Teledyne PATHFINDER - PS1 - Display Fixed Leader (binary); PS3 - Instrument Transformation Matrix; PS4 - Ping Sequence

April 2018 Pathfinder DVL Guide
Page 124
EAR-Controlled Technology Subject to Restrictions Contained on the Cover Page.
EX – Coordinate Transformation
Purpose Sets the coordinate transformation processing flags.
Format EXxxptb
The EX command work ONLY without the # sign.
Range xx = Transformation
p = Pitch and Roll
t = 3 beam solutions
b = Bin mapping
Default EX10111
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
29.
Table 27: Coordinate Transformation Processing Flags
Setting Description
EX00xxx No transformation. Radial beam coordinates, i.e., 1, 2, 3, 4. Heading/Pitch/Roll not applied.
EX01xxx Instrument coordinates. X, Y, Z vectors relative to the Pathfinder. Heading/Pitch/Roll not applied.
EX10xxx Ship coordinates (Note 1) X, Y, Z vectors relative to the ship. Heading not applied. EA-command used,
but not the #EV-command. If Bit 3 of the EX-command is a 1, then Pitch/Roll applied.
EX11xxx Earth coordinates (Note 1) East, North, Vertical vectors relative to Earth. Heading applied. EA and
#EV-commands used. If Bit 3 of the EX-command is a 1, then Pitch/Roll applied.
EXxx1xx Use tilts (pitch and roll) in transformation (Note 2)
EXxxx1x Allows 3-beam solutions if one beam is below the correlation threshold set by WC
EXxxxx1 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.