Teledyne EXPLORER User manual

Use and Disclosure of Data
Information contained herein is classified as EAR99 under the U.S. Export Administration
Regulations. Export, reexport or diversion contrary to U.S. law is prohibited.
EXPLORER
INTEGRATION GUIDE
P/N 95B-6146-00 (July 2023)
© 2023 Teledyne RD Instruments, Inc. All rights reserved.
https://www.teledynemarine.com

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TABLE OF CONTENTS
GETTING STARTED .............................................................................................................................................1
CONNECTING TO THE EXPLORERDVL.......................................................................................................................3
MECHANICAL INTEGRATION..................................................................................................................................9
ELECTRICAL INTEGRATION ....................................................................................................................................11
ACOUSTIC INTEGRATION ......................................................................................................................................12
OPERATIONAL &SETUP INTEGRATION.....................................................................................................................13
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.
Teledyne Marine Software Portal
Teledyne RD Instruments Firmware, software, and Field Service Bulletins can be accessed only via our Teledyne Marine software portal.
To register, please go to https://tm-portal.force.com/TMsoftwareportal to set up your customer support account. After your account is
approved, you will receive an e-mail with a link to set up your log in credentials to access the portal (this can take up to 24 hours).
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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NOTES

ExplorerDVL Integration Guide P/N 95B-6146-00 (July 2023)
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Getting Started
Identifying what’s in the Box
ExplorerDVL Inventory
Kit Part Number Name Description
Standard
Explorer Systems
70B-1002-03
70B-1003-03
Explorer PA DVL The ExplorerDVL system includes the transducer, electronics chassis
and cables. When unpacking, use care to prevent physical damage
to the transducer face and connectors. Use a soft pad to protect the
transducer.
70B-1001-03 Explorer Piston DVL
71B-2010-03 Electronics chassis
73B-2002-xxx Receiver cable
73B-2004-xxx Transmit cable
95B-6148-00 ExplorerDVL Getting Started A printed quick start sheet showing test setup is included.
Self-Contained
Explorer Systems
70B-9001-00 Self-Contained EXP600 PA The Explorer Self-Contained DVL system includes the transducer
and cables.
70B-9008-00 In-Line Self-Contained EXP600 PA
737-3055-005 Self-contained Pigtail cable The DVL PWR/COMM cable connects the ExplorerDVL to the
computer and external power supply.
737-3114-005 Self-Contained test cable The DVL/Power/Comm test cable is used for serial communications
and power.
73B-6037-005 Self-contained Sensor Comm Pigtail
cable
Sensor Communication Cable connects the ExplorerDVL to the
sensors.
95B-6147-00 ExplorerDVL SC Getting Started A printed quick start sheet showing test setup is included.
75BK6092
-00
Documentation
Kit
95Z-6007-00 Download instructions This sheet has instructions for downloading the software and
manuals.
75BK6016-00
75BK6030-00
Accessories Kit
Tools and Spare Parts kit
Shipping Case
See Chapter 4, Maintenance in the ExplorerDVL Guide for a list of
parts included in this kit.
See the packing slip for additional options. If you are missing parts, contact TRDI support
[e-mail] or call [phone].

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Installing Documentation and Software
The ExplorerDVL 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.
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 ExplorerDVL Guide.
PDF versions of all ExplorerDVL documentation are available for download.
ExplorerDVL Guide
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 software portal:
https://tm-portal.force.com/TMsoftwareportal

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Connecting to the ExplorerDVL
Power Overview
The ExplorerDVL requires a DC supply between 12 and 28 VDC with a minimum inrush capability of 3A.
Either an external DC power supply or battery can provide this power. Sonar performance depends on
supply voltage, but not very strongly. The processing electronics use a DC/DC converter, so their function
is independent of the supply voltage over the 12 to 28 volt range. However, the raw supply voltage is pro-
vided directly to the transmitter so that the transmitted acoustic power is proportional to Vin2. Many cus-
tomers have successfully operated the ExplorerDVL using 24 volts. It may be worth the cost of providing a
higher supply voltage to achieve the maximum bottom-tracking range.
The self-contained Explorer can accept custom power input with the inclusion of a custom power conver-
sion board. Please contact a TRDI sales representative for further details on this capability.
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 ExplorerDVL. The capacitors provide a
store of energy for use during transmit. The inrush current is as high as three Amps rms. The Ex-
plorerDVL will draw this amperage until its capacitors are fully charged.
If the power supply limits the current or the power drop on the cable is significant, then the power on
cycle will take longer. It can take up to one minute. If the power shuts down during the inrush current
draw, this may not allow the ExplorerDVL electronics to start.
Bench Testing the ExplorerDVL System
Connecting the ExplorerDVL:
Figure 1. ExplorerDVL Connections

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To set up the ExplorerDVL:
1. Connect the Transmit and Receive cables to the electronics housing and transducer.
Match the red dots to connect the Transmit and Receive cables.
2. Wire the I/O cable to the computer’s communication port (see Input Power and Communications
Cable Wiring).
3. Connect +12 to 28 VDC power.
The Input Power and Communications Interface Connector (J3) uses a DB37M (Amp 747375-2) con-
nector. Use the following table to make the minimum RS-232 connections required to test the Ex-
plorerDVL.
See the ExplorerDVL Operation Manual, (Table 1) for the full wiring diagram.
DB37 Male Connector / I/O Bus
DB9 Female Connector / SPI Bus (Sensor)
Pin 1
RX1
Pin 3
Transmit Data
Pin 3
TX1
Pin 2
Receive Data
Pin 5
COMM 1_2
Pin 5
Communication Return
Pin 34/35
Power +
N/A
N/A
Pin 36/37
Power -
N/A
N/A
I/O Bus COM port 1 (pins 1, 3, and 5) is reserved for communicating to and controlling the
ExplorerDVL. This port will not support sensors. I/O Bus COM ports 2, 3, 4 and the SPI bus
port are for sensors.
This setup is for systems with RS-232 on I/O Bus COM port 1 (the master port) only. For
systems with RS-422 on I/O Bus COM port 1, refer to the manual for setup and wiring.
Connecting the Self-Contained ExplorerDVL:
To disconnect the cable/Dummy Plug:
1. Release the retaining strap/Cable Clip with O-Ring by pulling it over the connector.
2. Grasp the cable close to the connector. Pull the cable straight out away from the housing with a
gentle rocking motion. Do not apply any upward force on the connector as it is being discon-
nected.
The dummy plug should be installed any time the Communications /Power cable is removed.
Use the dummy plug when the ExplorerDVL is in storage or is being handled.
To connect the cable:
1. Check all pins for signs of corrosion (greenish oxidation, black deposits, or pitting).
2. Use light amounts of silicone lubricant (such as 3MTM Silicone Lubricant (Dry Type) ID No: 62-
4678-4930-3) on both the male pins and female socket to help seat the cable connectors. Wipe off
excessive silicone spray from the metal portions of the pins. Regular lubrication is required: Apply
dry type silicone lubricant prior to each connection.

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When the cable is connected without any lubricant, excessive force is needed to fully seat or
remove the connector. This can cause several serious problems:
•The neoprene rubber portion of the contact pin may tear from the metal pin.
•Wiggling the cable side-to-side to overcome the friction as it is connected or
disconnected may cause the neoprene rubber to tear or create pin-holes on the side
of the connector.
Any damage to the neoprene rubber may cause corrosion on current carrying pins or leakage
into the DVL.
3. Gently push the cable straight in toward the connector. Do not apply any upward force on the con-
nector as it is being connected.
4. Roll the retaining strap/Cable Clip with O-Ring over the connector.
5. Connect +12 to 28 VDC power.
Figure 2. Self-Contained ExplorerDVL Connections with Optional Test Cable shown.
Use this figure to wire the ExplorerDVL pigtail cable. Refer to the ExplorerDVL Operation Manual for
more details on system interconnections.
Figure 3. Self-Contained ExplorerDVL Comm/Power Cable P/N 737-3055

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Communicate with the ExplorerDVL:
To establish communications with the ExplorerDVL:
1. Connect the system and apply power.
2. Start the TRDI Toolz software.
3. Select New Serial Connection.
4. Enter the Pathfinder’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
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 dis-
play in the terminal window.
ExplorerDVL
Teledyne RD Instruments (c) 2015
All rights reserved.
Firmware Version: 57.01
>
Changing the Baud Rate to the highest baudrate:
BAUD RATE CB-command
1200
CB111
2400 CB211
4800
CB311
9600 CB411 (Default)
19200
CB511
38400 CB611
57600
CB711
115200 CB811
Connect and power the system as shown in Figure 1.
Use TRDI Toolz to send the CB command that selects the baud
rate. The table on the left shows the CB command settings for
different baud rates with no parity and 1 stop bit.
For example, to change the baud rate to 115200, at the ">"
prompt in the communication window, type cb811 then press
the Enter key.
The CB? command will identify the communication
setting.
>cb?
CB = 411 ----------------- Serial Port Con-
trol (Baud [4=9600]; Par; Stop)
>cb811
>CK
[Parameters saved as USER defaults]
>cb?
CB = 811 ----------------- Serial Port Con-
trol (Baud [8=115200]; Par; Stop)
>
TRDI Toolz will send the command CK to save the new baud rate
setting.
The ExplorerDVL is now set for the new baud rate. The baud rate
will stay at this setting until changed again with the CB
command.

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Testing the ExplorerDVL:
>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
Submerge the transducer face in a few
inches of water. The PA test may fail in air.
Only a failure with the transducer in water
is a relevant test.
At the “>” prompt in the communication window, enter the
command CR1 then press the Enter key. This will set the
ExplorerDVL to the factory default settings.
At the “>” prompt in the communication window, enter the
command CK then press the Enter key. This will save the
factory default setting.
Place the ExplorerDVL in a bucket of water (at least a few
inches to cover the transducer face).
At the “>” prompt in the communication window, enter the
command PA then press the Enter key. This will run the
ExplorerDVL deployment test.
Testing the Sensors:
>ps0
Serial Number: 0
Frequency: 614400 Hz
Configuration: ExplorerDVL : 4-beam ve-
locity.
Transducer Type: PISTON
Beam Angle: 30 Degrees
Beam Pattern: CONVEX
Sensors: TEMP PRESS TILTS
CPU Firmware: 34.xx
FPGA Version: 3.00.005
Sensor Firmware: 33.03
Board Serial Number Data:
53 00 00 00 15 5A 04 28
4F 00 00 00 34 A7 60 23 BFP72B-1102-03X
DC 00 00 00 41 51 C4 23 DSP72B-2102-00X
E6 00 00 00 41 7E A6 23 PER72B-2104-00X
F0 00 00 00 34 A7 89 23 BFT72B-1101-03X
8F 00 00 00 3D 07 1B 23 RCV72B-2103-03X
A1 00 00 00 32 00 67 23 SNS72B-1000-00A
4B 00 00 00 34 A6 5F 23 PIO72B-2101-00X
At the “>” prompt in the communication window, enter the
command PS0 then press the Enter key. This will display the
ExplorerDVL system configuration data.
Note the sensors attached to your system.

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>sr
Initializing sensor 12 on port 3.
>pc2
NOTE: Depth sensor source currently configured to manual
settings.
See EZ command.
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
/ 23.12/ 8 0.000/ 0 0.000/ 0 2.48/12 0.27
/12 -0.19/12 25.84
>
At the “>” prompt in the communication
window, enter the command SR then press
the Enter key. This will initialize all the
sensors attached.
At the “>” prompt in the communication
window, enter the command PC2 then
press the Enter key. This will display real-
time data from all the sensors attached.
Press any key to exit the test.
The /12 on the Heading, Pitch, and Roll
output indicates that the sensor information
is from the AHRS sensor.

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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.
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 ExplorerDVL’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 in-
strument Y-axis (beam 3) and ship forward axis.
Transducer Alignment Reference Points

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Installing the DVL on the ROV
Internal Clamp
The preferred method of mounting the transducer is using a
clamp that grips the beveled edge on the circumference of the
housing near the end-cap. This feature is provided so that when
a mating beveled feature is clamped to it, the transducer is
forced up and into the housing. This, in turn, loads up the face
O-ring seal on the transducer flange and provides a watertight
seal.
The advantage of this method is that no threaded connection
outside the vehicle is needed, which should improve corrosion
resistance and eliminates the need for the outer face O-ring on
the flange. The disadvantages are slightly greater mechanical
complexity and possible ringing depending on shape and mate-
rial of the clamp.
Bolted Connection
The fallback method of mounting the transducer is to use the clearance holes in the flange of the trans-
ducer. Cap screws that thread into the vehicle should have their heads sealed with urethane (manufac-
turer BJB, part number 753). The anodized area of the counter bore should be primed (manufacturer
Chemglaze, part number 9944A/B) prior to application of the urethane.
The advantage of this method is simplicity. The disadvantage is that it is more difficult to repair/replace
and possibly poses an increased risk of flooding if the urethane fails and the threads in the vehicle cor-
rode.
Whatever mounting solution chosen, particular attention should be paid to acoustic coupling
that would increase the ringing of the transducer head and corrupt the collected data. The PA
test should result in a No-Go for deployment in this case.
The preferred method of mounting the Self-Contained ExplorerDVL is using two clamps that grip the
notches on the circumference of the housing.
Your ExplorerDVL 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 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 Issues
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 DVL has three isolated grounds in order to achieve the desired performance levels of the instrument.
The grounding systems are as follows:
•Communication ground
•Power ground
•Chassis ground
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.
Your ExplorerDVL transducer housing is made of aluminum that is protected by sacrificial
anodes and a hard anodize coat and paint. Do not connect other metal to the DVL. Other
metals may cause corrosion damage.
Use 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.
Electro-Magnetic Interference (EMI)
The main sources of EMI are induced voltages from signal and power lines that are located in proximity to
the effected 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 ExplorerDVL Guide, Chapter 2 – System Integration, Identifying
EMI.

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Acoustic Integration
The following items must be taken into consideration when using the ExplorerDVL.
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
•Prevents 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.
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 ExplorerDVL Guide, Chapter 2 – System Integration.

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Operational & Setup Integration
The following items must be taken into consideration when using the ExplorerDVL.
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 speed sound 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 Horizontal 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 Triggering. The trigger methods shown above all have latencies ranging from a few millisec-
onds to a few hundred milliseconds, which may be excessive for high-precision applications. Con-
sequently, 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 Trigger
again or Ping once and then go back to waiting for a Trigger. The input trigger voltage is 3.3VDC
to 7VDC.
For more information, see the ExplorerDVL Guide, Chapter 2 – System Integration and
Chapter 7 - Commands.

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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 provides
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, head-
ing, 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 Veloc-
ity Output Format is selected. This format is selected via the #BJ command.
•PD3 – PD3 is a binary output format of bottom track speed over the bottom, speed through the water,
and range to bottom information. If PD3 is selected, there is no data written to the recorder.
•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 attitude
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.
For more information, see the ExplorerDVL Guide, Chapter 8 – Output Data Formats.
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.
The PD0 Bottom Track High Resolution Velocity Output (velocity in 0.01mm/s) 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 velocity is positive.
•If Beam 2 is going forward, then X velocity 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.

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Want to know more?
Congratulations! You have completed the ExplorerDVL Integration Guide. Read the following chapters in
the ExplorerDVL Guide for more detailed information.
Chapter 1 – At a Glance
This chapter includes an overview of the ExplorerDVL features, options, computer and power require-
ments, and connecting to the ExplorerDVL.
Chapter 2 – Installation
This chapter covers in detail how to integrate the ExplorerDVL onto your vehicle.
Chapter 3 – Collecting Data
Use this chapter to create a command file, setup external sensors, and start data collection.
Chapter 4 – Maintenance
This chapter covers ExplorerDVL maintenance. Use this section to make sure the ExplorerDVL is ready
for a deployment.
Chapter 5 – Returning Systems to TRDI for Service
If the ExplorerDVL needs to be returned to TRDI, use this information on how to obtain a Return Mate-
rial Authorization (RMA) number.
Chapter 6 – Specifications
This chapter includes specifications and dimensions for the ExplorerDVL (including outline installation
drawings).
Chapter 7 – Commands
This chapter defines the commands used by the ExplorerDVL.
Chapter 8 – Output Data Format
This chapter defines the output data formats used by the ExplorerDVL.
Chapter 9 – External Sensors
This chapter includes special considerations that need to be made when using external sensors with the
ExplorerDVL.

P/N 95B-6146-00 (July 2023) ExplorerDVL Integration Guide
Page 16 EAR99 Technology Subject to Restrictions Contained on the Cover Page.
NOTES