WORKHORSE

WORKHORSE
WORKHORSE
MONITOR, SENTINEL, MARINER,
LONG RANGER, AND QUARTERMASTER
COMMANDS AND OUTPUT DATA FORMAT
P/N 957-6156-00 (March 2014)
© 2014 Teledyne RD Instruments, Inc. All rights reserved.
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TABLE OF CONTENTS
CHAPTER 1 - INTRODUCTION ................................................................................................................................1
How to Contact Teledyne RD Instruments ................................................................................................... 3
Conventions Used in this Manual................................................................................................................. 3
Data Communication and Command Format .............................................................................................. 4
Command Input Processing ................................................................................................................. 4
Data Output Processing........................................................................................................................ 5
Installing Firmware Updates ........................................................................................................................ 6
Installing Feature Upgrades ......................................................................................................................... 7
Deploying the ADCP ..................................................................................................................................... 8
Command Summary..................................................................................................................................... 10
CHAPTER 2 - COMMAND DESCRIPTIONS ..................................................................................................................15
? – Help Menus .............................................................................................................................. 16
Break .............................................................................................................................................. 16
Expert Mode .................................................................................................................................. 17
OL – Features ................................................................................................................................. 18
Compass Commands .................................................................................................................................... 19
Available Compass Commands............................................................................................................. 19
Compass Command Descriptions ......................................................................................................... 19
AC – Output Active Calibration Data .............................................................................................. 19
AD – Display Factory or Active Calibration Data ............................................................................ 20
AF – Field Calibrate Compass ......................................................................................................... 21
AR – Return to Factory Calibration ................................................................................................ 21
AX – Examine Compass Calibration................................................................................................ 22
AZ – Zero Pressure Sensor ............................................................................................................. 23
Bottom Track Commands............................................................................................................................. 24
Available Bottom Track Commands ..................................................................................................... 24
Bottom Track Command Descriptions ................................................................................................. 25
BA – Evaluation Amplitude Minimum ............................................................................................ 25
BB – High Bandwidth Maximum Depth.......................................................................................... 25
BC – Correlation Magnitude Minimum .......................................................................................... 25
BD – Delay before Reacquire ......................................................................................................... 26
BE – Error Velocity Maximum ........................................................................................................ 26
BF – Depth Guess ........................................................................................................................... 27
BI – Gain Switch Depth................................................................................................................... 27
BJ – Bottom Blank .......................................................................................................................... 27
BK – Water-Mass Layer Mode........................................................................................................ 28
BL – Water-Mass Layer Parameters ............................................................................................... 28
BM – Bottom Track Mode .............................................................................................................. 29
BP – Bottom-Track Pings per Ensemble ......................................................................................... 30
BR – Resolution .............................................................................................................................. 31
BS – Clear Distance Traveled .......................................................................................................... 32
BV – Mode 7 Parameters ............................................................................................................... 32
BX – Maximum Tracking Depth ...................................................................................................... 33
BZ – Coherent Ambiguity Velocity ................................................................................................. 33
Control System Commands .......................................................................................................................... 34
Available Control System Commands .................................................................................................. 34
Control System Command Descriptions ............................................................................................... 34
CB – Serial Port Control .................................................................................................................. 34
CC – Choose External Devices ........................................................................................................ 36
CD – Serial Data Out....................................................................................................................... 36
CE – Retrieve Most Recent Data Ensemble .................................................................................... 37
CF – Flow Control ........................................................................................................................... 38
CH – Suppress Banner .................................................................................................................... 39
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CI – Instrument ID .......................................................................................................................... 39
CK – Keep Parameters .................................................................................................................... 39
CL – Battery Saver Mode ................................................................................................................ 40
CM – Master .................................................................................................................................. 40
CN – Save NVRAM to Recorder ...................................................................................................... 40
CP – Polled Mode ........................................................................................................................... 41
CQ – Transmit Power ..................................................................................................................... 42
CR – Retrieve Parameters .............................................................................................................. 42
CS – Start Pinging (Go) ................................................................................................................... 43
CW – Trigger Timeout .................................................................................................................... 43
CX – Low Latency Trigger Enable ................................................................................................... 43
CY – Clear Error Status Word ......................................................................................................... 44
CZ – Power Down WorkHorse ADCP .............................................................................................. 45
Environmental Commands ........................................................................................................................... 46
Available Environmental Commands ................................................................................................... 46
Environmental Command Descriptions ................................................................................................ 46
EA – Heading Alignment ................................................................................................................ 46
EB – Heading Bias ........................................................................................................................... 47
EC – Speed of Sound ...................................................................................................................... 47
ED – Depth of Transducer .............................................................................................................. 48
EH – Heading .................................................................................................................................. 48
EP – Pitch (Tilt 1) ............................................................................................................................ 48
ER – Roll (Tilt 2) .............................................................................................................................. 49
ES – Salinity .................................................................................................................................... 49
ET – Temperature .......................................................................................................................... 50
EX – Coordinate Transformation .................................................................................................... 50
EZ – Sensor Source ......................................................................................................................... 52
Fault Log Commands .................................................................................................................................... 53
Available Fault Log Commands ............................................................................................................ 53
Fault Log Command Descriptions ......................................................................................................... 53
FC – Clear Fault Log ........................................................................................................................ 53
FD – Display Fault Log .................................................................................................................... 53
Performance and Testing Commands .......................................................................................................... 54
Available Performance and Testing Commands ................................................................................... 54
Performance and Testing Command Descriptions ............................................................................... 54
PA – Pre-deployment Tests ............................................................................................................ 54
PB – Bin Select for PD12, PD16, and PD18 Data Output Type ....................................................... 55
PC – User-Interactive Built-In Tests................................................................................................ 55
PD – Data Stream Select ................................................................................................................ 57
PE – PD12 Ensemble Select ............................................................................................................ 57
PM – Distance Measurement Facility ............................................................................................ 58
PO – PD12 Velocity Component Select .......................................................................................... 58
PS – Display System Parameters .................................................................................................... 59
PT – Built-In Tests........................................................................................................................... 60
PT Test Results Error Codes ........................................................................................................... 60
PT0 – Help ...................................................................................................................................... 61
PT2 – Ancillary System Data ........................................................................................................... 61
PT3 – Receive Path ......................................................................................................................... 61
PT4 – Transmit Path ....................................................................................................................... 62
PT5 – Electronics Wrap Around ..................................................................................................... 63
PT6 – Receive Bandwidth ............................................................................................................... 64
PT7 – RSSI Bandwidth .................................................................................................................... 64
Recorder Commands .................................................................................................................................... 66
Available Recorder Commands ............................................................................................................ 66
RA – Number of Deployments ....................................................................................................... 66
RB – Recorder Built-In Test ............................................................................................................ 66
RD – Create Recorder File .............................................................................................................. 67
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RE – Erase Recorder ....................................................................................................................... 67
RF – Recorder Free Space (Bytes) .................................................................................................. 68
RI – Deployment Auto Increment .................................................................................................. 68
RN – Set Deployment Name .......................................................................................................... 70
RR – Show Recorder File Directory ................................................................................................ 70
RS – Recorder Free Space (Megabytes) ......................................................................................... 70
RY – Upload Recorder Files ............................................................................................................ 71
Timing Commands ....................................................................................................................................... 72
Available Timing Commands ................................................................................................................ 72
Timing Command Descriptions ............................................................................................................ 72
TB – Time per Burst ........................................................................................................................ 72
TC – Ensemble per Burst ................................................................................................................ 73
TE – Time Per Ensemble ................................................................................................................. 73
TF – Time of First Ping .................................................................................................................... 73
TG – Time of First Ping (Y2K Compliant) ........................................................................................ 74
TP – Time Between Pings ............................................................................................................... 75
TS – Set Real-Time Clock ................................................................................................................ 75
TT – Set Real-Time Clock (Y2k Compliant)...................................................................................... 76
TX – Buffered Output Period .......................................................................................................... 76
Water Profiling Commands .......................................................................................................................... 77
Standard Water Profiling Commands ................................................................................................... 77
WA – False Target Threshold Maximum ........................................................................................ 77
WB – Mode 1 Bandwidth Control .................................................................................................. 78
WC – Low Correlation Threshold ................................................................................................... 78
WD – Data Out ............................................................................................................................... 79
WE – Error Velocity Threshold ....................................................................................................... 79
WF – Blank after Transmit ............................................................................................................. 80
WI – Clip Data Past Bottom ............................................................................................................ 80
WJ – Receiver Gain Select .............................................................................................................. 81
WL – Water Reference Layer ......................................................................................................... 81
WN – Number of Depth Cells ......................................................................................................... 81
WP – Pings per Ensemble............................................................................................................... 82
WQ – Sample Ambient Sound ........................................................................................................ 82
WS – Depth Cell Size ...................................................................................................................... 82
WT – Transmit Length .................................................................................................................... 83
WU – Ping Weight .......................................................................................................................... 83
WV – Ambiguity Velocity ............................................................................................................... 84
High Resolution Water Profiling ........................................................................................................... 85
WK – Depth Cell Size Override (Mode 11/12 Only)........................................................................ 85
WM – Profiling Mode ..................................................................................................................... 86
Lowered ADCP – WM15 ................................................................................................................. 90
Surface Tracking Feature – WM15 ................................................................................................. 92
WO – Mode 12 Parameters ........................................................................................................... 95
WZ – Mode 5 Ambiguity Velocity................................................................................................... 95
CHAPTER 3 - ADVANCED COMMANDS .....................................................................................................................97
Sound Velocity Smart Sensor Commands .................................................................................................... 98
Available Sound Velocity Smart Sensor Command .............................................................................. 98
Sound Velocity Smart Sensor Command Descriptions ......................................................................... 98
DB – RS-485 Port Control ............................................................................................................... 98
DS – Load SpeedOfSound with SVSS Sample (BIT Result) .............................................................. 99
DW – Current ID on RS-485 Bus ..................................................................................................... 99
DX – Set SVSS to RAW Mode .......................................................................................................... 99
DY – Set SVSS to REAL Mode .......................................................................................................... 99
DZ – Get Single SCAN from SVSS .................................................................................................... 100
Waves Commands........................................................................................................................................ 101
Available Waves Commands ................................................................................................................ 101
Waves Command Descriptions ............................................................................................................ 101
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HA – Waves False Target Threshold ............................................................................................... 101
HB – Automatically Chosen Bins for Wave Processing ................................................................... 102
HD – Waves Data Out .................................................................................................................... 102
HF – Waves Flow Control ............................................................................................................... 102
HP – Waves Pings per Wave Record .............................................................................................. 103
HR – Time Between Wave Records ................................................................................................ 103
HS – Bins for Directional Wave Spectrum ...................................................................................... 103
HT – Time Between Wave Record Pings ........................................................................................ 104
HV – Bins for Velocity Spectrum .................................................................................................... 104
Lowered ADCP Commands........................................................................................................................... 105
Firmware Version 16.28 and lower ................................................................................................ 105
Firmware Version 16.30 and above ............................................................................................... 105
Available Lowered ADCP Command ..................................................................................................... 106
Lowered ADCP Command Descriptions ............................................................................................... 106
LA – LADCP False Target Threshold Maximum............................................................................... 106
LC – LADCP Low Correlation Threshold .......................................................................................... 107
LD – LADCP Data Out ..................................................................................................................... 107
LF – LADCP Blank after Transmit .................................................................................................... 108
LJ – Receiver Gain Select ................................................................................................................ 108
LN – Number of Depth Cells ........................................................................................................... 108
LP – Pings per Ensemble ................................................................................................................ 109
LS – Depth Cell Size ........................................................................................................................ 109
LV – Ambiguity Velocity ................................................................................................................. 109
LW – Bandwidth Control ................................................................................................................ 110
LZ – LADCP Amplitude and Correlation Thresholds ....................................................................... 111
Ping Synchronization Commands ................................................................................................................. 112
Available Ping Synchronization Commands ......................................................................................... 112
Ping Synchronization Command Descriptions ...................................................................................... 112
SA – Synchronize Before/After Ping/Ensemble .............................................................................. 112
SB – Channel B Break Interrupt Mode ........................................................................................... 113
SI – Synchronization Interval.......................................................................................................... 113
SM – RDS3 Mode Select ................................................................................................................. 114
SS – RDS3 Sleep Mode ................................................................................................................... 114
ST – Slave Timeout ......................................................................................................................... 115
SW – Synchronization Delay .......................................................................................................... 115
Example Master/Slave Setup ............................................................................................................... 116
Example Wakeup Banners ............................................................................................................. 117
CHAPTER 4 - OUTPUT DATA FORMAT .....................................................................................................................119
Choosing a Data Format ............................................................................................................................... 120
PD0 Output Data Format ............................................................................................................................. 122
Header Data Format ............................................................................................................................. 124
Fixed Leader Data Format .................................................................................................................... 126
Variable Leader Data Format ............................................................................................................... 131
Converting ADC Channels .............................................................................................................. 136
How Does the WorkHorse ADCP Sample Depth and Pressure? ..................................................... 137
Converting kpa to Depth ................................................................................................................ 137
Velocity Data Format............................................................................................................................ 138
Correlation Magnitude, Echo Intensity, Percent-Good, and Status Data Format ................................140
Bottom-Track Data Format .................................................................................................................. 143
Reserved BIT Data Format .................................................................................................................... 148
Checksum Data Format ........................................................................................................................ 148
CHAPTER 5 - SPECIAL OUTPUT DATA FORMATS .........................................................................................................149
DVL Data Format (PD3) ................................................................................................................................ 151
DVL Output Data Format (PD3) Details ........................................................................................................ 152
DVL Data Format (PD4/PD5) ........................................................................................................................ 154
DVL Output Data Format (PD4/PD5) Details ................................................................................................ 156
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DVL Data Format (PD5) ................................................................................................................................ 158
DVL Output Data Format (PD5) Details ........................................................................................................ 160
DVL Output Data Format (PD6) .................................................................................................................... 161
PD8 ASCII Output ......................................................................................................................................... 163
PD9 ASCII Output ......................................................................................................................................... 164
DVL Data Format (PD10) .............................................................................................................................. 165
DVL Output Data Format (PD10) Details ...................................................................................................... 166
Reduced Data Output Format (PD12) .......................................................................................................... 168
Output Data Format (PD15) ......................................................................................................................... 170
Output Data Format (PD16) ......................................................................................................................... 171
Output Data Format (PD18) ......................................................................................................................... 171
CHAPTER 6 - HOW TO DECODE AN ADCP ENSEMBLE ..................................................................................................173
Rules for the BroadBand Data Format PD0 .................................................................................................. 174
Decoding Sequence for PD0 Data ................................................................................................................ 175
Decoding Sequence Example ....................................................................................................................... 175
LIST OF FIGURES
Figure 1.
Figure 2.
Figure 3.
Figure 4.
Figure 5.
Figure 6.
Figure 7.
Figure 8.
Figure 9.
Figure 10.
Figure 11.
Figure 12.
Figure 13.
Figure 14.
Figure 15.
Figure 16.
Figure 17.
Figure 18.
Figure 19.
Firmware Update ....................................................................................................................... 6
RDIFlash Firmware Upgrade Utility Screen................................................................................. 6
Installing Feature Upgrades ....................................................................................................... 7
Water-Mass Layer Processing .................................................................................................. 29
ADCP Coordinate Transformation ............................................................................................ 51
PT7 RSSI Bandwidth Test .......................................................................................................... 65
PD0 Standard Output Data Buffer Format ............................................................................. 122
Header Data Format ............................................................................................................... 124
Fixed Leader Data Format ...................................................................................................... 127
Variable Leader Data Format ................................................................................................. 132
Velocity Data Format.............................................................................................................. 138
Correlation Magnitude, Echo Intensity, Percent-Good, and Status Data Format...................140
Bottom-Track Data Format..................................................................................................... 145
Reserved BIT Data Format ...................................................................................................... 148
Checksum Data Format .......................................................................................................... 148
DVL Data Format (PD3) .......................................................................................................... 152
DVL Data Format (PD4/PD5) .................................................................................................. 155
DVL Data Format (PD5) .......................................................................................................... 159
DVL Data Format (PD10) ........................................................................................................ 166
LIST OF TABLES
Table 1:
Table 2:
Table 3:
Table 4:
Table 5:
Table 6:
Table 7:
Table 8:
Table 9:
Table 10:
Table 11:
Table 12:
ADCP Minimum Required Commands for Deployments ............................................................ 8
WorkHorse ADCP Input Command Summary........................................................................... 10
WorkHorse ADCP Factory Defaults .......................................................................................... 12
Water-Mass Reference-Layer Modes ....................................................................................... 28
BM4/BM5 Minimum Tracking Depths ...................................................................................... 29
BM7 Minimum Tracking Depths ............................................................................................... 30
Serial Port Control .................................................................................................................... 35
Baud Rate ................................................................................................................................. 35
Flow Control ............................................................................................................................. 38
Polled Mode Commands .......................................................................................................... 41
Retrieve Parameters ................................................................................................................. 42
Error Status Word..................................................................................................................... 44
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Table 13:
Table 14:
Table 15:
Table 16:
Table 17:
Table 18:
Table 19:
Table 20:
Table 21.
Table 22:
Table 23:
Table 24:
Table 25:
Table 26:
Table 27:
Table 28:
Table 29:
Table 30:
Table 31:
Table 32:
Table 33:
Table 34:
Table 35:
Table 36:
Table 37:
Table 38:
Table 39:
Table 40:
Table 41:
Table 42:
Table 43:
Table 44:
Table 45:
Table 46:
Table 47:
Table 48:
Coordinate Transformation Processing Flags ........................................................................... 50
Sensor Source Switch Settings.................................................................................................. 52
Data Stream Selections ............................................................................................................ 57
Error Code Hex to Binary Conversion ....................................................................................... 60
PT3 Failure ................................................................................................................................ 62
PT4 Failure ................................................................................................................................ 63
PT6 Receive Bandwidth Nominal Values .................................................................................. 64
Bandwidth Control ................................................................................................................... 78
WF-command Recommended Setting ..................................................................................... 80
Ping Weights............................................................................................................................. 83
WV command Maximum Setting (20 Degree) .......................................................................... 84
Water Modes ........................................................................................................................... 86
Waves Flow Control ............................................................................................................... 103
Lowered ADCP Depth Cell Size ............................................................................................... 109
Bandwidth Control ................................................................................................................. 110
Synchronization Parameters .................................................................................................. 112
Sleep Mode Parameters ......................................................................................................... 114
Summary of Output Data Formats ......................................................................................... 121
Header Data Format ............................................................................................................... 125
Fixed Leader Data Format ...................................................................................................... 128
Variable Leader Data Format ................................................................................................. 133
Velocity Data Format.............................................................................................................. 139
Correlation Magnitude Data Format ...................................................................................... 140
Echo Intensity Data Format .................................................................................................... 141
Percent-Good Data Format .................................................................................................... 142
Status Data Format................................................................................................................. 142
Bottom-Track Data Format..................................................................................................... 146
Reserved for TRDI Format ...................................................................................................... 148
Checksum Data Format .......................................................................................................... 148
DVL Output Data Format (PD3) Details .................................................................................. 152
DVL Output Data Format (PD4/PD5) Details .......................................................................... 156
DVL Output Data Format (PD5) Details .................................................................................. 160
DVL Output Data Format (PD6) .............................................................................................. 161
DVL Output Data Format (PD10) Details ................................................................................ 166
Reduced Data Output Format (PD12) .................................................................................... 169
Common Data Format IDs ...................................................................................................... 174
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REVISION HISTORY
March 2014
•
Updated the WV formula from WV = (Max. Apparent Vel. cm/s) * sin(beam angle) * 1.2 to
WV = (Max. Apparent Vel. cm/s) * sin(beam angle) * 1.5, where 1.5 is a safety factor.
•
Added how to convert ADC channels to the Variable Leader Data Format (see ICN 153).
•
Corrected the PD4/PD5 description binary bytes 23—30. The statement that positive velocity values indicate motion to the East(X), North(Y), and Up(Z) directions was incorrect. The coordinate
frame for the PD4/PD5 velocity output depends on the EX setting, and will not always be Earth
coordinates. For example, if the EX command selects BEAM data, then PD4/PD5 would output
beam-radial velocities.
•
Updated the PD12 velocity output description.
February 2013
•
Updated styles and fonts.
•
Updated BI command purpose.
•
Updated BX command description.
•
Updated BZ range from 0 to 999 to 1 to 160 cm/s.
•
Added PS4 command description.
•
Updated Recorder Commands description.
•
Added warning that if PD9 is selected, there is no data written to the recorder.
•
Corrected WB command default from WB0 to WB0 (300, 600, and 1200 kHz systems), WB1 (150
and 75 kHz systems).
•
Added correction from ICN144 WF Command Setting for Workhorse.
•
Added Surface Range Tracking information to the WM15 command.
•
Corrected Fixed Leader Data Format WN command from 128 to 255 cells.
•
Updated Table 29: Summary of Output Data Formats and added a row for Recorded format.
•
Corrected Data Output Format (PD12) Pressure field at offset 27 from "Pressure in 0.01 kPa" to
"Pressure in deca-Pascals" (100*kPa, not 0.01*kPa).
•
Added Decoding Sequence Example to chapter 6.
August 2010
•
Corrections to the manual for all ICNs to firmware 5x.38.
•
General update to the manual.
November 2007
•
Rio Grande, H-ADCP, and Navigator commands have been removed.
•
Updated commands to reflect 16.30 firmware.
Page ix
EXCLUSIONS AND OMISSIONS
•
None
FIRMWARE HISTORY
See the README file on the TRDI Customer Support page: http://www.rdinstruments.com/support/support.aspx.
NOTES
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WorkHorse Commands and Output Data Format
March 2014
Chapter
1
INTRODUCTION
In this chapter, you will learn:
•
Data Communication and Command Format
•
Installing Firmware Updates
•
Installing Feature Upgrades
•
Deploying the ADCP
•
Command Summary
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March 2014
WorkHorse Commands and Output Data Format
This guide defines the commands used by the WorkHorse Monitor, Sentinel, Mariner, Quartermaster, and
Long Ranger ADCPs. These commands (Table 2) let you set up and control the WorkHorse ADCP without
using an external software program such as our WinSC, WavesMon, VmDas, and WinRiver II programs.
However, TRDI recommends you use our software to control the WorkHorse ADCP because entering
commands directly from a terminal can be difficult. Make sure you read and understand Deploying the
ADCP. Most WorkHorse ADCP settings use factory-set values (Table 3). If you change these values without thought, you could ruin your deployment. Be sure you know what effect each command has before
deploying your ADCP. Call TRDI if you do not understand the function of any command.
Using WinSC for self-contained deployments or VmDas, WavesMon, or WinRiver II for real-time deployments to develop the command file will ensure that the WorkHorse ADCP is set up correctly. The
commands shown in Table 2 directly affect the range of the ADCP, the standard deviation (accuracy) of
the data, and battery usage.
This guide applies to WorkHorse Monitor, Sentinel, Mariner, Quartermaster, and Long Ranger
firmware version 16.xx and 50.40, 51.40, and 52.40.
When new firmware versions are released, some commands may be modified, added, or
removed. Read the README file on the upgrade disk. When an addition or correction to this
manual is needed, an Interim Change Notice (ICN) or a new PDF version of the manual may be
posted to our website. Please check TRDI’s web site often at www.rdinstruments.com.
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WorkHorse Commands and Output Data Format
March 2014
How to Contact Teledyne RD Instruments
If you have technical issues or questions involving a specific application or deployment with your instrument, 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 +1 (858) 842-2600
Phone +33(0) 492-110-930
FAX +1 (858) 842-2822
FAX +33(0) 492-110-931
Sales – rdisales@teledyne.com
Sales – rdie@teledyne.com
Field Service – rdifs@teledyne.com
Field Service – rdiefs@teledyne.com
Client Services Administration – rdicsadmin@teledyne.com
Web: http://www.rdinstruments.com
24 Hour Emergency Support +1 (858) 842-2700
Conventions Used in this Manual
Conventions used in this documentation have been established to help you learn how to use the system
quickly and easily.
Software menu items are printed in bold: File menu, Collect Data. Items that need to be typed by the
user or keys to press will be shown as F1. If a key combination were joined with a plus sign (ALT+F), you
would press and hold the first key while you press the second key. Words printed in italics include program names (BBTalk) and file names (default.txt).
Code or sample files are printed using a fixed font. Here is an example:
WorkHorse ADCP
Teledyne RD Instruments (c) 2013
All rights reserved.
Firmware Version: X.xx
>?
You will find three other visual aids that help you: Notes, Cautions, and Recommended Settings.
This paragraph format indicates additional information that may help you avoid problems or
that should be considered in using the described features.
This paragraph format warns the reader of hazardous procedures (for example, activities that
may cause loss of data or damage to the StreamPro ADCP).
Recommended Setting. This paragraph format indicates additional information that may help
you set command parameters.
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March 2014
WorkHorse Commands and Output Data Format
Data Communication and Command Format
You can enter commands with an Windows® compatible computer running TRDI’s BBTalk. The WorkHorse ADCP communicates with the computer through an RS-232 (or RS-422) serial interface. TRDI initially sets the WorkHorse ADCP at the factory to communicate at 9600 baud, no parity, and one stop bit.
Immediately after you apply power to the WorkHorse ADCP, it enters the STANDBY mode. Send a
BREAK signal using BBTalk by pressing the End key to put the ADCP in command mode. When the
WorkHorse ADCP receives a BREAK signal, it responds with a wake-up message similar to the one shown
below. The WorkHorse ADCP is now ready to accept commands at the “>” prompt from either a terminal
or computer program.
[Break Wakeup A]
WorkHorse Broadband ADCP Version X.xx
Teledyne RD Instruments (c) 1996-2013
All rights reserved.
>
If you use a terminal/program other than BBTalk, the BREAK length (up to down transition)
must last at least 300 ms.
Command Input Processing
Input commands set WorkHorse ADCP operating parameters, start data collection, run built-in tests
(BIT), and asks for output data. All commands are ASCII character(s) and must end with a carriage return
(CR). For example,
>WP1<CR> [Your input]
Leading zeros are not required. Sending WP1 and WP00001 are the equivalent.
If the entered command is valid, the WorkHorse ADCP executes the command. If the command is one
that does not provide output data, the WorkHorse ADCP sends a carriage return line feed <CR> <LF>
and displays a new “>” prompt. Continuing the example,
>WP1<CR>
>
[Your original input]
[WorkHorse ADCP response to a valid, no-output command]
If you enter a valid command that produces output data, the WorkHorse ADCP executes the command,
displays the output data, and then redisplays the “>” prompt. Some examples of commands that produce
output data are ? (help menus), CS (start pinging), PS (system configuration data), and PA (run built-in
tests).
If the command is not valid, the WorkHorse ADCP responds with an error message similar to the following.
>WPA<CR>
>WPA ERR 002:
>
NUMBER EXPECTED<CR><LF>
[Your input]
[WorkHorse ADCP response]
After correctly entering all the commands for your application, you would send the CS command to put
the ADCP into the ping mode and begin the data collection cycle.
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WorkHorse Commands and Output Data Format
March 2014
Data Output Processing
After the WorkHorse ADCP completes a data collection cycle, it sends a block of data called a data ensemble. A data ensemble consists of the data collected and averaged during the ensemble interval (see TE
command). A data ensemble can contain header, leader, velocity, correlation magnitude, echo intensity,
percent good, and status data.
WorkHorse ADCP output data can be in either hexadecimal-ASCII (Hex-ASCII) or binary format (set by
CF command). The Hex-ASCII mode is useful when you use a terminal to communicate with, and view
data from the WorkHorse ADCP. The binary mode is useful for high-speed communication with a computer program. You would not use the binary mode to view data on a terminal because the terminal could
interpret some binary data as control codes.
All of Teledyne RD Instruments’ software supports binary PD0 Output Data Format only.
When data collection begins, the WorkHorse ADCP uses the settings last entered (user settings) or the
factory-default settings. The same settings are used for the entire deployment.
The WorkHorse ADCP automatically stores the last set of commands used in RAM. The WorkHorse ADCP
will continue to be configured from RAM until it receives a CR command or until the RAM loses its backup power. If the WorkHorse ADCP receives a CR0 it will load into RAM the command set you last stored
in non-volatile memory (semi-permanent user settings) through the CK command. If the WorkHorse
ADCP receives a CR1, it will load into RAM the factory default command set stored in ROM (permanent or
factory settings).
Page 5
March 2014
WorkHorse Commands and Output Data Format
Installing Firmware Updates
The firmware for WorkHorse ADCPs in located on flash RAM chips on the CPU board. Firmware upgrades can be downloaded from TRDI’s website support page (www.rdinstruments.com). If the firmware
upgrade is not available via the web, then please contact Field Service (rdifs@teledyne.com) to request a
copy.
To install a firmware upgrade:
1.
Connect your ADCP to the computer as shown in the WorkHorse Technical Manual.
2. Start the program WHMSLxxx.exe (where xxx is the firmware number).
Figure 1.
Firmware Update
3. Click Setup. Click the Read Me button to view the Readme.txt file for details on what is new in
this version of the firmware.
4. Click Next and follow the on-screen prompts.
Figure 2.
RDIFlash Firmware Upgrade Utility Screen
5. If you are not able to install the new firmware, contact Customer Service.
6. After successfully upgrading the firmware, use BBTalk to test the ADCP (see Testing the WorkHorse).
Page 6
WorkHorse Commands and Output Data Format
March 2014
Installing Feature Upgrades
The feature upgrade installation program is used to install Bottom Tracking, Shallow Water Bottom
Mode, Lowered ADCP (LADCP), High-Resolution Water-Profiling mode, High Ping Rate, and Waves capabilities in an ADCP.
The upgrade file is specific to the unit for which it was ordered. DO NOT attempt to install this
feature for any other unit.
Many feature upgrades require the latest firmware version to be installed in your ADCP. If you
need to update the firmware, do this before installing the feature upgrade (see Firmware
Upgrades).
Shallow Water Bottom Track Mode 7 can only be installed on 1200kHz systems.
To install a feature upgrade:
1.
Set up the WorkHorse as shown in the WorkHorse Technical Manual.
2. Start the program Activate_WH_xxxx.exe (where xxxx is the ADCP’s serial number).
3. The installation program will start (see Figure 3). The program is encoded with the ADCP’s serial
number and the requested feature upgrade.
Figure 3.
Installing Feature Upgrades
4. To select the port settings, select the I would like to specify the port setting box and click
Next.
5. Select the Serial Port and Baud Rate.
6. Click Next to install the feature upgrade.
7. Click the Finish button to exit the program.
Page 7
March 2014
WorkHorse Commands and Output Data Format
8. Start BBTalk and use the OL command to verify the feature upgrade has been installed.
For reference, a standard WorkHorse Monitor/Sentinel ADCP includes Water Profiling. The system can
be upgraded to include Bottom Track (Standard or High Accuracy), Shallow Water Bottom Mode, Lowered ADCP (LADCP), High-Resolution Water-Profiling modes, High Ping Rate, and Waves.
A standard Long Ranger ADCP includes Water Profiling. The Long Ranger ADCP can be upgraded to include Lowered ADCP (LADCP), High-Resolution Water-Profiling modes, High Ping Rate, and Waves. Bottom Track and Shallow Water Bottom Mode, are NOT available for Long Ranger ADCPs.
Contact your local sales representative if you are interested in upgrading your system.
Acoustic Doppler Current Profilers with Bottom Track enabled firmware installed, are controlled
under ‘Category 6 – Sensors and Lasers’ section 6A001 of the Commerce Control List (CCL) by
the U.S. Department of Commerce. These products are controlled and require an U.S.
Department of Commerce Export License for shipment into certain countries. For any sale,
resale, export, or re-export of these Goods, both Seller and Buyer must comply with all
applicable U.S. export licensing requirements.
Deploying the ADCP
TRDI recommends that you use our software programs WinSC, VmDas, or WinRiver II, etc. as your primary method of deployment. If this is not possible in your deployment than TRDI strongly recommends that the commands shown in Table 1 be the minimum commands you send to the instrument.
TRDI does not recommend the use of direct commands as your primary way of deploying
ADCPs as any incorrect command setting can have severe consequences to your data
collection.
Table 1:
ADCP Minimum Required Commands for Deployments
Command
Description
CR1
This command will set your ADCP to a known factory default setting and must be your first command
Special WM commands here –after CR1 command and before any other commands
CFxxxxx
This command will set your ADCP collection mode; binary, recorder, etc.
EAxxxxx
This command will set your magnetic compass offset for true north
EDxxx
This command will set your ADCP depth
ESxx
This command will set your ADCP’s expected salinity
EXxxxxx
This command will set your ADCP’s coordinate system; earth, beam, etc.
EZxxxxxxx
This command will set what sensors will be used by your ADCP; heading, pitch, roll, temp, etc.
Page 8
WorkHorse Commands and Output Data Format
Table 1:
March 2014
ADCP Minimum Required Commands for Deployments
Command
Description
WBx
This command will set the water profile bandwidth between wide (0) and narrow (1)
WNxx
This command will set the number of depth cells to collect
WPxx
This command will set the number of pings to average
WSxxxx
This command will set the depth cell size to use
TExxxxxxxx
This command will set the time between ensembles
TPxxxxxx
This command will set the time between pings
CK
This command will save your setup to the internal RAM and must be your second to last command
CS
This command will start your deployment and must be your last command
Although these are our recommended minimum commands, they may not be the only
commands you need for your deployment to be successful!
When the WM1 or WM15 command is used in a command file, place it after the CR1 command
and before any other commands to eliminate the risk of changing a previously sent parameter.
For more information, see WM - Profiling Mode.
For example, when the ADCP receives the WM15 command, the ADCP automatically changes
several commands to LADCP appropriate values. It changes the water profile bandwidth to 6 %
by setting WB and LW to 1, the number of water profile pings to 1 by setting WP and LP to 1,
and the time per ensemble and time per ping to 1 second by setting TE 00:00:01.00 and TP
00:01.00 respectively.
Conversely, when the ADCP has been using WM15 and receives the WM1 command, the ADCP
automatically changes the same command parameters to their factory default values (see Table
3 to view the WorkHorse ADCP factory defaults).
When the ADCP receives a WM1 or WM15 command, the automatic command changes are
transparent to the user, who may require other bandwidth, number of pings, time per
ensemble, and/or ping values.
Your deployment may require additional commands and these commands can be sent after the
CR1 and any special WM commands but must be placed before the CK command.
Page 9
March 2014
WorkHorse Commands and Output Data Format
Command Summary
Table 2 gives a summary of the WorkHorse ADCP input commands, their format, and a brief description
of the parameters they control. Table 3 lists the factory default command settings.
This table shows all commands including optional feature upgrades and expert commands. To
see the expert commands, you must first send the command EXPERTON. Some commands may
not be available for your ADCP.
When newer firmware versions are released, some commands may be modified or added. Read
the README file on the upgrade disk or check TRDI’s web site for the latest changes.
Table 2:
WorkHorse ADCP Input Command Summary
Command
Description
?
Shows command menu (deploy or system)
<BREAK> End
Interrupts or wakes up WorkHorse ADCP and loads last settings used
EXPERTON
Turns expert mode on. All commands will be listed
EXPERTOFF
Turns expert mode off.
OL
List features/special firmware upgrades that are installed
AC
Output calibration data
AD
Display factory calibration
AF
Field calibrate compass to remove hard iron error
AR
Return to factory calibration
AX
Examine compass performance
AZ
Zero pressure sensor
BAnnn
Evaluation amplitude minimum (1 to 255 counts)
BBnnnn
High Bandwidth Maximum Depth (dm)
BCnnn
Correlation Magnitude minimum (0 to 255 counts)
BDnnn
Delay Before Reacquire (0 to 999 ensembles)
BEnnnn
Error velocity maximum (0 to 9999 mm/s)
BFnnnnn
BInnn
Depth guess (1 to 65535 dm, 0 = automatic)
Gain switch depth (0 to 999 meters)
BJnnnnn
Bottom Blank (0 to 65535 cm)
BKn
Water-mass Layer Mode (0-Off, 1-On, 2-Lost, 3-No BT)
BLmmm,nnnn,ffff
Water mass layer parameters: Min Size (dm), Near (dm), Far (dm)
BMn
Bottom track mode (5 = Default, 4 = Default minus Coherent)
BPnnn
Bottom Track Pings per Ensemble
BRn
Resolution (0 = 4%, 1 = 2%, 2 = 1%)
BS
BV aaaaa, bbb, c
Clear distance traveled
Mode 7 Parameters
BXnnnnn
Maximum Tracking Depth (40 to 65535 dm)
BZnnn
Coherent ambiguity velocity (cm/s radial)
CBnnn
Serial port control (baud rate/parity/stop bits)
CC nnn nnn nnn
Choose External Devices (CC000 000 001 = MicroCAT)
CDabc def ghi
Serial data out
CE
Retrieve Most Recent Data Ensemble
CFnnnnn
Flow control
CHn
CInnn
Suppress banner (0 = Display, 1 = Suppress)
Instrument ID (0 to 255)
CK
Keep parameters as user defaults
CLn
Sleep between Pings (0 = No, 1 = Yes)
CMn
Not used.
CNn
Save NVRAM to recorder (0 = On, 1 = Off)
CPn
Polled mode (0 = Off, 1 = On)
CQnnn
Transmit power (0 = Low, 1 to 255 = High)
CRn
CS or Tab
Retrieve parameters (0 = User, 1 = Factory)
Start pinging
CWnnnnn
Trigger Timeout (0 to 99999 milliseconds (0 = No timeout))
Page 10
WorkHorse Commands and Output Data Format
Table 2:
March 2014
WorkHorse ADCP Input Command Summary
Command
Description
CXn
Enables/disables the low latency trigger (0 = Off, 1 = On)
CYn
Clear error status word (0 = Clear, 1 = Display)
CZ
Power down WorkHorse ADCP
DBx,y,z
RS-485 port control
DS
Load speed of sound with SVSS sample
DWx
DX
Current ID on RS-485 bus (0 to 31)
Set SVSS to raw mode
DY
Set SVSS to real mode
DZ
Get single scan from SVSS
EA±nnnn
Heading alignment (-179.99 to 180.00 degrees)
EB±nnnn
Heading bias (-179.99 to 180.00 degrees)
ECnnnn
Speed of Sound (1400 to 1600 m/s)
EDnnnn
Transducer Depth (0 to 65535 dm)
EHnnnn
Heading (000.00 to 359.99 degrees)
EP±nnnn
Pitch (-60.00 to +60.00 degrees)
ER±nnnn
Roll (-60.00 to +60.00 degrees)
ESnn
Salinity (0 to 40)
ET±nnnn
Temperature (-5.00 to +40.00 degrees C)
EXnnnn
EZnnnnnn
Coordinate Transformation (Xform:Type; Tilts; 3Bm; Map)
Sensor Source (C;D;H;P;R;S;T)
FC
Clear Fault Log
FD
Display Fault Log
HAnnn
Waves false target threshold (fish rejection)
HBnn
Number of automatically chosen bins (20 Max)
HDnnn nnn nnn
Waves selected data (Vel;Pres;Surf ;; ;;)
HFnnnnn
Waves Flow Control (Res;Res;Res;Ser;Rec)
HPnnnn
Number of pings per record
HRhh:mm:ss.ff
Time between wave bursts (hh:mm:ss.ff)
HSnnn,nnn,nnn,nnn,nnn
Bins selected for directional wave data recording
HThh:mm:ss.ff
HVnnn,nnn,nnn,nnn,nnn
Time between wave pings (hh:mm:ss.ff)
Bins selected for velocity spectrum data recording
LAnnn
False target threshold maximum (0 to 255)
LCnnn
Low correlation Threshold (0 to 255)
LDnnn nnn nnn
Data out (Vel;Cor;Amp PG;St;P0 P1;P2;P3)
LFnnnn
Blank after transmit (cm)
LJn
Receiver gain select (0 = Low, 1 = High)
LNnnn
Number of depth cells (1-128)
LPnnnn
Pings per Ensemble (0 to 16384)
LSnnnn
LVnnn
Depth Cell Size (cm)
Ambiguity Velocity (cm/s radial)
LWn
Band Width Control (0 = Wide, 1 = Narrow)
LZaaa,ccc
Amp, Corr Thresholds (0 to 255)
PA
Pre-deployment tests
PBx,y,z
PD12 bin select
PC1
Beam Continuity Built-in test
PC2
Display Heading, Pitch, Roll, and Orientation Built-in test
PDn
Data stream select (0 to 18)
PEnnnn
PD12 ensemble select (0 to 65535)
PM
POabcd
Distance measurement facility
PD12 velocity component select
PS0
Display System Configuration
PS3
Display Instrument Transformation Matrix
PTnnn
Built-In test (0 to 200)
RA
Number of deployments
RB
Recorder built-in test
RDxxxxx
Create recorder file (RDOPEN, RDCLOSE)
RE ErAsE
Erase recorder
Page 11
March 2014
WorkHorse Commands and Output Data Format
Table 2:
WorkHorse ADCP Input Command Summary
Command
Description
RF
Recorder free space (Bytes)
RIn
Deployment auto increment (0 = Append, 1 = New File)
RN
Set deployment name
RR
Show recorder file directory
RS
RY
Recorder free space (Megabytes)
Upload recorder files
SAxyz
Synchronize before/after ping/ensemble
SBn
Channel B Break Interrupt Mode (0 = Disabled, 1 = Enabled)
SInnnn
Synchronization interval (0 to 65535 s)
SMn
RDS3 mode select (0 = Off, 1 = Master, 2 = Slave)
SSx
RDS3 sleep mode (0 = No Sleep, 1 = Sleep)
STn
Slave timeout (0 to 10800 seconds)
SWn
Synchronization delay (0m to 65535 (1/10 milliseconds))
TBhh:mm:ss.ff
Time per burst
TCnnnn
Ensemble per burst (0 to 65535)
th
Time per ensemble (hours:minutes:seconds.100 of seconds)
TEhh:mm:ss.ff
TFyy/mm/dd, hh:mm:ss
Time of first ping (year/month/day, hours:minutes:seconds)
TGccyy/mm/dd, hh:mm:ss
Time of first ping (Y2k compatible) (century year/month/day, hours:minutes:seconds)
TPmm:ss.ff
Time between pings (minutes:seconds.100th of seconds)
TSyy/mm/dd, hh:mm:ss
Set real-time clock (year/month/day, hours:minutes:seconds)
TTccyy/mm/dd, hh:mm:ss
Set real-time clock (Y2k compatible) (century year /month/day, hours:minutes:seconds)
TXhh:mm:ss
Buffered Output Period (hours:minutes:seconds)
WAnnn
False target threshold maximum (0 to 255 counts)
WBn
Mode 1 Bandwidth Control (0 = Wide, 1 = Narrow)
WCnnn
Low correlation threshold (0 to 255 counts)
Data Out (Vel;Cor;Amp PG;St;P0 P1;P2;P3)
WDnnn nnn nnn
WEnnnn
Error velocity threshold (0 to 5000 mm/s)
WFnnnn
Blank after transmit (0 to 9999 cm)
WIn
Clip data past bottom (0 = Off, 1 = On)
WJn
Receiver gain select (0 = Low, 1 = High)
WKn
Depth Cell Size Override (Mode 11/12 only)
WLsss,eee
Water reference layer
WMn
Water Profiling mode (1, 5, 8, 11, 12)
WNnnn
Number of depth cells (1 to 128)
WOx,y
Mode 12 parameters
WPnnnn
Pings per ensemble (0 to 16384)
WQn
Sample ambient sound (0 = Off, 1 = On)
WSnnnn [min, max]
Depth cell size (80 to 3200 (75kHz), 40 to 3200 (150kHz), 20 to 800 (300kHz), 10 to 800 (600kHz), 5 to 400 (1200kHz))
WTnnnn
Transmit length (0 to 3200 cm)
WUn
WVnnn
Ping weight (0 = Box, 1 = Triangle)
Ambiguity velocity (002 to 480 cm/s radial)
WZnnn
Mode 5 ambiguity velocity (0 to 999 cm/s)
Table 3:
WorkHorse ADCP Factory Defaults
Command
75 kHz
150 kHz
300 kHz
600 kHz
1200 kHz
2400 kHz
BA
N/A
030
030
030
030
030
BB
N/A
0640
0320
160
60
20
BC
N/A
220
220
220
220
220
BD
N/A
000
000
000
000
000
BE
N/A
1000
1000
1000
1000
1000
BF
N/A
00000
00000
00000
00000
00000
BJ
BI
N/A
N/A
00000
040
00000
020
00000
010
00000
005
00000
001
BK
N/A
0
0
0
0
0
BL
N/A
0,50,90
160,320,480
80,160,240
40,60,100
20,20,40
BM
N/A
5
5
5
5
6
BP
N/A
000
000
000
000
000
Page 12
WorkHorse Commands and Output Data Format
Table 3:
March 2014
WorkHorse ADCP Factory Defaults
Command
75 kHz
150 kHz
300 kHz
600 kHz
1200 kHz
BR
N/A
0
0
0
0
2400 kHz
0
BV
N/A
N/A
N/A
20,250,0
10,250,0
N/A
BX
N/A
5500
02000
1250
450
150
BZ
N/A
004
004
004
004
004
CB
411
411
411
411
411
411
CC
000 000 000
000 000 000
000 000 000
000 000 000
000 000 000
000 000 000
CD
000 000 000
000 000 000
000 000 000
000 000 000
000 000 000
000 000 000
CF
11111
11111
11111
11111
11111
11111
CH
0
0
0
0
0
0
CI
000
000
000
000
000
000
CL
1
1
1
1
1
1
CM
0
0
0
0
0
0
CN
0
0
0
0
0
0
CP
0
0
0
0
0
0
CQ
255
255
255
255
255
255
250
CW
250
250
250
250
250
CX
0
0
0
0
0
0
DB
411
411
411
411
411
411
DW
0
0
0
0
0
0
EA
+00000
+00000
+00000
+00000
+00000
+00000
EB
EC
+00000
1500
+00000
1500
+00000
1500
+00000
1500
+00000
1500
+00000
1500
ED
00000
00000
00000
00000
00000
00000
EH
00000
00000
00000
00000
00000
00000
EP
+0000
+0000
+0000
+0000
+0000
+0000
ER
+0000
+0000
+0000
+0000
+0000
+0000
ES
35
35
35
35
35
35
ET
+2500
+2500
+2500
+2500
+2500
+2500
EX
EZ
11111
1111101
11111
1111101
11111
1111101
11111
1111101
11111
1111101
11111
1111101
HA
255
255
255
255
255
255
HB
05
05
05
05
05
05
HD
111000000
111000000
111000000
111000000
111000000
111000000
HF
22222
22222
22222
22222
22222
22222
HP
0000
0000
0000
0000
0000
0000
HR
HS
01:00:00.00
001,010,021,022,023
01:00:00.00
001,010,021,022,023
01:00:00.00
001,010,021,022,023
01:00:00.00
001,010,021,022,023
01:00:00.00
001,010,021,022,023
01:00:00.00
001,010,021,022,023
HT
00:00:00.50
00:00:00.50
00:00:00.50
00:00:00.50
00:00:00.50
00:00:00.50
HV
001,010,021,022,023
001,010,021,022,023
001,010,021,022,023
001,010,021,022,023
001,010,021,022,023
001,010,021,022,023
LA
050
050
050
050
050
050
LC
064
065
064
064
064
064
LD
111 100 000
111 100 000
111 100 000
111 100 000
111 100 000
111 100 000
LF
0704
0352
0176
0088
0044
0022
LJ
LN
1
030
1
030
1
030
1
030
1
030
1
030
LP
00000
00000
00000
00000
00000
00000
LS
1600
0800
0400
0200
0100
0050
LV
175
175
175
175
175
175
LW
1
1
1
1
1
1
LZ
030,220
030,220
030,220
030,220
030,220
030,220
PB
01,00,1
01,00,1
01,00,1
01,00,1
01,00,1
01,00,1
PD
PE
00
00001
00
00001
00
00001
00
00001
00
00001
00
00001
PO
1111
1111
1111
1111
1111
1111
SA
001
001
001
001
001
001
SI
00000
00000
00000
00000
00000
00000
SM
0
0
0
0
0
0
SS
0
0
0
0
0
0
Page 13
March 2014
WorkHorse Commands and Output Data Format
Table 3:
WorkHorse ADCP Factory Defaults
Command
75 kHz
150 kHz
300 kHz
600 kHz
1200 kHz
2400 kHz
ST
00000
00000
00000
00000
00000
00000
SW
00000
00000
00000
00000
00000
00000
TB
00:00:00.00
00:00:00.00
00:00:00.00
00:00:00.00
00:00:00.00
00:00:00.00
TC
00000
00000
00000
00000
00000
00000
TE
TP
01:00:00.00
01:20.00
01:00:00.00
01:20.00
01:00:00.00
01:20.00
01:00:00.00
01:20.00
01:00:00.00
01:20.00
01:00:00.00
01:20.00
TX
00:00:00
00:00:00
00:00:00
00:00:00
00:00:00
00:00:00
WA
050
050
050
050
050
050
WB
1
1
0
0
0
0
WC
064
064
064
064
064
064
WD
111 100 000
111 100 000
111 100 000
111 100 000
111 100 000
111 100 000
WE
2000
2000
2000
2000
2000
2000
WF
0704
0352
0176
0088
0044
0022
WI
0
0
0
0
0
0
WJ
1
1
1
1
1
1
WK
0
0
0
0
0
0
WL
001,005
001,005
001,005
001,005
001,005
001,005
WM
1
1
1
1
1
Not Available
WN
030
030
030
030
030
030
WO
1,4
1,4
1,4
1,4
1,4
1,4
WP
WQ
00045
0
00045
00045
0
00045
0
00045
0
00045
0
WS
1600 [80,3200]
0800 [40,3200]
0400 [20,1600]
0200 [10,800]
0100[5,400]
0050 [5,200]
WT
0000
0000
0000
0000
0000
0000
WU
0
0
0
0
0
0
WV
175
175
175
175
175
175
WZ
010
010
010
010
010
N/A
The highlighted commands have frequency dependent defaults.
Page 14
WorkHorse Commands and Output Data Format
March 2014
Chapter
2
COMMAND DESCRIPTIONS
In this chapter, you will learn:
•
Compass Commands
•
Bottom Track Commands
•
Control System Commands
•
Environmental Commands
•
Fault Log Commands
•
Performance and Testing Commands
•
Recorder Commands
•
Timing Commands
•
Water Profiling Commands
Page 15
March 2014
WorkHorse Commands and Output Data Format
Each listing includes the command’s purpose, format, default setting (if applicable) range, recommended
setting, and description. When appropriate, we include amplifying notes and examples. If a numeric value
follows the command, the WorkHorse ADCP uses it to set a processing value (time, range, percentage,
processing flags). All measurement values are in metric units (mm, cm, and dm).
? – Help Menus
Purpose
Lists the major help groups.
Format
x? (see description)
Description
Entering ? by itself displays all command groups. To display help for one command group,
enter x?, where x is the command group you wish to view. When the WorkHorse ADCP displays the help for a command group, it also shows the format and present setting of those
commands. To see the help or setting for one command, enter the command followed by a
question mark. For example, to view the WP command setting enter WP?.
Examples
See below.
[BREAK Wakeup A]
WorkHorse Broadband ADCP Version X.xx
Teledyne RD Instruments (c) 1996-2012
All Rights reserved.
>?
Available Menus:
DEPLOY? ------------------ Deployment Commands
SYSTEM? ------------------ System Control, Data Recovery and Testing Commands
Available Commands:
C?
E?
P?
S?
T?
W?
R?
A?
O?
D?
??
>
---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
Break
CONTROL Commands
ENVIRONMENTAL SENSORS Commands
PERFORMANCE Commands
RDS^3 SYNCHRONIZATION Commands
TIMING Commands
WATER PROFILING Commands
RECORDER Commands
SENSOR/COMPASS Commands
FEATURE Commands
APPLIED MICROSYSTEMS Commands
DISPLAY Quick Menus
Purpose
Interrupts WorkHorse ADCP without erasing present settings.
Format
<BREAK>
Recommended Setting. Use as needed.
Description
A BREAK signal interrupts WorkHorse ADCP processing. It is leading-edge triggered and
must last at least 300 ms. A BREAK initializes the system, sends a wake-up (copyright)
message, and places the WorkHorse ADCP in the DATA I/O mode. The BREAK command
does not erase any settings or data. Using BBTalk, pressing the End key sends a BREAK.
Example
<BREAK>
[BREAK Wakeup A]
WorkHorse Broadband ADCP Version 50.xx
Teledyne RD Instruments (c) 1996-2012
All Rights Reserved.
>
Page 16
WorkHorse Commands and Output Data Format
March 2014
When you send a break the text inside the brackets ‘[…]’ of the first line of the Wakeup Messages indicates
the ADCP’s communication configuration:
•
[BREAK Wakeup A] => ADCP is set to send/receive RS232 communication through
the serial lines of the I/O cable
•
[BREAK Wakeup B] => ADCP is set to send/receive RS422 communication through
the serial lines of the I/O cable.
•
[BREAK Wakeup AB] => RS232/422 switch on the top of the PIO board in the ADCP
is in between two positions, but neither RS232 nor RS422. It can also mean that the
ADCP received a trigger pulse while in command mode.
•
[ALARM Wakeup A] => When you send a break, if the battery has a low voltage reading you will get the following message:
[ALARM Wakeup A]
WorkHorse Broadband ADCP Version X.xx
Teledyne RD Instruments (c) 1996-2010
All Rights Reserved.
>
If this message appears after a break, it is advised not to deploy the ADCP since TRDI cannot
guarantee the unit will perform to the performance specifications.
Software Breaks - The ADCP will use the "= = =" string instead of a break. Only WorkHorse ADCP
firmware 16.21 and above accepts this option.
In order for the software breaks to work, the CL command must be set to CL0 (see CL - Battery
Saver Mode).
Expert Mode
Purpose
Turns on or off the expert mode.
Format
expertoff, experton
Recommended Setting. Use as needed.
Description
When the Expert Off command is used, it limits the amount of commands displayed on the
help menu. When the expert mode is turned off, all commands are still available (to ensure
software compatibility) but do not display. The Expert On command shows all of the available commands in the help menu.
Examples
See below.
expertoff
Expert Mode is Off
>
experton
Expert Mode is On
>
Page 17
March 2014
WorkHorse Commands and Output Data Format
OL – Features
Purpose
Lists special firmware upgrades that are installed.
Format
OL
Recommended Setting. Use as needed.
Description
Lists special features that are installed. See Feature Upgrades for information on how to
install additional capability in your WorkHorse ADCP.
Examples
See below.
>ol
FEATURES
--------------------------------------------------------------------Feature
Installed
--------------------------------------------------------------------BT-HA (High Accuracy)
Yes
Water Profile
Yes
High Resolution Water Modes
Yes
LADCP/Surface Track/WM15
No
Wave Gauge Acquisition
Yes
Shallow Bottom Mode
Yes
High Rate Pinging
Yes
BT-RA (Reduced Accuracy)
No
See your technical manual or contact RDI for information on how to
install additional capability in your WorkHorse.
>
>ol
FEATURES
--------------------------------------------------------------------Feature
Installed
--------------------------------------------------------------------BT-HA (High Accuracy)
No
Water Profile
Yes
High Resolution Water Modes
Yes
LADCP/Surface Track/WM15
Yes
Wave Gauge Acquisition
Yes
Shallow Bottom Mode
No
High Rate Pinging
Yes
BT-RA (Reduced Accuracy)
Yes
See your technical manual or contact RDI for information on how to
install additional capability in your WorkHorse.
>
Page 18
WorkHorse Commands and Output Data Format
March 2014
Compass Commands
The main reason for compass calibration is battery replacement. Each new battery carries a different
magnetic signature. The compass calibration algorithm corrects for the distortions caused by the battery
to give you an accurate measurement.
Available Compass Commands
This section lists the available compass commands.
>a?
Available Commands:
AC
AD
AF
AR
-----------------------------------------------------------------------------------------
Output Active Fluxgate & Tilt Calibration Data
Display Calibration Data
Field Calibrate to remove Hard and/or Soft Iron Error
Restore Factory Fluxgate Calibration data:
make factory the active calibration data
AX ----------------------- Examine Compass Performance
AZ
0.000000 ------------ Zero pressure reading
A? ----------------------- Display Public Sensor Commands
>
Compass Command Descriptions
AC – Output Active Calibration Data
Purpose
Outputs active fluxgate and tilt calibration data.
Format
AC
Recommended Setting. Use as needed.
Description
The AC command is identical to the AD command except that the AC command doesn’t
prompt the user for Factory or Active Calibration data; it assumes active. The AC Command doesn’t prompt the user to “press any key to continue...” when the screen is full.
Example
See below
>ac
Bx
By
Bz
Err
+
¦
¦
¦
¦
+
ACTIVE FLUXGATE CALIBRATION MATRICES in NVRAM
Calibration date and time: 4/6/2000 11:00:29
S inverse
+
2.8071e-01 -2.8343e-01 -3.8045e-02 1.1574e-02 ¦
8.6383e-04 1.8275e-03 -3.8555e-01 2.9522e-03 ¦
-1.3365e-01 -1.2769e-01 4.9614e-03 -2.2870e-01 ¦
3.5561e-01 3.3613e-01 -6.3830e-04 -3.9550e-01 ¦
+
Coil Offset
+
+
¦
3.4253e+04
¦
¦
3.5362e+04
¦
¦
3.5650e+04
¦
¦
3.3749e+04
¦
+
+
Electrical Null
+
+
¦ 34575 ¦
+
+
TILT CALIBRATION MATRICES in NVRAM
Calibration date and time: 4/6/2000 10:58:42
Average Temperature During Calibration was
26.6 °C
Up
Down
Page 19
March 2014
WorkHorse Commands and Output Data Format
+
¦
¦
+
-3.2219e-07
-1.1477e-05
+
-1.1456e-05 ¦
8.4276e-08 ¦
+
+
¦
¦
+
4.2529e-07
-1.6188e-05
+
1.6306e-05 ¦
1.9917e-07 ¦
+
+
Offset ¦
+
3.2400e+04
+
3.2470e+04 ¦
+
+
¦
+
3.0128e+04
+
3.2002e+04 ¦
+
Roll
Pitch
Null
+
+
¦ 33336 ¦
+
+
AD – Display Factory or Active Calibration Data
Purpose
Displays factory calibration or active calibration data.
Format
AD
Recommended Setting. Use as needed.
Description
Displays factory calibration or active calibration data.
Example
>AD
Display factory calibration data or active calibration data [f or a]?a
Bx
By
Bz
Err
|
|
|
|
|
|
ACTIVE FLUXGATE CALIBRATION MATRICES in FLASH
Calibration date and time: 3/8/1996 09:53:42
S inverse
2.9102e-01
2.7342e-01
-1.8192e-01
|
2.6325e-01 2.1267e-02 4.0145e-01 |
2.5335e-01 -4.8691e-02 -3.9508e-01 |
2.0180e-01 2.3319e-01 -2.7045e-02 |
3.9761e-01 -3.9925e-01
|
|
|
|
|
|
6.4865e-01 -6.0795e-02 |
|
Coil Offset
|
3.5076e+04
|
3.3277e+04
|
3.2996e+04
|
3.3953e+04
|
|
Electrical Null
|
|
| 33901 |
|
|
press any key to continue...
TILT CALIBRATION MATRICES in FLASH
Calibration date and time: 12/28/1995 08:13:29
Average Temperature During Calibration was
23.4° C
|
Roll
|
Pitch |
|
|
Offset |
|
Page 20
Up
|
-2.1990e-05 -2.8379e-05 |
-2.9185e-05
2.2630e-05 |
|
|
3.1747e+04
3.0144e+04 |
|
|
|
Null
| 33408 |
|
|
|
|
|
|
|
|
|
Down
2.6648e-05
-3.5895e-05
3.0434e+04
|
3.4953e-05 |
2.8521e-05 |
|
|
3.2971e+04 |
|
WorkHorse Commands and Output Data Format
March 2014
AF – Field Calibrate Compass
Purpose
Calibrates the compass to remove hard and soft iron effects.
Format
AF
Recommended Setting. Use as needed. The compass must be calibrated if the batteries have been
replaced.
TRDI strongly recommends sending the AR command (compass restore) before the AF (field calibrate)
command. This is done to prevent corruption of the calibration matrix due to a previous incomplete
compass calibration.
Description
The built-in automated compass calibration procedures are similar to the alignment verification, but requires three rotations instead of one. The WorkHorse ADCP uses the first two
rotations to compute a new calibration matrix and the third to verify the calibration. It will
not accept the new matrix unless the calibration was carried out properly, and it asks you to
verify that you want to use the new calibration if it is not as good as the previous calibration. While you are turning the WorkHorse ADCP for the two calibration rotations, the
WorkHorse ADCP checks the quality of the previous calibration and displays the results. It
compares these results with the results of the third calibration rotation.
There are two compass calibrations to choose from; one only corrects for hard iron while
the other corrects for both hard and soft iron characteristics for materials rotating with the
ADCP. Hard iron effects are related to residual magnetic fields and cause single cycle errors
while soft iron effects are related to magnetic permeability that distorts the earth’s magnetic field and causes double cycle errors. In general, the hard iron calibration is recommended because the effect of hard iron dominates soft iron. If a large double cycle error exists,
than use the combined hard and soft iron calibration.
For details on compass alignment, see the WorkHorse Technical Manual and the WinRiver II
User’s Guide. Single tilt compass calibration has been implemented in firmware version 16.30.
AR – Return to Factory Calibration
Purpose
Returns to the factory calibration matrix.
Format
AR
Recommended Setting. Use as needed. TRDI strongly recommends sending the AR command (compass
restore) before the AF (field calibrate) command. This is done to prevent corruption of the calibration
matrix due to a previous incomplete compass calibration.
Description
If the calibration procedure is not successful (AF command), return your WorkHorse ADCP
to the original factory calibration, by using the AR command. Try using the AR command if
you have trouble calibrating your compass. In some circumstances, a defective compass
calibration matrix can prevent proper calibration.
Page 21
March 2014
WorkHorse Commands and Output Data Format
AX – Examine Compass Calibration
Purpose
Used to verify the compass calibration.
Format
AX
Recommended Setting. Use as needed.
Description
Compass calibration verification is an automated built-in test that measures how well the
compass is calibrated. The procedure measures compass parameters at every 5º of rotation
for a full 360º rotation. When it has collected data for all required directions, the WorkHorse ADCP computes and displays the results. Pay particular attention to the Overall Error.
Example
>AX
---------------------------------------------------------------------------TRDI Compass Error Estimating Algorithm
Press any key to start taking data after the instrument is setup.
Rotate the unit in a plane until all data samples are acquired...
rotate less than 5°/sec. Press Q to quit.
N
NE
E
SE
S
SW
W
NW
N
^
^
^
^
^
************************************************************************
Accumulating data ...
Calculating compass performance ...
>>> Total error:
1.5° <<<
Press D for details or any other key to continue...
HEADING ERROR ESTIMATE FOR THE CURRENT COMPASS CALIBRATION:
OVERALL ERROR:
Peak Double + Single Cycle Error (should be < 5°):
DETAILED ERROR SUMMARY:
Single Cycle Error:
Double Cycle Error:
Largest Double plus Single Cycle Error:
RMS of 3rd Order and Higher + Random Error:
Orientation:
Down
Average Pitch: -19.29°
Average Roll:
-0.59°
Pitch Standard Dev:
Roll Standard Dev:
± 1.55°
±
±
±
±
1.54°
0.07°
1.61°
0.31°
0.28°
0.31°
Successfully evaluated compass performance for the current compass calibration.
Press any key to continue...
Page 22
WorkHorse Commands and Output Data Format
March 2014
AZ – Zero Pressure Sensor
Purpose
Zeros the pressure sensor.
Format
AZ
Recommended Setting. Use as needed.
Description
This command zeros the pressure sensor at the specific location where the ADCP will be
used.
If the pressure sensor is not installed, using the AZ command will generate the following error.
Err: No pressure sensor detected
Page 23
March 2014
WorkHorse Commands and Output Data Format
Bottom Track Commands
Bottom Track is a feature upgrade for WorkHorse ADCP Monitor and Sentinel ADCPs (see
Feature Upgrades). For an instrument to be able to Bottom Track, the feature must be installed
(see OL - Features).
Bottom Track is not available for Long Ranger ADCPs.
Acoustic Doppler Current Profiler with Bottom Track enabled firmware installed, are controlled
under ‘Category 6 – Sensors and Lasers’ section 6A001 of the Commerce Control List (CCL) by
the U.S. Department of Commerce. These products are controlled and require an U.S.
Department of Commerce Export License for shipment into certain countries. For any sale,
resale, export, or re-export of these Goods, both Seller and Buyer must comply with all
applicable U.S. export licensing requirements.
Mariner ADCPs use these commands for bottom-tracking applications. Bottom track commands tell the
ADCP to collect speed-over-bottom data and detected range-to-bottom data. If the ADCP were facing UP,
all bottom-track information would apply to the surface boundary instead of the bottom boundary. The
default state of bottom tracking is off (BP0) for WorkHorse ADCPs. Send a BP1 command to turn on the
bottom-tracking process.
Available Bottom Track Commands
This section lists the most often used Bottom Track commands.
>b?
BA = 030 ----------------BB = 0060 ---------------BC = 220 ----------------BD = 000 ----------------BE = 1000 ---------------BF = 00000 --------------BI = 005 ----------------BJ = 00000 --------------BK = 0 ------------------BL = 040,0060,0100 ------BM = 5 ------------------BP = 000 ----------------BR = 0 ------------------BS ----------------------BV = 00010,250,0 --------BX = 00450 --------------BZ = 004 ---------------->
Page 24
Evaluation Amplitude Min (1-255)
High Bandwidth Maximum Depth (dm)
Correlation Magnitude Min (0-255)
Delay Re-Acquire (# Ensembles)
Max Error Velocity (mm/s)
Depth Guess (0=Auto, 1-65535 = dm)
Gain Switch Depth (0-999 meters)
Bottom Blank (1-65535 = cm)
Layer Mode (0-Off, 1-On, 2-Lost, 3-No BT)
Layer: Min Size (dm), Near (dm), Far (dm)
Mode (4 wo/PP, 5 w/PP, 6 M1, 7 Lag Hop)
Pings per Ensemble
Resolution (0 = 4%, 1 = 2%, 2 = 1%)
Clear Distance Traveled
BM7 Blank(cm), Corr Min(0-255), Short Lag On/Off=1/0
Maximum Depth (10-65535 dm)
Coherent Ambiguity Velocity (cm/s radial)
WorkHorse Commands and Output Data Format
March 2014
Bottom Track Command Descriptions
BA – Evaluation Amplitude Minimum
Purpose
Sets the minimum value for valid bottom detection.
Format
BAnnn
Range
nnn = 1 to 255 counts
Default
BA30
Recommended Setting. The default setting for this command is recommended for most applications.
Description
BA sets the minimum amplitude of an internal bottom-track filter that determines bottom
detection. Reducing BA increases the bottom-track detection range, but also may increase
the possibility of false bottom detections.
BB – High Bandwidth Maximum Depth
Purpose
This command lets the user define the depth at which the ADCP switches between 25% and
50% bandwidth.
Format
BBnnnn
Range
nnnn = 0 to 9999 dm
Default
BB640 (150 kHz), BB320 (300 kHz), BB160 (600 kHz), BB60 (1200 kHz), BB20 (2400
kHz)
Recommended Setting. The default setting for this command is recommended for most applications.
Description
This command lets the user define the depth at which the ADCP switches between 25% and
50% bandwidth. A setting of zero disables 50% bandwidth. A setting of 9999 disables 25%
bandwidth.
BC – Correlation Magnitude Minimum
Purpose
Sets minimum correlation magnitude for valid velocity data.
Format
BCnnn
Range
nnn = 0 to 255 counts
Default
BC220
Recommended Setting. The default setting for this command is recommended for most applications.
Description
Sets a minimum threshold for good bottom-track data. The ADCP flags as bad any bottomtrack data with a correlation magnitude less than this value.
A count value of 255 is a perfect correlation (i.e. solid target).
Page 25
March 2014
WorkHorse Commands and Output Data Format
BD – Delay before Reacquire
Purpose
Sets a delay period before trying to reacquire the bottom.
Format
BDnnn
Range
nnn = 0 to 999 ensembles
Default
BD0
Recommended Setting. The default setting for this command is recommended for most applications.
Description
BD sets the number of ADCP ensembles to wait after losing the bottom before trying to
track it again. In effect, BD reduces the number of bottom-track pings and increases the
water-track ping rate when the bottom becomes out of range. If the ADCP loses track of the
bottom, it immediately transmits a series of search pings. If the ADCP can not find the bottom after 16 pings, it will then wait BD ensembles before starting the search sequence
again.
Examples
If BD = 10, the ADCP waits 10 ADCP ensembles after the automatic search sequence before
beginning the search sequence again. If BD = 0 (default), the ADCP continually tries to find
the bottom.
BE – Error Velocity Maximum
Purpose
Sets maximum error velocity for good bottom-track data.
Format
BEnnnn
Range
nnnn = 0 to 9999 mm/s
Default
BE1000
Recommended Setting. The default setting for this command is recommended for most applications.
The default setting is set purposely high and as a result effectively disabled. We recommend
extreme caution and testing before changing this setting. Data rejected by this command is
lost and cannot be regained.
Description
Page 26
The ADCP uses this parameter to determine good bottom-track velocity data. If the error
velocity is greater than this value, the ADCP marks as bad all four beam velocities (or all
four coordinate velocities, if transformed). If three beam solutions are allowed (see EX –
Coordinate Transformation) and only three beams are good, than the data is accepted since
four good beams are needed for error velocity calculation.
WorkHorse Commands and Output Data Format
March 2014
BF – Depth Guess
Purpose
Sets a “best-guess” of expected bottom range for internal calculations.
Format
BFnnnnn
Range
nnnnn = 1 to 65535 dm (0 = automatic)
Default
BF0
Recommended Setting. The default setting for this command is recommended for most applications.
Description
When set to a non-zero value, the ADCP transmits a fixed pulse based on a given bottom
range. This is useful for applications with fixed range bottoms. The command reduces the
amount of time the ADCP uses to search for the bottom if lost.
If improperly set, the ADCP may not bottom-track at all if the bottom range varies from the
input range.
BI – Gain Switch Depth
Purpose
Selects the range from the transducer where the gain will change from low to automatic
selection (low or high).
Format
BInnn
Range
nnn = 0 to 999 meters
Default
BI40 (150 kHz), BI20 (300 kHz), BI10 (600 kHz), BI5 (1200 kHz), BI1 (2400 kHz)
Recommended Setting. The default setting for this command is recommended for most applications.
Description
When the vertical range to the bottom is less than the BI setting, the unit operates in low
gain. When the vertical range is greater than the BI setting, internal logic determines which
gain (low or high) is optimal. In high backscatter areas, it may be necessary to raise this
setting in order to detect the bottom throughout the range of the system.
BJ – Bottom Blank
Purpose
Sets the blanking distance for Bottom Tracking.
Format
BJnnnnn
Range
nnnnn = 0 to 65535 cm
Default
BJ0
Recommended Setting. The default setting for this command is recommended for most applications.
Description
BJ blanks out bad data close to the transducer head, thus creating a window that reduces
unwanted data in the ensemble. This allows the WorkHorse ADCP transmit circuits time to
recover before beginning the receive cycle.
Page 27
March 2014
WorkHorse Commands and Output Data Format
BK – Water-Mass Layer Mode
Purpose
Selects the ping frequency of the water-mass layer ping
Format
BKn
Range
n = 0 to 3
Default
BK0
Recommended Setting. The default setting for this command is recommended for most applications.
Description
Table 4:
BK selects how often the ADCP performs a water-mass layer ping while bottom tracking.
The number of water-mass layer pings per ensemble is dependent on the BP command
(bottom pings per ensemble) and this command setting. Use the BL command to set the location of the water-mass layer.
Water-Mass Reference-Layer Modes
Command
Description
BK0
Disables the water-mass layer ping.
BK1
Sends a water-mass layer ping after every bottom-track ping
BK2
Sends a water-mass layer ping after every bottom-track ping that is unable to find the bottom.
BK3
Disables the bottom-track ping and enables the water-mass ping.
BL – Water-Mass Layer Parameters
Purpose
Sets bottom-track water-mass layer boundaries and minimum layer size.
Format
BLmmm,nnnn,ffff
Range
mmm = Minimum Layer Size (0 to 999 decimeters) [meters x 10]
nnnn = Near Layer Boundary (0 to 9999 decimeters) [meters x 10]
ffff = Far Layer Boundary (0 to 9999 decimeters) [meters x 10]
Default
BL320,640,960 (150 kHz), BL160,320,480 (300 kHz), BL80,160,240 (600 kHz),
BL40,60,100 (1200kHz), BL20,20,40 (2400kHz)
Recommended Setting. The default setting for this command is recommended for most applications.
Description
The BL command sets a water-mass layer. You can use this layer as a reference point when
the bottom is out of range or is incorrect. Water-mass layer output data are available when
both BK - Water-Mass Layer Mode and BP - Bottom-Track Pings Per Ensemble are nonzero values, and the bottom must be at least the Minimum Layer Size + Near Layer Boundary + 20% of the reported depth away from the transducer. The Far Layer Boundary (ffff)
must be less than the maximum profiling distance or the ADCP sends Error Code 011.
The user-defined water-mass layer is used unless the minimum layer comes within 20% of
the water boundary (sea floor for down-looking systems; surface for up-looking systems).
As the user-defined water-mass layer comes within 20% of the boundary (Figure 4, B), the
layer compresses in size until the minimum water-mass layer size is reached. When the
boundary moves closer to the transducer (Figure 4, C), no water mass ping will be sent.
The water-mass layer is operational only if BP > zero and BK > zero.
Page 28
WorkHorse Commands and Output Data Format
Figure 4.
March 2014
Water-Mass Layer Processing
BM – Bottom Track Mode
Purpose
Sets the Bottom Track mode.
Format
BMn
Range
n = 4, 5, (see description), 7 (available as a feature upgrade for 1200 kHz WorkHorse ADCP
ADCPs with firmware version 16.19 or higher)
Default
BM5 (150, 300, 600, and 1200 kHz), BM6 (2400 kHz)
Recommended Setting. The default setting for this command is recommended for most applications.
The BM command is not available for systems with standard Bottom Track (BT-RA - see OL
command).
Description
See below
Bottom Track Mode 4
Bottom Track Mode 4 uses the correlation side-peak position to resolve velocity ambiguities. It lengthens the lag at a predetermined depth to improve variance.
Bottom Track Mode 5
Bottom Track Mode 5 is similar to Bottom Track Mode 4, but has a lower variance in shallow water by a factor of up to four. In very shallow water at slow speeds, the variance is
lower by a factor of up to 100. Bottom Track Mode 5 also has a slightly slower ping rate
than Bottom Track Mode 4.
Bottom Mode 5 (default setting) will shift to Bottom Mode 4 if the conditions warrant.
The ADCP limits searching for the bottom to the value set by the BX command (max bottom tracking altitude) + 0.5 transmit length. This allows a faster ping rate when the bottom
altitude is close to the BX command setting.
Table 5:
BM4/BM5 Minimum Tracking Depths
Frequency (kHz)
BM4/BM5 Minimum Tracking Depths (m)
150
2.0
300
1.5
600
1.0
1200
0.8
Page 29
March 2014
WorkHorse Commands and Output Data Format
Bottom Track Mode 7
Bottom Mode 7 is a feature upgrade for 1200 kHz WorkHorse ADCP ADCPs (see Feature
Upgrades). Contact TRDI for information on how to install this capability in your WorkHorse
ADCP. Firmware versions prior to version 16.30 allowed Bottom Mode 7 for 600 kHz ADCPs.
Bottom Mode 7 has several advantages over BM5 in slow moving, shallow water applications.
Bottom Mode 7 was developed for even shallower applications than Mode 5 yet it retains
bottom Mode 5’s very precise velocity measurement (see Table 6). It addresses other shallow water issues such as bottom detection in the presence of high backscatter water, signal
level control despite a wide range of bottom backscatter for various applications, and
transmit/receive interference when beam depths are substantially different.
Bottom Mode 7 pings at a slower rate than Bottom Mode 5 (1/3 the rate of BM5) and the
precision of its velocity measurement degrades at velocities higher than 0.2m/s. If you are
interested in using this mode, please request a copy of Field Service Application Note FSA015 Shallow Water Bottom Tracking Mode 7 (available for download at
www.rdinstruments.com, Customer Support page).
Table 6:
BM7 Minimum Tracking Depths
Frequency
Min Tracking Depths
600kHz
0.6m
1200kHz
0.3m
BP – Bottom-Track Pings per Ensemble
Purpose
Sets the number of bottom-track pings to average together in each data ensemble.
Format
BPnnn
Range
nnn = 0 to 999 pings
Default
BP0
Recommended Setting. The default setting for this command is recommended for most applications.
Description
BP sets the number of bottom-track pings to average together in each ensemble before
sending/recording bottom-track data.
The ADCP interleaves bottom-track pings with water-track pings (see TP command). If BP = zero,
the ADCP does not collect bottom-track data. The ADCP automatically extends the ensemble
interval (TE) if BP x TP > TE.
When using VmDas with WorkHorse ADCPs that do not support bottom tracking, the BP
command will fail on those WorkHorse ADCPs. This is OK if the ADCP Setup Options generates
the BP command, but a failed command in the command file aborts processing of the command
file. The BP command should be removed from the command file in this case. See the VmDas
User's Guide for details.
Page 30
WorkHorse Commands and Output Data Format
March 2014
BR – Resolution
Purpose
Sets the vertical depth resolution.
Format
BRn
Range
n = 0 to 2 (see description)
Default
BR0
Recommended Setting. The default setting for this command is recommended for most applications.
Description
BR sets the vertical depth resolution as a percentage of the overall range detected: The lower the resolution, the finer the depth reading. With BR0 set, if you had a depth of 100 meters, than the depth would read 100 meters until you passed 104 meters. If you had BR2
set, than it would change when you reached 101 meters. Setting a higher resolution (e.g.
1%) results in longer ping times.
BR0 = 4%
BR1 = 2%
BR2 = 1%
Resolution Setting Limitations:
1.
Minimum RSSI Bin Size – The RSSI sampling interval cannot be smaller than the minimum RSSI
bin size (for example, 5 cm for a 1200 kHz system). This means that you get the resolution that
you command in % or 5 cm (for the above example) - whichever is larger. The minimum RSSI bin
sizes vary with system frequency according to the following table:
Frequency
Min RSSI Bin Size
150
37 cm
300
18 cm
600
9 cm
1200
5 cm
2. BM5 Low Altitude Minimum RSSI Bin Size -- This limitation affects only Bottom Mode 5 operation below the following altitudes:
•
150 kHz -- 20 meters -- the resolution becomes 63 cm
•
300 kHz -- 10 meters -- the resolution becomes 16 cm
•
600 kHz -- 5 meters -- the resolution becomes 8 cm
•
1200 kHz -- 2.5 meters -- the resolution becomes 7.8 cm
Page 31
March 2014
WorkHorse Commands and Output Data Format
BS – Clear Distance Traveled
Purpose
Clears internal distance traveled accumulators.
Format
BS
Recommended Setting. Use as needed.
Description
Distance traveled is calculated and output in DVL output formats (PD5 and PD6). The accumulator is zeroed on <BREAK> or by using this command in the manual ensemble cycling mode.
BV – Mode 7 Parameters
Purpose
Controls the behavior of Bottom Track Mode 7.
Format
BV aaaaa, bbb, c
Range
aaaaa = 0 to 65535
bbb = 0 to 255
c = 0 or 1 (0 = Off, 1 = On)
Default:
BV10, 250, 0 (1200 kHz), BV20,250,0 (600 kHz)
Recommended Setting. The default setting for this command is recommended for most applications.
Description:
The first parameter sets the depth at which the bottom will be searched. It avoids locking
onto ringing (if any) or very high backscatter water near the transducer.
The second parameter controls the correlation threshold for ambiguity resolving. A lower,
fixed correlation threshold is used to determine if a lag’s velocity estimate is satisfactory.
The last parameter controls whether short lag velocity estimates are output in the event the
longer lag ambiguity cannot be resolved because one or more of the short lag velocity estimates have too low a correlation. If this parameter is a one, than the average of the four
short lag estimates that are above a lower, fixed correlation threshold will be used. If this
parameter is a zero, than no velocity will be output for this case.
A count value of 255 is perfect correlation.
Page 32
WorkHorse Commands and Output Data Format
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BX – Maximum Tracking Depth
Purpose
Limits the search range for bottom tracking.
Format
BXnnnn
Range
nnnn = 10 to 65535 decimeters (meters x 10)
Default
BX5500 (150 kHz), BX2000 (300 kHz), BX1250 (600 kHz), BX450 (1200 kHz), BX150
(2400 kHz)
Recommended Setting. Set BX to a depth slightly greater than the expected maximum depth.
Description
The BX command sets the maximum tracking depth used by the ADCP during bottom
tracking. This prevents the ADCP from searching too long and too deep for the bottom, allowing a faster ping rate when the ADCP loses track of the bottom. If the Bottom Track water reference layer is in use (BK > 0), BX must be greater than the Far Layer Boundary
(BLmmm,nnnn,ffff), or the ADCP sends Error Code 012.
Example
If you know the maximum depth in the deployment area is 20 meters (200 decimeters), set
BX to a value slightly larger than 200 dm, say 210 dm, instead of the default 1250 dm for a
600 kHz ADCP. Now, if the ADCP loses track of the bottom, it will stop searching for the
bottom at 210-dm (21 m) rather than spending time searching down to 1250-dm (125 m),
which is the maximum bottom-tracking range.
The BX command limits the search range for bottom tracking. If the ADCP loses lock on the
bottom, it goes into search mode, which iteratively searches increasing ranges until either the
bottom is found or the maximum range is reached, and then the process starts over at the
minimum range. The BX command will prevent the ADCP from searching to ranges beyond the
BX range value, and can result in shorter search cycles if the bottom is known to be within this
range.
In addition to limiting the search range, the BX command indirectly limits the bottom track
range. While this does not prevent the ADCP from bottom tracking to ranges beyond the BX
range, use caution in setting this command to less than the expected maximum depth as the
ADCP will be less likely to hold a lock on the bottom if there is any slope beyond the BX range.
BZ – Coherent Ambiguity Velocity
Purpose
Sets the Bottom-Track Mode 5 ambiguity velocity.
Format
BZnnn
Range
nnn = 1 to 160 cm/s radial
Default
BZ004
Recommended Setting. The default setting for this command is recommended for most applications.
Description
The BZ command selects the ambiguity velocity used by the bottom-track ping in shallow
water when bottom-track Mode 5 is in use.
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WorkHorse Commands and Output Data Format
Control System Commands
The WorkHorse ADCP uses the following commands to control certain system parameters.
Available Control System Commands
This section lists the available Control System commands.
>c?
CB = 411 ----------------CC = 000 000 000 --------CD = 000 000 000 --------CE ----------------------CF = 11111 --------------CH = 0 ------------------CI = 000 ----------------CK ----------------------CL = 1 ------------------CM = 0 ------------------CN = 1 ------------------CP = 0 ------------------CQ = 255 ----------------CR # --------------------CS ----------------------CX = 0 ------------------CY # --------------------CZ ---------------------->
Serial Port Control (Baud [4=9600]; Par; Stop)
Choose External Devices (x;x;x x;x;x x;x;SBMC)
Serial Data Out (Vel;Cor;Amp PG;St;P0 P1;P2;P3)
Retrieve Last Ensemble
Flow Ctrl (EnsCyc;PngCyc;Binry;Ser;Rec)
Suppress Banner
Instrument ID (0-255)
Keep Parameters as USER Defaults
Sleep Enable (0 = Disable, 1 = Enable)
RS-232 Sync Master (0 = OFF, 1 = ON)
Save NVRAM to recorder (0 = ON, 1 = OFF)
PolledMode (1=ON, 0=OFF; BREAK resets)
Xmt Power (0=Low, 255=High)
Retrieve Parameters (0 = USER, 1 = FACTORY)
Go (Start Pinging)
Trigger Enable (0 = OFF, 1 = ON)
Error Status Word (0=Clear, 1=Display)
Power Down Instrument
Control System Command Descriptions
CB – Serial Port Control
Purpose
Sets the RS-232/422 serial port communications parameters (Baud Rate/Parity/Stop Bits).
Format
CBnnn
Range
nnn = baud rate, parity, stop bits (see description)
Default
CB411
Recommended Setting. The default setting for this command is recommended for most applications.
Description
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The WorkHorse ADCP and your external device (dumb terminal, computer software)
MUST use the same communication parameters to talk to each other. After you enter valid
CB parameters, the WorkHorse ADCP responds with a “>” prompt. You may now change
the external device’s communication parameters to match the WorkHorse ADCP parameters before sending another command.
WorkHorse Commands and Output Data Format
Table 7:
March 2014
Serial Port Control
Baud Rate
0 = 300
1 = 1200
2 = 2400
3 = 4800
4 = 9600 (Default)
5 = 19200
6 = 38400
7 = 57600
8 = 115200
Parity
Stop Bits
1 = None (Default)
2 = Even
3 = Odd
4 = Low (Space, logical 0)
5 = High (Mark, logical 1)
1 = 1 Bit (Default)
2 = 2 Bits
Setting The Baud Rate In The WorkHorse ADCP. The WorkHorse ADCP can be set to communicate at baud
rates from 300 to 115200. The factory default baud rate is always 9600 baud. The baud rate is controlled
via the CB command. The following procedure explains how to set the baud rate and save it in the WorkHorse ADCP. This procedure assumes that you will be using the program BBTalk that is supplied by Teledyne RD Instruments.
To set the Baud Rate:
1.
Connect the WorkHorse ADCP to the computer and apply power (see the WorkHorse Technical
Manual).
2. Start the BBTalk program and establish communications with the ADCP. Wake up the WorkHorse ADCP by sending a break signal with the End key.
3. Send the command CR1 to place the WorkHorse ADCP in the factory default setup.
4. Send the CB command that selects the baud rate you wish. The following are the typical CB command settings for different baud rates with no parity and 1 stop bit:
Table 8:
Baud Rate
BAUD RATE
CB command
300
1200
2400
4800
9600
19200
38400
57600
115200
CB011
CB111
CB211
CB311
CB411 (Default)
CB511
CB611
CB711
CB811
5. BBTalk will automatically change the settings to match your CB command settings and then
BBTalk will send the CK command to save the new baud rate setting.
6. Click File, Close to exit the terminal window.
The WorkHorse ADCP is now set for the new baud rate. The baud rate will stay at this setting until you
change it back with the CB command.
If you send a BREAK before changing the external device’s communication parameters, the
WorkHorse ADCP returns to the communication parameters stored in non-volatile memory
(user settings).
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WorkHorse Commands and Output Data Format
CC – Choose External Devices
Purpose
Selects the external devices used by the ADCP.
Format
CC abc def ghi
Range
Firmware switches (see description)
Default
CC 000 000 000
Recommended Setting. The default setting for this command is recommended for most applications.
Description
Example
The CC command uses firmware switches to tell the ADCP the types of data to collect. Setting a bit to one tells the ADCP to collect that data type. The bits are described as follows:
a = Reserved
d = Reserved
g = Reserved
b = Reserved
e = Reserved
h = Reserved
c = Reserved
f = Reserved
i = Seabird MicroCAT
CC 000 000 001 tells the ADCP to collect Seabird MicroCAT data.
The data ID for the MicroCAT data is 0800h.
CD – Serial Data Out
Purpose
Selects the serial data types output to the serial port.
Format
CD abc def ghi
Range
Firmware switches - Setting a bit to one tells the ADCP to output that data type. The bits
are described as follows.
a = Velocity
b = Correlation
c = Echo Intensity
Default
d = Percent good
e = Status
f = Reserved
g = Reserved
h = Reserved
I = Reserved
CD 000 000 000
Recommended Setting. The default setting for this command is recommended for most applications.
Description
The CD command functions along with the WD command. Specifically, it overrides the WD
command in what data is output to the serial port. If CD is left in the default state (no data
selected), the WD setting controls serial and recorded data (they will be the same). If CD is
set to anything else, the CD setting controls data output serially, while the WD command
controls what is written to the recorder, however that data that is output must always be
recorded if recording is enabled (see caution below).
If a bit (or bits) in the CD command string is set to 1, the corresponding bit (or bits) in the WD
command MUST also be set to 1 or the data that is output and/or recorded will not be
processed properly.
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WorkHorse Commands and Output Data Format
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CE – Retrieve Most Recent Data Ensemble
Purpose:
Output the most recent data ensemble.
Format:
CE
Description:
CE outputs the most recent data ensemble via the serial communications port in either binary or Hex-ASCII mode as specified by the CF command. The WorkHorse ADCP buffers
the last ensemble collected in RAM just prior to it being sent to the recorder or being output to the serial port of the ADCP.
Notes:
To retrieve data with the CE command the WorkHorse ADCP must be in command mode,
i.e. a break has been sent to stop the automatic ensemble mode, or the prompt has been returned in the manual ensemble mode.
No data is available in the buffer until a deployment has been started (CS command has
been sent) and the first ensemble has been completed.
Retrieving the Most Recent Ensemble
The following example assumes that the WorkHorse ADCP has already been deployed and therefore is
actively collecting data either on the internal recorder, out the serial port, or both.
To recover and capture the most recent ensemble:
1.
Open the TRDI software program BBTalk.
2. Configure the communications for the port that the WorkHorse ADCP is connected to.
3. Click the B on the toolbar to send a break to the ADCP.
4. Press the F3 key to turn on the capture feature in BBTalk. Enter a name and path for the file you
are about to create.
5. Type the command CE and press enter. The data from the last ensemble will be transferred from
the ADCP into the BBTalk program and captured to the file you created in Step “d”.
6. Press the F3 key to close the file.
7. Verify the file contains a valid ensemble of data and continue to step “h”.
8. Type the command CS and press enter. The ADCP will continue its deployment. Depending on the
setting of the RI command, the ADCP will either append to the existing deployment file (starting
at ensemble 1) or it will open a new deployment file.
If the RI command has been set to disable the auto increment (RI0) of the deployment file than
you can at this time decide to close the current data file and start a new file by sending the
RDOPEN command. Sending the RDCLOSE command will close the file only and a new file will
not be opened until Step “h” is performed and the ADCP collects 8kbytes of data.
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WorkHorse Commands and Output Data Format
CF – Flow Control
Purpose
Sets various WorkHorse ADCP data flow-control parameters.
Format
CFnnnnn
Range
Firmware switches (see description)
Default
CF11111
Recommended Setting. The default setting for this command is recommended for most applications.
Description
The CF command defines whether the WorkHorse ADCP: generates data ensembles automatically or manually; generates pings immediately or manually; sends serial output data
in binary or Hex-ASCII format; sends or does not send output data to the serial interface;
sends or does not send data to the recorder (if installed).
The VmDas program sets the WorkHorse ADCP to a manual ensemble mode (CF01110) so that it
controls when the ensemble occurs.
Table 9:
Flow Control
Command
Description
CF1xxxx
Automatic Ensemble Cycling – Automatically starts the next data collection cycle after the current cycle is completed. Only
a <BREAK> can stop this cycling.
CF0xxxx
Manual Ensemble Cycling – Enters the STANDBY mode after transmission of the data ensemble, displays the “>” prompt
and waits for a new command.
CFx1xxx
Automatic Ping Cycling – Pings immediately when ready.
CFx0xxx
Manual Ping Cycling – Sends a “>” character to signal ready to ping, and then waits to receive an <Enter> before pinging.
The <Enter> sent to the WorkHorse ADCP is not echoed. This feature lets you manually control ping timing within the
ensemble.
CFxx2xx
Hex-ASCII Data Output, Carriage Return-Linefeed delimited -- Sends the ensemble in readable hexadecimal-ASCII format
with a Carriage Return-Linefeed at the end of each ensemble, if serial output is enabled (see below).
CFxx1xx
Binary Data Output – Sends the ensemble in binary format, if serial output is enabled (see below).
CFxx0xx
Hex-ASCII Data Output – Sends the ensemble in readable hexadecimal-ASCII format, if serial output is enabled (see below).
CFxxx1x
Enable Serial Output – Sends the data ensemble out the RS-232/422 serial interface.
CFxxx0x
Disable Serial Output – No ensemble data are sent out the RS-232/422 interface.
CFxxxx1
Enable Data Recorder – Records data ensembles on the recorder (if installed).
CFxxxx0
Disable Data Recorder – No data ensembles are recorded on the recorder.
Example
CF01010 selects manual ensemble cycling, automatic ping cycling, Hex-ASCII data output, enables serial output, and disables data recording.
Not all data formats can be recorded. Carefully review the output data format before setting
the CF command to set the Serial Output and if the data recorder is on or off.
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WorkHorse Commands and Output Data Format
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CH – Suppress Banner
Purpose
Prevents the unit from sending the wakeup message.
Format
CHn
Range
n = 0 (display banner), or 1 (suppress banner)
Default
CH0
Recommended Setting. The default setting for this command is recommended for most applications.
Description
If CH1 is saved as part of the User Command Set, the unit will not output a banner on
wakeup. The unit will still output the “>” prompt.
Suppression of the wakeup banner may cause some TRDI software to fail or function erratically.
CI – Instrument ID
Purpose
Sets the ID for the ADCP.
Format
Range
Default
CInnn
nnn = 0 to 255
CI0
Recommended Setting. The default setting for this command is recommended for most applications.
Description
This command allows the user to uniquely identify a single ADCP in a network of up to 256
ADCPs. The value to which this command is set will be output in the PD12 output format.
This command has no effect if PD is set to other than PD12.
CK – Keep Parameters
Purpose
Stores present parameters to non-volatile memory.
Format
CK
Recommended Setting. Use as needed.
Description
CK saves the present user command parameters to non-volatile memory on the CPU board.
The WorkHorse ADCP maintains data stored in the non-volatile memory (user settings)
even if power is lost. It does not need a battery. You can recall parameters stored in nonvolatile memory with the CR0 command (see CR – Retrieve Parameters).
Always use the CK command in your configuration file (see Deploying the ADCP).
The ADCP automatically stores the last set of commands used in RAM (volatile memory). The
user can store the configuration into non-volatile memory by sending a CK command. Note that
the ADCP will restart in the previous configuration even if it was not saved with a CK command
as long as the volatile memory’s internal battery is not discharged. This can happen after several
months without any power applied to the ADCP (Note that this battery will recharge as soon as
power is reapplied). If the ADCP is stopped by removing the power while pinging, it will restart
pinging and output data next time power is applied.
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WorkHorse Commands and Output Data Format
CL – Battery Saver Mode
Purpose
Determines whether the ADCP will attempt to conserve power by sleeping between pings.
The CL command is only available for WorkHorse ADCPs with 16.21 or higher firmware.
Format
Range
CLn
n = 0 to 2 (Sleep Between Pings (0 = No Sleep & No SelfDeploy, 1 = Sleep & SelfDeploy, 2 =
No Sleep & SelfDeploy)
CL1
Default
Recommended Setting. The default setting for this command is recommended for most applications.
Description
See table below.
Command
Description
CL0
ADCP never sleeps
ADCP will not SelfDeploy after 5 minutes (i.e. it will stay awake at the command prompt indefinitely waiting for user
commands)
CL1
ADCP sleeps if enough time between pings
ADCP times out after 5 minutes at command prompt with no input
CL2
•
If ADCP was pinging and only received a BREAK, than it self-deploys after timeout (auto-start mode)
•
If ADCP was processing commands, than it goes to sleep indefinitely after timeout (command mode)
ADCP never sleeps
ADCP will SelfDeploy 5 minutes if no user commands are received by the ADCP while awake and waiting at command prompt.
If any command is sent, then you must include the CS command to start pinging.
For both CL0 and CL2, if a command is sent after the break, the ADCP will not redeploy until a
CS command is sent.
In order for software breaks to work, the CL command must be set to CL0 or CL2 (see Break).
When using the command file provided with VmDas with a WorkHorse ADCP with firmware
version 16.31, if VmDas times out between each ensemble, adding CL0 to the command file
fixes the problem.
CM – Master
Purpose
Deprecated. For Lowered ADCP use, see the Lowered ADCP Commands and the Lowered
ADCP User’s Guide.
CN – Save NVRAM to Recorder
Purpose:
Saves the contents of NVRAM to the recorder at the end of a deployment.
Format
CNn
Range
n = 0 (On), 1 (Off)
Default
CN1
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WorkHorse Commands and Output Data Format
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Recommended Setting. The default setting for this command is recommended for most applications.
Description
The CN command allows the contents of the NVRAM (approx. 8k bytes) to be written to
the recorder as part of the deployment record. This can be useful for troubleshooting purposes.
CP – Polled Mode
Purpose:
Allows the WorkHorse ADCP to be polled for data.
Format
CPn
Range
n = 0 (Off), 1 (On)
Default
CP0
Recommended Setting. The default setting for this command is recommended for most applications.
The CP command is only available for WorkHorse Sentinel, Monitor, and Long Ranger ADCPs.
Description
The CP command allows a WorkHorse ADCP to be polled for data. Setting the CP command to CP1 places the ADCP into a mode where it doesn’t sleep. Instead, the ADCP stays
awake between pings listening for certain commands (and drawing more power). Polled
mode is only recommended for deployments where shore power can be provided. The
commands the ADCP responds to while in polled mode are shown in Table 10.
The polled mode requires sufficient time between pings to listen for the polling commands.
Setting the TP command to 1 second normally gives the ADCP enough time for polling (see
TP – Time Between Pings).
In the polled mode (CP1), enough time must be allowed in the ensemble cycle (TE or TP
commands) to allow the system to check for serial input. If both TE and TP are set to zero for
the maximum ping rate, the system will not recognize any keyboard input with the exception of
a <break>.
The output of the polled mode is on demand. If the ADCP is in the middle of an ensemble
when the command arrives, it will send out the last completed ensemble, even as it continues to collect data for the current ensemble. Note that the polled mode does not output data until at least one ensemble has been completed.
Table 10:
Polled Mode Commands
Command
Description
!
Execute a Break reset
+
Increment internal clock by 1 second
-
Decrement internal clock by 1 second
D
Dump the last ensemble
E
Print the current ensemble number
T
Print the current time
The commands are not echoed and they don’t need to be followed by a CR/LF pair. These
commands are only available when CP = 1.
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WorkHorse Commands and Output Data Format
Enabling polled mode disables the battery saver feature. Do not enable this mode when
running from batteries.
CQ – Transmit Power
Purpose
Allows the transmit power to be adjusted.
Format
CQnnn
Range
nnn = 0, or 1 to 255 (0 = Low, 1 to 255 = High)
Default
CQ255
Recommended Setting. For 75 kHz Long Ranger systems, set the Power setting and bandwidth in
PlanADCP through the hardware selection page. See the WinSC and PlanADCP User's Guide for details.
Description
Allows the transmit power to be set high or low.
This command only affects 75 kHz Long Ranger systems. For information on how the CQ command
affects system performance, see the Measurement Performance - Long Ranger 75 kHz specifications in
the Long Ranger / QuarterMaster Operation Manual.
Although other frequency WorkHorse ADCPs allow the CQ command to be set to values other than the
default, the CQ command has no effect and is not supported by PlanADCP.
CR – Retrieve Parameters
Purpose
Resets the WorkHorse ADCP command set to factory settings.
Format
CRn
Range
n = 0 (User), 1 (Factory)
Recommended Setting. Use as needed.
Description
Table 11:
The WorkHorse ADCP automatically stores the last set of commands used in RAM. The
WorkHorse ADCP will continue to be configured from RAM unless it receives a CR command or until the RAM loses its power.
Retrieve Parameters
Format
Description
CR0
Loads into RAM the command set last stored in non-volatile memory (user settings) using the CK command.
CR1
Loads into RAM the factory default command set stored in ROM (factory settings).
CR keeps the present baud rate and does not change it to the value stored in non-volatile
memory or ROM. This ensures the WorkHorse ADCP maintains communications with the
terminal/computer.
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WorkHorse Commands and Output Data Format
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CS – Start Pinging (Go)
Purpose
Starts the data collection cycle (same as the Tab key).
Format
CS
Recommended Setting. Use as needed. Use WinSC/VmDas/WinRiver II to create the command file. The
CS command will be added to the end of the command file or sent by the software.
Description
Use CS (or the Tab key) to tell the WorkHorse ADCP to start pinging its transducers and
collecting data as programmed by the other commands. If the TF command is set (time of
first ping), the WorkHorse ADCP waits until it reaches the TF time before beginning the
data collection cycle.
1. After a CS command is sent to the WorkHorse ADCP, no changes to the commands can occur
until a <BREAK> is sent.
2. If you try to record data (CFxxxx1), and the recorder is full, the WorkHorse ADCP will not start
pinging and will return a RECORDER NOT READY message and go back to the command prompt.
3. The ADCP will keep pinging after the recorder is full only if serial output is turned on
(CFxxx1x). If the serial output is off, than the ADCP will shut down when the recorder is full, on
the assumption that there is no sense in using up the battery if the data is not going anywhere.
CW – Trigger Timeout
Purpose
Sets the trigger timeout.
Format
CWnnnnn
Range
nnnnn = 0 to 99999 milliseconds (0 = No timeout)
Default
CW00250
Recommended Setting. The default setting for this command is recommended for most applications.
Description
This command must be set when performing low latency triggering (see CX command). If
the system does not receive a trigger before nnnnn ms, than the system will ping on its own
according to the timing schedule set up with the T commands, and the trigger will be ignored.
CX – Low Latency Trigger Enable
Purpose
Format
Range
Default
Enables or disables the low latency trigger input.
CXn
n = 0 (off), 1 (on)
CX0
Recommended Setting. The default setting for this command is recommended for most applications.
For more information on using the CX command, see FSA-018 (available on www.rdinstruments.com).
Description
Turning on the Low Latency Trigger functionality allows the WorkHorse ADCP to ping
within ~300µs of the rising edge of the trigger input. The trigger input needs to be on a differential signal pair that starts with a rising edge on one signal line and a falling edge on the
other signal line.
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WorkHorse Commands and Output Data Format
The CX command inhibits the ability of the WorkHorse ADCP to sleep and conserve power. Use
CX1 only when power consumption is not an issue.
If CX1 is used, the CL and SB commands must be set to CL0 and SB0 (see CL - Battery Saver
Mode and (see SB –Channel B Break Interrupt Mode).
CY – Clear Error Status Word
Purpose
Clears the Error Status Word (ESW) stored in EEPROM on the CPU. The ESW is updated
whenever an error occurs.
Format
Range
CYn
n = 0 (Clear), 1 (Display)
Format
Use the CY1 command to display the ESW value or CY0 to clear the ESW.
Recommended Setting. Use as needed.
Description
Table 12:
ESW
0x00000001
0x00000002
0x00000004
0x00000008
0x00000010
0x00000020
0x00000040
0x00000080
0x00000100
0x00000200
0x00000400
0x00000800
0x00001000
0x00002000
0x00004000
0x00008000
0x00010000
0x00020000
0x00040000
0x00080000
0x00100000
0x00200000
0x00400000
0x00800000
0x01000000
0x02000000
0x04000000
0x08000000
0x10000000
0x20000000
0x40000000
0x80000000
CY1 displays the active ESW value, which is a 32-bit value displayed in Hex ASCII.
Error Status Word
Description
Bus Error Exception occurred.
Address Error Exception occurred.
Illegal Inst Exception occurred.
Zero Divide Exception occurred.
Emulator Exception occurred.
Unassigned Exception occurred.
Watchdog restart occurred.
Screen Save power down occurred.
Currently pinging.
Unused
Unused
Unused
Unused
Unused
Cold wakeup occurred.
Unknown wakeup occurred.
Clock read failure occurred.
Unexpected Alarm.
Clock jump forward.
Clock jump backward.
Unused
Unused
Unused
Unused
Unused
Unused
Unused
Power Fail (Unrecorded)
Spurious level 4 interrupt (DSP).
Spurious level 5 interrupt (UART).
Spurious level 6 interrupt (CLOCK).
Level 7 interrupt occurred.
In the command mode, the Error Status Word (ESW) codes can be cleared through the CY command. In
ping mode, the ESW is cleared (set to zero) between each ensemble. The values are logically OR’ed. For
example, if an illegal instruction (xxx4) and a divide by zero error (xxx8) occurred since the last time the
ESW was cleared, a value of “xxxC” would appear as the ESW.
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WorkHorse Commands and Output Data Format
March 2014
ESW code 0x0000100 can only be seen if the CY command is issued between CS commands in
the manual ping mode. This flag is used to determine if on wakeup, whether the ADCP was
pinging or not previous to the present power up. A CS command sets this bit; a <BREAK> resets
the bit. This results in the following consequences:
a) A deployment must be ended with a <BREAK>. If the ADCP is pinging, and power is lost, when
power is restored, the ADCP will continue to ping.
b) If the ADCP is in the command mode when power is lost, when power is restored, it will wake
up in the command mode. If a timeout occurs, the ADCP will power down automatically.
In ping mode, the ESW is cleared (set to zero) between each ensemble. The ESW is written to
the ensemble (see Variable Leader Data Format).
CZ – Power Down WorkHorse ADCP
Purpose
Tells the WorkHorse ADCP to power down.
Format
CZ
Recommended Setting. Use as needed.
Description
Sending the CZ command powers down the WorkHorse ADCP. WorkHorse ADCP processing is interrupted and the WorkHorse ADCP goes in the STANDBY mode (RAM is
maintained).
Example
See below
>cz
Powering Down
1. When powered down using the CZ command, the WorkHorse ADCP still draws up to 30µa,
but wakes up periodically (every 8 to 12 hours) for a few seconds to maintain RAM.
2. This command should be used whenever batteries have been installed and you do not send
commands to start a deployment. If you do not use the CZ command, the WorkHorse ADCP will
draw up to 50 milli-amps of current. A new battery will be discharged in a few days.
3. Performance and testing commands (i.e. AF, PA, PT, RB, and RY) override the battery saver
functions. For example, using the RY command to recover data from the ADCP while on battery
power will disable the automatic power saver mode. If a CZ command is not used after all data
has been recovered, the ADCP will remain in the command mode. TRDI recommends
disconnecting the batteries and using the AC power adapter while testing or recovering data.
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WorkHorse Commands and Output Data Format
Environmental Commands
The WorkHorse ADCP uses the following commands to control the environmental and positional information that affects internal data processing.
Available Environmental Commands
This section lists the available Environmental commands.
>e?
EA =
EB =
EC =
ED =
EH =
EP =
ER =
ES =
ET =
EX =
EZ =
>
+00000 -------------+00000 -------------1500 ---------------00000 --------------00000 --------------+0000 --------------+0000 --------------35 -----------------+2500 --------------11111 --------------1111101 -------------
Heading Alignment (1/100 deg)
Heading Bias (1/100 deg)
Speed Of Sound (m/s)
Transducer Depth (0 - 65535 dm)
Heading (1/100 deg)
Tilt 1 Sensor (1/100 deg)
Tilt 2 Sensor (1/100 deg)
Salinity (0-40 pp thousand)
Temperature (1/100 deg Celsius)
Coord Transform (Xform:Type; Tilts; 3Bm; Map)
Sensor Source (C;D;H;P;R;S;T)
Environmental Command Descriptions
EA – Heading Alignment
Purpose
Corrects for physical misalignment between Beam 3 and the heading reference.
Format
EA±nnnnn
Range
±nnnnn = -17999 to 18000 (-179.99 to 180.00 degrees)
Default
EA00000
Recommended Setting. For systems that are stationary, EA is typically set to zero (default), since Beam
3 is used as the heading reference. This command is added to the command file using WinSC.
Description
EA is a heading alignment angle (referenced to Beam 3) used as a new zero reference for
heading output and for transformation to earth coordinates. Use the EB command to correct for heading bias (e.g., magnetic declination).
Example
The ADCP is mounted in place on a moving ship. Beam 3 has been rotated 45 clockwise
(+45) from the ship’s centerline. Use the EA command to tell the ADCP where beam 3 is in
relation to the ship’s centerline. To convert +45 to an EA command value, multiply the desired alignment angle in degrees by 100:
EA = +45.00 × 100 = +4500 = EA+04500
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WorkHorse Commands and Output Data Format
March 2014
EB – Heading Bias
Purpose
Corrects for electrical/magnetic bias between the ADCP heading value and the heading reference.
Format
EB±nnnnn
Range
±nnnnn = -17999 to 18000 (-179.99 to 180.00 degrees)
Default
EB00000
Recommended Setting. Use EB to counteract the effects of magnetic declination at the deployment
site. Set using WinSC, VmDas, or WinRiver.
Description
EB is the heading angle that counteracts the electrical bias or magnetic declination between
the ADCP and the heading source. Use the EA command to correct for physical heading
misalignment between the ADCP and a vessel’s centerline.
Examples
A bottom-mounted ADCP is receiving heading from its internal compass. A navigation map
for the deployment area shows a declination of 10°10′W (-9.26666 degrees). Set the EB
command value to EB-00926.
10W is EB-01000
20W is EB-02000
10E is EB01000
20.7E is EB020700
>EB-01000
>eb?
EB = -01000 -------------- Heading Bias (1/100 deg)
>
>EB02000
>eb?
EB = +02000 -------------- Heading Bias (1/100 deg)
>
EC – Speed of Sound
Purpose
Sets the speed of sound value used for ADCP data processing.
Format
ECnnnn
Range
nnnn = 1400 to 1600 meters per second
Default
EC1500
Recommended Setting. The default setting for this command is recommended for most applications.
Description
EC sets the sound speed value used by the ADCP to scale velocity data, depth cell size, and
range to the bottom. The ADCP assumes the speed of sound reading is taken at the transducer head. See the primer for information on speed of sound calculations.
If the EZ Speed of Sound field = 1, the ADCP overrides the manually-set EC value and calculates
speed of sound using the values determined by transducer depth (ED), salinity (ES), and
transducer temperature (ET). EZ also selects the source for ED, ES, and ET.
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WorkHorse Commands and Output Data Format
ED – Depth of Transducer
Purpose
Sets the ADCP transducer depth.
Format
EDnnnnn
Range
nnnnn = 0 to 65535 decimeters (meters x 10)
Default
ED00000
Recommended Setting. Use the EZ command (set by WinSC).
Description
ED sets the ADCP transducer depth. This measurement is taken from sea level to the
transducer faces. The ADCP uses ED in its speed of sound calculations. The ADCP assumes
the speed of sound reading is taken at the transducer head. See the primer for information
on speed of sound calculations.
Note
If the EZ Transducer Depth field = 1, the ADCP overrides the manually set ED value and
uses depth from the internal pressure sensor. If a pressure sensor is not available, the
ADCP uses the manual ED setting.
EH – Heading
Purpose
Sets the ADCP heading angle.
Format
EHnnnnn
Range
nnnnn = 0 to 35999 (000.00 to 359.99 degrees)
Default
EH00000
Recommended Setting. Use the EZ command.
Description
EH sets the ADCP heading angle of beam 3. When mounted on a stationary platform, the
ADCP assumes beam 3 points north (0).
Example
Convert heading values of 34 and 3.5 to EH command values.
EH = 34.00 × 100 = 3400 = EH03400
EH = 3.50 × 100 = 350 = EH00350
If the EZ Heading field = one, the ADCP overrides the manually set EH value and uses heading
from the transducer’s internal sensor. If the sensor is not available, the ADCP uses the manual
EH setting.
EP – Pitch (Tilt 1)
Purpose
Sets the ADCP pitch (tilt 1) angle.
Format
EP±nnnn
Range
±nnnn = -6000 to 6000 (-60.00 to +60.00 degrees)
Default
EP0000
Recommended Setting. Use the EZ command.
Description
Page 48
EP sets the ADCP pitch (tilt 1) angle.
WorkHorse Commands and Output Data Format
Example
March 2014
Convert pitch values of +14 and -3.5 to EP command values.
EP = 14.00 × 100 = 1400 = EP01400 (+ is understood)
EP = -3.50 × 100 = -350 = EP-00350
If the EZ Pitch field = 1, the ADCP overrides the manually set EP value and uses pitch from the
transducer’s internal tilt sensor. If the sensor is not available, the ADCP uses the manual EP
setting.
ER – Roll (Tilt 2)
Purpose
Sets the ADCP roll (tilt 2) angle.
Format
ER±nnnn
Range
±nnnn = -6000 to 6000 (-60.00 to +60.00 degrees)
Default
ER0000
Recommended Setting. Use the EZ command.
Description
ER sets the ADCP roll (tilt 2) angle.
Example
Convert roll values of +14 and -3.5 to ER command values.
ER = 14.00 × 100 = 1400 = ER01400 (+ is understood)
ER = -3.50 × 100 = -350 = ER-00350
If the EZ Roll field = one, the ADCP overrides the manually set ER value and uses roll from the
transducer’s internal tilt sensor. If the sensor is not available, the ADCP uses the manual ER
setting.
ES – Salinity
Purpose
Sets the water’s salinity value.
Format
ESnn
Range
nn = 0 to 40
Default
ES35
Recommended Setting. Set using WinSC, VmDas, or WinRiver. The default setting for this command is
recommended for most applications.
Description
ES sets the water’s salinity value. The WorkHorse ADCP uses ES in its speed of sound calculations. The WorkHorse ADCP assumes the speed of sound reading is taken at the transducer head.
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March 2014
WorkHorse Commands and Output Data Format
ET – Temperature
Purpose
Sets the water’s temperature value.
Format
ET±nnnn
Range
±nnnn = -500 to 4000 (-5.00 C to +40.00 C)
Default
ET2500
Recommended Setting. Use the EZ command.
Description
ET sets the temperature value of the water. The ADCP uses ET in its speed of sound calculations (see the primer). The ADCP assumes the speed of sound reading is taken at the
transducer head.
Example
Convert temperatures of +14 C and -3.5 C to ET command values.
ET = 14.00 × 100 = 1400 = ET1400 (+ is understood)
ET = -3.50 × 100 = -350 = ET-0350
If the EZ Temperature field = one, the ADCP overrides the manually set ET value and uses
temperature from the transducer’s temperature sensor. If the sensor is not available, the ADCP
uses the manual ET setting.
EX – Coordinate Transformation
Purpose
Sets the coordinate transformation processing flags.
Format
EXxxptb
Range
xx = Transformation
p = Pitch and Roll
t = 3 beam solutions
b = Bin mapping
Default
EX11111
Recommended Setting. The default setting for this command is recommended for most applications.
Description
EX sets firmware switches that control the coordinate transformation processing for velocity and percent-good data.
VmDas sets the WorkHorse ADCP to Beam Coordinates (EX00001).
Table 13:
Coordinate Transformation Processing Flags
Setting
Description
EX00xxx
No transformation. Radial beam coordinates, I.E., 1, 2, 3, 4. Heading/Pitch/Roll not applied.
EX01xxx
Instrument coordinates. X, Y, Z vectors relative to the ADCP. Heading/Pitch/Roll not applied.
EX10xxx
Ship coordinates (Note 1) X, Y, Z vectors relative to the ship. Heading not applied. EA command used, but not the EB command. If
Bit 3 of the EX command is a 1, than Pitch/Roll applied.
EX11xxx
Earth coordinates (Note 1) East, North, Vertical vectors relative to Earth. Heading applied. EA and EB commands used. If Bit 3 of
the EX command is a 1, than Pitch/Roll applied.
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WorkHorse Commands and Output Data Format
Table 13:
March 2014
Coordinate Transformation Processing Flags
Setting
Description
EXxx1xx
Use tilts (pitch and roll) in transformation (see Note 2)
EXxxx1x
Allows 3-beam solutions if one beam is below the correlation threshold set by WC
EXxxxx1
Allow bin mapping (see Note 4 and 5)
1. For ship and earth-coordinate transformations to work properly, you must set the Heading Alignment (EA) and
Heading Bias (EB) correctly. You also must ensure that the tilt and heading sensors are active (EZ).
2. Setting EX bit 3 (Use Tilts) to 0 lets you collect tilt data without using it in the ship or earth-coordinate
transformations.
3. Each WorkHorse ADCP uses its own beam calibration matrix to correct data for beam pointing errors (e.g., if the
beams erroneously point toward 21 degrees instead of 20 degrees). Correction is applied when the data are
converted from beam coordinates to earth coordinates. If you output beam-coordinate data, you will need to apply
the beam corrections yourself if you want the best possible data or use the VmDas software.
4. TRDI outputs the Bin 1 position for a level system only. We do not adjust the bin 1 position, or the cell sizes, for
any tilt. Bin mapping attempts to combine data from sections of the beams that are at the same depth in the
water, and does not make any attempt to calculate how that depth might change for a tilted system. The setting of
the EX command has no effect on the reported bin 1 distance or the cell size.
5. Bin mapping has been implemented for Ship Coordinate Transforms in firmware version 16.30 or higher.
Figure 5.
ADCP Coordinate Transformation
Sign of Angle for a Unit Facing
Up
Down
Tilt 1 (Pitch) Beam 3 higher than Beam 4
+
+
Tilt 2 (Roll) Beam 2 higher than Beam 1
+
-
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WorkHorse Commands and Output Data Format
EZ – Sensor Source
Purpose
Selects the source of environmental sensor data.
Format
EZcdhprst
Default
EZ1111101
Recommended Setting. The default setting for this command is recommended for most applications.
Range
Firmware switches (see description)
Description
Setting the EZ command firmware switches tells the ADCP to use data from a manual setting or from an associated sensor. When a switch value is non-zero, the ADCP overrides the
manual E command setting and uses data from the appropriate sensor. If no sensor is
available, the ADCP defaults to the manual E command setting. The following table shows
how to interpret the sensor source switch settings.
Table 14:
Sensor Source Switch Settings
Field
Value = 0
Value = 1
Value = 2
Value = 3
c
Speed Of Sound
Manual EC
Calculate using ED, ES, and ET
N/A
N/A
d
Depth
Manual ED
Depth Sensor
N/A
N/A
h
Heading
Manual EH
Internal Transducer Sensor
N/A
Use NMEA HDT
p
Pitch (Tilt 1)
Manual EP
Internal Transducer Sensor
N/A
N/A
r
Roll (Tilt 2)
Manual ER
Internal Transducer Sensor
N/A
N/A
s
Salinity
Manual ES
N/A
N/A
N/A
t
Temperature
Manual ET
Internal Transducer Sensor
N/A
N/A
Example
EZ1111101 means calculate speed of sound from readings, use pressure sensor, transducer
heading, internal tilt sensors, and transducer temperature.
Setting the third parameter of the EZ command to 3 (EZxx3xxxx) allows the NMEA heading to be used rather than the ADCP’s internal heading sensor. Please refer to FSA-017 –
Using NMEA Heading strings with a Navigator for further details. This is available for
WorkHorse ADCPs with firmware version 16.26 or higher.
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WorkHorse Commands and Output Data Format
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Fault Log Commands
The WorkHorse ADCP uses the following commands to aid in troubleshooting and testing.
Available Fault Log Commands
This section lists the most often used Fault Log commands.
>f?
Available Commands:
FC
FD
FX
F?
-----------------------------------------------------------------------------------------
Clear Fault Log
Display Fault Log
Toggle the Fault Log debug flag
Display Fault Log Commands
>
Fault Log Command Descriptions
FC – Clear Fault Log
Purpose
Clears the fault log.
Format
FC
Recommended Setting. Use as needed.
Description
Use this command to clear the fault log of all previous entries.
FD – Display Fault Log
Purpose
Displays the fault log.
Format
FD
Recommended Setting. Use as needed.
Description
Displaying the fault log will list why a built-in test failed. This may aid in troubleshooting.
Example
>FD
Total Unique Faults
Overflow Count
Time of first fault:
Time of last fault:
=
=
2
0
97/11/05,11:01:57.70
97/11/05,11:01:57.70
Fault Log:
Entry # 0 Code=0a08h Count=
Parameter = 00000000h
Tilt axis X over range.
Entry # 1 Code=0a16h Count=
Parameter = 00000000h
Tilt Y axis ADC under range.
End of fault log.
1
Delta=
0 Time=97/11/05,11:01:57.70
1
Delta=
0 Time=97/11/05,11:01:57.70
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WorkHorse Commands and Output Data Format
Performance and Testing Commands
The WorkHorse ADCP uses the following commands for calibration and testing.
Available Performance and Testing Commands
This section lists the available Performance and Testing commands.
>p?
PA ----------------------PB = 01,00,1 ------------PC ### ------------------PD = 00 -----------------PE = 00001 --------------PM ----------------------PO = 1111 ---------------PS # --------------------PT ### ------------------>
Pre-Deployment Tests
PD12 Bin Select (first;num;sub)
Built In Tests, PC 0 = Help
Data Stream Select (0-18)
PD12 Ensemble Select (1-65535)
Distance Measure Facility
PD12 Velocity Component Select (v1;v2;v3;v4)
Show Sys Parms (0=Xdcr,1=FLdr,2=VLdr,3=Mat,4=Seq)
Built In Tests, PT 0 = Help
Performance and Testing Command Descriptions
PA – Pre-deployment Tests
Purpose
Sends/displays results of a series of WorkHorse ADCP system diagnostic tests.
Format
PA
Recommended Setting. Use as needed.
Description
Example
These diagnostic tests check the major WorkHorse ADCP modules and signal paths. We
recommend you run this command before a deployment. These tests check the following
boards/paths.
•
CPU - CPU RAM and real-time clock.
•
Recorder - verifies recorder operation.
•
DSP - RAM, registers, and DSP-to-CPU Communications.
•
System Tests - A test signal is routed through the DSP and back to the CPU. This
checks the main electronics processor path.
•
Receive Path - quiescent RSSI levels are checked for [20 < RSSI < 60 counts] and the
RSSI filters are checked for proper time constants.
•
Transmit Path - checks transmit voltage, current, and impedance.
•
Sensors - verifies sensor operation.
see below
>PA
PRE-DEPLOYMENT TESTS
CPU TESTS:
RTC......................................PASS
RAM......................................PASS
ROM......................................PASS
RECORDER TESTS:
PC Card #0...............................DETECTED
Card Detect............................PASS
Communication..........................PASS
DOS Structure..........................PASS
Sector Test (short)....................PASS
PC Card #1...............................DETECTED
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WorkHorse Commands and Output Data Format
March 2014
Card Detect............................PASS
Communication..........................PASS
DOS Structure..........................PASS
Sector Test (short)....................PASS
DSP TESTS:
Timing RAM...............................PASS
Demod RAM...............................PASS
Demod REG...............................PASS
FIFOs....................................PASS
SYSTEM TESTS:
XILINX Interrupts... IRQ3 IRQ3 IRQ3 ...PASS
Wide Bandwidth...........................PASS
Narrow Bandwidth.........................PASS
RSSI Filter..............................PASS
Transmit.................................PASS
SENSOR TESTS:
H/W Operation............................PASS
Wide Bandwidth and Narrow Bandwidth may fail if transducer is not in water. H/W Operation
test will fail if the transducer is on its side.
PB – Bin Select for PD12, PD16, and PD18 Data Output Type
Purpose
Selects which bins are output in the PD12, PD16, and PD18 data formats.
Format
PBx,y,z
Range
x 1 to 128
y 0 to 128
z 1 to 7
Default
PB1,0,1
Recommended Setting. The default setting for this command is recommended for most applications.
Description
The PB command selects which bins are to be output by the ADCP. The x parameter indicates the first bin selected for output. The y parameter selects the number of bins to be
output. A value of zero for y indicates that all remaining bins should be output. Beginning
with bin x, every zth bin will be output until y total bins have been output.
1. This command has no effect if PD is set to other than PD12, PD16, or PD18.
2. You cannot output bins that have not been collected by setting the WN command.
PC – User-Interactive Built-In Tests
Purpose
Sends/displays results of user-interactive WorkHorse ADCP system diagnostic tests.
Format
PCnnn
Range
nnn = 0 to 2 (PC0 = Help menu; see below for others)
Recommended Setting. Use as needed.
Description
These diagnostic tests check beam continuity and sensor data. Both tests require user interaction (see examples).
Examples
See below.
PC0 – Help Menu
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WorkHorse Commands and Output Data Format
Sending PC0 displays the help menu.
User Interactive, Built In Tests
-------------------------------PC0 = Help
PC1 = Beam Continuity
PC2 = Sensor Data
PC1 – Beam Continuity
Sending PC1 tests the beam continuity by measuring the quiescent Receiver Signal Strength Indicator
(RSSI) levels. There must be a change of more than 30 counts when the transducer face is rubbed.
The PC1 test is designed to measure relative noise in the environment and then have you apply more noise
by rubbing the ceramics with your hand. Sometimes your hand does not generate enough noise for the
system to detect. This could be due to the environment you are in or for other reasons. A simple, safe, and
easy to find material that works very well as a replacement to your hand is packaging material (a.k.a. bubble wrap). Using this instead of your hand will very likely provide enough relative frictional difference for
the system to pass.
If it doesn't, your system still might be okay. In this case deploy the ADCP into a bucket or container of
water (preferably at least 0.5 meters deep) and record some data using BBTalk and the log file (F3 key),
or you can record data straight to the recorder card if your ADCP has one. You can than look at the data in
our WinADCP program and make sure that the echo amplitude counts in the 1st depth cell for all beams is
between 128 and 192. If they are not, contact Field Service for further troubleshooting tips.
BEAM CONTINUITY TEST
When prompted to do so, vigorously rub the selected
beam's face.
If a beam does not PASS the test, send any character to
the ADCP to automatically select the next beam.
Collecting Statistical Data...
52 48 50 43
Rub Beam 1 = PASS
Rub Beam 2 = PASS
Rub Beam 3 = PASS
Rub Beam 4 = PASS
This test must be run while the ADCP is in air.
PC2 – Display Heading, Pitch, Roll, and Orientation
Sending PC2 displays heading, pitch angle, roll angle, up/down orientation and attitude temperature in a
repeating loop at approximately 0.5-sec update rate. Press any key to exit this command and return to the
command prompt.
Press any key to quit sensor display ...
Heading
Pitch
Roll
Up/Down
Attitude Temp
301.01° -7.42° -0.73°
Up
24.35°C
300.87° -7.60° -0.95°
Up
24.36°C
300.95° -7.60° -0.99°
Up
24.37°C
300.71° -7.61° -0.96°
Up
24.37°C
300.69° -7.61° -0.96°
Up
24.35°C
300.76° -7.60° -0.98°
Up
24.38°C
Ambient Temp
22.97°C
22.97°C
22.97°C
22.98°C
22.98°C
22.97°C
Pressure
0.0 kPa
0.0 kPa
0.0 kPa
0.0 kPa
0.0 kPa
0.0 kPa
The PC2 heading shows the raw (magnetic north) heading only. The EB command (Heading Bias)
is not applied.
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WorkHorse Commands and Output Data Format
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PD – Data Stream Select
Purpose:
Selects the type of ensemble output data structure.
Format:
PDn
Range
n = 0 to 18 (see description)
Default
PD0
Recommended Setting. The default setting for this command is recommended for most applications.
Description:
Table 15:
PD selects the normal output data structure, a special application data structure, or a fixed
data set for transmission/display as the data ensemble (see Table 15).
Data Stream Selections
Format
Description
PD0
Sends The real water-current data set
PD1
Sends a TRDI-defined data set that always uses the same data (except for parts of the leader data). This data set is useful during
user-software development.
PD2
Not used.
PD3
Sends Paramax-DVL ensemble output data structure.
PD4
Sends CSS-DVL output data structure (without sensor and made-good data).
PD5
Sends CSS-DVL output data structure (with sensor and made-good data).
PD6
Sends a special DVL ASCII data stream
PD7
Not used
PD8
Sends ensemble data as formatted ASCII text. A new-line character terminates each line. Two new-line characters terminate an
ensemble.
PD9
Sends ensemble data as formatted comma delimitated ASCII text.
PD10
Send a special DVL output data format.
PD12
Send the reduced data output format.
PD14
Send the H-ADCP Condensed 2D Output Format
PD15
The PD15 Output Data Format is designed for NDBC satellite data links.
PD16
Sea-Bird acoustic modem
PD18
PD18 is the same Output Data Format as PD16, but with the leading '$' necessary to fully comply with the NMEA format.
Not all data formats can be recorded. Carefully review the output data format before setting
the CF command to set where data is sent and if the recorder is on or off.
All of TRDI’s software supports PD0 formatted data only.
The table above gives a brief overall description of the data format output. For details on the
actual data output please see Output Data Format.
PE – PD12 Ensemble Select
Purpose
Selects which ensembles are output in the PD12 data format.
Format
PEnnnnn
Range
nnnnn = 0 to 65535
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WorkHorse Commands and Output Data Format
Recommended Setting. Use as needed.
Description
The PE command selects which ensembles are to be output by the ADCP when PD12 is selected. Ensemble numbers 1,1+n,1+2n,… will be output.
This command has no effect if PD is set to other than PD12.
PM – Distance Measurement Facility
Purpose
Lets you measure distance over the bottom.
Format
PM
Recommended Setting. For TRDI use only.
Description
PM lets you use the ADCP to measure distances over the bottom using a dumb terminal.
PO – PD12 Velocity Component Select
Purpose:
Selects the velocity components to be output in the PD12 data format.
Format:
POabcd
Range:
0 to 1 for a-d
Default
PO1111
Recommended Setting. The default setting for this command is recommended for most applications.
Description:
The PO command selects the velocity components that are output in the PD12 data format.
The meaning of the four bits of this command also depends on the first two bits of the EX
command as shown below.
EX00xxx - Beam Coordinates
a = beam 4
b = beam 3
c = beam 2
d = beam 1
b = Z axis
c = Y axis
d = X axis
b = Mast
c = Forward
d = Starboard
c = North
d = East
EX01xxx - Instrument Coordinates
a = Error Velocity
EX10xxx - Ship Coordinates
a = Error Velocity
EX11xxx - Earth Coordinates
a = Error Velocity
b = Up
This command has no effect if PD is set to other than PD12.
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PS – Display System Parameters
Purpose
Sends/displays WorkHorse ADCP system configuration data.
Format
PSn
Range
n = 0, 3, 4 (see description)
Recommended Setting. Use as needed.
Description
See below.
PS0 – System Configuration
PS0 sends the WorkHorse ADCP hardware/firmware information. For example, the output may look like
this:
>ps0
Instrument S/N: 0
Frequency: 307200 HZ
Configuration: 4 BEAM, JANUS
Match Layer: 10
Beam Angle: 20 DEGREES
Beam Pattern: CONVEX
Orientation: DOWN
Sensor(s): HEADING TILT 1
Pressure Sens Coefficients:
c3 = +0.000000E+00
c2 = +0.000000E+00
c1 = -2.500000E-03
Offset = +0.000000E+00
Temp Sens Offset:
TILT 2
DEPTH
TEMPERATURE
PRESSURE
-0.20 degrees C
CPU Firmware: X.xx
Boot Code Ver: Required: 1.13
Actual:
DEMOD #1 Ver: ad48, Type: 1f
DEMOD #2 Ver: ad48, Type: 1f
PWRTIMG Ver: 85d3, Type:
6
Board Serial Number Data:
08 00 00 02 C9 20 A7 09 CPU727-2000-00H
4D 00 00 00 D4 97 37 09 PIO727-3000-03C
>
1.13
PS3 – Instrument Transformation Matrix
PS3 sends information about the transducer beams. The WorkHorse ADCP uses this information in its
coordinate-transformation calculations; for example, the output may look like this:
ps3
Beam Width:
Beam
1
2
3
4
3.7 degrees
Elevation
-70.14
-70.10
-69.99
-70.01
Azimuth
269.72
89.72
0.28
180.28
Beam Directional Matrix (Down):
0.3399
0.0017
0.9405
0.2414
-0.3405
-0.0017
0.9403
0.2410
-0.0017
-0.3424
0.9396
-0.2411
0.0017
0.3420
0.9398
-0.2415
Instrument Transformation Matrix (Down):
1.4691
-1.4705
0.0078
-0.0067
-0.0068
0.0078
-1.4618
1.4606
0.2663
0.2657
0.2657
0.2661
1.0367
1.0350
-1.0359
-1.0374
Beam Angle Corrections Are Loaded.
Q14:
24069
-111
4363
16985
-24092
127
4354
16957
127
-23950
4353
-16972
-109
23930
4359
-16996
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WorkHorse Commands and Output Data Format
>
If the WorkHorse ADCP needs beam angle corrections, a TRDI calibrated beam angle matrix is loaded
into the instrument. This is done when the instrument is manufactured. For more details, request a copy
of the ADCP Coordinate Transformation booklet (available for download at www.rdinstruments.com).
PS4 – Ping Sequence
PS4 shows the water ping W and the bottom ping B sequence. For example, the output may look like this:
>wp30
>bp30
>ps4
Ping Sequence: BW BW BW BW BW BW BW BW BW BW BW BW BW BW BW BW BW BW BW BW BW B
W BW BW BW BW BW BW BW BW
>
PT – Built-In Tests
Purpose
Sends/displays results of ADCP system diagnostic test.
Format
PTnnn
Range
nnn = 0 to 200 (PT0 = Help menu)
Recommended Setting. Use as needed.
Description
These diagnostic tests check the major ADCP modules and signal paths. Most of the tests
give their final results in the format;
xxxxxxxxxx TEST RESULTS = $hhhh ... rrrr
Where
xxxxxxxxxx
= Module or path being tested
$hhhh
= Hexadecimal result code ($0 = PASS; see individual tests for description of bit results)
rrrr
= Overall test result (“PASS” or “FAIL”)
PT Test Results Error Codes
To find what bits are set when an error occurs, use the following tables.
Table 16:
Error Code Hex to Binary Conversion
Hex Digit
Binary
Hex Digit
Binary
0
0000
8
1000
1
0001
9
1001
2
0010
A
1010
3
0011
B
1011
4
0100
C
1100
5
0101
D
1101
6
0110
E
1110
7
0111
F
1111
To convert error code $32CF (note: the dollar sign “$” signifies hexi-decimal), convert 32CF to binary.
Error code $32CF has the following bits set: 13, 12, 9, 7, 6, 3, 2, 1, 0.
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WorkHorse Commands and Output Data Format
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3
Hex Digit $
2
C
F
Binary
0
0
1
1
0
0
1
0
1
1
0
0
1
1
1
1
Bit #
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
PT0 – Help
Displays the test menu (shown below). As implied by the NOTE, adding 100 to the test number repeats
the test continually until the ADCP receives a <BREAK>. Sending PT200 runs all tests. PT300 runs all
tests continually until the ADCP receives a <BREAK>.
>PT0
Built In Tests
---------------PT0 = Help
PT1 = NA
PT2 = Ancillary System Data
PT3 = Receive Path
PT4 = Transmit Path
PT5 = Electronics Wrap Around
PT6 = Receive Bandwidth
PT7 = RSSI Bandwidth
NOTE: Add 100 for automatic test repeat
PT200 = All tests
PT2 – Ancillary System Data
This test displays the values for ambient and attitude temperature and the contamination sensor (TRDI
use only). The ambient temperature is measured on the receiver board. This sensor is imbedded in the
transducer head, and is used for water temperature reading. The attitude temperature is measured on the
PIO board under the compass. If one of the sensors fails, the PC2 test will show both sensors at the same
value. The ADCP will use the attitude temperature if the ambient temperature sensor fails. A reading
≥+55° may indicate a shorted sensor, and a reading ≥-32° may indicate an open sensor.
>PT2
Ambient Temperature =
21.10 Degrees C
Attitude Temperature =
21.39 Degrees C
Internal Moisture
= 8D50h
PT3 – Receive Path
This test displays receive path characteristics. The test result is given as eight nibbles (1 nibble = 4 bits).
Each nibble represents the result for a particular beam (most significant nibble = beam 1, least significant
nibble = beam 8) (four beam ADCPs utilize the four most significant nibbles). In this example, we only
describe which bit is set for beam 2 for a given failure type. This test has three parts.
•
Part 1 - The ADCP pings without transmitting and displays the result of an autocorrelation function performed over 14 lag periods (only the first 8 are displayed). Ideally, we
should see high correlation at near-zero lags, and then see decorrelation as the lags get
longer. High correlation values at longer lags indicate interference is present.
•
Part 2 - The ADCP compares the RSSI value at high gain versus low gain. These values
give the noise floor for RSSI. A high noise floor indicates possible interference or a hardware problem. A low difference between high and low RSSI values can indicate a problem
in the demodulator, receiver, or RSSI switching circuitry.
•
Part 3 - The ADCP displays the demodulator DAC values.
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WorkHorse Commands and Output Data Format
>PT3
Correlation Magnitude: Wide Bandwidth
Lag
0
1
2
3
4
5
6
7
Bm1
255
169
49
26
20
14
8
6
Bm2
255
175
55
20
17
13
4
1
Bm3
255
167
54
19
24
14
13
10
Bm4
255
179
58
8
29
23
8
1
High Gain RSSI:
Low Gain RSSI:
43
19
41
19
40
17
42
18
SIN Duty Cycle:
COS Duty Cycle:
52
49
50
50
52
51
51
51
Receive Test Results = $0000 .... PASS
PT3 failure description - You can determine beam failure results ($>0, see PT Test Results Error Codes)
by the individual bit settings:
Table 17:
PT3 Failure
Bit #
PT3 Failure Description
0
Low Correlation – Correlation at lag 1 is <70% (130 counts).
1
High Correlation - A correlation at lag 7 or above is >63 counts.
2
High Noise Floor - Noise floor for high gain is >59.
3
Low Differential Gain – Noise floor difference between high and low gains is less than 5 dB (10 counts).
The ADCP should be in non-moving water during this test to get valid test results.
A functional ADCP may fail high correlation or high noise floor when this test is run in air due to
interference. This test should be run in the deployed environment to achieve good results.
PT4 – Transmit Path
This test displays transmit path characteristics. During the test, the ADCP pings and measures the
resulting transmit current and voltage. For example:
>PT4
IXMT
=
2.0 Amps rms
VXMT
=
74.0 Volts rms
Z
=
37.6 Ohms
Transmit Test Results = $0 ... PASS
The ADCP should be in non-moving water during this test to get valid test results.
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WorkHorse Commands and Output Data Format
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PT4 failure description - You can determine failure results ($>0 see PT Test Results Error Codes) by the
individual bit settings:
Table 18:
PT4 Failure
Bit #
PT4 Failure Description
0
ADC TIMEOUT ERROR - The DSP Board ADC was not ready for reading when the CPU was ready to read the ADC.
1
TRANSMIT TIMEOUT - The DSP Board never indicated completion of transmission.
2
SAMPLE TIMEOUT - The DSP Board never indicated completion of sampling.
3
LCA REGISTERS CORRUPTED - The DSP Board timing registers lost their value after pinging.
4
OVER-CURRENT SHUTDOWN
5
OVER-TEMPERATURE SHUTDOWN
6
INCORRECT TRANSDUCER IMPEDANCE - Impedance (Vxmt / Ixmt) was too high (>200Ω) or too low (<20Ω).
7
LOW TRANSMIT VOLTS AND/OR CURRENT - Transmit voltage was too low (Vxmt <10V) and/or transmit current too low (Ixmt <0.1A).
The ADCP should be in non-moving water during this test to get valid test results.
The test failure example shown below is what you would see for a missing or improperly attached transmit
cable (see the WorkHorse Technical Manual – Troubleshooting section).
>pt4
IXMT
=
0.0 Amps rms [Data= 0h]
VXMT
=
19.3 Volts rms [Data=4ch]
Z
=
999.9 Ohms
Transmit Test Results = $C0 ... FAIL
>
PT5 – Electronics Wrap Around
This test sets up the ADCP in a test configuration in which the test output lines from the DSP Board timing generator are routed directly to the Receiver board. The receiver then processes this signal. The test
output signal sends a certain correlation pattern when processed. The ideal pattern is as follows.
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
255 255 255 255
0
0
0
0
0
0
0
0
255 255 255 255
0
0
0
0
0
0
0
0
0
0
0
0
255 255 255 255
The ADCP should be in non-moving water during this test to get valid test results.
Acceptable deviations from this pattern are due to deviations in sampling bandwidth and demodulator
low-pass filter bandwidth variations. For example:
>PT5
13 13
13 13
13 13
0
0
255 255
13
13
13
0
255
13
13
13
0
255
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March 2014
13
0
255
13
13
0
255
13
0
255
13
13
0
255
WorkHorse Commands and Output Data Format
13
0
255
13
13
0
255
13
0
255
13
13
0
255
PT6 – Receive Bandwidth
This test measure the receive bandwidth of the system. The bandwidth varies with system frequency and
the WB command setting.
>PT6
Receive Bandwidth:
Sample
bw
rate expect
307
120
results
bw
Bm1
91
PASS
bw
Bm2
93
PASS
bw
Bm3
88
PASS
bw
Bm4
88 Khz
PASS
The ADCP should be in non-moving water during this test to get valid test results.
Table 19:
PT6 Receive Bandwidth Nominal Values
Bandwidth setting
WB command
75kHz
150kHz
300 kHz
600 kHz
1200 kHz
Broad
0
25
45
120
200
480
Narrow
1
7
12
28
40
112
Beam fails if <50% or >125% of nominal value.
PT7 – RSSI Bandwidth
This test checks the RSSI filter circuits are working. Values listed are the indicated RSSI sampled at 1-ms
intervals after a “listen” ping.
>PT7
RSSI Time Constant:
RSSI Filter Strobe 1 =
38400 Hz
time
Bm1
Bm2
Bm3
Bm4
msec cnts cnts cnts cnts
1
6
6
7
8
2
11
12
14
15
3
15
16
19
20
4
20
21
23
25
5
23
24
27
28
6
26
27
30
31
7
28
29
32
33
8
30
31
34
35
9
32
33
36
37
10
34
35
37
38
nom
43
43
42
43
result
>
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PASS
PASS
PASS
PASS
WorkHorse Commands and Output Data Format
Figure 6.
March 2014
PT7 RSSI Bandwidth Test
Criteria for failure. Any one of the following conditions will flag failure for the beam:
•
Nominal noise floor <20 or >60
•
Counts for ms 1 through 4 not rising
•
9th ms sample not between 70 and 100% of nominal counts
To verify a RSSI failure, re-run the PT7 test in a different location and change the orientation 180 degrees
to determine if any external interference is an issue: Even try running PT7 at a different time of day to
eliminate powerful radio transmitters.
The ADCP should be in non-moving water during this test to get valid test results.
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WorkHorse Commands and Output Data Format
Recorder Commands
The following paragraphs list all the WorkHorse ADCP recorder commands. The recorder is set on/off
using the CF command. During a deployment, if the recorder card(s) are full, the WorkHorse will stay deployed, but no more data is written to the recorder. Data will not be overwritten.
Not all data formats can be recorded. Carefully review the PD command and the output data
format before setting the CF command to set the Serial Output and if the data recorder is on or
off.
If the recorder card(s) are full, the WorkHorse cannot be restarted (error message = Recorder
full).
Available Recorder Commands
This section lists the available Recorder commands.
>r?
Available Commands:
RA
RB
RD
RE
RF
RI
RN
RR
RS
RY
R?
--------------------------------------------------------------------------------------------------------------1 --------------------12345 --------------------------------------------------------------------------------------------------------
Number of Deployments Recorded
Recorder Built-In-Test
Open/Close Deployment File
Recorder Erase
Recorder Space used/free (bytes)
Auto Increment Deployment File
Set Deployment Name
Recorder diRectory
Recorder Space used/free (Mb)
Upload Recorder Files to Host
Display Recorder Commands
>
RA – Number of Deployments
Purpose
Shows the number of deployments recorded on the internal recorder.
Format
RA
Recommended Setting. Use as needed.
Description
RA lists the number of deployments recorded on the optional internal recorder.
RB – Recorder Built-In Test
Purpose
Tests the recorder.
Format
RB
Recommended Setting. Use as needed. The recorder test is included in the PA command.
Description
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RB tests the recorder RAM, detects the number of memory cards, checks communication,
and checks recorder functions using non-destructive methods.
WorkHorse Commands and Output Data Format
Example
March 2014
See below.
>rb
RECORDER TESTS:
PC Card #0...............................NOT DETECTED
PC Card #1...............................DETECTED
Card Detect............................PASS
Communication..........................PASS
DOS Structure..........................PASS
Sector Test (Short)....................PASS
Recorder tests complete.
RD – Create Recorder File
Purpose:
Opens a new deployment file or closes a currently open deployment file.
Format:
RDxxxxxx
Range:
xxxxxx = OPEN or CLOSE – see description
Description:
RDOPEN creates a new recorder deployment file with the next increment for the current
file name being used (see the RN – Set Deployment Name for information on setting the
deployment name). If a file is currently open, than the RDOPEN command will cause the
currently open file to close and then will open a file with the same name but the next increment number.
Example:
If the deployment file _ RDI _ 000.000 was currently open and the RDOPEN command
was sent than; first, the file _ RDI _ 000.000 would be closed; and second, the file _ RDI _
001.000 would be opened. The RDCLOSE command will close the currently open file.
Deployment files are not closed automatically when using the RI0 command. Deployment files
must be manually closed using the RDCLOSE command before removing the recorder board
from the WorkHorse ADCP. Failure to do this will result in the loss of the deployment data on
the recorder.
After the RD OPEN command is sent, a Break will be necessary before the CF command can be
used to reconfigure the outputs.
Example: The RDOPEN command is sent. Even after the RDCLOSE command is sent it is not possible to
set CFxxxx1. Once a break is sent, the CF command can be set to enable recording.
>cf?
CF= 11111 ------Flow Ctrl (EnsCyc:PngCyc:Binry:Ser:Rec)
>CF11101 ERR: 014: RD COMMAND MUST BE SET TO 0 TO ENABLE RECORDER
RE – Erase Recorder
Purpose
Erases/initializes recorder memory.
Format
RE ErAsE
Description
RE ErAsE erases the recorder memory. This command is case sensitive.
Recommended Setting. Use as needed.
Example
See below.
>RE ErAsE
[ERASING...]
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WorkHorse Commands and Output Data Format
RF – Recorder Free Space (Bytes)
Purpose
Lists the amount of used and free recorder space in bytes.
Format
RF
Description
RF lists the amount of recorder space used and free in bytes.
Recommended Setting. Use as needed.
Example
See below
>RF
RF = 0,10407936 -------- REC SPACE USED (BYTES), FREE (BYTES)
This shows the WorkHorse ADCP contains a 10-MB recorder.
RI – Deployment Auto Increment
Purpose:
Enables or Disables the deployment file increment.
Format:
RIn
Range:
n = 0 or 1 (0 = Append, 1 = New file)
Default:
RI1
Recommended Setting. The default setting for this command is recommended for most applications.
Description:
RI1 commands the recorder to start a new deployment file on the recorder whenever a deployment has been started (CS command has been sent). RI0 commands the recorder to
append to the currently open deployment file on the recorder whenever a deployment is
started (CS command has been sent).
The ensemble number always initializes to ensemble 1. This means when the auto increment
has been disabled (RI0) and a break has been sent to stop the current WorkHorse ADCP
deployment that when the CS command is sent the next ensemble will be ensemble 1 and will
be appended to the same deployment file.
Example:
The RI0 command has been used and the CS command has been sent. The WH ADCP has
collected 101 ensembles. The user now sends a break and uses the CE command to recover
ensemble 101 from the buffer (see CE - Retrieve Most Recent Data Ensemble). The user
then sends the CS command to start the deployment again. The deployment will start again
and the next ensemble written to the same deployment file will be ensemble number 1, not
ensemble 102. This will not affect any TRDI software programs.
Example SC Deployment Scenario using the RI0 command
The following example describes how to use your WorkHorse ADCP in a Self-Contained deployment with
TRDI Software when you do not want the deployment file number to increment.
Use TRDI’s Windows software program WinSC to plan, set the clock, calibrate the compass, and test the
ADCP. To actually start your deployment you will have to use TRDI’s Windows software program BBTalk.
The following steps outline the procedure.
For more information on how to use WinSC, see the WinSC User's Guide. For information on
how to use BBTalk, see the RDI Tools User's Guide.
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WorkHorse Commands and Output Data Format
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To use the RI0 command:
1.
Use WinSC’s Deployment Wizard to plan your deployment, set the clock, calibrate the compass,
and test the WorkHorse ADCP.
2. When you reach the Deploy the ADCP box, click Cancel
3. Click Save As and name your deployment file (Do not close WinSC).
4. Locate the directory that your deployment setup has been saved to.
5. Open the *.WHP command text file in a text editor.
6. Delete the command CR1.
7. Exit and save command file.
8. Open the TRDI software program BBTalk and set up the software for the proper comport that the
WorkHorse ADCP is connected to.
9. Click the B on the toolbar to send a break to the ADCP.
10. Type the command CR1 and press enter.
11. Type the command RI0 and press enter.
12. Type the command CK and press enter.
13. Once you receive the confirmation that your parameters have been saved, exit and close the
BBTalk program.
14. Return to the WinSC program.
15. On the Functions menu, click Deploy.
The WorkHorse ADCP will now be deployed and the RI command will have already been sent and saved
in the ADCP.
Deployment files are not closed automatically when using the RI0 command. Deployment files
must be manually closed using the RDCLOSE command before removing the recorder board
from the WorkHorse ADCP. Failure to do this will result in the loss of the deployment data on
the recorder
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WorkHorse Commands and Output Data Format
RN – Set Deployment Name
Purpose
Sets the deployment name used for future deployments.
Format
RN AAAAA
Default
RN _RDI_
Recommended Setting. Use as needed.
Description
RN sets the deployment name to be used for any future deployments. The deployment
name must be exactly five characters in length, and may contain letters, numbers, or the
underscore (i.e. “_”) character. If no deployment name is specified, a default of “_ RDI_” is
used. The deployment name is used as part of the DOS file name for data files stored on the
recorder. For example, the file “_RDI_000.000” would contain data for the first deployment named “_RDI_” (the 000 in the filename indicates the first deployment). The “.000”
file extension indicates that this is the first file in the deployment sequence. A “.001” extension will be used if the deployment spills over onto the second PCMCIA card in the recorder. Each PCMCIA card is set up as a separate DOS disk drive with its own DOS file structure. Deployments that are recorded completely on a single PCMCIA device will only have
the “.000” file extension.
RR – Show Recorder File Directory
Purpose
Lists the files on the recorder in the style of a DOS directory listing.
Format
RR
Recommended Setting. Use as needed.
Description
RR lists the files stored on the recorder in the form of a DOS directory listing. Each
PCMCIA device is listed as a separate drive.
RS – Recorder Free Space (Megabytes)
Purpose
Lists the amount of used and free recorder space in megabytes.
Format
RS
Recommended Setting. Use as needed.
Description
RS lists the amount of recorder space used and free in megabytes.
Example
See below
>RS
RS = 000,010 -------- REC SPACE USED (MB), FREE (MB)
This shows the WorkHorse ADCP contains a 10-MB recorder.
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WorkHorse Commands and Output Data Format
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RY – Upload Recorder Files
Purpose
Uploads recorder data to a host computer using standard YMODEM protocol.
Format
RY
Recommended Setting. Use as needed.
Description
RY uploads the entire contents of the recorder via the serial interface to a host computer
using the standard YMODEM protocol for binary file transfer. Any communications program that uses the YMODEM protocol may be used to upload the recorder data. The data is
transferred to the host and stored as binary files. This command may be used to recover
deployment data without opening the pressure case of the WorkHorse ADCP unit.
Alternatively, the PCMCIA recorder cards may be removed from the unit and placed into a
PCMCIA slot in any MS-DOS based computer so equipped. The data files may than be accessed in the same manner as from any other disk drive.
Do not use Windows® to erase the files on the PCMCIA card. Windows® sometimes creates
hidden files, which will cause issues for the ADCP at the next deployment. Place the PCMCIA
card in the ADCP and use the RE command to erase the card.
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WorkHorse Commands and Output Data Format
Timing Commands
The following commands let you set the timing of various profiling functions.
Available Timing Commands
This section lists the available Timing commands.
>t?
TB =
TC =
TE =
TF =
TG =
TP =
TS =
TT =
TX =
>
00:00:00.00 --------00000 --------------01:00:00.00 --------**/**/**,**:**:** --****/**/**,**:**:** 01:20.00 -----------06/12/18,13:24:30 --2006/12/18,13:24:30 00:00:00 ------------
Time per Burst (hrs:min:sec.sec/100)
Ensembles Per Burst (0-65535)
Time per Ensemble (hrs:min:sec.sec/100)
Time of First Ping (yr/mon/day,hour:min:sec)
Time of First Ping (CCYY/MM/DD,hh:mm:ss)
Time per Ping (min:sec.sec/100)
Time Set (yr/mon/day,hour:min:sec)
Time Set (CCYY/MM/DD,hh:mm:ss)
Buffer Output Period: (hh:mm:ss)
Timing Command Descriptions
TB – Time per Burst
Purpose
Sets the interval between “bursts” of pings.
Format
TB hh:mm:ss.ff
Range
hh
mm
ss
ff
= 00 to 23 hours
= 00 to 59 minutes
= 00 to 59 seconds
= 00 to 59 hundredths of seconds
Recommended Setting. Special applications only.
Description
The TB and TC commands work together to allow the ADCP to sample in a “burst mode.”
In some applications, it is desirable for the ADCP to ping for a short period of time at a high
ping rate (“burst”), wait for a set period of time, and then repeat the process. You also must
set the time per ensemble, time between pings, and number of pings per ensemble.
Example
Deployment timing example:
TB
TC
TE
TP
WP
01:00:00.00
20
00:00:01.00
00:00.20
2
(time per burst)
(ensembles per burst)
(time per ensemble)
(time between pings)
(pings per ensemble)
The ADCP will average two pings (WP command) 0.2 seconds apart (TP command). It then sends the ensemble to the recorder or through the I/O cable. This process is repeated once a second (TE command) for
a total of twenty ensembles (TC command). After the 20th ensemble is processed, the ADCP sleeps for one
hour (TB command) from the time of the first ping of the first ensemble until the second burst begins.
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WorkHorse Commands and Output Data Format
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TC – Ensemble per Burst
Purpose
Sets the number of ensembles per burst.
Format
TCnnnnn
Range
0 to 65535 ensembles per burst
Default
TC0
Recommended Setting. Special applications only.
Description
Setting TC to zero disables the burst mode (i.e., TB command inactive). See the TB command for details on how these two commands interact.
TE – Time Per Ensemble
Purpose
Sets the minimum interval between data collection cycles (data ensembles).
Format
TEhh:mm:ss.ff
Range
hh
= 00 to 23 hours
mm = 00 to 59 minutes
ss
= 00 to 59 seconds
ff
= 00 to 99 hundredths of seconds
Default
TE01:00:00.00
Recommended Setting. Set using WinSC, VmDas, or WinRiver.
Description
During the ensemble interval set by TE, the WorkHorse ADCP transmits the number of
pings set by the WP command. If TE = 00:00:00.00, the WorkHorse ADCP starts collecting the next ensemble immediately after processing the previous ensemble.
Example
TE01:15:30.00 tells the WorkHorse ADCP to collect data ensembles every 1 hour, 15
minutes, 30 seconds.
1. The WorkHorse ADCP automatically increases TE if (WP x TP > TE).
2. The time tag for each ensemble is the time of the first ping of that ensemble.
TF – Time of First Ping
Purpose
Sets the time the WorkHorse ADCP wakes up to start data collection.
Format
TFyy/mm/dd, hh:mm:ss
Range
yy
mm
dd
hh
mm
ss
= year 00-99
= month 01-12
= day 01-31 (leap years are accounted for)
= hour 00-23
= minute 00-59
= second 00-59
Recommended Setting. Set using WinSC.
Description
TF delays the start of data collection. This lets you deploy the WorkHorse ADCP in the
Standby mode and have it automatically start data collection at a preset time (typically
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WorkHorse Commands and Output Data Format
used in battery operated instruments). When the command is given to the WorkHorse
ADCP to start pinging, TF is tested for validity. If valid, the WorkHorse ADCP sets its alarm
clock to TF, goes to sleep, and waits until time TF before beginning the data collection
process.
Example
If you want the exact time of the first ping to be on November 23, 1992 at 1:37:15 pm, you
would enter TF92/11/23, 13:37:15. Do not enter a TF command value if you want the
WorkHorse ADCP to begin pinging immediately after receiving the CS command (see
notes).
1. Although you may send a TF command to the WorkHorse ADCP, you also must send the CS
command before deploying the WorkHorse ADCP.
2. If the entry is not valid, the WorkHorse ADCP sends an error message and does not update
the wake-up time.
3. Sending a <BREAK> clears the TF time.
TG – Time of First Ping (Y2K Compliant)
Purpose
Sets the time the WorkHorse ADCP wakes up to start data collection.
Format
TGccyy/mm/dd, hh:mm:ss
Range
cc
yy
mm
dd
hh
mm
ss
= century 19 - 20
= year 00 - 99
= month 01 - 12
= day 01 - 31 (leap years are accounted for)
= hour 00 - 23
= minute 00 - 59
= second 00 – 59
Recommended Setting. Set using WinSC.
Description
TG delays the start of data collection. This lets you deploy the WorkHorse ADCP in the
Standby mode and have it automatically start data collection at a preset time (typically
used in battery operated instruments). When the command is given to the WorkHorse
ADCP to start pinging, TG is tested for validity. If valid, the WorkHorse ADCP sets its
alarm clock to TG, goes to sleep, and waits until time TG before beginning the data
collection process.
Example
If you want the exact time of the first ping to be on November 23, 2000 at 1:37:15 pm, you
would enter TG 2000/11/23, 13:37:15. Do not enter a TG command value if you want the
WorkHorse ADCP to begin pinging immediately after receiving the CS command (see
notes).
1. Although you may send a TG command to the WorkHorse ADCP, you also must send the CS
command before deploying the WorkHorse ADCP.
2. If the entry is not valid, the WorkHorse ADCP sends an error message and does not update
the wake-up time.
3. Sending a <BREAK> clears the TG time.
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WorkHorse Commands and Output Data Format
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TP – Time Between Pings
Purpose
Sets the minimum time between pings.
Format
TPmm:ss.ff
Range
mm
= 00 to 59 minutes
ss
= 00 to 59 seconds
ff
= 00 to 99 hundredths of seconds
Default
TP01:20.00
Recommended Setting. Set using WinSC, VmDas, or WinRiver.
Description
The WorkHorse ADCP interleaves individual pings within a group so they are evenly
spread throughout the ensemble.
During the ensemble interval set by TE, the WorkHorse ADCP transmits the number of
pings set by the WP command. TP determines the spacing between the pings. If TP = 0, the
WorkHorse ADCP pings as quickly as it can based on the time it takes to transmit each ping
plus the overhead that occurs for processing. Several commands determine the actual ping
time (WF, WN, WS, and actual water depth).
Example
TP00:00.10 sets the time between pings to 0.10 second.
The WorkHorse ADCP automatically increases TE if (WP x TP) > TE.
TS – Set Real-Time Clock
Purpose
Sets the WorkHorse ADCP’s internal real-time clock.
Format
TSyy/mm/dd, hh:mm:ss
Range
yy
mm
dd
hh
mm
ss
= year 00-99
= month 01-12
= day 01-31
= hour 00-23
= minute 00-59
= second 00-59
Recommended Setting. Set using BBTalk, WinSC, VmDas, or WinRiver.
Example
TS98/06/17, 13:15:00 sets the real-time clock to 1:15:00 pm, June 17, 1998.
1. When the WorkHorse ADCP receives the carriage return after the TS command, it enters the
new time into the real-time clock and sets hundredths of seconds to zero.
2. If the entry is not valid, the WorkHorse ADCP sends an error message and does not update
the real-time clock.
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WorkHorse Commands and Output Data Format
TT – Set Real-Time Clock (Y2k Compliant)
Purpose
Sets the WorkHorse ADCP’s internal real-time clock.
Format
TTccyy/mm/dd, hh:mm:ss
Range
cc
yy
mm
dd
hh
mm
ss
= century 19 - 20
= year 00 - 99
= month 01 - 12
= day 01 - 31
= hour 00 - 23
= minute 00 - 59
= second 00 - 59
Recommended Setting. Set using WinSC, VmDas, or WinRiver.
Example
TT2000/06/17, 13:15:00 sets the real-time clock to 1:15:00 pm, June 17, 2000.
1. When the WorkHorse ADCP receives the carriage return after the TS command, it enters the
new time into the real-time clock and sets hundredths of seconds to zero.
2. If the entry is not valid, the WorkHorse ADCP sends an error message and does not update
the real-time clock.
TX – Buffered Output Period
Purpose
Sets the minimum interval between buffered data outputs.
Format
TXhh:mm:ss
Range
hh = 00 to 23 hours
mm = 00 to 59 minutes
ss = unsupported – see caution below
Default
TX00:00:00
Recommended Setting. This command is designed for use with the NEMO Wave Processing Module.
This command may also be used for other special applications.
Avoid setting TX to values between the default TX 00:00:00 and TX 00:01:00. Values from TX
00:00:01 to TX 00:00:59 are unsupported.
Description
Setting TX to zero disables the buffered output mode.
1. No data will be output during the collection of waves data.
2. Ensemble data must be in PD0 binary format.
3. The TX command will always go to the default setting after a break.
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WorkHorse Commands and Output Data Format
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Water Profiling Commands
The following commands define the criteria used to collect the water-profile data.
Standard Water Profiling Commands
This section lists the most often used Water Profiling commands.
>w?
WA =
WB =
WC =
WD =
WE =
WF =
WI =
WJ =
WK =
WL =
WN =
WP =
WQ =
WS =
WT =
WU =
WV =
WW =
WX =
WZ =
>
050,1 --------------0 ------------------064 ----------------111 100 000 --------2000 ---------------0044 ---------------0 ------------------1 ------------------0000 ---------------001,005 ------------030 ----------------00045 --------------0 ------------------0100 ---------------0000 ---------------0 ------------------175 ----------------004 ----------------999 ----------------010 -----------------
False Target Threshold (Max) (0-255 counts)
Bandwidth Control (0=Wid,1=Nar)
Correlation Threshold
Data Out (Vel;Cor;Amp PG;St;P0 P1;P2;P3)
Error Velocity Threshold (0-5000 mm/s)
Blank After Transmit (cm)
Clip Data Past Bottom (0=OFF,1=ON)
Rcvr Gain Select (0=Low,1=High)
Mode 11,12 Depth Cell Size Override (cm) [0=Use WS]
Water Reference Layer: Begin Cell (0=OFF), End Cell
Number of depth cells (1-255)
Pings per Ensemble (0-16384)
Sample Ambient Sound (0=OFF,1=ON)
Depth Cell Size (cm)
Transmit Length (cm) [0 = Bin Length]
Ping Weighting (0=Box,1=Triangle)
Mode 1 Ambiguity Vel (cm/s radial)
Mode 1 Pings before Mode 4 Re-acquire
Mode 4 Ambiguity Vel (cm/s radial)
Mode 5 Ambiguity Velocity (cm/s radial)
WA – False Target Threshold Maximum
Purpose
Sets a false target (fish) filter.
Format
WAnnn,bbb
Range
nnn = 0 to 255 counts (255 disables this filter)
bbb = 0 to 255 bins (255 disables this filter) (optional)
Default
WA050,1
Recommended Setting. The default setting for this command is recommended for most applications.
Description
The ADCP uses the WA command to screen water-track data for false targets (usually fish).
The first parameter in the WA command sets the maximum difference between echo intensity readings among the four profiling beams. If the WA threshold value is exceeded, the
ADCP rejects velocity data on a cell-by-cell basis for either the affected beam (fish detected
in only one beam) or for the affected cell in all four beams (fish detected in more than one
beam). This usually occurs when fish pass through one or more beams.
The optional second parameter of the WA command sets the starting bin number of the
fish rejection screening. Setting the second parameter to 0 is the same as setting it to 1 (i.e.
all bins will be screened for fish). Setting the second parameter to > WN and/or 255 will effectively disable fish rejection screening. Setting the first parameter without the optional
second parameter will reset it to the default of 1.
A WA value of 255 turns off this feature.
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WorkHorse Commands and Output Data Format
WB – Mode 1 Bandwidth Control
Purpose
Sets the profiling mode 1 bandwidth (sampling rate). Smaller bandwidths allow the ADCP
to profile farther, but the standard deviation is increased by as much as 2.5 times.
Format
WBn
Range
n = 0 (Wide), 1 (Narrow)
Default
WB0 (300, 600, and 1200 kHz systems), WB1 (150 and 75 kHz systems)
Recommended Setting. The default setting for this command is recommended for most applications.
Description
Table 20:
See table below.
Bandwidth Control
Bandwidth
Sample rate
Data variance
Profiling range
0 = Wide (25%)
High
Low
Low
1 = Narrow (6.25%)
Low
High
High
WC – Low Correlation Threshold
Purpose
Sets the minimum threshold of water-track data that must meet the correlation criteria.
Format
WCnnn
Range
nnn = 0 to 255 counts
Default
WC064
Recommended Setting. The default setting for this command is recommended for most applications.
Description
The ADCP uses WC to screen water-track data for the minimum acceptable correlation requirements. The nominal (maximum) correlation depends on system frequency and depth
cell size (WS). WC sets the threshold of the correlation below, which the ADCP flags the data as bad and does not average the data into the ensemble.
The default threshold for all frequencies is 64 counts. A solid target would have a correlation of
255 counts.
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WorkHorse Commands and Output Data Format
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WD – Data Out
Purpose
Selects the data types collected by the ADCP.
Format
WD abc def ghi
Range
Firmware switches (see description)
Default
WD 111 100 000
Recommended Setting. The default setting for this command is recommended for most applications.
Description
Example
WD uses firmware switches to tell the ADCP the types of data to collect and process. The
ADCP always collects header data, fixed and variable leader data, and checksum data. Setting a bit to one tells the ADCP to collect and process that data type. The bits are described
as follows:
a = Velocity
d = Percent good
g = Reserved
b = Correlation
e = Status
h = Reserved
c = Echo Intensity
f = Reserved
I = Reserved
WD 111 100 000 (default) tells the ADCP to collect velocity, correlation magnitude, echo
intensity, and percent-good.
Each bit can have a value of one or zero. Setting a bit to one means output data, zero means
suppress data.
2. This command selects which data is recorded if recording is enabled via the CF command.
3. If the CD command = zero, this command also selects which data is output. If CD is not zero,
the CD command selects which data is output. See the CD command for details.
4. If WP = zero, the ADCP does not collect water-profile data.
5. Spaces in the command line are allowed.
6. Status data is not used, as it does not mean anything.
For each bit in the CD command that is enabled, the corresponding bit in the WD command
must also be enabled.
WE – Error Velocity Threshold
Purpose
Sets the maximum error velocity for good water-current data.
Format
WEnnnn
Range
nnnn = 0 to 9999 mm/s
Default
WE2000
The default setting is set purposely high. We recommend extreme caution and testing before
changing this setting. Data rejected by this command is lost and cannot be regained.
Description
The WE command sets a threshold value used to flag water-current data as good or bad. If
the ADCP’s error velocity value exceeds this threshold, it flags data as bad for a given depth
cell. WE screens for error velocities in both beam and transformed-coordinate data. Setting
the WE command to zero (WE0) disables error velocity screening.
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WorkHorse Commands and Output Data Format
WF – Blank after Transmit
Purpose
Moves the location of first depth cell away from the transducer head to allow the transmit
circuits time to recover before the receive cycle begins.
Format
WFnnnn
Range
nnnn = 0 to 9999 cm
Default
WF0704 (75 kHz), WF0352 (150 kHz), WF0176 (300 kHz), WF0088 (600 kHz), WF0044
(1200 kHz)
Recommended Setting. The default setting for this command is recommended for most applications.
If you are using WinRiver II, let the software set the WF command setting. For example, WinRiver II will
set the WF command to WF0025 for a 600 kHz system.
Description
Table 21.
WF positions the start of the first depth cell at some vertical distance from the transducer
head. This allows the WorkHorse ADCP transmit circuits time to recover before beginning
the receive cycle. In effect, WF blanks out bad data close to the transducer head, thus creating a depth window that reduces unwanted data in the ensemble. The following table may
be used as a guide to set the WF command.
WF-command Recommended Setting
Frequency
(kHz)
200m
Rated
500m
Rated
1000m
Rated
1500m
Rated
3000m
Rated
6000m
Rated
1200
0.44m
0.44m
0.60m
n/a
n/a
0.60m
600
0.88m
0.88m
1.15m
n/a
n/a
1.15m
300
1.76m
1.76m
2.25m
n/a
n/a
2.25m
150
n/a
n/a
n/a
4.0m
4.00m
4.00m
75
n/a
n/a
n/a
8.0m
8.00m
n/a
1. The distance to the middle of depth cell #1 is a function of blank after transmit (WF), depth
cell size (WS), and speed of sound. The fixed leader data contains this distance.
2. Small WF values may show ringing/recovery problems in the first depth cells that cannot be
screened by the WorkHorse ADCP.
WI – Clip Data Past Bottom
Purpose
Allows the ADCP to flag velocity data from beyond the bottom as bad.
Format
WIn
Range
n = 0 (off), 1 (on)
Default
WI0
Recommended Setting. The default setting for this command is recommended for most applications.
Description
Page 80
When the WI command is set to WI0 (default), the ADCP sends/records all velocity data
readings even when the ADCP determines the data is beyond the bottom. WI1 tells the
ADCP to flag data determined to be beyond the bottom as bad (data value set to -32768
[8000h]).
WorkHorse Commands and Output Data Format
March 2014
WJ – Receiver Gain Select
Purpose
Allows the ADCP to reduce receiver gain by 40 dB.
Format
WJn
Range
n = 0 (low), 1 (high)
Default
WJ1
Recommended Setting. The default setting for this command is recommended for most applications.
Description
WJ0 tells the ADCP to reduce receiver gain by 40 dB. This may increase data reliability in
shallow-water applications where there is a high content of backscatter material. WJ1 (the
default) uses the normal receiver gain.
WL – Water Reference Layer
Purpose
Sets depth cell range for water-track reference layer averaging.
Format
WLsss,eee
Range
sss = Starting depth cell (0 to 128; 0 disables this feature)
eee = Ending depth cell (1 to 128)
Default
WL1,5
Recommended Setting. The default setting for this command is recommended for most applications.
Description
You can use the WL command to lower the effects of transducer motion on present measurements for multiple-ping ensembles (WP > 1). The ADCP does this by averaging the velocities of a column of water and subtracting that average from each of the depth cell velocities. The ADCP accumulates the resulting average velocity and depth cell velocities. At the
end on an ensemble, the ADCP adds the average reference velocity back to the normalized
depth cell velocities. This results in quieter data for depth cells in which there were few
good samples.
WN – Number of Depth Cells
Purpose
Sets the number of depth cells over which the ADCP collects data.
Format
WNnnn
Range
nnn = 1 to 255 depth cells
Default
WN030
Recommended Setting. Set using WinSC, VmDas, or WinRiver.
Description
The range of the ADCP is set by the number of depth cells (WN) times the size of each
depth cell (WS).
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WorkHorse Commands and Output Data Format
WP – Pings per Ensemble
Purpose
Sets the number of pings to average in each data ensemble.
Format
WPnnnnn
Range
nnnnn = 0 to 16384 pings
Default
WP00045
Recommended Setting. Set using WinSC, VmDas, or WinRiver.
Description
WP sets the number of pings to average in each ensemble before sending/recording the
data.
1. If WP = zero the ADCP does not collect water-profile data.
2. The ADCP automatically extends the ensemble interval (TE) if WP x TP > TE.
WQ – Sample Ambient Sound
Purpose
Samples ambient sound.
Format
WQn
Range
n = 0 (Off), 1 (On)
Default
WQ0
Recommended Setting. The default setting for this command is recommended for most applications.
Description
When WQ is set to 1, the ADCP samples RSSI before the water ping. WQ uses an 8-meter
blank and 8-meter depth cell before sending water-profiling pings.
WS – Depth Cell Size
Purpose
Selects the volume of water for one measurement cell.
Format
WSnnnn
Range
See below
Default
See below
75 kHz
150 kHz
300 kHz
600 kHz
1200 kHz
2400 kHz
Range
80 to 3200 cm
40 to 3200 cm
20 to 1600 cm
10 to 800 cm
5 to 400 cm
5 to 200 cm
Default
WS1600
WS0800
WS0400
WS0200
WS0100
WS0050
Recommended Setting. Set using WinSC, VmDas, or WinRiver.
Description
The ADCP collects data over a variable number of depth cells. WS sets the size of each cell
in vertical centimeters.
If you set WS to a value less than its minimum value or greater than its maximum value, the
ADCP will accept the entry, but uses the appropriate minimum or maximum value. For example,
if you enter WS1 for a 75 kHz system, the ADCP uses a value of 80 cm for WS. Similarly, if you
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WorkHorse Commands and Output Data Format
March 2014
enter WS8000, the ADCP uses a value of 3200 cm for WS.
The minimum depth cells size can actually be smaller and reduced to 1 cm in water profiling
mode 11 or 12 (see WK – Depth Cell Size Override).
WT – Transmit Length
Purpose
Selects a transmit length different from the depth cell length (cell sampling interval) as set
by the WS command.
Format
WTnnnn
Range
nnnn = 0 to 3200 cm
Default
WT0000
Recommended Setting. The default setting for this command is recommended for most applications.
Description
When WT is set to zero, the transmit signal is set to the depth cell size (WS command). This
is the default setting. Setting WT allows selection of a transmit length different than the area depth cell size (sampling length).
WU – Ping Weight
Purpose:
Selects the weight of each ping in an ensemble.
Format
WUn
Range
n = 0 (Box weighting), 1 (Triangle weighting)
Default
WU0
Recommended Setting. The default setting for this command is recommended for most applications.
Description
The WU command allows the user to choose the ensemble weighting method. WU0 selects
Box weighting which is a simple average of the velocities in each ensemble. WU1 selects
Triangle weighting, where the first and last velocities are weighted the least, and the middle
velocity is weighted the most.
Example
For an ensemble of 5 pings, the weights would appear as below.
Table 22:
Ping Weights
Ping 1
Ping 2
Ping 3
Ping 4
Ping 5
WU0
1
1
1
1
1
WU1
1/3
2/3
1
2/3
1/3
The velocity reported for each ensemble is calculated as the sum of the weighted velocities
divided by the sum of the weights.
The WL command (Water reference layer) must be turned on when triangle weighting is used
(WU1).
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WorkHorse Commands and Output Data Format
WV – Ambiguity Velocity
Purpose
Format
Range
Default
Sets the radial ambiguity velocity.
WVnnn
nnn = 2 to 700 cm/s
WV175
Recommended Setting. It is strongly recommended that the WV command be left at its’ default value of
175.
Description
Set WV as low as possible to attain maximum performance, but not too low or ambiguity
errors will occur. Rule of thumb: Set WV to the maximum relative horizontal velocity between water-current speed and ADCP speed.
The WV command (ambiguity velocity setting) sets the maximum velocity that can be
measured along the beam when operating in water mode 1 (WM1). WV is used to improve
the single-ping standard deviation. The lower the value of the WV command, the lower the
single-ping standard deviation.
Set the WV command based on the maximum apparent velocity (ADCP motion plus water
speed). The following formula is used to determine the setting of the WV command:
WV = (Max. Apparent Vel. cm/s) * sin(beam angle) * 1.5, where 1.5 is a safety factor.
Note that the minimum setting of the WV command is WV002 and the maximum setting due to
internal processing limitations is limited based on the setting of the bandwidth command, WB.
WV is limited to 330 cm/s in Narrow bandwidth mode (WB1), which increases the profiling
range by 10% compared to Broad bandwidth mode (WB0).
When the WB command is set to WB0, the max value is WV700.
In either case, while you can set a value as low as 2 cm/s, this will likely cause ambiguity errors.
TRDI recommends setting WV to ≥ 100cm/s for most applications.
The 1.5 value is a safety factor.
Table 23:
WV command Maximum Setting (20 Degree)
WB Command
Bandwidth
WV (max cm/s)
Apparent Velocity (max cm/s)
0
25%
700
1,705
1
12%
330
804
Example
Page 84
If the maximum expected ADCP velocity (vessel velocity) is 250 cm/s (≈5 kt) and the maximum expected horizontal water velocity is 100 cm/s, set WV to 350 cm/s.
WorkHorse Commands and Output Data Format
March 2014
High Resolution Water Profiling
This section defines the optional High Resolution Water-Profiling commands used by the WorkHorse
ADCP.
High Resolution Water Profiling is a feature upgrade for other WorkHorse ADCPs (see Feature
Upgrades). The highlighted commands are included with the High Resolution Water Profiling
upgrade.
>w?
WA =
WB =
WC =
WD =
WE =
WF =
WI =
WJ =
WK =
WL =
WM =
WN =
WO =
WP =
WQ =
WS =
WT =
WU =
WV =
WW =
WX =
WZ =
>
050 ----------------0 ------------------064 ----------------111 100 000 --------2000 ---------------0044 ---------------0 ------------------1 ------------------0000 ---------------001,005 ------------01 -----------------030 ----------------001,004 ------------00045 --------------0 ------------------0100 ---------------0000 ---------------0 ------------------175 ----------------004 ----------------999 ----------------010 -----------------
False Target Threshold (Max) (0-255 counts)
Bandwidth Control (0=Wid,1=Nar)
Correlation Threshold
Data Out (Vel;Cor;Amp PG;St;P0 P1;P2;P3)
Error Velocity Threshold (0-5000 mm/s)
Blank After Transmit (cm)
Clip Data Past Bottom (0=OFF,1=ON)
Rcvr Gain Select (0=Low,1=High)
Mode 11,12 Depth Cell Size Override (cm) [0=Use WS]
Water Reference Layer: Begin Cell (0=OFF), End Cell
Profiling Mode (1,5,8,11,12,15)
Number of depth cells (1-255)
Mode 12 Params [subpings (1-100);time (1/100th sec)]
Pings per Ensemble (0-16384)
Sample Ambient Sound (0=OFF,1=ON)
Depth Cell Size (cm)
Transmit Length (cm) [0 = Bin Length]
Ping Weighting (0=Box,1=Triangle)
Mode 1 Ambiguity Vel (cm/s radial)
Mode 1 Pings before Mode 4 Re-acquire
Mode 4 Ambiguity Vel (cm/s radial)
Mode 5 Ambiguity Velocity (cm/s radial)
WK – Depth Cell Size Override (Mode 11/12 Only)
Purpose
Determines the depth cell size for Mode 11 and Mode 12 profiling.
Format
WKx
Range
x = 0 to frequency dependent maximum for WS command.
Default
WK0000
Recommended Setting. The default setting for this command is recommended for most applications.
Description
The WK command allows a depth cell size that is smaller than the minimum allowed by the
WS command. If WK is set to other than zero it overrides the depth cell size selected by the
WS command. The minimum depth cell size can be 1 cm in this case. If WK is set to zero
the WS command takes precedence.
This command is only available if the High Rate Ping feature or the High Resolution Water
Modes feature is enabled. This command has no effect unless the WM command is set to either
11 or 12.
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WorkHorse Commands and Output Data Format
WM – Profiling Mode
Purpose
Selects the application-dependent profiling mode used by the ADCP.
Format
WMnn
Range
n = 1, 5, 8, 11, 12, and 15 (see description)
Default
WM1
Recommended Setting. The default setting for this command is recommended for most applications.
Description
Table 24:
The WM command lets you select an application-dependent profiling mode. The chosen
mode selects the types of pings transmitted. The ping type depends on how much the water-current is changing from ping-to-ping and from cell-to-cell.
Water Modes
Mode
Description
WM1
WM5
WM8
WM11
WM12
WM15
Dynamic Sea State
Very Low Standard Deviation, used in low flow
Very Shallow Water, used in low flow
High Resolution Mode
High Rate Ping
LADCP/Surface Track/WM15 (See Cautions below)
Water Modes 5, 8, 11, and 12 were designed for 600 and 1200 kHz ADCPs only. Using these
modes on other frequency ADCPs may be possible, but only at the user’s risk.
When a WM1 or WM15 command is used in a command file, place it after the CR1 command
and before any other commands to eliminate the risk of changing a previously sent parameter
(see Deploying the ADCP).
For example, when the ADCP receives the WM15 command, the ADCP automatically changes
several commands to LADCP appropriate values. It changes the water profile bandwidth to 6 %
by setting WB and LW to 1, the number of water profile pings to 1 by setting WP and LP to 1,
and the time per ensemble and time per ping to 1 second by setting TE 00:00:01.00 and TP
00:01.00 respectively.
Conversely, when the ADCP has been using WM15 and receives the WM1 command, the ADCP
automatically changes the same command parameters to their factory default values (see Table
3 to view the WorkHorse ADCP factory defaults).
When the ADCP receives a WM1 or WM15 command, the automatic command changes are
transparent to the user, who may require other bandwidth, number of pings, time per
ensemble, and/or ping values.
Water Mode 11 is included in the High Resolution Water Profiling feature upgrade.
Water Mode 12 and 15 are separate feature upgrades for WorkHorse ADCPs.
For general information on the Water Modes, see the Principles of Operation: A Practical Primer
and the WinRiver II User's Guide.
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WorkHorse Commands and Output Data Format
March 2014
General Purpose Profi ling – Mode 1
General Description - This is our most robust mode of operation. It allows for good data collection in all
environments. Please refer to application note FSA-004 Mode1.pdf for more detail.
Best Use Areas - Mode 1 is good for all areas. It works well in areas of slow currents, turbulent currents,
strong shears, low backscatter concentrations (or where signal returns are apt to be weak), high background noise (such as being used from a ship), and in areas where the water changes from shallow (1 m)
to deep (> 6 m).
Specifics - The standard deviation determined by the bin size (WS command) and the ambiguity velocity
(WV). The ambiguity velocity tells the ADCP what maximum velocity it will see. If you are operating the
ADCP from a moving platform, the maximum velocity would be the ADCP’s maximum speed (motion
through the water) plus the maximum water speed. We call this the maximum “apparent velocity” the
ADCP will see.
Setup Considerations - To set the Mode 1 ambiguity velocity correctly, you must have an idea of the maximum apparent velocity to set the WV command. Use the following formula to set the WV command:
WV = (max. apparent velocity in cm/s) * (sin B) * (1.5)
Where:
•
B = Beam angle (20 degrees for the Rio Grande)
•
(1.5) = Safety margin. You can reduce this safety margin if you are sure you will not exceed the maximum apparent velocity. We recommend a minimum safety margin of 1.1.
The minimum suggested setting for the WV command is 100 cm/s (WV100), which corresponds
to an apparent horizontal velocity of 3 m/s.
The default setting for the WV command is 170 cm/s (WV170), which corresponds to an
apparent horizontal velocity of 5 m/s.
The maximum setting for the WV command is 480 cm/s (WV480), which corresponds to an
apparent horizontal velocity of 15 m/s. Higher settings will produce bad velocity data.
The values shown here do not include a safety factor.
High Resolution Profiling – Mode 5
High Resolution Water Modes 5, 8, and 11 are a feature upgrade for WorkHorse ADCPs. Contact
your local sales representative if you are interested in upgrading your system.
General Description - Mode 5 is our high-precision, shallow-water mode. Mode 5 allows for very low
standard deviation (less than 3 cm/s) in shallow water. Mode 5 should be used with bottom tracking enabled. Please refer to application note FSA-005 Mode5n8.pdf for more detail.
Best Use Areas - Mode 5 is ideal for shallow water with water currents less than 50 cm/s.
Mode 5 is not good for areas where there is shear, turbulence, background noise, or fast ADCP motion
(above 0.5 to 1 m/s). If high shears, turbulence, background noise, or fast ADCP motion occurs, the ADCP
will not collect data.
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WorkHorse Commands and Output Data Format
High Resolution Profiling – Mode 8
High Resolution Water Modes 5, 8, and 11 are a feature upgrade for WorkHorse ADCPs. Contact
your local sales representative if you are interested in upgrading your system.
General Description - Mode 8 is our medium-precision shallow-water mode. The standard deviation of
Mode 8 is about 10 times greater than Mode 5 for the same size depth cell and water speed. Mode 8
should be used with bottom tracking enabled. Please refer to application note FSA-005 Mode5n8.pdf for
more detail.
Best Use Areas - Mode 8 is ideal for shallow water (8 m and less), where there is any shear, turbulence,
background noise, or fast ADCP motion (maximum 1-2 m/s). Mode 8 can be used in fixed measurements
or slow-moving platform measurements where the water velocity flows are very low. However, Mode 5 is
better suited for those areas.
Note that if the shears, turbulence, background noise, or ADCP motion is too great, the ADCP will not collect data.
High Resolution Profiling – Mode 11
High Resolution Water Modes 5, 8, and 11 are a feature upgrade for WorkHorse ADCPs. Contact
your local sales representative if you are interested in upgrading your system.
General Description - Mode 11 is an evolution of Modes 5 and 8. Mode 11 allows for very low standard
deviation (less than 3 cm/s) in shallow water. Mode 11 would normally be used with bottom tracking enabled. Please refer to application note FSA-013 High Resolution Water Profiling Water Mode 11.pdf for
more detail.
Best Use Areas - Mode 11 is ideal for shallow water with water currents less than 100 cm/s.
Mode 11 is not good for areas where there is shear, turbulence, background noise, or fast ADCP motion
(above 0.5 to 1 m/s). If high shears, turbulence, background noise, or fast ADCP motion occurs, the ADCP
will not collect data.
Commands Relevant to Water Mode 11 Use
For Moving Platform users with Bottom Tracking
WM11
Selects Water Mode 11 Default =WM1
BP1
Enables Bottom Tracking. With bottom tracking enabled the transmission pulse is automatically adjusted for the
depth. The system effectively “tunes” WZ for the best performance down to the default minimum of WZ5. Max. Depth
is 4 m for a 1200.
WZ
If Bottom Tracking is enabled it sets the Minimum Ambiguity velocity which is used. It is not necessary to change this
command from the default WZ5 if bottom track is enabled. Default = WZ5
WK
Sets Depth Cell (Bin) size in cm, 1cm minimum (WK1). Overrides the WS command for small depth cells. If you never
use depth cells less than 5cm for a 1200 or 10cm for a 600 than you can still use the WS command. Default =WK0
(uses WS)
For Fixed Platform users
WM11
Selects Water Mode 11
WZ5
Used to adjust the characteristics of the transmission pulse for improved maximum velocity at shallower depths. With
a 1200KHz ZedHed you would use WZ15 for depths less than 1m, WZ10 for depths up to 2m, WZ5 for depths up to
4m. Default = WZ5. Note: If WZ is changed to greater than the default WZ5 and bottom track is enabled than the
range will be restricted according to the value of WZ.
BP1
Enables Bottom Tracking. With bottom tracking enabled the transmission pulse is automatically adjusted for the
depth. The system effectively “tunes” WZ for the best performance down to the default Minimum of WZ5. Note:
Bottom Tracking Feature is an option with some instruments.
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WorkHorse Commands and Output Data Format
WK
March 2014
Sets Depth Cell (Bin) size in cm, 1cm minimum (WK1). Overrides the WS command for small depth cells. If you never
use depth cells less than 5cm for a 1200 or 10cm for a 600 than you can still use the WS command to set the depth
cell size.
WM 11 Environmental Limits
For 1200 KHz systems, a useful “rule of thumb” for determining whether the water conditions are within
the envelope of Mode 11 is the Depth times Velocity product. Water Mode 11 may not work if the Depth
(m) times the Velocity (m/sec) product is greater than one.
Other Environmental Limits
•
Maximum relative Horizontal velocity depth <1m (1200KHz) or <2m (600KHz),
100cm/sec
•
The maximum relative horizontal velocity gradually reduces with depth to approx. 25
cm/sec at 4m (1200KHz) or 8m (600KHz)
•
It is important to keep in mind that with Water Mode 11, in depths less than 1 meter, the
maximum beam velocity that can be reliably measured under all circumstances is
50cm/sec (this equates to 150cm/sec relative horizontal velocity as long as no vertical
components are present). What this means is that the vector combination of horizontal
and vertical velocities along a beam should not exceed 50cm/sec or errors may occur. As
your relative horizontal velocities approach 100cm/sec in shallow water it is important to
move slowly and smoothly to minimize any additional platform motion that might contribute to the relative velocity in the vertical or horizontal plane.
Other recommendations:
•
Currently not recommended for 300 KHz systems.
•
Maximum Depth Cell size: 0.25m (600 kHz), 0.125m (1200 kHz)
•
WT can be used with the 1200 KHz ZedHed in shallow water (<1m) to reduce transmit
pulse length. This is normally left at default WT = 0 (Transmit Pulse Length = Depth Cell
Size) however if you are using small depth cells e.g. 5cm you could use WT2 to reduce the
transmit pulse length to 2 cm and possibly get an extra depth cell in the profile.
High Ping Rate – Mode 12
High Ping Rate Mode 12 is a feature upgrade for WorkHorse ADCPs. Contact your local sales
representative if you are interested in upgrading your system.
General Description - Mode 12 is an evolution of our most robust water profiling Mode, Mode 1. Please
refer to application note FSA-014 High Resolution Water Profiling Water Mode 12.pdf for more detail.
Information on Mode 1 in the previous section can be applied to Mode 12.
Best Use Areas - Water mode 12 was designed primarily for use in short-range, small-depth cell applications. Under most conditions it can be used anywhere Mode 1 is used and due to its high ping rate results
in lower standard deviation of velocity measurement for a given time period.
Specifics - Typically a Workhorse transmits pulses, collects information on the returned signal and pro-
cesses this information into a velocity measurement. The process is called a ping. With Water Mode 12 we
shorten the procedure and transmit and receive a series of sub-pings that are not fully processed until the
desired number have been accumulated (the number is determined by the WO command). The system
then averages this data and completes the final processing to produce ping velocity values but the subping raw data is not stored. Sensor data is read only once at the start of the ping and is applied to averaged
sub-pings. The result is faster processing so more data can be collected for a given time and hence better
measurement precision. Because of the faster ping rates with Mode 12 care must be taken not to ping too
fast.
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WorkHorse Commands and Output Data Format
Commands Relevant to Water Mode 12 Use
WM12
Selects Water Mode 12.
WV170
Used to adjust the characteristics of the transmission pulse. A higher WV allows measurement of higher velocity currents. (100
Minimum, 480 Maximum) Default=WV170
WK1
Sets Depth Cell (Bin) size in cm, 1cm minimum(WK1). Overrides the WS command for small depth cells. If you never use depth
cells less than 5cm for a 1200 or 10cm for a 600 than you can still use the WS command. Default =WK0(uses WS)
WO pp,hh
Where pp = number of Sub pings per ping and hh = minimum number of 0.01 seconds between Sub pings. A typical setting for
a 1200KHz system for use in shallow water would be WO20,4, which transmits 20 sub-pings 40msec apart and than averages
them to create the ping which is recorded.
WM12 Environmental Limits
The maximum horizontal and vertical velocity is determined by the WV command. The default WV170
gives a maximum horizontal velocity measurement of +/- 5m/sec.
If Water Mode 12 is used on a platform or mooring that experiences large accelerations during the ping
sampling period than some bias may occur.
Other WM12 Considerations:
•
To achieve high sampling rates (e.g. 20Hz) the number of depth cells should be less than
60 (WN command should be 60 or less).
•
Maximum Sub Ping rates must be considered to avoid ping-to-ping interference.
•
The sensor information is read only once at the start of the Water Mode 12 ping. Maximum duration of the Sub Pings must be considered if operating in a dynamic environment.
•
Maximum duration of the Sub Pings must be considered in light of Bottom Tracking. If
too much time separates the Water and Bottom pings “stripy data” may result. It is recommended to use BP2 in these situations.
Lowered ADCP – WM15
Lowered ADCP / Water Mode 15 is a feature upgrade for WorkHorse ADCPs. Contact your local
sales representative if you are interested in upgrading your system.
A standard Workhorse ADCP with version 16.30 firmware or higher and that has the Water Mode 15 feature upgrade installed has the capability to be set up as a Lowered ADCP (LADCP). The LADCP uses one
or two Workhorse ADCPs mounted on a rosette. The rosette is lowered through the water column (one
ADCP is looking up and the other is looking down). This setup allows you to cover a larger part of the water column. By lowering the ADCPs through the water column you can get an ocean profile that is greater
in range than the systems combined. In a setup like this, you would want the ADCPs to collect data at the
same time or synchronize their pinging when using two ADCPs. Please refer to the LADCP User’s
Guide.pdf (item 10a on TRDI’s website) for more details.
Commands Relevant to LADCP Water Mode 15 Use
WM15
Selects Water Mode 15 (Default =WM1)
WB
LW
Setting WM15 changes the water profile bandwidth to 6.25% by setting WB and LW to 1
WP
LP
Setting WM15 changes the number of water profile pings to 1 by setting WP and LP to 1
TE
TP
Setting WM15 changes the time per ensemble and time per ping to 1 second by setting TE 00:00:01.00 and TP 00:01.00
respectively
WE
Use the WE command to filter LADCP data based upon error velocity.
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WorkHorse Commands and Output Data Format
EZ
March 2014
Change the EZ command from EZ1111111 to EZ0111111; turns off the speed of sound Correction and uses the factory
default fixed speed of sound of 1500m/sec
Requirements
•
Must have the Water Mode 15 Feature Upgrade installed on both ADCPs
LADCP Specifics
For firmware version 16.30 and above the Lowered ADCP feature is no longer a totally separate mode that
disables the 'W' menu. Using WM15 turns on the LADCP feature and the 'W' commands can be used to set
parameters. The 'L' menu has been left in place to minimize changes to customer script files.
The Lowered ADCP output data format will show up as Water-Profiling Mode 15 and Bottom-Track Mode
11 PD0 data. Bottom-Track Mode 5 will be ignored if the Lowered ADCP feature is used.
The Bottom Track commands are temporarily disabled when the WM15 command is used.
The WM15 Lowered ADCP feature does not need to be removed in order to use the water profiling commands. When the ADCPs receive the WM15 command, the ADCP automatically changes several commands to LADCP appropriate values. It changes the water profile bandwidth to 6.25% by setting WB and
LW to 1, the number of water profile pings to 1 by setting WP and LP to 1, and the time per ensemble and
time per ping to 1 second by setting TE 00:00:01.00 and TP 00:01.00 respectively.
Conversely, when the ADCP has been using WM15 and receives the WM1 command, the ADCP automatically changes the same command parameters to their factory default values.
When a WM1 or WM15 command is used in a command file, place it after the CR1 command
and before any other commands to eliminate the risk of changing a previously sent parameter
(see Deploying the ADCP).
For example, when the ADCP receives the WM15 command, the ADCP automatically changes
several commands to LADCP appropriate values. It changes the water profile bandwidth to 6 %
by setting WB and LW to 1, the number of water profile pings to 1 by setting WP and LP to 1,
and the time per ensemble and time per ping to 1 second by setting TE 00:00:01.00 and TP
00:01.00 respectively.
Conversely, when the ADCP has been using WM15 and receives the WM1 command, the ADCP
automatically changes the same command parameters to their factory default values (see
Table 3, page 11 to view the WorkHorse ADCP factory defaults).
When the ADCP receives a WM1 or WM15 command, the automatic command changes are
transparent to the user, who may require other bandwidth, number of pings, time per
ensemble, and/or ping values.
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WorkHorse Commands and Output Data Format
Surface Tracking Feature – WM15
Surface Tracking / Water Mode 15 is a feature upgrade for WorkHorse ADCPs. Contact your
local sales representative if you are interested in upgrading your system.
Surface Tracking / Water Mode 15 is used for tracking weak backscattering layers such as air/sea surface,
ice, etc. The Surface Tracking Feature allows for a “layer of water” at the surface to be used. It is not necessarily limited to just the exact air/sea surface and may extend several meters below the surface. For
more detailed information, see FSA-022 Surface Tracking Feature.pdf.
Requirements
•
Must have the Surface Tracking / Water Mode 15 Feature Upgrade installed
Surface Range Tracking
When tracking the range from the ADCP transducer to the surface using Surface Track Range, one must
consider the following:
1.
The resolution of the WM15 range to surface for a single ping is 1/3 of a bin.
2. The surface track range is dependent on the speed of sound distribution in the water column between the ADCP and the surface. In other words, this means that the surface track range could
have an error that is proportional to the integrated error in sound speed for the entire water column.
As an example, should you have an error of 35 ppt salinity, the error would be ~3%. For a strongly
stratified system with delta of ~10 ppt between surface and bottom, the error would be about 1%
of range (versus 0.25% for the pressure).
Comparison of the delta between the pressure sensor and the surface track may help you
obtain some information about the relative stratification in the water column
Commands Relevant to Surface Tracking Use
When the Surface Tracking / Water Mode 15 is installed into your WorkHorse ADCP the water profile and
bottom tracking commands are changed from W commands and B commands to W and L commands. The
thresholds for controlling the boundary lock in WM15 is the same as in Bottom Track mode except we
now only use one command, i.e. LZ (described below).
WM15
Selects Surface Tracking Water Mode 15
LA30
A raise in the RSSI profile of 30 counts (~15db) is required before the ADCP will start to process the data for presence
of the bottom.
LC220
The correlation of the velocity must be above 220 counts before the ADCP will process the data for velocity speed
and direction over the bottom.
LZ030,220
Default Settings
030 = The RSSI threshold; a raise in the RSSI profile of 30 counts (~15db) is required before the ADCP will start to
process the data for presence of the bottom.
220 = The Correlation threshold; the correlation of the velocity must be above 220 counts before the ADCP will process the data for velocity speed and direction over the bottom.
LZ020,170
Sheet Ice/“spiky” bottom
020 = The RSSI threshold; a raise in the RSSI profile of 20 counts (~10db) is required before the ADCP will start to
process the data for presence of the bottom.
170 = The Correlation threshold; the correlation of the velocity must be above 170 counts before the ADCP will process the data for velocity speed and direction over the bottom.
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Air/Sea Surface “spiky” bottom
LZ015,120
015 = The RSSI threshold; a raise in the RSSI profile of 15 counts (~7.5db) is required before the ADCP will start to
process the data for presence of the bottom.
120 = The Correlation threshold; the correlation of the velocity must be above 120 counts before the ADCP will process the data for velocity speed and direction over the bottom.
Surface Track Specifics
The Surface Tracking output data format will show up as Water-Profiling Mode 15 and Bottom-Track
Mode 11 in the PD0 data. Bottom-Track Mode 5 will be ignored if the Surface Tracking feature is used.
The Bottom Track commands are temporarily disabled when the WM15 command is used.
The WM15 Surface Tracking feature does not need to be removed in order to use the water profiling commands. When the ADCP receives the WM15 command, the ADCP automatically changes several commands to Surface Tracking appropriate values. It changes the water profile bandwidth to 6.25% by setting
WB and LW to 1, the number of water profile pings to 1 by setting WP and LP to 1, and the time per ensemble and time per ping to 1 second by setting TE 00:00:01.00 and TP 00:01.00 respectively.
Conversely, when the ADCP has been using WM15 and receives the WM1 command, the ADCP automatically changes the same command parameters to their factory default values.
When a WM1 or WM15 command is used in a command file, place it after the CR1 command
and before any other commands to eliminate the risk of changing a previously sent parameter
(see Deploying the ADCP).
For example, when the ADCP receives the WM15 command, the ADCP automatically changes
several commands to Surface Tracking appropriate values. It changes the water profile
bandwidth to 6 % by setting WB and LW to 1, the number of water profile pings to 1 by setting
WP and LP to 1, and the time per ensemble and time per ping to 1 second by setting TE
00:00:01.00 and TP 00:01.00 respectively.
Conversely, when the ADCP has been using WM15 and receives the WM1 command, the ADCP
automatically changes the same command parameters to their factory default values (see
Table 3, page 11 to view the WorkHorse ADCP factory defaults).
When the ADCP receives a WM1 or WM15 command, the automatic command changes are
transparent to the user, who may require other bandwidth, number of pings, time per
ensemble, and/or ping values.
Example:
The following WM15 Surface Tracking example shows the basic steps used to configure a Workhorse
ADCP to Surface track. The following is a basic set of commands that may be used for a WorkHorse Sentinel 300 kHz ADCP and tracking the air/sea surface at 80m from the ADCP:
•
•
•
•
•
•
•
•
15 bins
8 meter bins
50 ping per ensemble
Set the transducer depth as required
35ppt
Set the magnetic variation as required
Ping immediately after deploy
Record data internally
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WorkHorse Commands and Output Data Format
Example of a WH 300 kHz ADCP with LADCP/Surface Track command file.
; Set to factory defaults
CR1
; Set WM15 LADCP/SURFACE TRACK
WM15
; Save settings as User defaults
CK
; Set transducer depth (example is set to 0 decimeters)
ED0000
; Set salinity (example is set to 35ppt)
ES35
; Set system coordinate.
EX11111
; Set one ensemble/hour
TE01000000
; Set 1 minute 12 seconds between pings
TP011200
; Set LADCP/SURFACE TRACK to output Velocity, Correlations,
; Amplitude, and Percent Good. Use LD if firmware <16.30.
WD111100000
; Set 50 pings per ensemble. Use LP if firmware <16.30.
WP50
; Set to record 15 bins (well past the expected surface). Use LN if firmware ; <16.30.
WN015
; Set bin size to 800 cm. Use LS if firmware <16.30.
WS0800
; Sets the minimum correlation magnitude and threshold for
; good surface-track data. Replace ‘xxx’ with recommended values.
LZxxx,xxx
; Set blank to 176 cm (default value) Use LF if firmware <16.30.
WF0176
; Set max radial (along the axis of the beam) water velocity to 176 cm/sec.
; Use LV if firmware <16.30.
WV170
; Set ADCP to narrow bandwidth and extend range by 10%. Use LW if firmware <16.30.
WB1
; Set to calculate speed of sound
EZ1111101
; Heading alignment (example is set to 000.00 degrees)
EA00000
; Heading Magnetic Declination Here (example is set to 000.00 degrees)
EB00000
; Record data internally
CF11101
; Save set up
CK
; Start pinging
CS
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WO – Mode 12 Parameters
Purpose
Controls the behavior of Mode 12 water profiling.
Format
WOx,y
Range
x = 1 to 100 sub-pings
y = 0 to 999 hundredths of seconds
Default
WO001,004
Recommended Setting. Special applications only.
Description:
The WO command governs the behavior of Mode 12 water profiling. In Mode 12, a number
of sub-pings are transmitted very rapidly and their results are averaged internally to form a
single Mode 12 ping. The number of sub-pings is determined by the x parameter. The y parameter sets the time between sub-pings in hundredths of a second.
This command is only available when the High Rate Ping feature is enabled. This command has
no effect unless the WM command is set to WM12.
WZ – Mode 5 Ambiguity Velocity
Purpose
Sets the minimum radial ambiguity for profiling Mode 5 (WM5), Mode 8 (WM8) and Mode
11 (WM11) Ambiguity Velocity.
Format
WZnnn
Range
nnn = 3 to 80 cm/s
Default
WZ010
Recommended Setting. The default setting for this command is recommended for most applications.
Description
Allows for very high resolution (small bins) with very low standard deviation.
The maximum value at which WM5 will work is related to bottom track depth. The larger
the WZ value, the shallower the water has to be.
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NOTES
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WorkHorse Commands and Output Data Format
WorkHorse Commands and Output Data Format
March 2014
Chapter
3
ADVANCED COMMANDS
In this chapter, you will learn:
•
Sound Velocity Smart Sensor Commands
•
Waves Commands
•
Lowered ADCP Commands
•
Ping Synchronization Commands
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WorkHorse Commands and Output Data Format
The following sections describe the advanced commands available for the WorkHorse ADCP series
ADCPs.
Sound Velocity Smart Sensor Commands
The ADCP uses these commands for Sound Velocity Smart Sensor (SVSS) applications.
Available Sound Velocity Smart Sensor Command
>d?
Available Commands:
DW
DB
DX
DY
DZ
DS
D?
0 -------------------411 ------------------------------------------------------------------------------------1495 0 --------------------------------------
Current ID on RS-485 Bus
RS-485 Port Control (Baud; N/U; N/U)
Set SVSS to RAW Mode
Set SVSS to REAL Mode
Get Single SCAN from SVSS
Load SpeedOfSound with SVSS Sample (BITResult)
Display SVSS Commands
>
Sound Velocity Smart Sensor Command
Descriptions
DB – RS-485 Port Control
Purpose
Format
Range
Change the communication parameters of the RS-485 bus.
DBxyz
x = 0 to 7 Baud Rate, See CB - Serial Port Control.
y =l to 5 Unused
z =l to 2 Unused
DB411
Default
Recommended Setting. Use as needed.
Description
This command changes the communication parameters of the RS-485 bus. Currently only
the Baud Rate is changed, but all parameters are still required. Set the baud rate to match
the CB command (see CB - Serial Port Control).
If the DB command is not set to the same baud rate as the CB command, than the
Master/Slave triggering is not reliable. When changing the DB command, confirm the change
by immediately following the DB change with a CK command (see CK command).
The DB command is not affected by the CR command once the CK command has been sent (see
CR – Retrieve Parameters).
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DS – Load SpeedOfSound with SVSS Sample (BIT Result)
Purpose
Load the SpeedOfSound variable with a single real scan from the SVSS.
Format
DS
Recommended Setting. Use as needed.
Description
This command loads the SpeedOfSound variable with a measured value from the SVSS, in a
manner similar to the manner the variable is loaded during deployment. The EZ command
must be issued prior to this command or the function will be bypassed. Set the EZ command to EZ3xxxxxx. The three enables communication with the SVSS. Upon successful
completion of the function call, the SpeedOfSound variable will contain the new value. Any
errors in the function will result in the BIT Result (Table 33) = xxxxxlxx xxxxxxxx which is
displayed after the value.
DW – Current ID on RS-485 Bus
Purpose
Change the device ID sent out before attempting to communicate.
Format
DWx
Range
x = 0 to 31
Default
DW0
Recommended Setting. Use as needed.
Description
This commands sets the RS-485 Bus ID and sends the ID out onto the bus with the parity
forced high. This wakes up the slave device for communications.
DX – Set SVSS to RAW Mode
Purpose
Set the SVSS to Raw mode.
Format
DX
Recommended Setting. Use as needed.
Description
This command sends “RA” out on the RS-485 bus. If the SVSS is listening, it will change its
data output mode to RAW. RAW data is columnar uncalibrated counts.
DY – Set SVSS to REAL Mode
Purpose
Set the SVSS to Real mode.
Format
DY
Recommended Setting. Use as needed.
Description
This command sends “RE” out on the RS-485 bus. If the SVSS is listening, it will change its
data output mode to REAL. REAL data is in units of m/s and the form XXXX.XX
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DZ – Get Single SCAN from SVSS
Purpose
This command gets a single scan of data from the SVSS.
Format
DZ
Recommended Setting. Use as needed.
Description
Page 100
This command sends “s” out on the RS-485 bus. If the SVSS is listening, it will respond (23ms later) with one scan of data. The data format will be determined by the last format
command (“DX” or “DY”) sent to the SVSS. The data will be echoed back by the ADCP.
WorkHorse Commands and Output Data Format
March 2014
Waves Commands
Waves is a feature upgrade for WorkHorse ADCPs (see Feature Upgrades).
Waves requires version 16.xx firmware to run. Water Modes WM5, WM11 & WM12 can be
used with WAVES modes. The caveat is that more than usual care must be taken in the set-ups.
For information on how to use the Waves commands, see the Waves User’s Guide.
Available Waves Commands
>h?
Available Commands:
HA
HB
HD
HF
HP
HR
HS
HT
HV
H?
255 ------------------05 -------------------111000000 ------------00000 ----------------0000 -----------------01:00:00.00 ----------001,010,021,022,023 --00:00:00.50 ----------001,010,021,022,023 -------------------------
Waves False Target Threshold (Fish Rejection)
Number of Automatically Choosen Bins (20 Max)
Waves Selected Data (Vel;Pres;Surf HPR;; ;;)
Waves Flow Ctrl (Res;Res;Res;Ser;Rec)
Number of Pings per Record
Time between Wave Bursts (hh:mm:ss.ff)
Bins selected for Directional wave data recording
Time between Wave Pings (hh:mm:ss.ff)
Bins selected for Velocity Spectrum data recording
Display Waves Menu Help
>
Waves Command Descriptions
HA – Waves False Target Threshold
Purpose
Sets a false target (fish) filter.
Format
HAnnn
Range
nnn = 0 to 255 counts (255 disables this filter)
Default
HA255
Recommended Setting. The default setting for this command is recommended for most applications.
Description
The ADCP uses the HA command to screen water-track data for false targets (usually fish).
HA sets the maximum difference between echo intensity readings among the four profiling
beams. If the HA threshold value is exceeded, the ADCP rejects velocity data on a cell-bycell basis for either the affected beam (fish detected in only one beam) or for the affected
cell in all four beams (fish detected in more than one beam). This usually occurs when fish
pass through one or more beams.
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WorkHorse Commands and Output Data Format
HB – Automatically Chosen Bins for Wave Processing
Purpose
Set the number of automatically chosen bins for doing Directional Wave Spectra.
Format
HBn
Range
n = 1 to 20 bins (n = 0 disables auto-bin selection)
Default
HB5
Recommended Setting. The default setting for this command is recommended for most applications.
Description
Bins are selected consecutively starting below the “contaminated area.” If more than three
bins are selected, and there are sufficient bins in the column, a mid column beam will be
selected. If more than four bins are selected, and there are sufficient bins in the column, the
first bin will be selected.
HD – Waves Data Out
Purpose
Select the data output in the Waves Packet Structure.
Format
HD abc def ghi
Range
abc def ghi can be 1 (On) or 0 (Off).
Default
HD 111 000 000
Recommended Setting. The default setting for this command is recommended for most applications.
Description
This command selects which data will be output in the waves packet data.
a – Velocity
b – Pressure
c – Surface Track
d – Heading, Pitch, and Roll
e-i – Reserved
HF – Waves Flow Control
Purpose
Sets various ADCP waves data flow-control parameters.
Format
HFnnnnn
Range
Firmware switches (Res;Res;Res;Ser;Rec) see Table 25
Default
HF22222
Recommended Setting. The default setting for this command is recommended for most applications.
Description
Page 102
The HF command is similar to the CF command (see CF - Flow Control). When the HF
command is HF22222 (default), it uses the same settings as the CF command. The HF and
CF commands control if the data goes to the recorder and/or to the serial port. This allows
you to output Waves data (packets) independently from the standard water current profiles.
WorkHorse Commands and Output Data Format
Table 25:
March 2014
Waves Flow Control
Command
Description
HFxxx22
Use the same settings as the CF command (default)
HFxxx1x
Enable Serial Output – Sends the currents and waves data ensemble out the RS-232/422 serial interface.
HFxxx0x
Disable Serial Output – No waves ensemble data are sent out the RS-232/422 interface.
HFxxxx1
Enable Data Recorder – Records waves data ensembles on the recorder (if installed).
HFxxxx0
Disable Data Recorder – No waves data ensembles are recorded on the recorder.
The default HF22222 will be displayed as HF00000 when a “HF?” command is run.
HP – Waves Pings per Wave Record
Purpose
Set the number of pings per wave record.
Format
HPn
Range
n = 0 to 8400
Default
HP0
Recommended Setting. Set using WavesMon.
Description
The command sets the number of pings collected per wave record (or burst). With this value set to zero, packets data collection is disabled.
HR – Time Between Wave Records
Purpose
Set the maximum interval between the start of each wave record.
Format
HR hh:mm:ss.xx
hh – hours
mm – minutes
ss – seconds
xx – hundredths of seconds
Range
00:00:00.00 – 23:59:59.99
Default
HR01:00:00.00
Recommended Setting. Set using WavesPlan.
Description
This command sets the maximum interval between the start of consecutive wave records. If
the number of pings per record * the time between pings is greater than the time between
wave records, than the previous wave record will complete before starting the next one.
HS – Bins for Directional Wave Spectrum
Purpose
Set the list of bins to use for directional wave spectrum data if the WorkHorse ADCP is not
selecting bins automatically.
Format
HS n1,n2…n20(Max)
Range
n? = 1 - # of Water Profiling Bins (WN).
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WorkHorse Commands and Output Data Format
Default
HS1, 10, 21, 22, 23
Recommended Setting. The default setting for this command is recommended for most applications.
Description
This command sets the bins to be used for directional wave spectrum processing if automatic bin selection is off. The list can contain a maximum of 20 bins. The limit of each element in the list is set by the number of current profiling bins being collected. This list is
completely separate from the Velocity Spectrum bin list, to allow the selection of different
bins for Directional Wave and Velocity Spectrum processing.
Example
If automatic bin selection is turned off (HB = 0), and the WorkHorse ADCP is collecting 50
bins of current profiling data, the highest single element in the list n1-n20 is limited to 50.
HT – Time Between Wave Record Pings
Purpose
Set the maximum interval between each wave ping.
Format
HT hh:mm:ss.xx
hh – hours
mm – minutes
ss – seconds
xx – hundredths of seconds
Range
00:00:00.10 (0.10 sec) – 00:01:00.00 (1 minute)
Default
HT00:00:00.50
Recommended Setting. Set using WavesPlan.
Description
This command sets the maximum interval between consecutive wave pings. If the number
of pings per record * the time between pings is greater than the time between wave records,
than the previous wave record will complete before starting the next one.
HV – Bins for Velocity Spectrum
Purpose
Set the list of bins to use for velocity spectrum data if the WorkHorse ADCP is not selecting
bins automatically.
Format
HV n1,n2…n20(Max)
Range
n? = 1 - # of Water Profiling Bins (WN).
Default
HV1, 10, 21, 22, 23
Recommended Setting. The default setting for this command is recommended for most applications.
Description
This command sets the bins to be used for velocity spectrum processing if automatic bin
selection is off. The list can contain a maximum of 20 bins. The limit of each element in the
list is set by the number of current profiling bins being collected. This list is complete separate from the Directional Wave Spectrum bin list, to allow the selection of different bins for
Directional Wave and Velocity Spectrum processing.
Example
If automatic bin selection is turned off (HB = 0), and the WorkHorse ADCP is collecting 50
bins of current profiling data, the highest single element in the list n1-n20 is limited to 50.
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Lowered ADCP Commands
A standard Workhorse ADCP with firmware version 16.30 or higher and LADCP/Surface Track/WM 15
feature upgrade installed has the capability to be set up as a Lowered ADCP (LADCP). The LADCP uses
one or two Workhorse ADCPs mounted on a rosette. The rosette is lowered through the water column
(one ADCP is looking up and the other is looking down). By lowering the ADCPs through the water column you can get an ocean profile that is greater in range than the systems combined. In a setup like this,
you would want both ADCPs to collect data at the same time, or synchronize their pinging. Please refer to
the LADCP User’s Guide.pdf (item 10a on TRDI’s website) for more details
Lowered ADCP is a feature upgrade for WorkHorse ADCPs (see Feature Upgrades).
Firmware Version 16.28 and lower
The Lowered ADCP feature cannot co-exist with other feature upgrades using firmware versions
prior to 16.30.
Using the L commands in place of the equivalent W commands turns on the LADCP feature.
The Lowered ADCP output data format will show up as Water-Profiling Mode 1 and Bottom-Track Mode
11 in the PD0 data. Bottom-Track Mode 5 will be ignored if the Lowered ADCP feature is used.
Firmware Version 16.30 and above
For firmware version 16.30 and above the Lowered ADCP feature is no longer a totally separate mode that
disables the 'W' menu. Using WM15 (see WM - Profiling Mode) turns on the LADCP feature and the 'W'
commands can be used to set parameters.
The 'L' menu has been left in place to minimize changes to customer script files.
The Lowered ADCP output data format will show up as Water-Profiling Mode 15 and Bottom-Track Mode
11 in the PD0 data. Bottom-Track Mode 5 will be ignored if the Lowered ADCP feature is used.
When the user sets WM15, the following commands are set to LADCP-appropriate values:
WB and LW change to 1
LP and WP change to 001
TP changes to 000100
TE changes to 00000100
Use the WE command (see WE - Error Velocity Threshold) to filter LADCP data based upon error
velocity.
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WorkHorse Commands and Output Data Format
Available Lowered ADCP Command
>l?
LA =
LC =
LD =
LF =
LJ =
LN =
LP =
LS =
LV =
LW =
LZ =
>
050 ----------------064 ----------------111 100 000 --------0044 ---------------1 ------------------030 ----------------00000 --------------0100 ---------------175 ----------------0 ------------------030,220 -------------
False Target Threshold (Max) (0-255 counts)
Correlation Threshold
Data Out (Vel;Cor;Amp PG;St;P0 P1;P2;P3)
Blank After Transmit (cm)
Rcvr Gain Select (0=Low,1=High)
Number of depth cells (1-128)
Pings per Ensemble (0-16384)
Depth Cell Size (cm)
Ambiguity Velocity (cm/s radial)
Band Width Control (0=Wid,1=Nar)
Amp, Corr Thresholds (0-255)
Lowered ADCP Command Descriptions
LA – LADCP False Target Threshold Maximum
Purpose
Sets a false target (fish) filter.
Format
LAnnn
Range
nnn = 0 to 255 counts (255 disables this filter)
Default
LA050
Recommended Setting. The default setting for this command is recommended for most applications.
Description
The ADCP uses the LA command to screen water-track data for false targets (usually fish).
LA sets the maximum difference between echo intensity readings among the four profiling
beams. If the LA threshold value is exceeded, the ADCP rejects velocity data on a cell-bycell basis for either the affected beam (fish detected in only one beam) or for the affected
cell in all four beams (fish detected in more than one beam). This usually occurs when fish
pass through one or more beams.
A LA command value of 255 turns off this feature.
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LC – LADCP Low Correlation Threshold
Purpose
Sets the minimum threshold of water-track data that must meet the correlation criteria.
Format
LCnnn
Range
nnn = 0 to 255 counts
Default
LC64
Recommended Setting. The default setting for this command is recommended for most applications.
Description
The ADCP uses LC to screen water-track data for the minimum acceptable correlation requirements. The nominal (maximum) correlation depends on system frequency and depth
cell size (WS). LC sets the threshold of the correlation below, which the ADCP flags the data
as bad and does not average the data into the ensemble.
The default threshold for all frequencies is 64 counts. A solid target would have a correlation of
255 counts.
LD – LADCP Data Out
Purpose
Selects the data types collected by the ADCP.
Format
LD abc def ghi
Range
Firmware switches (see description)
Default
LD 111 100 000
Recommended Setting. The default setting for this command is recommended for most applications.
Description
Example
LD uses firmware switches to tell the ADCP the types of data to collect. The ADCP always
collects header data, fixed/variable leader data, and checksum data. Setting a bit to 1 tells
the ADCP to collect that data type. The bits are described as follows:
a = Velocity
d = Percent good
g = Reserved
b = Correlation
e = Status
h = Reserved
c = Echo Intensity
f = Reserved
i = Reserved
LD 111 100 000 (default) tells the ADCP to collect velocity, correlation magnitude, echo
intensity, and percent good.
Each bit can have a value of one or zero; one means output data, zero means suppress data.
If the LP command is set to LP0 (zero), the ADCP does not collect water-profile data.
Spaces in the command line are allowed.
Status data is not used, as it does not mean anything.
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WorkHorse Commands and Output Data Format
LF – LADCP Blank after Transmit
Purpose
Moves the location of first depth cell away from the transducer head to allow the transmit
circuits time to recover before the receive cycle begins.
Format
LFnnnn
Range
nnnn = 0 to 9999 cm
Default
LF0704 (75 kHz), LF0176 (300 kHz), LF0088 (600 kHz), LF0044 (1200 kHz), LF0022
(2400 kHz)
Recommended Setting. The default setting for this command is recommended for most applications.
Description
LF positions the start of the first depth cell at some vertical distance from the transducer
head. This allows the ADCP transmit circuits time to recover before beginning the receive
cycle. In effect, LF blanks out bad data close to the transducer head, thus creating a depth
window that reduces unwanted data in the ensemble.
1. The distance to the middle of depth cell #1 is a function of blank after transmit (LF), depth cell
size (LS), and speed of sound. The fixed leader data contains this distance.
2. Small LF values may show ringing/recovery problems in the first depth cells that cannot be
screened by the ADCP.
LJ – Receiver Gain Select
Purpose
Allows the ADCP to reduce receiver gain by 40 dB.
Format
LJn
Range
n = 0 (low), 1 (high)
Default
LJ1
Recommended Setting. The default setting for this command is recommended for most applications.
Description
LJ0 tells the ADCP to reduce receiver gain by 40 dB. This may increase data reliability in
shallow-water applications where there is a high content of backscatter material. LJ1 (the
default) uses the normal receiver gain.
LN – Number of Depth Cells
Purpose
Sets the number of depth cells over which the ADCP collects data.
Format
LNnnn
Range
nnn = 001 to 128 depth cells
Default
LN030
Recommended Setting. Set using WinSC.
Description
Page 108
The range of the ADCP is set by the number of depth cells (LN) times the size of each depth
cell (LS).
WorkHorse Commands and Output Data Format
March 2014
LP – Pings per Ensemble
Purpose
Sets the number of pings to average in each data ensemble.
Format
LPnnnnn
Range
nnnnn = 0 to 16384 pings
Default
LP00001
Recommended Setting. Set using WinSC.
Description
LP sets the number of pings to average in each ensemble before sending/recording the
data.
1. If LP = zero the ADCP does not collect water-profile data.
2. The ADCP automatically extends the ensemble interval (TE) if LP x TP > TE.
LS – Depth Cell Size
Purpose
Selects the volume of water for one measurement cell.
Format
LSnnnn
Range
nnnn = See Table 26.
Default
See Table 26.
Recommended Setting. Set using WinSC.
Table 26:
Lowered ADCP Depth Cell Size
300kHz
600kHz
1200kHz
2400kHz
Range
20 to 1600 cm
10 to 800 cm
5 to 400 cm
5 to 200 cm
Default
LS0400
LS0200
LS0100
LS0050
Description
The ADCP collects data over a variable number of depth cells. LS sets the size of each cell in
vertical centimeters.
If you set LS to a value less than its minimum value or greater than its maximum value, the
ADCP will accept the entry, but uses the appropriate minimum or maximum value. For example,
if you enter LS1 for a 300kHz system, the ADCP uses a value of 20 cm for LS. Similarly, if you
enter LS5000 for a 600kHz system, the ADCP uses a value of 800 cm for the LS command.
LV – Ambiguity Velocity
Purpose
Sets the radial ambiguity velocity.
Format
LVnnn
Range
nnn = 002 to 700 cm/s
Default
LV175
Recommended Setting. The default setting for this command is recommended for most applications.
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WorkHorse Commands and Output Data Format
Description
Set LV as low as possible to attain maximum performance, but not too low or ambiguity
errors will occur. Rule of thumb: Set LV to the maximum relative horizontal velocity between water-current speed and ADCP speed.
Example
If the maximum expected ADCP velocity (vessel velocity) is 250 cm/s (»5 kt) and the maximum expected horizontal water velocity is 100 cm/s, set LV to 350 cm/s.
Note that the minimum setting of the LV command is LV002 and the maximum setting due to
internal processing limitations is limited based on the setting of the bandwidth command, LW.
LV is limited to 330 cm/s in Narrow bandwidth mode (LW1), which increases the profiling range
by 10% compared to Broad bandwidth mode (LW0).
When the LW command is set to LW0, the max value is LV700.
In either case, while you can set a value as low as 2 cm/s, this will likely cause ambiguity errors.
TRDI recommends setting LV to ≥ 100cm/s for most applications.
LW – Bandwidth Control
Purpose
The LW commands sets the profiling bandwidth (sampling rate). Smaller bandwidths allow
the ADCP to profile farther, but the standard deviation is increased by as much as 2.5
times.
Format
LWn
Range
n = 0 (Wide), 1 (Narrow)
Default
LW1
Recommended Setting. The default setting for this command is recommended for most applications.
Description
Table 27:
See Table 27.
Bandwidth Control
Bandwidth
Sample rate
Data variance
Profiling range
0 = Wide (25%)
High
Low
Low
1 = Narrow (6.25%)
Low
High
High
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LZ – LADCP Amplitude and Correlation Thresholds
Purpose
Sets the minimum correlation magnitude and threshold for good bottom-track data.
Format
LZaaa,ccc
Range
aaa = bottom detection threshold (0 to 255 counts)
ccc = correlation magnitude (1 to 255 counts)
Default
LZ030,220
Recommended Setting. The default setting for this command is recommended for most applications.
Description
LZ sets the minimum amplitude of an internal bottom-track filter that determines bottom
detection. Reducing LZ increases the bottom-track detection range, but also may increase
the possibility of false bottom detections.
The LZ command also sets the minimum threshold for good bottom-track data. The ADCP
flags as bad any bottom-track data with a correlation magnitude less than this value. A
count value of 255 is a perfect correlation (i.e. solid target).
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WorkHorse Commands and Output Data Format
Ping Synchronization Commands
The Teledyne RD Instruments Sleepy Sensor Synchronization (TRDS3) protocol allows a WorkHorse
ADCP to synchronize measurements with another ADCP or any other instrument that adheres to the
RDS3 specification.
Available Ping Synchronization Commands
>s?
SA =
SB =
SI =
SM =
SS =
ST =
SW =
>
001 ----------------1 ------------------00000 --------------0 ------------------0 ------------------00000 --------------00000 ---------------
Synch Before/After Ping/Ensemble Bottom/Water/Both
Channel B Break Interrupts are Enabled
Synch Interval (0-65535)
Mode Select (0=OFF,1=MASTER,2=SLAVE,3=NEMO)
RDS3 Sleep Mode (0=No Sleep)
Slave Timeout (seconds,0=indefinite)
Synch Delay (1/10 msec)
To see the S commands as listed above, the Experton command must be used (see Expert
Mode).
Ping Synchronization Command Descriptions
SA – Synchronize Before/After Ping/Ensemble
Purpose
Sets the rough timing of the synchronization pulse.
Format
SAxyz
Range
x = 0, 1
y = 0, 1
z = 0, 1, 2
SA001
Default
Recommended Setting. Special applications only.
This command has no effect unless SM = 1 or 2.
Description
Table 28:
Parameter
SA000
SA001
SA002
SA100
SA101
SA102
SA01X
SA11X
Page 112
Use the SA command to set the rough timing of the synchronization pulse. The first parameter determines whether the Master (or Slave) will send (or wait for) a synchronization
pulse before or after the conditions set in parameters y and z. If the second parameter is set
to Ping, the third parameter determines what kind of ping to synchronize on. If parameter
y is set to Ensemble, the third parameter is ignored (but must still be entered).
Synchronization Parameters
Description
Send (wait for) pulse before a bottom ping.
Send (wait for) pulse before a water ping.
Send (wait for) pulse before both pings
Send (wait for) pulse after a bottom ping.
Send (wait for) pulse after a water ping.
Send (wait for) pulse after both pings.
Send (wait for) pulse before ensemble.
Send (wait for) pulse after ensemble.
WorkHorse Commands and Output Data Format
March 2014
SB – Channel B Break Interrupt Mode
Purpose
Allows the ADCP to ignore a <Break> on the Channel B RS-422 lines.
Format
SBx
Range
x = 0 (disable hardware-break detection on Channel B)
x = 1 (enable hardware-break detection on Channel B)
Default
SB1
Description
Set SB0 to prevent noise from being processed as a <Break> on the RS-422 lines. This
command is used when another system is connected to the ADCP over the RS-422 lines. In
this configuration, disconnecting or connecting the other system can cause the ADCP to interpret this as a <Break> over Channel B. A break will cause the ADCP to stop pinging and
the deployment will be interrupted.
To set the SB command to SB0, do the following.
1.
Send SB0.
2. Immediately following the SB0 command, send a Break (see Break).
3. The SB0 command is now in effect and the ADCP will ignore potential <Breaks> on
the Channel B RS-422 lines.
Use SB0 only when the ADCP does not conserve power (i.e. go to sleep) between samples (see
CL - Battery Saver Mode and SS - RDS3 Sleep Mode).
When changing the SB command, confirm the change by immediately following the SB change
with a BREAK (see Break).
The SB command must be set to SB0 to use the Master/Slave setup.
The SB command is not affected by the CR command.
The SB command is available in firmware versions 16.30 and higher.
SI – Synchronization Interval
Purpose
Sets how many pings/ensembles to wait before sending the next synchronization pulse.
Format
SInnnnn
Range
nnnnn = 0 to 65535
Default
SI0
Recommended Setting. Special applications only.
Description
Use the SI command to set how many pings/ensembles (depending on the SA command) to
wait before sending the next synchronization pulse.
This command has no effect unless SM = 1
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WorkHorse Commands and Output Data Format
SM – RDS3 Mode Select
Purpose
Sets the RDS3 Mode.
Format
SMn
Range
n = 0 (Off), 1 (RDS3 Master), 2 (RDS3 Slave), 3 (NEMO)
Default
SM0
Recommended Setting. Special applications only.
Description
SM sets the RDS3 Mode. SM0 turns off the RDS3 mode and disables all other commands
on this menu. SM1 sets the RDS3 Master mode and enables the SA, SI, SS, and SW
commands. SM2 sets the RDS3 Slave mode and enables the SA, SS, and ST commands.
SM3 sets the NEMO Mode and enables the SW command.
When the SM command is used, the communication switch on the ADCP’s PIO board must be in
the RS232 position.
SS – RDS3 Sleep Mode
Purpose
Sets the RDS3 Sleep Mode.
Format
SSx
Range
x = 0, 1 (0 = No Sleep, 1 = Sleep)
Default
SS0
Recommended Setting. The default setting for this command is recommended for most applications.
Description
This command sets the RDS3 Sleep Mode. When x is set to No Sleep, the instrument remains awake while waiting for the next ping time (or synchronization pulse) in a loop.
When x is set to Sleep, the instrument sleeps between pings (or synchronization pulses.)
There are limitations to using the Sleep Mode. A TRDI WorkHorse ADCP, set up as a slave,
can only synchronize to within 2.5 ms of the Master. When the Slave is in No Sleep Mode,
the slave can ping to within 500 microseconds of the master. The benefits of power saving
cost are synchronization accuracy.
Table 29:
Sleep Mode Parameters
Parameter
Description
SS0
Wait between pings (synchronization pulses) in a loop.
SS1
Wait between pings (synchronization pulses) in a sleep state.
This command has no effect unless SM = 1 or 2
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ST – Slave Timeout
Purpose
Sets the amount of time a slave will wait to hear a synch pulse before proceeding on its
own.
Format
STn
Range
n = 0 to 10800 seconds
Default
ST0
Recommended Setting. Special applications only.
Description
ST sets the amount of time a slave will wait to hear a synch pulse before proceeding on its
own. If a slave times out, it will automatically ping according to the CF, TP, TE, WP, and BP
command settings. This is a fail-safe mechanism designed to allow the slave to proceed on
its own should communications with the master ADCP fail. Setting ST = 0 tells the slave to
wait indefinitely.
This command has no effect unless SM = 2
SW – Synchronization Delay
Purpose
Sets the amount of time to wait after sending the pulse.
Format
SWn
Range
n = 0 to 65535 (units of 0.1 milliseconds)
Default
SW00075
Recommended Setting. The default setting for this command is recommended for most applications.
Description
Use the SW command to set the amount of time to wait after sending the pulse before proceeding. For example, setting the SW command to SW20000 will add a delay of 2 seconds.
This allows precise timing of measurements.
When a Master attempts to ping a slave ADCP, it sends out a pulse to the slave ADCP. The
slave ADCP has a different code path than the Master ADCP and thus, they will take different amounts of time to start the ping. By adding in the default Master Delay of 7.5 ms, the
code paths are evened up to allow the units to start the pings at about the same time (typically within 100 microseconds of each other).
This command has no effect unless SM = 1 or 3
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WorkHorse Commands and Output Data Format
Example Master/Slave Setup
To set the Master/Slave:
1.
Connect the master and slave ADCPs to two PC comports via a master/slave cable.
2. Apply power to the ADCPs.
3. Establish RS-232 communications between BBTalk and the master and slave ADCPs.
4. Set both the master and slave ADCP to the same baud rate (see Note 1).
5. Send a BREAK to the master ADCP.
6. Verify that the master ADCP outputs the RS-232 banner (see Note 2).
7. Send a CR1 and CK command to the master ADCP.
8. Send a BREAK to the slave ADCP.
9. Verify that the slave ADCP outputs the RS-232 banner.
10. Send a CR1 and CK to the slave ADCP.
11. Send the configuration commands to the master ADCP, omitting the CS command to start sampling.
12. Send the configuration commands to the slave ADCP including the CS command to start sampling.
13. Now send the CS command to the master ADCP.
The master samples, and triggers the slave, which samples. This continues until the power is not
available, or the user or some other force intervenes.
To terminate data collection:
1.
Send a BREAK to the master ADCP (see note 2).
2. Verify that the master ADCP outputs the RS-232 banner (see note 2).
3. Send a CZ command to the master ADCP.
4. Send a BREAK to the slave ADCP.
5. Verify that the slave ADCP outputs the RS-232 banner (see note 2).
6. Send the CZ command to the slave ADCP.
1. The master and slave ADCP must use the same baud rate. Baud rate options depend on
whether the master and slave ADCP are allowed to go to low power mode between samples.
When the master and slave cannot go to low power mode between samples, the user can select
all baud rates less than 115200 (i.e. one can use 1200, 2400, 4800, 9600, 19200, 38400, or
57600 baud).
When the master and slave ADCP can go to low power mode between samples, the user can
select 1200, 2400, 4800, or 9600 baud.
2. The master slave cable connects the units via an RS-485 bus so the master ADCP can trigger
the slave ADCP to sample. The RS-485 bus can alternately be used for RS-422 communications.
However, during initialization, when the master ADCP receives a BREAK and outputs the
wakeup banner, it also may cause the slave ADCP to output an incomplete banner. When this
occurs, send additional BREAKs to the master ADCP until the slave ADCP outputs a full RS-422
banner.
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Example Wakeup Banners
RS232 Banner
[BREAK Wakeup A]
WorkHorse Broadband ADCP Version 16.30
Teledyne RD Instruments (c) 1996-2007
All Rights Reserved.
>
RS422 Banner
[BREAK Wakeup B]
WorkHorse Broadband ADCP Version 16.30
Teledyne RD Instruments (c) 1996-2007
All Rights Reserved.
>
Incomplete Banner
[BR
Page 117
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NOTES
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WorkHorse Commands and Output Data Format
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Chapter
4
OUTPUT DATA FORMAT
In this chapter, you will learn:
•
Choosing a Data Format
•
PD0 Output Data Format
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WorkHorse Commands and Output Data Format
This section shows the output data format of the WorkHorse ADCP (including the Monitor/Sentinel,
Quartermaster, and Long Ranger). WorkHorse ADCP output data can be in either binary or hexadecimal-ASCII format. You can select this option through the CF command (see the CF - Flow Control). We
explain the output data formats in enough detail to let you create your own data processing or analysis
programs (see How to Decode an ADCP Ensemble).
Choosing a Data Format
The WorkHorse ADCP can output data in several user selectable formats using the PD command (see PD Data Stream Select). Depending on the output format selected, data will be either binary or ASCII text.
Binary Output Data Format
Use the binary format (CFxx1xx) when recording/processing WorkHorse ADCP data on an external device. The binary format uses less storage space and has a faster transmission time than the Hex ASCII
format. A dumb terminal is of little use in binary format because the terminal interprets some of the data
as control characters.
All of TRDI’s software supports binary PD0 formatted data only.
Hexadecimal-ASCII Output Data
Use the hexadecimal-ASCII (Hex ASCII) format (CFxx2xx) when you are viewing raw WorkHorse ADCP
data on a computer/dumb terminal. This format uses the standard ASCII codes for 0 through F to represent numeric values as hexadecimal digits. Other standard ASCII characters (text) and control commands
(carriage return, line feed, end of file, etc.) are interpreted normally. In the Hex ASCII mode, the ADCP
sends data in one line of ASCII characters. There are no carriage returns and/or line feed sequences
(CR/LF) sent from the ADCP. The CRT provides a CR/LF after 60 characters.
Hex ASCII PD0 data is not supported by TRDI’s software.
Individual parameters within a data string may be enabled / disabled. All binary output formats have the
option of outputting data in HEX-ASCII instead of true binary using the CF command (see CF - Flow Control). HEX-ASCII is an ASCII representation of the binary data. Binary output formats include PD0, 3, 4,
5 and 10. Text output formats include PD6, 8, and 9.
Deciding on which format to use depends on the needs of the deployment. The following describes 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, ADCP setup, orientation,
heading, pitch, roll, temperature, pressure, and self-test diagnostic results. Data fields to be output
are user selectable.
•
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
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earth. Each sentence contains a unique starting delimiter and comma delimited fields. If PD6 is selected, there is no data written to the recorder.
•
PD8 – PD8 outputs ensemble data as formatted text. A new-line character terminates each line. Two
new-line characters terminate an ensemble. PD8 data is only for serial output; the ADCP will output
PD8 ASCII data out the serial port and record PD0 data to the recorder card (if enabled).
•
PD9 – PD9 is a water-profiling format meant to collect data in earth coordinates and formatted for
easy parsing. All fields are fixed width, comma separated, and either zero or space padded. If PD9 is
selected, there is no data written to the recorder.
•
PD10 – PD10 is similar to PD3 but with the addition of pressure and depth fields. If PD10 is selected,
there is no data written to the recorder.
Special Application Output Formats
•
PD12 – is suitable for use in applications where communications bandwidth is an issue, such as
acoustic modems and radio modems.
•
PD15 – is for use with NDBC satellite data links.
•
PD16 and PD18 – are for use with Sea-Bird acoustic modems.
The following table is a summary of the type of data outputted by PD0 through PD10 data output formats.
Note that this is not an exhaustive list and it is advised to check out the full description of a format before
choosing it above another.
Table 30:
Summary of Output Data Formats
PD0
PD3
PD4
PD5


PD6
PD8
















PD9
PD10
PD12
PD15
















System Info

Temperature

Depth

Tilts (H,P,R)


Time of Ping


Speed of Sound

Water Profile Configuration

Water Profile Velocities


Correlation Magnitude



Echo Intensity



Percent Good

Bottom Range







Bottom Velocity (SOG*)







Water-Mass Layer Velocity (STW*)







Bottom Track Configuration




PD18











Distance Over Ground

Sea-Bird
Binary
PD16




ASCII







NMEA
Serial Output
Recorded on PC Card













PD0
None
PD4
PD5
None
PD0
None
None
PD0
PD0
PD0
PD0
*SOG = Speed Over Ground
*STW = Speed Through Water
Page 121
March 2014
WorkHorse Commands and Output Data Format
PD0 Output Data Format
The following description is for the standard PD0 WorkHorse ADCP output data format. Figure 8 through
Figure 15 shows the ASCII and binary data formats for the WorkHorse ADCP PD0 mode. Table 31
through Table 41 defines each field in the output data structure.
The binary output data formats are composed of at least one data type, i.e. a group of bytes all related by
their dynamic or field. For instance in the PD0 data format, variables that do not change during the deployment are stored in the Fixed Leader data type of leader ID 0000h, whereas the dynamic variables,
except velocities, which dynamically change during the deployment are stored under the Variable Leader
data type of leader ID 8000h. This distinction is based on the dynamic; other distinctions are present
such as velocity types such as data type of leader ID 0001h which groups all the Water Profile Velocity
data and leader ID 0006h stores all Bottom Track Velocity data. The WorkHorse ADCP sends all the data
for a given type for all depth cells and all beams before the next data type begins.
The advantage of using the leader ID is that one can simply scan for them as the binary data is received in
real time on the serial lines and then use the output data format description table to jump directly to the
desired data. The PD0 Header ID is 7F7Fh, which makes it easy to detect. In the PD0 Header are the
number of bytes in the ensemble, the number of data types and the offset respective to each data type location in the binary ensemble. This gives you the choice between jumping down to the data type using the
offsets or detecting the data type ID after you have detected the header ID.
PD0 is the only binary output data format which provides a Header that describes the data included in the
ensemble since some data types presence in the PD0 output are dependent on commands parameters. For
example, if the number of Bottom Track pings is 0 (BP0), then there will be no Bottom track data type in
the ensemble. The table below shows which data types are always output against command dependable
data types:
HEADER
(6 BYTES + [2 x No. OF DATA TYPES])
FIXED LEADER DATA
(59 BYTES)
VARIABLE LEADER DATA
(65 BYTES)
VELOCITY
(2 BYTES + 8 BYTES PER DEPTH CELL)
CORRELATION MAGNITUDE
(2 BYTES + 4 BYTES PER DEPTH CELL)
ECHO INTENSITY
(2 BYTES + 4 BYTES PER DEPTH CELL)
PERCENT GOOD
(2 BYTES + 4 BYTES PER DEPTH CELL)
STATUS
(2 BYTES + 4 BYTES PER DEPTH CELL)
BOTTOM TRACK DATA
(85 BYTES)
RESERVED
(2 BYTES)
CHECKSUM
(2 BYTES)
ALWAYS OUTPUT
WD command
WP command
BP command
ALWAYS OUTPUT
Figure 7.
Page 122
PD0 Standard Output Data Buffer Format
WorkHorse Commands and Output Data Format
March 2014
Some data outputs are in bytes per depth cell. For example, if the WN command (number of depth cells) =
30 (default), WD command = WD 111 100 000 (default), WP command > 0, BP command > 0, the required data buffer storage space is 841 bytes per ensemble.
There are seven data types output for this example: Fixed Leader, Variable Leader, Velocity, Correlation
Magnitude, Echo Intensity, Percent Good, and Bottom Track.
20
59
65
242
122
122
122
85
2
2
841
BYTES
BYTES
BYTES
BYTES
BYTES
BYTES
BYTES
BYTES
BYTES
BYTES
BYTES
OF
OF
OF
OF
OF
OF
OF
OF
OF
OF
OF
HEADER DATA (6 + [2 x 7 Data Types])
FIXED LEADER DATA (FIXED)
VARIABLE LEADER DATA (FIXED)
VELOCITY DATA (2 + 8 x 30)
CORRELATION MAGNITUDE DATA (2 + 4 x 30)
ECHO INTENSITY (2 + 4 x 30)
PERCENT-GOOD DATA (2 + 4 x 30)
BOTTOM TRACK DATA (FIXED)
RESERVED FOR TRDI USE (FIXED)
CHECKSUM DATA (FIXED)
DATA PER ENSEMBLE
WinRiver II and VmDas may add additional bytes.
For example, WinRiver II does not add any bytes to the Bottom Track data, but does insert data
in place of other bytes. The Navigation NMEA strings (up to 275 bytes) are stored in the *r.000
raw data between the Bottom Track data and the Reserved/Checksum data. WinRiver II output
data format is described in the WinRiver II User's Guide.
VmDas adds 78 bytes of Navigation data between the Bottom Track data and the
Reserved/Checksum data. The ENR file (raw data from the ADCP) does not have these bytes,
only the ENS, ENX, STA and LTA files. VmDas output data format is described in the VmDas
User's Guide.
Page 123
March 2014
WorkHorse Commands and Output Data Format
Header Data Format
BIT POSITIONS
BYTE
7
6
5
4
3
1
HEADER ID (7Fh)
2
DATA SOURCE ID (7Fh)
3
4
NUMBER OF BYTES IN ENSEMBLE
5
SPARE
6
NUMBER OF DATA TYPES
7
8
9
10
11
12
↓
2N+5
2N+6
2
OFFSET FOR DATA TYPE #1
OFFSET FOR DATA TYPE #2
OFFSET FOR DATA TYPE #3
0
LSB
MSB
LSB
MSB
LSB
MSB
LSB
MSB
(SEQUENCE CONTINUES FOR UP TO N DATA TYPES)
OFFSET FOR DATA TYPE #N
See Table 31 for a description of the fields.
Figure 8.
Page 124
1
Header Data Format
↓
LSB
MSB
WorkHorse Commands and Output Data Format
March 2014
Header information is the first item sent by the ADCP to the output buffer. The WorkHorse ADCP always
sends the Least Significant Byte (LSB) first.
Table 31:
Header Data Format
Hex Digit
Binary Byte
Field
Description
1,2
1
HDR ID / Header ID
Stores the header identification byte (7Fh).
3,4
2
HDR ID / Data
Source ID
Stores the data source identification byte (7Fh for the WorkHorse ADCP).
5-8
3,4
Bytes / Number of
bytes in ensemble
This field contains the number of bytes from the start of the current ensemble up to, but
not including, the 2-byte checksum (Figure 15).
9,10
5
Spare
Undefined.
11,12
6
No. DT / Number
of Data Types
This field contains the number of data types selected for collection. By default,
fixed/variable leader, velocity, correlation magnitude, echo intensity, and percent good are
selected for collection. This field will therefore have a value of six (4 data types + 2 for the
Fixed/Variable Leader data).
13-16
7,8
Address Offset for
Data Type #1 /
Offset for Data
Type #1
This field contains the internal memory address offset where the WorkHorse ADCP will
store information for data type #1 (with this firmware, always the Fixed Leader). Adding
“1” to this offset number gives the absolute Binary Byte number in the ensemble where
Data Type #1 begins (the first byte of the ensemble is Binary Byte #1).
17-20
9,10
Address Offset for
Data Type #2 /
Offset for Data
Type #2
This field contains the internal memory address offset where the WorkHorse ADCP will
store information for data type #2 (with this firmware, always the Variable Leader). Adding
“1” to this offset number gives the absolute Binary Byte number in the ensemble where
Data Type #2 begins (the first byte of the ensemble is Binary Byte #1).
21-24 thru
2n+13 to
2n+16
11,12 thru
2n+5, 2n+6
Address Offsets for
Data Types #3-n /
Offset for Data
Type #3 through
#n
These fields contain internal memory address offset where the WorkHorse ADCP will store
information for data type #3 through data type #n. Adding “1” to this offset number gives
the absolute Binary Byte number in the ensemble where Data Types #3-n begin (first byte
of ensemble is Binary Byte) #1).
Page 125
March 2014
WorkHorse Commands and Output Data Format
Fixed Leader Data Format
BIT POSITIONS
BYTE
1
7
6
5
4
3
FIXED LEADER ID
2
CPU F/W VER.
4
CPU F/W REV.
6
SYSTEM CONFIGURATION
7
REAL/SIM FLAG
8
LAG LENGTH
9
NUMBER OF BEAMS
10
NUMBER OF CELLS {WN}
11
12
13
14
15
16
PINGS PER ENSEMBLE {WP}
DEPTH CELL LENGTH {WS}
BLANK AFTER TRANSMIT {WF}
17
PROFILING MODE {WM}
18
LOW CORR THRESH {WC}
19
NO. CODE REPS
20
%GD MINIMUM {WG}
21
22
ERROR VELOCITY MAXIMUM {WE}
23
TPP MINUTES
24
TPP SECONDS
25
TPP HUNDREDTHS {TP}
26
COORDINATE TRANSFORM {EX}
27
HEADING ALIGNMENT {EA}
28
29
30
HEADING BIAS {EB}
SENSOR SOURCE {EZ}
32
SENSORS AVAILABLE
34
35
36
Page 126
0
LSB 00h
LSB
MSB
LSB
MSB
LSB
MSB
LSB
MSB
LSB
MSB
LSB
MSB
31
33
1
MSB 00h
3
5
2
LSB
MSB
BIN 1 DISTANCE
XMIT PULSE LENGTH BASED ON {WT}
LSB
MSB
WorkHorse Commands and Output Data Format
March 2014
BIT POSITIONS
BYTE
37
38
7
6
5
4
3
2
(starting cell) WP REF LAYER AVERAGE {WL} (ending cell)
39
FALSE TARGET THRESH {WA}
40
SPARE
41
TRANSMIT LAG DISTANCE
42
43
↓
1
0
LSB
MSB
LSB
MSB
LSB
CPU BOARD SERIAL NUMBER
50
↓
MSB
51
SYSTEM BANDWIDTH {WB}
52
53
SYSTEM POWER {CQ}
54
SPARE
LSB
MSB
55
↓
INSTRUMENT SERIAL NUMBER
58
59
BEAM ANGLE
See Table 32 for a description of the fields
Figure 9.
Fixed Leader Data Format
Page 127
March 2014
WorkHorse Commands and Output Data Format
Fixed Leader data refers to the non-dynamic WorkHorse ADCP data that only changes when you change
certain commands. Fixed Leader data also contain hardware information. The WorkHorse ADCP always
sends Fixed Leader data as output data (LSBs first).
Table 32:
Fixed Leader Data Format
Hex Digit
Binary Byte
Field
Description
1-4
1,2
FID / Fixed Leader
ID
Stores the Fixed Leader identification word (00 00h).
5,6
3
fv / CPU F/W Ver.
Contains the version number of the CPU firmware.
7,8
4
fr / CPU F/W Rev.
Contains the revision number of the CPU firmware.
9-12
5,6
Sys Cfg / System
Configuration
This field defines the WorkHorse ADCP hardware configuration. Convert this field (2 bytes,
LSB first) to binary and interpret as follows.
LSB
BITS
MSB
BITS
7
0
1
7
0
0
1
6
1
1
1
6
0
1
5
0
0
1
5
0
0
1
-
4
0
1
0
-
3
0
1
-
2
0
0
0
0
1
1
-
4
0
1
1
3
-
2
-
1
0
0
1
1
-
1
0
0
1
1
0
0
0
0
1
0
1
-
0
0
1
0
1
0
1
-
75-kHz SYSTEM
150-kHz SYSTEM
300-kHz SYSTEM
600-kHz SYSTEM
1200-kHz SYSTEM
2400-kHz SYSTEM
CONCAVE BEAM PAT.
CONVEX BEAM PAT.
SENSOR CONFIG #1
SENSOR CONFIG #2
SENSOR CONFIG #3
XDCR HD NOT ATT.
XDCR HD ATTACHED
DOWN FACING BEAM
UP-FACING BEAM
15E BEAM ANGLE
20E BEAM ANGLE
30E BEAM ANGLE
OTHER BEAM ANGLE
4-BEAM JANUS CONFIG
5-BM JANUS CFIG DEMOD)
5-BM JANUS CFIG.(2 DEMD)
Example: Hex 5249 (i.e., hex 49 followed by hex 52) identifies a 150-kHz system, convex
beam pattern, down-facing, 30E beam angle, 5 beams (3 demods).
13,14
7
PD / Real/Sim Flag
This field is set by default as real data (0).
15,16
8
Lag Length
Lag Length. The lag is the time period between sound pulses. This is varied, and therefore
of interest in, at a minimum, for the WM5, WM8 and WM11 and BM7 commands.
17,18
9
#Bm / Number of
Beams
Contains the number of beams used to calculate velocity data (not physical beams). The
WorkHorse ADCP needs only three beams to calculate water-current velocities. The fourth
beam provides an error velocity that determines data validity. If only three beams are
available, the WorkHorse ADCP does not make this validity check. Table 37 (Percent-Good
Data Format) has more information.
19,20
10
WN / Number of
Cells
Contains the number of depth cells over which the WorkHorse ADCP collects data (WN
command).
Scaling: LSD = 1 depth cell; Range = 1 to 255 depth cells
21-24
11,12
WP / Pings Per
Ensemble
Contains the number of pings averaged together during a data ensemble (WP command).
If WP = 0, the WorkHorse ADCP does not collect the WD water-profile data. Note: The
WorkHorse ADCP automatically extends the ensemble interval (TE) if the product of WP
and time per ping (TP) is greater than TE (i.e., if WP x TP > TE).
Scaling: LSD = 1 ping; Range = 0 to 16,384 pings
25-28
Page 128
13,14
WS / Depth Cell
Length
Contains the length of one depth cell (WS command).
Scaling: LSD = 1 centimeter; Range = 1 to 6400 cm (210 feet)
WorkHorse Commands and Output Data Format
Table 32:
March 2014
Fixed Leader Data Format
Hex Digit
Binary Byte
Field
Description
29-32
15,16
WF / Blank after
Transmit
Contains the blanking distance used by the WorkHorse ADCP to allow the transmit circuits
time to recover before the receive cycle begins (WF command).
Scaling: LSD = 1 centimeter; Range = 0 to 9999 cm (328 feet)
33,34
17
Signal Processing
Mode
Contains the Signal Processing Mode. This field will always be set to 1.
35,36
18
WC / Low Corr
Thresh
Contains the minimum threshold of correlation that water-profile data can have to be
considered good data (WC command).
Scaling: LSD = 1 count; Range = 0 to 255 counts
37,38
19
cr# / No. code reps
Contains the number of code repetitions in the transmit pulse.
Scaling: LSD = 1 count; Range = 0 to 255 counts
39,40
20
WG / %Gd Minimum
Contains the minimum percentage of water-profiling pings in an ensemble that must be
considered good to output velocity data.
Scaling: LSD = 1 percent; Range = 1 to 100 percent
41-44
21,22
WE / Error Velocity
Threshold
This field, initially set by the WE command, contains the actual threshold value used to
flag water-current data as good or bad. If the error velocity value exceeds this threshold,
the WorkHorse ADCP flags all four beams of the affected bin as bad.
Scaling: LSD = 1 mm/s; Range = 0 to 5000 mm/s
45,46
23
Minutes
47,48
24
Seconds
49,50
25
Hundredths
51,52
26
EX / Coord Transform
53-56
27,28
EA / Heading
Alignment
57-60
29,30
EB / Heading Bias
These fields, set by the TP command, contain the amount of time between ping groups in
the ensemble. NOTE: The WorkHorse ADCP automatically extends the ensemble interval
(set by TE) if (WP x TP > TE).
Contains the coordinate transformation processing parameters (EX command). These
firmware switches indicate how the WorkHorse ADCP collected data.
xxx00xxx = NO TRANSFORMATION (BEAM COORDINATES)
xxx01xxx = INSTRUMENT COORDINATES
xxx10xxx = SHIP COORDINATES
xxx11xxx = EARTH COORDINATES
xxxxx1xx = TILTS (PITCH AND ROLL) USED IN SHIP
OR EARTH TRANSFORMATION
xxxxxx1x = 3-BEAM SOLUTION USED IF ONE BEAM IS
BELOW THE CORRELATION THRESHOLD SET
BY THE WC command
xxxxxxx1 = BIN MAPPING USED
Contains a correction factor for physical heading misalignment (EA command).
Scaling: LSD = 0.01 degree; Range = -179.99 to 180.00 degrees
Contains a correction factor for electrical/magnetic heading bias (EB command).
Scaling: LSD = 0.01 degree; Range = -179.99 to 180.00 degrees
Page 129
March 2014
WorkHorse Commands and Output Data Format
Table 32:
Fixed Leader Data Format
Hex Digit
Binary Byte
Field
Description
61,62
31
EZ / Sensor Source
Contains the selected source of environmental sensor data (EZ command). These firmware
switches indicate the following.
FIELD
DESCRIPTION
x1xxxxxx = CALCULATES EC (SPEED OF SOUND) FROM
ED, ES, AND ET
xx1xxxxx = USES ED FROM DEPTH SENSOR
xxx1xxxx = USES EH FROM TRANSDUCER HEADING
SENSOR
xxxx1xxx = USES EP FROM TRANSDUCER PITCH SENSOR
xxxxx1xx = USES ER FROM TRANSDUCER ROLL SENSOR
xxxxxx1x = USES ES (SALINITY) FROM CONDUCTIVITY
SENSOR
xxxxxxx1 = USES ET FROM TRANSDUCER TEMPERATURE
SENSOR
NOTE: If the field = 0, or if the sensor is not available, the WorkHorse ADCP uses the manual command setting. If the field = 1, the WorkHorse ADCP uses the reading from the
internal sensor or an external synchro sensor (only applicable to heading, roll, and pitch).
Although you can enter a “2” in the EZ command string, the WorkHorse ADCP only displays a 0 (manual) or 1 (int/ext sensor).
63,64
32
Sensor Avail
This field reflects which sensors are available. The bit pattern is the same as listed for the
EZ command (above).
65-68
33,34
dis1 / Bin 1 distance
This field contains the distance to the middle of the first depth cell (bin). This distance is a
function of depth cell length (WS), the profiling mode (WM), the blank after transmit
distance (WF), and speed of sound.
Scaling: LSD = 1 centimeter; Range = 0 to 65535 cm (2150 feet)
69-72
35,36
WT Xmit pulse
length
This field, set by the WT command, contains the length of the transmit pulse. When the
WorkHorse ADCP receives a <BREAK> signal, it sets the transmit pulse length as close as
possible to the depth cell length (WS command). This means the WorkHorse ADCP uses a
WT command of zero. However, the WT field contains the actual length of the transmit
pulse used.
Scaling: LSD = 1 centimeter; Range = 0 to 65535 cm (2150 feet)
73,74 75,76
77,78
37,38
39
WL / WP Ref Lyr
Avg (Starting cell,
Ending cell)
Contains the starting depth cell (LSB, byte 37) and the ending depth cell (MSB, byte 38)
used for water reference layer averaging (WL command).
WA / False Target
Threshold
Contains the threshold value used to reject data received from a false target, usually fish
(WA command).
Scaling: LSD = 1 depth cell; Range = 1 to 128 depth cells
Scaling: LSD = 1 count; Range = 0 to 255 counts (255 disables)
79,80
40
Spare
Contains the CX command setting. Range = 0 to 5
81-84
41,42
LagD / Transmit lag
distance
This field, determined mainly by the setting of the WM command, contains the distance
between pulse repetitions.
Scaling: LSD = 1 centimeter; Range = 0 to 65535 centimeters
85-100
43-50
CPU Board Serial
Number
Contains the serial number of the CPU board.
101-104
51-52
WB / System
Bandwidth
Contains the WB command setting. Range = 0 to 1
105-106
53
System Power
Contains the CQ command setting for WorkHorse ADCP Monitor/Sentinel/Long Ranger
ADCPs. Range 0 to 255.
107-108
54
Spare
Spare
109-116
55-58
Serial #
Instrument serial number
117 -118
59
Beam Angle
Beam angle
Page 130
WorkHorse Commands and Output Data Format
March 2014
Variable Leader Data Format
BIT POSITIONS
BYTE
1
7
6
5
4
3
VARIABLE LEADER ID
2
3
4
ENSEMBLE NUMBER
RTC YEAR {TS}
6
RTC MONTH {TS}
7
RTC DAY {TS}
8
RTC HOUR {TS}
9
RTC MINUTE {TS}
10
RTC SECOND {TS}
11
RTC HUNDREDTHS {TS}
12
ENSEMBLE # MSB
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
1
0
80h
00h
5
13
2
BIT RESULT
SPEED OF SOUND {EC}
DEPTH OF TRANSDUCER {ED}
HEADING {EH}
PITCH (TILT 1) {EP}
ROLL (TILT 2) {ER}
SALINITY {ES}
TEMPERATURE {ET}
29
MPT MINUTES
30
MPT SECONDS
31
MPT HUNDREDTHS
32
HDG STD DEV
33
PITCH STD DEV
34
ROLL STD DEV
LSB
MSB
LSB
MSB
LSB
MSB
LSB
MSB
LSB
MSB
LSB
MSB
LSB
MSB
LSB
MSB
LSB
MSB
Page 131
March 2014
WorkHorse Commands and Output Data Format
BIT POSITIONS
BYTE
7
6
5
4
3
35
ADC CHANNEL 0
36
ADC CHANNEL 1
37
ADC CHANNEL 2
38
ADC CHANNEL 3
39
ADC CHANNEL 4
40
ADC CHANNEL 5
41
ADC CHANNEL 6
42
ADC CHANNEL 7
2
43
1
0
LSB
44
ERROR STATUS WORD (ESW) {CY}
45
46
MSB
47
SPARE
48
49
LSB
50
PRESSURE
51
52
MSB
53
LSB
54
PRESSURE SENSOR VARIANCE
55
56
MSB
57
SPARE
58
RTC CENTURY
59
RTC YEAR
60
RTC MONTH
61
RTC DAY
62
RTC HOUR
63
RTC MINUTE
64
RTC SECOND
65
RTC HUNDREDTH
See Table 33 for a description of the fields.
Figure 10.
Page 132
Variable Leader Data Format
WorkHorse Commands and Output Data Format
March 2014
Variable Leader data refers to the dynamic WorkHorse ADCP data (from clocks/sensors) that change with
each ping. The WorkHorse ADCP always sends Variable Leader data as output data (LSBs first).
Table 33:
Variable Leader Data Format
Hex Digit
Binary Byte
Field
Description
1-4
1,2
VID / Variable Leader ID
Stores the Variable Leader identification word (80 00h).
5-8
3,4
Ens / Ensemble Number
This field contains the sequential number of the ensemble to which the data in the
output buffer apply.
Scaling: LSD = 1 ensemble; Range = 1 to 65,535 ensembles
NOTE: The first ensemble collected is #1. At “rollover,” we have the following
sequence:
1 = ENSEMBLE NUMBER 1
↓
65535 = ENSEMBLE NUMBER 65,535 | ENSEMBLE
0 = ENSEMBLE NUMBER 65,536 | #MSB FIELD
1 = ENSEMBLE NUMBER 65,537 | (BYTE 12) INCR.
9,10
5
RTC Year
11,12
6
RTC Month
These fields contain the time from the WorkHorse ADCP’s real-time clock (RTC) that
the current data ensemble began. The TS command (Set Real-Time Clock) initially
sets the clock. The WorkHorse ADCP does account for leap years.
13,14
7
RTC Day
15,16
8
RTC Hour
17,18
9
RTC Minute
19,22
10
RTC Second
21,22
11
RTC Hundredths
23-24
12
Ensemble # MSB
This field increments each time the Ensemble Number field (bytes 3,4) “rolls over.”
This allows ensembles up to 16,777,215. See Ensemble Number field above.
25-28
13,14
BIT / BIT Result
29-32
15,16
EC / Speed of Sound
This field contains the results of the WorkHorse ADCP’s Built-in Test function. A
zero code indicates a successful BIT result.
BYTE 13
BYTE 14 (BYTE 14 RESERVED FOR FUTURE USE)
1xxxxxxx xxxxxxxx = RESERVED
x1xxxxxx xxxxxxxx = RESERVED
xx1xxxxx xxxxxxxx = RESERVED
xxx1xxxx xxxxxxxx = DEMOD 1 ERROR
xxxx1xxx xxxxxxxx = DEMOD 0 ERROR
xxxxx1xx xxxxxxxx = RESERVED
xxxxxx1x xxxxxxxx = TIMING CARD ERROR
xxxxxxx1 xxxxxxxx = RESERVED
Contains either manual or calculated speed of sound information (EC command).
Scaling: LSD = 1 meter per second; Range = 1400 to 1600 m/s
33-36
17,18
ED / Depth of Transducer
Contains the depth of the transducer below the water surface (ED command). This
value may be a manual setting or a reading from a depth sensor.
Scaling: LSD = 1 decimeter; Range = 1 to 65535 decimeters
37-40
19,20
EH / Heading
Contains the WorkHorse ADCP heading angle (EH command). This value may be a
manual setting or a reading from a heading sensor.
41-44
21,22
EP / Pitch (Tilt 1)
Contains the WorkHorse ADCP pitch angle (EP command). This value may be a
manual setting or a reading from a tilt sensor. Positive values mean that Beam #3 is
spatially higher than Beam #4.
45-48
23,24
ER / Roll (Tilt 2)
Contains the WorkHorse ADCP roll angle (ER command). This value may be a manual setting or a reading from a tilt sensor. For up-facing WorkHorse ADCPs, positive
values mean that Beam #2 is spatially higher than Beam #1. For down-facing
WorkHorse ADCPs, positive values mean that Beam #1 is spatially higher than Beam
#2.
Scaling: LSD = 0.01 degree; Range = 000.00 to 359.99 degrees
Scaling: LSD = 0.01 degree; Range = -20.00 to +20.00 degrees
Scaling: LSD = 0.01 degree; Range = -20.00 to +20.00 degrees
Page 133
March 2014
WorkHorse Commands and Output Data Format
Table 33:
Variable Leader Data Format
Hex Digit
Binary Byte
Field
Description
49-52
25,26
ES / Salinity
Contains the salinity value of the water at the transducer head (ES command). This
value may be a manual setting or a reading from a conductivity sensor.
Scaling: LSD = 1 part per thousand; Range = 0 to 40 ppt
53-56
27,28
ET / Temperature
Contains the temperature of the water at the transducer head (ET command). This
value may be a manual setting or a reading from a temperature sensor.
Scaling: LSD = 0.01 degree; Range = -5.00 to +40.00 degrees
57,58
29
MPT minutes
59,60
30
MPT seconds
This field contains the Minimum Pre-Ping Wait Time between ping groups in the
ensemble.
61,62
31
MPT hundredths
63,64
32
H/Hdg Std Dev
65,66
33
P/Pitch Std Dev
67,68
34
R/Roll Std Dev
Scaling (Heading): LSD = 1°; Range = 0 to 180° Scaling (Tilts): LSD = 0.1°; Range =
0.0 to 20.0°
69-70
35
ADC Channel 0
71-72
36
ADC Channel 1
73-74
37
ADC Channel 2
75-76
38
ADC Channel 3
77-78
39
ADC Channel 4
These fields contain the outputs of the Analog-to-Digital Converter (ADC) located
on the DSP board. The ADC sequentially samples one of the eight channels per ping
group (the number of ping groups per ensemble is the maximum of the WP). These
fields are zeroed at the beginning of the deployment and updated each ensemble
at the rate of one channel per ping group. For example, if the ping group size is 5,
than:
79-80
40
ADC Channel 5
81-82
41
ADC Channel 6
83-84
42
ADC Channel 7
These fields contain the standard deviation (accuracy) of the heading and tilt angles
from the gyrocompass/pendulums.
END OF ENSEMBLE No.
Start
1
2
3
4
↓
CHANNELS UPDATED
All channels = 0
0, 1, 2, 3, 4
5, 6, 7, 0, 1
2, 3, 4, 5, 6
7, 0, 1, 2, 3
↓
Here is the description for each channel:
CHANNEL DESCRIPTION
0
XMIT CURRENT
1
XMIT VOLTAGE
2
AMBIENT TEMP
3
PRESSURE (+)
4
PRESSURE (-)
5
ATTITUDE TEMP
6
ATTITUDE
7
CONTAMINATION SENSOR
Note that the ADC values may be “noisy” from sample-to-sample, but are useful for
detecting long-term trends. See Converting ADC Channels for more information.
85-86
43
Error Status Word
Contains the long word containing the bit flags for the CY Command. The ESW is
cleared (set to zero) between each ensemble.
Note that each number above represents one bit set – they may occur in combinations. For example, if the long word value is 0000C000 (hexadecimal), than it indicates that both a cold wake-up (0004000) and an unknown wake-up (00008000)
occurred.
Low 16 BITS
LSB
BITS 07
x
x
x
x
x
x
x
1
Page 134
06
x
x
x
x
x
x
1
x
05
x
x
x
x
x
1
x
x
04
x
x
x
x
1
x
x
x
03
x
x
x
1
x
x
x
x
02
x
x
1
x
x
x
x
x
01
x
1
x
x
x
x
x
x
00
1
x
x
x
x
x
x
x
Bus Error exception
Address Error exception
Illegal Instruction exception
Zero Divide exception
Emulator exception
Unassigned exception
Watchdog restart occurred
Battery Saver power
WorkHorse Commands and Output Data Format
Table 33:
March 2014
Variable Leader Data Format
Hex Digit
Binary Byte
87-88
44
Field
Description
Low 16 BITS
MSB
BITS 15
x
x
x
x
x
x
x
1
89-90
45
14
x
x
x
x
x
x
1
x
13
x
x
x
x
x
1
x
x
12
x
x
x
x
1
x
x
x
11
x
x
x
1
x
x
x
x
10
x
x
1
x
x
x
x
x
09
x
1
x
x
x
x
x
x
08
1
x
x
x
x
x
x
x
Pinging
Not Used
Not Used
Not Used
Not Used
Not Used
Cold Wakeup occurred
Unknown Wakeup occurred
21
x
x
x
x
x
1
x
x
20
x
x
x
x
1
x
x
x
19
x
x
x
1
x
x
x
x
18
x
x
1
x
x
x
x
x
17
x
1
x
x
x
x
x
x
16
1
x
x
x
x
x
x
x
Clock Read
Unexpected
Clock jump
Clock jump
Not Used
Not Used
Not Used
Not Used
29
x
x
x
x
x
1
x
x
28
x
x
x
x
1
x
x
x
27
x
x
x
1
x
x
x
x
26
x
x
1
x
x
x
x
x
25
x
1
x
x
x
x
x
x
24
1
x
x
x
x
x
x
x
Not Used
Not Used
Not Used
Power Fail (Unrecorded)
Spurious level 4 intr (DSP)
Spurious level 5 intr (UART)
Spurious level 6 intr (CLOCK)
Level 7 interrupt occurred
High 16 BITS
LSB
BITS 23
x
x
x
x
x
x
x
1
91-92
46
22
x
x
x
x
x
x
1
x
error occurred
alarm
forward
backward
High 16 BITS
MSB
BITS 31
x
x
x
x
x
x
x
1
30
x
x
x
x
x
x
1
x
93-96
47-48
Reserved
Reserved for TRDI use.
97-104
49-52
Pressure
Contains the pressure of the water at the transducer head relative to one atmosphere (sea level). Output is in deca-pascals (see How Does the WorkHorse ADCP
Sample Depth and Pressure).
Scaling: LSD=1 deca-pascal; Range=0 to ± 2147483648 deca-pascals
105-112
53-56
Pressure variance
Contains the variance (deviation about the mean) of the pressure sensor data.
Output is in deca-pascals.
Scaling: LSD=1 deca-pascal; Range=0 to ± 2147483648 deca-pascals
113-114
57
Spare
Spare
115-116
58
RTC Century
117-118
59
RTC Year
These fields contain the time from the WorkHorse ADCP’s Y2K compliant real-time
clock (RTC) that the current data ensemble began. The TT command (Set Real-Time
Clock) initially sets the clock. The WorkHorse ADCP does account for leap years.
119-120
60
RTC Month
121-122
61
RTC Day
123-124
62
RTC Hour
125-126
63
RTC Minute
127-128
64
RTC Seconds
129-130
65
RTC Hundredths
Page 135
March 2014
WorkHorse Commands and Output Data Format
Converting ADC Channels
The ADC channels in the Workhorse ADCP are defined as follows:
Channel
Signal
0
Transmit current
1
Transmit voltage
2
Ambient Temperature
3
Pressure High (+)
4
Pressure Low (-)
5
Attitude Temperature
6
Attitude Mux (X & Y tilts)
7
Contamination Sensor
Note that while each Workhorse ADC channel is 16-bits, and the full 16-bit values are used for
most internal calculations (except for IXmt and VXmt), the raw counts that get output in the
PD0 data are truncated to just the upper 8-bits. It is not possible to get the exact value from the
ADC outputs.
XMT Voltage and Current Channels:
The Workhorse uses a frequency-indexed table to set the scale factors for the Transmit voltage and
Transmit current ADC channels:
Transmit voltage
Transmit current
Frequency (kHz)
2092719
43838
76.8
592157
11451
153.6
592157
11451
307.2
380667
11451
614.4
253765
11451
1228.8
253765
11451
2457.6
The transmit voltage and current values are calculated for the built-in-test by multiplying the ADC upper
8-bit value by the scale factor (they are very rough values). However, the transmit voltage and current
measurements are not necessarily accurate, since the sampling is not synchronized to the phasing of the
inputs. The voltage and current tables are scaled by 1000000.
Examples (for a 600 kHz WorkHorse ADCP):
Transmit Voltage:
(90 counts * 380667) / 1000000  34.26 Volts
Transmit Current:
(103 counts * 11451) / 1000000  1.795 Amps
Temperature Channels:
The temperature values are produced by plugging the 16-bit raw ADC count value into a second-order
polynomial whose coefficients are hard-coded, plus an additional offset that is set via the &K command:
Temperature = offset + ((a3*x + a2)*x + a1)*x + a0
Page 136
WorkHorse Commands and Output Data Format
March 2014
where:
a0 = 9.82697464E1
a1 = -5.86074151382E-3
a2 = 1.60433886495E-7
a3 = -2.32924716883E-12
Pressure Channel:
Pressure is calculated by scaling the difference between the raw 16-bit counts on the high and low channels (high – low) by a third-degree polynomial. The high and low channels are each read and accumulated
5 times. Then the difference is taken (high – low), and the result is divided by 5. This value is then plugged
into the polynomial and evaluated:
PolyFit = a0 + a1*x + a2*x*x + a3*x*x*x
Where:
x is the value from the ADC
a0, a1, a2, and a3 are the polynomial coefficients.
The polynomial coefficients are adjusted during calibration of the pressure sensor, but start off with the
following initial values for an un-calibrated sensor:
a0 = 0
a1 = 0.08240925283
a2 = 0
a3 = 0
Attitude Mux Channel:
This channel is multiplexed between the X and Y tilt signals, and the ADC values for this channel in the
output data are therefore not meaningful.
Contamination Sensor:
This data is not used. The readings are generally not consistent.
How Does the WorkHorse ADCP Sample Depth and Pressure?
1.
For each ping, the ADC samples the pressure sensor five times and averages the data. This is an attempt to reduce the Standard Deviation.
2. Using the Pressure coefficients, the pressure data from the ADC is converted to kPa.
3. That data is converted to dm and corrected for salinity with the following equation:
Depth (dm) = Pressure(kPa) * (1.02-0.00069*ES), where ES is the Salinity setting.
This is the depth value recorded in the PD0 variable leader when the WH is fitted with a pressure sensor and that the EZ command is set to EZx1xxxxx.
4. The pressure data is converted from kPa to deca-Pascals by multiplying it by 100. This value in decaPascals is recorded in the PD0 variable leader data.
Converting kpa to Depth
The formula for converting kpa to depth (using WinADCP) is as follows:
(kpa(1.02-0.00069*Salinity)*(1000/Fresh Water Density))/10
Page 137
March 2014
WorkHorse Commands and Output Data Format
Velocity Data Format
BIT POSITIONS
BYTE
7/S
6
5
4
1
3
2
VELOCITY ID
2
3
DEPTH CELL #1, VELOCITY 1
4
5
DEPTH CELL #1, VELOCITY 2
6
7
DEPTH CELL #1, VELOCITY 3
8
9
DEPTH CELL #1, VELOCITY 4
10
11
DEPTH CELL #2, VELOCITY 1
12
13
DEPTH CELL #2, VELOCITY 2
14
15
DEPTH CELL #2, VELOCITY 3
16
17
DEPTH CELL #2, VELOCITY 4
18
↓
(SEQUENCE CONTINUES FOR UP TO 128 CELLS)
1019
DEPTH CELL #128, VELOCITY 1
1020
1021
DEPTH CELL #128, VELOCITY 2
1022
1023
DEPTH CELL #128, VELOCITY 3
1024
1025
DEPTH CELL #128, VELOCITY 4
1026
See Table 34 for description of fields
Figure 11.
Velocity Data Format
The number of depth cells is set by the WN command.
Page 138
1
0
LSB 00h
MSB 01h
LSB
MSB
LSB
MSB
LSB
MSB
LSB
MSB
LSB
MSB
LSB
MSB
LSB
MSB
LSB
MSB
↓
LSB
MSB
LSB
MSB
LSB
MSB
LSB
MSB
WorkHorse Commands and Output Data Format
March 2014
The WorkHorse ADCP packs velocity data for each depth cell of each beam into a two-byte, two’scomplement integer [-32768, 32767] with the LSB sent first. The WorkHorse ADCP scales velocity data in
millimeters per second (mm/s). A value of –32768 (8000h) indicates bad velocity values.
All velocities are relative based on a stationary instrument. To obtain absolute velocities, algebraically remove the velocity of the instrument. For example,
RELATIVE WATER CURRENT VELOCITY:
EAST 650 mm/s
INSTRUMENT VELOCITY
: (-) EAST 600 mm/s
ABSOLUTE WATER VELOCITY
:
EAST 50 mm/s
The setting of the EX command (Coordinate Transformation) determines how the WorkHorse ADCP references the velocity data as shown below.
EX-CMD
COORD SYS
VEL 1
VEL 2
VEL 3
VEL 4
EX00xxx
BEAM
TO BEAM 1
TO BEAM 2
TO BEAM 3
TO BEAM 4
EX01xxx
INSTRUMENT
Bm1-Bm2
Bm4-Bm3
TO XDUCER
ERR VEL
EX10xxx
SHIP
PRT-STBD
AFT-FWD
TO SURFACE
ERR VEL
EX11xxx
EARTH
TO EAST
TO NORTH
TO SURFACE
ERR VEL
Positive values indicate water movement toward the ADCP.
For Horizontal ADCP systems, use the following table.
EX-CMD
COORD SYS
VEL 1
VEL 2
VEL 3
VEL 4
EX00xxx
BEAM
TO BEAM 1
TO BEAM 2
TO BEAM 3
0
EX01xxx
INST
X AXIS
Y AXIS
0
ERROR VEL
EX10xxx
SHIP
X AXIS
Y AXIS
VERTICAL
ERROR VEL (tilt applied)
EX11xxx
EARTH
EAST
NORTH
VERTICAL
ERROR VEL (heading applied)
Positive values indicate water movement toward the ADCP.
Table 34:
Velocity Data Format
Hex Digit
Binary Byte
Field
Description
1-4
1,2
Velocity ID
Stores the velocity data identification word (00 01h).
5-8
3,4
Depth Cell 1, Velocity 1
Stores velocity data for depth cell #1, velocity 1. See above.
9-12
5,6
Depth Cell 1, Velocity 2
Stores velocity data for depth cell #1, velocity 2. See above.
13-16
7,8
Depth Cell 1, Velocity 3
Stores velocity data for depth cell #1, velocity 3. See above.
17-20
9,10
Depth Cell 1, Velocity 4
Stores velocity data for depth cell #1, velocity 4. See above.
21-2052
11-1026
Cells 2 – 128 (if
used)
These fields store the velocity data for depth cells 2 through 128 (depending on the setting of the WN command). These fields follow the same format as listed above for depth
cell 1.
Page 139
March 2014
WorkHorse Commands and Output Data Format
Correlation Magnitude, Echo Intensity, PercentGood, and Status Data Format
BIT POSITIONS
BYTE
7/S
6
5
4
1
3
2
1
0
ID CODE
2
LSB
MSB
3
DEPTH CELL #1, FIELD #1
4
DEPTH CELL #1, FIELD #2
5
DEPTH CELL #1, FIELD #3
6
DEPTH CELL #1, FIELD #4
7
DEPTH CELL #2, FIELD #1
8
DEPTH CELL #2, FIELD #2
9
DEPTH CELL #2, FIELD #3
10
DEPTH CELL #2, FIELD #4
↓
(SEQUENCE CONTINUES FOR UP TO 128 BINS)
511
DEPTH CELL #128, FIELD #1
512
DEPTH CELL #128, FIELD #2
513
DEPTH CELL #128, FIELD #3
514
DEPTH CELL #128, FIELD #4
↓
See Table 35 through Table 37 for a description of the fields.
Figure 12.
Correlation Magnitude, Echo Intensity, Percent-Good, and Status Data Format
The number of depth cells is set by the WN command.
Correlation magnitude data give the magnitude of the normalized echo autocorrelation at the lag used for
estimating the Doppler phase change. The WorkHorse ADCP represents this magnitude by a linear scale
between 0 and 255, where 255 is perfect correlation (i.e., a solid target). A value of zero indicates bad correlation values.
Table 35:
Correlation Magnitude Data Format
Hex Digit
Binary Byte
Field
Description
1-4
1,2
ID Code
Stores the correlation magnitude data identification word (00 02h).
5,6
3
Depth Cell 1, Field
1
Stores correlation magnitude data for depth cell #1, beam #1. See above.
7,8
4
Depth Cell 1, Field
2
Stores correlation magnitude data for depth cell #1, beam #2. See above.
9,10
5
Depth Cell 1, Field
3
Stores correlation magnitude data for depth cell #1, beam #3. See above.
11,12
6
Depth Cell 1, Field
4
Stores correlation magnitude data for depth cell #1, beam #4. See above.
13 – 1028
7 – 514
Cells 2 – 128 (if
used)
These fields store correlation magnitude data for depth cells 2 through 128 (depending on
the WN command) for all four beams. These fields follow the same format as listed above
for depth cell 1.
Page 140
WorkHorse Commands and Output Data Format
March 2014
The echo intensity scale factor is about 0.45 dB per WorkHorse ADCP count. The WorkHorse ADCP does
not directly check for the validity of echo intensity data.
Table 36:
Echo Intensity Data Format
Hex Digit
Binary Byte
Field
Description
1–4
1,2
ID Code
Stores the echo intensity data identification word (00 03h).
5,6
3
Depth Cell 1, Field
1
Stores echo intensity data for depth cell #1, beam #1. See above.
7,8
4
Depth Cell 1, Field
2
Stores echo intensity data for depth cell #1, beam #2. See above.
9,10
5
Depth Cell 1, Field
3
Stores echo intensity data for depth cell #1, beam #3. See above.
11,12
6
Depth Cell 1, Field
4
Stores echo intensity data for depth cell #1, beam #4. See above.
13 – 1028
7 – 514
Cells 2 – 128 (if
used)
These fields store echo intensity data for depth cells 2 through 128 (depending on the WN
command) for all four beams. These fields follow the same format as listed above for
depth cell 1.
The percent-good data field is a data-quality indicator that reports the percentage (0 to 100) of good data
collected for each depth cell of the velocity profile. The setting of the EX command (Coordinate Transformation) determines how the WorkHorse ADCP references percent-good data as shown below.
EX command
Coord. Sys
Velocity 1
Velocity 2
Velocity 3
Beam 1
BEAM 2
3-Beam Transformations
(note 1)
Transformations Rejected
(note 2)
Velocity 4
Percentage Of Good Pings For:
xxx00xxx
Beam
xxx01xxx
Instrument
xxx10xxx
Ship
xxx11xxx
Earth
BEAM 3
BEAM 4
Percentage Of:
More Than One Beam
Bad In Bin
4-Beam Transformations
Note 1. Because profile data did not exceed correlation threshold (WC command).
Note 2. Because the error velocity threshold was exceeded (WE command).
At the start of the velocity profile, the backscatter echo strength is typically high on all four beams. Under
this condition, the ADCP uses all four beams to calculate the orthogonal and error velocities. As the echo
returns from far away depth cells, echo intensity decreases. At some point, the echo will be weak enough
on any given beam to cause the ADCP to reject some of its depth cell data. This causes the ADCP to calculate velocities with three beams instead of four beams. When the ADCP does 3-beam solutions, it stops
calculating the error velocity because it needs four beams to do this. At some further depth cell, the ADCP
rejects all cell data because of the weak echo. As an example, let us assume depth cell 60 has returned the
following percent-good data.
FIELD #1 = 50, FIELD #2 = 5, FIELD #3 = 0, FIELD #4 = 45
If the EX command was set to collect velocities in BEAM coordinates, the example values show the percentage of pings having good solutions in cell 60 for each beam based on the Low Correlation Threshold
(WC command). Here, beam 1=50%, beam 2=5%, beam 3=0%, and beam 4=45%. These are neither typical nor desired percentages. Typically, you would want all four beams to be about equal and greater than
25%.
On the other hand, if velocities were collected in Instrument, Ship, or Earth coordinates, the example values show:
Field 1 – Percentage of good 3-beam solutions – Shows percentage of successful velocity calculations
(50%) using 3-beam solutions because the correlation threshold (WC command) was not exceeded.
Page 141
March 2014
WorkHorse Commands and Output Data Format
Field 2 – Percentage of transformations rejected – Shows percent of error velocity (5%) that was less than
the WE command setting. WE has a default of 5000 mm/s. This large WE setting effectively prevents the
ADCP from rejecting data based on error velocity.
Field 3 – Percentage of more than one beam bad in bin – 0% of the velocity data were rejected because
not enough beams had good data.
Field 4 – Percentage of good 4-beam solutions – 45% of the velocity data collected during the ensemble
for depth cell 60 were calculated using four beams.
Table 37:
Percent-Good Data Format
Hex Digit
Binary Byte
Field
Description
1-4
1,2
ID Code
Stores the percent-good data identification word (00 04h).
5,6
3
Depth cell 1, Field
1
Stores percent-good data for depth cell #1, field 1. See above.
7,8
4
Depth cell 1, Field
2
Stores percent-good data for depth cell #1, field 2. See above.
9,10
5
Depth cell 1, Field
3
Stores percent-good data for depth cell #1, field 3. See above.
11,12
6
Depth cell 1, Field
4
Stores percent-good data for depth cell #1, field 4. See above.
13-1028
7-514
Depth cell 2 – 128
(if used)
These fields store percent-good data for depth cells 2 through 128 (depending on the WN
command), following the same format as listed above for depth cell 1.
These fields contain information about the status and quality of ADCP data. A value of 0 means the measurement was good. A value of 1 means the measurement was bad.
Table 38:
Status Data Format
Hex Digit
Binary Byte
Field
Description
1-4
1,2
ID Code
Stores the status data identification word (00 05h).
5,6
3
Depth cell 1, Field
1
Stores status data for depth cell #1, beam #1. See above.
7,8
4
Depth cell 1, Field
2
Stores status data for depth cell #1, beam #2. See above.
9,10
5
Depth cell 1, Field
3
Stores status data for depth cell #1, beam #3. See above.
11,12
6
Depth cell 1, Field
4
Stores status data for depth cell #1, beam #4. See above.
13-1028
7-514
Depth cell 2 – 128
(if used)
These fields store status data for depth cells 2 through 128 (depending on the WN command) for all four beams. These fields follow the same format as listed above for depth
cell 1.
Page 142
WorkHorse Commands and Output Data Format
March 2014
Bottom-Track Data Format
BIT POSITIONS
BYTE
1
7/S
6
5
4
3
BOTTOM-TRACK ID
2
3
BT PINGS PER ENSEMBLE {BP}
0
LSB 00h
LSB
MSB
BT DELAY BEFORE RE-ACQUIRE {BD}
6
LSB
MSB
7
BT CORR MAG MIN {BC}
8
BT EVAL AMP MIN {BA}
9
BT PERCENT GOOD MIN {BG}
10
BT MODE {BM}
11
BT ERR VEL MAX {BE}
12
13
1
MSB 06h
4
5
2
LSB
MSB
Reserved
14
15
16
17
BEAM#1 BT RANGE
18
19
MSB
BEAM#2 BT RANGE
20
21
BEAM#3 BT RANGE
BEAM#4 BT RANGE
BEAM#1 BT VEL
BEAM#2 BT VEL
LSB
MSB
BEAM#3 BT VEL
30
31
LSB
MSB
28
29
LSB
MSB
26
27
LSB
MSB
24
25
LSB
MSB
22
23
LSB
LSB
MSB
BEAM#4 BT VEL
32
LSB
MSB
33
BEAM#1 BT CORR.
34
BEAM#2 BT CORR.
35
BEAM#3 BT CORR.
36
BEAM#4 BT CORR.
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WorkHorse Commands and Output Data Format
BIT POSITIONS
BYTE
7/S
6
5
4
3
37
BEAM#1 EVAL AMP
38
BEAM#2 EVAL AMP
39
BEAM#3 EVAL AMP
40
BEAM#4 EVAL AMP
41
BEAM#1 BT %GOOD
42
BEAM#2 BT %GOOD
43
BEAM#3 BT %GOOD
44
BEAM#4 BT %GOOD
45
REF LAYER MIN {BL}
46
47
REF LAYER NEAR {BL}
REF LAYER FAR {BL}
BEAM#1 REF LAYER VEL
BEAM #2 REF LAYER VEL
BEAM #3 REF LAYER VEL
LSB
LSB
LSB
MSB
BEAM #4 REF LAYER VEL
58
LSB
MSB
59
BM#1 REF CORR
60
BM#2 REF CORR
61
BM#3 REF CORR
62
BM#4 REF CORR
63
BM#1 REF INT
64
BM#2 REF INT
65
BM#3 REF INT
66
BM#4 REF INT
67
BM#1 REF %GOOD
68
BM#2 REF %GOOD
69
BM#3 REF %GOOD
70
BM#4 REF %GOOD
71
BT MAX. DEPTH {BX}
72
LSB
MSB
73
BM#1 RSSI AMP
74
BM#2 RSSI AMP
Page 144
LSB
MSB
56
57
LSB
MSB
54
55
LSB
MSB
52
53
0
MSB
50
51
1
MSB
48
49
2
WorkHorse Commands and Output Data Format
March 2014
BIT POSITIONS
BYTE
7/S
6
5
4
3
2
1
0
75
BM#3 RSSI AMP
76
BM#4 RSSI AMP
77
GAIN
78
(*SEE BYTE 17)
MSB
79
(*SEE BYTE 19)
MSB
80
(*SEE BYTE 21)
MSB
81
(*SEE BYTE 23)
MSB
82
RESERVED
83
84
85
Figure 13.
Bottom-Track Data Format
This data is output only if the BP command is > 0 and PD0 is selected. See Table 39 for a
description of the fields.
The PD0 output data format assumes that the instrument is stationary and the bottom is
moving. DVL (Speed Log) output data formats (see Special Output Data Formats) assume that
the bottom is stationary and that the ADCP or vessel is moving.
Bottom Track is a feature upgrade for WorkHorse ADCP Monitor and Sentinel ADCPs (see
Feature Upgrades).
Bottom Track is not available for Long Ranger ADCPs.
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WorkHorse Commands and Output Data Format
This data is output only if the BP command is greater than zero and PD0 is selected. The LSB is always
sent first.
Table 39:
Bottom-Track Data Format
Hex Digit
Binary Byte
Field
Description
1-4
1,2
ID Code
Stores the bottom-track data identification word (00 06h).
5-8
3,4
BP/BT Pings per
ensemble
Stores the number of bottom-track pings to average together in each ensemble (BP
command). If BP = 0, the ADCP does not collect bottom-track data. The ADCP automatically extends the ensemble interval (TE) if BP x TP > TE.
Scaling: LSD = 1 ping; Range = 0 to 999 pings
9-12
5,6
BD/BT delay before reacquire
Stores the number of ADCP ensembles to wait after losing the bottom before trying to
reacquire it (BD command).
Scaling: LSD = 1 ensemble; Range = 0 to 999 ensembles
13,14
15,16
7
8
BC/BT Corr Mag
Min
Stores the minimum correlation magnitude value (BC command).
BA/BT Eval Amp
Min
Stores the minimum evaluation amplitude value (BA command).
Scaling: LSD = 1 count; Range = 0 to 255 counts
Scaling: LSD = 1 count; Range = 1 to 255 counts
17,18
9
BG/BT %Gd Minimum
Stores the minimum percentage of bottom-track pings in an ensemble that must be good
to output velocity data (BG command).
19,20
10
BM/BT Mode
Stores the bottom-tracking mode (BM command).
When the Lowered ADCP mode is set (WM15) the Bottom-Track mode will show up as
Mode 11 (BM11).
When the system uses standard Bottom-Track (BT-RA, see OL command), the BottomTrack mode will show up as Mode 50 (BM50).
21-24
11,12
BE/BT Err Vel Max
Stores the error velocity maximum value (BE command).
Scaling: LSD = 1 mm/s; Range = 0 to 5000 mm/s (0 = did not screen data)
25-32
13–16
Reserved
Reserved
33-48
17-24
BT Range/Beam
#1-4 BT Range
Contains the two lower bytes of the vertical range from the ADCP to the sea bottom (or
surface) as determined by each beam. This vertical range does not consider the effects of
pitch and roll. When bottom detections are bad, BT Range = 0. See bytes 78 through 81
for MSB description and scaling.
Scaling: LSD = 1 cm; Range = 0 to 65535 cm
49-64
25-32
BT Velocity/Beam
#1-4 BT Vel
The meaning of the velocity depends on the EX (coordinate system) command setting.
The four velocities are as follows:
a) Beam Coordinates: Beam 1, Beam 2, Beam 3, Beam 4
b) Instrument Coordinates: 1->2, 4->3, toward face, error
c) Ship Coordinates: Starboard, Fwd, Upward, Error
d) Earth Coordinates: East, North, Upward, Error
65-72
33-36
73-80
37-40
BTCM/Beam #1-4
BT Corr.
Contains the correlation magnitude in relation to the sea bottom (or surface) as determined by each beam. Bottom-track correlation magnitudes have the same format and
scale factor as water-profiling magnitudes (Table 5).
BTEA/Beam #1-4
Contains the evaluation amplitude of the matching filter used in determining the strength
of the bottom echo.
BT Eval Amp
81-88
41-44
BTPG/Beam #1-4
BT %Good
Scaling: LSD = 1 count; Range = 0 to 255 counts
Contains bottom-track percent-good data for each beam, which indicate the reliability of
bottom-track data. It is the percentage of bottom-track pings that have passed the
ADCP’s bottom-track validity algorithm during an ensemble.
Scaling: LSD = 1 percent; Range = 0 to 100 percent
Page 146
WorkHorse Commands and Output Data Format
Table 39:
March 2014
Bottom-Track Data Format
Hex Digit
Binary Byte
Field
Description
89-92 93-96
97 – 100
45,46 47,48
49,50
Ref Layer (Min,
Near, Far)
Stores the minimum layer size, the near boundary, and the far boundary of the BT waterreference layer (BL command).
Scaling (minimum layer size): LSD = 1 dm; Range = 0-999 dm
Scaling (near/far boundaries): LSD = 1 dm; Range = 0-9999 dm
101- 116
51-58
Ref Vel/Beam #1-4
Ref Layer Vel
Contains velocity data for the water reference layer for each beam. Reference layer velocities have the same format and scale factor as water-profiling velocities (Table 34). The BL
command explains the water reference layer.
117- 124
59-62
RLCM/Bm #1-4 Ref
Corr
Contains correlation magnitude data for the water reference layer for each beam. Reference layer correlation magnitudes have the same format and scale factor as waterprofiling magnitudes (Table 5).
125- 132
63-66
RLEI/Bm #1-4 Ref
Int
Contains echo intensity data for the reference layer for each beam. Reference layer intensities have the same format and scale factor as water-profiling intensities.
133- 140
67-70
RLPG/Bm #1-4 Ref
%Good
Contains percent-good data for the water reference layer for each beam. They indicate
the reliability of reference layer data. It is the percentage of bottom-track pings that have
passed a reference layer validity algorithm during an ensemble.
Scaling: LSD = 1 percent; Range = 0 to 100 percent
141- 144
71,72
BX/BT Max. Depth
Stores the maximum tracking depth value (BX command).
Scaling: LSD = 1 decimeter; Range = 80 to 9999 decimeters
145-152
73-76
RSSI/Bm #1-4 RSSI
Amp
Contains the Receiver Signal Strength Indicator (RSSI) value in the center of the bottom
echo as determined by each beam.
Scaling: LSD ≈ 0.45 dB per count; Range = 0 to 255 counts
153, 154
77
GAIN
Contains the Gain level for shallow water. See WJ command.
155-162
78-81
BT Range MSB/Bm
#1-4
Contains the most significant byte of the vertical range from the ADCP to the sea bottom
(or surface) as determined by each beam. This vertical range does not consider the effects
of pitch and roll. When bottom detections are bad, BT Range=0. See bytes 17 through 24
for LSB description and scaling.
Scaling: LSD = 65,536 cm, Range = 65,536 to 16,777,215 cm
163-170
82-85
Reserved
Reserved
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March 2014
WorkHorse Commands and Output Data Format
Reserved BIT Data Format
BIT POSITIONS
BYTE
7
6
5
4
1
3
2
1
0
LSB
RESERVED FOR TRDI USE
2
Figure 14.
MSB
Reserved BIT Data Format
The data is always output. See Table 40 for a description of the fields.
Table 40:
Reserved for TRDI Format
Hex Digit
Binary Byte
Field
Description
1-4
1,2
Reserved for
TRDI’s use
This field is for TRDI (internal use only).
Checksum Data Format
BIT POSITIONS
BYTE
7
6
5
4
1
3
2
1
CHECKSUM DATA
2
Figure 15.
0
LSB
MSB
Checksum Data Format
The data is always output. See Table 41 for a description of the fields.
Table 41:
Checksum Data Format
Hex Digit
Binary Byte
Field
Description
1-4
1,2
Checksum Data
This field contains a modulo 65535 checksum. The WorkHorse ADCP computes the checksum by summing all the bytes in the output buffer excluding the checksum.
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March 2014
Chapter
5
SPECIAL OUTPUT DATA FORMATS
In this chapter, you will learn:
•
DVL Data Formats PD3 through PD18
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The PD3, PD4, PD5, PD6, PD9, and PD10, commands select the desired DVL (speed log) output data format. PD8 and PD9 are special ASCII output data formats. PD12 is a reduced data output format. PD14 is a
condensed 2D output format for H-ADCPs only. The PD15 Output Data Format is designed for NDBC satellite data links. PD16 and PD18 are for use with Sea-Bird acoustic modems.
The DVL binary output data buffers can contain header, configuration, bottom-velocity, water-mass reference-layer, range to bottom, status, built-in test, sensor, and distance made good data (plus a checksum).
The ADCP collects all data in the output buffer during an ensemble.
Figure 16 through Figure 18 shows the format of these buffers and the sequence in which the ADCP sends
the data. Table 42 through Table 47 list the format, bytes, fields, scaling factors, and a detailed description
of every item in the DVL binary output buffers.
The DVL output data formats are available with or without bottom-track. However, if bottomtrack is not available, they will contain no data.
The DVL output data formats assume that the bottom is stationary and that the ADCP or vessel
is moving. The PD0 Bottom Track output data format (see Bottom-Track Data Format) assumes
that the instrument is stationary and the bottom is moving.
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WorkHorse Commands and Output Data Format
March 2014
DVL Data Format (PD3)
BIT POSITION
Byte
7
6
5
4
3
2
1
DVL DATA ID 7Eh
2
DATA STRUCTURE*
3
STARBOARD/EAST VELOCITY (With Respect To BTM)
4
5
FORWARD/NORTH VELOCITY (With Respect To BTM)
UPWARD VELOCITY (With Respect To BTM)
STARBOARD/EAST VELOCITY (With Respect To WATER REF)
FORWARD/NORTH VELOCITY (With Respect To WATER REF)
UPWARD VELOCITY (With Respect To WATER REF)
BM1 RNG TO BTM
BM2 RNG TO BTM
BM3 RNG TO BTM
BM4 RNG TO BTM
LSB
LSB
MSB
RANGE TO BTM (AVERAGE)
24
25
LSB
MSB
22
23
LSB
MSB
20
21
LSB
MSB
18
19
LSB
MSB
16
17
LSB
MSB
14
15
LSB
MSB
12
13
LSB
MSB
10
11
LSB
MSB
8
9
0
MSB
6
7
1
LSB
MSB
SPARE
↓
↓
↓
↓
40
41
SENSOR/OTHER DATA
42
PING TIME: HOUR
43
MINUTE
44
SECOND
45
HUNDREDTH
46
HEADING
47
48
LSB
MSB
PITCH
LSB
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WorkHorse Commands and Output Data Format
BIT POSITION
Byte
7
6
5
4
3
2
1
0
49
MSB
50
ROLL
51
LSB
MSB
52
TEMPERATURE
53
LSB
MSB
54
BIT RESULTS
55
LSB
MSB
56
CHECKSUM
57
LSB
MSB
Figure 16.
DVL Data Format (PD3)
DVL Output Data Format (PD3) Details
The ADCP sends this data format only when the PD3 command is used. In multiple byte parameters, the
least significant byte always comes before the more significant bytes.
Table 42:
DVL Output Data Format (PD3) Details
Hex Digit
Binary Byte
Field
Description
1,2
1
DVL Data ID
Stores the DVL (speed log) identification word (7Eh)
3,4
2
Reserved
Reserved
5-8
3,4
X-Vel Btm
† Bit #0: Always output. If the data bit is set to 0, than Ship coordinates are used. If the
data bit is set to 1, than Earth coordinates are used. These fields contain the velocity of
the vessel in relation to the bottom in mm/s. Positive values indicate vessel motion to (X)
Starboard/East, (Y) Forward/North, (Z) Upward.
9-12
5,6
Y-Vel Btm
13-16
7,8
Z-Vel Btm
† Bit #1: Vertical velocities.
17-20
9,10
X-Vel Water
† Bit #2: These fields contain the velocity of the vessel in relation to the water reference
layer in mm/s. Positive values indicate vessel motion to (X) Starboard/East, (Y) Forward/North, (Z) Upward.
21-24
11,12
Y-Vel Water
25-28
13,14
Z-Vel Water
† Bit #1 and Bit #2
29-32
15,16
Bm1
33-36
17,18
Bm2 Rng to
37-40
19,20
Bm3 Bottom
† Bit #3: These fields contain the vertical range from the ADCP to the bottom as determined by each beam. This vertical range does not compensate for the effects of pitch and
roll. When a bottom detection is bad, the field is set to zero.
41-44
21,22
Bm4
45-48
23,24
Avg Rng to Btm
† Bit #4: These fields contain the average vertical range from the ADCP to the bottom as
determined by each beam.
49-80
25-40
Spare
Spare
Page 152
Scaling: LSD = 1 centimeter; Range = 0 to 65535 cm
WorkHorse Commands and Output Data Format
Table 42:
March 2014
DVL Output Data Format (PD3) Details
Hex Digit
Binary Byte
Field
Description
81,82
41
Sensor/Other Data
83-90
42,43
Time: HH,MM
† Output if Bit #7 of “Data to Follow” byte is set. These fields contain the Sensor/Other
data.
Bit #
0 = Time
1 = Heading
2 = Pitch
3 = Roll
4 = Temperature
5 = Active Built-In-Test
‡ Sensor/Other Data Bit #0: These fields contains the time of the ping in Hours, Minutes
Seconds, Hundredths of seconds respectively.
44,45
Time: SS,HH
91-94
46,47
Heading
‡ Sensor/Other Data Bit #1: this field contains the Heading in hundredths of degrees.
95-98
48,49
Pitch
‡ Sensor/Other Data Bit #2: this field contains the Pitch in hundredths of degrees.
99-102
50,51
Roll
‡ Sensor/Other Data Bit #3: this field contains the Roll in hundredths of degrees.
103-106
52,53
Temp
‡ Sensor/Other Data Bit #4: this field contains the Temperature in hundredths of degrees.
107-110
54,55
BIT results
111-114
56,57
Checksum
‡ Sensor/Other Data Bit #5: this field contains the Built-In-Test results. Each bit specifies
the result of built-in-test during an ensemble. If the bit is set, the test failed.
BYTE 54 BYTE 55 (BYTE 55 RESERVED FOR FUTURE USE)
1xxxxxxx xxxxxxxx = RESERVED
x1xxxxxx xxxxxxxx = RESERVED
xx1xxxxx xxxxxxxx = RESERVED
xxx1xxxx xxxxxxxx = DEMOD 1 ERROR
xxxx1xxx xxxxxxxx = DEMOD 0 ERROR
xxxxx1xx xxxxxxxx = RESERVED
xxxxxx1x xxxxxxxx = DSP ERROR
xxxxxxx1 xxxxxxxx = RESERVED
This is the 16-bit checksum of all the preceding binary bytes.
† This block of data is only output if the bit is set in the Data to Follow byte.
‡ This block of data is only output if the bit is set in the Sensor/Other Data byte.
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WorkHorse Commands and Output Data Format
DVL Data Format (PD4/PD5)
BIT POSITION
Byte
7
6
5
4
3
1
DVL DATA ID 7Dh
2
DATA STRUCTURE*
3
NO. OF BYTES
4
SYSTEM CONFIG
6
X-VEL BTM
7
Y-VEL BTM
Z-VEL BTM
E-VEL BTM
BM1 RNG TO BTM
BM2 RNG TO BTM
BM3 RNG TO BTM
BM4 RNG TO BTM
BOTTOM STATUS
23
X-VEL REF LAYER
24
Y-VEL REF LAYER
Z-VEL REF LAYER
28
E-VEL REF LAYER
30
31
REF LAYER START
32
33
REF LAYER END
34
35
REF LAYER STATUS
36
TOFP-HOUR
Page 154
LSB
LSB
LSB
MSB
26
29
LSB
MSB
22
27
LSB
MSB
21
25
LSB
MSB
19
20
LSB
MSB
17
18
LSB
MSB
15
16
LSB
MSB
13
14
LSB
MSB
11
12
0
MSB
9
10
1
MSB
5
8
2
WorkHorse Commands and Output Data Format
March 2014
37
TOFP-MINUTE
38
TOFP-SECOND
39
TOFP-HUNDREDTHS
40
BIT RESULTS
41
42
SPEED OF SOUND
43
44
TEMPERATURE
45
46
CHECKSUM
47
Figure 17.
DVL Data Format (PD4/PD5)
*If 0, than PD4 (Bytes 1-47)
*If 1, than PD5 (Bytes 1-45 + Table 44)
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WorkHorse Commands and Output Data Format
DVL Output Data Format (PD4/PD5) Details
The ADCP sends this data format only when the PD4 or PD5 command is used.
Table 43:
DVL Output Data Format (PD4/PD5) Details
Hex Digit
Binary Byte
Field
Description
1,2
1
DVL Data ID
Stores the DVL (speed log) identification word (7Dh).
3,4
2
Data Structure
Identifies which data pattern will follow based on the PD command.
0 = PD4 = Bytes 1 through 47 from Figure 17.
1 = PD5 = Bytes 1 through 45 from Figure 17 and
bytes 46 through 88 from Figure 18.
Note: PD6 is ASCII-only; see Table 45.
5-8
3,4
No. of Bytes
Contains the number of bytes sent in this data structure, not including the final checksum.
9,10
5
System Config
Defines the DVL hardware/firmware configuration. Convert to binary and interpret as
follows.
BIT 76543210
00xxxxxx
01xxxxxx
10xxxxxx
11xxxxxx
xx0xxxxx
xx1xxxxx
xxx0xxxx
xxx1xxxx
xxxxx010
xxxxx011
xxxxx100
BEAM COORDINATE VELOCITIES
INSTRUMENT COORDINATE VELOCITIES
SHIP COORDINATE VELOCITIES
EARTH COORDINATE VELOCITIES
TILT INFORMATION NOT USED IN CALCULATIONS
TILT INFORMATION USED IN CALCULATIONS
3 BEAM SOLUTIONS NOT COMPUTED
3 BEAM SOLUTIONS COMPUTED
300 kHz DVL
600 kHz DVL
1200 kHz DVL
11-14
15-18
19-22
23-26
6,7
8,9
10,11
12,13
X-Vel Btm
Y-Vel Btm
Z-Vel Btm
E-Vel Btm
These fields contain the velocity of the vessel in relation to the bottom in mm/s. Positive
values indicate vessel motion to east (X), north (Y), and up (Z). LSD = 1 mm/s (see NOTES at
end of this table).
27-30
31-34
35-38
39-42
14,15
16,17
18,19
20,21
Bm1
Bm2 Rng to
Bm3 Bottom
Bm4
These fields contain the vertical range from the ADCP to the bottom as determined by
each beam. This vertical range does not compensate for the effects of pitch and roll. When
a bottom detection is bad, the field is set to zero.
43,44
22
Bottom Status
45-48
49-52
53-56
57-60
23,24
25,26
27,28
29,30
Velocity 1
Velocity 2
Velocity 3
Velocity 4
Scaling: LSD = 1 centimeter; Range = 0 to 65535 cm
This field shows the status of bottom-referenced correlation and echo amplitude data.
Convert to binary and interpret as follows. A zero code indicates status is OK.
BIT 76543210
1xxxxxxx
x1xxxxxx
xx1xxxxx
xxx1xxxx
xxxx1xxx
xxxxx1xx
xxxxxx1x
xxxxxxx1
BEAM
BEAM
BEAM
BEAM
BEAM
BEAM
BEAM
BEAM
4
4
3
3
2
2
1
1
LOW
LOW
LOW
LOW
LOW
LOW
LOW
LOW
ECHO AMPLITUDE
CORRELATION
ECHO AMPLITUDE
CORRELATION
ECHO AMPLITUDE
CORRELATION
ECHO AMPLITUDE
CORRELATION
These fields contain the velocity of the vessel in relation to the water-mass reference layer
in mm/s. The setting of the EX-command (Coordinate Transformation) determines how
the WorkHorse references the velocity data.
EX-CMD
COORD SYS
Velocity 1
Velocity 2
Velocity 3
Velocity 4
xxx00xxx
Beam
To Beam 1
To Beam 2
To Beam 3
To Beam 4
xxx01xxx
Instrument
Bm1-Bm2
Bm4-Bm3
To Xducer
Err Vel
xxx10xxx
Ship
Port-Stbd
Aft-Fwd
To Surface
Err Vel
xxx11xxx
Earth
To East
To North
To Surface
Err Vel
Positive values indicate water movement (see notes at end of this table).
Page 156
WorkHorse Commands and Output Data Format
Table 43:
March 2014
DVL Output Data Format (PD4/PD5) Details
Hex Digit
Binary Byte
Field
Description
61-64
65-68
31,32
33,34
Ref Layer Start
Ref Layer End
These fields contain the starting boundary (near surface) and the ending boundary (near
bottom) of the water-mass reference layer (BL command). If the minimum size field is
zero, the ADCP does not calculate reference-layer data.
Scaling: LSD = 1 dm; Range = 0-9999 dm
69,70
35
Ref Layer Status
This field shows the status of reference layer depth and correlation data. Convert to binary
and interpret as follows. A zero code indicates status is OK.
BIT 76543210
xxx1xxxx
xxxx1xxx
xxxxx1xx
xxxxxx1x
xxxxxxx1
ALTITUDE IS TOO SHALLOW
BEAM 4 LOW CORRELATION
BEAM 3 LOW CORRELATION
BEAM 2 LOW CORRELATION
BEAM 1 LOW CORRELATION
71,72
73,74
75,76
77,78
36
37
38
39
TOFP Hour
TOFP Minute
TOFP Second
TOFP Hundredth
These fields contain the time of the first ping of the current ensemble.
79-82
40,41
BIT Results
83-86
42,43
Speed of Sound
These fields contain the results of the ADCP’s Built-in Test function. A zero code indicates a
successful BIT result.
BYTE 40 BYTE 41 (BYTE 41 RESERVED FOR FUTURE USE)
1xxxxxxx xxxxxxxx = RESERVED
x1xxxxxx xxxxxxxx = RESERVED
xx1xxxxx xxxxxxxx = RESERVED
xxx1xxxx xxxxxxxx = DEMOD 1 ERROR
xxxx1xxx xxxxxxxx = DEMOD 0 ERROR
xxxxx1xx xxxxxxxx = RESERVED
xxxxxx1x xxxxxxxx = DSP ERROR
xxxxxxx1 xxxxxxxx = RESERVED
Contains either manual or calculated speed of sound information (EC command).
Scaling: LSD = 1 meter per second; Range = 1400 to 1600 m/s
87-90
44,45
Temperature
Contains the temperature of the water at the transducer head.
Scaling: LSD = 0.01 C; Range = -5.00 to +40.00 C
91-94
46,47
Checksum
This field contains a modulo 65536 checksum. The ADCP computes the checksum by summing all the bytes in the output buffer excluding the checksum. NOTE: This field contains
the checksum only when the PD4 command is used. If PD5 is used, the remaining bytes are
explained in Table 44.
The ADCP packs velocity data into a two-byte, two’s-complement integer [-32768, 32767] with
the LSB sent first. The ADCP scales velocity data in millimeters per second (mm/s). A value of –
32768 (8000h) indicates a bad velocity.
Bottom or reference-layer velocities will be all valid or all invalid. That is, if the X-velocity is valid
than the Y and Z-velocities are valid; if X is not valid, Y and Z are not valid.
The ADCP allows 3-beam transformations when the fourth beam is invalid. Indication of a 3beam transformation for bottom-track is valid bottom velocities and one and only one beam’s
range to bottom is marked bad (zero).
There is no indication that a 3-beam transformation was performed for water reference layer
velocity data.
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WorkHorse Commands and Output Data Format
DVL Data Format (PD5)
BIT POSITION
Byte
46
47
48
49
50
51
52
53
54
7
6
5
4
3
57
1
0
SALINITY
DEPTH
PITCH
ROLL
HEADING
55
56
2
LSB
MSB
LSB
MSB
LSB
MSB
LSB
MSB
LSB
DISTANCE MADE GOOD/BTM (EAST)
58
MSB
59
LSB
60
61
DISTANCE MADE GOOD/BTM (NORTH)
62
MSB
63
LSB
64
65
DISTANCE MADE GOOD/BTM (UP)
66
MSB
67
LSB
68
69
DISTANCE MADE GOOD/BTM (ERROR)
70
MSB
71
LSB
72
73
DISTANCE MADE GOOD/REF (EAST)
74
MSB
75
LSB
76
77
78
Page 158
DISTANCE MADE GOOD/REF (NORTH)
MSB
WorkHorse Commands and Output Data Format
March 2014
BIT POSITION
Byte
7
6
5
4
3
2
79
80
81
1
0
LSB
DISTANCE MADE GOOD/REF (UP)
82
MSB
83
LSB
84
85
DISTANCE MADE GOOD/REF (ERROR)
86
MSB
87
CHECKSUM
88
Figure 18.
LSB
MSB
DVL Data Format (PD5)
Page 159
March 2014
WorkHorse Commands and Output Data Format
DVL Output Data Format (PD5) Details
The ADCP sends this data format (Figure 17 and Figure 18) only when the PD5 command is used. Table
43 explains the first part of this data structure.
Table 44:
DVL Output Data Format (PD5) Details
Hex Digit
Binary Byte
Field
Description
91,92
46
Salinity
Contains the salinity value of the water at the transducer head (ES command). This value
may be a manual setting or a reading from a conductivity sensor.
Scaling: LSD = 1 part per thousand; Range = 0 to 40 ppt
93-96
47,48
Depth
Contains the depth of the transducer below the water surface (ED command). This value
may be a manual setting or a reading from a depth sensor. Scaling: LSD = 1 decimeter;
Range = 1 to 9999 decimeters
97-100
49,50
Pitch
Contains the ADCP pitch angle (EP command). This value may be a manual setting or a
reading from a tilt sensor. Positive values mean that Beam #3 is spatially higher than Beam
#4. Scaling: LSD = 0.01 degree; Range = -60.00 to +60.00 degrees
101-104
51,52
Roll
Contains the ADCP roll angle (ER command). This value may be a manual setting or a reading from a tilt sensor. For up-facing ADCPs, positive values mean that Beam #2 is spatially
higher than Beam #1. For down-facing ADCPs, positive values mean that Beam #1 is spatially higher than Beam #2. Scaling: LSD = 0.01 degree; Range = -60.00 to +60.00 degrees
105-108
53,54
Heading
Contains the ADCP heading angle (EH command). This value may be a manual setting or a
reading from a heading sensor.
Scaling: LSD = 0.01 degree; Range = 000.00 to 359.99 degrees
109-116
117-124
125-132
133-140
55-58
59-62
63-66
67-70
DMG/Btm East
DMG/Btm North
DMG/Btm Up
DMG/Btm Error
141-148
149-156
157-164
165-172
71-74
75-78
79-82
83-86
DMG/Ref East
DMG/Ref North
DMG/Ref Up
DMG/Ref Error
173-176
87,88
Checksum
Page 160
These fields contain the Distance Made Good (DMG) over the bottom since the time of the
first ping after initialization or <BREAK>.
Scaling: LSD = 1 dm; Range = -10,000,000 to 10,000,000 dm
These fields contain the distance made good over the water-mass reference layer since
the time of the first ping after initialization or <BREAK>.
Scaling: LSD = 1 dm; Range = -10,000,000 to 10,000,000 dm
This field contains a modulo 65536 checksum. The ADCP computes the checksum by
summing all the bytes in the output buffer excluding the checksum.
WorkHorse Commands and Output Data Format
March 2014
DVL Output Data Format (PD6)
The ADCP sends this data format only when the PD6 command is used. The ADCP outputs data in the
following line order. The ADCP may not sent all data lines. Examples: (1) If BK = zero, the ADCP does not
send water-mass data (line items beginning with W); (2) If BK = three, the ADCP does not send bottomtrack data (line items beginning with B).
PD6 output data format cannot be recorded – it must be output through the serial port only.
Do not use this output data format for a self-contained deployment.
Table 45:
DVL Output Data Format (PD6)
Line
Description
1
SYSTEM ATTITUDE DATA
:SA,±PP.PP,±RR.RR,HH.HH <CR><LF>
where:
PP.PP = Pitch in degrees
RR.RR = Roll in degrees
HHH.HH = Heading in degrees
2
TIMING AND SCALING DATA
:TS,YYMMDDHHmmsshh,SS.S,+TT.T,DDDD.D,CCCC.C,BBB <CR><LF>
where:
YYMMDDHHmmsshh = Year, month, day, hour, minute, second, hundredths of seconds
SS.S = Salinity in parts per thousand (ppt)
TT.TT = Temperature in C
DDDD.D = Depth of transducer face in meters
CCCC.C = Speed of sound in meters per second
BBB = Built-in Test (BIT) result code
3
WATER-MASS, INSTRUMENT-REFERENCED VELOCITY DATA
:WI,±XXXXX,±YYYYY,±ZZZZZ,±EEEEE,S <CR><LF>
where:
±XXXXX = X-axis vel. data in mm/s (+ = Bm1 Bm2 xdcr movement relative to water mass)
±YYYYY = Y-axis vel. data in mm/s (+ = Bm4 Bm3 xdcr movement relative to water mass)
±ZZZZZ = Z-axis vel. data in mm/s (+ = transducer movement away from water mass)
±EEEEE = Error velocity data in mm/s
S = Status of velocity data (A = good, V = bad)
4
WATER-MASS, SHIP-REFERENCED VELOCITY DATA
:WS,±TTTTT,±LLLLL,±NNNNN,S <CR><LF>
where:
±TTTTT = Transverse vel. data in mm/s (+ = Port Stbd ship movement rel. to water mass)
±LLLLL = Longitudinal vel. data in mm/s (+ = Aft Fwd ship movement rel. to water mass)
±NNNNN = Normal velocity data in mm/s (+ = ship movement away from water mass)
S = Status of velocity data (A = good, V = bad)
5
WATER-MASS, EARTH-REFERENCED VELOCITY DATA
:WE,±EEEEE,±NNNNN,±UUUUU,S <CR><LF>
where:
±EEEEE = East (u-axis) velocity data in mm/s (+ = ADCP movement to east)
±NNNNN = North (v-axis) velocity data in mm/s (+ = ADCP movement to north)
±UUUUU = Upward (w-axis) velocity data in mm/s (+ = ADCP movement to surface)
S = Status of velocity data (A = good, V = bad)
Page 161
March 2014
Table 45:
Line
6
WorkHorse Commands and Output Data Format
DVL Output Data Format (PD6)
Description
WATER-MASS, EARTH-REFERENCED DISTANCE DATA
:WD,±EEEEEEEE.EE,±NNNNNNNN.NN,±UUUUUUUU.UU,DDDD.DD,TTT.TT <CR><LF>
where:
+EEEEEEEE.EE = East (u-axis) distance data in meters
+NNNNNNNN.NN = North (v-axis) distance data in meters
+UUUUUUUU.UU = Upward (w-axis) distance data in meters
DDDD.DD = Range to water-mass center in meters
TTT.TT = Time since last good-velocity estimate in seconds
7
BOTTOM-TRACK, INSTRUMENT-REFERENCED VELOCITY DATA
:BI,±XXXXX,±YYYYY,±ZZZZZ,±EEEEE,S <CR><LF>
where:
±XXXXX = X-axis velocity data in mm/s (+ = Bm1 Bm2 xdcr movement relative to bottom)
±YYYYY = Y-axis velocity data in mm/s (+ = Bm4 Bm3 xdcr movement relative to bottom)
±ZZZZZ = Z-axis velocity data in mm/s (+ = transducer movement away from bottom)
±EEEEE = Error velocity data in mm/s
S = Status of velocity data (A = good, V = bad)
8
BOTTOM-TRACK, SHIP-REFERENCED VELOCITY DATA
:BS,±TTTTT,±LLLLL,±NNNNN,S <CR><LF>
where:
±TTTTT = Transverse vel. data in mm/s (+ = Port Stbd ship movement relative to bottom)
±LLLLL = Longitudinal vel. data in mm/s (+ = Aft Fwd ship movement relative to bottom)
±NNNNN = Normal velocity data in mm/s (+ = ship movement away from bottom)
S = Status of velocity data (A = good, V = bad)
9
BOTTOM-TRACK, EARTH-REFERENCED VELOCITY DATA
:BE,±EEEEE,±NNNNN,±UUUUU,S <CR><LF>
where:
±EEEEE = East (u-axis) velocity data in mm/s (+ = ADCP movement to east)
±NNNNN = North (v-axis) velocity data in mm/s (+ = ADCP movement to north)
±UUUUU = Upward (w-axis) velocity data in mm/s (+ = ADCP movement to surface)
S = Status of velocity data (A = good, V = bad)
10
BOTTOM-TRACK, EARTH-REFERENCED DISTANCE DATA
:BD,±EEEEEEEE.EE,±NNNNNNNN.NN,±UUUUUUUU.UU,DDDD.DD,TTT.TT <CR><LF>
where:
+EEEEEEEE.EE = East (u-axis) distance data in meters
+NNNNNNNN.NN = North (v-axis) distance data in meters
+UUUUUUUU.UU = Upward (w-axis) distance data in meters
DDDD.DD = Range to bottom in meters
TTT.TT = Time since last good-velocity estimate in seconds
The PD6 output does not pad spaces with zeroes. The spaces are left intact. The example below shows a
realistic output from a WorkHorse ADCP locked onto the bottom.
:SA, -2.31, +1.92, 75.20
:TS,04081111563644,35.0,+21.0,
0.0,1524.0, 0
:WI,-32768,-32768,-32768,-32768,V
:BI,
+24,
-6,
-20,
-4,A
:WS,-32768,-32768,-32768,V
:BS,
-13,
+21,
-20,A
:WE,-32768,-32768,-32768,V
:BE,
+17,
+18,
-20,A
:WD,
+0.00,
+0.00,
+0.00, 20.00,
:BD,
-0.02,
-0.03,
+0.02,
7.13,
Page 162
0.00
0.21
WorkHorse Commands and Output Data Format
March 2014
PD8 ASCII Output
The ADCP sends this data format only when the PD8 command is used. PD8 outputs ensemble data as
formatted text. A new-line character terminates each line. Two new-line characters terminate an ensemble.
PD8 data is only for serial output. If you select PD8 and set the CF command to CFxxx11 (serial output on,
recorder on), the ADCP will output PD8 ASCII data out the serial port and record PD0 data to the recorder card. You can then use the PD0 data to troubleshoot any setup problems with the ADCP.
1997/02/28 11:16:50.07 00001
Hdg: 209.1 Pitch: 9.6 Roll: -9.1
Temp: 22.8 SoS: 1529 BIT: 00
Bin
Dir
Mag
E/W
N/S
1
--- -32768 -32768
2
--- -32768 -32768
3
--- -32768 -32768
4
--- -32768 -32768
5
--- -32768 -32768
6
--- -32768 -32768
7
--- -32768 -32768
8
--- -32768 -32768
9
--- -32768 -32768
10
--- -32768 -32768
Vert
-32768
-32768
-32768
-32768
-32768
-32768
-32768
-32768
-32768
-32768
Err
-32768
-32768
-32768
-32768
-32768
-32768
-32768
-32768
-32768
-32768
Echo1
43
44
43
43
43
42
43
43
43
44
Echo2
49
41
41
41
41
41
42
40
41
41
Echo3
46
45
45
46
45
46
46
46
45
46
Echo4
43
44
43
43
43
43
43
43
44
44
If all four beams have good data, than direction and magnitude are output as well.
PD8 output data format cannot be recorded – it must be output through the serial port only.
Do not use this output data format for a self-contained deployment.
Page 163
March 2014
WorkHorse Commands and Output Data Format
PD9 ASCII Output
PD9 is a water-profiling format meant to collect data in earth coordinates and formatted for easy parsing.
All fields are fixed width, comma separated, and either zero or space padded. PD9 data is for serial output
only.
PD9 output data format cannot be recorded – it must be output through the serial port only. Do
not use this output data format for a self-contained deployment.
The header information of Date, Time, Temp, Heading, and Tilts total is 55 bytes. The water-profiling information is 34 bytes per bin of data.
CCYY/MM/DD,HH:mm:ss,
T:ttt.t,H:ddd.d,P:+pp.p,R:+rr.r,
nnn,+vvvvv,+vvvvv,+vvvvv,+vvvvv,
.
.
.
nnn,+vvvvv,+vvvvv,+vvvvv,+vvvvv,
-Repeated for each ensembleWhere
Field
CC
YY
MM
DD
HH
mm
ss
T:
ttt.t
H:
ddd.d
P:
+pp.p
R:
+rr.r
nnn
+vvvvv
Description
= Fixed length (zero padded) Century
= Fixed length (zero padded) Year
= Fixed length (zero padded) Month
= Fixed length (zero padded) Day of Month
= Fixed length (zero padded) Hour
= Fixed length (zero padded) Minutes
= Fixed length (zero padded) Seconds
= Signifies Temperature.
= Fixed length (space padded) Temperature in Deg C.
= Signifies Heading.
= Fixed length (space padded) Heading in Deg.
= Signifies Pitch.
= Fixed length (space padded) signed Pitch in Deg.
= Signifies Roll.
= Fixed length (space padded) signed Roll in Deg.
= Fixed length (zero padded) Bin Number.
= Fixed length (zero padded) signed velocity in mm/s. Beam, Inst, Ship or Earth.
Example
1999/04/08,14:53:04,
T: 24.3,H:185.4,P: -3.5,R: +6.7,
001,-00577,+00974,-00044,-00622,
002,-01589,-01546,-00157,+00182,
003,-00404,-00338,-00132,-00290,
004,-01055,-00931,+00103,-00004,
005,+00280,+01290,-00655,+00339,
006,+00538,+00714,+00738,+00825,
007,+01825,+00025,+00397,+00160,
008,+00371,+01181,+01169,+00892,
009,-00218,-00716,+00627,+00375,
010,-00979,+03923,-00452,-00038,
...
090,-00990,-04774,+00925,-00457,
091,-05175,-04205,+00541,+00201,
092,-06582,+01245,+00581,-00802,
093,-03221,-00999,+00141,-00467,
094,-02362,-04466,+00572,-00204,
095,-04809,-08065,+01812,-01061,
096,-08233,+04324,+02969,-00893,
097,-01679,-03700,-00573,+00401,
098,+01733,+04916,-00325,-00520,
099,-05380,+00337,-00599,-00943,
100,-00702,+03590,+00358,+00955,
Page 164
WorkHorse Commands and Output Data Format
March 2014
DVL Data Format (PD10)
BYTE
BIT POSITION
7
6
5
4
3
1
DVL DATA ID 78h
2
DATA STRUCTURE*
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
2
STARBOARD/EAST VELOCITY (With Respect To BTM)
FORWARD/NORTH VELOCITY (With Respect To BTM)
UPWARD VELOCITY (With Respect To BTM)
STARBOARD/EAST VELOCITY (With Respect To WATER REF)
FORWARD/NORTH VELOCITY (With Respect To WATER REF)
UPWARD VELOCITY (With Respect To WATER REF)
BM1 RNG TO BTM
BM2 RNG TO BTM
BM3 RNG TO BTM
BM4 RNG TO BTM
RANGE TO BTM (AVERAGE)
1
0
LSB
MSB
LSB
MSB
LSB
MSB
LSB
MSB
LSB
MSB
LSB
MSB
LSB
MSB
LSB
MSB
LSB
MSB
LSB
MSB
LSB
MSB
25
↓
↓
SPARE
↓
↓
40
41
SENSOR/OTHER DATA
42
PING TIME : HOUR
43
MINUTE
44
SECOND
45
HUNDREDTH
46
47
48
HEADING
PITCH
LSB
MSB
LSB
Page 165
March 2014
WorkHorse Commands and Output Data Format
BYTE
BIT POSITION
7
6
5
4
3
2
1
0
49
MSB
50
ROLL
51
52
TEMPERATURE
53
54
BIT RESULTS
55
56
LSB
MSB
LSB
MSB
LSB
MSB
LSB
57
DEPTH
58
59
MSB
60
LSB
61
DEPTH STANDARD DEVIATION
62
63
MSB
64
CHECKSUM
65
Figure 19.
LSB
MSB
DVL Data Format (PD10)
PD10 Output Data Format is not available for WorkHorse ADCP Monitor/Sentinel systems with
8.xx firmware.
DVL Output Data Format (PD10) Details
The ADCP/DVL sends this data format only when the PD10 command is used. In multiple byte parameters, the least significant byte always comes before the more significant bytes.
PD10 Output Data Format is not available for WorkHorse ADCP Monitor/Sentinel systems with
8.xx firmware.
Table 46:
DVL Output Data Format (PD10) Details
Hex Digit
Binary Byte
Field
Description
1,2
1
DVL Data ID
Stores the DVL (speed log) identification word (78h)
3,4
2
Reserved
Reserved
5-8
3,4
X-Vel Btm
† Bit #0: Always output. If the data bit is set to 0, than Ship coordinates are used. If the
data bit is set to 1, than Earth coordinates are used. These fields contain the velocity of
the vessel in relation to the bottom in mm/s. Positive values indicate vessel motion to (X)
Starboard/East, (Y) Forward/North, and (Z) Upward.
9-12
5,6
Y-Vel Btm
Page 166
WorkHorse Commands and Output Data Format
Table 46:
March 2014
DVL Output Data Format (PD10) Details
Hex Digit
Binary Byte
Field
Description
13-16
7,8
Z-Vel Btm
† Bit #1: Vertical velocities.
17-20
9,10
X-Vel Water
† Bit #2: These fields contain the velocity of the vessel in relation to the water reference
layer in mm/s. Positive values indicate vessel motion to (X) Starboard/East, (Y) Forward/North, (Z) Upward.
21-24
11,12
Y-Vel Water
25-28
13,14
Z-Vel Water
† Bit #1 and Bit #2
29-32
15,16
Bm1
33-36
17,18
Bm2 Rng to
37-40
19,20
Bm3 Bottom
† Bit #3: These fields contain the vertical range from the ADCP to the bottom as determined by each beam. This vertical range does not compensate for the effects of pitch and
roll. When a bottom detection is bad, the field is set to zero.
41-44
21,22
Bm4
45-48
23,24
Avg Rng to Btm
† Bit #4: These fields contain the average vertical range from the ADCP to the bottom as
determined by each beam.
49-80
25-40
Spare
Spare
81,82
41
Sensor/Other Data
† Output if Bit #7 of “Data to Follow” byte is set. These fields contain the Sensor/Other
data.
Scaling: LSD = 1 centimeter; Range = 0 to 65535 cm
Bit #
0 = Time
1 = Heading
2 = Pitch
3 = Roll
4 = Temperature
5 = Active Built-In-Test
83-90
42,43
Time: HH,MM
‡ Sensor/Other Data Bit #0: These fields contains the time of the ping in Hours, Minutes
Seconds, Hundredths of seconds respectively.
44,45
Time: SS,HH
91-94
46,47
Heading
‡ Sensor/Other Data Bit #1: These fields contains the Heading in hundredths of degrees.
95-98
48,49
Pitch
‡ Sensor/Other Data Bit #2: These fields contains the Pitch in hundredths of degrees.
99-102
50,51
Roll
‡ Sensor/Other Data Bit #3: These fields contains the Roll in hundredths of degrees.
103-106
52,53
Temp
‡ Sensor/Other Data Bit #4: These fields contains the Temperature in hundredths of degrees.
107-110
54,55
BIT results
‡ Sensor/Other Data Bit #5: These fields contains the Built-In-Test results. Each bit specifies the result of built-in-test during an ensemble. If the bit is set, the test failed.
BYTE 54
1xxxxxxx
x1xxxxxx
xx1xxxxx
xxx1xxxx
xxxx1xxx
xxxxx1xx
xxxxxx1x
xxxxxxx1
BYTE 55
xxxxxxxx
xxxxxxxx
xxxxxxxx
xxxxxxxx
xxxxxxxx
xxxxxxxx
xxxxxxxx
xxxxxxxx
Depth data in decimeters.
(BYTE 55 RESERVED FOR FUTURE USE)
= RESERVED
= RESERVED
= RESERVED
= DEMOD 1 ERROR
= DEMOD 0 ERROR
= RESERVED
= DSP ERROR
= RESERVED
111-118
56-59
Depth
119-126
60-63
Depth Std Dev.
Standard deviation of depth in decimeters
127-130
64,65
Checksum
This is the 16-bit checksum of all the preceding binary bytes.
Page 167
March 2014
WorkHorse Commands and Output Data Format
Reduced Data Output Format (PD12)
The PD12 format is suitable for use in applications where communications bandwidth is an issue, such as
acoustic modems and radio modems. Setting PD12 enables the reduced data output format. Each ensemble shall be output according to Table 47. Data will continue to be recorded in the standard PD0 format.
All data will be in Intel (little-endian) binary format.
Velocity data will be output according to the PB and PO commands. The PB command determines
which velocity bins are output, while the PO command determines which velocity components are to be
output. Each selected bin requires two bytes per velocity component. Only the components selected by the
PO command will be output. All of the selected bins for each component will be output contiguously. For
example, when you select to output “East “ and “North” velocities from your Data, the data will be outputted like this:
East Bin1
East Bin 2
East Bin 3
East bin N
North Bin 1
North Bin2
North Bin 3
North Bin N
The ensemble size is a function of the parameters supplied by the PB command, the number of data
types selected by the PO command, and the number of bins selected for recording by the WN command.
The ensemble size will vary as shown below.
x = start bin (first parameter of PB command)
y = number of bins for output (second parameter of PB command)
z = sub-sampling parameter (third parameter of PB command)
d = number of data types (from the PO command)
n = number of bins for recording (WN command)
If 0 < y < ( (n – x) / z ):
Size = 34 + 2 * d * y
Otherwise:
Size = 34 + 2 * d * ( (n – x) / z )
The size calculated above is the value reported in the Size field of the ensemble format. It does not include
the checksum.
The Unit ID field of the PD12 format is used to allow each ADCP in a network of instruments to uniquely
identify itself. The field is one byte wide and is set by the CI command.
To further assist in bandwidth conservation, the CH command has been added to allow suppression of
the wakeup message. If CH1 is saved to the user command set (via the CK command), the unit will only
output a “>” when a break is sent or power is applied. It should be noted that much of the software provided by TRDI for interfacing with the ADCP relies on keywords in the wakeup banner to distinguish one
type of ADCP from another. Suppression of the wakeup banner may cause this software to fail or function
erratically. CH should be left at its factory default unless the user is certain that suppression of the wakeup
banner will not interfere with the operation of the instrument.
Page 168
WorkHorse Commands and Output Data Format
Table 47:
March 2014
Reduced Data Output Format (PD12)
Location
Size
Field
Description
0
2
ID
Always 7F6E.
2
2
Size
Size of ensemble in bytes including ID but not including checksum.
4
4
Number
Ensemble Number
8
1
Unit ID
The ID of the ADCP as set by the CI command.
9
1
FW Vers
CPU Firmware Version.
10
1
FW Rev
CPU Firmware Revision.
11
2
Year
4-digit year of ensemble time-stamp.
13
1
Month
Month (1 – 12) of ensemble time-stamp.
14
1
Day
Day of month (1 – 31) of ensemble time-stamp.
15
1
Hour
Hour (0 – 23) of ensemble time-stamp.
16
1
Minute
Minute (0 – 59) of ensemble time-stamp.
17
1
Second
Second (0 - 59) of ensemble time-stamp.
18
1
Hsec
Hundredths of seconds (0 - 99) of ensemble time-stamp.
19
2
Heading
Heading in units of 0.01°.
21
2
Pitch
Pitch in units of 0.01°.
23
2
Roll
Roll in units of 0.01°.
25
2
Temp
Temperature in units of 0.01 °C
27
4
Pressure
Pressure in deca-Pascals (100*kPa)
31
1
Components
Bits 0-3 contain the velocity component flags of the PO command.
Bits 4-7 contain the bin subsampling parameter of the PB command
bit 7
x
x
x
x
n
6
x
x
x
x
n
5
x
x
x
x
n
4
x
x
x
x
n
3
1
x
x
x
x
2
x
1
x
x
x
1
x
x
1
x
x
0
x
x
x
1
x
component 4
component 3
component 2
component 1
sub-sampling parameter
32
1
Start Bin
The first bin parameter from the PB command.
33
1
Bins
The number of bins parameter from the PB command.
34
2*N*D
Data
Velocity data. N = number of bins. D = number of velocity components selected.
34 + 2*N*D
2
Checksum
Checksum.
Page 169
March 2014
WorkHorse Commands and Output Data Format
Output Data Format (PD15)
The PD15 Output Data Format is designed for NDBC satellite data links. It contains the same data as the
PD0 format; however the binary data is remapped using a special algorithm onto the 7-bit ASCII character set. This is done by taking groups of three 8-bit binary bytes (24 data bits), and repackaging them into
four 8-bit bytes (32 bits) where the most significant two bits in each encoded byte are set to “01”, and the
least significant six bits in each encoded byte contain the original data. A <CR> is then added at end of the
ensemble. The reverse algorithm needs to be applied on the host end to decode the PD15 data into its original PD0 form.
Here is an example (shown both in hex and binary) of how the PD0 data is encoded to product the PD15
format (each group of three PD0 bytes are encoded into four PD15 bytes):
Hex:
PD0: 7F 7F 12 34 56 78
==>
PD15: 5F 77 7C 52 4D 45 59 78"
Binary:
PD0: 01111111 01111111 00010010 00110100 01010110 01111000 ==>
PD15: 01011111 01110111 01111100 01010010 01001101 01000101 01011001
01111000
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Output Data Format (PD16)
PD16 will NOT output data when the system is in Beam Coordinates (see EX – Coordinate
Transformation). The data has to have been transformed to output meaningful data.
When configured for PD16 and recording data to the recorder (CF11111), CS will start
outputting data even if the card is full or missing.
The current generation of Sea-Bird acoustic modems uses the ‘$’ as a command terminator. This prevents
them from handling the NMEA standard messages which all start with the ‘$’ character. Consequently,
the current PD16 format is:
PRDIK,sn,yyddmm,hhmmss.ss,b1,m1,d1,b2,m2,d2,…,bn,mn,dn*xx<cr><lf>
Where:
sn
= Serial Number
yyddmm
= Date
hhmmss.ss
= Time
bx
= Bin Number
mx
= Magnitude (mm/s)
dx
= Direction
xx
= NMEA checksum
•
In the event of bad data, the appropriate field will be left empty, with the commas present to indicate the absence of data.
•
The bins to be displayed are selected using the PB command as in the case of PD12.
•
The maximum length for the message is 480 bytes.
Sea-Bird Electronics has acknowledged that they have a problem and are said to be changing
their firmware to support the NMEA standard. At that time, use PD18 to meet the NMEA
standard.
Output Data Format (PD18)
PD18 is the same Output Data Format as PD16, but with the leading '$' necessary to fully comply with the
NMEA format.
PD18 will NOT output data when the system is in Beam Coordinates (see EX – Coordinate
Transformation). The data has to have been transformed to output meaningful data.
When configured for PD18 and recording data to the recorder (CF11111), CS will start
outputting data even if the card is full or missing.
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Chapter
6
HOW TO DECODE AN ADCP ENSEMBLE
In this chapter, you will learn:
•
Rules for the BroadBand Data Format PD0
•
Decoding Sequence for PD0 Data
•
Decoding Sequence Example
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Rules for the BroadBand Data Format PD0
Use the following information to help write your own software:
1.
All data types (i.e. fixed leader, variable leader, velocity, echo intensity, correlation, percent good,
etc.) will be given a specific and unique ID number. The table below shows some of the most
common IDs.
Table 48:
Common Data Format IDs
ID
LSB
MSB
Description
0x7F7F
7F
7F
Header
0x0000
00
00
Fixed Leader
0x0080
80
00
Variable Leader
0x0100
00
01
Velocity Profile Data
0x0200
00
02
Correlation Profile Data
0x0300
00
03
Echo Intensity Profile Data
0x0400
00
04
Percent Good Profile Data
0x0500
00
05
Status Profile Data
0x0600
00
06
Bottom Track Data
0x0800
00
08
MicroCAT Data
The ADCP always sends the Least Significant Byte (LSB) first.
2. Once a data type has been given an ID number and the format of that data has been published we
consider the format for each field has being fixed. Fixed refers to units used for a given field, the
number of bytes in a given field, and the order in which the fields appear within the data type.
Fixed does not refer to the total number of bytes in the data type - see Rule 3.
3. Data may be added to an existing data type only by adding the bytes to the end of the data format.
As an example, the variable leader data contains information on ensemble number, time, heading,
pitch, roll, temperature, pressure, etc. The format for the bytes 1-53 are now specified by changes
added in support to the WorkHorse ADCP. If additional sensor data is to be added to the variable
leader data, than it must be added to the end of the data string (bytes 54-x as an example).
Note that new firmware versions may cause a change in the number of bytes and this implies
that if byte-counting, requires altering your code at every change. This is not the case when
using the data type IDs and offsets to navigate through the data. New variables are added at the
end of a data type before the checksum. The offsets will dynamically change to reflect the
change, allowing you to get to the same desired data every time.
4. The order of data types in an ensemble is not fixed. That is there is no guarantee that velocity data
will always be output before correlation data.
5. The header data will include the number of data types in the files and the offset to each ID number for each data type.
6. The total number of the bytes in an ensemble minus the 2-byte checksum will be included in the
header.
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Decoding Sequence for PD0 Data
To decode PD0 data:
1.
Locate the header data by locating the header ID number (in the case of PD0 profile data that will
be 7F7F).
2. Confirm that you have the correct header ID by:
a. Locating the total number of bytes (located in the header data) in the ensemble. This will be
your offset to the next ensemble.
b. Calculate the checksum of total number of bytes in the ensemble excluding the checksum. The
checksum is calculated by adding the value of each byte. The 2-byte least significant digits that
you calculate will be the checksum.
c.
Read the 2-byte checksum word at the end of the ensemble, located by using the checksum
offset in the header (determined in step 2-a) and compare this checksum word to the value
calculated in step 2-b.
d. If the checksums match then you have a valid ensemble. If the checksums do not match then
you do not have a valid ensemble and you need to go back to step 1 and search for the next
header ID number occurrence.
3. Locate the number of data types (located in the header data).
4. Locate the offset to each data type (located in the header data).
5. Locate the data ID type you wish to decode by using the offset to each data type and confirm the
data ID number at that offset matches the ID type you are looking for.
6. Once the proper ID type has been located, use this manual to understand what each byte represents in that particular data type.
Decoding Sequence Example
All the available binary output data formats respect the same “header/leader ID + offset to data type”
structure that eliminates the need for byte-counting. As an example, let’s assume you selected PD5 output
format and you need to decode the Roll data from each ensemble.
Based on the documentation, PD5 data type is PD4 + PD5 data with the Leader ID of PD4 = 7Dh.
Thus, let’s assume you created code that read the serial data coming from the instrument and scan for this
ID. Once 7Dh is detected in the raw data, based on the PD5 output data format tables, you simply need to
jump down 50 bytes to directly get to the roll data coded on bytes 51 and 52 as a 2s-complement signed
variable. This “jump” can be done by adding the offset to a pointer address pointing to the leader ID.
As mentioned above, the Roll data is a 2s-complement signed variable. Let’s assume the roll data that you
want to decode is ea ff in the binary raw data. Since the PD5 format is LSB (Byte 51) MSB (Byte 52), it
should read Roll (hexa) = ff ea.
Let’s transform both hexadecimal bytes into 2 binary bytes:
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The Most Significant Bit is the first bit on the left of the binary word and will decide the sign of the variable. Below is a formula that you can apply to obtain the decimal value of the Roll using the above binary
word:
Decimal Roll = [(-1)x X x 2^15) + (decimal(YYY YYYY YYYY YYYY)) ] x Scale factor
Where the binary word is:
XYYY YYYY YYYY YYYY
Using this formula in this example, we obtain:
X=1
Y…..Y = 111 1111 1110 1010
Scale Factor (see Table 44) = 0.01 degree
Thus,
Decimal Roll = [(-1) x 1 x 2^15 + (decimal (111 1111 1110 1010))] x 0.01deg
Decimal Roll = [-32768 + 32746] x 0.01deg
Decimal Roll = -0.22 degrees
The same method can be used for all PDx binary formats.
If you simply need to decode parts or all the data from each ensemble of your deployment PD0
data file into an ASCII file for post-processing, use RDI Tools. See item 5 on the TRDI website.
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NOTES
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NOTES
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