R2Sonic 2022 - Page 14

Page 14 of 133
Version 3.0 Rev r000
Date 25-08-2010
Part No. 96000001
List of Tables
Table 1: Metric to Imperial conversion table ....................................................................................... 16
Table 2: System Specification .............................................................................................................. 17
Table 3: Component Dimensions and Mass......................................................................................... 17
Table 4: Electrical Interface ................................................................................................................. 18
Table 5: Ping Rate table ....................................................................................................................... 18
Table 6: Deck Lead Pin Assignment (Gigabit Ethernet and Power) ..................................................... 36
Table 7: DB-9M RS-232 Standard Protocol .......................................................................................... 37
Table 8: SIM DB-9M Serial pin assignment .......................................................................................... 37
Table 9: Gyro Calibration Method 2 computation ............................................................................... 79
Table 10: Absorption Values for Seawater and Freshwater at 400 kHz and 200 kHz........................ 108
Table 11: Operating Frequency - water temperature - absorption ................................................... 110
List of Graphs
Graph 1: Depth errors due to incorrect roll alignment ....................................................................... 99
Graph 2: Position errors as a result of pitch misalignment; error can be either negative or positive
........................................................................................................................................................... 100
Graph 3: Along track position error caused by 0.5° error in yaw patch test ..................................... 101
Graph 4: Along-track position error caused by 1.0° error in yaw patch test error ............................ 102
Graph 5: Seawater Absorption (Salinity 35ppt) ................................................................................. 109
Graph 6: Freshwater Absorption ....................................................................................................... 109