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EAR-Controlled Technology Subject to Restrictions Contained on the Cover Page.
TABLE OF CONTENTS
CHAPTER 1 - AT A GLANCE ...................................................................................................................................1
Overview ...................................................................................................................................................... 2
Pathfinder Options ....................................................................................................................................... 4
Inventory ...................................................................................................................................................... 5
Optional Kits ......................................................................................................................................... 6
Health & Environment Monitoring Sensors ................................................................................................. 8
Setting up the Pathfinder System ................................................................................................................ 9
Computer and Software Considerations .............................................................................................. 9
Software Installation ............................................................................................................................ 9
Power Overview ................................................................................................................................... 10
Cables and Connector Protective Cap .................................................................................................. 10
Setting Up the Pathfinder ROV System ................................................................................................ 12
Setting Up the Pathfinder OEM System ............................................................................................... 13
Cable Wiring Diagrams ......................................................................................................................... 15
Connecting to the Pathfinder ....................................................................................................................... 17
Using the Network Configuration Page ................................................................................................ 18
Using the Ethernet Communications ................................................................................................... 19
Using TCP Protocol ......................................................................................................................... 19
Using UDP Protocol ........................................................................................................................ 20
Ethernet Module Firmware Update ..................................................................................................... 22
Testing the Pathfinder System ..................................................................................................................... 23
Caring for the Pathfinder System ................................................................................................................. 24
General Handling Guidelines ................................................................................................................ 24
Installation Guidelines .......................................................................................................................... 24
CHAPTER 2 – SYSTEM INTEGRATION .......................................................................................................................25
System Integration Introduction .................................................................................................................. 26
DVL Theory ................................................................................................................................................... 26
BroadBand Doppler .............................................................................................................................. 26
Bottom Tracking ................................................................................................................................... 26
Water Tracking ..................................................................................................................................... 27
Required Conditions for Water Tracking ....................................................................................... 27
Water Tracking Parameters ........................................................................................................... 28
Current Profiling ................................................................................................................................... 28
Beam Coordinate Systems ................................................................................................................... 29
DVL Performance and Influencing Factors ........................................................................................... 31
Long Term Performance ................................................................................................................ 31
Bottom Track ................................................................................................................................. 31
Water Track ................................................................................................................................... 31
Short Term Performance ...................................................................................................................... 32
Bottom Track ................................................................................................................................. 32
Water Track ................................................................................................................................... 32
Altitude Performance ........................................................................................................................... 33
Bottom Type & Slope ..................................................................................................................... 33
Temperature & Salinity .................................................................................................................. 33
Pitch & Roll..................................................................................................................................... 34
Transmit Power .............................................................................................................................. 34
Slant Range Performance ..................................................................................................................... 34
Speed of Sound Variation .............................................................................................................. 34
Bottom Slope ................................................................................................................................. 35
Pitch & Roll..................................................................................................................................... 35
Resolution ...................................................................................................................................... 35
Mechanical Integration Considerations ....................................................................................................... 36
Alignment ............................................................................................................................................. 36
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