Data Format (PD4/PD5)

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

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BIT POSITION
Byte 7 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 37. Tasman Binary Data Format (PD4/PD5)

*IF 0, THEN PD4 (BYTES 1-47)
*IF 1, THEN PD5 (BYTES 1-45 + Table 54)

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Tasman Output Data Format (PD4/PD5) Details

The Tasman sends this data format only when the PD4 or PD5 command is used.

Table 53. Tasman Output Data Format (PD4/PD5) Details

Hex Digit Binary Field Description
Byte
1,2 1 Tasman Data ID Stores the Tasman (speed log) identification word (7Dh).
3,4 2 Data Structure Identifies which data pattern will follow based on the PD-command
(PD0 Output Data Format).
0 = PD4 = Bytes 1 through 47 from Figure 37.
1 = PD5 = Bytes 1 through 45 from Figure 37 and
bytes 46 through 88 from Figure 38.
5-8 3,4 No. of Bytes Contains the number of bytes sent in this data structure, not including
the final checksum.
9,10 5 System Config Defines the Tasman hardware/firmware configuration. Convert to bi-
nary and interpret as follows.
BIT 76543210
00xxxxxx BEAM-COORDINATE VELOCITIES
01xxxxxx INSTRUMENT-COORDINATE VELOCITIES
10xxxxxx SHIP-COORDINATE VELOCITIES
11xxxxxx EARTH-COORDINATE VELOCITIES
xx0xxxxx TILT INFORMATION NOT USED IN CALCULATIONS
xx1xxxxx TILT INFORMATION USED IN CALCULATIONS
xxx0xxxx 3-BEAM SOLUTIONS NOT COMPUTED
xxx1xxxx 3-BEAM SOLUTIONS COMPUTED
xxxxx001 150-kHz Tasman
xxxxx010 300-kHz Tasman
xxxxx011 600-kHz Tasman
xxxxx100 1200-kHz Tasman
11-14 6,7 X-Vel Btm These fields contain the velocity of the vessel in relation to the bottom
15-18 8,9 Y-Vel Btm in mm/s. The setting of the EX-command (Coordinate Transformation)
19-22 10,11 Z-Vel Btm determines how the Tasman references the velocity data.
23-26 12,13 E-Vel Btm 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).
27-30 14,15 Bm1 These fields contain the vertical range from the Tasman to the bottom
31-34 16,17 Bm2 Rng to as determined by each beam. This vertical range does not compensate
35-38 18,19 Bm3 Bottom for the effects of pitch and roll. When a bottom detection is bad, the
39-42 20,21 Bm4 field is set to zero.
Scaling: LSD = 1 centimeter; Range = 0 to 65535 cm (300 and 150 kHz)
Scaling: LSD = 1 decimeter; Range = 0 to 65535 dm (38 kHz)

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Table 53. Tasman Output Data Format (PD4/PD5) Details

Hex Digit Binary Field Description
Byte
43,44 22 Bottom Status This field shows the status of bottom-referenced correlation and echo
amplitude data. Convert to binary and interpret as follows. A zero code
indicates status is OK.
BIT 76543210
1xxxxxxx BEAM 4 LOW ECHO AMPLITUDE
x1xxxxxx BEAM 4 LOW CORRELATION
xx1xxxxx BEAM 3 LOW ECHO AMPLITUDE
xxx1xxxx BEAM 3 LOW CORRELATION
xxxx1xxx BEAM 2 LOW ECHO AMPLITUDE
xxxxx1xx BEAM 2 LOW CORRELATION
xxxxxx1x BEAM 1 LOW ECHO AMPLITUDE
xxxxxxx1 BEAM 1 LOW CORRELATION
45-48 23,24 Velocity 1 These fields contain the velocity of the vessel in relation to the water-
49-52 25,26 Velocity 2 mass reference layer in mm/s. The setting of the EX-command (Coordi-
53-56 27,28 Velocity 3 nate Transformation) determines how the Tasman references the ve-
57-60 29,30 Velocity 4 locity 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 31,32 Ref Layer Start These fields contain the starting boundary (near surface) and the end-
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 Tasman does not calculate water
mass data.
Scaling: LSD = 1 dm; Range = 0-9999 dm
69,70 35 Ref Layer Status This field shows the status of water mass depth and correlation data.
Convert to binary and interpret as follows. A zero code indicates status
is OK.
BIT 76543210
xxx1xxxx ALTITUDE IS TOO SHALLOW
xxxx1xxx BEAM 4 LOW CORRELATION
xxxxx1xx BEAM 3 LOW CORRELATION
xxxxxx1x BEAM 2 LOW CORRELATION
xxxxxxx1 BEAM 1 LOW CORRELATION
71,72 36 TOFP Hour These fields contain the time of the first ping of the current ensemble.
73,74 37 TOFP Minute
75,76 38 TOFP Second
77,78 39 TOFP Hun-
dredth

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Table 53. Tasman Output Data Format (PD4/PD5) Details

Hex Digit Binary Field Description
Byte
79-82 40,41 BIT Results Status for leak sensors
BITS 07 06 05 04 03 02 01 00
x x x x x x x 1 Sensor A leak detected
x x x x x x 1 x Sensor A open circuit
x x x x x 1 x x Sensor B leak detected
x x x x 1 x x x Sensor B open circuit
Upper byte (byte 41) is unused
83-86 42,43 Speed of Sound Contains either manual or calculated speed of sound information (EC -
Speed of Sound).
Scaling: LSD = 1 meter per second; Range = 1400 to 1600 m/s
87-90 44,45 Temperature Contains the temperature of the water at the transducer head.
Scaling: LSD = 0.01 C; Range = -5.00 to +40.00 C
91-94 46,47 Checksum This field contains a modulo 65536 checksum. The Tasman 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 54.

The Tasman packs velocity data into a two-byte, two’s-complement integer [-32768, 32767]
with the LSB sent first. The Tasman scales velocity data in millimeters per second (mm/s). A
value of –32768 (8000h) indicates a bad velocity.
Bottom or reference-layer velocities will be all valid or all invalid. That is, if the X-velocity is
valid then the Y and Z-velocities are valid; if X is not valid, Y and Z are not valid.
The Tasman allows 3-beam transformations when the fourth beam is invalid. If a 3-beam
solution is output, the error velocity will be marked bad (since it can't be computed without
four good beams). This is how you can tell, as all transformed velocity outputs include error
velocity. However, there won't be any indication of which beam was bad.

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Tasman Binary Data Format (PD5)

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

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BIT POSITION
Byte 7 6 5 4 3 2 1 0
75 LSB
76
DISTANCE MADE GOOD/REF (NORTH)
77
78 MSB
79 LSB
80
DISTANCE MADE GOOD/REF (UP)
81
82 MSB
83 LSB
84
DISTANCE MADE GOOD/REF (ERROR)
85
86 MSB
87 LSB
CHECKSUM
88 MSB

Figure 38. Tasman Binary Data Format (PD5)

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Tasman Output Data Format (PD5) Details

The Tasman sends this data format (Figure 37 and Figure 38) only when the PD5 command is used. Table
53 explains the first part of this data structure.

Table 54. Tasman Output Data Format (PD5) Details

Hex Digit Binary Field Description
Byte
91,92 46 Salinity Contains the salinity value of the water at the transducer head (ES – Sa-
linity). This value may be a manual setting or a reading from a conduc-
tivity sensor.
Scaling: LSD = 1 part per thousand; Range = 0 to 40 ppt
93-96 47,48 Depth Contains the depth of the transducer below the water surface (ED -
Depth of Transducer). This value may be a manual setting or a reading
from a depth sensor.
Scaling: LSD = 1 decimeter; Range = 1 to 9999 decimeters
97-100 49,50 Pitch Contains the Tasman pitch angle (EP - Pitch and Roll Angles). This value
may be a manual setting or a reading from a tilt sensor. Positive values
mean that Beam #3 is spatially higher than Beam #4.
Scaling: LSD = 0.01 degree; Range = -20.00 to +20.00 degrees
101-104 51,52 Roll Contains the Tasman roll angle (ER - Roll Angle). This value may be a
manual setting or a reading from a tilt sensor. For an up-facing Tasman
system, positive values mean that Beam #2 is spatially higher than
Beam #1. For a down-facing Tasman 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 Tasman heading angle (EH - Heading). This value may be a
manual setting or a reading from a heading sensor.
Scaling: LSD = 0.01 degree; Range = 000.00 to 359.99 degrees
109-116 55-58 DMG/Btm East These fields contain the Distance Made Good (DMG) over the bottom
117-124 59-62 DMG/Btm since the time of the first ping after initialization or <BREAK>.
125-132 63-66 North Where:
133-140 67-70 DMG/Btm Up (DMG X) = (Sum of all X's)
DMG/Btm Error (DMG Y) = (Sum of all Y's)
(DMG Z) = (Sum of all Z's)
Scaling: LSD = 1 dm; Range = -10,000,000 to 10,000,000 mm
141-148 71-74 DMG/Ref East These fields contain the distance made good over the water-mass layer
149-156 75-78 DMG/Ref North since the time of the first ping after initialization or <BREAK>.
157-164 79-82 DMG/Ref Up Where:
165-172 83-86 DMG/Ref Error (DMG X) = (Sum of all X's)
(DMG Y) = (Sum of all Y's)
(DMG Z) = (Sum of all Z's)
Scaling: LSD = 1 dm; Range = -10,000,000 to 10,000,000 mm
173-176 87,88 Checksum This field contains a modulo 65536 checksum. The Tasman computes
the checksum by summing all the bytes in the output buffer excluding
the checksum.

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Tasman Output Data Format (PD6)

The Tasman sends this data format only when the PD6 command is used. The Tasman outputs data in the
following line order. Note that not all data items may be displayed. Examples: (1) If #BK = zero, the Tas-
man does not send water-mass data (line items beginning with W); (2) If #BK = three, the Tasman does
not send bottom-track data (line items beginning with B).

Table 55. Tasman Output Data Format (PD6)

Line Description
1 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
2 TIMING AND SCALING DATA
:TS,YYMMDDHHmmsshh,SS.S,+TT.T,DDDD.D,CCCC.C,BBB <CR><LF>
where:
YYMMDDHHmmsshh = Year, month, day, hour, minute, second, hundredths of seconds
SS.S = Salinity in parts per thousand (ppt)
TT.TT = Temperature in C
DDDD.D = Depth 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 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 sensor
0x29 Sensor Cal Data checksum failure
0x2A Sensor Stream Data Fault

0x30 Stuck UART

0x31 QUART Transmit timeout
0x32 QUART IRQ Stuck
0x33 QUART Buffer stuck
0x34 QUART IRQ Active
0x35 QUART cannot clear interrupt

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

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Table 55. Tasman 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.
0x84 Failed to read HEM time data.
0x85 Failed to read HEM pressure data.
0x86 Failed to read HEM SPI state
0x87 Operating time over max.
0x88 Pressure reading over sensor limit.
0x89 Leak detected in sensor A.
0x8A Leak detected in sensor B.

0xFF Power failure

BIT Number of Errors byte 14

Number of BIT errors

If there is more than one BIT error, then it will take several ensembles to output all the BIT errors. For ex-
ample, if there are 3 BIT errors detected, then the output will be BBB = 3xx on ensemble n, BBB = 3yy on
ensemble n+1, and BBB = 3zz on ensemble n+2, where xx, yy, and zz are the three different error mes-
sages detected.
3 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 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 rel. to water mass)
±LLLLL = Longitudinal vel. data in mm/s (+ = Aft Fwd ship movement rel. to water mass)
±NNNNN = Normal velocity data in mm/s (+ = ship movement away from water mass)
S = Status of velocity data (A = good, V = bad)
5 WATER-MASS, EARTH-REFERENCED VELOCITY DATA
:WE,±EEEEE,±NNNNN,±UUUUU,S <CR><LF>
where:
±EEEEE = East (u-axis) velocity data in mm/s (+ = DVL movement to east)
±NNNNN = North (v-axis) velocity data in mm/s (+ = DVL movement to north)
±UUUUU = Upward (w-axis) velocity data in mm/s (+ = DVL movement to surface)
S = Status of velocity data (A = good, V = bad)
6 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
TTT.TT = Time since last good-velocity estimate in seconds

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Table 55. Tasman Output Data Format (PD6)

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

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The PD6 output does not pad spaces with zeroes. The spaces are left intact. The example below shows a
realistic output from a Tasman locked onto the bottom and the values of the System Health Monitor Data
is shown in red.
:SA, -2.31, +1.92, 75.20
:TS,04081111563644,35.0,+21.0, 0.0,1524.0, 0
:WI,-32768,-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

Tasman NMEA Output (PD11)

The Tasman sends this data format only when the PD11 command is used. Data will continue to be rec-
orded to the internal recorder in PD0 format if the recording bit is set in the CF command. Note that the
DVL will ignore the serial output bit in the CF command when PD11 is set.

To get valid water-reference data, BK1 must be set in the DVL.

There are presently three sentences containing sensor and navigational data.

TRDI may add additional sentences in the future so care should be taken to correctly identify
the sentence by its ID. In addition, TRDI may add fields to the existing sentences. Any such
additional fields will be added after the last field and before the checksum. Care should be
taken to locate the checksum by the '*' that immediately precedes it.

Sensor Data
The sensor data sentence consists of heading, pitch, roll, and depth below surface. Each data field is pre-
ceded by an identifier indicating the contents of the following fields. All values are in SI units. All data
fields are variable width. Empty data fields will indicate missing or invalid data.
$PRDIG,H,x.x,P,x.x,R,x.x,D,x.x*hh<CR><LF>
│ │ │ │ │ │ │ │ └ depth
│ │ │ │ │ │ │ └ depth ID
│ │ │ │ │ │ └ roll
│ │ │ │ │ └ roll ID
│ │ │ │ └ pitch
│ │ │ └ pitch ID
│ │ └ heading
│ └ heading ID
└ NMEA 0183 header

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Bottom Track Navigational Data

The bottom-track data sentence consists of range to the bottom, speed over ground, and course over
ground. Each data field is preceded by an identifier indicating the contents of the following field. All val-
ues are in SI units. All data fields are variable width. Empty data fields will indicate missing or invalid
data.
$PRDIH,R,x.x,S,x.x,C,x.x*hh<CR><LF>
│ │ │ │ │ │ └ course over ground
│ │ │ │ │ └ course over ground ID
│ │ │ │ └ speed over ground
│ │ │ └ speed over ground ID
│ │ └ range to bottom
│ └ range to bottom ID
└ NMEA 0183 header

Current Referenced Navigational Data

The current referenced navigational data sentence shall consist of speed relative to the water current and
course relative to the water current. Each data field will be preceded by an identifier indicating the con-
tents of the following field. All values are in SI units. All data fields are variable width. Empty data fields
will indicate missing or invalid data.
$PRDII,S,x.x,C,x.x*hh<CR><LF>
│ │ │ │ └ course relative to current
│ │ │ └ course relative to current ID
│ │ └ speed relative to current
│ └ speed relative to current ID
└ NMEA 0183 header

Below is an example of a valid sensor data sentence showing a heading of 197.34°, a pitch angle of -10.2°, a
roll angle of -11.5° and a depth of 122.7m.
$PRDIG,H,197.34,P,-10.2,R,-11.5,D,122.7*7E<CR><LF>

This example shows a valid bottom-track sentence that contains range to bottom of 143.2m, a speed over
ground of 1.485 m/s, and a course over ground of 192.93°.
$PRDIH,R,143.2,S,1.485,C,192.93*17<CR><LF>

Here is an example of a bottom-track sentence with invalid or missing data.

$PRDIH,R,,S,,C,*05<CR><LF>

This last example shows a water-reference sentence that contains speed relative to current of 1.503 m/s
and a course relative to current of 203.5°.
$PRDII,S,1.503,C,203.5*55<CR><LF>

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Tasman Output Data Format (PD13)

The Tasman 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); (2) If BK = three, the DVL does not send bottom-
track data (line items beginning with B).

Table 56. Tasman Output Data Format (PD13)

Line Description
1 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
2 TIMING AND SCALING DATA
:TS,YYMMDDHHmmsshh,SS.S,±TT.T,DDDD.D,CCCC.C,BBB <CR><LF>
where:
YYMMDDHHmmsshh = Year, month, day, hour, minute, second, hundredths of seconds
SS.S = Salinity in parts per thousand (ppt)
±TT.TT = Temperature in C
DDDD.D = Depth 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 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 sensor
0x29 Sensor Cal Data checksum failure
0x2A Sensor Stream Data Fault

0x30 Stuck UART

0x31 QUART Transmit timeout
0x32 QUART IRQ Stuck
0x33 QUART Buffer stuck
0x34 QUART IRQ Active
0x35 QUART cannot clear interrupt

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

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Table 56. Tasman 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.
0x84 Failed to read HEM time data.
0x85 Failed to read HEM pressure data.
0x86 Failed to read HEM SPI state
0x87 Operating time over max.
0x88 Pressure reading over sensor limit.
0x89 Leak detected in sensor A.
0x8A Leak detected in sensor B.

0xFF Power failure

BIT Number of Errors byte 14

Number of BIT errors

If there is more than one BIT error, then it will take several ensembles to output all the BIT errors. For ex-
ample, if there are 3 BIT errors detected, then the output will be BBB = 3xx on ensemble n, BBB = 3yy on
ensemble n+1, and BBB = 3zz on ensemble n+2, where xx, yy, and zz are the three different error mes-
sages detected.
3 PRESSURE AND RANGE TO BOTTOM 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 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)
5 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 rel. to water mass)
±LLLLL = Longitudinal vel. data in mm/s (+ = Aft Fwd ship movement rel. to water mass)
±NNNNN = Normal velocity data in mm/s (+ = ship movement away from water mass)
S = Status of velocity data (A = good, V = bad)
6 WATER-MASS, EARTH-REFERENCED VELOCITY DATA
:WE,±EEEEE,±NNNNN,±UUUUU,S <CR><LF>
where:
±EEEEE = East (u-axis) velocity data in mm/s (+ = DVL movement to east)
±NNNNN = North (v-axis) velocity data in mm/s (+ = DVL movement to north)
±UUUUU = Upward (w-axis) velocity data in mm/s (+ = DVL movement to surface)
S = Status of velocity data (A = good, V = bad)

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Table 56. Tasman Output Data Format (PD13)

Line Description
7 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
TTT.TT = Time since last good-velocity estimate in seconds
8 BOTTOM-TRACK, INSTRUMENT-REFERENCED VELOCITY DATA
:BI,±XXXXX,±YYYYY,±ZZZZZ,±EEEEE,S <CR><LF>
where:
±XXXXX = X-axis velocity data in mm/s (+ = Bm1 Bm2 xdcr movement relative to bottom)
±YYYYY = Y-axis velocity data in mm/s (+ = Bm4 Bm3 xdcr movement relative to bottom)
±ZZZZZ = Z-axis velocity data in mm/s (+ = transducer movement away from bottom)
±EEEEE = Error velocity data in mm/s
S = Status of velocity data (A = good, V = bad)
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 = bad)
10 BOTTOM-TRACK, EARTH-REFERENCED VELOCITY DATA
:BE,±EEEEE,±NNNNN,±UUUUU,S <CR><LF>
where:
±EEEEE = East (u-axis) velocity data in mm/s (+ = DVL movement to east)
±NNNNN = North (v-axis) velocity data in mm/s (+ = DVL movement to north)
±UUUUU = Upward (w-axis) velocity data in mm/s (+ = DVL movement to surface)
S = Status of velocity data (A = good, V = bad)
11 BOTTOM-TRACK, EARTH-REFERENCED DISTANCE DATA
:BD,±EEEEEEEE.EE,±NNNNNNNN.NN,±UUUUUUUU.UU,DDDD.DD,TTT.TT <CR><LF>
where:
+EEEEEEEE.EE = East (u-axis) distance data in meters
+NNNNNNNN.NN = North (v-axis) distance data in meters
+UUUUUUUU.UU = Upward (w-axis) distance data in meters
DDDD.DD = Range to bottom in meters
TTT.TT = Time since last good-velocity estimate in seconds

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The PD13 output does not pad spaces with zeroes. The spaces are left intact. The example below shows a
realistic output from a Tasman locked onto the bottom.
:SA, -2.31, +1.92, 75.20
:TS,04081111563644,35.0,+21.0, 0.0,1524.0, 0
:RA, 0.00, 71.31, 71.32, 71.32, 71.31
:WI,-32768,-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

Tasman Speed Log Format (PD26)

The Tasman provides the ability to output the PD26 data type over the serial interface with the PD com-
mand or using the HTML interface.

$VMVBW – Dual Ground/Water Speed

Format:
$VMVBW,x.xx,x.xx,A,x.xx,x.xx,A,x.xx,A,x.xx,A*hh<CR><LF>
1 2 3 4 5 6 7 8 9 10
Where:
1 = Longitudinal water speed, knots
2 = Transverse water speed, knots
3 = Status, water speed: A=Valid, V=Invalid
4 = Longitudinal ground speed, knots
5 = Transverse ground speed, knots
6 = Status, ground speed: A=Valid, V=Invalid
7 = Stern transverse water speed, knots
8 = Status, stern water speed: A=Valid, V=Invalid
9 = Stern transverse ground speed, knots
10 = Status, stern ground speed: A=Valid, V=Invalid
Notes:
• The $VMVBW longitudinal ground speeds is determined from the forward component of the
ship frame bottom track velocity vector.
• The sign of the $VMVBW longitudinal speeds is positive for forward motion of the ship relative
to the bottom in the ship frame. Note that this is identical to the PD6 transverse sign convention.
• The $VMVBW transverse ground speeds is produced from the starboard component of the ship
frame velocity vector.
• The sign of the $VMVBW transverse ground speeds is positive for motion of the ship in the star-
board direction relative to the bottom in the ship frame. Note that this is identical to the PD6
transverse speed sign convention.
• The $VMVBW ground speeds is corrected for pitch and roll.

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• The pitch and roll parameters for $VMVBW ground velocities is sourced per the EZ configura-
tion.
• The status of $VMVBW ground speeds is determined from the validity of a 3 or 4 beam bottom
velocities; 0, 1, or 2 valid beams shall equate to invalid.
• The sign of the $VMVBW transverse ground speeds is positive for motion of the ship in the star-
board direction relative to the bottom in the ship frame. Note that this is identical to the PD6
transverse speed sign convention.
• The $VMVBW ground speeds is corrected for pitch and roll.
• The pitch and roll parameters for $VMVBW ground velocities is sourced per the EZ command
configuration.
• The status of $VMVBW ground speeds is determined from the validity of a 3 or 4 beam bottom
velocities; 0, 1, or 2 valid beams shall equate to invalid.

$VMDBT – Depth Below Transducer

Format:
$VMDBT,x.x,f,x.x,M,x.x,F*hh<CR><LF>
1 2 3 4 5 6 7
Where:
1 = Depth, feet
2 = f = feet
3 = Depth, meters
4 = M = meters
5 = Depth, Fathoms
6 = F = Fathoms
7 = Checksum
Notes:
• The $VMDBT depth is determined from the mean of the vertical range-to-bottom of each valid
beam from the bottom track ping. Note this is equivalent to the PD6 BD range to bottom field.

$VMVLW – Distance Traveled through Water

Format:
$VMVLW, x.x,N,x.x,N*hh<CR><LF>
1 2 3 4 5
Where:
1 = Total cumulative distance
2 = N = Nautical Miles
3 = Distance since Reset
4 = N = Nautical Miles
5 = Checksum

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Notes:
• The cumulative distance is calculated for each ensemble as follows:
LEast = 1 / 2 * (VEast[n − 1] + VEast[n]) * (T [n] − T [n − 1]) (1)

LNorth = 1 / 2 * (VNorth[n − 1] + VNorth[n]) * (T [n] − T [n − 1]) (2)

Length = Length + LEast 2 + LNorth 2 (3)

Where:
L = length n = the ensemble number
V = velocity T = time

• The $VMVLW cumulative distance is calculated from the bottom track earth referenced velocity
data.
• The $VMVLW cumulative distance will clear:
o Upon ping initiation from CS command
o Upon reception of a hardware or software break
o Upon ping initiation from turnkey mode start
o Upon receipt of a ‘dynamic’ BS or #BS command from serial or Ethernet port
• The $VMVLW distance since reset shall clear upon application of power to the Tasman (cold
boot).

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Decoding a Tasman Ensemble

Use the following information to help write software.

Rules for the BroadBand Data Format PD0

1. All data types (i.e. fixed leader, variable leader, velocity, echo intensity, correlation, percent good,
etc.) will be given a specific and unique ID number. The table below shows some of the most com-
mon IDs.

Table 57. Common Data Format IDs

ID Description
0x7F7F Header
0x0000 Fixed Leader
0x0080 Variable Leader
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 a given field, and the order in which the fields appear within the data type.
Fixed does not refer to the total number of bytes in the data type - see Rule 3.
3. Data may be added to an existing data type only by adding the bytes to the end of the data format.
As an example, the variable leader data contains information on ensemble number, time, heading,
pitch, roll, temperature, pressure, etc. The format for the bytes 1-53 are now specified by changes
added in support to the Tasman. 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).
4. The order of data types in an ensemble is not fixed. That is there is no guarantee that velocity data
will always be output before correlation data.
5. The header data will include the number of data types in the files and the offset to each ID num-
ber for each data type.
6. The total number of the bytes in an ensemble minus the 2-byte checksum will be included in the
header.

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Decoding Sequence for PD0 Data

1. Locate the header data by locating the header ID number (in the case of PD0 profile data that will
be 7F7F).
2. Confirm the correct header ID by:
a. Locate the checksum offset (located in the header data). This is the offset to the checksum
word in the current ensemble. The size of the ensemble is this offset plus 2 bytes (to account
for the checksum word), which is also the offset to the next ensemble.
b. Calculate the checksum of total 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 checksums match then this is a valid ensemble. If the checksums do not match then it is
not a valid ensemble and should go back to step 1 and search for the next header ID number
occurrence.
3. Locate the number of data types (located in the header data).
4. Locate the offset to each data type (located in the header 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 Tasman Technical Manual to understand what
each byte represents in that particular data type.

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Appendix A
NOTICE OF COMPLIANCE

This chapter covers:

• China RoHS requirements
• Material disclosure table

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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 – Product Marking, the EFUP is defined as the time in years in which hazard-
ous/toxic substances within Electrical and Electronic Products (EIP) will not, under normal operating
conditions, leak out of the Product, or the Product will not change in such a way as to cause severe envi-
ronmental pollution, injury to health, or great damage to property. TRDI has determined the Environ-
mental Friendly Use Period is Ten (10) years.
The purpose of the marking is to assist in determining the restricted substance content, recyclability, and
environmental protection use period of our covered 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 58.

WEEE
The mark shown to the left is in compliance with the Waste Electrical and Electronic Equipment
Directive 2002/96/EC (WEEE).
This symbol indicates the requirement NOT to dispose the equipment as unsorted municipal waste,
but use the return and collection systems according to local law or return the unit to one of the TRDI
facilities below.
Teledyne RD Instruments USA Teledyne RD Instruments Eu- Teledyne RD Technologies
14020 Stowe Drive rope 1206 Holiday Inn Business
Poway, California 92064 2A Les Nertieres Building
5 Avenue Hector Pintus 899 Dongfang Road, Pu Dong
06610 La Gaude, France Shanghai 20122 China

CE
This product complies with the Electromagnetic Compatibility Directive 89/336/EEC, 92/31/EEC.
The following Standards were used to verify compliance with the directives: EN 61326(1997),
A1(1998), A2(2001) – Class “A” Radiated Emissions.

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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 58. Toxic or Hazardous Substances and Elements Contained in Product
零件项目(名称) 有毒有害物质或元素
Component Name Toxic or Hazardous Substances and Elements
铅 汞 镉 六价铬 多溴联苯 多溴二苯醚
Lead Mercury Cadmium Hexavalent Polybrominated Polybrominated
(Pb) (Hg) (Cd) Chromium Biphenyls Diphenyl Ethers
(Cr6+) (PBB) (PBDE)
换能器配件
X O O O O O
Transducer Assy.
换能器接口电路板
O O O O O O
Transducer Intfc PCB
底座装配
O O O O O O
Mounting plate Assy.
接收机电路板
O O O O O O
Receiver PCB
数据处理器电路板
O O O O O O
DSP PCB
输入输出口电路板
O O O O O O
PIO PCB
通讯接口板
O O O O O O
Personality Module
外接电缆
X O O O O O
External Cables
专用装运箱和泡沫塑料垫
O O O O O O
Shipping Case w/Foam

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 toxic or hazardous substance contained in all of the homogeneous materials for this part is below the limit
required in SJ/T 11363-2006.
X: 表示该有毒或有害物质至少在该部件的某一均质材料中的含量超出 SJ/T 11363-2006 标准规定的限量要求。
X: Indicates that the toxic or hazardous substance contained in at least one of the homogeneous materials used for this part is
above the limit requirement in SJ/T 11363-2006.

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NOTES

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