2012

TOGSNAV Standard 1.1.5

User Manual

CDL Inc.
11/21/2012
 TOGSNAV Standard 1.1.5
User Manual

TABLE OF CONTENTS
1 INTRODUCTION .............................................................................................................. 5
1.1 WARNINGS AND NOTES ...................................................................................................................... 5
1.2 GENERAL DESCRIPTION ....................................................................................................................... 5
1.2.1 System Overview .................................................................................................................. 5
1.2.2 Warranty .............................................................................................................................. 6
2 INSTALLATION ............................................................................................................... 7
2.1 SYSTEM CONTENTS ............................................................................................................................ 7
2.2 UNPACKING AND INSPECTION............................................................................................................... 7
2.3 PHYSICAL INSTALLATION ...................................................................................................................... 7
2.4 SYSTEM ORIENTATION ........................................................................................................................ 8
2.5 ELECTRICAL INSTALLATION ................................................................................................................... 9
2.5.1 TOGSNAV Connector ............................................................................................................ 9
2.5.2 Umbilical Port-1 Connector – 5018 .................................................................................... 10
2.5.3 (Optional) DVL Connector – 5018 ....................................................................................... 11
2.5.4 (Optional) Umbilical Port-1, Port-2, plus DVL Connector – 5018 ....................................... 12
3 OPERATING INSTRUCTIONS ...................................................................................... 13
3.1 INITIAL POWER-ON ........................................................................................................................... 13
3.2 EMBEDDED SOFTWARE MAIN MENU ................................................................................................... 14
3.2.1 Main menu ......................................................................................................................... 14
3.2.2 Ports & strings menu .......................................................................................................... 15
3.2.3 Port menu ........................................................................................................................... 15
3.2.4 Output strings menu ........................................................................................................... 16
3.2.5 String menu ........................................................................................................................ 16
3.2.6 Advanced menu .................................................................................................................. 17
3.2.7 Alignment menu ................................................................................................................. 17
3.2.8 Edit Custom strings menu ................................................................................................... 17
3.2.9 Editing custom string menu ................................................................................................ 18
3.2.10 TOGS-NAV settings menu ................................................................................................... 19
3.2.11 TOGS-NAV Boresight menu ................................................................................................ 19
3.2.12 TOGS-NAV enabled Options ............................................................................................... 19
3.2.13 TOGS-NAV Advanced menu STATUS Information .............................................................. 20
3.2.14 TOGS-NAV Main menu Configuration Dump Information ................................................. 21
3.3 TOGS-NAV SPECIAL COMMANDS...................................................................................................... 22
3.3.1 Setting the Depth Sensor Tare Value .................................................................................. 22
Direct Communication with the DVL .............................................................................................. 23
3.4 TOGS-NAV QUICK COMMAND LINE CONTROL .................................................................................... 24
3.4.1 Introduction ........................................................................................................................ 24
3.4.2 Set Commands .................................................................................................................... 24

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3.4.3 Query Commands ............................................................................................................... 26

3.4.4 Command List ..................................................................................................................... 26
3.4.5 Response Messages ............................................................................................................ 27
4 DATA OUTPUT .............................................................................................................. 28
4.1 DATA FORMATS .............................................................................................................................. 28
4.2 MODE FLAG AND STATUS ERROR FLAG DEFINITIONS .............................................................................. 29
4.3 DATA STRING LIST ............................................................................................................................ 30
4.3.1 TOGS format ....................................................................................................................... 30
4.3.2 TOGSNAV ............................................................................................................................ 31
4.3.3 MiniRLG1 format ................................................................................................................ 32
4.3.4 MiniRLG2 format ................................................................................................................ 32
4.3.5 Tokimec 1............................................................................................................................ 33
4.3.6 Tokimec 2............................................................................................................................ 33
4.3.7 TCM2 HPR ........................................................................................................................... 34
4.3.8 HMR3000 ............................................................................................................................ 34
4.3.9 TSS2 (no status) .................................................................................................................. 35
4.3.10 Watson/Tritech Gyro .......................................................................................................... 35
4.3.11 MiniPos3 (binary) format ................................................................................................... 36
5 MAINTENANCE AND TEST .......................................................................................... 38
5.1 MAINTENANCE OF EQUIPMENT ........................................................................................................... 38
5.2 CHECKOUT PROCEDURE ..................................................................................................................... 38
5.3 RECALIBRATION ............................................................................................................................... 38
5.4 OUTPUT STRING GENERATOR .................................................................................................... 39
5.4.1 Introduction ........................................................................................................................ 39
5.4.2 Formatting fields and scaling/shifting ............................................................................... 40
5.4.3 Formatting fields ................................................................................................................ 41
5.4.4 Flag characters ................................................................................................................... 41
5.4.5 Field width .......................................................................................................................... 41
5.4.6 Examples ............................................................................................................................. 42
5.4.7 Identifiers ............................................................................................................................ 45
5.4.8 Operators ............................................................................................................................ 46
6 SPECIFICATIONS ......................................................................................................... 47
7 TECHNICAL DRAWINGS .............................................................................................. 48
8 DOPPLER VELOCITY LOG (DVL) PARAMETERS ...................................................... 49
9 CONTACTING CDL ....................................................................................................... 50
9.1 OFFICES ......................................................................................................................................... 50
9.2 BY EMAIL ....................................................................................................................................... 51
9.3 INTERNET WEB SITE ........................................................................................................................ 51
9.4 OUT OF HOURS CONTACT NUMBERS ................................................................................................... 51

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List of Tables

TABLE 1: TOGSNAV CONNECTOR OPTIONS ...................................................................................................... 9

TABLE 2: SEACON UMBILICAL CONNECTOR ....................................................................................................... 10
TABLE 3: DVL UMBILICAL CONNECTOR............................................................................................................ 11
TABLE 4: UMBILICAL WITH DVL 15-08 CONNECTOR.......................................................................................... 12
TABLE 5: COMMAND LIST ............................................................................................................................. 26
TABLE 6: MODE FLAG ................................................................................................................................... 29
TABLE 7: STATUS ERROR FLAG........................................................................................................................ 29
TABLE 8: TOGSNAV ‘BINARY’ POSITION FORMAT ............................................................................................. 36
TABLE 9: DIRECTION CONVENTION TABLE ........................................................................................................ 40
TABLE 10: IDENTIFIERS FOR CUSTOM STRING GENERATOR .................................................................................... 45
TABLE 11: OPERATOR FUNCTIONS FOR CUSTOM STRING GENERATOR FIELDS .......................................................... 46

List of Figures

FIGURE 1: VEHICLE REFERENCE FRAME .............................................................................................................. 8

FIGURE 2: UMBILICAL 15-08 CONNECTOR PINOUT ............................................................................................. 10
FIGURE 3: DVL 15-08 CONNECTOR PINOUT ..................................................................................................... 11
FIGURE 4: UMBILICAL WITH DVL 15-08 CONNECTOR PINOUT .............................................................................. 12
FIGURE 6: SIGN CONVENTION FOR TOGS AND MINIRLG STRINGS ........................................................................ 28
FIGURE 7: TOGS POWER UP SEQUENCE WITH VALID LATITUDE ENTERED ................................................................ 38

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1 Introduction
1.1 Warnings and Notes
Throughout the manual the following symbols are used:

Indicates a warning.
Failure to follow these instructions will result in serious injury, damage to equipment
or incorrect operation of equipment.

Indicates a note.
This indicates important information that should be followed to ensure correct operation of
the unit.

1.2 General Description

1.2.1 System Overview
The CDL TOGS-NAV is a solid state gyrocompass based around a Fibre Optic Gyro (FOG).

The TOGS-NAV contains an Inertial Measurement Unit (IMU), a processor, a

communications interface, a power supply system, an RDI Workhorse DVL and an optional
Valeport IPS pressure / depth sensor.

This assembly, together with the navigation processor, provides the TOGS-NAV a full self-
contained Attitude Heading Reference system (AHRS).

The TOGSNAV IMU is required to be initialized with accurate Latitude for the location that is
will be used.

After the initial static alignment initialisation has completed, the TOGSNAV will attain full
AHRS mode.

At this time the TOGSNAV can be moved and can periodically be updated with a new
position Latitude to maintain accuracy.

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1.2.2 Warranty
CDLtd UK warrants ‘TOGS-NAV’ products to be free from defects in materials or
workmanship for a conditional 18 months beginning on the date when the equipment was
shipped from the CDL base or from their authorised distributor.

Units must be packaged with care when returning to the CDLtd base. CDLtd recommends
that the original packing material is retained for this purpose.

The responsibility of CDLtd in respect of this warranty is limited solely to product replacement
or repair at an authorised location only. Determination of replacement or repair will be made
by CDLtd personnel or by personnel expressly authorised by CDLtd for this purpose.

This warranty will not extend to damage or failure resulting from misuse, neglect, accident,
alteration, improper installation, non-approved cables or accessories, or operation in an
environment other than intended.

In no event will CDLtd be liable for any indirect, incidental or consequential damages whether
through tort, contract or otherwise.

This warranty is expressly in lieu of all other warranties, expressed or implied, including
without limitation the implied warranties of merchantability or fitness for a particular purpose.

The foregoing states the entire liability of CDLtd with respect to the products described
herein.

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2 Installation
2.1 System Contents
When the system is received it should comprise the following items:

1.TOGS-NAV subsea unit c/w WHN1200 DVL & optional Valeport IPS;
2.Instruction manual on CD;
3.Heading calibration certificate;
4.Valeport IPS depth sensor Cal certificate if sensor option is chosen;
5.Transit case.

2.2 Unpacking and Inspection

If a transit case has been ordered, the system will be shipped from CDL in a specially
designed transit case that contains cavities that exactly fit each system component.
This transit case should ensure that the equipment reaches its destination in perfect
working order.

Retain the original transit case so that this may be used to transport the system
when necessary. Improper packing whilst the unit is being transported will
invalidate the warranty of the unit.

On receipt of the equipment, the contents of the packing case should be carefully unpacked
and checked against the items on the shipping documents for any errors or omissions. It is
recommended that the original packing case be used for subsequent transportation of the
equipment.

2.3 Physical Installation

The CDL TOGS-NAV should be installed on a flat surface in a manner to give the unit
maximum physical protection from accidental damage.

The TOGS-NAV weighs 16kg so a location must be chosen that will support this load whilst
giving convenient access to the unit and sub connectors.

The location of the unit must not be near any sources of extreme mechanical noises or
extreme magnetic field sources.

As standard the TOGS-NAV will be supplied in 3000 meter housing, however there are
4000M and 6000M options available if requested. Under no circumstances should the unit be
subject to pressure forces greater than that stated on the unit.

The depth rating of the TOGS-NAV housing is stated clearly on the side label. Should you
wish to use a TOGS-NAV beyond its stated rating please contact CDL for assistance
BEFORE using the unit.

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2.4 System Orientation

The default settings of the TOGS-NAV assume that the unit’s heading axis (X-axis) is aligned
with the fore-aft axis if the vehicle and the unit’s pitch axis (Y-axis) is aligned with the port-
starboard axis of the vehicle. This is illustrated in Figure 1.

If the system is installed in a different manner, this can be compensated for by entering the
corresponding angle offsets into the system boresight menu.

The reference frame of the unit is defined as follows:

The unit’s X-axis is the roll axis and should be aligned with the fore-aft axis of the vehicle.

The unit’s Y-axis is the pitch axis and should be aligned with the port-starboard axis of the
vehicle.

The unit’s Z-axis is the yaw axis and should be aligned with the azimuth if the vehicle is level.
These definitions are illustrated in Figure 1.

Figure 1: Vehicle Reference Frame

Image courtesy of Seaview Systems and Seaview Marine

Heading is defined as the angle between true north and the projection of the vehicle X-axis
onto the horizontal plane.

Pitch is defined as the angle between the vehicle X-axis and the horizontal plane.

Roll is defined as the angle between the vehicle Y-axis and the horizontal plane.

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2.5 Electrical Installation

The TOGS-NAV can be configured with two different connectors: Standard subsea wet mate
connectors or SEANET connectors.

2.5.1 TOGSNAV Connector

The TOGS-NAV normally has one Umbilical connector that is wired simply with the RS232
Port-1 user control and data output interface.

An optional second DVL output data connector can be supplied with the TOGSNAV unit as
required.

An alternative option that is available is the expansion of the one Umbilical connector that is
wired to provide the RS232 Port-1 user control and data output interface, plus the RS232
Port-2 data output and the RS232 DVL data output.

Table 1: TOGSNAV Connector Options

Connector Function
1508 Primary Communication Port (Port 1) plus DC Power
Optional DVL Port DVL Data Output Port (115K/8/Odd/1)
Primary Communication Port (Port 1) plus DC Power
Optional 1508 Secondary Communication Data Output Port (Port 2)
DVL Data Output Port (115K/8/Odd/1)

If any of these connectors are not in use, they MUST be fitted with blanking
plugs.

Interface with the TOGSNAV unit can be by RS232 serial communications only at standard
baud rates in the range 9600 – 115200 bps.

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2.5.2 Umbilical Port-1 Connector – 5018

This section describes the umbilical connector that uses a 15-08 connector.

This connector supplies power to the unit and has one (1) isolated serial port. The pin out for
this connector is given in Table 2 and the pin orientation is shown in Figure 2.

Figure 2: Umbilical 15-08 connector pinout

Table 2: Seacon Umbilical Connector

Pin Name Function RS232

1 N/C
2 N/C
3 N/C
4 +24V Power +24V
5 +24V GND Power Ground
6 Port 1 GND Primary Port Signal Ground
7 Port1 Tx Primary Port Tx
8 Port1 Rx Primary Port Rx

Interface with the unit can be by RS232 serial communications at standard baud rates in the range
9600 – 115200 bps.

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2.5.3 (Optional) DVL Connector – 5018

This section describes the optional 2nd DVL connector that uses a 15-08 connector.

This connector provides one (1) DVL Data output serial port. The pin out for this connector is
given in Table 3 and the pin orientation is shown in Figure 3.

Figure 3: DVL 15-08 connector pinout

Table 3: DVL Umbilical Connector

Pin Name Function RS232

1 N/C
2 N/C
3 DVL Tx DVL Data Output Tx
4 N/C
5 N/C
6 DVL GND DVL Data Output Signal Ground
7 N/C
8 N/C

The DVL data output port is fixed at 115200baud / 8 Data Bits / Odd Parity / 1 Stop Bit, with the
PD0 ‘binary’ TRDI message format.

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2.5.4 (Optional) Umbilical Port-1, Port-2, plus DVL Connector – 5018

This section describes the umbilical connector that uses a Seacon or Burton 15-08
connector.

This connector supplies nominal 24Vd.c. power to the TOGSNAV unit and has one (1)
isolated bi-directional serial port and two (2) data output serial ports.

The pin out for this connector and the pin orientation is shown in Figure 4 and Table 4.

Figure 4: Umbilical with DVL 15-08 connector pinout

Table 4: Umbilical with DVL 15-08 Connector

Pin Name Function RS232

1 DVL Tx DVL Port Data Out
2 DVL GND DVL Port Data Ground
3 Port2 Tx Secondary Port Data Out
4 +24V d.c. Power +24V Supply
5 0V d.c. Power Ground
6 Port 1&2 GND Primary / Secondary Port Data Ground
7 Port1 Tx Primary Port Data Out
8 Port1 Rx Primary Port Data In

Interface with the unit can be by RS232 serial communications at standard baud rates in
the range 9600 – 115200 bps. Default: 115200baud / 8 Data Bits / No Parity / 1 Stop Bit

The DVL data output port is fixed at 115200baud / 8 Data Bits / Odd Parity / 1 Stop Bit,
with the PD0 ‘binary’ TRDI message format.

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3 Operating Instructions
3.1 Initial power-on

The TOGS-NAV unit runs automatically on power up. The system has been set for a 10
minute initial alignment period but will generally be within 1 degree of accuracy after 3
minutes.

The user must enter valid Latitude into the TOGS-NAV unit for the area of operation. The
Latitude value entered into the TOGS-NAV should be better than 1 degree.

If the latitude value is changed in the TOGS-NAV unit and saved to internal memory, restart
the TOGS-NAV alignment to use the new entered value (Power Cycle the unit or use the
RESTART Quick Command, or use the Restart Alignment in the Advanced Menu).

Excessive motion during the initial alignment period will decrease the accuracy of the TOGS-
NAV.

During the initial static alignment period, the TOGSNAV IMU uses the user entered Latitude
of Position for the working area of operation – see Figure 7.

Once the TOGSNAV has fully aligned (Mode=9) and is in AHRS mode, the Latitude of
Position can be updated in the TOGSNAV, the updated Latitude is used by the TOGSNAV
IMU – see Quick Command in Section 3.4.

The TOGSNAV is powered by 24 - 26Vd.c. via the ROV Seanet connector.

The ROV (Port-1) is initially configured as RS232 115200 baud, 8 bit data, no parity and one
stop bit with the Schilling data string. This can be reconfigured by the user.

The AUX (Port-2) is initially not configured for data output. This can be reconfigured by the
user via the embedded menu via the ROV (Port-1) serial interface.

The DVL port is fixed so as to listen only to the DVL data output. The DVL port is configured
as RS232 115200 baud, 8 bit data, odd parity and one stop bit with the DVL PD0 ‘binary’
data format. This cannot be reconfigured by the user.

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3.2 Embedded software Main Menu

Customisation of the TOGS-NAV’s operation is allowed through embedded firmware.
Various configuration options allowed in the embedded firmware have been compiled into a
logical hierarchical menu structure and are accessible on Port 1.

The menu can be accessed through any PC terminal program by entering “menu” [ENTER].
This will stop data output and display the Main Menu.

The Main Menu provides options for control of the TOGS-NAV and allows configuration of
the communication ports, output strings and various navigation settings. The Main Menu also
provides options to restart the TOGS-NAV and to set latitude and longitude.

Navigating the menu is done by entering the menu number ID and pressing [ENTER].

Pressing “0” [ENTER] will always go back to the previous menu.

To retain configuration during power off, the settings must be saved to FLASH using the
Save settings to FLASH in the menu or the SAVE Quick Command.
This process will take about a couple of seconds, during which power must be maintained.

3.2.1 Main menu

The main menu has the following entries
TOGSNAV 1.1.5 - Main - Tue 27 Nov 2102 18:16:52
Mode = 9 Status = 00 IPS = dBar
1. Set initial latitude [57.1910000 deg]
2. Ports & strings
3. Advanced
4. Configuration dump
0. Back
[1] Allows the user to set the initial latitude. The value is entered as decimal degrees.
Negative latitude is on the southern hemisphere – see Quick Command in section 3.4.
[2] Allows the user to change port and string settings.
[3] Allows the user to change advanced options.
[4] Dumps all the settings as text – see section 3.2.14
[0] Will quit the menu, asking if the user want to save any changes which might have made
any.
The menu header provides information on the Firmware, the menu level, the system Data and
Time, the IMU Mode and any active Status errors, plus the IPS depth sensor units of
measure.

Entering incorrect latitude will decrease the accuracy of the TOGS-NAV.

The entered latitude should be within 1 degree of the actual latitude where the system is
used to ensure proper operation of the system.

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3.2.2 Ports & strings menu

TOGSNAV 1.1.5 - Ports & strings - Tue 27 Nov 2102 18:19:04
Mode = 9 Status = 00 IPS = dBar
1. Port 1
2. Port 2
0. Back
[1] Enters the port 1 menu
[2] Enters the port 2 menu

If the user has made any changes to the port settings without saving, an asterisk [*] will be
displayed next to the port name.

3.2.3 Port menu

TOGSNAV 1.1.5 - Port 1 - Tue 27 Nov 2102 18:19:12
Mode = 9 Status = 00 IPS = dBar
1. Output strings [TOGSNAV (2.50 Hz)]
2. Baud rate [115200]
3. Mode [RS232]
4. Parity [None]
5. Stopbits [1]
0. Back
[1] Enters the output strings menu. The currently selected strings are displayed in brackets.
[2] Allows the user to change the baud rate of the port
[3] Allows the user to change between RS232, RS485 and RS422 mode
[4] Allows the user to select No, Even or Odd parity
[5] Allows the user to select 1 or 2 stop bits

If you make changes to a port, an “Apply settings” option appear, which, if selected, will apply
the current settings to the port.

Decreasing the baud rate of a port may cause it to have insufficient bandwidth to
send all the selected data strings. The menu system will issue a warning if the
bandwidth is too low.

Selecting RS422 on port 1 will make it impossible to get into the TOGS-NAV menu and
change the setting back.
Always test a setting by choosing “Apply settings” before saving settings to flash.
Incorrect settings may make it impossible to communicate with the TOGS-NAV.

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3.2.4 Output strings menu

TOGSNAV 1.1.5 - Output strings - Tue 27 Nov 2102 18:19:21
Mode = 9 Status = 00 IPS = dBar
1. TOGS 9. TSS2 (no status)
2. TOGSNAV [2.50 Hz] A. Watson/Tritech Gyro
3. MiniRLG1 B. Tokimec 2
4. MiniRLG2 C. Custom 1
5. MiniPos3 (binary) D. Custom 2
6. Tokimec 1 E. Custom 3
7. TCM2 HPR F. Custom 4
8. HMR3000
0. Back

The output menu allows you to define which output strings are selected and at what interval.
Selecting a menu point will enter a menu where you can change the settings for that string.

Selecting too many strings for simultaneous output on one port and/or too high an
update rate can exceed the bandwidth of the output ports baud rate. The menu
system will issue a warning if the limit has been reached.

3.2.5 String menu

TOGSNAV 1.1.5 - TOGS - Tue 27 Nov 2102 18:19:31
Mode = 9 Status = 00 IPS = dBar
1. Enabled [Yes]
2. Frequency [2.50 Hz (400 ms)]
3. Modes [Any]
0. Back
Selecting [1] toggles if the string is selected.
Selecting [2] changes the frequency at which the string is output.
Selecting [3] changes which modes the string is sent out in.

Settings that are changed in this menu are applied immediately.

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3.2.6 Advanced menu

TOGSNAV 1.1.5 - Advanced - Tue 27 Nov 2102 18:19:24
Mode = 9 Status = 00 IPS = dBar
1. Alignment
2. Edit custom strings
3. TOGS settings
4. Status
5. Restart alignment
6. Save settings to FLASH
7. Reload settings from FLASH
0. Back
Selecting [1] allows the user to change settings regarding the initial alignment.
Selecting [2] allows the user to edit the custom strings – see section 5.4
Selecting [3] allows the user to change TOGS-NAV interface settings.
Selecting [4] prints status information about the TOGS-NAV – see section 3.2.13
Selecting [5] resets the TOGS-NAV algorithms and restarts the static alignment – see Quick
Command in section 3.4
Selecting [6] saves the current settings to FLASH – see Quick Command in section 3.4
Selecting [7] reloads the previously saved settings from FLASH

3.2.7 Alignment menu

TOGSNAV 1.1.5 - Alignment - Tue 27 Nov 2102 18:19:31
Mode = 9 Status = 00 IPS = dBar
1. Fine alignment time [10 min]
0. Back

This menu allows the user to set the fine alignment time.

3.2.8 Edit Custom strings menu

TOGSNAV 1.1.5 - Edit custom strings - Tue 27 Nov 2102 14:19:41
Mode = 9 Status = 00 IPS = dBar
1. Custom 1
2. Custom 2
3. Custom 3
0. Back

This menu allows the user to edit the 3 custom strings that are on the TOGS-NAV. By
selecting any of the strings, the user will enter a menu where it’s possible to edit the name
and format of the string.

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3.2.9 Editing custom string menu

TOGSNAV 1.1.5 - Custom 1 - Tue 27 Nov 2102 18:19:50
Mode = 9 Status = 00 IPS = dBar
Name:
Custom 1
Format:
Custom string 1
Output:
Custom string 1

1. Edit name
2. Edit Format string
0. Quit
Selecting [1] allows the user to set the name for their user defined output string.
Selecting [2] allows the user to set the format for their user defined output string.

In this menu the user can change the name and format of the custom strings.

The user can also see an example of the output string data of their user defined output string
format.

Example:

TOGSNAV 1.1.5 - Example Custom String - Tue 27 Nov 2102 18:19:59

Mode = 9 Status = 00 IPS = dBar
Name:
Example Custom String
Format:
Hey my heading is = %hea% degrees
Output:
Hey my heading is = 93 degrees

1. Edit name
2. Edit Format string
0. Quit

Refer to Section 5.3 for further explanation of format strings.

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3.2.10 TOGS-NAV settings menu

TOGSNAV 1.1.5 - TOGS settings - Tue 27 Nov 2102 18:20:07
Mode = 9 Status = 00 IPS = dBar
1. Menu timeout [100 sec]
2. Set Date
3. Boresight
4. Show enabled options
0. Back
Selecting [1] will allow the user to change the menu timeout
Selecting [2] will allow the user to change the date
Selecting [3] will open up a menu where the user can change
the roll, pitch and yaw boresights.
Selecting [4] will show the systems enabled option.

This menu allows the user to change various settings for the TOGS-NAV.

Changes to the TOGS-NAV user definable boresights values are able to be accessed from
this menu.

3.2.11 TOGS-NAV Boresight menu

TOGS v1.1.4xx - settings
1. Roll Boresight [-0.000 deg]
2. Pitch Boresight [0.000 deg]
3. Heading Boresight [0.000 deg]
0. Back
This menu allows the user to change settings for the boresights.

The above Bore-sight values are to be used with the unit orientated upright (normal) with the
TOGSNAV heading arrow pointing forward to the bow.

The boresight entries are offsets to the pitch, roll and heading.

The values that are entered is the offset from the known point, not the correction.
The Z-Axis is vertical and is the axis of rotation for heading (or azimuth/yaw) angles
The Y-Axis is to port and is the axis of rotation pitch angles
The X-Axis is forward and is the axis of rotation roll angles

3.2.12 TOGS-NAV enabled Options

Enabled Option:
Tilt
Heading
Accelerations
Angular Velocities
The system enabled options will be listed.

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3.2.13 TOGS-NAV Advanced menu STATUS Information

Sensor status:
No errors

Algorithm status:
No errors

Interface status:
Firmware version: TOGSNAV 1.1.5 (621)
Menu version: 23
String generator version: 48
RO settings version: 2
Calibration version: 4 (12016)
Build date: Nov 27 2012 14:52:15
On time: 80 days 19 hours 34 minutes
This status display information provides details on the unit status.

Information on the current Sensor and Algorithm status since the TOGS-NAV unit was last
powered on is shown.

If errors are shown, refer to the Status Error Flags and definitions in Section 4.2, as listed in
Table 7.

The number in brackets after the Calibration version value is the TOGS-NAV IMU serial
number
(IE: 12016 in the above information).

The date that the TOGS-S unit firmware version was compiled and tested by CDL is shown.

The total time that the TOGS-NAV has been turned on and has been in operation is shown.

The Sensor Status (this page) and Configuration Dump (next page) information is invaluable
for CDL Support for any customer support issues and inquiries - Email: [email protected].

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3.2.14 TOGS-NAV Main menu Configuration Dump Information

Dumping settings
Version: 66070
Output strings:

<Output String Definitions follow here>

Menu timeout: 100

INS settings:
Lat0: 0.998171
Long0: -0.0350000
talignfine: 10
Speed: 0.00
Boresights: 0.0000 0.0000 0.0000
Casing: 0.0030 0.0054 0.0081
Mode: 0
Modechange: 1

Port settings:
Port 0:

<Port-1 setup parameters follow here>

Port 1:

<Port-2 setup parameters follow here>

The Configuration Dump display information provides details on the unit setup parameters.

The Lat0 is the TOGSNAV IMU reference latitude on radians.

The Lat0 value in the INS settings section are in Radians (not degrees). To convert radians
to degrees 1 radian = 180°/ .

In the above, the Reference Latitude of 0.998171 rads = ~57.191°

The Long0 value is not utilized in the TOGSNAV (reserved for Inertial Navigation Mode).

The Speed value is default to zero for subsea operations and AHRS mode.

The Sensor Status (previous page) and Configuration Dump (this page) information is
invaluable for CDL Support for any customer support issues and inquiries - Email:
[email protected].

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3.3 TOGS-NAV Special Commands

A range of commands can be sent to the TOGS-NAV from a normal terminal program which
can either enable special features or perform functions which would normally be accessed
through the menu system.

These commands are always preceded by a dollar sign ($) and terminated by a carriage
return and line feed <cr><lf>.

3.3.1 Setting the Depth Sensor Tare Value

The Depth Sensor special commands are only available in systems fitted with an optional
internal pressure / depth sensor.

In order for the depth sensor to give an accurate depth estimate the atmospheric pressure
needs to be taking into account. This is done by setting the Tare value.

The Tare value will should be set to the atmospheric pressure when on deck.

Two special commands can be used to set the Tare value of the depth sensor.

The command to set the Tare value to the measured relative pressure is:
$cdl.depth.tare()<cr><lf>

After sending this command the depth output should be approximately 0 as the relative
pressure is taking into account.

It is also possible to set this Tare value back to zero.

The command to set the Tare value to zero is:

$cdl.depth.remove_tare()<cr><lf>

When sending these two depth sensor special commands the TOGS-NAV might output a
“Packet loss” message. This can be ignored.

There is no special command to read the TARE value, however when the TOGSNAV is
on deck, set the TARE value to zero and record the depth reading from the TOGSNAV,
then set the Tare value to the measured relative pressure and record the depth reading
from the TOGSNAV. The difference is the TARE Value in meters.

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Direct Communication with the DVL

In order to communicate directly with the DVL in order to check or possibly change DVL
settings, a special command can be sent to make the TOGS-NAV pass through any
message to the DVL. It will also pass every message from the DVL to the user.

The special command that puts the TOGS-NAV in this special mode is:
$cdl.directcomm.dvl.on<cr><lf>

This command will set the TOGS-NAV into the special mode and send a [BREAK] command
to the DVL which takes the DVL into command mode. This will ensure the DVL is ready to
accept commands send from the TOGS-NAV.

The special command that takes the TOGS-NAV back to normal mode is:
$cdl.directcomm.dvl.off<cr><lf>

After sending this command the TOGS-NAV will start to output data again.
Example 1: In order to check the DVL output string format the following commands should
be sent:
$cdl.directcomm.dvl.on<cr><lf>
PD?<cr><lf>
The DVL will respond with:
PD = 00 ------------------ Data Stream Selected

Example 2: In order to set the DVL output string to PD0 format and save to the DVL, the
following commands should be sent:
$cdl.directcomm.dvl.on<cr><lf>
PD0<cr><lf>
CK<cr><lf>
$cdl.directcomm.dvl.off<cr><lf>

When the DVL is in direct mode and the native DVL “CS” command is sent in order to read
out raw DVL data. It is possible to break into the DVL menu again by sending a break
command to the DVL. This can be achieved by sending the following command:
$cdl.dvl.break<cr><lf>

This will sent the break command to the DVL and it will be possible to send additional ‘native
DVL’ commands to the DVL again.

When setting the TOGS-NAV in this special direct communication mode, the
TOGS-NAV might output a “Packet loss” message. This can be ignored.

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3.4 TOGS-NAV Quick Command Line Control

3.4.1 Introduction
Some of the functions and settings of the TOGS-NAV can be accessed without entering the
menu system via Port 1.

After switching on the TOGS-NAV and waiting for the first output strings to appear, command
line control becomes available. This is of particular use when it comes to interfacing with the
TOGS-NAV using software, but otherwise it is users utilise the embedded interactive menu
system instead.

In this section:
Chevrons (<> brackets) are used to indicate that they and their contents represent a
value or string to be entered by the user.
Square brackets ([ ]) are used to indicate that their contents are optional.

Command messages follow the NMEA 0183 standard and come in three varieties: set, query
and response.

Set and query commands are sent by the user to the TOGS-NAV, while response messages
are sent in confirmation by the TOGS-NAV to the user.

All keystrokes sent to the TOGS-NAV are echoed back by the console with the exception of
the <ENTER> keystroke that terminates the keystroke or command entries.

3.4.2 Set Commands

Set commands cause some kind of alteration to the device by either initiating a routine such
as restarting alignment, or changing a setting such as latitude.

The Set Commands are of the following format:

$PCDLS,[<device identifier>],<command name string>[;<index 1>][;<index 2>][,<input

value or string>][*<1 byte XOR checksum>]<cr><lf>

Most users can always omit the device identifier. This identifier is designed for systems in
which more than one CDL device is attached in series, and therefore is used to indicates
which device should respond to the command.

For TOGS-NAV, the device identifier is simply “TGN”.

If more than one is connected, you can alternatively use the full device serial number e.g.
“TGN000”. For a list of accepted command name strings, see Table 5.

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A Set Command Example:

Using the Latitude Set Command: $PCDLS,,LAT,38.511<cr><lf>

In the above example, latitude is the setting to be changed, and the value to which it will be
changed is 57.191 degrees north.

The TOGSNAV will respond with: $PCDLR,TGN,ACK,+38.5510,LAT*0B<cr><lf>

Changed settings will not be recalled after the device has been switched off
unless they have been saved.

Using the Save settings Set Command: $PCDLS,,SAVE<cr><lf>

The purpose of this command is to save the TOGS-NAV settings, thus it is a function
(routine). Functions generally do not require any input value or string and so the above is the
simplest example of a set command.

The TOGSNAV will respond with: $PCDLR,TGN,ACK,SAVE*70<cr><lf>

If the latitude value is changed in the TOGS-NAV unit and saved to internal memory,
restart the TOGS-NAV alignment to use the new entered value (Power Cycle the unit
or use the menu option).

With one TOGS-NAV unit connected, the above command performs the same operation as:
$PCLDS,TGN,SAVE*14<cr><lf>

Where the optional checksum simply avoids the effects of data corruption.

Using the Restart Alignment Set Command: $PCDLS,,RESTART<cr><lf>

The purpose of this command is to reset the TOGSNAV and restart static alignment using
the previously saved Latitude position value, thus it is a function (routine).

The TOGSNAV will respond with: $PCDLR,TGN,ACK,RESTART*26<cr><lf>

Note that all TOGS-NAV commands are case sensitive and the device may reject
or ignore incorrectly entered commands.

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3.4.3 Query Commands

Query commands are used to request information from the device. They do not cause any
change to the device itself and may initiate a function such as a configuration dump or status
request routine or return the current value of a setting. They match the following format:

$PCDLQ,[<device identifier>],<command name string>[;<index 1>][;<index 2>][*<1 byte

XOR checksum>]<cr><lf>

Note that query commands never include a “value” entry.

For a list of accepted command name strings, see Section 3.4.4, Table 5.

Query Command Example:

$PCDLQ,,LAT<cr><lf>

The above command will cause the TOGS-NAV to respond with the current latitude value. To
do this it will send a response command (also known as an ACK) which contains the relevant
data.

The TOGSNAV could respond with: $PCDLR,TGN,ACK,+29.8047,LAT*01<cr><lf>

This means that the TOGSNAV unit has its current latitude setting as 28.8047 degrees North.

3.4.4 Command List

Table 5: Command List

Command Name Set/Query Description Value

String Range
LAT Set/Query Sets/Query current latitude +/-90Deg
SAVE Set Only Save current settings NA
Restart Stationary Alignment using the
RESTART Set Only NA
currently saved latitude position setting

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3.4.5 Response Messages

Response messages are sent by the TOGS-NAV unit to the user, in response to a Set or
Query Command and are used to indicate whether the most recently processed command
was correctly interpreted.

Unlike set and query commands, response messages always include the appropriate device
identifier (TGN) and a checksum.

There are 4 standard acknowledgement sentence types which can be returned:

$PCDLR,TGN,ACK,<value>[,<command>]*<1 byte XOR checksum><cr><lf>

This indicates that the command has been accepted.

In response to set and query commands, the corresponding <value> will be returned.

The <command> field may or may not be returned for the input quick command.

$PCDLR,TGN,NACK*13<cr><lf>

This indicates that the command has not been accepted. This may be due to a syntax error,
a command name which could not be found, or a general typing error such as sending the
wrong header for the given command or sending a “set” command to a setting which is “read-
only”.

$PCDLR,TGN,CRC*46<cr><lf>

This indicates that the command contained a valid device name and also contained an
incorrect checksum. This may occur when there is corruption of data during transmission or
the checksum has been incorrectly calculated by the sender.

$PCDLR,TGN,ARG*40<cr><lf>

This response only appears following Set commands in which a value (argument) has been
sent, but in which the value is outside the acceptable range for that command.

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4 Data Output
4.1 Data Formats
The TOGS-NAV is able to output a range of industry standard ASCII strings to enable it to be
interfaced to other systems.

The predefined string outputs are listed below and are changed via the menu system.

It is also possible to define custom strings from the menu using the output string generator.

Figure 6 shows the ‘normal’ CDL product sign convention.

Figure 5: Sign convention for TOGS and MiniRLG strings

CDL ‘standard’ Pitch and Roll Convention:

+ve Pitch Bow up / +ve Roll Port up

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4.2 Mode Flag and Status Error Flag Definitions

The TOGS-NAV outputs a ‘hexadecimal’ Mode status (‘mod’) and ‘binary’ Status Error Flag
(‘erf’) message.

The Operation Status Mode and definitions are listed in Table 6.

Table 6: Mode flag

Mode Meaning
0 Initial Power-On
1 Coarse stationary alignment mode
2 Fine stationary alignment mode
9 Aided navigation AHRS mode

The user must provide and enter a valid working Latitude position for the TOGS-
NAV unit to be used for alignment and Aided navigation mode – see Main Menu
(section 3.2.1) or $PCDL Set Command (section 3.4.2).

The Status Error Flags and definitions are listed in Table 7.

Table 7: Status Error flag

Error Flag Bit Meaning

1 (0x01) No data from IMU
2 (0x02) FOG out of range – max 300 deg/sec
3 (0x04) Accelerometer out of range - 10 g
4 (0x08) No data from Pressure / Depth Sensor
5 (0x10) No data from DVL

When there are no errors detected by the TOGS-NAV system the ‘binary’ Status
Error Flag value will be hexadecimal zero (ie; 0x00).

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4.3 Data string list

4.3.1 TOGS format
(+ve Pitch Bow Up, +ve Roll Port Side Up)

AHaaa.aa APbccc.cc ARdeee.ee Mf Ehhhhhhh Sg Ciiii<cr><lf>

Where:
aaa.aa is Heading in degrees (0 to 359.9deg)
aaa(deg).aa(decimal)
bcc.ccc is Pitch in degrees (-89.9 to 89.9 deg)
cc(deg).cc(decimal)
b [-] bow down / [+] stern down see figure 6
deee.eee is Roll in degrees (-179.9 to 179.9 deg)
eee(deg).ee(decimal)
d [-] port down / [+] starboard down see figure 6
f is the TOGSNAV IMU mode flag - see section 4.2 for details
hhhhhhh is the cycle counter
g is TOGSNAV error status flags - see section 4.2.
iiii CRC-16 checksum

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4.3.2 TOGSNAV
(+ve Pitch Bow Up, +ve Roll Port Side Up)

$TGNAV,hhh.hh,+ppp.pp,+rrr.rr,cc,m,,dddd.ddd,,+x.xx,+y.yy,qqq.qq,www.ww,eee.ee,aaa.aa
<cr><lf>

Where:
hhh.hh is heading in degrees
hhh(deg).hh(decimal)
ppp.pp is pitch in degrees
ppp(deg).pp(decimal) see figure 6
rrr.rr is roll in degrees
rrr(deg).rr(decimal) see figure 6
cc is TOGSNAV error status flags - see section 4.2
m is the TOGSNAV IMU mode flag - see section 4.2
dddd.ddd is depth in meters
dddd(m).ddd(decimal)
x.xx is velocity in x-direction with respect to the seabed in m/s
x(m/s).xx(decimal)
y.yy is velocity in y-direction with respect to the seabed in m/s
y(m/s).yy(decimal)
qqq.qq is distance to the seabed from DVL beam 1 in meters
qqq(m).qq(decimal)
www.ww is distance to the seabed from DVL beam 2 in meters
www(m).ww(decimal)
eee.ee is distance to the seabed from DVL beam 3 in meters
eee(m).ee(decimal)
aaa.aa is distance to the seabed from DVL beam 4 in meters
aaa(m).aa(decimal)

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4.3.3 MiniRLG1 format

(+ve Pitch Bow Up, +ve Roll Port Side Up)

Haaa.aaPbcc.cccRdeee.eeeMfgghhiiWjjjj.jjUkk.k<cr><lf>

Where:
aaa.aa is Heading in degrees
aaa(deg).aa(decimal)
bcc.ccc is Pitch in degrees
cc(deg).ccc(decimal)
b [-] bow down / [+] stern down see figure 6
deee.eee is Roll in degrees
eee(deg).eee(decimal)
d [-] port down / [+] starboard down see figure 6
f is the status mode - see section 4.2 for details
gg is the navigation monitor in ASCII hex
hh is the validity byte in ASCII hex
ii is the mode control logical byte in ASCII hex
jjjj.jj depth in meters
kk.k not used

4.3.4 MiniRLG2 format

(+ve Pitch Bow Up, +ve Roll Port Side Up)

HaaaaaPbcccccRdeeeeeeMfgghhiiWjjjjjjUkkk<cr><lf>

Where:
aaaaa is heading in centidegrees (0.01degree)
bccccc is pitch in centidegrees (0.01degree)
b [-] bow down / [+] stern down see figure 6
deeeeee is roll in centidegrees (0.01degree)
d [-] port down / [+] starboard down see figure 6
f is status mode - see section 4.2 for details
gg is the navigation monitor in ASCII hex
hh is the validity byte in ASCII hex
ii is the mode control logicals byte in ASCII hex
jjjj.jj depth in meters
kk.k not used

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4.3.5 Tokimec 1
(-ve Pitch Bow Up, -ve Roll Port Side Up)

$PTVF,abbbbP,cddddR,eee.eT,fgg.gPR,hii.iRR,jkk.kAR,lmm.mN,yyyMD,zzzzAL<cr><lf>

Where
abbbb is Pitch in degrees bb(deg).bb(min)
a[-] bow up / [space] bow down
cdddd is Roll in degrees dd(deg).dd(min)
c[-] port up / [space] port down
eee.e is Heading in degrees
fgg.g is the rate of pitch in degrees/sec
f[-] bow up / [space] bow down
hii.i is the rate of roll in degrees/sec
h[-] port up / [space] port down
jkk.k is the rate of turn in degrees/sec
j[-] CCW / [space] CW
lmm.m is the vessel speed in Knots
l[-] is astern / [space] ahead
yyy not used
zzzz status

4.3.6 Tokimec 2

$PTVF,abbbbP,cddddR,eee.eT,fgg.gPR,hii.iRR,jkk.kAR,lmm.mN,yyyMD,zzzzAL*hh<cr><lf>

Where:
abbbb is Pitch in degrees bb(deg).bb(min)
a[-] bow up / [space] bow down
cdddd is Roll in degrees dd(deg).dd(min)
c[-] port up / [space] port down
eee.e is Heading in degrees
fgg.g is the rate of pitch in degrees/sec
f[-] bow up / [space] bow down
hii.i is the rate of roll in degrees/sec
h[-] port up / [space] port down
jkk.k is the rate of turn in degrees/sec
j[-] CCW / [space] CW
lmm.m is the vessel speed in Knots
l[-] is astern / [space] ahead
yyy not used
zzzz status
hh is the XOR checksum

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4.3.7 TCM2 HPR

(+ve Pitch Bow Up, +ve Roll Port Side Up)

Ca.aP+b.bR+c.c*dd<cr><lf>

Where
a.a is heading in degrees.
a(deg).a(decimal)
non-fixed length from 0.0 to +359.9
b.b is pitch in degrees.
b(deg).b(decimal)
non-fixed length from -179.9 to +179.9
c.c is roll in degrees.
c(deg).c(decimal)
non-fixed length from -89.9 to +89.9
dd is the crc_ccitt checksum

4.3.8 HMR3000
(-ve Pitch Bow Up, -ve Roll Port Side Up)

$PTNTHPR,a,a,N,b,b,N,c,c,N*dd<cr><lf>

Where
a.a is heading in degrees with one decimal
non-fixed length from 0.0 to +359.9
b.b is pitch in degrees with one decimal
non-fixed length from -179.9 to +179.9
c.c is roll in degrees with one decimal
non-fixed length from -89.9 to +89.9
dd is the crc_ccitt checksum

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4.3.9 TSS2 (no status)

(+ve Pitch Bow Up, +ve Roll Port Side Up)

:aaaaa bccccFdeeee fggggF <cr><lf>

Where:
aaaaa is heading in centidegrees (0.01degree)

bcccc is not used / provided by TOGS-S f/w 1.3.7

d [-] port down / [space] starboard down

eeee is roll in centidegrees (0.01degree)

f [-] bow down / [space] stern down

gggg is pitch in centidegrees (0.01degree)

4.3.10 Watson/Tritech Gyro

(-ve Pitch Bow Up, -ve Roll Port Side Up)

I aaa.aa bccc.c deee.e fggg.g hiii.i jkkk.k lmmm.m<CR><LF>

Where:
aaa.aa is the heading in degrees

b [-] heading increasing / [+] heading decreasing

ccc.c is the rate of turn in deg/s

d [-] starboard down / [+] port down

eee.e is roll in degrees

f [-] stern down / [+] bow down

ggg.g is pitch in degrees

h [-] port down / [+] starboard down

iii.i is roll rate in deg/s

j [-] stern down / [+] bow down

kkk.k is pitch rate in deg/s

l [-] or [+]
mmm.m is the system IMU temperature in degrees Celsius

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4.3.11 MiniPos3 (binary) format

The MiniPOS3 / TOGSNAV ‘binary’ position format message is wrapped in a header (0xBD,
0xDB) and footer (0xDB, 0xBD) will determine the start and end of the message.

This along with the message ID (Byte 2), message length (Byte 3) and a checksum (Byte 95)
will ensure the data is robust.

The checksum is an exclusive OR of Bytes 2 to 96 inclusive.

The definition of each byte of The TOGSNAV ‘binary’ position format message is as shown in
Table 8.

Table 8: TOGSNAV ‘binary’ position format

Byte Description Units Format

0–1 0xBD, 0xDB Header – start of message
0x01 – Message ID (needed in case we
2
extend the data output format in the future)
3 Length of message – fixed at 100 BYTE
4 System Mode (see Section 4.2) HEX
5 Not used. Set to zero
6 – 9 Latitude 180 * 2-31 S32
10 - 13 Longitude 180 * 2-31 S32
14 - 17 Depth 0.01m S32
18-19 Height 0.01m U16
20-21 Roll - see figure 6 180 * 2-15 S16
22-23 Pitch - see figure 6 180 * 2-15 S16
24-25 Heading 180 * 2-15 U16
26-27 Vehicle X Velocity 2-10 m/s S16
28-29 Vehicle Y Velocity 2-10 m/s S16
30-31 Vehicle Z Velocity 2-10 m/s S16
32-33 Vehicle X acceleration 2-10 m/s S16
34-35 Vehicle Y acceleration 2-10 m/s S16
36-37 Vehicle Z acceleration 2-10 m/s S16
38-39 Rate of roll 2-13 Radians S16
40-41 Rate of pitch 2-13 Radians S16
42-43 Rate of heading 2-13 Radians S16
44-47 Not used. Set to zero
48-51 Not used. Set to zero

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52-55 Not used. Set to zero

56-59 Float 32
60-63 Float 32
64-67 Float 32
68-71 Not used. Set to zero
72-75 Not used. Set to zero
76-79 Not used. Set to zero
80-81 Not used. Set to zero
82-83 Not used. Set to zero
84-87 Not used. Set to zero
88-91 Not used. Set to zero
92 Not used. Set to zero
93 Not used. Set to zero
94 Not used. Set to zero
95-96 Not used. Set to zero
97 Checksum XOR of bytes 2 to 96 inclusive BYTE
98-99 0xDB, 0xBD Header – end of message

DVL bottom-lock will be indicated by the X, Y, Z sigma values.

A DVL bottom-lock will be indicated by a zero value whilst if the bottom-lock is lost the
sigma values will be 99.99

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5 Maintenance and Test

5.1 Maintenance of equipment
The CDL TOGS-NAV is a self-contained system which requires no regular maintenance
other than an annual or regular AHRS calibration check.

All housings should be checked regularly for signs of damage. All connections on the surface
and subsea units should be checked regularly for fouling, bent pins or signs of damage.

5.2 Checkout procedure

1. Connect the TOGS-NAV to the RS232 port on a PC
2. Connect a suitable power supply to the TOGS-NAV.
3. Examine the connections and ensure they are secure
4. Power up the TOGS-NAV.
5. Ensure that the latitude is correct for the location the TOGS-NAV is being used.
6. Heading should appear within 30 seconds when coarse stationary alignment is
complete – see Section 4.2.
7. 10 minutes after fine stationary alignment, the TOGS-NAV should be in Aided Alignment
AHRS mode based on the user entered working latitude – see Section 4.2.

Figure 6: TOGS Power up sequence with valid latitude entered

5.3 Recalibration
If the equipment requires a recalibration, it will need to be carried out at the CDL base (or
approved authorised distributor). The equipment will be recalibrated and a full functional
check to ensure continued reliable operation. When returned, the equipment will carry both
function test and calibration check certificates. Please contact CDL for current calibration
charges for this equipment. The turn-around time for this service is normally 1-2 days.
.

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5.4 OUTPUT STRING GENERATOR

5.4.1 Introduction

The TOGS-NAV includes a custom string generator which enables users to construct their
own output string without having to upgrade the firmware or even restart the TOGS- NAV.

For comprehensive examples of this function in action see section 5.4.6 Examples. The
details of each building block are explained below.

The output string generator can be found in the TOGS- NAV menu under Advanced -> Edit
Custom Strings – see section 3.2.6.

Building a custom string involves writing a format string which describes the output format
required. This can be fixed characters which display with every instance of the string such as
the prefix 0x to tell the user that the following number is hexadecimal, or output fields which
select a data value such as heading, pitch or roll and apply scaling and formatting
descriptions to it.

To output fixed characters, simply include them at the desired point in the string description.
The string generator will accept any displayable standard ASCII character, including but not
limited to spaces, upper and lowercase letters and punctuation.

It should be noted that every custom string is automatically terminated by a carriage return
and new line feed, so this does not need to be included by the user.

Output fields are denoted by % characters at the beginning and end which enclose both an
identifier, signifying the data type required, and any formatting requirements. These
identifiers take the form of a 3-letter abbreviation (a full list of these abbreviations and the
data type they refer to can be found in Table 10 for custom string generator.

Some identifiers need no additional formatting - simply writing %mod% will output the current
operating mode to the screen, e.g. 9 = Aided Navigation mode.

Data denoted in the Table 10 as “floating point” should generally be formatted to some extent
or unexpected output data behaviour may occur.

Since the % symbol is allocated for output fields, users must include two adjacently (%%) if
they wish to print a single % as part of the custom string

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5.4.2 Formatting fields and scaling/shifting

The formatting fields are separated by a : (colon) character within the overall output field.

These scale, shift, round and change the appearance of the value described by the three-
letter identifier. As such, the overall appearance of the output field could match the following
template:

%<identifier>:<scaling/shiftingdescriptors>:<floating point, sign and length allocation>%

Only the %<identifier>% is strictly needed to output data, and either of the two optional
formatting fields can be omitted if they are not required.

Scaling and shifting descriptors contain one character which signifies the operation to be
performed, and a numerical value.

For example %<identifier>:*2.34:% would multiply the preceding <identifier> by 2.34.

It might be desirable to round a floating point variable down to the nearest integer, in which
case the shifting descriptor should read :-frac: to subtract the fractional part of the variable.

Likewise to output the fractional part of a floating point variable, the shifting descriptor should
read :-int: to subtract the integer part of the variable.

Scaling using :*-1: to reverse the sign of values is particularly useful when there is a
difference in sign convention.

In the custom string generator, the following conventions are used:

Table 9: Direction Convention Table

Variable Type Convention

Pitch Stern down positive
Roll Starboard down positive
Heading Clockwise positive if looking downwards
Sway Ahead positive
Surge To starboard positive
Heave Up positive

Several arithmetic fields can follow each other to perform several operations on the value, in
the order in which they are listed.

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5.4.3 Formatting fields

The final field is the format field. The default output with no format field is to output only an
integer value with varying length depending on the size of the number. By including a format
field, one can pad the number, and add decimal points and sign indicators. The format field
begins with an f and follows the format syntax of the printf statement in the C programming
language. The syntax is as follows:

%<identifier>:f<flag characters><field width>.<decimal places>%

5.4.4 Flag characters

The format field is started by zero or more of the following flags:

“0” - The value should be zero padded
“+” - A sign should always be placed before a number produced. By default, a sign is
used only for negative numbers.
“” - A space is added for a positive number, and a - is inserted for negative

5.4.5 Field width

Following the flag characters is an optional decimal digit string, which specifies the number of
characters used to display data. If the converted value has fewer characters than the field
width dictates, it will be padded with spaces (or 0's if the 0 flag character is specified) on the
left.

Field width includes the sign (or space character if appropriate), decimal point and the
numbers preceding and following the decimal point.

The format field can also be used to display changeable character strings. By using the letter
m in place of flag characters the field means that values should be mapped to strings. This is
useful for mapping TOGS-NAV mode numbers into other mode numbers and names.

The mapping is done by entering to and from values after the m character delimited by a pipe
character '|'.

For example: %mod:fm|AHRS|1|COARSE|2|FINE%

would map the MODE identifier as:

the number 1 to the string “COARSE”,
the number 2 to “FINE”,
and if no match is found, output “AHRS”

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5.4.6 Examples

Example 1: Heading in Radians

To output a string with heading in radians with a sign, a fixed field length of 7 characters
padded with 0'es and 2 decimal places, the format string would be:

Format:
%hea:/180:*3.14159:f+07.2%

Would output a heading string of the form: +002.35

To remove the period, multiply the scaling by 100, and have no decimal places:

Format:
%hea:/180:*3.14159:*100:f+06.0%

Would output a heading string of the form: +00235

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Example 2: Degrees and Minutes

It might be desirable to display an angular measurement such as roll in degrees and minutes
rather than in decimal form.

To output such a string, only showing a sign when positive, and with a variable field length
incorporating two characters for arc minutes, the format string would be:

R %rol:M99.99:m-99.99:-frac:f 03.0% %rol:M99.99:m-99.99:a:-int:*60:f02.0%

Which would output a roll string degrees and minutes of the form: R 51 35

In sequential order, the commands in the above format string tell the TOGS-NAV to:

1. R<space> Output the character R and a ‘space’

2. %rol:M99.99:m-99.99:-frac:f 03.0% Output integer part of roll in degrees
a. rol Take the roll variable
b. M99.99 Reduce all roll values above 99.99 to 99.99 (to ensure fixed length
output)
c. m-99.99 Increase all roll values below -99.99 to -99.99
d. -frac Subtract the fractional part from the resulting values (i.e. round down to
next integer if greater than zero, round up to next integer if less than zero)
e. f 03.0 Display the resulting roll, displaying a sign only if negative, and padding
with zeros for values below 10 degrees in magnitude (i.e. always use 3
characters including sign). Display no decimal point or decimal places
3. <space> Output the character <space>
4. %rol:M99.99:m-99.99:a:-int:*60:f02.0% Output fractional part of roll in arc minutes
a. rol Take the roll variable
b. M99.99 Reduce all roll values above 99.99 to 99.99 (to ensure fixed length
output)
c. m-99.99 Increase all roll values below -99.99 to -99.99
d. a Convert to an absolute (positive) value
e. -int Subtract the integer part from the resulting values (i.e. Take the fractional
part)
f. *60 Multiply the result by 60
g. f02.0% Display with no sign unless negative (though in this case it cannot be
negative), allocate 2 characters to the result with no decimal point or decimal
places, and pad with zeros for values below 10 arc minutes.

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Example 3: A Full String – CDL “TOGS”

Given the previous two examples, the commands that could be used to create the CDL
TOGS string in the generator are familiar:

Format:
AH%hea:M359.99:f.2% AP%pit:f+.2% AR%rol:f+.2% HV%hve:f+.2% M%mod%
E%epo% F%erf% C%crc%

Will give an output string of the form:

AH10.98 AP-0.34 AR+0.41 HV+0.00 M9 E203545 F0 C176A

Commands such as :f.2% often result in a string that can change length
since no field width has been specified for the number value.

Example 4: NMEA HDT Heading String with XOR Checksum

Format:
$HEHDT,%hea:M359.9:f06.2%,T*%crc:p1%

Will give an output string of the form:

$HEHDT,138.47,T*16

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5.4.7 Identifiers
Table 10: Identifiers for custom string generator

Identifier Name Format

acx X-axis Accelerometer reading (unscaled) Floating point
acy Y-axis Accelerometer reading (unscaled) Floating point
acz Z-axis Accelerometer reading (unscaled) Floating point
br1 DVL beam 1 bottom range in cm Uint16
br2 DVL beam 2 bottom range in cm Uint16
br3 DVL beam 3 bottom range in cm Uint16
br4 DVL beam 4 bottom range in cm Uint16
bvx DVL X bottom velocity in mm/s Int16
bvy DVL Y bottom velocity in mm/s Int16
bvz DVL Z bottom velocity in mm/s Int16
crc CRC Hexadecimal
dep Depth in dBar pressure units (see Note 3) Floating point
dvs DVL reference layer status HEX8
dvt DVL temperature in degrees Celsius Int16
epo Epoch Integer
erf Error flags HEX8
frm IMU frame counter Int32
gwx X-axis angular velocity in rad/sample (see Note 2) Floating point
gwy Y-axis angular velocity in rad/sample (see Note 2) Floating point
gwz Z-axis angular velocity in rad/sample (see Note 2) Floating point
hea Heading in degrees Floating point
ihr Change in heading in degrees/minute (see Note 1) Floating point
ipr Change in pitch in degrees/minute (see Note 1) Floating point
Irr Change in roll in degrees/minute (see Note 1) Floating point
mod Mode Hexadecimal
pit Pitch in degrees Floating point
rol Roll in degrees Floating point
rve DVL reference layer error velocity in mm/s Int16
rvx DVL reference layer X velocity in mm/s Int16
rvy DVL reference layer Y velocity in mm/s Int16
rvz DVL reference layer Z velocity in mm/s Int16
tmp IMU temperature in degrees Celsius *100 Int32

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Note 1: Delta or “change in” values display the difference between the current value and the
value at the time of the previous output string.

Note 2: The TOGS processor sample rate is fixed at 50Hz

Note 3: TOGSNAV firmware version 1.1.5 configuration of the IPS sensor is set to output pressure
units in decibar, and not meters of depth of seawater using the UNESCO pressure to depth
calculation formula.

5.4.8 Operators
Table 11: Operator Functions for Custom String Generator Fields

Field Operation
+ Add to value
- Subtract from value
/ Divide by
* Multiply by
M Limit value to maximum
m Limit value to minimum
a Absolute value (modulus)
s Sign of value

CDL acknowledges that users without previous programming experience may have difficulty
with the custom string generator.

If you require a specific string format, which is not included in the TOGS-NAV menu options,
please contact us and we shall consider including it.

CDL contact details can be found at the end of this document.

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6 Specifications
AHRS Specification:
Heading Accuracy: 0.5 deg sec(lat)*
Pitch and Roll 0.1 deg*

Power Requirements:
Voltage 18-30Vdc
Power <20W

Telemetry Interface:
Serial outputs Port 1 isolated 2-way communications
Port 2 data output
DVL PD0 data output (fixed @ 115K/8/Odd/1)
Serial protocol options RS232
RS422, RS485 with Burton connectors

Weight and Dimensions:

Subsea unit (3000m) 241mm dia x 388mm
Weight in Air 16kg
Weight in Water 6.7kg

Mounting Holes:
M8 on 157mm square pitch

DVL 1200KHz:
Depth 3000m
Accuracy +/- 0.2%
Drift +/- 2mm/s
Range 0.7m (min) 30m (max)

Optional Pressure / Depth Sensor:

Range 300Bar
Accuracy +/- 0.01% Range
Resolution 0.0001 Bar

TOGSNAV firmware version 1.1.5 configuration of the IPS sensor is set to output
pressure units in decibar, and not meters of depth of seawater using the UNESCO
pressure to depth calculation formula.

*1 Sigma RMS

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7 Technical Drawings

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8 Doppler Velocity Log (DVL) Parameters

The TOGS-NAV DVL configuration parameters for firmware version 1.1.5 are as follows:-

CR1 ; Factory Reset Default Values

TP00:00.20 ; Time between Pings
TE00:00:00.00 ; Time Per Ensemble
BP001 ; Set to one bottom-track ping per ensemble
BK1 ; Send one water-mass layer ping after every bottom-track ping
CF11110 ; Data Flow Control automatic, binary serial output no recording
PD0 ; PD0 Message Format
EX10011 ; Ship Co-ordinates, No P&R, Allow 3-beam solution and Bin Mapping
EZ0000001 ; Enable Temperature Sensor Only
EA13500 ; Rotate DVL frame by minus 45 degrees plus 180 for PD0 velocity direction
CB831 ; 115200 Baud / 8 Data Bits / Odd Parity / 1 Stop Bit

DVL is mounted and installed with the Heading Alignment Notch is in-line with the
TOGSNAV Heading Axis.

Therefore Beam#3 of the DVL is 45 degrees from the TOGSNAV axis, but using
the PD0 DVL data format we need to adjust for the DVL velocity vector detecting
the seabed moving relative to the DVL.

Therefor the EA angle is the sum of the DVL Beam#3 angle offset of minus 45
degrees plus 180 degrees for PD0 velocity direction vector = 135 degrees.

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9 Contacting CDL
9.1 Offices
UK

CDLtd
Silverfield House
Claymore Drive
Bridge of Don
Aberdeen
AB23 8GD

Tel: +44 (0) 1224 706655

Fax: +44 (0) 1224 709840

USA

CDL Inc
10661 Shadow Wood Drive
Houston
Texas
77043

Tel: +1 281 710 7276

Fax: +1 281 712 1757

Brazil

CDL
Av. Beira Mar 262, sala 704
Rio de Janeiro, RJ,
Brasil
CEP- 20021-060

Tel: +55 21 2220-3317

Fax: +55 21 2220-3668

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9.2 By email
Sales [email protected]
Sales USA [email protected]
Technical Support [email protected]
Repairs [email protected]

9.3 Internet WEB Site

www.cdltd.net

9.4 Out of hours Contact Numbers

UK
Sales +44 (0) 7748 458 164

Technical Support +44 (0) 7590 643 243

[email protected] +44 (0) 7572 168 883
+44 (0) 7711 505 805
+44 (0) 7595 357 197
+44 (0) 7801 431 986
+44 (0) 7572 168 881
+44 (0) 7590 276 514

USA
Sales +1 832 785 8440

Technical Support +1 281 777 3281

[email protected]

Brazil
Out of hours contact + 55 219 889 8587
[email protected]

In case of faults please contact the Technical Support in the first instance.

The Sensor Status (Section 3.2.13) and Configuration Dump (Section 3.2.14) information is
invaluable for CDL Support for any customer support issues and inquiries - Email:
[email protected].

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Document revision history

Revision Description Approval Date
A Initial Release ‘Standard’ F/W 1.1.5 27th Nov 2012

Firmware 1.1.5 revision history

Reason for Change

- Change to DVL Data format - PD0 data output;

- Added optional 1508 Umbilical Connector with Port-1, Port-2, and DVL RS232 Data;
- IPS Pressure / Depth Sensor Fixed to DECIBAR pressure Units.

Description of Changes

- Corrected sporadic ‘embedded menu’ and data output lockup issue.

- Changed DVL routine into accepting PD0 ‘binary’ data format at 115K/8/Odd/1.
- Added quick commands to set latitude and to read latitude setting.
- Added a quick command to save settings.
- Added a quick command to restart static alignment.
- Added 50Hz Sample-rate scalar to Schilling string rotation values to give radians per second.
- IPS depth sensor initialized to decibar units on power-up.
- Added Status Error Flag to TOGS output string format.
- Corrected temperature scale value in the Watson/Tritech output string format.
- Added Mode, Status and IPS units to ‘embedded menu’ header.
- Corrected NMEA XOR Check Sum values for the quick command response messages.

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