OP SD MULTIPLEX 1
OP SD MSG SON2 5.000
OP SD MSG + NAV 1.000 SRC 1
OP SD MSG + TEMP 0.500
OP SD MSG + LNAV 15.000 SRC 1 FMT 1
OP 4093 NET UDP 192.168.200.90 HOLDOFF 10
OP 4093 NET UDP 192.168.200.90 ECHO 0
OP 4093 NET UDP 192.168.200.90 EN 1
OP 4093 NET UDP 192.168.200.90 MULTIPLEX 1
OP 4093 NET UDP 192.168.200.90 MSG LNAV 10.000
OP 4092 NET UDP 192.168.0.244 HOLDOFF 10
OP 4092 NET UDP 192.168.0.244 ECHO 0
OP 4092 NET UDP 192.168.0.244 EN 1
OP 4092 NET UDP 192.168.0.244 MULTIPLEX 0
OP 4092 NET UDP 192.168.0.244 MSG 0
OP 4091 NET UDP 192.168.0.244 HOLDOFF 10
OP 4091 NET UDP 192.168.0.244 ECHO 0
OP 4091 NET UDP 192.168.0.244 EN 1
OP 4091 NET UDP 192.168.0.244 MULTIPLEX 1
OP 4091 NET UDP 192.168.0.244 MSG 0
OP 4090 NET UDP 192.168.0.244 HOLDOFF 10
OP 4090 NET UDP 192.168.0.244 ECHO 0
OP 4090 NET UDP 192.168.0.244 EN 1
OP 4090 NET UDP 192.168.0.244 MULTIPLEX 0
OP 4090 NET UDP 192.168.0.244 MSG 0
OP 4000 NET TCP HOLDOFF 50
OP 4000 NET TCP ECHO 0
OP 4000 NET TCP EN 1
OP 4000 NET TCP MULTIPLEX 0
OP 4000 NET TCP MSG 0
OP 0 SER 115200 8 N 1
OP 0 ECHO 1
OP 0 EN 1
OP 0 MULTIPLEX 1
OP 0 MSG LNAV 15.000 SRC 1 FMT 1
OP 1 SER 115200 8 N 1
OP 1 ECHO 1
OP 1 EN 1
OP 1 PROT 232
OP 1 MULTIPLEX 0
OP 1 MSG 0
OP 2 SER 9600 8 N 1
OP 2 ECHO 0
OP 2 EN 1
OP 2 PROT 485H
OP 2 MULTIPLEX 0
OP 2 MSG 0
OP 3 SER 115200 8 N 1
OP 3 ECHO 0
OP 3 EN 1
OP 3 PROT 232
OP 3 MULTIPLEX 0
OP 3 MSG 0
OP 4 SER 115200 8 N 1
OP 4 ECHO 0
OP 4 EN 1
OP 4 PROT 232
OP 4 MULTIPLEX 0
OP 4 MSG 0
OP INSTHRESH 0.25 0.15
IN 4093 NET UDP 192.168.200.90 MSG 0
IN 4092 NET UDP 192.168.0.244 MSG PSIMSSB
IN 4091 NET UDP 192.168.0.244 MSG PSONLBLBCN
IN 4090 NET UDP 192.168.0.244 MSG GPS
IN 4090 NET UDP 192.168.0.244 MSG + SVS
IN 4000 NET TCP MSG COMMAND
IN 0 MSG COMMAND
IN 1 MSG 0
IN 2 MSG PRDKELLBAR
IN 3 MSG 0
IN 4 MSG DVL
DVL LA 0.00000 0.00000 0.202310 IMU
// DVL LA 0.725802 -0.00117226 0.283305 VEH
DVL MA 0.254000 0.0710000 -0.104000 IMU
// DVL MA 0.583584 0.301597 359.396 VEH
DVL LATENCY 0
DVL SFERROR 0
DVL PREPMAXTLAST 1.2
DVL PREPMAXACC 0.5
DVL KFEVEL 0.02
DVL MINBEAMS 4 5
DVL OPFORMAT BINARY
DVL MODE BEAM AUTO
DVL BEAMDIR 315.04 29.971 225.031 30.02 134.976 29.943 45.04 29.973
DVL BEAMEN 1 1 1 1
DVL SYNCTIME 1 4
DVL MINXC 70
DVL MINSNR 0
DVL MINSL 0
DVL MAXVELSD 0.01
DVL WMINXC 25
DVL WMINSNR 0
DVL WMINSL 0
DVL WMAXVELSD 0.01
DVL TRIG 4
GC SETTLE 600
GC LAT 04.6955
GC WP M
GPS LA -1.11400 0.00000 -0.563000 VEH
// GPS LA -1.83633 -0.0197995 -0.651273 IMU
GPS QUALITY 1 5
// ISA SN 325947-001
// IMU SN 330391-001
// IMU DATETIME 00000000000000
IMU ANGFILT 0.010000
// IMU CRC 0x820A
IMU LA 0.725000 0.00000 0.0810000
IMU MA 0.330000 0.230000 -0.500000
IMU USERAB 0.000000e+00 0.000000e+00 0.000000e+00
IMU USERGB 0.000000e+00 0.000000e+00 0.000000e+00
// IMU ASN X 8840
// IMU GSN X 1938699896
// IMU ASN Y 8859
// IMU GSN Y 1938692353
// IMU ASN Z 8860
// IMU GSN Z 1844659769
// INFO: Insufficient Licence Permissions
INS USE GPS DVL PRESS
INS NSWMEAN 0
INS KFDELAY 2
INS KFHPOSRST 0
INS KFHPOSBOOST 10
INS KFIPOS 50 5
INS KFIATTHDG 0.1 1
INS KFIVEL 1 1
INS KFGYROBIAS 0.02 6
INS KFACCELBIAS 200 3
INS KFGYROARW 0.01
INS KFACCRW 0.02
INS KFACOUQSCALE 1.00000
INS KFREJFILT GPS 3 USBL 3 ZMD 0 DVL 3 PRESS 0 SUSBL 3 XPOS 3 LBL 3 ZUPT 3
INS RELNAVOUT 0 1 1
INS KFCUR 0.00000 0.00000
INS ZMD KFBIAS 0 21600
INS ZMD NOISE 1
INS ZMD MINDEPTHSIG 0
INS GPS KFHPOS 50 0
INS GPS HDOPMAX 0
INS GPS KFVPOS 0.6
INS GPS USEVERTICAL 0
INS GPS ENHANCED 0
INS USBL KFHPOS 0.002
INS USBL KFVPOS 0.5
INS USBL KFBWEIGHT 1
INS USBL KFRWEIGHT 1
INS USBL QJMEDIANFILTN 5
INS LBL NOISE 0.4
INS LBL KFHPOS 0 1e+20
INS LBL KFVPOS 0 43200
INS LBL NSLAMTRANSP 3
INS FIXNONLINRATIO 1
INS FIXMINDIR 5
INS FIXRESMINRATIO 3
INS FIXRNOISE 0 0.2
INS FIXMINDRIFT 0.5
INS SUSBL KFHPOS 0
INS SUSBL KFQMIN 0 0
INS SUSBL KFQMAX 0 0
INS SUSBL KFVPOS 5
INS SUSBL USEVERTICAL 0
INS SUSBL PVELSCALE 10.00
INS PRESS NOISE 1
INS DVL KFVXY 0.02
INS DVL KFVZ 0.05
INS DVL KFSF 0.0005 1000
INS DVL KFMA 0.05 1000
INS XPOS 51.330900 0 UTC 000000.00 SYS 0.000000
INS XPOS KFHPOS 1
INS XPOS KFVPOS 0.6
INS XPOS USEVERTICAL 0
INS XSAL 37.0000
INS XSV 1521.06
// ISA SN 325947-001
LBL LA 0.00000 0.00000 0.00000 VEH
// LBL LA -0.724641 -0.00680992 -0.0838717 IMU
LBL SIGNAL -10.0000 2.00000 -12.0000 3.00000 30.0000 50.0000
LBL PASTOBSCNT 2.00000
LBL MAXTSINCEPASTTWT 21.0000
LBL RANGE 20.0000 350.000 2.00000 0.500000
LOG 4093 NET UDP 192.168.200.90 MSG 0
LOG 4092 NET UDP 192.168.0.244 MSG 0
LOG 4091 NET UDP 192.168.0.244 MSG 0
LOG 4090 NET UDP 192.168.0.244 MSG 0
LOG 4000 NET TCP MSG 0
LOG 0 MSG TMS BIST OBSTGPSPOS OBSTSUSBL OBSTXPOS OBSTPDEPTH OBSTSVS OBSTDVL
LOG 1 MSG 0
LOG 2 MSG 0
LOG 3 MSG 0
LOG 4 MSG 0
LOG SD MSG CIMU NAVCAL NAVQUAL PMAT DXMAT MUSBL TMS PRDSONDEPM PRDDPT PRDDIGIQM PRDDIGIQPSI PRDDIGIQKPA PRDDIGIQO WINSON PRDSVX2DBAR PRDXDEPTH TRG CMD DVL LBL USBL GPS PSONBCN PSONLBLBCN SVS PSONSS ALARM ACK DBG TXT CPU UART SETTINGS BIST SUSBL XPOS ODVL OBSTZMD OBSTVUSBL OBSTGPSPOS OBSTGPSVEL OBSTSUSBL OBSTXPOS OBSTPDEPTH OBSTSVS OBSTDVL OBSTLBL OBSTZUPT PWRSTAT PHMAT LSZDA PRDKELLBIN OBSTLBLFIX VSVI
LOG ROTATE 5
LOG PV 1
LOG BINRPH 0 0
// PIC SN 25366
PIC CONTROL 0 BREAK 0
PIC CONTROL 0 MATCH 1
PIC CONTROL 1 BREAK 0
PIC CONTROL 1 MATCH 1
PIC SLEEP 0
// PIC Unit Type: 500
// IMU output not allowed
// RT IMU output not allowed
// PIC Application Status: SUBSEA_INS
// PIC Application Running: SUBSEA_INS
// PIC User Status: Customer
PORT 1 PWRPASS 0
PORT 3 PWRPASS 0
PORT 4 PWRPASS 0
PRESS LA 0.00000 0.00000 -0.150870 IMU
// PRESS LA 0.724402 0.000874196 -0.0698663 VEH
PRESS OFFSET 0.00000
PRESS KELLRATE 4
PRESS RCHANGE 3.00000
PRESS LATENCY 0.00000
SUSBL LA 1.60600 0.282000 0.210000 VEH
// SUSBL LA 0.877981 0.290436 0.130855 IMU
SUSBL TPDR 1 4
SUSBL TSOURCE TTAG
SUSBL LATENCY 0.00000
SUSBL TSYNCSDLIM 3.00000
SVS TYPE VALEPORT
TRIG 1 ACTIVE 1
TRIG 1 WIDTH 50.0000
TRIG 1 PERIOD 0.00000
TRIG 1 START 0.00000
TRIG 1 INPUT 1
TRIG 1 FILTER 0
TRIG 1 LINK NONE
TRIG 1 MAXFREQ 500.000000
TRIG 1 HOLDOFF 0.200000
TRIG 1 GO 0
TRIG 2 ACTIVE 1
TRIG 2 WIDTH 50.0000
TRIG 2 PERIOD 0.00000
TRIG 2 START 0.00000
TRIG 2 INPUT 1
TRIG 2 FILTER 0
TRIG 2 LINK NONE
TRIG 2 MAXFREQ 500.000000
TRIG 2 HOLDOFF 0.200000
TRIG 2 GO 1
TRIG 3 ACTIVE 1
TRIG 3 WIDTH 10.0000
TRIG 3 PERIOD 500.000
TRIG 3 START 20.0000
TRIG 3 INPUT 0
TRIG 3 FILTER 0
TRIG 3 NRZ 0
TRIG 3 LINK NONE
TRIG 3 MAXFREQ 500.000000
TRIG 3 HOLDOFF 0.200000
TRIG 3 GO 0
TRIG 4 ACTIVE 1
TRIG 4 WIDTH 10.0000
TRIG 4 PERIOD 500.000
TRIG 4 START 20.0000
TRIG 4 INPUT 0
TRIG 4 FILTER 0
TRIG 4 NRZ 0
TRIG 4 LINK NONE
TRIG 4 MAXFREQ 500.000000
TRIG 4 HOLDOFF 0.200000
TRIG 4 GO 1
TSYS PPS 2
TSYS ZDA 4090
TSYS PPSMODE TOA
TSYS SOURCE ZDA_1PPS
TSYS UPDATE 5
TSYS LSZDA 0
USBL LA 0.00000 0.00000 0.00000 VEH
// USBL LA -0.724641 -0.00680992 -0.0838717 IMU
USBL MA 0.00000 0.00000 0.00000 VEH
// USBL MA -0.331997 -0.227108 0.501320 IMU
USBL QUALITY 0.000300000 26.0000 122.000 4
USBL MAXHDIST 1.5
USBL DUALRED 0
XPOS LA 0.00000 0.00000 0.00000 VEH
// XPOS LA -0.724641 -0.00680992 -0.0838717 IMU
ZMD CRPDEPTH 0.00000
ZMD CRPDEPTHUSE 0
ZUPT MAXVEL 0.00100000
SYS LA 2 0.00000 0.00000 0.00000
SYS MA 2 0.00000 0.00000 0.00000
SYS RPHV 2 FULL FILTER
SYS LA 3 0.00000 0.00000 0.00000
SYS MA 3 0.00000 0.00000 0.00000
SYS RPHV 3 FULL FILTER
SYS LA 4 0.00000 0.00000 0.00000
SYS MA 4 0.00000 0.00000 0.00000
SYS RPHV 4 FULL FILTER
SYS LA 5 0.00000 0.00000 0.00000
SYS MA 5 0.00000 0.00000 0.00000
SYS RPHV 5 FULL FILTER
SYS LA 6 0.00000 0.00000 0.00000
SYS MA 6 0.00000 0.00000 0.00000
SYS RPHV 6 FULL FILTER
SYS LA 7 0.00000 0.00000 0.00000
SYS MA 7 0.00000 0.00000 0.00000
SYS RPHV 7 FULL FILTER
SYS SOUND 1
SYS PTPENABLE 1
SYS IMUSENS 0
SYS AUTOSHUTDOWN 1 DELAY 60
// SYS INSTTYPE SPRINT_NAV_4K
// FIRMWARE 3.07.00.2139 20230112154430
// SYS LTL 1126
// SYS CMDS VERSION 121
// SYS CMDS LIST
SYS NET 192.168.0.222 255.255.255.0 192.168.0.1