High performance subsea inertial navigation system for deep water. IXBlue PHINS 6000 is a subsea inertial navigation system providing position, true heading, attitude, speed, depth and heave. Its high-accuracy inertial measurement unit is coupled with an embedded digital signal processor that runs an advanced Kalman filter. PHINS DVL Ready is pre-assembled and pre-calibrated with a Doppler Velocity Log version making the system easy to install and ready to use for more precise navigation.