Teledyne TASMAN Quick setup guide

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TASMAN
INTEGRATION GUIDE
P/N 95B-6156-00 (July 2023)
© 2023 Teledyne RD Instruments, Inc. All rights reserved.
https://www.teledynemarine.com

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EAR-Controlled Technology Subject to Restrictions Contained on the Cover Page.
TABLE OF CONTENTS
GETTING STARTED WITH THE TASMAN.....................................................................................................................1
CONNECTING TO THE TASMAN ..............................................................................................................................3
MECHANICAL INTEGRATION..................................................................................................................................9
ELECTRICAL INTEGRATION ....................................................................................................................................10
ACOUSTIC INTEGRATION ......................................................................................................................................11
OPERATIONAL &SETUP INTEGRATION.....................................................................................................................12
WANT TO KNOW MORE? .....................................................................................................................................15
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
14020 Stowe Drive
Poway, California 92064
2A Les Nertieres
5 Avenue Hector Pintus
06610 La Gaude, France
Phone [phone] Phone [phone]
Sales – [e-mail] Sales – [e-mail]
Field Service – [e-mail] Field Service – [e-mail]
Client Services Administration – rdicsadm[email protected]
Web: https://www.teledynemarine.com
For all your customer service needs including our emergency 24/7 technical support, call [phone]
Self-Service Customer Portal
Use our online customer portal at https://www.teledynemarine.com/support/RDI/technical-manuals to download manuals or other
Teledyne RDI documentation.
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To register, please go to https://tm-portal.force.com/TMsoftwareportal to set up your customer support account. After your account is
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Once you have secured an account, use the Teledyne Marine software portal to access this data with your unique username and password.
If you have an urgent need, please call our Technical Support hotline at [phone].

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Getting Started with the Tasman
Identifying what’s in the Box
Tasman Inventory
Part Number
Name
Description
TAS300H-xx-xxxxx
TAS300V-xx-xxxxx
TAS600H-xx-xxxxx
TAS600V-xx-xxxxx
Tasman 6000-meter DVL
The Tasman 300 and 600 kHz systems includes the transducer and connector
(Horizontal or Vertical configuration) with protective cap. When unpacking, use
care to prevent physical damage to the transducer face and connector. Use a soft
pad to protect the transducer.
MRDI1191
Shipping Case
Shipping case with foam inserts.
73B-6085-003 Power/Comm Pigtail Cable
The DVL Power/Comm pigtail 3-meter cable allows you to build custom cable to
connect the Tasman to your vehicle/platform. It provides all the leads for serial
and Ethernet COM, Power, and Trigger.
95B-6155-00
95Z-6007-00 (part
of 75BK6107-00)
Tasman Getting Started Guide A printed quick start card showing test setup is included.
Download instructions This sheet has instructions for downloading the software and manuals.
Download from
website
TRDI Toolz
TRDI Toolz is a utility and testing software package that can be used to test the
DVL.
NavUI
The Navigation User Interface (NavUI) is designed to setup Tasman systems with a
focus on ease of use and accessibility.
Spare Parts See table below for description Includes spare closing hardware, spare anodes, and lubricant for the connector.
See the packing slip for additional options. If you are missing parts, contact TRDI support
[e-mail] or call [phone].
Tasman Spare Parts 75BK6134-00
Description Quantity Part number Where used
Anode, housing 2 81B-4216-00
Anodes for Housing Exterior
Anode Screw 2 M5X0.8X10FH
Hex Key, 3mm, Ball End 197Z-6176-00 Field replaceable transducer
Hex Key, 4mm, Long Arm 1 6958A14
Mounting hardware for transducer
Washer, Isolating Sleeve, M5 Screw, Nylon 8 97Z-6175-00
Washer, Flat, 10MM OD, SST 16 M5WASHSTD
Locknut, HEX, SST 8 M5X0.8LOCKNUT
Screw, SKT HD, SST 8 M5X0.8X40SH
Plate, Isolator, Tasman 1 81B-6118-00
Silicone Lubricant, 4-pack 1 5020 Power/Comm connector (rubber portion only) and Field
Replaceable Transducer 9-pin connector
Tool Bag, Canvas 1 84Z-6000-00 Spare parts are located inside bag

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Installing Documentation and Software
The Tasman documentation and software are downloaded.
1. Follow the instruction sheet on downloading TRDI software and manuals.
2. Software is available on https://tm-portal.force.com/TMsoftwareportal.
Install TRDI Toolz and NavUI.
3. Use our online customer portal at https://www.teledynemarine.com/support/RDI/technical-manuals
to download manuals or other Teledyne RDI documentation. Download the Tasman DVL Guide.

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Connecting to the Tasman
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 in
air).
•Assuming that typical operation will be in water, TRDI recommends a power supply that can pro-
vide 6.4A at 24VDC for a 300 kHz Tasman DVL and 2.3A at 24VDC for a 600 kHz Tasman.
See the Tasman DVL Guide, Table 1, page 26 for a full review of the recommended power
supply for system installation.
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 6.4A for a 300 kHz
system 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
that the power supply meets the Peak Current specified in the Tasman DVL Guide, Table 1,
page 26 to cover all performance cases.
Pinging in air is not recommended. Although this will not damage the Tasman, the Peak
Current when operating in air may be up to twice the values shown in the Tasman DVL Guide
Table 1, page 26. The transducer is pinged by sending a CS, PA, PT3, or PT5 command or if the
Tasman system is started for collecting data.
Wiring Diagram
Tasman Power/Comm Cable 73B-6085 Pigtail Cable
Where shown, RX is the incoming signal; TX is the outgoing signal.
Cable bend radius is 11.4 cm (4.5 inches).
The 12-pin connector part number is MKS(W)-3XL12-CCP from Teledyne Impulse.

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Using the Optional Test Cable
Tasman Connections for Bench Test [Optional Test Cable kit]
The Optional Test Cable Kit 75BK6141-00 includes the 73B-6094-00 RS-232 test cable and the
USB adapter.
If you purchase your own USB adapter, TRDI recommends: [e-mail]
https://us.connectiveperipherals.com/products/ft232r-chipset?variant=32248004476987. Possibly any device
with FTDI drivers and devices will also work.
Installing the USB Adapter Driver
If there is an available internet connection, Windows 10/11 will install the USB driver on first connection.
If necessary, install the Virtual COM port (VCP) driver to make the USB adapter appear as an additional
COM port. The free FTDI driver download page is available here: https://ftdichip.com/drivers/
Use Windows Device Manager® to determine the USB to Serial adapter COM port number. Remove the
adapter, wait a moment, note the list of ports, reinsert the adapter and note the new port.

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Using TRDI Toolz
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. From the Break button drop down menu, select Soft Break
(= = =). Click the Break ( ) button. The wakeup banner will
display in the terminal window.
DVL
Teledyne RD Instruments (c) 2021
All rights reserved.
Firmware Version: 83.xx
Current time is: 21/12/22,09:01:38.47
Break received, serial
>
You must have the RJ45 connector plugged into the network switch for the CE command to
return the Ethernet setting info.
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.

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For more information on TRDI Toolz, click the Help icon () to open the TRDI Toolz Software
help file.
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 10.20.230.17 into the address bar.
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 below.
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.
Ensemble Display
Layout, Show En-
semble Display
Terminal Display
Use the Script
Editor to send
multiple com-
mands to the
ADCP
Tools, Script
Editor
Send single command
Log to File
Communication
session tabs
Send BREAK
Terminal Options
Display Help
file

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If all outputs are enabled, it can affect the ping rate.
Network Configuration Page
Testing the Tasman DVL
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 2 to 4 cm 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.
DVL
Teledyne RD Instruments (c) 2021
All rights reserved.
Firmware Version: 83.xx
Current time is: 21/12/22,09:01:38.47
Break received, serial
>

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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: 83.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.
Pinging in air is not recommended. Although this will not damage the Tasman, the Peak
Current when operating in air may be up to twice the values shown in the Tasman DVL Guide
Table 2, page 26. The transducer is pinged by sending a CS, PA, PT3, or PT5 command or if the
Tasman system is started for collecting data.
>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.

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Mechanical Integration
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. You also must mount the transducer head as level as
possible using 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. The Forward Mark on the transducer will face forward.
Mounting the transducer head with Beam 3 (instrument Y-axis) rotated 45°relative to the ship forward
axis 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.
Transducer Alignment Reference Points
Installing the DVL on the ROV
There are many options for mounting the Tasman systems and they depend on the application. Use the
four mounting holes on the customer interface plate. See the Outline Installation Drawings for dimensions
and weights.
Your Tasman DVL transducer housing is made of aluminum that is protected by sacrificial
anodes and a hard anodize coat. Do not connect other metal to the DVL. Other metals may
cause corrosion damage.
Use the Isolator Plate (included in the spare parts kit) and M6 isolating bushings and washers
when mounting the DVL to a metal structure. Keep this in mind when fabricating a fixture,
which materials to use, or deciding how to place it on the vehicle.

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Electrical Integration
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.
Bypassing or shorting the DVL isolation / ground noise filter circuit will increase the sensitivity 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, bypassing of the
DVL isolation/ground filter can lead to accelerated corrosion.
Avoiding 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.
For more information, see the Tasman Guide, Chapter 2 – System Integration, Identifying
EMI.

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Acoustic Integration
The following items must be taken into consideration when using the Tasman DVL.
Flow Noise – Water flowing over the transducer faces increases the acoustic noise level, which in turn de-
creases the operational 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 opti-
mizing the transducer head type and design to conform to the platform hull form being used.
Cavitation – Cavitation is the formation of air bubbles due to the reduction of ambient pressure because of
hydrodynamic flow conditions. Cavitation at the edges of the transducer or surrounding area near
the transducer 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 de-
sign to the platform hull form being used.
Ringing – 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.
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 trans-
mit 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 ab-
sorbing material on the well walls (Precision Acoustics F48 anechoic tile).
•The transmit signal could be reflected off the window and back into the other beams.
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 operat-
ing.
For more information, see the Tasman Guide, Chapter 2 – System Integration.

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Operational & Setup Integration
The following items must be taken into consideration when using the Tasman DVL.
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.
•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. This is only for the Z-axis velocity, as Speed of Sound 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 fashion, clear the Auto Ping Cycle bit in the CF command by sending CFx0xxx, where
the x’s represent the settings of the other parameters. Start the DVL pinging with the CS com-
mand. The DVL will output a ‘<’ before each ping and wait for input. Send any valid ASCII charac-
ter 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 milliseconds to a few hundred milliseconds, which may be excessive for high-precision appli-
cations. Consequently, 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 millisecond 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 if no Trigger occurs during that time it will either Self Deploy and never look for Trig-
ger again or Ping once and then go back to waiting for Trigger. The input trigger voltage is
3.3VDC to 5VDC.
For more information, see the Tasman Guide, Chapter 2 – System Integration and Chapter 7 -
Commands.

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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 Chapter 3, Creating or Modifying Command
Files in the Tasman DVL Guide).
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 (output data format ID 5803h) and Navigation Pa-
rameters Data (output data format ID 2013h) blocks provide aid in the velocity measurement res-
olution 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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Choosing a Data Format
Deciding on which output data format to use depends on the needs of the deployment. The following de-
scribes the basics 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.
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.
•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.
For more information, see the Tasman DVL Guide, Chapter 8 – Output Data Formats.
PDDecoder Library in C language
The Teledyne Marine PDDecoder library is an open-source library written in C language to decode the
PD0 data formats that are commonly output by Teledyne Marine/Teledyne RD Instruments ADCPs. The
definition and details of the PD0 format can be found in any of the manuals under the section, Output
Data Format.
Available for download from the Teledyne Marine software portal:
https://tm-portal.force.com/TMsoftwareportal

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Want to know more?
Congratulations! You have completed the Tasman Integration Guide. Read the following chapters in the
Tasman Guide for more detailed information.
Chapter 1 –Tasman Overview
This chapter includes an overview of the Tasman features, options, computer and power requirements, and con-
necting to the Tasman DVL.
Chapter 2 – System Integration
This chapter covers system integration in detail.
Chapter 3 – Collecting Data
Use this chapter to create a command file that will be used to collect data.
Chapter 4 – Maintenance
This chapter covers Tasman DVL maintenance. Use this section to make sure the Tasman is ready for a deployment.
Chapter 5 – Returning Systems to TRDI for Service
Use this information to obtain a Return Material Authorization (RMA) number if the Tasman DVL needs to be re-
turned to TRDI.
Chapter 6 – Specifications
This chapter includes specifications and dimensions for the Tasman DVL (including outline installation drawings).
Chapter 7 – Commands
This chapter defines the commands used by the Tasman.
Chapter 8 – Output Data Formats
This chapter defines the output data formats used by the Tasman.

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