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               DVL 300/600 Firmware Readme File
                     as of:  July 2025
           ========================================
               Current Firmware Version:  83.32

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DVL (Pathfinder/Tasman) 300/600 Firmware Revision History
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Version 83.32 [07/2025]:
  - Improved the terrain bias correction for low
    altitude BM8 and LABT for 307.2 KHz systems.
  - Improved the terrain bias correction for
    614.4 KHz systems for both high and low
    altitudes.
  - The DVL scale-factor calibration has changes by a small 
    amount in this FW release. Therefore, if any additional 
    scale-factor calibrations are applied by the INS, it is 
    recommended to redo those calibrations for optimal performance.
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Version 83.31 [10/2023]:
  - Fixed a problem with internal pitch/roll sensor selection 
    priority.
  - Fixed a non-volatile memory error problem.
  - Fixed a bug that would stop the reporting of the temperature from the
	internal sensor.  The ET value would be reported instead.
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Version 83.30 [02/2023]:
  - Important update: This is the minimum firmware version for Pathfinders
         and Tasmans shipped Feburary 2023 and later.
  - Fixed a bug, that was introduced in v83.28, where the beam 2,3,4 
     velocities would be overriden with the velocity on beam 1 for XRT 
	 pings.  This bug occured before transformation so would invalidate 
	 velocities in any frame.
  - Fixed a bug, that was introduced in v83.26, which made the SD menu 
     unavailable.
  - Fixed a bug, that was introduced in v74.19, which applied pitch and roll
	 data from the internal inclinometer to the ship rather than the 
	 instrument frame. EP default parameters are now 0,0,0.
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Version 83.29 [10/2022]:
  - Fixed a bug, that was introduced in v83.27, where water profile data
    was in the incorrect coordinate system when the system was set to beam
    coordinates
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Version 83.28 [07/2022]:
  - Internal release.
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Version 83.27 [03/02/2022]:
  - Improved bottom-track performance at depths near 20m
  - Fixed an issue where certain combinations of serial and ethernet command
    settings would cause errors in velocity output
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Version 83.26 [12/21/2021]:
  - Initial release of DVL firmware for Pathfinder and Tasman products.
  - Fixes bottom track issue introduced in 67.23 and 74.23.
  - Fixes PD11 $PRDIH telegram not matching documentation.
  - Fixes Link status issue in CE banner.
  - Adds support for 300 KHz Pathfinder.
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