Copyright: © RD Instruments Version 1.1 (April 2, 1999)
Citation: © RD Instruments Version 1.1 (April 2, 1999)


Welcome to the Expert Command Guide

This help file lists all of the commands and output data formats available for Workhorse ADCPs (includes Monitor, Sentinel, Navigator, Rio Grande, and Long Ranger).  Only the commands that are required for a successful deployment are documented in the Technical Manuals.  Some commands are optional, and may not be available for your system.

Introduction	Environmental Commands	Ping Synchronization Commands
Compass Commands	Fault Log Commands	Timing Commands
Bottom-track Commands	Lowered ADCP Commands	Water Profiling Commands
Control System Commands	Performance and Testing Commands	High Resolution Water Profiling Commands
SVSS Commands	Recorder Commands	Output Data Format
This guide also includes examples of special setups for using bottom-track, high-resolution water profiling modes, Master/Slave (Ping Synchronization) and Lowered ADCP setups.

Table 1.  Current Firmware Versions

System	Firmware Version
Monitor / Sentinel / Long Ranger	8.27
Navigator	9.10
Rio Grande	10.02
Table 2.  History of Corrections

Date	Correction
April 2, 1999	Corrected the EB-command.  A declination of West 3.5 degrees should be entered as –3.5 degrees.

Help File Version 1.1 (April 2, 1999)


Introduction

This manual defines all the commands used by the Workhorse ADCP.  These commands let you set up and control the Workhorse without using an external software program such as our PLAN program.  However, we strongly encourage you to develop your command files using PLAN.  Once these ten basic commands are set, you can add special commands.  For most deployments, you will never need to change the command file, but there are always exceptions.  You should be aware that if the command file is modified using a text editor to add, delete, or modify commands, you can not use PLAN to edit the file again.  You may want to save the original command file using another name.

The commands shown in Table 1 directly effect the range of the ADCP, standard deviation (accuracy) of the data, and battery usage.  Using PLAN allows you to set the command values and see the result of your choices before deploying the ADCP.

Table 1.	Commands Modified by PLAN

Command	Description	Choices
CF	Flow control	Record data internally or out serial port
EB	Heading bias	Magnetic variation
ED	Transducer depth	Depth of the transducer.
ES	Salinity	Salinity of water
TE	Time per ensemble	Ensemble interval
TF	Time of first ping	First ping date and First ping time
TP	Time between pings	Plan automatically sets the time between pings to spread the pings evenly throughout the ensemble
WN	Number of depth cells	Number of bins
WP	Pings per ensemble	Ping per ensemble
WS	Depth cell size	Bin size

In addition to the commands modified by PLAN listed in Table 1, the following commands are added to the command file.

Table 2.	Commands Added by PLAN

Command	Description	Consequence
CK	Keep parameters as user defaults	If power is lost and then restored, all commands will be restored as last sent. Sent right before the CS-command.
CR1	Sets factory defaults	This is the first command sent to the ADCP to place it in a “known” state.
CS	Start pinging	Last command sent to begin collecting data.
EA00000	Heading alignment	Use beam-3 as the heading alignment
EX11111	Coordinate transformations	Sets Earth coordinates, use tilts, allow 3-beam solutions, and allow bin mapping to ON.
EZ1111111	Sensor source	Calculate speed of sound from readings, use pressure sensor (if installed), internal compass, internal tilt sensor, and transducer temprature sensor.
WD111 100 000	Data out	Sets the ADCP to collect velocity, correlation magnitude, echo intensity, and percent-good data.  Status data is not used.
WF0176	Blank after transmit	Moves the location of the first depth cell 176 cm away from the transducer head.
WV170	Ambiguity velocity	Sets the maximum relative horizontal velocity between water-current speed and Workhorse speed to 170 cm/s.


Miscellaneous Commands

? – Help Menus

Break

EXPERTOFF

EXPERTON

OL - Features


? - 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 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.

>?

DEPLOY? ------------------ Deployment Commands

SYSTEM? ------------------ System Control, Data Recovery and Testing Commands

C? ----------------------- CONTROL Commands

E? ----------------------- ENVIRONMENTAL SENSORS Commands

P? ----------------------- PERFORMANCE Commands

S? ----------------------- RDS^3 SYNCHRONIZATION Commands

T? ----------------------- TIMING Commands

W? ----------------------- WATER PROFILING Commands

R? ----------------------- RECORDER Commands

A? ----------------------- SENSOR/COMPASS Commands

O? ----------------------- FEATURE Commands

D? ----------------------- APPLIED MICROSYSTEMS Commands

?? ----------------------- DISPLAY Quick Menus

>deploy?

Deployment Commands:

RE ----------------------- Recorder ErAsE

RN ----------------------- Set Deployment Name

WD = 111 100 000 --------- Data Out (Vel,Cor,Amp; PG,St,P0; P1,P2,P3)

WF = 0176 ---------------- Blank After Transmit (cm)

WN = 030 ----------------- Number of depth cells (1-128)

WP = 00045 --------------- Pings per Ensemble (0-16384)

WS = 0400 ---------------- Depth Cell Size (cm)

WV = 175 ----------------- Mode 1 Ambiguity Vel (cm/s radial)

BP = 000 ----------------- Bottom Track Pings per Ensemble

TE = 01:00:00.00 --------- Time per Ensemble (hrs:min:sec.sec/100)

TF = **/**/**,**:**:** --- Time of First Ping (yr/mon/day,hour:min:sec)

TP = 01:20.00 ------------ Time per Ping (min:sec.sec/100)

TS = 98/01/06,11:08:59 --- Time Set (yr/mon/day,hour:min:sec)

EA = +00000 -------------- Heading Alignment (1/100 deg)

EB = +00000 -------------- Heading Bias (1/100 deg)

ED = 00000 --------------- Transducer Depth (0 - 65535 dm)

ES = 35 ------------------ Salinity (0-40 pp thousand)

EX = 11111 --------------- Coord Transform (Xform: Type,Tilts,3 Bm,Map)

EZ = 1011101 ------------- Sensor Source (C,D,H,P,R,S,T)

CF = 11111 --------------- Flow Ctrl (EnsCyc;PngCyc;Binry;Ser;Rec)

CK ----------------------- Keep Parameters as USER Defaults

CR # --------------------- Retrieve Parameters (0 = USER, 1 = FACTORY)

CS ----------------------- Start Deployment

>system?

System Control, Data Recovery and Testing Commands:

CB = 411 ----------------- Serial Port Control (Baud; Par; Stop)

CP # --------------------- Polled Mode (0 = NORMAL, 1 = POLLED)

CZ  ---------------------- Power Down Instrument

FC ----------------------- Clear Fault Log

FD ----------------------- Display Fault Log

RR ----------------------- Recorder Directory

RF ----------------------- Recorder Space used/free (bytes)

RY ----------------------- Upload Recorder Files to Host

PA ----------------------- Pre-Deployment Tests

PC1 ---------------------- Beam Continuity

PC2 ---------------------- Sensor Data

PS0 ---------------------- System Configuration

PS3 ---------------------- Transformation Matrices

OL ----------------------- Display Features List

>a?

Sensor Commands:

AD ---------------------- Display Calibration Data

AF ---------------------- Field Calibrate to remove Hard and/or Soft Iron Error

AR ---------------------- Restore Factory Fluxgate Calibration data:

                              make factory the active calibration data

AX ---------------------- Examine Compass Performance

AZ   0.000000 ----------- Zero pressure reading

>b?

BA = 030 ----------------- Evaluation Amplitude Min (1-255)

BC = 220 ----------------- Correlation Magnitude Min (0-255)

BD = 000 ----------------- Delay Re-Acquire (# Ensembles)

BE = 1000 ---------------- Max Error Velocity (mm/s)

BF = 00000 --------------- Depth Guess (0=Auto, 1-65535 = dm)

BG = 80,30,00030 --------- BM6 Shal Xmt (%), Deep Xmt (%), Deep (dm)

BH = 190,010,004,040 ----- BM6 Thresh(cnt), S Amb(cm/s), L Amb(cm/s), MinAmb

BI = 020 ----------------- Gain Switch Depth (0-999 meters)

BK = 0 ------------------- Layer Mode (0-Off, 1-On, 2-Lost, 3-No BT)

BL = 160,0320,0480 ------- Layer:  Min Size (dm), Near (dm), Far (dm)

BM = 5 ------------------- Mode (5 = Default, 4 = Default minus Coherent)

BP = 000 ----------------- Pings per Ensemble

BR = 0 ------------------- Resolution (0 = 4%, 1 = 2%, 2 = 1%)

BS ----------------------- Clear Distance Traveled

BX = 02000 --------------- Maximum Depth (40-65535 dm)

BZ = 004 ----------------- Coherent Ambiguity Velocity (cm/s radial)

>c?

CB = 411 ----------------- Serial Port Control (Baud [4=9600]; Par; Stop)

CF = 11111 --------------- Flow Ctrl (EnsCyc;PngCyc;Binry;Ser;Rec)

CK ----------------------- Keep Parameters as USER Defaults

CM = 0 ------------------- Master (0 = OFF, 1 = ON)

CN = 0 ------------------- Save NVRAM to recorder (0 = ON, 1 = OFF)

CP = 0 ------------------- PolledMode (1=ON, 0=OFF;  BREAK resets)

CR # --------------------- Retrieve Parameters (0 = USER, 1 = FACTORY)

CS ----------------------- Go (Start Pinging)

CY # --------------------- Error Status Word (0=Clear, 1=Display)

CZ ----------------------- Power Down Instrument

>d?

DW 0 --------------------- Current ID on RS-485 Bus

DB 611 ------------------- 	RS-455 Port Control (Baud; N/U; N/U)

DX ----------------------- Set SVSS to RAW Mode

DY ----------------------- Set SVSS to REAL Mode

DZ ----------------------- Get Single SCAN from SVSS

DS 15000 ----------------- Load SpeedOfsound with SVSS Sample (BITResult)

D? ----------------------- Display SVSS Commands

>e?

EA = +00000 -------------- Heading Alignment (1/100 deg)

EB = +00000 -------------- Heading Bias (1/100 deg)

EC = 1500 ---------------- Speed Of Sound (m/s)

ED = 00000 --------------- Transducer Depth (0 - 65535 dm)

EH = 00000 --------------- Heading (1/100 deg)

EP = +0000 --------------- Tilt 1 Sensor (1/100 deg)

ER = +0000 --------------- Tilt 2 Sensor (1/100 deg)

ES = 35 ------------------ Salinity (0-40 pp thousand)

ET = +2500 --------------- Temperature (1/100 deg Celsius)

EX = 11111 --------------- Coord Transform (Xform:Type; Tilts; 3Bm; Map)

EZ = 1011101 ------------- Sensor Source (C;D;H;P;R;S;T)

>f?

Fault Log Commands:

FC ----------------------- Clear Fault Log

FD ----------------------- Display Fault Log

FX ----------------------- Toggle the Fault Log debug flag

F? ----------------------- Display Fault Log Commands

>o?

Feature Commands:

OL ---------------------- Display Feature List

O? ---------------------- Display Feature Commands

>p?

PA ----------------------- Pre-Deployment Tests

PC ### ------------------- Built In Tests, PC 0 = Help

PD = 00 ------------------ Data Stream Select (0-8)

PM ----------------------- Distance Measure Facility

PS # --------------------- Show Sys Parms (0=Xdcr,1=FLdr,2=VLdr,3=Mat,4=Seq)

PT ### ------------------- Built In Tests, PT 0 = Help

>r?

Recorder (internal) Commands:

RA ----------------------- Number of Deployments Recorded

RB ----------------------- Recorder Built-In-Test

RE ----------------------- Recorder Erase

RF ----------------------- Recorder Space used/free (bytes)

RN ----------------------- Set Deployment Name

RR ----------------------- Recorder diRectory

RS ----------------------- Recorder Space used/free (Mb)

RY ----------------------- Upload Recorder Files to Host

R? ----------------------- Display Recorder Commands

>s?

SA = 00 ------------------ Synch Before/After Ping/Ensemble

SI = 00000 --------------- Synch Interval (0-65535)

SM = 0 ------------------- Master/Slave Mode Select

ST = 00000 --------------- Slave Timeout (seconds,0=indefinite)

SW = 00000 --------------- Synch Delay (1/10 msec)

>t?

TB = 00:00:00.00 --------- Time per Burst (hrs:min:sec.sec/100)

TC = 00000 --------------- Ensembles Per Burst (0-65535)

TE = 01:00:00.00 --------- Time per Ensemble (hrs:min:sec.sec/100)

TF = **/**/**,**:**:** --- Time of First Ping (yr/mon/day,hour:min:sec)

TP = 01:20.00 ------------ Time per Ping (min:sec.sec/100)

TS = 98/01/06,11:09:36 --- Time Set (yr/mon/day,hour:min:sec)

>w?

WA = 050 ----------------- False Target Threshold (Max) (0-255 counts)

WB = 0 ------------------- Bandwidth Control (0=Wid,1=Nar)

WC = 064 ----------------- Correlation Threshold

WD = 111 100 000 --------- Data Out (Vel;Cor;Amp  PG;St;P0  P1;P2;P3)

WE = 1000 ---------------- Error Velocity Threshold (0-5000 mm/s)

WF = 0176 ---------------- Blank After Transmit (cm)

WI = 0 ------------------- Clip Data Past Bottom (0=OFF,1=ON)

WJ = 1 ------------------- Rcvr Gain Select (0=Low,1=High)

WL = 001,005 ------------- Water Reference Layer:  Begin Cell (0=OFF), End Cell

WM = 1 ------------------- Profiling Mode (1-8)

WN = 030 ----------------- Number of depth cells (1-128)

WP = 00045 --------------- Pings per Ensemble (0-16384)

WQ = 0 ------------------- Sample Ambient Sound (0=OFF,1=ON)

WR = 09 ------------------ Mode 6 Transmit Percent

WS = 0400 ---------------- Depth Cell Size (cm)

WT = 0000 ---------------- Transmit Length (cm) [0 = Bin Length]

WU = 0 ------------------- Ping Weighting (0=Box,1=Triangle)

WV = 175 ----------------- Mode 1 Ambiguity Vel (cm/s radial)

WW = 004 ----------------- Mode 1 Pings before Mode 4 Re-acquire

WX = 999 ----------------- Mode 4 Ambiguity Vel (cm/s radial)

WZ = 010 ----------------- Mode 5 Ambiguity Velocity (cm/s radial)

>


Break

Purpose	Interrupts Workhorse without erasing present settings.

Format	<BREAK>

Description	A BREAK signal interrupts Workhorse 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 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>

xxxxxxxx ADCP Version x.xx

RD Instruments (c) 1998

All rights reserved.

>


EXPERTOFF

Purpose	Turns off the expert mode.

Format	EXPERTOFF

Description	This command 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.

Example	expertoff

Expert Mode is Off

>


EXPERTON

Purpose	Turns on the expert mode.

Format	EXPERTON

Description	This command shows all available commands in the help menu.

Example	experton

Expert Mode is On

>


OL - Features

Purpose	Lists special firmware upgrades that are installed.

Format	OL

Description	See Feature Upgrades for information on how to install additional capabilities in your WorkHorse.

Example	See below.

>ol                             FEATURES

---------------------------------------------------------------------

Feature                                                     Installed

---------------------------------------------------------------------

Bottom Track                                                     No

Water Profile                                                   Yes

High Resolution Water Modes                                      No

Lowered ADCP                                                     No

See your technical manual or contact RDI for information on how to

install additional capability in your WorkHorse.


Firmware Upgrade

The firmware for Workhorse ADCPs is located on flash RAM chips on the CPU board.  Firmware must be downloaded. To download new firmware, do the following steps.

a.	Place the firmware upgrade disk in your computer’s floppy drive.  Select the drive by typing A: (or B:).

b.	Set up the Workhorse as shown in Chapter 1 of the Technical Manual.

c.	At the DOS prompt, type the following command; UPGRADE #

Where: # = COM ports 1 or 2 (what port the Workhorse is connected to)

Example:  UPGRADE 2

You should see a message similar to the following:

       Flash version 2.01

       Copyright 1994-96, RD Instruments. All rights reserved.

       Press <ESC> to cancel

       Waking up device at COM2:9600,N,8,1 ... AWAKE

       Are you sure you want to allow boot sector overwrite (Y/N)? Y

       Setting Baud Rate to COM2 - 115200,N,8,1

       Flash programming "WH817.ABS" Started ...

       Percent complete ...* 100%

       S-records sent   ...  20421

       Flash programming ... SUCCESSFUL


Feature Upgrades

FINSTALL.EXE is a utility program used to install the bottom-tracking, Lowered ADCP (LADCP) or high-resolution water-profiling mode capabilities in a Workhorse ADCP.  You must be using firmware version 8.17 or later before using these upgrades.

	NOTE. This disk is specific to the unit for which it was ordered.  DO NOT attempt to install this feature for any other unit.
Command syntax: FINSTALL  [/U] [/COMx] [/?] [XXXX.dat]

Where:

/U 	= uninstall feature

/COMx 	= use COM port x for ADCP serial connection (default COM2)

/?	= list command syntax

XXXX.dat	= installation data file where XXXX is the serial number on the disk label

a.	Set up the Workhorse as shown in Chapter 1 of the Workhorse Technical Manual.

b.	Place the firmware upgrade disk in the disk drive (usually the “A” drive).

c.	Switch to the source drive (usually “A” drive) by typing A:.

d.	Type FINSTALL /COM2 XXXX.dat

Example:

A:FINSTALL /COM2 1234.dat

FEATURE Installer Version 1.0

Copyright (c) 1997 by RD Instruments - All rights reserved

Waking up ADCP at COM2                             AWAKE

Loading Bottom Tracking Capability                 DONE

Putting ADCP back to sleep                         DONE

Feature install of Bottom Tracking capabilities    COMPLETE


Command Files

Once you have entered all of your choices using PLAN and saved the file, you can view the command file using any text editor.  Lines beginning with a semicolon (;) are comments.

;This is a sample command file.

;  CR1

CR1

;  ED0000

ED0000

;  ES35

ES35

;  EX11111

EX11111

;  TE01:00:00.00

TE01:00:00.00

;  TP01:19.98

TP01:19.98

;  WD111100000

WD111100000

;  WP00045

WP00045

;  WN030

WN030

;  WS0400

WS0400

;  WF0176

WF0176

;  WV170

WV170

;  EZ1111111

EZ1111111

;  EA00000

EA00000

;  EB00000

EB00000

;  CF11101

CF11101

;  CK

CK

;  TF98/01/14,14:00:00

TF98/01/14,14:00:00

;  CS

CS

;Created as: ABCDE.CMD (1998/01/14 12:56:02.09  PLAN Version 1.30 )

;Deployment hours = 1440.00

;Temperature      = 5.00

;Frequency        = 307200.00

Table 3 explains the commands used in the sample command file ABCDE.  This command file uses the default settings for a 300kHz ADCP.

Table 3.	Command File Created Using PLAN

Command	Choices	Description
CR1	Sets factory defaults	This is the first command sent to the ADCP to place it in a “known” state.
ED0000	Transducer depth	Manually set depth of the transducer.  If a pressure sensor is installed, the ED-command will be used only if the depth sensor fails.
ES35	Salinity	Salinity of water is set to 35 (saltwater).
EX11111	Coordinate transformations	Sets Earth coordinates, use tilts, allow 3-beam solutions, and allow bin mapping to ON.
TE01:00:00.00	Time per ensemble	Ensemble interval is set to one hour.
TP01:19.98	Time between pings	Plan automatically sets the time between pings to spread the pings evenly throughout the ensemble.
WD111 100 000	Data out	Sets the ADCP to collect velocity, correlation magnitude, echo intensity, and percent-good data.  Status data is not used.
WP00045	Pings per ensemble	The ADCP will ping 45 times per ensemble.
WN030	Number of depth cells	Number of bins is set to 30.
WS0400	Depth cell size	Bin size is set to 4 meters.
WF0176	Blank after transmit	Moves the location of the first depth cell 176 cm away from the transducer head.
WV170	Ambiguity velocity	Sets the maximum relative horizontal velocity between water-current speed and Workhorse speed to 170 cm/s.
EZ1111111	Sensor source	Calculate speed of sound from readings, use pressure sensor (if installed), internal compass, internal tilt sensor, and transducer temprature sensor.
EA00000	Heading alignment	Use beam-3 as the heading alignment.
EB00000	Heading bias	Magnetic variation.
CF11101	Flow control	Record data internally on the PC card recorder.
CK	Keep parameters as user defaults	If power is lost and then restored, all commands will be restored as last sent. Sent right before the CS-command.
TF98/01/14, 14:00:00	Time and date of first ping	First ping date and first ping time is set to January 14, 1998 at 2:00 pm.
CS	Start pinging	Last command sent to begin collecting data.


Modifying the Command File

We strongly encourage you to develop your command files using PLAN.  Once these basic commands are set, you can add special commands. You should be aware that if the command file is modified using a text editor (i.e. Notepad or DOS Edit) to add, delete, or modify commands, you can not use PLAN to edit the file again.  You may want to save the original command file using another name.

PLAN is designed to evenly spread pings throughout the ensemble period.  If you select 60 pings with a 60-minute ensemble, the Workhorse will ping once every 59.99 seconds.  The timing is adjusted to allow time for processing.  The TP-command will be set to TP00:59:99.

If you want the Workhorse to “burst” the pings with an ON-TIME record of 10 minutes out of every hour, you need to modify the command file.  Change the TP-command to TP00:10.00.  The Workhorse will ping 60 times at a 10-second interval (giving you a 10-minute ensemble), and then “sleep” for 50 minutes before beginning the next ensemble.  As long as you do not change any other commands, your battery usage, standard deviation, and memory requirements will not change.


Introduction to Bottom-Track Commands

The ADCP uses these commands for bottom-tracking applications.  Bottom-track (BT) 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).  Sending a non-zero BP-command turns on the bottom-tracking process.

	NOTE. Bottom-Track is an upgrade option.  Contact RDI for further information on how to purchase this upgrade.

BA – Evaluation Amplitude Minimum

BC – Correlation Magnitude Minimum

BD – Delay Before Reacquire

BE – Error Velocity Maximum

BF – Depth Guess

BI – Gain Switch Depth

BK – Water-Mass Layer Mode

BL – Water-Mass Layer Parameters

BM – Bottom-Track Mode

BP – Bottom-Track Pings Per Ensemble

BR – Resolution

BS – Clear Distance Traveled

BX – Maximum Tracking Depth

BZ - BT Coherent Ambiguity Velocity


BA - Evaluation Amplitude Minimum

Purpose	Sets the minimum value for valid bottom detection.

Format	BAnnn

Range	nnn = 1 to 255 counts

Default	BA30

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.

Recommend	Use the default setting.  Do not adjust without contacting RDI.


BC - Correlation Magnitude Minimum

Purpose	Sets minimum correlation magnitude for valid velocity data.

Format	BCnnn

Range	nnn = 0 to 255 counts

Default	BC220

Description	Sets a minimum threshold for good bottom-track data.  The ADCP flags as bad any bottom-track data with a correlation magnitude less than this value.

Recommend	Use the default setting.  Do not adjust without contacting RDI.

Note	A count value of 255 is a perfect correlation (i.e. solid target)


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

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.

Recommend	Use the default setting.  Do not adjust without contacting RDI.

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 water-current data.

Format	BEnnnn

Range	nnnn = 0 to 9999 mm/s

Default	BE1000

Description	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-command) and only three beams are good, then the data is accepted since four good beams are needed for error velocity calculation.

Recommend	Use the default setting.  Do not adjust without contacting RDI.


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

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.

Recommend	Use the default setting.  Do not adjust without contacting RDI.

	CAUTION. If improperly set, the ADCP may not bottom-track at all if the bottom range varies from the input range.


BG - Bottom Mode 6 Shallow Transmit

Purpose	Experimental bottom-track mode.

Format	BGss,dd,nnnn

ss = Shallow Transmit (%)

dd = Deep Transmit (%)

nnnn = Deep (dm)

Range	Shallow Transmit (0 to 99%)

Deep Transmit (0 to 99%)

Deep (0 to 65535 dm)

Default	BG80, 30, 00030

Description	Only available in Bottom Mode 6 (under development).

Recommend	Use the default setting.  Do not adjust without contacting RDI.

	NOTE.  Bottom Mode 6 (BM6) has not been implemented.  This command has no effect.


BH - Bottom Mode 6 Threshold

Purpose	Experimental bottom-track mode.

Format	BHttt,sss,aaa,mmm

ttt = Threshold (counts)

sss = S Amb (cm/s)

aaa = L Amb (cm/s)

mmm = MinAmb (cm/s)

Range	Threshold (0 to 256 counts)

Short Lag Ambiguity Velocity (3 to 160 cm/s)

Long Lag Ambiguity Velocity (3 to 160 cm/s)

Minimum Ambiguity Velocity (20 to 1300 cm/s)

Default	BH190, 010, 004, 040

Description	Only available in Bottom Mode 6 (under development).

Recommend	Use the default setting.  Do not adjust without contacting RDI.

	NOTE.  Bottom Mode 6 (BM6) has not been implemented.  This command has no effect.


BI - Gain Switch Depth

Purpose	Selects the vertical distance from the transducer at which the ADCP switches gain (meters).

Format	BInnn

Range	0 to 999 meters

Default	300kHz = BI20, 1200kHz = BI5

Description	In shallow water, the ADCP must lower its amplifier gain to detect the bottom.  The default setting should accommodate most applications.  In high backscatter areas, it may be necessary to raise this setting in order to detect bottom throughout the range of the system.

Recommend	Use the default setting.  Do not adjust without contacting RDI.


BK - Water-Mass Layer Mode

Purpose	Selects the ping frequency of the water-mass layer ping

Format	BKn

Range	0 to 3

Default	BK0

Description	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.

Recommend	Use the default setting.  Do not adjust without contacting RDI.

Table 1.	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 - 999 decimeters) [meters x 10]

nnnn = Near Layer Boundary (0 - 9999 decimeters) [meters x 10]

ffff = Far Layer Boundary (0 - 9999 decimeters) [meters x 10]

Default	300kHz = 160,320,480; 1200kHz = 40,60,100

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 bottom-tracking maximum depth (BX), or the ADCP sends Error Code 011.

The user-defined water-mass layer is used unless the 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 1B), the layer compresses in size until the minimum water-mass layer size is reached.  When the boundary moves closer to the transducer (Figure 1C), no water mass ping will be sent.

Recommend	Use the default setting.  Do not adjust without contacting RDI.

Note	The water-mass layer is operational only if BP > 0 and BK > 0.

Figure 1.  Water-Mass Layer Processing.


BM - Bottom-Track Mode

Purpose	Sets the bottom-track mode.

Format	BMn

Range	n = 4, 5, (see description), 6 (under development)

Default	BM5

Description	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 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.  We recommend you use this mode in shallow-water environments.

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 2.	BM4/BM5 Minimum Tracking Depths

Frequency (kHz)	BM4/BM5 Minimum Tracking Depths (m)
300	1.5
1200	0.8
Recommend	Use the default setting.  Do not adjust without contacting RDI.

Notes	See Principles of Operation: A Practical Primer for more information on the bottom-track modes.


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

Description	BP sets the number of bottom-track pings to average together in each ensemble before sending/recording bottom-track data.

Recommend	Use the default setting.  Do not adjust without contacting RDI.

Notes	The ADCP interleaves bottom-track pings with water-track pings (see TP-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.


BR - Resolution

Purpose	Sets the vertical depth resolution.

Format	BRn

Range	n = 0 to 2 (see description)

Default	BR0

Description	BR sets the vertical depth resolution as a percentage of the overall range detected.  The lower the resolution, the more course the depth reading.  With BR0 set, if you had a depth of 100 meters, then the depth would read 100 meters until you passed 104 meters.  If you had BR2 set, then 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%

Recommend	Use the default setting.  Do not adjust without contacting RDI.


BS - Clear Distance Traveled

Purpose	Clears internal distance traveled accumulators.

Format	BS

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.

Recommend	Use as needed.


BX - Maximum Tracking Depth

Purpose	Sets the maximum tracking depth in bottom-track mode.

Format	BXnnnn

Range	nnnn = 80 to 9999 decimeters (meters × 10)

Default	300kHz = BX2500; 1200kHz = 450

Description	BX 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 - Water-Mass Layer Mode > 0), BX must be greater than the Far Layer Boundary (BLmmm,nnnn,ffff), or the ADCP sends Error Code 012.

Recommend	Use the default setting.  Do not adjust without contacting RDI.

Example	If you know the maximum depth in the deployment area is 250 meters (2500 decimeters), set BX to a value slightly larger than 2500 dm, say 3000 dm, instead of 9999 dm.  Now if the ADCP loses track of the bottom, it will stop searching for the bottom at 3000 dm (300 m) rather than spend time searching down to 9999 dm (999.9 m).


BZ - BT Coherent Ambiguity Velocity

Purpose	Sets the Bottom-Track Mode 5 ambiguity velocity.

Format	BZnnn

Range	nnn = 0 to 999 cm/s radial

Default	BZ004

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.


Introduction to Control System Commands

The Workhorse uses the following commands to control certain system parameters.

CB - Serial Port Control

CF - Flow Control

CK - Keep Parameters

CM - Master

CN - Save NVRAM to Recorder

CP - Polled Mode

CR - Retrieve Parameters

CS - Start Pinging (Go)

CY - Clear Error Status Word

CZ - Power Down Workhorse


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

Description	The Workhorse 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 responds with a “>” prompt.  You may now change the external device’s communication parameters to match the Workhorse parameters before sending another command.

Recommend	Leave at default settings for most applications.

Table 1.	Serial Port Control

Baud Rate	Parity	Stop Bits
0 = 300
1 = 1200	1 = None (Default)	1 = 1 Bit (Default)
2 = 2400	2 = Even	2 = 2 Bits
3 = 4800	3 = Odd
4 = 9600 (Default)	4 = High
5 = 19200	5 = Low
6 = 38400
7 = 57600
8 = 115200

Setting The Baud Rate In The Workhorse.  The Workhorse 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.  This procedure assumes that you will be using the program BBTALK that is supplied by RD Instruments.

a.	Connect the Workhorse to the computer and apply power (see Chapter 1 in the Workhorse Technical Manual).

b.	Start the BBTALK program and wakeup the Workhorse by sending a break signal with the END key.

c.	Send the command CR1 to place the Workhorse in the factory default setup.

d.	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 2.	Baud Rate

BAUD RATE	CB-command
300	CB011
1200	CB111
2400	CB211
4800	CB311
9600	CB411 (DEFAULT)
19200	CB511
38400	CB611
57600	CB711
115200	CB811
e.	Press the F5 function key to open the BBTALK communication port setup window.  Change the communication port settings to match your new CB command setting.

f.	Press the ESC key to exit the communication port setup window.

g.	Send the command CK to save the new baud rate setting.

The Workhorse 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.

Notes	1.  If you send a BREAK before changing the external device’s communication parameters, the Workhorse returns to the communication parameters stored in non-volatile memory (user settings).

2.  To save the new Workhorse communication parameters, use the CK-command after changing the external device’s communication parameters to match the new values.


CF - Flow Control

Purpose	Sets various Workhorse data flow-control parameters.

Format	CFnnnnn

Range	Firmware switches (see description)

Default	CF11111

Description	The CF-command defines whether the Workhorse: 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).

Recommend	Set using PLAN.

Table 3.	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 “>” promp 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 is not echoed.  This feature lets you manually control ping timing within the ensemble.
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.


CK - Keep Parameters

Purpose	Stores present parameters to non-volatile memory.

Format	CK

Description	CK saves the present user command parameters to non-volatile memory on the CPU board.  The Workhorse 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 non-volatile memory with the CR0-command. When CR0 is sent, the commands shown below are restored to values previously saved to non-volatile memory.  Other commands are set to their default values.

Recommend	Use as needed.

Table 4.	Keep Parameters

CB	CF	ES	TE	TP
WF	WN	WP	WS	WV


CM - Master

Purpose	Used to increase profiling range by connecting two Workhorse ADCP’s via their RS232 communications ports.  The Master ADCP will automatically ping at some regular interval.  The Slave ADCP will be manually pinged by the master through its serial port.

Format	CMn

Range	n = 0 (OFF), 1 = (ON)

Default	CM0

Description	To increase the profiling range, one ADCP points up and the other points down. The units will ping simultaneously to within 1 ms of each other.  The data from each ADCP is stored in the recorder memory since it cannot be output from the serial port while the units are connected.

In order to establish a handshake protocol between the two units the ADCPs cannot go to sleep between pings.  If the master goes to sleep, for example, then it cannot receive the ping cycling character sent by the slave.  Any Workhorse can be a slave because there are no special changes to the operation as a slave.  To become the master, Firmware 8.14 or a later revision must be loaded, and the CM command must be set to 1.  The two ADCP’s must have similar setups.

Recommend	Special applications only.  See procedure below.

Setup

a.	Connect to the slave unit using BBTALK.

b.	Erase the recorder.

c.	Send the desired profiling setup commands using PLAN or BBTALK.

d.	Make sure CM = 0.

e.	Make sure TP = 00000.

f.	Make sure TE = 0000000.

g.	Disconnect the I/O cable from the slave ADCP.

h.	Connect the I/O cable to the master unit using BBTALK.

i.	Erase the recorder.

j.	Send the desired profiling setup commands using PLAN or BBTALK.

k.	Set CM = 1.

l.	Set CF = 11101.

m.	Type CK to save the setup.

n.	Send CS to begin pinging.

o.	Disconnect the I/O cable from the Master ADCP.

p.	At this point the master will enter the ping loop and begin trying to establish communications with the slave.  Every 3 seconds the master will send a break out its RS232 port trying to wake up a slave.  It beeps every time it sends a break.

q.	Connect the master’s serial lines to the slaves with the TXD and RXD lines swapped.

r.	After the slave receives its first break from the master, it will reply with a wake up message and a prompt. The master will then configure the slave’s CF command for manual ping cycling and recording. The master then sends a CK to store the setup. Every time the master pings, it sends the slave the character “P” to synchronize pings. The time between pings is set by the master, and it should be set long enough to ensure that the slave’s ping processing is complete. The units will not sleep between pings; they will only wait for the ping time.

s.	Deploy both ADCPs.

Recovering Data

a.	To recover the deployment, simply disconnect the ADCPs from each other.

b.	Connect a computer serially to each individual ADCP and send a break.  Recover the data from each ADCP’s recorder.

c.	If during the course of the deployment, if communications between the two units is lost, the master will once again send a break to the slave until communications is reestablished. The master will restart the deployment record, each time this happens, so multiple deployment files is an indication of intermittent communications.


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	CN0

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.

Recommend	Leave at default setting.


CP - Polled Mode

Purpose:	Allows the unit to be polled for data.

Format	CPn

Range	n = 0 (OFF), 1 (ON)

Default	CP0

Description	The CP command allows a unit to be polled for data.  A complete description of polled mode operation is beyond the scope of this document.  If you have a need for polled mode operation, contact RDI for assistance in setting up your deployment.

Recommend	Special applications only.

Note	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 to 255 (0 = low, 255 = high)

Default	CQ255

Description	Allows the transmit power to be adjusted in intermediate power steps.

Recommend	Leave at the default setting.


CR - Retrieve Parameters

Purpose	Resets the Workhorse command set to factory settings.

Format	CRn

Range	n = 0 (USER), 1 (FACTORY)

Description	The Workhorse automatically stores the last set of commands used in RAM.  The Workhorse will continue to be configured from RAM unless it receives a CR-command or until the RAM loses its power.

Recommend	Use as needed.

Table 5.	Retrieve Parameters

Format	Description
CR0	Loads into RAM the command set last stored in non-volatile memory (semi-permanent or user settings) using the CK-Command.
CR1	Loads into RAM the factory default command set stored in ROM (permanent or factory settings).
Note	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 maintains communications with the terminal/computer.


CS - Start Pinging (Go)

Purpose	Starts the data collection cycle (same as the TAB key).

Format	CS

Description	Use CS (or TAB key) to tell the Workhorse 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 waits until it reaches the TF time before beginning the data collection cycle.

Recommend	Use PLAN to create the command file.  The CS-command will be added to the end of the command file.

Notes	1.  After a CS-command is sent to the Workhorse, 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 Work-horse will not start pinging and will return a RECORDER NOT READY message.


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.

Range	0, 1

Format	Use CY1 to display the ESW value; CY0 to clear the ESW.

Description	CY1 displays the active ESW value, which is a 32-bit value displayed in HexAscii.

Recommend	Use as needed.

Table 6.	Error Status Word

Error Status Word	Description
0x00000001	Bus Error
0x00000002	Address Error
0x00000004	Illegal Instruction
0x00000008	Divide by Zero
0x00000010	Emulator Interrupt
0x00000020	CHK instruction, TRAPV instruction, privileged instruction, trace on, uninitialized interrupt, level 1-3 autovector, unassigned interrupt
0x00000040	Watchdog restart
0x00004000	Cold Start
0x00000100	ADCP is in ping mode (See note)
0x00000080	Battery saver watchdog timeout
ESW codes can only be cleared through the CY-command.  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.

Note	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 wakeup in the command mode.  If a timeout occurs, the ADCP will power down automatically.


CZ - Power Down Workhorse

Purpose	Tells the Workhorse to power down.

Format	CZ

Description	Sending the CZ-command powers down the Workhorse.  Workhorse processing is interrupted and the Workhorse goes in the STANDBY mode (RAM is maintained).

Recommend	Use as needed.

Example	>CZ

[POWERING DOWN .....]

Notes	1.  When powered down using the CZ-command, the Workhorse 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 will draw up to 50 milli-amps of current.  A new battery will be discharged in a few days.

	NOTE. 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.  RDI recommends disconnecting the batteries and using the AC power adapter while testing the ADCP or recovering data.


Introduction to Environmental Commands

The Workhorse uses the following commands to control the environmental and positional information that affects internal data processing.

EA - Heading Alignment

EB - Heading Bias

EC - Speed of Sound

ED - Depth of Transducer

EH - Heading

EP - Pitch (Tilt 1)

ER - Roll (Tilt 2)

ES – Salinity

ET - Temperature

EX – Coordinate Transformation

EZ - Sensor Source


EA - Heading Alignment

Purpose	Corrects for physical misalignment between Beam 3 and the heading reference.

Format	EA±nnnnn

Range	±nnnnn = -179.99 to 180.00 degrees

Default	EA00000

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).

Recommend	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 using PLAN.

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


EB - Heading Bias

Purpose	Corrects for electrical/magnetic bias between the ADCP heading value and the heading reference.

Format	EB±nnnnn

Range	±nnnnn = -179.99 to 180.00 degrees

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.

Recommend	Use EB to counteract the effects of magnetic declination at the deployment site.  Set using PLAN.

Examples	A bottom-mounted ADCP is receiving heading from its internal compass.  A magnetic declination map for the deployment area shows a declination of W3.5° (-3.5°).  To counteract the effects of this magnetic field, you must enter a heading bias value of negative 3.5°.  To convert -3.5° to an EB-command value, multiply the desired bias angle in degrees by 100: EB = -3.5 × 100 = -350 = EB-350.


EC - Speed of Sound

Purpose	Sets the speed of sound value used for ADCP data processing.

Format	ECnnnn

Range	nnnn = 1400-1600 meters per second

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.

Recommend	Use the EZ-command (set by PLAN)

Note	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.


ED - Depth of Transducer

Purpose	Sets the ADCP transducer depth.

Format	EDnnnnn

Range	nnnnn = 0 to 65535 decimeters (meters x 10)

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.

Recommend	Use the EZ-command (set by PLAN).

Note	If the EZ Transducer Depth field = 1, the ADCP overrides the manually set ED value and uses depth from the internal depth sensor.  If a depth sensor is not available, the ADCP uses the manual ED setting.


EH - Heading

Purpose	Sets the ADCP heading angle.

Format	EHnnnnn

Range	nnnnn = 000.00 to 359.99 degrees

Description	EH sets the ADCP heading angle of beam 3.  When mounted on a stationary platform, the ADCP assumes beam 3 points north (0).

Recommend	Use the EZ-command (set by PLAN).

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

Note	If the EZ Heading field = 1, 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 = -20.00 to +20.00 degrees

Description	EP sets the ADCP pitch (tilt 1) angle.

Recommend	Use the EZ-command (set by PLAN).

Example	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

Note	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 = -20.00 to +20.00 degrees

Description	ER sets the ADCP roll (tilt 2) angle.

Recommend	Use the EZ-command (set by PLAN).

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

Note	If the EZ Roll field = 1, 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 parts per thousand

Default	ES35

Description	ES sets the water’s salinity value.  The Workhorse uses ES in its speed of sound calculations.  The Workhorse assumes the speed of sound reading is taken at the transducer head.

Recommend	Set using PLAN.


ET - Temperature

Purpose	Sets the water’s temperature value.

Format	ET±nnnn

Range	±nnnn = -5.00 C to +40.00 C

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.

Recommend	Use the EZ-command (set by PLAN).

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

Note	If the EZ Temperature field = 1, 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	EXnnnnn

Range	Firmware switches (see description)

Default	EX11111

Description	EX sets firmware switches that control the coordinate transformation processing for velocity and percent-good data.

Recommend	This command is added to the command file by PLAN.

Table 1.	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, then 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, then Pitch/Roll applied.
EXxx1xx	Use tilts (pitch and roll) in transformation (Note 2)
EXxxx1x	Allows 3-beam solutions if one beam is below the correlation threshold set by WC
EXxxxx1	Allow bin mapping

Notes	1.  For ship and earth-coordinate transformations to work properly, you must set 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 1 lets you collect tilt data without using it in the ship or earth-coordinate transformations.

3.  Each Workhorse uses its own beam calibration matrix to correct data for beam pointing errors (e.g., if the beams erroneously point toward 21 deg. instead of 20 deg.).  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.  RDI has no software that uses the beam calibration matrix to correct data in a personal computer.

Figure 1.	ADCP Coordinate Transformation


EZ - Sensor Source

Purpose	The EZ-command selects the source of environmental sensor data.

Format	EZcdhprst

Default	EZ1111111

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.

Recommend	This command is added to the command file by PLAN.

Table 2.	Sensor Source Switch Settings

	Field	Value = 0	Value = 1	Value = 3
c	Speed Of Sound	Manual EC	Calculate using ED, ES, and ET	SVSS
d	Depth	Manual ED	Depth Sensor	N/A
h	Heading	Manual EH	Internal Transducer Sensor	N/A
p	Pitch (Tilt 1)	Manual EP	Internal Transducer Sensor	N/A
r	Roll  (Tilt 2)	Manual ER	Internal Transducer Sensor	N/A
s	Salinity	Manual ES	N/A	N/A
t	Temperature	Manual ET	Internal Transducer Sensor	N/A

Example	EZ1111101 means calculate speed of sound from readings, use pressure sensor, transducer heading, internal tilt sensors, and transducer temperature.


Introduction to Fault Log Commands

The Workhorse uses the following commands to aid in troubleshooting and testing.

FC – Clear Fault Log

FD – Display Fault Log

FX – Toggle Fault Log Debug Flag


FC - Clear Fault Log

Purpose	The FC-command clears the fault log.

Format	FC

Description	Use this command to clear the fault log of all previous entries.

Recommend	Use as needed.


FD - Display Fault Log

Purpose	The FD-command displays the fault log.

Format	FD

Description	Displaying the fault log will list why a built-in test failed.  This may aid in troubleshooting.

Recommend	Use as needed.

Example

>fd

Total Unique Faults   =     2

Overflow Count        =     0

Time of first fault:    97/11/05,11:01:57.70

Time of last fault:     97/11/05,11:01:57.70

Fault Log:

Entry #  0 Code=0a08h  Count=    1  Delta=    0 Time=97/11/05,11:01:57.70

 Parameter = 00000000h

  Tilt axis X over range.

Entry #  1 Code=0a16h  Count=    1  Delta=    0 Time=97/11/05,11:01:57.70

 Parameter = 00000000h

  Tilt Y axis ADC under range.

End of fault log.


FX - Toggle Fault Log Debug Flag

Purpose	Toggles the debug flag on or off.

Format	FX

Description	With the debug flag on, when the FD-command is used, the ADCP dumps the register values to the screen.  This may help in diagnosing failures.

Recommend	RDI use only.


Introduction to High Resolution Water Profiling Commands

This section defines the optional High Resolution Water-Profiling commands used by the Workhorse ADCP.

	NOTE. High Resolution Water-Profiling is an upgrade option.  Contact RDI for further information on how to purchase this upgrade.

WL - Water Reference Layer

WM - Profiling Mode

WV - Mode 1 Ambiguity Velocity

WW - Mode 1 Pings Before Mode 4 Re-Acquire

WZ - Mode 5 Ambiguity Velocity


WL - Water Reference Layer

Purpose	Sets depth cell range for water-track reference layer averaging.

Format	WLsss,eee

Range	sss = Starting depth cell (0-128; 0 disables this feature)

eee = Ending depth cell (1-128)

Default	WL1,5

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.

Recommend	Leave at default setting.


WM - Profiling Mode

Purpose	Selects the application-dependent profiling mode used by the ADCP.

Format	WMn

Range	n = 1, 4, 5, 6, 7, 8 (see description)

Default	WM1

Description	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.

Recommend	See descriptions below.

Table 1.	Water Modes

Mode	Description
WM1	Dynamic sea state
WM5	Shallow-water environments
WM8	Close-in mode


WV - Mode 1 Ambiguity Velocity

Purpose	Sets the radial ambiguity velocity for profiling Mode 1 (WM1) and Mode 6 Ambiguity Velocity.

Format	WVnnn

Range	nnn = 002 to 480 cm/s

Default	WV175

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.

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 WV to 350 cm/s.

Recommend	Leave at default setting.


WW - Mode 1 Pings Before Mode 4 Re-Acquire

Purpose	Sets the number of Mode 1 pings sent before a Mode 4 ping is attempted.

Format	WWnnn

Range	nnn = 0 to 999 pings

Default	WW4

Description	WW is the number of Mode 1 pings generated by the ADCP before a Mode 4 ping is tried.  The ADCP uses this value when Mode 4 is in use and the bottom is lost.  If WW = 0, the ADCP continually tries to generate Mode 4 pings.

Recommend	Leave at default setting.


WZ - Mode 5 Ambiguity Velocity

Purpose	Sets the minimum radial ambiguity for profiling Mode 5 (WM5) and Mode 8 (WM8) Ambiguity Velocity.

Format	WZnnn

Range	nnn = 0 to 999 cm/s

Default	WZ10

Description	Allows for very high resolution (small bins) with very low standard deviation.

Recommend	This command should always be set to WZ05.


Using the High Resolution Water-Profiling Modes

This section explains all of the water-profiling modes available for Workhorse ADCPs.  We will explain the pros and cons of each mode.  This information should help you select the best mode for your particular data collection site.  Some details are contained here but not all.  As RDI learns more from your experiences, we will be able to add information to help you better collect data.

For each mode, we provide a general description, an explanation of the best place to use this mode, specifics about the mode, and any setup considerations.

	NOTE. The TRANSECT program (v2.0 and later) will not display any data if you use Mode 5 or Mode 8 unless you modify the configuration file.  Using any ASCII-text editor, you must add a line to the processing section of the configuration file (*.CFG). For example, here is how an existing CFG file was modified:   PROCESSING   {   Average every (30.00 s)   Depth sounder (  NO )   Btm Layer % ( 100 )   <- - - - - - - - - - - - - - - - - THIS LINE WAS ADDED   External_formats ( N N N N )   [ HDT HDG RDID RDIE ]   External_decode  ( N N N N )   [ heading pitch roll temp ]    :    :


Mode 1

General Description - This is our most robust mode of operation. It allows for good data collection in all environments.

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 is set after you have selected the bin size (WS command) and the ambiguity velocity (WV). The ambiguity velocity tells the ADCP what maximum velocity it will see. If you were 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 up Mode 1 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

•	(1.5) = The highest 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.

	NOTE.  The minimum suggested setting for the WV-command is 100 cm/s (WV100), which corresponds to an apparent velocity of 3 m/s. The default setting for the WV-command is 175 cm/s (WV175), which corresponds to an apparent velocity of 5 m/s. The maximum setting for the WV-command is 480 cm/s (WV480), which corresponds to an apparent velocity of 15 m/s.  Higher settings will produce bad velocity data.


High Resolution Modes

Mode 5

Mode 8

Mode 5 and 8 Specifics

Comparison of Water Modes 5 and 8

Downward-Looking Deployments

Recommended ADCP Command Settings

Minimum Profiling Range Capability

Upward-Looking Deployments


Mode 5

General Description - Mode 5 is our high-accuracy, 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.

Best Use Areas - Mode 5 is ideal for shallow water, fixed measurements (7 m and less), or for slow-moving platform measurements where water velocity flows are very low (less than 100 cm/s).

Mode 5 is not good for areas where there is shear, turbulence, background noise, or fast ADCP motion (above 2-3 m/s). If high shears, turbulence, background noise, or fast ADCP motion occurs, the ADCP will not collect data.


Mode 8

General Description - Mode 8 is our robust shallow-water mode.  The standard deviation of Mode 8 is about 3-5 times greater than Mode 5 (or 10 cm/s) in shallow water.  Mode 8 should be used with bottom tracking enabled.

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 4 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.


Mode 5 and 8 Specifics

Mode 5 and 8 use pulse-to-pulse correlation to calculate water velocity.  These modes transmit a short encoded pulse that travels to the bottom, where it is reflected, and then back up to the ADCP.  When the signal is received at the transducer face, the ADCP transmits another pulse.  The ADCP knows how long to wait before sending the second transmission because Bottom-Track measures the water depth.  For this reason, it is important to use bottom-tracking for downward-looking deployments.

For Modes 5 and 8, two pulses are processed to create the velocity estimate.    The standard deviation for Mode 5 and 8 is very low because there is a relatively long lag between the two pulses.  Mode 5 estimates the velocity based on changes in phase, and its algorithm is sensitive to ambiguities.  Therefore, this mode is highly sensitive to conditions with high shear, turbulence, and fast ADCP motion.  Mode 8 makes the estimation based on the position of the correlation peak.  Mode 8 has no ambiguity problems, and therefore it can operate in areas that Mode 5 cannot.  However the method of estimating velocity used by Mode 8 has a higher standard deviation as compared to Mode 5 operation.

The profiling range of the high-resolution modes is limited by two factors: (1) the very short encoded pulses used, and (2) the maximum velocity water velocity.  These pulses do not put much energy in the water, so the signal return is weak.  The deeper the profile, the slower the water must move or an ambiguity error will occur.  Higher boat and water velocities will result in maximum profiling ranges that can be half of the values specified in Table 2-1.


Comparison of Water Modes 5 and 8

Water-Profiling Mode 5

Mode 5 advantages compared to Mode 8:

•	Mode 5 gives a lower single-ping standard deviation than Mode 8 for the same size depth cell (bin)

Mode 5 disadvantages compared to Mode 8:

•	A reduction in the maximum profiling range (see Table 1)

•	A larger minimum profiling depth may be required than Mode 8 (see Table 2)

•	A reduction in the maximum velocity the ADCP can measure (see Table 1)

•	Does not work well in dynamic water environments that have water velocity changes greater than 80 cm/s (e.g., eddies, shear)

Water-Profiling Mode 8

Mode 8 advantages compared to Mode 5:

•	A longer maximum profiling range (see Table 1)

•	May be able to profile in shallower water the Mode 5

•	An increase in the maximum velocity the ADCP can measure (see Table 1)

•	Works well in dynamic water environments that have water velocities changes up to 250 cm/s (e.g., turbulence, eddies, shear)

Mode 8 disadvantages compared to Mode 5:

•	The single-ping standard deviation is 10-15 times greater than Mode 5 (see Table 2-1) for the same size depth cell (bin)


Downward-Looking Deployments

The shallow-water profiling feature for both Modes 5 and 8 has been designed to work with bottom-tracking applications.  We recommend using Bottom-Track Mode 5 (BM5) whenever you use either water profiling Mode 5 (WM5) or Mode 8 (WM8).  These modes can be used in shallow-water upward-looking deployments, but the ambiguity velocity (WZ) must be set correctly.  Please see upward-looking deployments for set-up considerations.

Mode 5 and 8 must use WZ005 (lag setting) for most deployments, which limits the profiling range. The higher WZ is set the lower the profiling range. WZ005 provides for the deepest possible range. The ADCP automatically adjusts this setting higher based on the depth of the water. Therefore, for most applications, bottom-track should also be turned on.

Bottom-track is also important because Modes 5 and 8 place two pulses in the water column at once. We must keep both pulses from returning signals from different parts of the water column at the same time. The bottom-track depth lets us time the transmission of the second pulse to occur at the same time the first pulse is bouncing off the transducer face.

There are some applications where you may wish to obtain only valid data near the ADCP when the bottom is out of range of the system. In these cases, the setting of WZ005 will still work. It allows the system to collect data as deep as it can.


Recommended ADCP Command Settings

The setups for water profiling Modes 5 and 8 (including the settings for the associated commands) are listed in the following table. Please note that the standard deviation, minimum and maximum profiling ranges, and the maximum profiling ranges are given as a guide for setting up the ADCP.  These performance values may be different for different flow conditions.

Table 1.	Setup Specification for Mode 5 and 8

Freq.	Mode	Blanking	Bin Size	Single-Ping Std Dev.	Profiling Range (m)	Max Water Velocity
					Min.	Max
300kHz	5	WF50	WS50	0.7 cm/s	3.1	11	1 m/s
	5	WF50	WS50	1.4 cm/s	3.1	5.3	2 m/s
	8	WF50	WS50	7.8 cm/s	1.6	16	1 m/s
	8	WF50	WS50	15.9 cm/s	1.6	8	2 m/s
600kHz	5	WF25	WS25	0.4 cm/s	1.6	8	1 m/s
	5	WF25	WS25	0.7 cm/s	1.6	4	2 m/s
	8	WF25	WS25	3.6 cm/s	0.9	8	1 m/s
	8	WF25	WS25	7.1 cm/s	0.9	4	2 m/s
1200kHz	5	WF25	WS10	0.4 cm/s	0.9	4	1 m/s
	5	WF25	WS10	0.8 cm/s	0.9	2	2 m/s
	8	WF25	WS10	4.7 cm/s	0.6	4	1 m/s
	8	WF25	WS10	9.4 cm/s	0.6	2	2 m/s
NOTES:

1.	Ambiguity Velocity is set to WZ005.

2.	The Maximum Velocity refers to the total apparent water velocity, which is the sum of the water and vessel velocities.

3.	The values for the Maximum Velocity are the absolute maximum.  In about 50% of applications, users find the Maximum Velocity to be about 30% less than what is shown because of shallow-water dynamics.

4.	In about 50% of the applications, users find the Maximum Range to be about 30% less than shown because of shallow-water dynamics.


Minimum Profiling Range Capability

Mode 5 and 8 must have a minimum water depth in order to profile.  Table 2 shows the minimum profiling range as a function of system frequency and cell size.  The minimum profiling capability is dependent upon cell size (WS) and the blanking distance (WF) for each system frequency.

Table 2.	Mode 5 and Mode 8 Minimum Profiling Depth

Frequency	Cell Size (m)	Minimum Profiling Range (m) Mode 5	Minimum Profiling Range (m) Mode 8
300 kHz	0.25	2.2	1.1
	0.50	3.1	1.6
	1.00	4.4	2.6
600 kHz	0.10	0.9	0.6
	0.25	1.6	0.9
	0.50	2.2	1.4
1200 kHz	0.05	0.8	0.5
	0.10	0.9	0.6
	0.25	1.6	0.9
	NOTE.  The blanking distance (set with the WF-command) is 50 cm for 300kHz systems, and 25 cm for the 600 and 1200kHz systems.
	NOTE.  The minimum profiling range is measured from the transducer face.  Add the transducer depth to the given range for the minimum profiling depth.


Upward-Looking Deployments

For Mode 5 and Mode 8 upward-looking applications it is necessary to set an appropriate ambiguity velocity that is dependent on the water depth.  Most upward-looking deployments do not use bottom-track (which adjusts the ambiguity velocity for you).  The correct ambiguity velocity is necessary to prevent the first pulse in the ping group from contaminating the reception of the following pulses in the group.  Use the formula in Table 3 for your system frequency to calculate the appropriate ambiguity velocity (in cm/s) to be input into the WZ command.  Determine the distance from the transducer faces to the water surface.  In doing this, consider the shallowest expected water depth which will be low tide in tidally affected areas (Figure 1).

Table 3.	Mode 5 and Mode 8 Ambiguity Velocity for Upward-Looking Deployments

System Frequency (kHz)	WZ (cm/s)
300	22/Ds
600	44/Ds
1200	88/Ds
Figure 1.	Upward-Looking Deployments

In the equations in Table 3, the value for Ds above should be expressed in meters, and the ambiguity velocity is inversely proportional to the water depth.  The minimum allowable ambiguity velocity is WZ of 5 cm/s which equates to profiling ranges of about 11 m (Mode 5) and 16 m (Mode 8) for the 300 kHz, 8 m for the 600 kHz, and 4 m for the 1200 kHz.  For practical profiling conditions, decorrelation effects will occur towards the outer reaches of this range, and you can expect actual profiling ranges of 8 m (Mode 5) and 10 m (Mode 8) for the 300 kHz, 7m for the 600 kHz, and 3.5 m for the 1200 kHz.  Even though you can expect this range degradation, it is necessary to use the actual distance from the transducers to the surface for Ds.


Introduction to Performance and Testing Commands

The Workhorse uses the following commands for calibration and testing.

PA – Predeployment Tests

PC - User Interactive BuiltIn Tests

PD - Data Stream Select

PM - Distance Measurement Facility

PS - Display System Parameters

PT – Built-In Tests


PA - Predeployment Tests

Purpose	Sends/displays results of a series of Workhorse system diagnostic tests.

Format	PA

Description	These diagnostic tests check the major Workhorse 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.

Recommend	Use as needed.

Example	>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

    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

  Receive Loop-Back........................PASS

  Wide Bandwidth...........................PASS

  Narrow Bandwidth.........................PASS

  RSSI Filter..............................PASS

  Transmit.................................PASS

SENSOR TESTS:

  H/W Operation............................PASS


PC - User Interactive BuiltIn Tests

Purpose	Sends/displays results of user-interactive Workhorse system diagnostic tests.

Format	PCnnn

Range	nnn = 0 to 2 (PC0 = Help menu; see below for others)

Description	These diagnostic tests check beam continuity and sensor data.  Both tests require user interaction (see examples).

Recommend	Use as needed.

Examples	See below.

PC0 - Help Menu

PC1 - Beam Continuity

PC2 - Display Heading, Pitch, Roll, and Orientation


PC0 - Help Menu

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.

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


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.  Any key pressed exits this command and returns the user to the command prompt.

Press any keyz to quit sensor display ...

Heading   Pitch    Roll   Up/Down    Attitude Temp   Ambient Temp  Pressure

301.01°  -7.42°  -0.73°     Up          24.35°C        22.97°C        0.0 kPa

300.87°  -7.60°  -0.95°     Up          24.36°C        22.97°C        0.0 kPa

300.95°  -7.60°  -0.99°     Up          24.37°C        22.97°C        0.0 kPa

300.71°  -7.61°  -0.96°     Up          24.37°C        22.98°C        0.0 kPa

300.69°  -7.61°  -0.96°     Up          24.35°C        22.98°C        0.0 kPa

300.76°  -7.60°  -0.98°     Up          24.38°C        22.97°C        0.0 kPa


PD - Data Stream Select

Purpose:	 Selects the type of ensemble output data structure.

Format:	PDn

Range	n = 0 to 8 (see description)

Default	PD0

Description:	PD selects either the normal output data structure, a special application data structure, or a fixed data set for transmission/display as the data ensemble.

Recommend	Leave at default setting.

Table 1.	Data Stream Selections

Format	Description
PD0	Sends The real water-current data set
PD1	Sends an RDI-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	Sends NMEA speed log output data structure
PD8	Sends ensemble data as formatted ASCII text.  A new-line character terminates each line.  Two new-line characters terminate an ensemble.
	NOTE. All of RDI’s DOS based software supports PD0 formatted data only.


PM - Distance Measurement Facility

Purpose	Lets you measure distance over the bottom.

Format	PM

Description	PM lets you use the ADCP to measure distances over the bottom using a dumb terminal.

Recommend	For RDI use only.


PS - Display System Parameters

Purpose	Sends/displays Workhorse system configuration data.

Format	PSn

Range	n = 0 to 4 (see description)

Recommend	Use as needed.

Description	See below.

PS0 - System Configuration

PS1 - Constant Leader Parameters

PS2 - Variable Leader Parameters

PS3 - Instrument Transformation Matrix

PS4 - Ping Sequence


PS0 - System Configuration

PS0 sends the Workhorse hardware/firmware information.  For example, the output may look like this:

>PS0

       Frequency:  307200 HZ

   Configuration:  4 BEAM, JANUS

     Match Layer:  10

      Beam Angle:  20 DEGREES

    Beam Pattern:  CONVEX

     Orientation:  DOWN

       Sensor(s):  HEADING  TILT 1  TILT 2  TEMPERATURE

Temp Sens Offset:  -0.29 degrees C

    CPU Firmware:   8.17 [0]

   Boot Code Ver:  Required:  1.12   Actual:  1.12

    DEMOD #1 Ver:  ad48, Type:  1f

    DEMOD #2 Ver:  ad48, Type:  1f

    PWRTIMG  Ver:  85d3, Type:   6

Board Serial Number Data:

   21  00 00 00 09 99 EE  09 CPU727-2000-00F

   28  00 00 00 09 9F 71  09 PIO727-3000-00C

   63  00 00 00 09 9D CB  09 DSP727-2001-04C

   CD  00 00 00 09 99 5B  09 REC727-1000-04A


PS1 - Constant Leader Parameters

PS1 sends the constant Leader parameters (i.e., fixed system commands and hardware/firmware information) in Hex-ASCII or binary format with the Least Significant Byte (LSB) first.  For example, a Hex-ASCII output may look like this:

>PS1

33 0000 08 16 4A41 00 37 04 1E 2D00 9001 B000 01 40 08 19 E803 011400 1F 0000 0000 00 7F 1D58 028E 0101 05 32 0032 005800000009A09709 B407>

>

Table 2.	System Configuration Parameters

Digit	Field	Sample	Contents (See Table D-2 or command listing for explanation)
n/a	#bytes	33	Number of Bytes Displayed (not including ckecksum)
1-4	fid	0000	Fixed leader data identification code
5,6	fv	08	CPU firmware version
7,8	fr	16	CPU firmware revision
9-12	sys cfg	4A41	System configuration
13,14	Flag	00	Flag
15,16	Spare	37	Spare
17,18	#bm	04	Number of transducer beams used in calculations
19,20	WN	1E	WN-command (number of depth cells)
21-24	WP	2D00	WP-command (pings per ensemble)
25-28	WS	9001	WS-Command (Depth Cell Length:  cm)
29-32	WF	B000	WF-Command (Blank After Transmit:  cm)
33,34	WM	01	WM-Command (Profiling Mode: 1=dynamic, 2=static, 4=default)
35,36	WC	40	WC-Command (Low Correlation Threshold:  percent)
37,38	#cr	08	Number of code repetitions in the transmit pulse
39,40	WG	19	WG-Command (Percent-Good Minimum:  percent)
41-44	WE	E803	WE-Command (Error Velocity Minimum:  mm/s)
45-50	TP	011400	TP-Command (Time Between Ping Groups:  min, sec, hundredths)
51,52	EX	1F	EX-Command (coordinate transformation)
53-56	EA	0000	EA-Command (heading alignment:  0.01°)
57-60	EB	0000	EB-Command (heading bias:  0.01°)
61,62	EZ	00	EZ-Command (sensor source)
63,64	EC	7F	Sensors available
65-68	dis1	1D58	Distance to Middle of First Depth Cell (cm)
69-72	WT	028E	Actual
73-76	WL	0101	WL-Command (Water-Mass Reference-Layer Averaging: (start,end cell)
77,78	WA	05	WA-Command (False Target Threshold Maximum:  counts)
79,80	s	32	Spare
81-84	LagD	0032	Lag Distance (cm)
85-104	CPU s/n	0058…	CPU Serial Number
105-108	cksm	B407	Checksum of Displayed PS1 Data (Including #bytes Field)


PS2 - Variable Leader Parameters

PS2 sends the variable Leader parameters (i.e., variable system commands and sensor readings) in Hex-ASCII or binary format with the Least Significant Byte (LSB) first.  For example, a Hex-ASCII output may look like this:

>PS2

39 8000 0000 62050807351316 00 0000 F705 0000 F162 0E00 0900 2300 A908 0000 00 00 00 00 00 00 00 00 00 00 00 00 00400000 0000 00000000 00000000 0705 6222050807351316>

>

Table 3.	PS2 Variable Leader Parameters

Digit	Field	Sample	Contents (See Table D-3 or command listing for explanation)
n/a	#bytes	39	Number of Bytes Displayed (Not Including Checksum)
1-4	vid	8000	Variable Leader Data Identification Code
5-8	ens	0000	Ensemble Number (always zero when used with PS2-Command)
9-22	time	62..16	Time PS2-Command was executed (Yr,Mon,Day,Hr,Min,Sec,Hundredths)
23,24	#MSB	00	#MSB
25-28	bit	0000	Built-in Test Result Code
29-32	EC	F705	Present Speed of Sound Or EC-Command (M/S)
33-36	ED	0000	Present Depth of Transducer Or ED-COMMAND (Decimeters)
37-40	EH	F162	Present Heading Or EH-Command (0.01°) [EB Accounted for]
41-44	EP	0E00	Present Pitch (Tilt 1) or Ep-Command (0.01°)
45-48	ER	0900	Present Roll (Tilt 2) or ER-Command (0.01°)
49-52	ES	A908	Present Salinity or ES-COMMAND (Ppt)
53-56	ET	0000	Present Temperature or ET-Command (0.01°C)
57-62	MPT	000000	Maximum Ping Time (Minutes, Seconds, Hundredths)
63-68	StdDev	000000	Standard Deviation of Heading (1.0°), Pitch (0.1°), Roll (0.1°)
69-84	ADC	00..00	ADC Channels 0 to 7
	ESW	004…0	Error Status Word
	Pres	00…00	Pressure
	P STD	00…00	Pressure Standard Deviation
85-88	cksm	0705	Checksum of Displayed PS2 Data (Including #bytes Field)
89-105	time	62..16	Time PS2-Command was executed (Year 2000 compliant) (Yr,Mon,Day,Hr,Min,Sec,Hundredths)


PS3 - Instrument Transformation Matrix

PS3 sends information about the transducer beams.  The Workhorse uses this information in its coordinate-transformation calculations; for example, the output may look like this:

>ps3

Beam Width:   3.7 degrees

Beam     Elevation     Azimuth

  1         -70.17      269.87

  2         -70.10       89.86

  3         -70.21        0.13

  4         -70.30      180.13

Beam Directional Matrix (Down):

  0.3392    0.0008    0.9407    0.2400

 -0.3403   -0.0008    0.9403    0.2393

 -0.0008   -0.3386    0.9409   -0.2389

  0.0008    0.3371    0.9415   -0.2400

Instrument Transformation Matrix (Down):    Q14:

  1.4703   -1.4730    0.0044   -0.0024       24090  -24133      72     -40

 -0.0019    0.0049   -1.4818    1.4780         -31      80  -24278   24215

  0.2661    0.2652    0.2652    0.2664        4359    4345    4345    4365

  1.0455    1.0423   -1.0408   -1.0455       17130   17077  -17052  -17130

Beam Angle Corrections Are Loaded.

>

Beam Width and Beam Directional Matrix values always appear as nominal values for the nominal beam angle.  If the Workhorse has beam angle errors, they are reflected in the instrument transformation matrix.  This matrix, when multiplied by the raw beam data gives currents in the x, y, z, and e directions.


PS4 - Ping Sequence

PS4 sends an ASCII representation of the ping sequence generated by the BP and WP commands (see TP-command for explanation of ping sequence).  Bottom-track water-mass reference layer pings can occur immediately following or in place of bottom-track pings dependent on the BK-command setting.  For example:

>BP7

>WP11

>PS4

Ping Sequence:  W BW BW W BW BW W BW BW W BW


PT - Built-In Tests

Purpose	Sends/displays results of ADCP system diagnostic test.

Format	PTnnn

Range	nnn = 0 to 200 (PT0 = Help menu)

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”)

PT0 – Help

PT2 - Ancillary System Data

PT3 - Receive Path

PT4 - Transmit Path

PT5 - Electronics Wrap Around

PT6 - Receive Bandwidth

PT7 - RSSI Bandwidth

Note	To find what bits are set when an error occurs, use the following tables.

Table 4.	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.

Hex Digit $	3				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 contanimation sensor (RDI use only).  The ambient temperature is mesaured 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 four nibbles (1 nibble = 4 bits).  Each nibble represents the result for a particular beam (most significant nibble = beam 1, least significant nibble = beam 4).  In this example, we only describe which bit is set for beam 4 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.

>PT3

Correlation Magnitude: Wide Bandwidth

               Lag  Bm1  Bm2  Bm3  Bm4

                 0  255  255  255  255

                 1  169  175  167  179

                 2   49   55   54   58

                 3   26   20   19    8

                 4   20   17   24   29

                 5   14   13   14   23

                 6    8    4   13    8

                 7    6    1   10    1

  High Gain RSSI:    43   41   40   42

   Low Gain RSSI:    19   19   17   18

  SIN Duty Cycle:    52   50   52   51

  COS Duty Cycle:    49   50   51   51

Receive Test Results = $00000000 ... PASS

PT3 failure description - You can determine beam failure results ($>0) by the individual bit settings:

Table 5.	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).
	NOTE. 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

PT4 failure description - You can determine failure results ($>0) by the individual bit settings:

Table 6.	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-TEMPERTURE 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).


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

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  13  13

13  13  13  13

0   0   0   0

255 255 255 255

13  13  13  13

0   0   0   0

255 255 255 255

13  13  13  13

13  13  13  13

0   0   0   0

255 255 255 255

Electronics Test Results = $0000 ... PASS

PT5 failure description - Test failures indicate possible problems with the Receiver or DSP boards.  You can determine failure results ($>0) by the individual bit settings:

Table 7.	PT5 Failure

Bit #	PT5 Failure Description
28	BEAM 1 FAILURE - A high value (normally 255) was <254, or a low value (normally 0) was >20.
24	BEAM 2 FAILURE - See Bit 28.
20	BEAM 3 FAILURE - See Bit 28.
16	BEAM 4 FAILURE - See Bit 28.
12	BEAM 5 FAILURE - See Bit 28.
ALL	RECEIVER TIMEOUT – The CPU never received a “processing done” signal from the receiver.


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    bw    bw    bw    bw

      rate  expect   Bm1   Bm2   Bm3   Bm4

       307     120    91    93    88    88 Khz

   results          PASS  PASS  PASS  PASS

Table 8.	PT6 Receive Bandwidth Nominal Values

Bandwidth setting	WB command	300 kHz	1200 kHz
Broad	0	79	316
Narrow	1	14	112
Beam fails if <75% 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    PASS  PASS  PASS  PASS

>

Figure 1.	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


Introduction to Ping Synchronization Commands

The RD Instruments Sleepy Sensor Synchronization protocol allows a WorkHorse to synchronize measurements with another WorkHorse or any other instrument that adheres to the RDS3 specification.

SA - Synchronize Before/After Ping/Ensemble

SI - Synchronization Interval

SM - RDS3 Mode Select

SS - RDS3 Sleep Mode

ST - Slave Timeout

SW - Synchronization Delay

Using the Master/Slave Setup


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

Default	SA000 (Navigator), SA001 (Workhorse)

Description	Use SA 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).

Recommend	Special applications only.

Table 1.	Synchronization Parameters

Parameter	Description
SA000	Send (wait for) pulse before a bottom ping.
SA001	Send (wait for) pulse before a water ping.
SA002	Send (wait for) pulse before both pings
SA100	Send (wait for) pulse after a bottom ping.
SA101	Send (wait for) pulse after a water ping.
SA102	Send (wait for) pulse after both pings.
SA01X	Send (wait for) pulse before ensemble.
SA11X	Send (wait for) pulse after ensemble.

Note	This command has no effect unless SM = 1 or 2.


SI - Synchronization Interval

Purpose	Sets how many pings/ensembles to wait before sending the next synchronization pulse.

Format	SInnnnn

Range	0 to 65535

Description	Use SI to set how many pings/ensembles (depending on the SA command) to wait before sending the next synchronization pulse.

Recommend	Special applications only.

Note	This command has no effect unless SM = 1


SM - RDS3 Mode Select

Purpose	Sets the RDS3 Mode.

Format	SMn

Range	n = 0 (Off), 1 (RDS3 Master mode), 2 (RDS3 Slave mode)

Default	SM0

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.

Recommend	Special applications only.


SS - RDS3 Sleep Mode

Purpose	Sets the RDS3 Sleep Mode.

Format	SSx

Range	x = 0, 1 (0 = No Sleep, 1 = Sleep)

Default	SS0

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.  An RDI WH, setup 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 2.	Sleep Mode Parameters

Parameter	Description
SS0	Wait between pings (synchronization pulses) in a loop.
SS1	Wait between pings (synchronization pulses) in a sleep state.

Note	:	This command has no effect unless SM = 1 or 2


ST - Slave Timeout

Purpose	Sets the amount of time a slave will wait to hear a synch pulse before proceeding on it’s own.

Format	STn

Range	0 to 10800 seconds

Default	ST0

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 ignore future synch pulses.  Setting ST = 0 tells the slave to wait indefinitely.

Recommend	Special applications only.

Note	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

Default	SW00075

Range	0 to 65535 (1/10 milliseconds)

Description	Use SW to set the amount of time to wait after sending the pulse before proceeding.  This allows precise timing of measurements.  For synchronizing two WorkHorses, setting SW = 5 allows them to ping within 100 microseconds of each other.

Recommend	Special applications only.

Note	This command has no effect unless SM = 1


Using the Master/Slave Setup

A standard Workhorse ADCP with version 8.19 firmware and higher has the capability to be turned into a “Master” or “Slave” ADCP.  The basic idea is that the Master ADCP sends a synchronizing pulse to the Slave ADCP to tell it when to start a ping or ensemble.

If you are synchronizing pings with another instrument, you need to determine whether or not that instrument can accept or send the trigger pulse.  If the instrument can accept the trigger, but has no way to send out a trigger signal, you would set the ADCP as the master.

The actual setup of each ADCP (Master or Slave) is independent of this feature.  This means if you are using two ADCPs, that the Slave ADCP can have a setup that is identical or completely different from that of the Master ADCP.  The Master and Slave ADCPs can be setup such that they ping at the same time from the synchronization pulse or so that they actually alternate pings.  This control depends entirely on how you setup the Master and Slave ADCP command files.

	NOTE.  All examples shown are using firmware version 8.23 or later (Workhorse).  Some commands changed or were added since firmware versions 8.19 through 8.22.
The ADCP is set as a Master or Slave ADCP via the SM-command. Once an ADCP has been set as the Slave ADCP, use the ST-command to tell the Slave ADCP how long to wait for a synchronizing pulse before timing out.  This feature is added in case the cable between the Master and Slave ADCP was to fail, or if the Master ADCP was to fail.

There are a series of commands that are used to tell the Master ADCP when to send a synchronization pulse and when to wait if it is a Slave ADCP (i.e., before a ping, after a ping, before an ensemble, or after ensemble).  The Master ADCP can also be told to send the synchronization pulse and then delay before it continues to perform its own ping cycle/ensemble.

The Master/Slave function uses the RS-485 bus to communicate between the instruments.  There are three lines used to send the 20-millisecond break (a ground wire and the 2-data wires).  One will transition from High to Low and the other will transition from Low to High.  They will remain in that state for 20 milliseconds, then transition back to the quiescent states.  The voltage of both lines with respect to the Communication Ground is 0 to 5VDC.


Requirements

The following is a list of minimum requirements when using the Master/Slave Workhorse setup.

Using Two ADCPs

•	Two Workhorse ADCPs that have firmware version 8.19 or higher

•	Special Master/Slave Cable that allows each ADCP to talk to each other

•	Both Workhorse ADCPs must be setup in RS232 Mode

Using One ADCP and Another Instrument

•	Workhorse ADCP that has firmware version 8.19 or higher

•	Special Master/Slave Cable that allows the ADCP to talk to other instrument

•	Special pigtail cable to other instrument

•	Workhorse ADCP must be setup in RS232 Mode

•	Another instrument capable of accepting the 20ms trigger pulse


Examples

Example 1 shows the basic steps used to configure two Workhorse ADCPs in a Master/Slave setup.  In this example we will assume that you will use the same setup for each ADCP and the systems will ping simultaneously.

Example 2 shows how to set the ADCP as a master and the trigger requirements for another instrument.


Example 1 Basic Setup

The basic commands for the Master and Slave ADCP setups are no different from a “standard” deployment.  You should use the PLAN program to select the number of bins, bin size, number of pings, ensemble duration, etc.  This will give you the “basic” commands needed to collect data.

The following is a basic set of commands that may be used for each ADCP:

•	30 bins

•	4 meter bins

•	45 ping per ensemble (note: this is the default setup, set as you would like.)

•	1-hour ensemble interval (note: this is the default setup, set as you would like.)

•	1 day for the deployment length (this is set just to get an idea of the battery usage per day)

•	0 meters for the transducer depth

•	35ppt

•	set the magnetic variation as required

•	ping immediately after deploy

•	record data internally

Once you have created the basic configuration file exit the PLAN program and copy the file to different files.  Name one of the files MASTER.CMD and the other SLAVE.CMD.


Example 1 Master Setup

There are seven commands that must be added to the Master ADCP command file.  Edit the MASTER.CMD command file you created using a standard text editor (i.e., DOS Edit or NotePad).

Add the following commands to the MASTR.CMD file.  Remember that the following example shows the basic steps used to configure two Workhorse ADCPs in a Master/Slave setup.  In the following example we will assume that you will use the same setup for each ADCP and the systems will ping simultaneously.  These commands must be added in the file before the CK command.  We suggest you follow the same format as the rest of the commands and include the line with the semi-colon.

Table 2.	Master Command File Added Commands

Command	Description
SM1	Sets the Workhorse ADCP as the Master
SA001	Send a synchronizing pulse before each ping
SI0	Sets how many pings per ensemble you will send a synchronizing pulse for; zero sends a pulse after every ping (typical default setting is used here)
SW75	Sets the number of tenths of milliseconds to wait before the Master starts its’ ping, a 75 millisecond setting will ensure that both the Master and Slave will ping within 100 microseconds of each other
$LMR.TXT	Used by BBTALK to turn on the capture of all communications between the ADCP and the computer to a file called MR.TXT. Do not inlcude if you intend to use another RDI supplied deployment software package.
$D3	Used by BBTALK to delay for 3 seconds before continuing to the next command.  Required during the deployment sequence using BBTALK.  Do not inlcude if you intend to use another RDI supplied deployment software package.
$X	Used by BBTALK to exit from the BBTALK program. Do not inlcude if you intend to use another RDI supplied deployment software package.
	NOTE. Once the commands have been added to the CMD file, you will not be able to load this file into the PLAN program.  The PLAN program will only handle “standard” commands.

Example of the modified Master command file.

$LMR.TXT          WILL 	CAPTURE ALL COMMUNICATIONS TO A FILE TITLED MR.TXT

;  CR1

CR1

$D3               WILL DELAY THE BBTALK PROGRAM 3 SECONDS BEFORE GOING TO NEXT COMMAND

;  ED0000

ED0000

;  ES35

ES35

;  EX11111

EX11111

;  SM1             SET AS MASTER ADCP

SM1

;  SA001            SYNCHRONIZING PULSE BEFORE EACH PING

SA001

;SI0               SYNCHRONIZING PULSE SENT ON EVERY PING

SI0

;  SW75             WAIT 75 MILLISECONDS

SW75

;  TE01:00:00.00   PLAN DEFAULT SETUP SHOWN

TE01:00:00.00

;  TP01:19.98      PLAN DEFAULT SETUP SHOWN

TP01:19.98

;  WD111100000

WD111100000

;  WP00045         PLAN DEFAULT SETUP SHOWN

WP00045

;  WN030

WN030

;  WS0400

WS0400

;  WF0176

WF0176

;  WV170

WV170

;  EZ1111111

EZ1111111

;  EA00000

EA00000

;  EB00000

EB00000

;  CF11101

CF11101

;  CK

CK

$D3               WILL DELAY THE BBTALK PROGRAM 3 SECONDS BEFORE GOING TO NEXT COMMAND

;  CS

CS

$L                WILL CLOSE THE FILE MR.TXT

$D3               WILL DELAY THE BBTALK PROGRAM 3 SECONDS BEFORE GOING TO NEXT COMMAND

$X                WILL EXIT FROM BBTALK

;Created as: MASTER.CMD (1997/10/15 10:50:22.58  PLAN Version 1.30 )

;Deployment hours = 24.00

;Temperature      = 5.00

;Frequency        = 307200.00


Example 1 Slave Setup

There are six commands that must be added to the Slave ADCP command file.  Edit the SLAVE.CMD command file you created using a standard text editor (i.e., DOS Edit or NotePad).

Add the following commands to the SLAVE.CMD file.  These commands must be added in the file before the CK command.  We suggest you follow the same format as the rest of the commands and include the line with the semi-colon.

Table 3.	Slave Command File Added Commands

Command	Description
SM2	Sets the Workhorse ADCP as the Slave
SA001	Slave ADCP will wait to ping before each ping
ST0300	Sets the Workhorse ADCP to wait up to 300 seconds for the synchronization pulse.  If there is a problem the slave will still ping once every 300 seconds)
$LSV.TXT	Used by BBTALK to turn on the capture of all communications between ADCP and computer to a file called SV.TXT. Do not inlcude if you intend to use another RDI supplied deployment software package.
$D3	Used by BBTALK to delay for 3 seconds before continuing to the next command.  Required during the deployment sequence using BBTALK.  Do not inlcude if you intend to use another RDI supplied deployment software package.
$X	Used by BBTALK to exit from BBTALK program. Do not inlcude if you intend to use another RDI supplied deployment software package.
	NOTE. Once these commands have been added to the CMD file, you will not be able to load this file into the PLAN program.  The PLAN program will only handle “standard” commands.
Example of the modified Slave command file

$LSV.TXT          WILL 	CAPTURE ALL COMMUNICATIONS TO A FILE TITLED SV.TXT

;  CR1

CR1

$D3               WILL DELAY THE BBTALK PROGRAM 3 SECONDS BEFORE GOING TO NEXT COMMAND

;  ED0000

ED0000

;  ES35

ES35

;  EX11111

EX11111

;  SM2             SET AS SLAVE ADCP

SM2

;  SA001            WAIT FOR SYNCHRONIZING PULSE BEFORE EACH PING

SA001

;  ST0300          WAIT UP TO 300 SECONDS FOR SYNCHRONIZATION PULSE

ST0300

;  TE01:00:00.00   PLAN DEFAULT SETUP SHOWN

TE01:00:00.00

;  TP01:19.98      PLAN DEFAULT SETUP SHOWN

TP01:19.98

;  WD111100000

WD111100000

;  WP00045

WP00045            PLAN DEFAULT SETUP SHOWN

;  WN030

WN030

;  WS0400

WS0400

;  WF0176

WF0176

;  WV170

WV170

;  EZ1111111

EZ1111111

;  EA00000

EA00000

;  EB00000

EB00000

;  CF11101

CF11101

;  CK

CK

$D3               WILL DELAY THE BBTALK PROGRAM 3 SECONDS BEFORE GOING TO NEXT COMMAND

;  CS

CS

$L                WILL CLOSE THE FILE SV.TXT

$D3               WILL DELAY THE BBTALK PROGRAM 3 SECONDS BEFORE GOING TO NEXT COMMAND

$X                WILL EXIT FROM BBTALK

;Created as: SLAVE.CMD (1997/10/15 11:50:22.58  PLAN Version 1.30 )

;Deployment hours = 24.00

;Temperature      = 5.00

;Frequency        = 307200.00


Example 1 Deployment

To deploy the Master and the Slave ADCP you must send the commands from the above files to each ADCP.  The following method will ensure that each ADCP is starting at the same time and that each ensemble will be matched.

	NOTE. This deployment sequence assumes that you have added all the commands specificed in the examples above. If you have not added specifically the $D3, $L, and $X command then the following routine will not work properly.
a.	Copy each of the modified files MASTER.CMD and SLAVE.CMD to files called MASTER.SCR and SLAVE.SCR respectively.  Be sure that you copy the *.SCR files to the same directory as the BBTALK program.

b.	Connect the Master and Slave ADCPs cable and power.

c.	Connect the Slave ADCP to the Computer.

d.	Start the BBTALK program and wake-up the Slave ADCP.  Pressing the end key on your keyboard does this.

e.	Set the time in the Slave ADCP by typing the TS command and pressing the enter key on your keyboard.   Syntax: TSYYMMDDhhmmss (YY = year, MM = month, DD = day, hh = hour, mm = minute, ss = second).

	CAUTION. The next 6 steps must be completed within 5 minutes or you will have to start from step c again.  After step j do not send a break to either ADCP without starting over.
f.	Connect the Master ADCP to the Computer.

g.	Start the BBTALK program and wake-up the Master ADCP.  Pressing the end key on your keyboard does this.

h.	Set the time in the Master ADCP by typing the TS command and pressing the enter key on your keyboard.  Syntax: TSYYMMDDhhmmss (YY = year, MM = month, DD = day, hh = hour, mm = minute, ss = second).

i.	Exit BBTALK.

j.	Connect the Slave ADCP to the Computer.  At the DOS prompt type the command line BBTALK SLAVE.SCR.   The BBTALK program will automatically send all of the commands from the SLAVE.SCR file, record all transactions to a file titled SV.TXT, and exit back to the DOS prompt.

k.	Connect the Master ADCP to the Computer.  At the DOS prompt type the command line BBTALK MASTER.SCR.   The BBTALK program will automatically send all of the commands from the MASTER.SCR file, record all transactions to a file titled MR.TXT, and exit back to the DOS prompt.

l.	Disconnect the Master ADCP from the computer and place dummy plugs on the ends of the Master/Slave cable.

The deployment sequence is now complete and the ADCPs will be pinging.  After reviewing the MR.txt and SV.txt files, you can deploy the ADCPs.


Example 2 - Synchronizing an ADCP with Other Instruments

This example will show how to synchronize the ADCP with other instruments.  This can be used to eliminate interference when two instruments are using the same frequency.


Example 2 - ADCP Command File

If the ADCP is to be setup as the Master (i.e. it generates the synchronization pulse), use the MASTER.CMD command file from example 1.  If the ADCP is the slave unit, use the commands from the SLAVE.CMD file as shown in example 1.


Example 2 - Synchronization Pulse Timing

The Master/Slave function uses the RS-485 bus to communicate between the instruments.  To send the 20-millisecond pulse the RS485B line transitions from High to Low and the RS485A line transitions from Low to High.  They will remain in that state for 20 milliseconds, then transition back to the quiescent states.  The voltage of both lines with respect to the Communication Ground is 0 to 5VDC.

Both the High and Low signals are fed into a differentiator, which looks for a difference between the two signals.  If the difference is 5VDC, it outputs logic 1.  If the difference is -5 VDC, it outputs logic 0.  The RS485 A IN is the low line, and RS485 B IN is the high line.  So a logic 1 coming out of a Workhorse would have RS485A IN = 0VDC, and RS485B IN = 5VDC, and a logic 0 would have RS485A IN = 5VDC, and RS485B IN = 0.

Table 3.	Synchronization Timing

RS485A	RS485B	Logic	Result
Low (0 VDC)	High (5 VDC)	1	Default state
High (5 VDC)	Low (0 VDC)	0	The 20 ms pulse will trigger the ADCP if it is set as the slave.  The ADCP uses the rising edge of the pulse as the trigger.
	NOTE. The optimun timing for the pulse is 20 to 30 ms.  If the pulse is between 40 to 100 ms, it will be ignored.  A pulse over 100ms will provide unpredictable results.
Figure 1.	Synchronization Pulse Timing


Example 2 - Deployment

To deploy the ADCP you must send the commands to the ADCP.  The following method will ensure that the ADCP is starting at the same time and that each ensemble will be matched.

	NOTE. This deployment sequence assumes that you have added all the commands specificed in the examples above. If you have not added specifically the $D3, $L, and $X command then the following routine will not work properly.
a.	Copy each of the modified files MASTER.CMD and SLAVE.CMD to files called MASTER.SCR and SLAVE.SCR respectively.  Be sure that you copy the *.SCR files to the same directory as the BBTALK program.

b.	Setup the ADCP using the Master Slave "X" cable and connect power to the ADCP.

c.	Connect the other instrument using the special pigtail cable.

d.	Connect the ADCP to the Computer.

e.	Start the BBTALK program and wake-up the ADCP.  Pressing the end key on your keyboard does this.

f.	Set the time in the ADCP by typing the TS command and pressing the enter key on your keyboard.   Syntax: TSYYMMDDhhmmss (YY = year, MM = month, DD = day, hh = hour, mm = minute, ss = second).

	CAUTION. The next 2 steps must be completed within 5 minutes or you will have to start from step e again.  After step i do not send a break to the ADCP without starting over.
g.	Exit BBTALK.

h.	Send the commands to the ADCP.

1.	ADCP Set as the Slave Unit.  At the DOS prompt type the command line BBTALK SLAVE.SCR.   The BBTALK program will automatically send all of the commands from the SLAVE.SCR file, record all transactions to a file titled SV.TXT, and exit back to the DOS prompt.

2.	ADCP Set as the Master Unit.  At the DOS prompt type the command line BBTALK MASTER.SCR.   The BBTALK program will automatically send all of the commands from the MASTER.SCR file, record all transactions to a file titled MR.TXT, and exit back to the DOS prompt.

i.	Disconnect the ADCP from the computer and place dummy plugs on the ends of the Master/Slave cable.

The deployment sequence is now complete and the ADCP will be pinging.  After reviewing the MR.txt or SV.txt files, you can deploy the ADCP.


Master/Slave Data Recovery

The RECOVER program can be used to recover data from each ADCP.  The order of which ADCP you download data from first does not matter.  However, we recommend downloading the data from the Master ADCP first.  Once the Master ADCP is stopped, the Slave ADCP will stop pinging.  If the Slave ADCP did continue pinging, looking at the Master ADCP’s data, you can determine the last valid ensemble to use for synchronization.


Cables and Interconnections

Use the following figures to interconnect the ADCP’s.

Figure 2.  Master/Slave Cable Wiring

Figure 3.  Master/Slave X Cable Length

Figure 4.  Master/Slave Connections Using Two ADCPs

Figure 5.  Master/Slave Interconnections with Other Instruments

Figure 6.  Special Pigtail Cable


Figure 2.  Master/Slave Cable Wiring


Figure 3.  Master/Slave X Cable Length


Figure 4.  Master/Slave Connections Using Two ADCPs


Figure 5.  Master/Slave Interconnections with Other Instruments


Figure 6.  Special Pigtail Cable


Introduction to Recorder Commands

The following paragraphs list all the Workhorse Sentinel recorder commands.

RA – Number of Deployments

RB – Recorder Built-In Test

RE – Erase Recorder

RF – Recorder Free Space (Bytes)

RN – Set Deployment Name

RR – Show Recorder File Directory

RS – Recorder Free Space (Megabytes)

RY – Upload Recorder Files

Here is the basic sequence for a deployment using the data recorder.

a.	Use the RR-command to display the present list of files stored in the recorder and to check the free space available on the recorder.

b.	If necessary (or desired), erase recorder memory (see RE-command).

c.	Set up the Sentinel with the desired deployment parameters (PLAN).

d.	Make sure Record data internally (ADCP) is selected (using PLAN) if the Workhorse will not be interfacing through the serial port during deployment.

e.	Send the commands to the Workhorse using DEPLOY.

f.	Deploy the Sentinel.

g.	Recover the Sentinel when the deployment is complete.

h.	Send a <BREAK> to stop pinging (and data collection).

i.	Use RECOVER or the RY-command to extract the data from the recorder.


RA - Number of Deployments

Purpose	Shows the number of deployments recorded on the internal recorder.

Format	RA

Description	RA lists the number of deployments recorded on the optional internal recorder.

Recommend	Use as needed.


RB - Recorder Built-In Test

Purpose	Tests the recorder.

Format	RB

Description	RB tests the recorder RAM, detects the number of memory cards, checks communication, and checks recorder functions using non-destructive methods.

Recommend	Use as needed.  The recorder test is included in the PA command.

Example	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.


RE - Erase Recorder

Purpose	Erases/initializes recorder memory.

Format	RE ErAsE

Description	RE ErAsE erases the recorder memory.  This command is case sensitive.

Recommend	Use as needed.

Example	See below.

>RE ErAsE

[ERASING...]


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.

Recommend	Use as needed.

Example	See below

>RF

RF = 0,10407936 -------- REC SPACE USED (BYTES), FREE (BYTES)

This shows the Workhorse contains a 10-MB recorder.


RN - Set Deployment Name

Purpose	Sets the deployment name used for future deployments.

Format	RN AAAAA

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.

Recommend	This command is set by DEPLOY (whice runs INITADCP).


RR - Show Recorder File Directory

Purpose	Lists the files on the recorder in the style of a DOS directory listing.

Format	RR

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.

Recommend	Use as needed.


RS - Recorder Free Space (Megabytes)

Purpose	Lists the amount of used and free recorder space in megabytes.

Format	RS

Description	RS lists the amount of recorder space used and free in megabytes.

Recommend	Use as needed.

Example	See below

>RS

RS = 000,010 -------- REC SPACE USED (MB), FREE (MB)

This shows the Workhorse contains a 10-MB recorder.


RY - Upload Recorder Files

Purpose	Uploads recorder data to a host computer using standard YMODEM protocol.

Format	RY

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 DOS files.  This command may be used to recover deployment data without opening the pressure case of the Workhorse 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 then be accessed in the same manner as from any other DOS disk drive.

Recommend	Use as needed or use RECOVER.


Introduction to Timing Commands

The following commands let you set the timing of various profiling functions.

TB - Time Per Burst

TC - Ensemble Per Burst

TE - Time Per Ensemble

TF - Time Of First Ping

TP - Time Between Pings

TS - Set RealTime Clock


TB - Time Per Burst

Purpose	Sets the interval between “bursts” of pings.

Format	TB hh:mm:ss.ff

Range	hh = 00 to 23 hours

mm = 00 to 59 minutes

ss  = 00 to 59 seconds

ff = 00 to 59 hundredths of seconds

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.

Recommend	Special applications only.

Example	Deployment timing example:

TB 01:00:00.00   (time per burst)

TC 20            (ensembles per burst)

TE 00:00:01.00   (time per ensemble)

TP 00:00.20      (time between pings)

WP 2             (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.


TC - Ensemble Per Burst

Purpose	Sets the number of ensembles per burst.

Format	TCnnnnn

Range	0 to 65535 ensembles per burst

Default	TC0

Description	Setting TC to 0 disables the burst mode (i.e., TB-command inactive).  See the TB-command for details on how these two commands interact.

Recommend	Special applications only.


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

Description	During the ensemble interval set by TE, the Workhorse transmits the number of pings set by the WP-command.  If TE = 00:00:00.00, the Workhorse starts collecting the next ensemble immediately after processing the previous ensemble.

Recommend	Set using PLAN.

Example	TE01:15:30.00 tells the Workhorse to collect data ensembles every 1 hour, 15 minutes, 30 seconds.

Notes	1.  The Workhorse 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, not the time of output.


TF - Time Of First Ping

Purpose	Sets the time the Workhorse wakes up to start data collection.

Format	TFyy/mm/dd, hh:mm:ss

Range	yy = year 00-99

mm = month 01-12

dd = day 01-31 (leap years ARE accounted for)

hh = hour 00-23

mm = minute 00-59

ss = second 00-59

Description	TF delays the start of data collection.  This lets you deploy the Workhorse in 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 to start pinging, TF is tested for validity.  If valid, the Workhorse sets its alarm clock to TF, goes to sleep, and waits until time TF before beginning the data collection process.

Recommend	Set using PLAN.

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. If you want the Workhorse to begin pinging immediately after receiving the CS-command (see note), do not enter a TF-command value.

Notes	1.  Although you may send a TF-command to the Workhorse, you also must send the CS-command before deploying the Workhorse.

2.  If the entry is not valid, the Workhorse sends an error message and does not update the wake-up time.

3.  Sending a <BREAK> clears the TF time.


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

Description	The Workhorse interleaves individual pings within a group so they are evenly spread throughout the ensemble.

During the ensemble interval set by TE , the Workhorse transmits the number of pings set by the WP-command.  TP determines the spacing between the pings.  If TP = 0, the Workhorse 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).

Recommend	Set using PLAN.

Example	TP00:00.10 sets the time between pings to 0.10 second.

Note	The Workhorse automatically increases TE if WP x TP > TE.


TS - Set RealTime Clock

Purpose	Sets the Workhorse’s internal real-time clock.

Format	TSyy/mm/dd, hh:mm:ss

Range	yy = year 00-99

mm = month 01-12

dd = day 01-31

hh = hour 00-23

mm = minute 00-59

ss = second 00-59

Recommend	Use as needed.  Verify setting is correct by viewing the deployment LOG file.

Example	TS92/11/23, 13:15:00 sets the real-time clock to 1:15:00 pm, November 23, 1992.

Notes	1.  When the Workhorse 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.  The internal clock does account for leap years.

3.  If the entry is not valid, the Workhorse sends an error message and does not update the real-time clock.


Introduction to Water Profiling Commands

The following commands define the criteria used to collect the water-profile data.

WA - False Target Threshold Maximum

WB - Mode 1 Bandwidth Control

WC - Low Correlation Threshold

WD - Data Out

WE - Error Velocity Threshold

WF - Blank After Transmit

WI - Clip Data Past Bottom

WJ - Receiver Gain Select

WN - Number Of Depth Cells

WP - Pings Per Ensemble

WQ - Sample Ambient Sound

WS - Depth Cell Size

WT - Transmit Length

WU - Ping Weight

WV - Ambiguity Velocity


WA - False Target Threshold Maximum

Purpose	Sets a false target (fish) filter.

Format	WAnnn

Range	nnn = 0-255 counts (255 disables this filter)

Default	WA050

Description	The ADCP uses the WA-command to screen water-track data for false targets (usually fish).  WA 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.

Recommend	A typical setting of 55 to 75 is normal.

Note	A WA value of 255 turns off this feature.


WB - Mode 1 Bandwidth Control

Purpose	Sets 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

Description	See table below.

Recommend	Leave at default setting.

Table 1.	Bandwidth Control

Bandwidth	Sample rate	Data variance	Profiling range
0 = wide	High	Low	Low
1 = narrow	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 = 0-255 counts

Default	WC64

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.

Recommend	Leave at default setting.

Note	The default threshold for all frequencies is 64 counts.  A solid target would have a correlation of 255 counts.


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

Description	WD 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

Recommend	Leave at default setting.

Example	WD 111 100 000 (default) tells the ADCP to collect velocity, correlation magnitude, echo intensity, and percent-good.

Notes	1.  Each bit can have a value of 1 or 0.  1 means output data, 0 means suppress data.

2.  If WP = 0, the ADCP does not collect water-track data.

3.  Spaces in the command line are allowed.

4.  Status data is not used, as it does not mean anything.


WE - Error Velocity Threshold

Purpose	Sets the maximum error velocity for good water-current data.

Format	WEnnnn

Range	nnnn = 0 to 5000 mm/s

Default	WE2000

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.

Recommend	Leave at default setting.


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 = 0-9999 cm (328 feet)

Default	WF0176 (300kHz), WF0044 (1200kHz)

Description	WF positions the start of the first depth cell at some vertical distance from the transducer head.  This allows the Workhorse 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.

Recommend	Set WF ≥ the default value.

Notes	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.


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

Description	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]).

Recommend	Leave at default setting.


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

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.

Recommend	Leave at default setting.


WN - Number Of Depth Cells

Purpose	Sets the number of depth cells over which the Workhorse collects data.

Format	WNnnn

Range	nnn = 001 to 128 depth cells

Default	WN030

Description	The range of the Workhorse is set by the number of depth cells (WN) times the size of each depth cell (WS).

Recommend	Set using PLAN.


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

Description	WP sets the number of pings to average in each ensemble before sending/recording the data.

Recommend	Set using PLAN.

Notes	1.  If WP = 0 the Workhorse does not collect water-profile data.

2.  The Workhorse 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

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.

Recommend	Leave at default setting.


WS - Depth Cell Size

Purpose	Selects the volume of water for one measurement cell.

Format	WSnnnn

Range	nnnn = 20 to 800 cm (300kHz), 5 to 400 cm (1200kHz)

Default	WS0400 (300kHz), WS0100 (1200kHz)

Description	The Workhorse collects data over a variable number of depth cells.  WS sets the size of each cell in vertical centimeters.

Recommend	Set by using PLAN.

Notes	If you set WS to a value less than its minimum value or greater than its maximum value, the Workhorse will accept the entry, but uses the appropriate minimum or maximum value.  For example, if you enter WS1, the Workhorse uses a value of 20 cm for WS.  Similarly, if you enter WS5000, the Workhorse uses a value of 800 cm for WS.


WT - Transmit Length

Purpose	Selects a transmit length different than the depth cell length (cell sampling interval) as set by the WS-command.

Format	WTnnnn

Range	nnnn = 0 to 3200 cm

Default	WT0000

Description	When WT is set to 0, 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 then the area depth cell size (sampling length).

Recommend	Leave at default setting.


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

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.

Recommend	Leave at default setting.

Example	For an ensemble of 5 pings, the weights would appear as below.

Table 2.	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
Note	The velocity reported for each ensemble is calculated as the sum of the weighted velocities divided by the sum of the weights.


WV - Ambiguity Velocity

Purpose	Sets the radial ambiguity velocity.

Format	WVnnn

Range	nnn = 002 to 480 cm/s

Default	WV175

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 Workhorse speed.

Recommend	Leave at default setting for most applications.

Example	If the maximum expected Workhorse 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.


Introduction to Output Data Format

This Appendix shows the format of the Workhorse outputs.  Workhorse output data can be in either hexadecimal-ASCII or binary format.  You can select this option through the CF-command (Appendix-C).  We explain the output data formats in enough detail to let you create your own data processing or analysis programs.

	NOTE. This section applies to Workhorse firmware version 8.25 or lower.  When new firmware versions are released, some output data formats may be modified or added.  Read the README file on the upgrade disk, check RDI’s web site, or read the “Read Me First” booklet for the latest changes. This appendix contains all output data formats including optional formats (bottom-track).


Output Data Format

The following description is for the standard Workhorse output data format.  Figures D-1 through D-10 shows the ASCII and binary data formats for the Workhorse mode.  Tables D-1 through D-9 define each field in the output data structure.

After completing a data collection cycle, the Workhorse sends a data ensemble immediately.  The following pages show the types and sequence of data that you may include in the Workhorse output data ensemble and the number of bytes required for each data type.  The Workhorse sends all the data for a given type for all depth cells and all beams before the next data type begins.


Hexadecimal-ASCII Output Data

Use the hexadecimal-ASCII (HexAscii) format when you are viewing raw Workhorse 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 HexAscii mode, the Workhorse sends data in one line of ASCII characters.  There are no carriage returns and/or line feed sequences (CR/LF) sent from the ADCP.

Figure D-1 shows the HexAscii data format for one ensemble, and how it looks on a CRT display.  The CRT provides a CR/LF after 60 characters.  The Workhorse by default is set to collect velocity, correlation data, echo intensity, and percent good data.

The data, preceded by ID code 7F7F, contains header data (explained in Table 1).  The fixed and variable leader data is preceded by ID codes 0000 and 8000, (explained in Tables D-2 and D-3).  The Workhorse always collects Header and Leader.

The remaining lines include velocity (ID Code: 0001), correlation magnitude (0002), echo intensity (0003), and percent-good (0004).  The final field is a data-validity checksum.  Tables D-4 through D-9 define these fields.  Figure D-2 shows the format of the HexAscii output data for the sample data in Figure D-1.  For the example shown in Figures D-1 and D-2, we collected data for five depth cells.

	NOTE. Internally, the Workhorse stores data in binary format.  At data transfer, the Workhorse converts the data to hexadecimal-ASCII when requested by the user.


Workhorse Binary Output Data Format

Use the binary format when recording/processing Workhorse data on an external device.  The binary format uses less storage space and has a faster transmission time than the HexAscii format.  A dumb terminal is of little use in binary format because the terminal interprets some of the data as control characters.

The Workhorse binary output data buffer contains header data, leader data, velocity, correlation magnitude, echo intensity, percent good, and a checksum.  The Workhorse collects all data in the output buffer during an ensemble.  Figure D-3 shows the format of this buffer and the sequence in which the Workhorse sends it.  Figures D-4 through D-10 show the format of the individual items that make up the binary output buffer.  Tables D-1 through D-9 list the format, bytes, fields, scaling factors, and a detailed description of every item in the binary output buffer.


Figure D-1. HexAscii PD0 Output Data Format

Hex    Data Bytes

Offset 0 1 2 3 4 5 6 7 8 9 A B C D E F

0000   7F7F31030007140046007E007001EA01

0010   6402DE02000008164C410035041E0100

0020   64002C0001400919E8030000001F0000

0030   00007D1D9C006F00010532000C001F00

0040   000002671A09800003006205070B2015

0050   0F000000FF050000D51616FE4AFD2300

0060   F1090000000000003061000000000000

0070   80800000000000000000000000000001

0080   00800080008000800080008000800080

0090   00800080008000800080008000800080

00A0   00800080008000800080008000800080

00B0   00800080008000800080008000800080

00C0   00800080008000800080008000800080

00D0   00800080008000800080008000800080

00E0   00800080008000800080008000800080

00F0   00800080008000800080008000800080

0100   00800080008000800080008000800080

0110   00800080008000800080008000800080

0120   00800080008000800080008000800080

0130   00800080008000800080008000800080

0140   00800080008000800080008000800080

0150   00800080008000800080008000800080

0160   00800080008000800080008000800080

0170   00024F233D4E030A090C060709070905

0180   090806090C0E0706070D050D0C11070E

0190   05070607030A0710070E020606030611

01A0   08040A100C070C0B0903020B0F0E0608

01B0   010B0607030B0E07070807060E07050E

01C0   1105060F0F010608060707040709080A

01D0   070207080A0608050B030C080B080705

01E0   0A060600060208000C0000033F363C38

01F0   3B383A373B3839383B383A373A383A37

0200   3B383B383B3839383B383A373B383A37

0210   3B3839383B3839373B3839383B383A38

0220   3B373A373B373A373B383A383B383B37

0230   3B383A373B383A373B383A373A383A38

0240   3B373A373B383A373B3839373B383A38

0250   3B383A373B383A373A3839373A383A37

0260   3B383A37000400006400000064000000

0270   64000000640000006400000064000000

0280   64000000640000006400000064000000

0290   64000000640000006400000064000000

02A0   64000000640000006400000064000000

02B0   64000000640000006400000064000000

02C0   64000000640000006400000064000000

02D0   64000000640000006400000064000006

02E0   01000000DC1E0005E803000000000000

02F0   00000000000000800080008000800000

0300   0000000000000000000028003C006400

0310   00800080008000800000000000000000

0320   00000000C201222323220000000000F6

0330   47E082

	NOTE. The values listed here are simulated data for one ensemble with thirty depth cells and bottom-track data.  Figure D-2 shows a detailed view of the data format. 16-Bit Data words are sent LSB first followed by the MSB. Examples: The offset to the checksum word is sent as 31 03 (LSB, MSB).  Read this as 0331 h, which is the offset to the checksum E082. The address offset for the first data type is sent 14 00 (LSB, MSB).  Read this as 0014 h, which is the offset to the Fixed Leader ID code 0000. The address offset for seventh data type is sent DE 02 (LSB, MSB).  Read this as 02DE h, which is the offset to the Bottom-Track ID code 0006.


Figure D-2. HexAscii Standard Output Data Format

Header Data Table D-1	Header ID  Data Source ID 7F         7F Offset to Cksum     Spare   # of data types 3103                00      07 Address Offsets for Data Types #1   #2   #3   #4   #5   #6   #7 1400 4600 7E00 7001 EA01 6402 DE02
Fixed Leader Data Table D-2	Fixed Leader ID 0000 fv fr cfg  flag Spare #bm WN WP   WS   WF   WM  WC #cr WG WE 08 16 4C41 00   35    04  1E 0100 6400 2C00 01  40 09  19 E803  TPPmmsshh   EX EA   EB   EZ EC dis1 WT   WP/WL WA  Spare LagD    000000   1F 0000 0000 7D 1D 9C00 6F00 0105  32  00    0C00 CPU Serial #      WB 1F00000002671A09  0000
Variable Leader Data Table D-3	Variable leader ID   8000  ENS  RTCyymmddhhmmsshh #MSB BIT  EC   ED   EH   EP   0300    6205070B20150F 00   0000 FF05 0000 D516 16FE ER   ES   ET   MPTmmsshh StdDev Heading Pitch Roll  4AFD 2300 F109    000000        00      00    00 ADC channels 0  1  2  3  4  5  6  7              30 61 00 00 00 00 00 00 ESW      Res  Pressure  Pressure STD  Spare    80800000 0000 00000000  00000000      00          Y2K RTCyyyymmddhhmmsshh (See note)        0000000000000000
Velocity Data Table D-4	Velocity data ID 0001 Depth Cell #1       Depth Cell #2       Depth Cell #3 1    2    3    4    1    2    3    4    1    2    3    4 0080 0080 0080 0080 0080 0080 0080 0080 0080 0080 0080 0080  Depth Cell #4       →Depth Cell #30  1    2    3    4    →1    2    3    4 0080 0080 0080 0080 →0080 0080 0080 0080
Correlation Magnitude Table D-5	Correlation Magnitude ID 0002 Cell#1       Cell#2       Cell#3       Cell#4       →Cell#30 1  2  3  4   1  2  3  4   1  2  3  4   1  2  3  4   →1  2  3  4 4F 23 3D 4E  03 0A 09 0C  06 07 09 07  09 05 09 08  →08 00 0C 00
Echo Intensity Table D-6	Echo Intensity ID 0003 Cell#1       Cell#2       Cell#3       Cell#4       →Cell#30 1  2  3  4   1  2  3  4   1  2  3  4   1  2  3  4   →1  2  3  4 3F 36 3C 38  3B 38 3A 37  3B 38 39 38  3B 38 3A 37  →3B 38 3A 37
Percent-Good Data  Table D-7	Percent-Good ID 0004 Cell#1       Cell#2       Cell#3       Cell#4       Cell#30 1  2  3  4   1  2  3  4   1  2  3  4   1  2  3  4   →1  2  3  4 00 00 64 00  00 00 64 00  00 00 64 00  00 00 64 00  →00 00 64 00
Bottom-Track Table D-8	Bottom-Track ID  0006 BP   BD    BC  BA  BG  BM  BE    Reserved    0100 0000  DC  1E  00  05  E803  00000000  BT Range              BT Velocity           BT Corr Mag Bm1  Bm2  Bm3  Bm4    Bm1  Bm2  Bm3  Bm4    1  2  3  4 0000 0000 0000 0000  0080  0080 0080 0080   00 00 00 00 BTEA        BT%G         BL   1  2  3  4  1  2  3  4   Min  Near Far   00 00 00 00 00 00 00 00  2800 3C00 6400 Ref Velocity        RLCM        Reserved  RLPG        BX Bm1  Bm2  Bm3  Bm4  1  2  3  4  ↑         1  2  3  4  ↑ 0080 0080 0080 0080 00 00 00 00 00000000  00 00 00 00 C201 RSSI        Gain  BT Range 1  2  3  4  ↑     1  2  3  4 22 23 23 22 00    00 00 00 00
Reserved  Table D-9	F647
Checksum  Table D-10	E082
	NOTE. This figure lists all bytes in order of output from the ADCP.  All 16-bit word values must be byte-swapped to convert them to their proper values.  For example, the Variable Leader ID word shown as 80 00 h has the value 0080 h when properly converted. The Year 2000 compliant RTC is only in the Rio Grande output data format at this time.


Figure D-3. Binary Standard Output Data Buffer Format

ALWAYS OUTPUT	HEADER (6 BYTES + [2 x No. OF DATA TYPES])	Figure D-4  Table D-1
	FIXED LEADER DATA  (52 BYTES)	Figure D-5  Table D-2
	VARIABLE LEADER DATA (65 or 57 BYTES (see note))	Figure D-6  Table D-3
WD-command  WP-command	VELOCITY (2 BYTES + 8 BYTES PER DEPTH CELL)	Figure D-7  Table D-4
	CORRELATION MAGNITUDE (2 BYTES + 4 BYTES PER DEPTH CELL)	Figure D-8  Table D-5
	ECHO INTENSITY (2 BYTES + 4 BYTES PER DEPTH CELL)	Figure D-8  Table D-6
	PERCENT GOOD (2 BYTES + 4 BYTES PER DEPTH CELL)	Figure D-8 Table D-7
BP-command (Optional)	BOTTOM-TRACK (81 BYTES)	Figure D-9  Table D-8
ALWAYS OUTPUT	RESERVED (2 BYTES)	Figure D-10  Table D-9
	CHECKSUM (2 BYTES)	Figure D-11  Table D-10
	NOTE. Some data outputs are in bytes per depth cell.  For example, if the WN-command (number of depth cells) = 23, and the following data are selected for output, the required data buffer storage space is 677 bytes per ensemble. The Variable Leader Data is 65 bytes for the Rio Grande and 57 bytes for Workhorse, Long Ranger, and the Navigator.
WD-COMMAND =WD 111 100 000 (default)

WP-COMMAND> 0

BP-COMMAND> 0

 18 BYTES OF HEADER DATA (6+2x9)

 52 BYTES OF FIX. LEADER DATA (FIXED)

 65 BYTES OF VAR. LEADER DATA (FIXED)

186 BYTES OF VELOCITY DATA (2+8x23)

 94 BYTES OF CORR. MAG. DATA (2+4x23)

 94 BYTES OF ECHO INTENSITY (2+4x23)

 94 BYTES OF PERCENT-GOOD DATA (2+4x23)

 81 BYTES OF BOTTOM-TRACK DATA (FIXED) (optional)

  2 BYTES OF RESERVED FOR RDI USE (FIXED)

  2 BYTES OF CHECKSUM DATA (FIXED)

694 BYTES OF DATA PER ENSEMBLE


Figure D-4. Binary Header Data Format

	BIT POSITIONS
BYTE	7	6	5	4	3	2	1	0
1	HEADER ID (7Fh)
2	DATA SOURCE ID (7Fh)
3	NUMBER OF BYTES IN ENSEMBLE	LSB
4		MSB
5	SPARE
6	NUMBER OF DATA TYPES
7	OFFSET FOR DATA TYPE #1	LSB
8		MSB
9	OFFSET FOR DATA TYPE #2	LSB
10		MSB
11	OFFSET FOR DATA TYPE #3	LSB
12		MSB
↓	(SEQUENCE CONTINUES FOR UP TO N DATA TYPES)	↓
2N+5	OFFSET FOR DATA TYPE #N	LSB
2N+6		MSB
SEE TABLE D-1 FOR DESCRIPTION OF FIELDS

	NOTE. This data is always output in this format.


Figure D-5. Binary Fixed Leader Data Format

	BIT POSITIONS
BYTE	7	6	5	4	3	2	1	0
1	FIXED LEADER ID	LSB 00h
2		MSB 00h
3	CPU F/W VER.
4	CPU F/W REV.
5	SYSTEM CONFIGURATION	LSB
6		MSB
7	REAL/SIM FLAG
8	SPARE
9	NUMBER OF BEAMS
10	NUMBER OF CELLS {WN}
11	PINGS PER ENSEMBLE {WP}	LSB
12		MSB
13	DEPTH CELL LENGTH {WS}	LSB
14		MSB
15	BLANK AFTER TRANSMIT {WF}	LSB
16		MSB
17	PROFILING MODE {WM}
18	LOW CORR THRESH {WC}
19	NO. CODE REPS
20	%GD MINIMUM {WG}
21	ERROR VELOCITY MAXIMUM {WE}	LSB
22		MSB
23	TPP MINUTES
24	TPP SECONDS
25	TPP HUNDREDTHS {TP}
26	COORD TRANSFORM {EX}
27	HEADING ALIGNMENT {EA}	LSB
28		MSB
29	HEADING BIAS {EB}	LSB
30		MSB
31	SENSOR SOURCE {EZ}
32	SENSORS AVAIL {EC}
33	BIN 1 DISTANCE
34
35	XMIT PULSE LENGTH BASED ON {WT}	LSB
36		MSB
37	(starting cell)  WP REF LAYER AVERAGE {WL}   (ending cell)	LSB
38		MSB
39	FALSE TARGET THRESH {WA}
40	SPARE
41	TRANSMIT LAG DISTANCE	LSB
42		MSB
43	CPU BOARD SERIAL NUMBER	LSB
44
45
46
47
48
49
50		MSB
51	SYSTEM BANDWIDTH {WB}	LSB
52		MSB
SEE TABLE D-2 FOR DESCRIPTION OF FIELDS

	NOTE. This data is always output in this format.


Figure D-6. Binary Variable Leader Data Format

	BIT POSITIONS
BYTE	7	6	5	4	3	2	1	0
1	VARIABLE LEADER ID	80h
2		00h
3	ENSEMBLE NUMBER	LSB
4		MSB
5	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
13	BIT RESULT	LSB
14		MSB
15	SPEED OF SOUND {EC}	LSB
16		MSB
17	DEPTH OF TRANSDUCER {ED}	LSB
18		MSB
19	HEADING {EH}	LSB
20		MSB
21	PITCH (TILT 1) {EP}	LSB
22		MSB
23	ROLL (TILT 2) {ER}	LSB
24		MSB
25	SALINITY {ES}	LSB
26		MSB
27	TEMPERATURE {ET}	LSB
28		MSB
29	MPT MINUTES
30	MPT SECONDS
31	MPT HUNDREDTHS
32	HDG STD DEV
33	PITCH STD DEV
34	ROLL STD DEV
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
43	ERROR STATUS WORD (ESW) {CY?}	LSB
44
45
46		MSB
47	SPARE
48
49	PRESSURE	LSB
50
51
52		MSB
53	PRESSURE SENSOR VARIANCE	LSB
54
55
56		MSB
57	SPARE
58	RTC YEAR
59	RTC YEAR
60	RTC MONTH
61	RTC DAY
62	RTC HOUR
63	RTC MINUTE
64	RTC SECOND
65	RTC HUNDREDTHS
SEE TABLE D-3 FOR DESCRIPTION OF FIELDS

	NOTE. This data is always output in this format.


Figure D-7. Binary Velocity Data Format

	BIT POSITIONS
BYTE	7/S	6	5	4	3	2	1	0
1	VELOCITY ID	LSB 00h
2		MSB 01h
3	DEPTH CELL #1, VELOCITY 1	LSB
4		MSB
5	DEPTH CELL #1, VELOCITY 2	LSB
6		MSB
7	DEPTH CELL #1, VELOCITY 3	LSB
8		MSB
9	DEPTH CELL #1, VELOCITY 4	LSB
10		MSB
11	DEPTH CELL #2, VELOCITY 1	LSB
12		MSB
13	DEPTH CELL #2, VELOCITY 2	LSB
14		MSB
15	DEPTH CELL #2, VELOCITY 3	LSB
16		MSB
17	DEPTH CELL #2, VELOCITY 4	LSB
18		MSB
↓	(SEQUENCE CONTINUES FOR UP TO 128 CELLS)	↓
1019	DEPTH CELL #128, VELOCITY 1	LSB
1020		MSB
1021	DEPTH CELL #128, VELOCITY 2	LSB
1022		MSB
1023	DEPTH CELL #128, VELOCITY 3	LSB
1024		MSB
1025	DEPTH CELL #128, VELOCITY 4	LSB
1026		MSB

SEE TABLE D-4 FOR DESCRIPTION OF FIELDS

	NOTE. The number of depth cells is set by the WN-command. See the WN-command.


Figure D-8. Binary Correlation Magnitude, Echo Intensity, and Percent-Good Data Format

	BIT POSITIONS
BYTE	7/S	6	5	4	3	2	1	0
1	ID CODE	LSB
2		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 TABLES 5, 6, AND 7 FOR DESCRIPTION OF FIELDS

	NOTE. The number of depth cells is set by the WN-command. See the WN-command.


Figure D-9. Binary Bottom-Track Data Format

BIT POSITION

BYTE	7	6	5	4	3	2	0
1	BOTTOM-TRACK ID	LSB 00h
2		MSB 06h
3	BT PINGS PER ENSEMBLE {BP}	LSB
4		MSB
5	BT DELAY BEFORE RE-ACQUIRE {BD}	LSB
6		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}	LSB
12		MSB
13	RESERVED
14
15
16
17	BEAM#1 BT RANGE	LSB
18		MSB
19	BEAM#2 BT RANGE	LSB
20		MSB
21	BEAM#3 BT RANGE	LSB
22		MSB
23	BEAM#4 BT RANGE	LSB
24		MSB
25	BEAM#1 BT VEL	LSB
26		MSB
27	BEAM#2 BT VEL	LSB
28		MSB
29	BEAM#3 BT VEL	LSB
30		MSB
31	BEAM#4 BT VEL	LSB
32		MSB
33	BEAM#1 BT CORR.
34	BEAM#2 BT CORR.
35	BEAM#3 BT CORR.
36	BEAM#4 BT CORR.
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}	LSB
46		MSB
47	REF LAYER NEAR {BL}	LSB
48		MSB
49	REF LAYER FAR {BL}	LSB
50		MSB
51	BEAM#1 REF LAYER VEL	LSB
52		MSB
53	BEAM #2 REF LAYER VEL	LSB
54		MSB
55	BEAM #3 REF LAYER VEL
56
57	BEAM #4 REF LAYER VEL
58
59	BM#1 REF CORR
60	BM#2 REF CORR
61	BM#3 REF CORR
62	BM#4 REF CORR
63	RESERVED
64
65
66
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}	LSB
72		MSB
73	BM#1 RSSI AMP
74	BM#2 RSSI AMP
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
	NOTE. This data is output only if the BP-command is > 0 and PD0 is selected.  See Table D-8 for description of fields


Figure D-10. Binary Reserved BIT Data Format

	BIT POSITIONS
BYTE	7	6	5	4	3	2	1	0
1	RESERVED FOR RDI USE	LSB
2		MSB
	NOTE. The data is always output in this format.  See Table D-9 for description of fields


Figure D-11. Binary Checksum Data Format

	BIT POSITIONS
BYTE	7	6	5	4	3	2	1	0
1	CHECKSUM DATA	LSB
2		MSB
	NOTE. The data is always output in this format.  See Table D-10 for description of fields


Table D-1.  Workhorse Header Data Format

Header information is the first item sent by the Workhorse to the output buffer.  HexAscii users refer to Figure D-1 and Figure D-2.  Binary users refer to Figure D-3 and Figure D-4.  The Workhorse always sends the Least Significant Byte (LSB) first.

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).
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 D-9, Table D-10).
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 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 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 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).


Table D-2.  Workhorse Fixed Leader Data Format

Fixed Leader data refers to the nondynamic Workhorse data that only changes when you change certain commands.  Fixed Leader data also contain hardware information.  The Workhorse always sends Fixed Leader data as output data (LSBs first).  HexAscii users refer to Figure D-1 and Figure D-2.  Binary users refer to Figure D-3 and Figure D-5.  Appendix-C has detailed description of commands used to set these values.

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 hardware configuration.  Convert this field (2 bytes, LSB first) to binary and interpret as follows. LSB  BITS  7 6 5 4 3 2 1 0       - - - - - 0 0 0   75-kHz SYSTEM       - - - - - 0 0 1   150-kHz SYSTEM       - - - - - 0 1 0   300-kHz SYSTEM       - - - - - 0 1 1   600-kHz SYSTEM       - - - - - 1 0 0  1200-kHz SYSTEM       - - - - - 1 0 1  2400-kHz SYSTEM       - - - - 0 - - -  CONCAVE BEAM PAT.       - - - - 1 - - -  CONVEX BEAM PAT.       - - 0 0 - - - -  SENSOR CONFIG #1       - - 0 1 - - - -  SENSOR CONFIG #2       - - 1 0 - - - -  SENSOR CONFIG #3       - 0 - - - - - -  XDCR HD NOT ATT.       - 1 - - - - - -  XDCR HD ATTACHED       0 - - - - - - -  DOWN FACING BEAM       1 - - - - - - -  UP-FACING BEAM MSB  BITS  7 6 5 4 3 2 1 0       - - - - - - 0 0  15E BEAM ANGLE       - - - - - - 0 1  20E BEAM ANGLE       - - - - - - 1 0  30E BEAM ANGLE       - - - - - - 1 1  OTHER BEAM ANGLE       0 1 0 0 - - - -  4-BEAM JANUS CONFIG       0 1 0 1 - - - -  5-BM JANUS CFIG DEMOD)       1 1 1 1 - - - -  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	Spare	Undefined.
17,18	9	#Bm / Number of Beams	Contains the number of beams used to calculate velocity data (not physical beams).  The Workhorse 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 does not make this validity check.  Table D-7 (Percent-Good Data Format) has more information.
19,20	10	WN / Number of Cells	Contains the number of depth cells over which the Workhorse collects data (WN-command).   Scaling:  LSD = 1 depth cell; Range = 1 to 128 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 does not collect the WD water-profile data.  Note:  The Workhorse 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	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)
29-32	15,16	WF / Blank after Transmit	Contains the blanking distance used by the Workhorse 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	Singal 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 (WG-command). 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 flags all four beams of the affected bin as bad. Scaling:  LSD = 1 mm/s; Range = 0 to 5000 mm/s
45,46 47,48 49,50	23 24 25	Minutes Seconds Hundredths	These fields, set by the TP-command, contain the amount of time between ping groups in the ensemble.  NOTE:  The Workhorse automatically extends the ensemble interval (set by TE) if (WP x TP > TE).
51,52	26	EX / Coord Transform	Contains the coordinate transformation processing parameters (EX-command).  These firmware switches indicate how the Workhorse 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
53-56	27,28	EA / Heading Alignment	Contains a correction factor for physical heading misalignment (EA-command). Scaling:  LSD = 0.01 degree; Range = -179.99 to 180.00 degrees
57-60	29,30	EB / Heading Bias	Contains a correction factor for electrical/magnetic heading bias (EB-command). Scaling:  LSD = 0.01 degree; Range = -179.99 to  180.00 degrees
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 uses the manual command setting.  If the field = 1, the Workhorse 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 only displays a 0 (manual) or 1 (int/ext sensor).
63,64	32	EC / Sensor Avail	This field reflects if the Speed of Sound Sensor is 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 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 uses an 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	37,38	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).  Scaling:  LSD = 1 depth cell; Range = 1 to 128 depth cells
77,78	39	WA / False Tgt Thresh	Contains the threshold value used to reject data received from a false target, usually fish (WA-command; see appendix C and F). 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.
101-102	51-52	WB / System Bandwidth	Contains the WB-command setting.  Range = 0 to 1


Table D-3.  Workhorse Variable Leader Data Format

GENERAL - Variable Leader data refers to the dynamic Workhorse data (from clocks/sensors) that change with each ping.  The Workhorse always sends Variable Leader data as output data (LSBs first).  HexAscii users refer to Figure D-1 and Figure D-2.  Binary users refer to Figure D-3 and Figure D-6.  Appendix-C has detailed description of commands used to set these values.

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 11,12 13,14 15,16 17,18 19,22 21,22	5 6 7 8 9 10 11	RTC Year RTC Month RTC Day RTC Hour RTC Minute RTC Second RTC Hundredths	These fields contain the time from the Workhorse's real-time clock (RTC) that the current data ensemble began.  The TS-command (Set Real-Time Clock) initially sets the clock.  The Workhorse does account for leap years.
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	This field contains the results of the Workhorse'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
29-32	15,16	EC / Speed of Sound	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 9999 decimeters
37-40	19,20	EH / Heading	Contains the Workhorse 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
41-44	21,22	EP / Pitch (Tilt 1)	Contains the Workhorse 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 = -20.00 to +20.00 degrees
45-48	23,24	ER / Roll (Tilt 2)	Contains the Workhorse roll angle (ER-command).  This value may be a manual setting or a reading from a tilt sensor.  For up-facing Workhorses, positive values mean that Beam #2 is spatially higher than Beam #1.  For down-facing Workhorses, positive values mean that Beam #1 is spatially higher than Beam #2. Scaling:  LSD = 0.01 degree; Range = -20.00 to +20.00 degrees
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 59,60 61,62	29 30 31	MPT minutes MPT seconds MPT hundredths	This field contains the Minimum Pre-Ping Wait Time between ping groups in the ensemble.
63,64 65,66 67,68	32 33 34	H/Hdg Std Dev P/Pitch Std Dev R/Roll Std Dev	These fields contain the standard deviation (accuracy) of the heading and tilt angles from the gyrocompass/pendulums. Scaling (Heading):  LSD = 1°; Range = 0 to 180° Scaling (Tilts):  LSD = 0.1°; Range = 0.0 to 20.0°
69-70 71-72 73-74 75-76 77-78 79-80 81-82 83-84	35 36 37 38 39 40 41 42	ADC Channel 0 ADC Channel 1 ADC Channel 2 ADC Channel 3 ADC Channel 4 ADC Channel 5 ADC Channel 6 ADC Channel 7	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, then:   END OF ENSEMBLE No.     CHANNELS UPDATED          Start            All channels = 0            1              0, 1, 2, 3, 4            2              5, 6, 7, 0, 1            3              2, 3, 4, 5, 6            4              7, 0, 8, 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.
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), then it indicates that both a cold wake-up (0004000) and an unknown wake-up (00008000) occurred. Low 16 BITS LSB  BITS 07 06 05 04 03 02 01 00      x  x  x  x  x  x  x  1  Bus Error      x  x  x  x  x  x  1  x  Address Error      x  x  x  x  x  1  x  x  Illegal Instruction      x  x  x  x  1  x  x  x  Divide by Zero      x  x  x  1  x  x  x  x  Emulator      x  x  1  x  x  x  x  x  Unassigned      x  1  x  x  x  x  x  x  Not Used      1  x  x  x  x  x  x  x  Not Used
87-88	44		Low 16 BITS MSB  BITS 15 14 13 12 11 10 09 08      x  x  x  x  x  x  x  1  Pinging      x  x  x  x  x  x  1  x  Not Used      x  x  x  x  x  1  x  x  Not Used      x  x  x  x  1  x  x  x  Not Used      x  x  x  1  x  x  x  x  Not Used      x  x  1  x  x  x  x  x  Not Used      x  1  x  x  x  x  x  x  Cold Wakeup      1  x  x  x  x  x  x  x  Unknown Wakeup
89-90	45		High 16 BITS LSB  BITS 24 23 22 21 20 19 18 17      x  x  x  x  x  x  x  1  Clock Read Error      x  x  x  x  x  x  1  x  Not Used      x  x  x  x  x  1  x  x  Not Used      x  x  x  x  1  x  x  x  Not Used      x  x  x  1  x  x  x  x  Not Used      x  x  1  x  x  x  x  x  Not Used      x  1  x  x  x  x  x  x  Not Used      1  x  x  x  x  x  x  x  Not Used
91-92	46		High 16 BITS MSB  BITS 32 31 30 29 28 27 26 25      x  x  x  x  x  x  x  1  Not Used      x  x  x  x  x  x  1  x  Not Used      x  x  x  x  x  1  x  x  Not Used      x  x  x  x  1  x  x  x  Not Used      x  x  x  1  x  x  x  x  Not Used      x  x  1  x  x  x  x  x  Spurious UART IRQ      x  1  x  x  x  x  x  x  Spurious CLOCK IRQ      1  x  x  x  x  x  x  x  Power Failure
93-96	47-48	Reserved	Reserved for RDI 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. Scaling: LSD=1 pascal; Range=0 to 4,294,967,295 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 pascal; Range=0 to 4,294,967,295 pascals
113-114	57	Spare	Spare
115-122	58 59 60 61 62 63 64 65	RTC Year RTC Year RTC Month RTC Day RTC Hour RTC Minute RTC Second RTC Hundredths	These fields contain the time from the Workhorse's real-time clock (RTC) that the current data ensemble began (Year 2000 complainant).  The TS-command (Set Real-Time Clock) initially sets the clock.  The Workhorse does account for leap years.  These bytes are included only in the Rio Grande firmware.


Table D-4.  Workhorse Velocity Data Format

HexAscii users refer to Figure D-1 and Figure D-2.  Binary users refer to Figure D-3 and Figure D-7.  The Workhorse packs velocity data for each depth cell of each beam into a two-byte, two's-complement integer [-32768, 32767] with the LSB sent first.  The Workhorse 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 references the velocity data as shown below.

EX-CMD	COORD SYS	VEL 1	VEL 2	VEL 3	VEL 4
xxx00xxx	BEAM	TO BEAM 1	TO BEAM 2	TO BEAM 3	TO BEAM 4
xxx01xxx	INST	Bm1-Bm2	Bm4-Bm3	TO XDUCER	ERR VEL
xxx10xxx	SHIP	PRT-STBD	AFT-FWD	TO SURFACE	ERR VEL
xxx11xxx	EARTH	TO EAST	TO NORTH	TO SURFACE	ERR VEL
POSITIVE VALUES INDICATE WATER MOVEMENT

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.


Table D-5.  Workhorse Correlation Magnitude Data Format

HexAscii users refer to Figure D-1 and Figure D-2.  Binary users refer to Figure D-3 and Figure D-8.  Correlation magnitude data give the magnitude of the normalized echo autocorrelation at the lag used for estimating the Doppler phase change.  The Workhorse 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.

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.


Table D-6.  Workhorse Echo Intensity Data Format

HexAscii users refer to Figure D-1 and Figure D-2 .  Binary users refer to Figure D-3 and Figure D-8.  The echo intensity scale factor is about 0.45 dB per Workhorse count.  The Workhorse does not directly check for the validity of echo intensity data.

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.


Table D-7.  Workhorse Percent-Good Data Format

HexAscii users refer to Figure D-1 and Figure D-2.  Binary users refer to Figure D-3 and Figure D-8.  The percent-good data field is a data-quality indicator that reports the percentage (0-100) of good data collected for each depth cell of the velocity profile.  The setting of the EX-command (Coordinate Transformation) determines how the Workhorse references percent-good data as shown below.

EX-Command	Coord. Sys	Velocity 1	Velocity 2	Velocity 3	Velocity 4
		Percentage Of Good Pings For:
		Beam 1	BEAM 2	BEAM 3	BEAM 4
xxx00xxx	Beam	Percentage Of:
xxx01xxx	Inst	3-Beam Tranformations (note 1)	Transformations Rejected (note 2)	More Than One Beam Bad In Bin	4-Beam Tranformations
xxx10xxx	Ship
xxx11xxx	Earth

1.  Because profile data did not exceed correlation threshold (WC).

2.  Because the error velocity threshold (WE) was exceeded.

At the start of the velocity profile, the backscatter echo strength is typically high on all four beams.  Under this condition, the Workhorse 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 Workhorse to reject some of its depth cell data.  This causes the Workhorse to calculate velocities with three beams instead of four beams.  When the Workhorse does 3-beam solutions, it stops calculating the error velocity because it needs four beams to do this.  At some further depth cell, the Workhorse 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 not 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 (45%) using 3-beam solutions because the correlation threshold (WC) was not exceeded.

FIELD 2 - Percentage of transformations rejected - Shows percent of error velocity (0%) that was less than the WE-command setting.  WE has a default of 5000 mm/s.  This large WE setting effectively prevents the Workhorse from rejecting data based on error velocity.

FIELD 3 - Percentage of more than one beam bad in bin – 5% of the velocity data were rejected because not enough beams had good data.

FIELD 4 - Percentage of good 4-beam solutions - 50% of the velocity data collected during the ensemble for depth cell 60 were calculated using four beams.

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.


Table D-8. Binary Bottom-Track Data Format

HexAscii users see Figure D-1 and Figure D-2.  Binary users see Figures D-3 and  Figure D-9 .  LSB always sent first.

Hex Digit	Binary Byte	Field	Description
1-4	1,2	ID Code	Stores the bottom-track data identification word (06 00h).
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	7	BC/BT Corr Mag Min	Stores the minimum correlation magnitude value (BC-command). Scaling:  LSD = 1 count; Range = 0 to 255 counts
15,16	8	BA/BT Eval Amp Min	Stores the minimum evaluation amplitude value (BA-command).  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).
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:  Stbd, Fwd, Upward, Error d) Earth Coordinates: East, North, Upward, Error
65-72	33-36	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 D-5).
73-80	37-40	BTEA/Beam #1-4 BT Eval Amp	Contains the evaluation amplitude of the matching filter used in determining the strength of the bottom echo. Scaling:  LSD = 1 count; Range = 0 to 255 counts
81-88	41-44	BTPG/Beam #1-4 BT %Good	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
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 water-reference 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 D-4). 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 water-profiling magnitudes (Table D-5).
125- 132	63-66	Reserved	Reserved
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


Table D-9.  Workhorse Reserved for RDI Format

HexAscii users refer to Figure D-1 and Figure D-2.  Binary users refer to Figure D-3 and Figure D-9.

Hex Digit	Binary Byte	Field	Description
1-4	1,2	Reserved for RDI’s use	This field is for RDI (internal use only).


Table D-10.  Workhorse Checksum Data Format

HexAscii users refer to Figure D-1 and Figure D-2.  Binary users refer to Figure D-3 and Figure D-10.

Hex Digit	Binary Byte	Field	Description
1-4	1,2	Checksum Data	This field contains a modulo 65536 checksum.  The Workhorse computes the checksum by summing all the bytes in the output buffer excluding the checksum.


DVL Output Data Format

The PD3, PD4, PD5, PD6 or PD7 commands select the desired DVL (speed log) output data format.  In this firmware version, the DVL output data structures never change.

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 DVL collects all data in the output buffer during an ensemble.  Figures D-12 through Figure D-14 shows the format of these buffers and the sequence in which the DVL sends the data.  Tables D-11 through Table D-15 list the format, bytes, fields, scaling factors, and a detailed description of every item in the DVL binary output buffers.

	NOTE.  These formats are available with or without bottom-track.  However, if bottom-track is not available, they will contain no data.


Figure D-12.  DVL Binary Data Format (PD3)

See Table D-11 for descriptions of fields

Byte	BIT POSITION
	7	6	5	4	3	2	1	0
1	DVL DATA ID 7Eh
2	DATA STRUCTURE*
3	STARBOARD/EAST VELOCITY (With Respect To BTM)	LSB
4		MSB
5	FORWARD/NORTH VELOCITY (With Respect To BTM)	LSB
6		MSB
7	UPWARD VELOCITY (With Respect To BTM)	LSB
8		MSB
9	STARBOARD/EAST VELOCITY (With Respect To WATER REF)	LSB
10		MSB
11	FORWARD/NORTH VELOCITY (With Respect To WATER REF)	LSB
12		MSB
13	UPWARD VELOCITY (With Respect To WATER REF)	LSB
14		MSB
15	BM1 RNG TO BTM	LSB
16		MSB
17	BM2 RNG TO BTM	LSB
18		MSB
19	BM3 RNG TO BTM	LSB
20		MSB
21	BM4 RNG TO BTM	LSB
22		MSB
23	RANGE TO BTM (AVERAGE)	LSB
24		MSB
25	DISTANCE TRAVELED OVER GROUND	LSB
26
27
28		MSB
29	DISTANCE TRAVELED (STRAIGHT LINE) EAST	LSB
30
31
32		MSB
33	DISTANCE TRAVELED (STRAIGHT LINE) NORTH	LSB
34
35
36		MSB
37	DISTANCE TRAVELED (STRAIGHT LINE) UPWARD	LSB
38
39
40		MSB
41	SENSOR/OTHER DATA
42	PING TIME : HOUR
43	MINUTE
44	SECOND
45	HUNDREDTH
46	HEADING	LSB
47		MSB
48	PITCH	LSB
49		MSB
50	ROLL	LSB
51		MSB
52	TEMPERATURE	LSB
53		MSB
54	BIT RESULTS	LSB
55		MSB
56	CHECKSUM	LSB
57		MSB


Figure D-13.  DVL Binary Data Format (PD4/PD5)

See Table D-12 for descriptions of fields

Byte	BIT POSITION
	7	6	5	4	3	2	1	0
1	DVL DATA ID 7Dh
2	DATA STRUCTURE*
3	NO. OF BYTES	LSB
4		MSB
5	SYSTEM CONFIG
6	X-VEL BTM	LSB
7		MSB
8	Y-VEL BTM	LSB
9		MSB
10	Z-VEL BTM	LSB
11		MSB
12	E-VEL BTM	LSB
13		MSB
14	BM1 RNG TO BTM	LSB
15		MSB
16	BM2 RNG TO BTM	LSB
17		MSB
18	BM3 RNG TO BTM	LSB
19		MSB
20	BM4 RNG TO BTM	LSB
21		MSB
22	BOTTOM STATUS
23	X-VEL REF LAYER	LSB
24		MSB
25	Y-VEL REF LAYER
26
27	Z-VEL REF LAYER
28
29	E-VEL REF LAYER
30
31	REF LAYER START
32
33	REF LAYER END
34
35	REF LAYER STATUS
36	TOFP-HOUR
37	TOFP-MINUTE
38	TOFP-SECOND
39	TOFP-HUNDREDTHS
40	BIT RESULTS
41
42	SPEED OF SOUND
43
44	TEMPERATURE
45
46	CHECKSUM
47

*IF 0, THEN PD4 (BYTES 1-47)

*IF 1, THEN PD5 (BYTES 1-45 + Table 13)


Figure D-14.  DVL Binary Data Format (PD5)

See Table D-13 for descriptions of fields

Byte	BIT POSITION
	7	6	5	4	3	2	1	0
46	SALINITY
47	DEPTH	LSB
48		MSB
49	PITCH	LSB
50		MSB
51	ROLL	LSB
52		MSB
53	HEADING	LSB
54		MSB
55	DMG/BTM (EAST)	LSB
56
57
58		MSB
59	DMG/BTM (NORTH)	LSB
60
61
62		MSB
63	DMG/BTM (UP)	LSB
64
65
66		MSB
67	DMG/BTM (ERROR)	LSB
68
69
70		MSB
71	DMG/REF (EAST)	LSB
72
73
74		MSB
75	DMG/REF (NORTH)	LSB
76
77
78		MSB
79	DMG/REF (UP)	LSB
80
81
82		MSB
83	DMG/REF (ERROR)	LSB
84
85
86		MSB
87	CHECKSUM	LSB
88		MSB


Table D-11.  DVL Output Data Format (PD3) Details

GENERAL - The ADCP sends this data format (Figure D-12) only when the PD3 command is used.

In multiple byte parameters, the least significant byte always comes before the more significant bytes. The “data to Follow” byte, along with the “Sensor/Other Data” byte are configured using the SD-command sent to the DVL prior to the start of pinging. Once set, the data structure does not change during pinging. Only the parameters selected will be included in the ensemble. If parameters are not selected, the ensemble is shortened from that above.

Hex Digit	Binary Byte	Field	Description
1,2	1	DVL Data ID	Stores the DVL (speed log) identification word (7Eh)
3,4	2	Data to follow	Identifies which data is to follow. Each bit signifies a different data type.  Bit # 0 = Bottom Velocities (Always) 0 = Ship (Stbd., Fwd, [Up]) 1 = Earth (East, North, [Up]) 1 = Vertical Velocities 2 = Water Reference Velocities 3 = Range to Bottom (4 beams) 4 = Range to Bottom (Average) 5 = Distance Traveled (Over Ground) 6 = Straight Line Distance Traveled 7 = Sensor/Other Data (Heading, Pitch, Roll, Temp)
5-8	3,4	X-Vel Btm	† Bit #0: Always output. If the data bit is set to 0, then Ship coordinates are used. If the data bit is set to 1, then 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 17,18 19,20 21,22	Bm1  Bm2 Rng to Bm3 Bottom Bm4	† 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. Scaling: LSD = 1 centimeter; Range = 0 to 65535 cm
33-36
37-40
41-44
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.
49-56	25-28	Distance Tvl	† Bit #5: Distance traveled over ground (cm).
57-64	29-32	Dist Tvl X	† Bit #6: Distance traveled (straight-line) (cm) Positive values indicate vessel motion to (X) East, (Y) North, (Z) Upward.
65-72	33-36	Dist Tvl Y
73-80	37-40	Dist Tvl Z
81,82	41	Sensor/Other Data	† 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
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: 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	‡ 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
111-114	56,57	Checksum	This is the 16-bit checksum of all the preceding binary bytes.

NOTE:

† 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.


Table D-12.  DVL Output Data Format (PD4/PD5) Details

GENERAL - The ADCP sends this data format (Figure D-13) only when the PD4 or PD5 command is used.

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 D-13. 1 = PD5 = Bytes 1 through 45 from Figure D-13 and bytes 46 through 88 from Figure D-14.  Note: PD6 is ASCII-only; see Table D-14.
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 BEAM-COORDINATE VELOCITIES     01xxxxxx INSTRUMENT-COORDINATE VELOCITIES     10xxxxxx SHIP-COORDINATE VELOCITIES     11xxxxxx EARTH-COORDINATE VELOCITIES     xx0xxxxx TILT INFORMATION NOT USED IN CALCULATIONS     xx1xxxxx TILT INFORMATION USED IN CALCULATIONS     xxx0xxxx 3-BEAM SOLUTIONS NOT COMPUTED     xxx1xxxx 3-BEAM SOLUTIONS COMPUTED     xxxxx010 300-kHz DVL     xxxxx011 600-kHz DVL     xxxxx100 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. Scaling: LSD = 1 centimeter; Range = 0 to 65535 cm
43,44	22	Bottom Status	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 BEAM 4 LOW ECHO AMPLITUDE     x1xxxxxx BEAM 4 LOW CORRELATION     xx1xxxxx BEAM 3 LOW ECHO AMPLITUDE     xxx1xxxx BEAM 3 LOW CORRELATION     xxxx1xxx BEAM 2 LOW ECHO AMPLITUDE     xxxxx1xx BEAM 2 LOW CORRELATION     xxxxxx1x BEAM 1 LOW ECHO AMPLITUDE     xxxxxxx1 BEAM 1 LOW CORRELATION
45-48 49-52 53-56 57-60	23,24 25,26 27,28 29,30	X-Vel Ref Layer Y-Vel Ref Layer Z-Vel Ref Layer E-Vel Ref Layer	These fields contain the velocity of the vessel in relation to the water-mass reference layer 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.)
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 ALTITUDE IS TOO SHALLOW     xxxx1xxx BEAM 4 LOW CORRELATION     xxxxx1xx BEAM 3 LOW CORRELATION     xxxxxx1x BEAM 2 LOW CORRELATION     xxxxxxx1 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	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
83-86	42,43	Speed of Sound	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 D-13.
NOTES:

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 then 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 3-beam 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.


Table D-13.  DVL Output Data Format (PD5) Details

GENERAL - The ADCP sends this data format (Figure D-13 and Figure D-14) only when the PD5 command is used.  Table D-12 explains the first part of this data structure.

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 = -20.00 to +20.00 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 = -20.00 to +20.00 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	These fields contain the distance made good over the bottom since the time of the first ping after initialization or <BREAK>. Scaling: LSD = 1 millimeter; Range = 1 to 10,000,000 mm
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	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 millimeter; Range = 1 to 10,000,000 mm
173-176	87,88	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.


Table D-14.  DVL Output Data Format (PD6) Details

GENERAL - 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 = 0, the ADCP does not send water-mass data [line items beginning with W]; (2) If BK = 3, the ADCP does not send bottom-track data [line items beginning with B].

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)
6	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


Table D-15.  DVL Output Data Format (PD7) Details

GENERAL - The ADCP sends this data format only when the PD7 command is used.  The ADCP outputs data in the following line order.

line	Description
1	$VDVBW,±ff.ff,±ss.ss,A,±bb.bb,±kk.kk,A*cc<CR><LF> where: VD = Doppler Sensor VBW = Dual Ground/Water Speed ff.ff = Forward Water Ref Velocity (kt)  [Velocity of ADCP with respect to water ref layer] ss.ss = Starboard Velocity (kt)  A = Validity of the Water Reference Velocity (A = Valid, V = Invalid) bb.bb = Forward Bottom Velocity (kt)  [Velocity of ADCP with respect to bottom] kk.kk = Starboard Velocity (kt) A = Validity of the Bottom Velocity (A = Valid, V = Invalid) *cc= Checksum If invalid, nothing appears in fields ff.ff, ss.ss, bb.bb or kk.kk, and the corresponding validity flag is set to “V” (invalid).
2	$VDDRU,aa.a,A,,V,*cc <CR><LF> where: VD = Doppler Sensor DRU = Depth aa.a = Altitude (m) [Average altitude of good beams] A = Validity (A = Valid, V = Invalid) *cc = Checksum


PD8 ASCII Output

PD8 outputs ensemble data as formatted text.  A new-line character terminates each line.  Two new-line characters terminate an ensemble.

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    Vert     Err   Echo1  Echo2  Echo3  Echo4

  1    --      --  -32768  -32768  -32768  -32768     43     49     46     43

  2    --      --  -32768  -32768  -32768  -32768     44     41     45     44

  3    --      --  -32768  -32768  -32768  -32768     43     41     45     43

  4    --      --  -32768  -32768  -32768  -32768     43     41     46     43

  5    --      --  -32768  -32768  -32768  -32768     43     41     45     43

  6    --      --  -32768  -32768  -32768  -32768     42     41     46     43

  7    --      --  -32768  -32768  -32768  -32768     43     42     46     43

  8    --      --  -32768  -32768  -32768  -32768     43     40     46     43

  9    --      --  -32768  -32768  -32768  -32768     43     41     45     44

 10    --      --  -32768  -32768  -32768  -32768     44     41     46     44

If all four beams have good data, then direction and magnitude are output as well.

	NOTE. The ADCP sends this data format only when the PD8 command is used.  This output data format is not available for Workhorse Navigators.
	CAUTION.  PD8 output data format can not be recorded – it must be output through the serial port only.  The CFxxx0x (where x = 0 or 1) command will not control the PD8 output.  PD8 outputs data to the serial port even if the Serial Output switch is disabled, and doesn't write data to the recorder even if the Recorder Switch setting is enabled.  Do not use this output data format for a self-contained deployment.


Introduction to Lowered ADCP Commands

The Lowered ADCP (LADCP) uses 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 two systems combined.  Using the L-commands in place of the equivalent W-commands turns on the LADCP feature.

LD – LADCP Data Out

LF – LADCP Blank After Transmit

LJ - Receiver Gain Select

LN – Number Of Depth Cells

LP – Pings Per Ensemble

LS – Depth Cell Size

LV – Ambiguity Velocity

LW - Bandwidth Control

Using the Lowered ADCP Commands


LD - LADCP Data Out
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

Description	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
Recommend	Leave at the default setting.

Example	LD 111 100 000 (default) tells the ADCP to collect velocity, correlation magnitude, echo intensity, and percent-good.

Notes	Each bit can have a value of 1 or 0.  1 means output data, 0 means suppress data.

If LP = 0, the ADCP does not collect water-track data.

Spaces in the command line are allowed.

Status data is not used, as it does not mean anything.


LF - LADCP Blank After Transmit
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 = 0-9999 cm (328 feet)

Default	LF0176 (300kHz), LF0044 (1200kHz)

Description	LF positions the start of the first depth cell at some vertical distance from the transducer head.  This allows the Workhorse 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.

Recommend	Set LF ≥ the default value.

Notes	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 Workhorse.


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

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.

Recommend	Leave at default setting.


LN - Number Of Depth Cells
LN – Number Of Depth Cells

Purpose	Sets the number of depth cells over which the Workhorse collects data.

Format	LNnnn

Range	nnn = 001 to 128 depth cells

Default	LN030

Description	The range of the Workhorse is set by the number of depth cells (LN) times the size of each depth cell (LS).

Recommend	Set using PLAN.


LP - Pings Per Ensemble
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	LP00045

Description	LP sets the number of pings to average in each ensemble before sending/recording the data.

Recommend	Set using PLAN.

Notes	1.  If LP = 0 the Workhorse does not collect water-profile data.

2.  The Workhorse automatically extends the ensemble interval (TE) if LP x TP > TE.


LS - Depth Cell Size
LS – Depth Cell Size

Purpose	Selects the volume of water for one measurement cell.

Format	LSnnnn

Range	nnnn = See Table below.

1200kHz	600kHz	300kHz	150kHz	75kHz
5 to 400 cm	10 to 800 cm	20 to 800 cm	40 to 3200 cm	80 to 6400 cm

Default	See Table below.

1200kHz	600kHz	300kHz	150kHz	75kHz
LS0100	LS0200	LS0400	LS0800	LS1600

Description	The Workhorse collects data over a variable number of depth cells.  LS sets the size of each cell in vertical centimeters.

Recommend	Set by using PLAN.

Notes	If you set LS to a value less than its minimum value or greater than its maximum value, the Workhorse will accept the entry, but uses the appropriate minimum or maximum value.  For example, if you enter LS1 for a 300kHz system, the Workhorse uses a value of 20 cm for LS.  Similarly, if you enter LS5000, the Workhorse uses a value of 800 cm for LS.


LV - Ambiguity Velocity
LV – Ambiguity Velocity

Purpose	Sets the radial ambiguity velocity.

Format	LVnnn

Range	nnn = 002 to 480 cm/s

Default	LV175

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 Workhorse speed.

Recommend	Leave at the default setting for most applications.

Example	If the maximum expected Workhorse 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.


LW - Bandwidth Control

Purpose	Sets 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	LW0

Description	See table below.

Recommend	Leave at the default setting.

Table 1.	Bandwidth Control

Bandwidth	Sample rate	Data variance	Profiling range
0 = wide	High	Low	Low
1 = narrow	Low	High	High


Using the Lowered ADCP Commands

A standard Workhorse ADCP with version 8.19 firmware and higher with the Lowered ADCP feature installed has the capability to be setup as a Lowered ADCP (LADCP) instrument.  The LADCP uses 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 two systems combined.  In a setup like this, you would want both ADCPs to collect data at the same time or synchronize their pinging.

To synchronize the instruments you must use the Master/Slave feature.  The ADCP Master/Slave feature is turned on via the S-commands. Although either system can be made into the Master or the Slave, RDI recommends that the downward facing system be the Master and the upward facing system to be the Slave.   This will ensure that the timing of each system is always the same.

The LADCP setup is independent of the Master/Slave feature.  Using the L-commands in place of the equivalent W-commands turns on the LADCP feature.  The LADCP feature allows the ADCP to collect both water profile data and when in range collect bottom track data.  A separate bottom track ping is not required.  This means that there is no time (or pings) spent trying to collect bottom track data.  The LADCP automatically detects the bottom when it is within approximately 150 meters of the bottom.  The LADCP feature uses a limited version of bottom track.  It is designed to measure the vertical motion of the ADCP and is not intended to track the ADCP’s motion over the bottom.  You do not have to have the bottom track upgrade installed to use the LADCP feature.

The following sections describe how to setup your ADCPs for a LADCP deployment using both of these features.


Lowered ADCP Feature Upgrades

FINSTALL.EXE is a utility program used to install the lowered ADCP, bottom tracking, or high-resolution water-profiling mode capabilities in a Workhorse ADCP.  You must be using firmware version 8.19 or later before using these upgrades.

	NOTE. This disk is specific to the unit for which it was ordered.  DO NOT attempt to install this feature for any other unit.

Command syntax: FINSTALL  [/U] [/COMx] [/?] [XXXX.dat]

Where:

/U 	= uninstall feature

/COMx 	= use COM port x for ADCP serial connection (default COM2)

/?	= lists the command syntax

XXXX.dat	= installation data file where XXXX is the serial number on the disk label

a.	Set up the Workhorse as shown in Chapter 1 of the Workhorse Technical Manual.

b.	Place the firmware upgrade disk in the disk drive (usually the “A” drive).

c.	Switch to the source drive (usually “A” drive) by typing A:.

d.	Type FINSTALL /COM2 XXXX.dat

Example:

A:FINSTALL /COM2 1234.dat

FEATURE Installer Version 1.0

Copyright (c) 1997 by RD Instruments - All rights reserved

Waking up ADCP at COM2                             AWAKE

Loading LADCP Capability                           DONE

Putting ADCP back to sleep                         DONE

Feature install of LADCP capabilities              COMPLETE


LADCP Requirements

The following is a list of minimum requirements when using the Lower ADCP and Master/Slave Workhorse setup.

•	Two Workhorse ADCPs that have firmware version 8.19 or higher

•	Special Master/Slave Cable that allows each ADCP to talk to each other

•	Both Workhorse ADCPs must be setup in RS232 Mode

•	PLAN Software Program

•	BBTALK Software Program

	NOTE.  The example shown uses firmware version 8.23 or later (Workhorse).  Some commands changed or were added since firmware versions 8.19 through 8.22.


LADCP Example

The following LADCP example shows the basic steps used to configure two Workhorse ADCPs.  Since LADCPs must collect the same data simultaneously we will be use the same setup for each ADCP and the master/slave setup will cause the ADCPs to ping simultaneously.

LADCP Basic Setup

LADCP Master Setup

LADCP Slave Setup

LADCP Deployment

LADCP Recovery


LADCP Basic Setup

The basic commands for the Master and Slave ADCP setups are no different from a “standard” deployment.  You should use the PLAN program to select the number of bins, bin size, number of pings, ensemble duration, etc.  This will give you the “basic” commands needed to collect data.

The following is a basic set of commands that may be used for a LADCP type of deployment:

•	20 bins

•	10 meter bins

•	1 ping per ensemble

•	2 seconds between ensembles (note this is the minimum setting that the PLAN program allows)

•	1 day for the deployment length (this is set just to get an idea of the battery usage per day)

•	0 meters for the transducer depth

•	35ppt

•	set the magnetic variation as required

•	ping immediately after deploy

•	record data internally

Once you have created the basic configuration file exit the PLAN program and copy the file to different files.  Name one of the files MASTER.CMD and the other SLAVE.CMD.


LADCP Master Setup

There are eight commands that must be added to the Master ADCP command file and nine commands to change.  Edit the MASTER.CMD command file you created using a standard text editor (i.e., DOS Edit or NotePad).

	NOTE. RDI recommends that the downward facing ADCP be the Master.

Add the following commands to the MASTER.CMD file.  Remember that this example is assuming a LADCP deployment.  These commands must be added in the file before the CK command.  We suggest you follow the same format as the rest of the commands and include the line with the semi-colon.

Table 1.	Master Command File Added Commands

Command	Description
SM1	Sets the Workhorse ADCP as the Master
SA001	Send a synchronizing pulse before each ping
SI0	Sets how many pings per ensemble you will send a synchronizing pulse for; zero sends a pulse after every ping (this is required when using single ping ensembles)
SW75	Sets the number of millisecs to wait before the Master starts its’ ping, a 75 millisecond setting will ensure that both the Master and Slave will ping within 100 microseconds of each other
LW1	Sets the Workhorse ADCP into a narrow bandwidth and extends the profiling range by 10%
$LMR.TXT	Used by BBTALK to turn on the capture of all communications between the ADCP and the computer to a file called MR.TXT. Do not inlcude if you intend to use another RDI supplied deployment software package.
$D3	Used by BBTALK to delay for 3 seconds before continuing to the next command.  Required during the deployment sequence using BBTALK.  Do not inlcude if you intend to use another RDI supplied deployment software package.
$X	Used by BBTALK to exit from the BBTALK program. Do not inlcude if you intend to use another RDI supplied deployment software package.
	NOTE. Once the commands have been added to the CMD file, you will not be able to load this file into the PLAN program.  The PLAN program will only handle “standard” commands.

Change the following commands in the MASTER.CMD file.  Remember that this example is assuming an LADCP deployment.  Be sure to change the command in both the lines following the semi-colon and the line with the command by itself.

Table 2.	Master Command File Edited Commands

Command	Description
TP	Change the TP command from TP00:01.50 to TP00:01.00 {1 seconds between pings}
TE	Change the TE command from TE00:00:02.00 to TE00:00:01.00 {1seconds per ensemble}
LD	Change the WD command from WD111100000 to LD111100000
LF	Change the WF command from WF0176 to LF0176
LP	Change the WP command from WP00001 to LP00001
LN	Change the WN command from WN020 to LN020
LS	Change the WS command from WS1000 to LS1000
LV	Change the WV command from WV170 to LV170
EZ	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
	NOTE. Once the above commands have been changed to the CMD file, you will not be able to load this file into the PLAN program.  The PLAN program will only handle “standard” commands.
Example of the modified Master command file.

$LMR.TXT          WILL 	CAPTURE ALL COMMUNICATIONS TO A FILE TITLED MR.TXT

;  CR1

CR1

$D3               WILL DELAY THE BBTALK PROGRAM 3 SECONDS BEFORE GOING TO NEXT COMMAND

;  ED0000

ED0000

;  ES35

ES35

;  EX11111

EX11111

;  SM1             SET AS MASTER ADCP

SM1

;  SA001           TRANSMITS SYNCHRONIZING PULSE BEFORE EACH WATER PING

SA001

;SI0               SYNCHRONIZING PULSE SENT ON EVERY PING

SI0

;  SW75            WAIT 75 MILLISECONDS

SW75

;  TE00:00:01.00   CHANGED FROM TE00:00:02.00

TE00:00:01.00

;  TP00:01.00      CHANGED FROM TP00:01.50

TP00:01.00

;  LD111100000     CHANGED FROM WD111100000

LD111100000

;  LP00001         CHANGED FROM WP00001

LP00001

;  LN020           CHANGED FROM WN020

LN020

;  LS1000          CHANGED FROM WS1000

LS1000

;  LF0176          CHANGED FROM WF0176

LF0176

;  LV170           CHANGED FROM WV170

LV170

;  LW1             ADDED LW1 command

LW1

;  EZ0111111       CHANGED FROM EZ1111111

EZ0111111

;  EA00000

EA00000

;  EB00000

EB00000

;  CF11101

CF11101

;  CK

CK

$D3               WILL DELAY THE BBTALK PROGRAM 3 SECONDS BEFORE GOING TO NEXT COMMAND

;  CS

CS

$L                WILL CLOSE THE FILE MR.TXT

$D3               WILL DELAY THE BBTALK PROGRAM 3 SECONDS BEFORE GOING TO NEXT COMMAND

$X                WILL EXIT FROM BBTALK

;Created as: MASTER.CMD (1997/10/15 10:50:22.58  PLAN Version 1.30 )

;Deployment hours = 24.00

;Temperature      = 5.00

;Frequency        = 307200.00


LADCP Slave Setup

There are seven commands that must be added to the Slave ADCP command file and nine commands to change.  Edit the SLAVE.CMD command file you created using a standard text editor (i.e., DOS Edit or NotePad).

	NOTE. RDI recommends that the upward facing ADCP be the Slave.
Add the following commands to the SLAVE.CMD file.  Remember that this example is assuming an LADCP deployment.  These commands must be added in the file before the CK command.  We suggest you follow the same format as the rest of the commands and include the line with the semi-colon.

Table 3.	Slave Command File Added Commands

Command	Description
SM2	Sets the Workhorse ADCP as the Slave
SA001	Slave ADCP will wait to ping before each water ping
ST0300	Sets the Workhorse ADCP to wait up to 300 seconds for the synchronization pulse. Since this example is a LADCP setup, then both Workhorse ADCPs must ping together (however, if there is a problem the slave will still ping once every 300 seconds)
LW1	Sets the Workhorse ADCP into a narrow bandwidth and extends the profiling range by 10%
$LSV.TXT	Used by BBTALK to turn on the capture of all communications between ADCP and computer to a file called SV.TXT. Do not inlcude if you intend to use another RDI supplied deployment software package.
$D3	Used by BBTALK to delay for 3 seconds before continuing to the next command.  Required during the deployment sequence using BBTALK.  Do not inlcude if you intend to use another RDI supplied deployment software package.
$X	Used by BBTALK to exit from BBTALK program. Do not inlcude if you intend to use another RDI supplied deployment software package.
	NOTE. Once these commands have been added to the CMD file, you will not be able to load this file into the PLAN program.  The PLAN program will only handle “standard” commands.
Change the following commands in the SLAVE.CMD file.  Remember that this example is assuming an LADCP deployment that wants to allow for simultaneous pings.  Be sure change the command in both the lines following the semi-colon and the line with the command by itself.

Table 4.	Slave Command File Edited Commands

Command	Description
TP	Change the TP command from TP00:01.50 to TP00:00.00 {0 seconds between pings}
TE	Change the TE command from TE00:00:02.00 to TE00:00:00.00 {0 seconds between ensembles, ping time is being controlled by the Master}
LD	Change the WD command from WD111100000 to LD111100000
LF	Change the WF command from WF0176 to LF0176
LP	Change the WP command from WP00001 to LP00001
LN	Change the WN command from WN020 to LN020
LS	Change the WS command from WS1000 to LS1000
LV	Change the WV command from WV170 to LV170
EZ	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
	NOTE. Once these commands have been changed to the CMD file, you will not be able to load this file into the PLAN program.  The PLAN program will only handle “standard” commands.
Example of the modified Slave command file

$LSV.TXT          WILL C	APTURE ALL COMMUNICATIONS TO A FILE TITLED SV.TXT

;  CR1

CR1

$D3               WILL DELAY THE BBTALK PROGRAM 3 SECONDS BEFORE GOING TO NEXT COMMAND

;  ED0000

ED0000

;  ES35

ES35

;  EX11111

EX11111

;  SM2             SET AS SLAVE ADCP

SM2

;  SA001           LISTENS FOR SYNCHRONIZING PULSE BEFORE EACH PING

SA001

;  ST0300          WAIT UP TO 300 SECONDS FOR SYNCHRONIZATION PULSE

ST0300

;  TE00:00:00.00   CHANGED FROM TE00:00:02.00

TE00:00:00.00

;  TP00:00.00      CHANGED FROM TP00:01.50

TP00:00.00

;  LD111100000     CHANGED FROM WD111100000

LD111100000

;  LP00001         CHANGED FROM WP00001

LP00001

;  LN020           CHANGED FROM WN030

LN020

;  LS1000          CHANGED FROM WS1000

LS1000

;  LF0176          CHANGED FROM WF0176

LF0176

;  LV170           CHANGED FROM WV170

LV170

;  LW1             ADDED LW1 command

LW1

;  EZ0111111       CHANGED FROM EZ1111111

EZ0111111

;  EA00000

EA00000

;  EB00000

EB00000

;  CF11101

CF11101

;  CK

CK

$D3               WILL DELAY THE BBTALK PROGRAM 3 SECONDS BEFORE GOING TO NEXT COMMAND

;  CS

CS

$L                WILL CLOSE THE FILE SV.TXT

$D3               WILL DELAY THE BBTALK PROGRAM 3 SECONDS BEFORE GOING TO NEXT COMMAND

$X                WILL EXIT FROM BBTALK

;Created as: SLAVE.CMD (1997/10/15 11:50:22.58  PLAN Version 1.30 )

;Deployment hours = 24.00

;Temperature      = 5.00

;Frequency        = 307200.00


LADCP Deployment

To deploy the Master and the Slave ADCP you must send the commands from the above files to each ADCP.  The following method will ensure that each ADCP is starting at the same time and that each ensemble will be matched.

	NOTE. This deployment sequence assumes that you have added all the commands specificed in the examples above. If you have not added specifically the $D3, $L, and $X command then the following routine will not work properly.
a.	Copy each of the modified files MASTER.CMD and SLAVE.CMD to files called MASTER.SCR and SLAVE.SCR respectively.  Be sure that you copy the *.SCR files to the same directory as the BBTALK program.

b.	Connect the Master and Slave ADCPs cable and power.

c.	Connect the Slave ADCP to the Computer.

d.	Start the BBTALK program and wake-up the Slave ADCP.  Pressing the end key on your keyboard does this.

e.	Set the time in the Slave ADCP by typing the TS command and pressing the enter key on your keyboard.   Syntax: TSYYMMDDhhmmss (YY = year, MM = month, DD = day, hh = hour, mm = minute, ss = second).

	CAUTION. The next 6 steps must be completed within 5 minutes or you will have to start from step c again.  After step j do not send a break to either ADCP without starting over.
f.	Connect the Master ADCP to the Computer.

g.	Start the BBTALK program and wake-up the Master ADCP.  Pressing the end key on your keyboard does this.

h.	Set the time in the Master ADCP by typing the TS command and pressing the enter key on your keyboard.  Syntax: TSYYMMDDhhmmss (YY = year, MM = month, DD = day, hh = hour, mm = minute, ss = second).

i.	Exit BBTALK.

j.	Connect the Slave ADCP to the Computer.  At the DOS prompt type the command line BBTALK SLAVE.SCR.   The BBTALK program will automatically send all of the commands from the SLAVE.SCR file, record all transactions to a file titled SV.TXT, and exit back to the DOS prompt.

k.	Connect the Master ADCP to the Computer.  At the DOS prompt type the command line BBTALK MASTER.SCR.   The BBTALK program will automatically send all of the commands from the MASTER.SCR file, record all transactions to a file titled MR.TXT, and exit back to the DOS prompt.

l.	Disconnect the Master ADCP from the computer and place dummy plugs on the ends of the Master/Slave cable.

The deployment sequence is now complete and the ADCPs will be pinging.  After reviewing the MR.txt and SV.txt files, you can deploy the ADCPs.


LADCP Recovery

The RECOVER program can be used to recover data from each ADCP.  The order of which ADCP you download data from first does not matter.  However, we recommend downloading the data from the Master ADCP first.  Once the Master ADCP is stopped, the Slave ADCP will stop pinging.  If the Slave ADCP did continue pinging, looking at the Master ADCP’s data, you can determine the last valid ensemble to use for synchronization.


LADCP Cables and Interconnections

Use the following figures to interconnect the ADCP’s.

Figure Z-1.	Master/Slave Cable Wiring

Figure Z-2.	Master/Slave Cable Length

Figure Z-3.	Lowered ADCP Interconnections

Figure Z-4.	Master/Slave Cable Connections Using Standard External Battery Cases


Figure Z-1.	Master/Slave Cable Wiring


Figure Z-2.	Master/Slave Cable Length


Figure Z-3.	Lowered ADCP Interconnections


Figure Z-4.	Master/Slave Cable Connections Using Standard External Battery Cases


Introduction to SVSS Commands

The ADCP uses these commands for Sound Velocity Smart Sensor (SVSS) applications.

DB - RS-455 Port Control (Baud; N/U; N/U)

DS - Load SpeedOfsound with SVSS Sample (BITResult)

DW - Current ID on RS-485 Bus

DX - Set SVSS to RAW Mode

DY - Set SVSS to REAL Mode

DZ - Get Single SCAN from SVSS


DB - RS-455 Port Control

Purpose	Change the communication parameters of the RS-485 bus.

Format	DBxyz

Range	x = 0 to 7 Baud Rate, See Table relating to the 'CB' Command

y =l to 5 Unused

z =l to 2 Unused

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.


DS - Load Speed Of Sound with SVSS Sample

Purpose	Load the SpeedOfSound variable with a single real scan from the SVSS.

Format	DS

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 EZ to EZ3xxxxxx. The 3 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 (ADCP Manual Table D-3) = 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

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

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

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


DZ - Get Single SCAN from SVSS

Purpose	This command gets a single scan of data from the SVSS.

Format	DZ

Description	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.


Introduction to 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.


AD - Display Factory Calibration
AD – Display Factory Calibration

Purpose	Displays factory calibration or active calibration data.

Format	AD

Description	Displays factory calibration or active calibration data.

Recommend	Use as needed.

Example	>AD

Display factory calibration data or active calibration data [f or a]?a

              ACTIVE FLUXGATE CALIBRATION MATRICES in FLASH

               Calibration date and time: 3/8/1996  09:53:42

                             S inverse

          |                                                  |

     Bx   |   2.9102e-01  2.6325e-01  2.1267e-02  4.0145e-01 |

     By   |   2.7342e-01  2.5335e-01 -4.8691e-02 -3.9508e-01 |

     Bz   |  -1.8192e-01  2.0180e-01  2.3319e-01 -2.7045e-02 |

     Err  |   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

                   Up                              Down

        |                           |     |                           |

 Roll   |  -2.1990e-05  -2.8379e-05 |     |   2.6648e-05   3.4953e-05 |

 Pitch  |  -2.9185e-05   2.2630e-05 |     |  -3.5895e-05   2.8521e-05 |

        |                           |     |                           |

        |                           |     |                           |

 Offset |   3.1747e+04   3.0144e+04 |     |   3.0434e+04   3.2971e+04 |

        |                           |     |                           |

                             |       |

                      Null   | 33408 |

                             |       |


AF - Field Calibrate Compass
AF – Field Calibrate Compass

Purpose	Calibrates the compass to remove hard and soft iron effects.

Format	AF

Description	The built-in automated compass calibration procedures are similar to the alignment verification, but requires three rotations instead of one.  The Workhorse 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 for the two calibration rotations, the Workhorse 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, then use the combined hard and soft iron calibration.

Recommend	Use as needed.  The compass must be calibrated if the batteries have been replaced.

Example	>AF

>af

-------------------------------------------------------------------------------

                         Field Calibration Procedure

Choose calibration method:

     a.  Remove hard iron error (single cycle) only.

     b.  Remove hard and soft iron error (single + double cycle).

     c.  Help.

     d.  Quit.

b

-------------------------------------------------------------------------------

                         Field Calibration Procedure

                        Hard and Soft Iron Calibration

Select one:

     a.  Start calibration procedure.

     b.  Instructions.

     c.  Quit.

a

-------------------------------------------------------------------------------

                         Field Calibration Procedure

                        Hard and Soft Iron Calibration

                           Setup for First Rotation

Tilt the unit any direction so that the combined tilt magnitude is within

   the 10ø-20ø range indicated below.

0ø                  10ø                20ø                 30ø

^                   ^***** ok tilt *****^                   ^

-19.6ø Pitch and   0.7ø Roll are acceptable.  Ok to continue [y, n]?

-------------------------------------------------------------------------------

                         Field Calibration Procedure

                        Hard and Soft Iron Calibration

                                First Rotation

Rotate the unit in a plane until all data samples are acquired...

   rotate less than 5ø/sec.  Press Q to quit.

 N       NE       E        SE       S       SW        W        NW       N

 ^                ^                 ^                 ^                 ^

 ************************************************************************

Accumulating data ...

Calculating compass performance ...

                >>> Total error before calibration:   0.9ø <<<

Press D for details or any other key to continue...

HEADING ERROR ESTIMATE BEFORE THE FIELD CALIBRATION UPDATE:

   OVERALL ERROR:

      Peak Double + Single Cycle Error (should be < 5ø):  ñ 0.92ø

   DETAILED ERROR SUMMARY:

      Single Cycle Error:                                 ñ 0.83ø

      Double Cycle Error:                                 ñ 0.27ø

      Largest Double plus Single Cycle Error:             ñ 1.10ø

      RMS of 3rd Order and Higher + Random Error:         ñ 0.22ø

      Orientation:    Down

      Average Pitch: -19.58ø         Pitch Standard Dev:    0.33ø

      Average Roll:    0.31ø         Roll Standard Dev:     0.28ø

Successfully evaluated compass performance before the field calibration update.

Press any key to continue...

-------------------------------------------------------------------------------

                         Field Calibration Procedure

                        Hard and Soft Iron Calibration

                          Setup for Second Rotation

Now tilt the unit at least 10ø in a different direction.

SUGGESTIONS:

  Facing up: place the block under the end cap to either side of where the

             block was for the first rotation - not on the opposite side

             of the end cap!.

  Facing down: place the ADCP facing down on either of the two beams that

               are closest to the one you just used.  Do not place the ADCP

               on the opposite beam.

-19.6ø Pitch &   0.7ø Roll. Tilt NOT OK. Change tilt, then press any key ...

0.1ø Pitch and -19.4ø Roll. Tilt is OK. Wait...

Press any key to continue...

-------------------------------------------------------------------------------

                         Field Calibration Procedure

                        Hard and Soft Iron Calibration

                                Second Rotation

Rotate the unit in a plane until all data samples are acquired...

   rotate less than 5ø/sec.  Press Q to quit.

 N       NE       E        SE       S       SW        W        NW       N

 ^                ^                 ^                 ^                 ^

 ************************************************************************

Accumulating data ...

Calculating compass performance ...

                >>> Total error before calibration:   0.5ø <<<

Press D for details or any other key to continue...

HEADING ERROR ESTIMATE BEFORE THE FIELD CALIBRATION UPDATE:

   OVERALL ERROR:

      Peak Double + Single Cycle Error (should be < 5ø):  ñ 0.50ø

   DETAILED ERROR SUMMARY:

      Single Cycle Error:                                 ñ 0.23ø

      Double Cycle Error:                                 ñ 0.33ø

      Largest Double plus Single Cycle Error:             ñ 0.56ø

      RMS of 3rd Order and Higher + Random Error:         ñ 0.22ø

      Orientation:    Down

      Average Pitch:   0.17ø         Pitch Standard Dev:    0.30ø

      Average Roll:  -19.67ø         Roll Standard Dev:     0.30ø

Successfully evaluated compass performance before the field calibration update.

Press any key to continue...

Calculating new calibration parameters.

-------------------------------------------------------------------------------

                         Field Calibration Procedure

                        Hard and Soft Iron Calibration

                            Verification Rotation

Temporarily loading new calibration parameters into RAM...

Change the tilt to a different axis than either of the first two rotations.

   press any key to continue ...

Rotate the unit in a plane until all data samples are acquired...

   rotate less than 5ø/sec.  Press Q to quit.

 N       NE       E        SE       S       SW        W        NW       N

 ^                ^                 ^                 ^                 ^

 ************************************************************************

Accumulating data ...

Calculating compass performance ...

                 >>> Total error after calibration:   0.4ø <<<

Press D for details or any other key to continue...

HEADING ERROR ESTIMATE AFTER THE FIELD CALIBRATION UPDATE:

   OVERALL ERROR:

      Peak Double + Single Cycle Error (should be < 5ø):  ñ 0.38ø

   DETAILED ERROR SUMMARY:

      Single Cycle Error:                                 ñ 0.34ø

      Double Cycle Error:                                 ñ 0.12ø

      Largest Double plus Single Cycle Error:             ñ 0.47ø

      RMS of 3rd Order and Higher + Random Error:         ñ 0.19ø

      Orientation:    Down

      Average Pitch:  19.44ø         Pitch Standard Dev:    0.23ø

      Average Roll:    0.03ø         Roll Standard Dev:     0.28ø

Successfully evaluated compass performance after the field calibration update.

Press any key to continue...

Making new calibration parameters permanent.

Calibration parameters have been updated in RAM and NVRAM.

-------------------------------------------------------------------------------

                         Field Calibration Procedure

                        Hard and Soft Iron Calibration

Compass field calibration procedure is complete.

>>> Total error before calibration:   0.9ø <<<

>>> Total error after calibration:   0.4ø <<<

>


AR - Return to Factory Calibration
AR – Return to Factory Calibration

Purpose	Returns to the factory calibration matrix.

Format	AR

Description	If the calibration procedure is not successful (AF-command), return your Workhorse 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.

Recommend	Use as needed.


AX - Examine Compass Calibration
AX – Examine Compass Calibration

Purpose	Used to verify the compass calibration.

Format	AX

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 computes and displays the results.  Pay particular attention to the Overall Error.

Recommend	Use as needed.

Example	>AX

------------------------------------------------------------------------------

                    RDI 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°):  ± 1.55°

   DETAILED ERROR SUMMARY:

      Single Cycle Error:                                ± 1.54°

      Double Cycle Error:                                ± 0.07°

      Largest Double plus Single Cycle Error:            ± 1.61°

      RMS of 3rd Order and Higher + Random Error:        ± 0.31°

      Orientation:    Down

      Average Pitch: -19.29°         Pitch Standard Dev:     0.28°

      Average Roll:   -0.59°         Roll Standard Dev:      0.31°

Successfully evaluated compass performance for the current compass calibration.

Press any key to continue...


AZ - Zero Pressure Sensor
AZ – Zero Pressure Sensor

Purpose	Zeros the pressure sensor.

Format	AZ

Description	This command zeros the pressure sensor at the specific location where the ADCP will be used.

Recommend	Use as needed.


Collecting Bottom-Track Data

This chapter is designed to help you set up the Workhorse for a practice deployment.  Refer to the User’s Guides and Quick Reference Card - these explain the steps required deploying the Workhorse.  Please refer to the TRANSECT User’s Manual for information on using TRANSECT.


Collecting Workhorse Data With TRANSECT

TRANSECT can also communicate with a Workhorse ADCP to collect data.  It can connect, send commands, receive and record Workhorse data – just like with other BroadBand ADCPs. If you are using TRANSECT with a Workhorse ADCP with optional bottom-tracking, you will need to take the following steps to be successful:

a.	Prepare for data collection with TRANSECT and Workhorse ADCP as previously.  Typically, this would include running the Communication, Calibration, and Planning menus.  You should be at the point where you have a TRANSECT configuration file and are ready to Acquire.

b.	Change the Direct Commands section in your TRANSECT configuration file.  You can either use the Planning – Expert Screen (or open the configuration file using a text editor like DOS EDIT or Windows NOTEPAD).  You are now ready to change the ADCP commands in the Direct Commands section:

•	Remove the WM command

•	Add the command WV352 (Use WV480 for rough  sea conditions)

•	Check: BP8 and WP8 minimum. Include the BP command only if you have optional bottom tracking in your workhorse ADCP.  The Number of Water Pings, and Bottom pings should be eight or greater because the Workhorse pings faster than Broadband.

•	Add the EX11111 command (Tells the ADCP to output earth coordinate (East, North, Vertical, error) velocity data. If the EX command is already present, change it to EX11111.

Now proceed to run Transect as usual to collect data.  Collecting GPS or External Digital Heading is also possible through Transect whether using a Workhorse or BroadBand ADCP.


Playing Back Workhorse Data Files in TRANSECT

TRANSECT Playback can be used to open, read and display data files produced by the Workhorse ADCP.  The data files created by the Workhorse ADCP can be read by TRANSECT when opened as a raw data file type.  For example, when opening a Workhorse data file using TRANSECT Playback:

a.	Press the F3 key to load a data file

b.	When the dialog box Select file type to load appears, select Raw data file

c.	Load the Workhorse data file by name

d.	Be sure also to select the proper Velocity reference in TRANSECT.  For example, before (or after) loading your Workhorse data file, select a velocity reference by pressing ALT-R, then using the arrow keys, select NONE (note: if you have Workhorse data with ADCP bottom tracking, select Bottom Track).


Using PLAN

We strongly encourage you to develop your command files using PLAN.  Using PLAN allows you to set the command values and see the result of your choices before deploying the ADCP.  PLAN also adds some commands to ensure the ADCP is properly configured.  You should be aware that if the command file is modified using a text editor to add, delete, or modify commands, you can not use PLAN to edit the file again.  You may want to save the original command file using another name.

Figure 1.	Using PLAN to Create a Command File


Activating Bottom-Track

If you are using PLAN version 1.30, entering Control-B will enable bottom-track.  This will toggle bottom-track On or Off.  When bottom-track is enabled, the following defaults are set.

•	Bottom pings are set equal to the number of water pings

•	Blank after transmit is set equal to bin size (minimum 30 cm, maximum 200 cm)

•	Default number of pings per ensemble is set to 10 pings (10 water, 10 bottom)

•	Ambiguity velocity is changed to 20 knots (352 cm/s, WV352)

•	Turns on “Send data out serial port”, turn off “Record data internally (ADCP)”.

If you are using PLAN version 1.40 (600kHz frequency enabled), it does not support bottom-track.  You must manually edit the command file (see “Sample Printout of ABCDE.CMD”) and add the BP-command.  We recommend setting the number of bottom-track pings equal to the number of water-track pings.  Once this command is added, you can not use PLAN to re-edit the command file (PLAN only supports “standard” command files).

To find the storage requirements, add 81 bytes to each ensemble.  PLAN tells you the total number of ensembles and the size of each ensemble (the example shown in Figure 2 uses 1,440 2,755-byte ensembles).  Enabling bottom-track would increase the storage requirements to 1,440 2,836-byte ensembles, or 4.08 MB.

PLAN version 1.40 will not tell you the battery usage with bottom-track enabled.

	NOTE.  In both versions of PLAN, standard deviation is only calculated for water-track.  Sentinel users can download PLAN version 1.30 from RDI’s web site.
Figure 2.	Entering Choices Using PLAN (Bottom-Track Enabled)


Creating the Command File with Bottom-Track Enabled

To create a command file, do the following steps.

e.	Start PLAN.

Decide on a command file name.  The name must be exactly five characters or PLAN will not start.  Where shown, substitute your five-character name for ABCDE.  If the file already exists, PLAN will allow changes to be made (as long as the file has not been modified by other means).

Start PLAN by typing the following command at the DOS prompt;

PLAN ABCDE.

When you start PLAN, select the frequency of your ADCP.  The default settings and consequences are based upon the ADCP frequency.

f.	Activate bottom-track (see “Activating Bottom-Track”)

g.	Adjust the bin size and number of bins to match the deployment environment.

1.	Set the bin size.  Adjust the bin size as necessary to get at least 10 bins.  Larger bin sizes decreases the standard deviation, but shallow water situations may need to use small bins to get more data points.

2.	Set the number of bins so that the consequence last bin range is approximately 10% greater than the expected max range.

Keep in mind the following:

•	The Maximum range is dependent on the ADCP frequency, water salinity, water temperature, and the depth of the ADCP.

•	The depth to the middle of the first bin (below the surface) is First bin range + Transducer depth.  The bin size and the WF (blank) command in the command file primarily effect it.

•	The last bin range is determined from the number of bins, bin size and first bin range.

•	Standard deviation is dependent on bin size and number of pings per ensemble.

h.	Adjust the number of pings to get the desired Standard Deviation.  The pings are uniformly time-spaced over the ensemble interval.  To increase the expected accuracy of the velocity measurement (reduce the Standard Deviation), you can increase either Pings per ensemble, Bin size or both.

i.	Select the ensemble interval.  This sets the (minimum) interval over which the Workhorse will collect and average the Pings per Ensemble and record data.

j.	Enter the Deployment Parameters.

Deployment Duration - Enter the expected duration of the Workhorse deployment from the time of the first water profiling ping (either immediately or first ping date/time).  This duration does not produce a Workhorse command to instruct the Workhorse to stop data collection; it is for estimating consequences only.  This duration is used to estimate the following consequences:

•	Battery usage.

•	Ensembles.

•	Storage required.

Transducer Depth - The ADCP uses depth in its speed of sound calculations.  Some ADCPs may be equipped with an internal pressure sensor.  If a pressure sensor is not available, the ADCP uses the manual depth setting.

Water Salinity and Temperature - Water salinity and temperature effects the maximum range and to a lesser extent, the battery usage.  Fresh water is 0 ppt, salt water is typically 35 ppt.  Press the F6 key to change the water temperature.

Magnetic Variation - Use the heading bias command (see EB-command) to counteract the effects of magnetic declination on the internal Workhorse compass at the deployment site.

k.	Select whether to start the deployment immediately or delayed.  Entering a date and time in this field enables a delay from the start of a deployment to the first water profiling ping.  When enabled, the Workhorse will begin collecting velocity data at the date and time specified by the first ping date and time. The Workhorse will sleep from the time the commands are sent to the Workhorse until the first ping date and time

l.	Select where the data will be sent.  Data can be stored internally, sent out the serial port, or both.

•	Workhorse Sentinel ADCPs have 10-MB (standard) storage on the internal PC card recorder.  This can be upgraded to 160 MB by installing two 80-MB cards.

•	Monitor ADCPs usually store data on the computer’s hard drive, but can have up to 160 MB on the internal PC card recorder.

m.	Check the battery capacity is sufficient for the deployment.

To determine if you have sufficient battery capacity for the deployment, you must know the approximate water temperature at the deployment site and then use the following table to determine the watt-hours available (based on a fresh battery pack).  A fresh battery pack has 300 watt-hours of capacity at 0° C.  The external battery case can hold an additional two battery packs.

Table 1.	Battery Capacity

Temperature	Watt-Hours	Temperature	Watt-Hours
0	300	16	417
1	305	17	430
2	310	18	444
3	315	19	457
4	320	20	470
5	325	21	477
6	330	22	485
7	335	23	492
8	340	24	500
9	345	25	508
10	350	26	515
11	355	27	523
12	365	28	530
13	378	29	538
14	391	30	545
15	404	31	552
n.	Review the following consequences.

•	Ensembles - Shows the expected number of ensembles generated over the duration of the deployment. Each ensemble is recorded/transmitted by the Workhorse.

•	Start Deployment - Shows the expected time the Workhorse will begin pinging and taking measurements.  “Immediately” means after the Workhorse is given the user CHOICES (using either DEPLOY or START-UP) the Workhorse will start pinging and taking measurements immediately.  If a first ping time and date is set, DEPLOY or START-UP will show the time until data collection begins.

•	Storage - Shows the amount of storage space required in megabytes (MB) to record the data generated by the Workhorse over the duration of the deployment.  This value should be compared to the free space available on the internal Workhorse PC card recorder and/or free space on the Computer logging the data transmitted to the serial interface.  Free space on the Workhorse internal recorder can be determined by using the RS-command.

o.	Move the cursor to the Notes section.  Use the area to include notes about the command file or deployment.

p.	Press Alt-S to save the command file.

q.	Press Alt-X to exit PLAN.


Sample Printout of ABCDE.CMD with Bottom-Track

Once you have entered all of your choices using PLAN and saved the file, you can view the command file using any text editor.  Lines beginning with a semicolon (;) are comments.

;This is a sample command file.

;  CR1

CR1

;  ED0000

ED0000

;  ES35

ES35

;  EX11111

EX11111

;  TE01:00:00.00

TE01:00:00.00

;  TP01:19.98

TP01:19.98

;  WD111100000

WD111100000

;  WP00010

WP00010

;  BP00010      NOTE: Manually add these lines to your command file if you

BP00010               are using PLAN Version 1.40.

;  WN030

WN030

;  WS0400

WS0400

;  WF0176

WF0176

;  WV170

WV170

;  EZ1111111

EZ1111111

;  EA00000

EA00000

;  EB00000

EB00000

;  CF11101

CF11101

;  CK

CK

;  TF98/01/14,14:00:00

TF98/01/14,14:00:00

;  CS

CS

;Created as: ABCDE.CMD (1998/01/14 12:56:02.09  PLAN Version 1.30 )

;Deployment hours = 1440.00

;Temperature      = 5.00

;Frequency        = 307200.00

The commands shown in Table 2 explain each command set or added by PLAN.  These commands directly effect the range of the ADCP, standard deviation (accuracy) of the data, and battery usage.  Table 2 explains the commands used in the sample command file ABCDE.  This command file uses the default settings for a 300kHz ADCP.

Table 2.	Command File Created Using PLAN

Command	Choices	Description
CR1	Sets factory defaults	This is the first command sent to the ADCP to place it in a “known” state.
ED0000	Transducer depth	Manually set depth of the transducer.  If a pressure sensor is installed, the ED-command will be used only if the depth sensor fails.
ES35	Salinity	Salinity of water is set to 35 (saltwater).
EX11111	Coordinate transformations	Sets Earth coordinates, use tilts, allow 3-beam solutions, and allow bin mapping to ON.
TE01:00:00.00	Time per ensemble	Ensemble interval is set to one hour.
TP01:19.98	Time between pings	Plan automatically sets the time between pings to spread the pings evenly throughout the ensemble.
WD111 100 000	Data out	Sets the ADCP to collect velocity, correlation magnitude, echo intensity, and percent-good data.  Status data is not used.
WP00010	Pings per ensemble	The ADCP will ping 10 times per ensemble.
BP00010	Bottom-track pings	Bottom pings are set equal to the number of water pings.
WN030	Number of depth cells	Number of bins is set to 30.
WS0400	Depth cell size	Bin size is set to 4 meters.
WF0176	Blank after transmit	Moves the location of the first depth cell 176 cm away from the transducer head.
WV170	Ambiguity velocity	Sets the maximum relative horizontal velocity between water-current speed and Workhorse speed to 170 cm/s.
EZ1111111	Sensor source	Calculate speed of sound from readings, use pressure sensor (if installed), internal compass, internal tilt sensor, and transducer temprature sensor.
EA00000	Heading alignment	Use beam-3 as the heading alignment.
EB00000	Heading bias	Magnetic variation.
CF11101	Flow control	Record data internally on the PC card recorder.
CK	Keep parameters as user defaults	If power is lost and then restored, all commands will be restored as last sent. Sent right before the CS-command.
TF98/01/14, 14:00:00	Time and date of first ping	First ping date and first ping time is set to January 14, 1998 at 2:00 pm.
CS	Start pinging	Last command sent to begin collecting data.


Mounting Methods

Always use caution when mounting the ADCP.  Never rest the transducer head on a rough surface.  Use foam padding to protect the transducers during handling.

Aligning the Workhorse to the Vessel

Orientation

Over-the-Side Mounting

Boat Mounts

Moving Platform Mounting Special Considerations


Aligning the Workhorse to the Vessel

This section is a guide for installing the Workhorse aboard a vessel.  Use this section to plan your installation layout.

You must consider several potential problems before installing the Workhorse.  Read this section before deciding where to install the transducer assembly. Appendix-A in the Workhorse Technical Manual lists the dimensions of the Workhorse.  Ideally, you want to install the Workhorse:

•	Away from shipboard protrusions that reflect ADCP energy.  Allow for a reflection-free clearance of 15° around each beam

•	Away from other acoustic/sonar devices, especially those operating at the same frequency (or harmonic) of the ADCP.

•	Close to the ship’s fore-to-aft centerline.  As distance from the centerline increases, vertical accelerations caused by the roll of the ship also increase.  These accelerations can cause additional uncertainties in ADCP velocity measurements.


Orientation

We recommend you mount the Workhorse with Beam 3 rotated to a ship-relative angle of 45° (Figure 3 shows beam orientation).  This causes the magnitude of the signal in each beam to be about the same.  This improves error rejection, reduces the effect of ringing, and increases the Workhorse’s effective velocity range by a factor of 1.4.

Figure 3.	Workhorse Beam Orientation


Over-the-Side mounting

The over-the-side mount is common if you want the ability to move the ADCP from one ship to another.  You must make the mount as rigid as possible to limit the amount of pitch and roll applied to the ADCP.  Although the tilt sensor can measure a ±20° influence, anything beyond 15° will cause bias to the data that can not be removed.  No matter what mounting type used, the ADCP must be below the bubble layer.  Bubbles will cling to the urethane faces of the ADCP and reduce the range to almost nothing.  Usually a mount somewhere aft of amidship is used.  A stern mount will cause all sorts of problems due to propeller wake, bubbles, and turbulent water conditions.

	NOTE.  Avoid using ferro-magnetic materials in the mounting fixtures or near the ADCP.  They effect the compass.  Use 304 stainless steel for fresh water and 316 stainless steel for salt-water applications.


Boat Mounts

When mounting the ADCP to a boat, use the following sequence.

•	Test the ADCP

•	Align the compass

•	Mount to the vessel (Figure 4 shows an ADCP mounted to a boat).

1.	Hand winch with cable or rope.

2.	Boat cleat to tie off the lower end of the channel.

3.	Aluminum channel, 5" base x 2" high x 3/16" thick.  You need to determine how long the channel needs to be as the drawing is not to any scale.  The channel should be notched for the end-cap flange of the pressure case.  This will give the system a positive lock after the ADCP has been strapped to the channel.

4.	Pivot housing - This could be a very heavy one-piece bent housing, or a three-piece assembly.  Bolt the pivot housing to the deck of the boat (or buoy).

5.	Nylon strap clamps - Two clamps are needed.  Place some rubber or foam between the pressure case and the aluminum channel before clamping to protect the ADCP’s paint.

Figure 4.	Mounting an ADCP to a boat


Moving Platform Mounting Special Considerations

Use the following suggestions when mounting the ADCP to a moving platform.

•	It is desirable to rigidly mount the ADCP to the vessel.  You want to avoid the free spinning of the ADCP in this application.  The ADCP must stay in the water at all times.

•	The ADCP must be mounted deep enough so that turbulence caused by its movement through the water does not allow air bubbles to be attached to the transducer faces.

•	Avoid mounting the ADCP near motors and thrusters.  They cause air bubbles and will cause bias to the internal compass.

•	Avoid mountings that will cause the ADCP to see severe accelerations.