Nortek Signature, Signature 55, Signature 250, Signature 500, Signature 1000 Series Manual

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Integrator's Guide2

Table of Contents

Ch. 1 Ch. 2

Ch. 3

Ch. 4

Introduction Basic interface concept

................................................................................................................................... 62.1 Modes

................................................................................................................................... 72.2 Break

................................................................................................................................... 72.3 Dual Processor

Interfaces

................................................................................................................................... 83.1 Command interface

................................................................................................................................... 83.2 Telemetry

................................................................................................................................... 93.3 Ethernet Operation

Telnet Connection Raw Connections FTP HTTP UDP PTP

.......................................................................................................................................................... 10

.......................................................................................................................................................... 11

.......................................................................................................................................................... 12

User Cases

5 6

Ch. 5

................................................................................................................................... 134.1 Average velocity data and NMEA, Signature 55

................................................................................................................................... 154.2 Download telemetry file via FTP

................................................................................................................................... 174.3 Download telemetry file over serial port

................................................................................................................................... 184.4 Erase telemetry file

................................................................................................................................... 194.5 Checking instrument state over Ethernet

Commands

................................................................................................................................... 215.1 List of Commands

................................................................................................................................... 245.2 SETINST/GETINST/GETINSTLIM

................................................................................................................................... 245.3 SETCLOCK/GETCLOCK

................................................................................................................................... 245.4 SETCLOCKSTR/GETCLOCKSTR

................................................................................................................................... 255.5 SETPLAN/GETPLAN/GETPLANLIM

................................................................................................................................... 265.6 SETAVG/GETAVG/GETAVGLIM

................................................................................................................................... 275.7 SETBURST/GETBURST/GETBURSTLIM

................................................................................................................................... 285.8 SETBURSTHR/GETBURSTHR/GETBURSTHRLIM

................................................................................................................................... 285.9 SETECHO/GETECHO/GETECHOLIM

................................................................................................................................... 295.10 SETBT/GETBT/GETBTLIM

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................................................................................................................................... 295.11 SETALTERNATE/GETALTERNATE/GETALTERNATELIM

................................................................................................................................... 305.12 GETMEM

................................................................................................................................... 305.13 SETTRIG/GETTRIG/GETTRIGLIM

3Contents

TRIG Triggers

................................................................................................................................... 325.14 GETPWR

................................................................................................................................... 325.15 GETPRECISION

................................................................................................................................... 325.16 GETPRECISION1

................................................................................................................................... 335.17 SETUSER/GETUSER

................................................................................................................................... 335.18 GETHW

................................................................................................................................... 335.19 ID

................................................................................................................................... 345.20 SETDEFAULT

................................................................................................................................... 345.21 SAVE

................................................................................................................................... 355.22 DEPLOY

................................................................................................................................... 355.23 FWRITE

................................................................................................................................... 365.24 POWERDOWN

................................................................................................................................... 365.25 ERASE

................................................................................................................................... 365.26 FORMAT

................................................................................................................................... 365.27 SECREBOOT

................................................................................................................................... 365.28 LISTFILES

................................................................................................................................... 375.29 DOWNLOAD

................................................................................................................................... 385.30 INQ

................................................................................................................................... 395.31 GETSTATE

................................................................................................................................... 405.32 GETERROR

................................................................................................................................... 405.33 GETALL

................................................................................................................................... 415.34 RECSTAT

................................................................................................................................... 415.35 GETMISCLIM

................................................................................................................................... 425.36 GETXFAVG / GETXFBURST

................................................................................................................................... 435.37 SETTMAVG/GETTMAVG/GETTMAVGLIM

................................................................................................................................... 445.38 SETTMBURST/GETTMBURST/GETTMBURSTLIM

................................................................................................................................... 445.39 SETTMALTI/GETTMALTI/GETTMALTILIM

................................................................................................................................... 455.40 SETTMBT/GETTMBT/GETTMBTLIM

................................................................................................................................... 455.41 TMSTAT

................................................................................................................................... 465.42 DOWNLOADTM

................................................................................................................................... 465.43 STOREHEADERTM

................................................................................................................................... 465.44 ERASETM

................................................................................................................................... 475.45 TAG

.......................................................................................................................................................... 30

.......................................................................................................................................................... 31

Ch. 6

N3015-007

Data formats

................................................................................................................................... 486.1 Header Definition

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Integrator's Guide4

Ch. 7

Checksum Definition Burst/Average Data Record Definition (DF3) Bottom Track Data Record Definition (DF20)

................................................................................................................................... 676.2 String Data Record Definition

................................................................................................................................... 676.3 Data Limit Formats

.......................................................................................................................................................... 49

.......................................................................................................................................................... 50

.......................................................................................................................................................... 62

Telemetry Data Formats

................................................................................................................................... 687.1 Averaging Mode

AWAC NMEA Format (DF=100) NMEA Format 1 and 2 (DF=101/102) NMEA Format 3 and 4 (DF=103/104) RDI Workhorse PD0 data format.

................................................................................................................................... 767.2 Burst

NMEA format 1 and 2 (DF=101/102)

................................................................................................................................... 807.3 Altimeter

................................................................................................................................... 817.4 DVL Bottom Track

................................................................................................................................... 827.5 ASCII Data Input Using Ethernet

.......................................................................................................................................................... 69

.......................................................................................................................................................... 71

.......................................................................................................................................................... 74

.......................................................................................................................................................... 75

.......................................................................................................................................................... 76

Page 5

1 Introduction

Version 1 - Initial Document

Version 2

20.10.2015

Version 3

01.03.2016

Version 4

14.03.2016

Version 5 - New commands

30.09.2016

Version 6 - Release 1, 2017

10.02.2017

Version 7 - Release 2, 2017

20.10.2017

The primary objective of this manual is to provide the information needed to control a Nortek product that is based on the AD2CP hardware platform. This includes all instruments in the Signature series. It is aimed at system integrators and engineers with interfacing experience, but it also includes examples on how to configure and start the instrument for more unexperienced integrators. The document's scope is limited to interfacing and does not address general performance issues of the instrument. For a more thorough understanding of the principles, we recommend the Principles of Operation and for information about how to operate the instrument, we recommend the Operation Manual. The document is complete in the sense that it describes all available commands and modes of

communication. For most users, it will make sense to let the supplied Nortek software do most of the hardware configuration and then let the controller limit its task to starting/stopping data collection.

As always, these types of documents are subject to change. We recommend that you check http://www.nortek-as.com/en/support or contact Nortek to ensure you have the all the latest information and versions of any software you plan to use.

Introduction 5

If you have any comments or suggestions on the information given here, please let us know. Your comments are always appreciated; our general e-mail address is inquiry@nortek.no.

Revision

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Integrator's Guide6

Figure: Instrument modes of operation

2 Basic interface concept

The Nortek Signature Series products command interface are ASCII based and line oriented. Before diving into the chapters covering interfaces and commands, the operational modes and how to change between the modes are described. Understanding the use and constrains of the modes is important as it is used frequently when communicating with the instrument.

2.1 Modes

The current profiler operates in distinct modes. These modes will have several explicit commands in order control the instrument. The majority of the commands are initiated from the Command mode. The possible modes for the instrument are:

Command = Command and control Data Retrieval = Data download from recorder Measurement = Data collection mode Confirmation = Confirmation mode

Initializing communication with the instrument is performed by sending a < BREAK >, which is defined below. The <BREAK> will either set the instrument in Confirmation mode or restart Command mode. The options for changing mode depends on the present mode of the instrument (see diagram above for clarity). The timeout shown in the diagram occurs if no commands are received in the various modes. A timer will then ensure that instrument operation continues. The

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timeout value in Confirmation and Data Retrieval modes is 60 seconds. There is also a timeout in

K1W%!Q

@@@@@@

Figure: Break timing

Symbol

Parameter

Min.

Typical

Max.

Unit

Time from end of @-sequence to start of first K1W%!Q- sequence.

100

150mst2

Time from end of @-sequence to start of second K1W%! Q-sequence.

500

1000

2000

ms t3

Time between first and second K1W%!Q-sequence.

300

400

Figure: Power distribution relating to the two-processor design.

Command Mode when operating over the serial interface. If no commands are received for 5 minutes, a break or a sequence of @@@@@@ must be sent to wake up the processor.

2.2 Break

<BREAK> over the serial RS232/RS422 interface is defined as: @@@@@@ <delay 100 milliseconds> K1W%!Q <delay 300 milliseconds> K1W%!Q

The @@@@@@ are used to wake up the processor when it is in sleep mode since the instrument will only be able to monitor activity on the serial line when it sleeps. The second sequence of the actual break characters is there to ensure that a break is detected even when the instrument is waking up due to some other cause (e.g. alarm from the real time clock). This ensures that the processor will interpret the following command correctly.

The figure and the table below show the specified timing of the BREAK sequence:

Basic interface concept 7

2.3 Dual Processor

The AD2CP uses a two-processor (DSP) design; one dedicated to Doppler processing (BBP) and the other to Interface (SEC). The primary interface is Ethernet, so the Interface processor is only powered when external power is applied. Note that powering through the Ethernet cable will also power the rest of

the electronics.

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3 Interfaces

In addition to the traditional serial port interface for real time data output there are several options for communication over Ethernet. The Ethernet communication is handled by a dedicated processor in the instrument. This network processor runs a Linux operating system, which makes it possible to connect to the instrument via telnet, raw connections and FTP. The network processor mainly provides Ethernet connectivity. The other processor in the instrument, called the Doppler processor, is where the commands end up and where they are used to perform the measurements as specified.

The concept of a telemetry file has also been introduced which can be utilized in several ways depending on the chosen interface. Below are some details:

3.1 Command interface

The command interface makes it possible to communicate with a Signature instrument using terminal software, the serial port and a set of commands. The interface is also available over Telnet. Some highlights:

ASCII based and line oriented. Commands are terminated with CR/LF Optional capsulation of commands using NMEA style prefix and checksum to ensure data integrity NMEA style commands will return argument names in their response Argument limits can be retrieved through commands Comprehensive validation and error handling is implemented. Invalid configurations return the erroneous argument with limits directly, so that each subsequent error can be handled until a valid configuration is achieved A single command can be used to retrieve the complete configuration of the instrument with optional output to file Commands to set default parameters External controllers can use commands to store data in the raw data file (e.g. GPS position)

3.2 Telemetry

Our use of the telemetry term implies a "subset transfer system", that is, storing a subset of data for transfer over low-bandwidth links (for example over iridium links, acoustic modems, etc). The telemetry file is typically used in cases where the integrator either does not have the processing power or bandwidth (if only a low data rate serial port is available) to do the processing themselves.

For online data transmission a versatile scheme for telemetry options is available. The telemetry file can be read out over the serial interface either in chunks or as a complete file while checksum or CRC on the downloaded data can be applied in a configurable manner. This enables external controllers to configure separate handling of all, or a subset, of the measured data. That means the file can be output directly as they are ready, or the data can be stored to a telemetry file for later retrieval. The data format can be selected from a number of formats, including both binary

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Interfaces 9

and ASCII data formats. Since the instruments store individual ping data to file, the telemetry option can also be used to

average velocity data within the instrument. This averaged data can be immediately output via

serial line or stored for later retrieval in telemetry files. System integrators are able to regularly offload subsets of data using FTP and telemetry files can be deleted after download.

Since the telemetry file can be retrieved also in data retrieval mode, the instrument will continue measuring after a timeout delay if the data transfer was interrupted. Erasing the telemetry file after data retrieval will ensure that no data is lost if the transfer is interrupted.

The raw data, by design, is not supposed to be deleted from the disk. The raw data is collected and saved continuously throughout the deployment and the configuration is supposed to be set up in such a way that there is sufficient disk space to last for the whole deployment period (that is one of the factors that the deployment software takes into account). The raw data is then taken off the disk after the deployment and post-processed as required.

To FTP

The telemetry option implemented in the Doppler processor enables system integrators to regularly offload subsets of the data by using FTP. When the network processor receives an incoming FTP request, it will interrupt the Doppler processor by entering data retrieval mode and mount the file system of the recorder. The data files on the recorder can then be accessed over FTP. The telemetry file can be deleted after it has been downloaded, which is particularly suitable for event driven data downloads. If the instrument was started with the DEPLOY command, it will resynchronize to its measurement time base after the FTP session has ended.

For an example on how to configure the instrument to output a telemetry file and download the file to FTP, check out this section.

3.3 Ethernet Operation

The AD2CP uses TCP (transmission control protocol) for both command processing and data transmission. The Internet Protocol uses a combination of the IP address and port to uniquely identify a communications channel between two computers. For the AD2CP, different ports represent different means of communicating with the instrument. TCP ports 9001, 2002, 9004 are assigned for the following uses:

Port 9000 is a telnet-protocol ASCII interface (require username / password authentication) port 9001 is a raw (binary) interface (requires username / password authentication) port 9002 is a data only channel (no input accepted) port 9004 is an ASCII data only channel (no input accepted).

The password entry is ignored if password authentication, as shown in the web page configuration, is disabled (so any input, including an empty password, is accepted). The

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command and data record formats for the interfaces are the same as for the serial port.

Commands available in measurement mode should be preceded by the command BBPWAKEUP. This ensures that the BBP is ready to process the command when it is received (see Checking

instrument state over Ethernet). In measurement mode, another BBPWAKEUP must be sent when

more than 2 seconds has elapsed since the previous command. If uncertain of the active mode it is good practice to send BBPWAKEUP before sending GETSTATE

or INQ.

3.3.1 Telnet Connection

The telnet interface (TCP/IP port 9000) is used for user interaction with the instrument. This dedicated port can be used for entering commands and getting human readable responses (ASCII). The supported command set is available in the Commands section. The Windows telnet client can be used to connect into the instrument using the command line telnet ip_address 9000. You will get prompted for a username (nortek) and password (hit Enter if password protection hasn’t been enabled via the Web interface).

Signature Username: nortek Password: Nortek Signature Command Interface

The interface is very similar to the direct serial interface over RS232/RS422 but some additions are made to simplify the interfacing. Most notable is the ability to send a <break> to the Doppler processor just by using Ctrl-C (ASCII 0x03). The internal application takes care of waking up the Doppler DSP and timing the delivery of the break string.

The telnet server is not configured to echo characters, so users wishing to see and/or edit commands before sending them to the instrument should enable local echo and local line editing. If those features are desired, a telnet client capable of supporting local echo and local line editing must be used (e.g. PuTTY).

Port 9000 is dedicated for ASCII only communication whereas the ports described in the next section provide the complete set of data, including binary output of the measurements. A telnet client should

not

be used to access these ports. Read more about this in the next section.

To terminate the telnet connection, enter Ctrl-X (ASCII 0x18).

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3.3.2 Raw Connections

A port can be understood as a address point between two communicating parts. When first connecting to a data listening port, the string "\r\nNortek replaced by the instrument host name) is sent to identify the instrument that has responded to the connection request. TCP ports 9001, 9002 and 9004 are assigned for the following uses:

Port 9001 is used for machine driven control. This port requires username/password. The serial port data is translated directly into TCP/ IP over Ethernet. Binary data generated in measurement mode is visible on this port. Standard streaming record delineation techniques must be used in order to make sure that the received data is properly synchronized for decoding. A break can be sent by sending the string K1W%!Q<CR><LF> to the instrument or a Ctrl-C character (ASCII 0x03) (Ctrl-C has to be sent on its own and command). The internal application takes care of the appropriate timing of the break sent over the internal serial port. This port require username / password authentication. Refer to previous section for example. The password entry is ignored if password authentication, as shown in the web page configuration, is disabled (so any input, including an empty password, is accepted). The command and data record formats for the interfaces are the same as for the serial port.

na me

Data Interface\r\n" (

not

embedded in any

Interfaces 11

na me

Port 9002 is a data only channel which will output all data that is configured for serial output. This can, for example, be used by display only software while configuration is done by another application.

Port 9004 outputs ASCII data (no binary) that is configured for serial output.

A telnet client should protocol which is neither interpreted nor sent via the raw connection. Using a telnet client on these ports will result in extraneous characters being sent and certain binary characters being interpreted by the client.

3.3.3 FTP

The internal data recorder is accessed over Ethernet using a standard FTP (File Transfer Protocol) client. Together with the various telemetry options, the FTP data download serves as a simple way to download measured data at regular intervals if true real time operation is not required. Only the telemetry file can be deleted using FTP.

When an FTP connection is active, the internal state of the machine is changed so that commands are no longer processed (and an error is returned when commands are entered). Terminating the FTP connection or sending a BREAK followed by the CO command will switch the instrument back to the mode it was in before the FTP session began. If a break command is sent while an FTP transaction is in progress, the FTP connection will be forcibly terminated.

not

be used to access these ports. Telnet incorporates its own binary

If an FTP connection is done when the instrument is in measurement mode (see Figure 1), the FTP connection is made through data retrieval mode. When the FTP connection is terminated, the instrument will then return to measurement mode. If there is no data transferred or FTP

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commands sent for 120 seconds, the FTP connection will terminate and the instrument will return to measurement mode.

For an example on how to configure the instrument to output a telemetry file and download the file to FTP, check out the next section.

3.3.4 HTTP

HTTP (Hypertext transfer protocol) can also be used for data transmission. For organizations with strong security / firewall restrictions, FTP access to the instrument may not be permitted. For that reason, a web page allowing individual data files to be downloaded has been implemented in the Ethernet processor. The web page can be accessed by clicking on the “Data Download (HTTP)” link from the main web page.

3.3.5 UDP

UDP (user datagram protocol) can also be used for data transmission. When using UDP, the data collection software simply waits for data to be sent from the instrument without having to establish a connection first. This may be useful for cases in which instrument power is intermittently interrupted and re-connecting to the instrument is not desirable. One downside to UDP communications is that transmission of the data is not guaranteed. On a noisy / errorprone connection, it is possible that the occasional datagram may be dropped. If every data record must be received, then TCP is recommended.

In order to use UDP in a power-safe configuration, the IP address of the data collection software and port must first be configured using the web interface. The IP address identifies the client to which the data is to be sent and the port may be used to uniquely identify the instrument to the application. The same port may be used for all instruments if the data collection software examines the IP address of the received datagram to identify the instrument. Once this information has been configured, the Ethernet processor will automatically send real-time data records to the configured address / port. An instrument in measurement mode re-enters measurement mode shortly after a power-cycle, so the data collection software will immediately receive new data without having to re-establish a connection.

3.3.6 PTP

Precision Time Protocol (IEEE-1588) is a standard used for distributing a high-resolution absolute time throughout an Ethernet network. The Signature series instrument can be configured to act as a slave to an existing PTP master clock (customer supplied) located in the same Ethernet LAN. The instrument contains a high-resolution clock which is synchronized and conditioned using PTP when enabled. The timestamps contained within the data records are then generated from this clock. When synchronized, these timestamps are typically aligned to within ~10 microseconds.

The PTP master clock must use UDP (layer three) and be configured for two-step operation with an end-to-end delay mode in order to be compatible with the Signature series PTP implementation. Using PTP does not affect the choice of UDP or TCP for the transport of data.

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4 User Cases

Note that the Nortek Signature Series products command interface are ASCII based and line oriented (commands terminated with CR/LF). All commands should be set explicitly. The .deploy file created by the Deployment software is command-based and can be read directly into the command interface. Entering the .deploy file into the command interface can be a good starting point before modifying certain parameters using individual commands. Alternatively, use the Deployment software's "Customize..." function to create a .deploy file and input commands in the #CustomCommands section.

Comprehensive validation and error handling is implemented. The setup is verified when sending the SAVE command. If there is anything wrong with the deployment plan, i.e. some of the parameters are entered with values outside their specific range, an ERROR will be returned. The GETERROR command will describe why. If SAVE is not used, the deployment plan will be validated when sending the START or DEPLOY command. Note the difference between DEPLOY and START, the latter will immediately start a measurement any time the instrument state returns to Measurement mode such as by applying power or timeout from Data Retrieval Mode. If DEPLOY is used, be aware that if the deployment time has passed when the battery is connected, the instrument will resynchronize its data sampling according to the deployment time and the instrument configuration. This means you may have to wait for one average measurement interval or one burst measurement interval before the instrument starts to ping.

Interfaces 13

Invalid configurations return the ERROR with limits directly, so that each subsequent error can be handled until a valid configuration is achieved. Argument limits can be retrieved through commands. For example, if entering SETPLAN,MIAVG=5000, you will receive an OK. But when saving or deploying, you will receive an ERROR. When using GETERROR: 134,"Invalid setting: Plan Profile Interval","GETPLANLIM,MIAVG=([1;3600])" OK. The measurement interval must be within 1:3600 seconds. The valid range for the various arguments can also be verified by using the GETPLANLIM and GETAVGLIM commands.

Below you will find four examples illustrating the format and how to use the telemetry file.

4.1 Average velocity data and NMEA, Signature 55

Either use the Deployment wizard to create a .deploy file which can be uploaded via the Terminal Emulator, or set the configuration through commands (seen below). The .deploy file can also be uploaded then customized via commands once in the Terminal Emulator.

In this example: Signature55, configured to alternate between fine and coarse current profiles (3:1). In this case the user wanted to download the averaged fine profile upon request.

Configuration example:

%Recommended starting point for configuration file

SETDEFAULT,ALL

%Setting plan for "Fine" profile

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SETPLAN,MIAVG=600,AVG=1,DIAVG=0,VD=0,MV=10,SA=35,BURST=0, MIBURST=120,DIBURST=0,SV=0,FN="Data.ad2cp",SO=0,FREQ=75

SETAVG,NC=109,CS=5,BD=2,CY="ENU",PL=-6,AI=180,VR=1,DF=3,NPING=137, NB=3,CH=0,MUX=0,BW="BROAD",ALTI=0,BT=0,ICE=0

%Setting plan for "Coarse" profile

SETPLAN1,MIAVG=1800,AVG=1,DIAVG=0,VD=0,MV=10,SA=35,BURST=0, MIBURST=120,DIBURST=0,SV=0,FN="Data.ad2cp",SO=0,FREQ=55

SETAVG1,NC=54,CS=20,BD=2,CY="ENU",PL=-2,AI=180,VR=1,DF=3,NPING=60, NB=3,CH=0,MUX=1,BW="NARROW",ALTI=0,BT=0,ICE=0

%Setting the alternating measurement intervals and ratios of "Fine" and "Coarse"

SETALTERNATE,EN=1,PLAN=1380,IDLE=10,PLAN1=180,IDLE1=230

%Setting the telemetry file to average the "Fine" profile over the averaging interval

SETTMAVG,EN=1,CD=1,PD=1,AVG=180,TV=1,TA=1,TC=1,CY="ENU",FO=1,SO=0, DF=100

SAVE,ALL

ERROR

%Finding where the error in the configuration is

GETERROR

"Invalid setting: Avg Average Interval too low for the configured number of pings and profiling distance",LIM="GETAVG1LIM,AI= ([360;1800])" OK

%Number of pings too high compared to desired averaging interval with multiplex enabled.

SETAVG1,NPING=30

SAVE,ALL

Note that SETTMAVG,AVG must equal the AI set by SETAVG,AI. To set telemetry averaging for the alternate plan use SETTMAVG1, note that these will be recorded to the same telemetryfile.bin file.

Enter START or DEPLOY,TIME to begin the deployment.

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4.2 Download telemetry file via FTP

In this example, a Signature1000 is set up to measure currents for 2 minutes every 10 minutes and waves every hour (4096 samples at 4 Hz). The raw current data are processed and a subset is saved as a telemetry file and made available on FTP.

Configuration example:

%Recommended starting point for configuration file

SETDEFAULT,ALL

%Configuration for instrument:

SETPLAN,MIAVG=600,AVG=1,DIAVG=0,VD=0,MV=10,SA=35,BURST=1, MIBURST=3600,DIBURST=0,SV=0,FN="Ex3.ad2cp",SO=0,FREQ=1000

SETAVG,NC=21,CS=1,BD=0.2,CY="ENU",PL=0,AI=120,VR=2.5,DF=3,NPING=13, NB=4,CH=0,MUX=0,BW="BROAD",ALTI=0,BT=0,ICE=0,ALTISTART=1,ALTIEND=30

SETBURST,NC=13,NB=4,CS=1,BD=9.5,CY="BEAM",PL=0,SR=4,NS=4096,VR=2.5, DF=3,NPING=1,CH=0,VR5=2.5,ALTI=1,BT=0,DISV=0,RAWALTI=1, ALTISTART=4.8,ALTIEND=33.1

%Configuration for telemetry file:

SETTMAVG,EN=1,CD=2,PD=1,AVG=120,TV=1,TA=1,TC=1,CY="ENU",FO=1,SO=0, DF=100

SAVE,ALL

DEPLOY,TIME="2014-11-12 14:40:00"

User Cases 15

Go to from the above configuration. Note that the data were collected in air.

$PNORC,091715,142440,1,0.24,-1.35,-2.21,-1.69,1.37,169.7,C,79,84,67,102,11,13,8,11*2B $PNORC,091715,142440,3,0.64,-0.28,-1.91,-1.32,0.70,113.9,C,79,84,66,96,12,14,7,20*13 $PNORC,091715,142440,5,0.08,-0.50,-1.76,-1.48,0.51,171.2,C,78,84,66,92,11,13,7,24*1D $PNORC,091715,142440,7,-0.37,0.97,-1.02,-1.07,1.04,339.0,C,78,84,66,67,11,14,10,10*21 $PNORC,091715,142440,9,-0.94,0.57,-0.76,-1.11,1.10,301.1,C,78,83,65,69,12,15,9,10*10 $PNORC,091715,142440,11,-0.37,0.76,-0.95,-1.06,0.85,334.0,C,78,83,65,66,13,15,8,8*14 $PNORC,091715,142440,13,0.05,-0.25,-1.64,-1.36,0.26,168.4,C,78,84,66,82,11,14,9,33*2F $PNORC,091715,142440,15,-0.20,0.20,-1.36,-1.32,0.28,314.6,C,78,84,66,67,11,13,9,7*16 $PNORC,091715,142440,17,0.19,0.17,-1.47,-1.13,0.25,48.0,C,78,84,65,69,12,16,9,2*0D $PNORC,091715,142440,19,-0.91,0.45,-0.90,-1.19,1.02,296.5,C,78,84,65,66,12,14,10,8*27 $PNORC,091715,142440,21,-0.49,0.66,-1.00,-1.11,0.82,323.1,C,78,84,65,67,12,14,11,10*13 $PNORI,4,Signature1000900002,4,11,0.20,1.00,0*1B $PNORS,091715,143440,00000000,2A4C0000,14.3,1300.0,278.3,15.7,-33.0,0.000,-262.45,0,0*65

ftp://your-IP-a ddress

to find the telemetry file (telemetryfile.bin). Here is part of the result

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Integrator's Guide16

$PNORC,091715,143440,1,0.76,-1.62,-2.45,-1.73,1.79,154.8,C,78,83,67,102,12,13,5,12*26 $PNORC,091715,143440,3,0.30,-0.77,-1.94,-1.50,0.83,158.6,C,78,83,66,97,12,14,9,17*19 $PNORC,091715,143440,5,-0.22,-1.19,-1.83,-1.66,1.21,190.4,C,78,84,66,91,11,13,8,22*36 $PNORC,091715,143440,7,-0.20,0.71,-1.09,-1.15,0.74,344.0,C,78,84,66,67,12,13,7,9*20 $PNORC,091715,143440,9,-0.30,0.94,-0.96,-0.97,0.99,342.0,C,78,84,65,66,11,15,9,8*25 $PNORC,091715,143440,11,0.20,0.82,-1.23,-1.09,0.85,13.3,C,78,84,66,67,13,14,6,8*09 $PNORC,091715,143440,13,0.11,0.46,-1.44,-1.19,0.48,13.5,C,78,84,65,75,11,13,8,1*04 $PNORC,091715,143440,15,-0.42,0.77,-1.05,-1.12,0.88,331.0,C,78,83,65,66,11,14,8,10*2D $PNORC,091715,143440,17,-0.15,0.34,-1.29,-1.17,0.37,336.4,C,78,83,65,66,13,15,8,1*15 $PNORC,091715,143440,19,-0.79,0.50,-0.93,-1.13,0.93,302.5,C,78,84,65,66,12,15,10,10*10 $PNORC,091715,143440,21,-0.30,0.83,-1.08,-1.12,0.89,340.1,C,78,84,65,67,12,13,8,9*15 $PNORI,4,Signature1000900002,4,11,0.20,1.00,0*1B

After downloading the telemetry file, erase it either via FTP or commands. Only the telemetry file can be deleted using FTP.

%Erasing telemetry file

ERASETM,9999

%Continuing the configured deployment plan

Note that the instrument does not process wave data internally (read more about this in the Operation Manual, if interested) thus only current data will be output in the telemetry file.

For use with external controller it can be interesting to note the following: If the instrument is started at e.g. 12:00, the first current profile is finished at 12:02 (120 seconds) and the next starts about 12:10. That leaves us with 8 minutes to download the telemetry file to FTP before next current profile starts. The clock drifts with about 1 sec/week. Since DEPLOY was used the measurement intervals will resynchronize according to the deployment time and the instrument configuration (see DEPLOY for more information), thus is should be easier to schedule automatic data download as the window 12:02 to 12:10 remains.

Page 17

4.3 Download telemetry file over serial port

In this example the user wishes to download the telemetry file in 4096 byte chunks. Connect via Terminal Emulator while the instrument is measuring

Send Break

CONFIRM OK

%Going into Data Retrieval Mode

NORTEK AS. Version 2176 (Sep 17 2015 18:58:53) DATA RETRIEVAL MODE OK

%Checking the size of the telemetry file. Return in bytes

TMSTAT

95558 OK

%Outputting the telemetry file over serial port in 4096 byte chunks

DOWNLOADTM,0,4096,CKS=1

OUTPUT... OK

%Next 4096 byte chunk, etc

DOWNLOADTM,4097,4096,CKS=1

OUTPUT... OK

%Erasing telemetry file

ERASETM,9999

%Continuing the configured deployment plan

User Cases 17

Copy the returned text and paste to file. Or check "Record to file", the file will appear by default in: C:\Users\xxxx\Documents\Nortek\Deployment\Online

Parameters can be added to the DOWNLOADTM command to set start address, length of file, etc (see section DOWNLOADTM)

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Integrator's Guide18

4.4 Erase telemetry file

In this example, the user wishes to erase the telemetry file after some period of time.

Send Break

CONFIRM OK

%Going into Data Retrieval Mode

NORTEK AS. Version 2176 (Sep 17 2015 18:58:53) DATA RETRIEVAL MODE OK

%Checking the size of the telemetry file. Return in bytes

TMSTAT

34768 OK

%Erasing the telemetry file

ERASETM,9999

%Continuing the configured deployment plan

The telemetry file can also be erased over FTP.

Page 19

4.5 Checking instrument state over Ethernet

In this example a user connects to and powers the Ethernet port, but is unsure of the current operational state. If power is applied while in measurement mode, it will continue the measurement but not wake the Ethernet processor (BBP). If power is applied while in deployment state a re-synch will occur and resume sleep mode. Hence it is necessary to use BBPWAKEUP in both cases.

A typical sequence starts by wanting to know the state of the instrument before proceeding with either a new measurement or data retrieval.

%Waking up the BBP to make sure commands are received

BBPWAKEUP

%Inquiring the state the of the instrument

GETSTATE

GETSTATE,MODE=0010,DEPTIME=27521,MEASTIME=27521,CURRTIME="2015-0928 11:21:16",WAKEUP=2 OK

This indicates the instrument has been configured to deploy and has started its scheduled deployment for 27521 seconds. See GETSTATE for more information.

User Cases 19

Depending on the desired action, send Break usually followed by; either MC to enter command mode, RM for data retrieval or START/DEPLOY/CO to start/schedule/continue a deployment.

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Integrator's Guide20

5 Commands

Valid Range: The valid range for the following commands are not listed because some of them depend on the actual instrument in use. However, the minimum and maximum values can be retrieved through the appropriate GETxxxxLIM command.

Example: send GETAVGLIM,CS to read the valid range of cell sizes. Default values are not listed for all commands in this document as some of them depend on the

actual instrument in use. Default parameters can be retrieved be setting default configuration (SETDEFAULT,ALL) and reading out the desired parameter through the appropriate GET command.

The same is the case for some of the minimum and maximum values that depend on the actual instrument in use. The parameter range for the various arguments can be retrieved through the appropriate GETxxxLIM command, e.g. GETAVGLIM,CS to read the valid range of cell sizes.

All command parameters should be set explicitly, e.g.

SETAVG,NC=10,BD=0.7

A configuration of the instrument should always start with setting the default configuration, e.g.

SETDEFAULT,ALL

Page 21

5.1 List of Commands

Command

Description

Scope

START

Go in measurement mode

Command mode

Go in command mode

Confirm mode

Go in data retrieval mode

Confirm mode

Continue in measurement mode.

Confirm mode, Data retrieval mode

INQ

Inquiry instrument state

All modes

SETINST / GETINST / GETINSTLIM

Set/Get Main Instrument Settings

Get Instrument Setting Limits

Command mode SETCLOCK/ GETCLOCK

Set/Get Real Time Clock

Command mode, Data retrieval mode

SETCLOCKSTR/ GETCLOCKSTR

Set/Get Real Time Clock using a string argument

Command mode, Data retrieval mode

SETPLAN/ GETPLAN/ GETPLANLIM

Set/Get Plan Settings Get Plan Limits

Command mode

SETAVG/ GETAVG/ GETAVGLIM

Set/Get Averaging Mode Settings Get Averaging Mode Limits

Command mode

SETBURST/ GETBURST/ GETBURSTLIM

Set/Get Burst Profile Settings Get Burst Limits

Command mode

SETBURSTHR/ GETBURSTHR/ GETBURSTHRLIM

Set/Get Burst HR Profile Settings Get Burst HR Limits

Command mode

SETECHO/ GETECHO/ GETECHOLIM

Set/Get Echo Sounder settings

Command mode

SETBT/ GETBT/ GETBTLIM

Set/Get Bottom Track Settings Get Bottom Track Limits

Command mode

SETALTERNATE/ GETALTERNATE/ GETALTERNATELI M

Set alternating, dual configuration times.

Command mode

GETMEM

Returns the amount of data the various modes will store to the recorder in Mbytes/hour

Command mode

SETTRIG/ GETTRIG/ GETTRIGLIM

Sets / gets the parameters and limits for Trigger.

Command mode

Commands 21

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Integrator's Guide22

Command

Description

Scope

TRIG

Used for trigging measurement when Trigger is enabled and trigger type equals “COMMAND”

Measurement mode

GETPWR

Returns the amount of power the various modes will consume in mWatts

Command mode

GETPRECISION/ GETPRECISION1

Returns the precision along beam and horizontally for the various velocity profiles

Command mode

SETUSER/ GETUSER

Set/Get User Settings

Command mode GETHW

Returns Firmware versions and Board revisions.

All modes

Returns system name and ID number

Command mode

SETDEFAULT

Reload default settings.

Command mode

SAVE

Save current settings for next measurement.

Command mode

DEPLOY

Deploy the instrument

Command mode

FWRITE

Write tag/String to file.

Command mode, Confirmation mode, Data retrieval mode

POWERDOWN

Go in power down.

Command mode

ERASE

Erase the recorder

Command mode

FORMAT

Format the recorder

Command mode

SECREBOOT

Reboot the SEC (Interface processor)

Command mode

LISTFILES

Lists the files stored on the Instrument recorder.

Command mode, Data retrieval mode

DOWNLOAD

Enables reading a file at the instrument recorder.

Command mode, Data retrieval mode

INQ

Inquires the instrument state

All modes

GETSTATE

Returns information about the current operational state of the instrument

All modes

GETERROR

Retrieves a full description of the last error condition to occur

All modes

GETALL

Retrieves all relevant configuration information for the instrument.

Command mode

RECSTAT

Returns Recorder Statistics

Command mode, Data retrieval mode

GETMISCLIM

Returns configuration limits that cannot be returned through the relevant commands

Command mode

GETXFAVG/ GETXFBURST

Returns the “Beam to XYZ” transfer matrix for the current setup.

Command mode ADDLINE

Command mode

SETTMAVG/

Set/Get Averaging Mode Telemetry Settings

Command mode

Page 23

Commands 23

Command

Description

Scope

GETTMAVG/ GETTMAVGLIM

Get Averaging Mode Telemetry argument limits

SETTMBURST / GETTMBURST / GETTMBURSTLIM

Set/Get Burst Telemetry Settings

Get Burst Telemetry argument limits

Command mode

SETTMALTI/ GETTMALTI/ GETTMALTILIM

Set/Get Altimeter Telemetry Settings

Get Altimeter Telemetry argument limits

Command mode TMSTAT

Returns number of bytes in the telemetry file

Command mode, Data retrieval mode

DOWNLOADTM

Download telemetry data

Command mode, Data retrieval mode

STOREHEADERTM

Command mode

ERASETM

Erase telemetry file

Command mode, Data retrieval mode

TAG

Write tag to output file and data output

All modes

BBPWAKEUP

Wakes up the Doppler processor | Ethernet interface only, see Ethernet description

All modes

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Integrator's Guide24

Argument

Description

Baud Rate

Serial protocol

LED

Enable/disable LED blink in head. When set to “ON24H” the LED will illuminate the first 24 hours of the measurement.

ORIENT

Sets the instrument orientation

CMTOUT

Command mode timeout.

DMTOUT

Data retrieval mode timeout.

CFMTOUT

Confirmation mode timeout.

Argument

Description

YEAR

Year

MONTH

Month

DAY

Day

HOUR

Hours (24 hour format)

MINUTE

Minutes

SECOND

Seconds

Argument

Description

TIME

yyyy-mm-dd hh:mm:ss

5.2 SETINST/GETINST/GETINSTLIM

Set/get main instrument settings and limits.

5.3 SETCLOCK/GETCLOCK

Set or retrieve the Real Time Clock. Note that all parameters must be set when using the SETCLOCK command.

5.4 SETCLOCKSTR/GETCLOCKSTR

Set or retrieve the Real Time Clock using a string. The format must be exactly as shown.

Example:

$PNOR,GETCLOCKSTR*64

$PNOR,GETCLOCKSTR,TIME="2014-11-12 14:27:42"*42 $PNOR,OK*2B

Page 25

5.5 SETPLAN/GETPLAN/GETPLANLIM

Argument

Description

MIAVG

Averaging Interval (s)

AVG

Averaging Mode disabled/enabled

DIAVG

Depth interval (m) Not yet implemented

Vertical direction

Unused (Not yet implemented) (Absolute max Vertical velocity (cm/s))

Salinity (ppt)

BURST

Burst measurement disabled/enabled

MIBURST

Burst Interval (s)

DIBURST

Depth interval (m)

Sound velocity (m/s)

Filename of the raw data file where all the measured binary data will be stored

Serial output

FREQ

Transmit frequency

NSTT

Number of Time Slots. Set to 0 giving the default number of slots.

The plan parameters specify directly (time) or indirectly (depth) which type(s) of measurement that will be measured and at the interval between the various types of measurements.

Commands 25

The valid range for the various arguments should be verified using the GETPLANLIM command, also for the values listed here as they may change with firmware versions and instrument frequencies.

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Argument

Description

Number of cells

Cell Size (m)

Blanking Distance (m)

Coordinate System (“ENU”, ”XYZ“, “BEAM”)

Power Level [dB] (-100 dB to switch off transmit

-20.0 dB to 0.0 dB)

Average interval (s)

Unused

Velocity range along beam [m/s]

Data Format 0 – AD2CP format 1. 1 –Legacy Aquapro format 2 - AD2CP format 2 3 - AD2CP format 3

NPING

Number of pings

Number of beams (Select number of beams, 0 select beams according the PLAN,VD setting)

Beam selection (Select beams, 0 select beams according the PLAN,VD setting. Example: 134 select the three beams 1, 3 and 4)

MUX

Multiplexor Selection 0 - 1, 0, ping all beams in parallel 1, ping beams in sequence

Bandwidth selection. (“NARROW”, “BROAD”)

ALTI

Enable altimeter in AVG measurements

Enable bottom track measurement in AVG sampling

ICE

Enabled ice velocity measurement in AVG sampling

ALTISTART

Altimeter start of measurement distance [m]

ALTIEND

Altimeter end of measurement distance [m]

RAWALTI

Storage of Raw Altimeter data

5.6 SETAVG/GETAVG/GETAVGLIM

Set/get averaging mode settings and get the relevant limits.

The actual valid range for the various parameters for the firmware version is used can be found by using the GETAVGLIM command. This command has the same arguments as the SETAVG/GETAVG commands shown in the list above. The output format for limits is described in Data Limit Formats

Page 27

5.7 SETBURST/GETBURST/GETBURSTLIM

Argument

Description

Number of cells

Number of beams

Cell Size (m)

Blanking Distance (m)

Coordinate System

Power Level

Sampling rate (Hz)

Number of samples

Velocity range along beam

Unused

Data Format

NPING

Number of pings

Beam selection

ALTI

Enable altimeter in BURST measurements

VR5

Velocity range along beam 5

Enabled bottom track in BURST measurements

DISV

Disable Velocity measurement.

ECHO

Enable Echo Sounder

RAWALTI

Enable Storage of Raw Altimeter data. Raw data are store for first and last ping in each ensemble.

ALTISTART

Altimeter start of measurement distance [m]

ALTIEND

Altimeter end of measurement distance [m]

Enable HR on Slanted beams

HR5

Enable HR on Vertical Beam

Set/get burst profile settings and get the relevant limits

Commands 27

The actual valid range for the various parameters for the firmware version is used can be found by using the GETBURSTLIM command. This command has the same arguments as the SETBURST/ GETBURST commands shown in the list above. The output format for limits is described in Data

Limit Formats.

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Integrator's Guide28

Argument

Description

PROC

0 - Pulse Coherent Processing using a single Ambiguity 1 - Pulse Coherent Processing with Extended Velocity Range (EVR)

LAG

Distance between two transmit pulses (slanted beams)

LAG5

Distance between two transmit pulses (vertical beam)

SCORR

Number of Ambiguities to resolve when using EVR

Number of cells

Cell size (m)

Blanking distance (m)

Power Level

Argument

Description

Number of cells

BINSIZE

Bin size

Blanking Distance

Data format

FREQ1

Enable and set frequency of echo gram

NBINF1

N/A - must be set to 1

XMIT1

Transmit length

PL1

Power level

PULSECOMP1

Enable Pulse Compression

FREQ2,...

...repeat for 2 and 3

5.8 SETBURSTHR/GETBURSTHR/GETBURSTHRLIM

Set/get burst HR profile settings and get the relevant limits

5.9 SETECHO/GETECHO/GETECHOLIM

Set/get echo sounder settings and get the relevant limits

Note that Pulse Compression may only be enabled for one echogram.

Page 29

5.10 SETBT/GETBT/GETBTLIM

Argument

Description

RANGE

Maximum range

Velocity range along beam

Number of beams

Beam selection

Data format

Power Level

Argument

Description

Enable or disable the alternate configuration mode

PLAN

Primary configuration run time (s)

IDLE

Primary configuration idle time (s)

PLAN1

Alternate configuration run time (s)

IDLE1

Alternate configuration idle time (s)

Set/get bottom track settings and get the relevant limits

5.11 SETALTERNATE/GETALTERNATE/GETALTERNATELIM

The SETALTERNATE/GETALTERNATE command allows two different configurations to be run consecutively in time. The primary configuration (defined by SETPLAN, SETBURST, SETAVG, SETTMAVG, SETBT) is run for “PLAN” seconds, after which the unit powers down for a given period of time (“IDLE” seconds). The alternate configuration (defined by SETPLAN1, SETBURST1, SETAVG1, SETTMAVG1, SETBT1) is then run for “PLAN1” seconds and the unit powers down for “IDLE1” seconds. The configuration is then switched back to the primary and the process is repeated.

Commands 29

The valid range for the various arguments should be verified using the GETALTERNATELIM command. The values listed here may change with firmware versions and instrument frequencies.

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Integrator's Guide30

Argument

Description

PLAN

Combined burst and average memory [Mbytes/hour]

BURST

Burst memory [Mbytes/hour]

AVG

Average memory [Mbytes/hour]

PLAN1

Combined burst1 and average1 memory [Mbytes/hour]

BURST1

Alternate burst1 memory [Mbytes/hour]

AVG1

Alternate average1 memory [Mbytes/hour]

TOTAL

Total memory value [Mbytes/hour]

Argument

Description

Enable/disable trigger functionality

TRIG

Specifies trigger type

TRIGOUTPUT

Enable trigger output

Argument

Description

Counting number

5.12 GETMEM

Returns the amount of memory that will be stored on the recorder for the burst and average data as well as the combined plan value. Alternate mode values is also supported

5.13 SETTRIG/GETTRIG/GETTRIGLIM

Sets / gets the parameters and limits for Trigger. The available trigger types will depend on the harness/cable used with the instrument.

When triggered the instrument will perform a complete ping (Tx and Rx) before it goes back to monitoring the trigger. Any triggers asserted during an ongoing ping will be ignored. There are no specific requirements for pulse length. The unit triggers on the edge(s) of the trigger signal and can be triggered on rising, falling or both edges.

Note: TRIGOUTPUT=1 enables master trig output, RS485EDGE trigger must be used with this option. This enables several instruments to be synchronized together through RS485 with one of the instruments acting as master. Only continuous measurement configurations are supported in this mode.

5.13.1 TRIG

Command used for trigging measurement when Trigger is enabled and trigger type equals “COMMAND”.

Page 31

5.13.2 Triggers

DVL trigger types

DVL RS-485 Trigger types

AD2CP offers four main types of triggers: Internal Sampling, TTL trigger, RS-485 trigger and trig on command.

Internal Sampling (INTSR)

Internal triggers determined by the selected sampling rate.

TTL Trigger

The AD2CP can trig on either Rising Edge, Falling Edge or Both Edges of a TTL Signal. When triggered the instrument will perform a complete ping (Tx and Rx) before it goes back to monitoring the trigger. Any triggers asserted during an ongoing ping will be ignored. The requirements for the TTL input is Vlow <0.7V and Vhigh>2.5V. The TTL input tolerate voltages between 0-5.5 V. The pulse length should be minimum 1 ms.

Commands 31

RS-485 Trigger

A RS-485 signal can be used to trig the AD2CP, either Rising Edge, Falling Edge or Both Edges of a RS-485 Signal. The following figure shows the polarities of the differential RS-485 signal pair for the trigger types. When triggered the instrument will perform a complete ping (Tx and Rx) before it goes back to monitoring the trigger. Any triggers asserted during an ongoing ping will be ignored. The pulse length should be minimum 1 ms.

Trig on Command

When the TRIG parameter of the SETTRIG command is set to “COMMAND” the AD2CP is trigged by sending a “TRIG[CrLf]” command. The trigger time will be when the end of the [CrLf] is received.

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Argument

Description

PLAN

Combined burst and average power [mWatt]

BURST

Burst power [mWatt]

AVG

Average power [mWatt]

PLAN1

Combined burst1 and average1 power [mWatt]

BURST1

Alternate burst1 power [mWatt]

AVG1

Alternate average1 power [mWatt]

TOTAL

Total power value [mWatt]

Argument

Description

AVGHORZ

Precision in the horizontal range in average mode [cm/s]

BURSTHORZ

Precision in the horizontal range in burst mode [cm/s]

BEAM5

Precision in the vertical range in burst mode [cm/s]

AVGBEAM

Precision along beam in average mode [cm/s]

BURSTBEAM

Precision along beam in average mode [cm/s]

Argument

Description

AVGHORZ

Precision in the horizontal range in average1 mode [cm/s]

BURSTHORZ

Precision in the horizontal range in burst1 mode [cm/s]

BEAM5

Precision in the vertical range in burst1 mode [cm/s]

AVGBEAM

Precision along beam in average1 mode [cm/s]

BURSTBEAM

Precision along beam in average1 mode [cm/s]

5.14 GETPWR

Returns the power consumption in milliWatts for the various measurements enabled as well as the overall value. The plan values include the sleep mode power consumption in addition to the sum of average and burst mode values. The reported values are adjusted according to the input voltage to the system when the command is executed.

5.15 GETPRECISION

Returns the precision in the horizontal range and along the beam in cm/s for the various measurement modes.

5.16 GETPRECISION1

Returns the precision in the horizontal range and along the beam in cm/s for the various measurement modes during alternate mode settings.

Page 33

5.17 SETUSER/GETUSER

Argument

Description

POFF

Pressure offset (dbar)

DECL

Magnetic declination (degrees)

Hard iron x-component

Hard iron y-component

Hard iron z-component

Argument

Description

Type

Running DSP FW version

Number

FPGA

Running FPGA FW version

Number

DIGITAL

Board Revision. Example: C-0

String

INTERFACE

Board Revision. Example: C-0

String

ANALOG

Board Revision. Example: C-0

String

SENSOR

Board Revision. Example: C-0

String

BOOT

DSP Bootloader FW Version

Number

MINOR

Running DSP FW version (minor part)

Number

Argument

Description

STR

System name, maximum 15 characters

Serial number

5.18 GETHW

Returns Firmware versions and Board revisions.

Commands 33

5.19 ID

Returns System name and serial number.

Example:

"Signature1000",900002

ID,STR

"Signature1000"

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Integrator's Guide34

Argument

Description

ALL

Restore all settings below except USER and INST to default values.

AVG

Restore AVG default.

INST

Restore INST default.

TMAVG

Restore TMAVG default.

PLAN

Restore PLAN default.

BURST

Restore BURST default.

PTP

Restore PTP default.

Restore BT default.

USER

Restore USER default.

TMBURST

Restore TMBURST default.

TMALTI

Restore TMALTI default.

DVL

Restore DVL default.

Argument

Description

ALL

Save all settings except INST and USER settings.

AVG

Save AVG parameters.

INST

Save INST parameters.

TMAVG

Save Telemetry AVG parameters.

PLAN

Save PLAN parameters.

BURST

Save BURST setting parameters.

PTP

Save PTP parameters.

TMBT

Save Telemetry BT parameters.

USER

Save USER parameters.

TMBURST

Save TMBURST setting parameters.

TMALTI

Save TMALTI Profile parameters.

DVL

Save DVL setting parameters.

5.20 SETDEFAULT

Reload default settings

5.21 SAVE

Save current settings for next measurement. At least one argument must be specified for the SAVE command.

Page 35

5.22 DEPLOY

Argument

Description

TIME

yyyy-mm-dd hh:mm:ss

Argument

Description

FNUM

File identifier for telling which file the info is written to. 0 – File defined in the PLAN command. 1 – telemetry file

Default value : 0

Identifier Tell the parser how to interpret the string. Default value: 0

0 - Comment 1 - Dive Location 2 - Surface Location

STR

String (Maximum 200 bytes long)

B64STR

B64 coded string (maximum 200 bytes long)

Deploy the instrument. Start the measurement at the time specified in the string argument. The format must be exactly as shown. If no time value is passed, the deployment will start immediately.

The number of seconds to the specified deployment time is returned. Note the difference between DEPLOY and START, the latter will immediately start a measurement

any time the instrument state returns to Measurement mode such as by applying power or timeout from Data Retrieval Mode. If DEPLOY is used, be aware that if the deployment time has passed when the battery is connected, the instrument will resynchronize its data sampling according to the deployment time and the instrument configuration. This means you may have to wait for one average measurement interval or one burst measurement interval before the instrument starts to ping.

Commands 35

Example:

DEPLOY,TIME="2014-11-12 14:40:00"

592 OK

5.23 FWRITE

Write tag/String to file.

Note: Fwrite STR and B64STR cannot be set together.

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Integrator's Guide36

Argument

Description

CODE

Code should be 9999

Argument

Description

CODE

Code should be 9999

Argument

Description

CODE

Code should be 9999

Argument

Description

OPT

OPT=”la” – lists extended information.

5.24 POWERDOWN

Power down the instrument to set it in sleep mode.

5.25 ERASE

Erase all files on the recorder.

5.26 FORMAT

Format the recorder. Note that this can take minutes depending on the recorder size.

5.27 SECREBOOT

Reboots the SEC (Interface processor). This command makes it possible to reboot the SEC without going via the web interface.

5.28 LISTFILES

Lists the files stored on the Instrument recorder.

Page 37

5.29 DOWNLOAD

Argument

Description

Filename

Start address (offset) of the first byte to be returned.

LEN

Number of bytes to be downloaded.

CRC

Use Cyclic redundancy check. CRC=1 enables crc.

CKS

Use Checksum. CKS=1 enables checksum.

This command enables reading a file at the instrument recorder.

If no other parameters than the file name are sent with the DOWNLOAD command the complete file is directly returned, without the number of bytes to follow. The end of the file can then be detected by parsing the OK<CR><LF>.

The parameters can be used to download the file in several pieces. The number of bytes to follow will then be returned in ASCII format and terminated with <CR><LF> before the data is output. The end of file stream is terminated with OK<CR><LF>. A cyclic redundancy check or a checksum will then be added to be able to verify data integrity during download. The complete file can also be downloaded in this way by specifying SA=0 and a large value for LEN. The actual file size is then returned before the data follows.

Commands 37

Example:

DOWNLOAD,FN=”TestFile.ad2cp”,SA=0,LEN=4096,CRC=1,CKS=0<CR><LF>

4096<CR><LF> <binary or ASCII data> 23432<CR><LF> (CRC value) OK<CR><LF>

Page 38

5.30 INQ

Parameter

Instrument Mode

0000

Bootloader/Firmware upgrade

0001

Measurement

0002

Command

0004

Data Retrieval

0005

Confirmation

0006

FTP-mode

The INQ command inquires the instrument state. Note that when operating over RS232 or RS422 serial lines, it should be preceded with @@@@@@ <delay 400 ms> and a flush of the input buffer in case the instrument is in power down or in a low power mode taking measurements.

Consult this section a description of the Instrument modes.

Integrator's Guide38

Example (in command mode) :

08:43:31 INQ<CR><LF>

08:43:31 0002<CR><LF>

Example (in measurement mode) :

08:43:31 INQ<CR><LF>

08:43:31 0001<CR><LF>

Example (in confirmation mode) :

08:43:31 INQ<CR><LF>

08:43:31 0005<CR><LF>

Example (in data retrieval mode) :

08:43:31 INQ<CR><LF>

08:43:31 0004<CR><LF>

Example (in firmware upgrade mode) :

08:43:31 INQ<CR><LF>

08:43:31 0000<CR><LF>

Page 39

5.31 GETSTATE

Argument

Description

MODE

Current instrument state 0001 – Measurement (START command received) 0002 – Command 0003 – Deploy (DEPLOY command received and deployment running) 0004 – Data retrieval 0005 – Confirmation 0006 – Network FTP 0008 – Pre-deployment (DEPLOY command received, but deployment has not yet started) 0009 –Confirmation (measurement) 0010 – Confirmation (deploy) 0011 – Confirmation (pre-deploy) 0012 – Data retrieval (internal processing in progress)

DEPTIME

0 – DEPLOY command has not been received. < 0 – Number of seconds until deployment starts. > 0 – Number of seconds that deployment has been running.

MEASTIME

0 – START command has not been received. > 0 – Number of seconds that measurement has been running.

CURRTIME

The current instrument time Time format is “YYYY-MM-DD HH:MM:SS”

WAKEUP

Reason for instrument wakeup 0 – Bad power 1 – Power on 2 – Break 3 – Real-time clock

INTPROC

Internal processing Active

Returns information about the current operational state of the instrument

Commands 39

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Integrator's Guide40

Argument

Description

NUM

Integer error value

STR

Text description

Argument

Description

Write the output to this file

5.32 GETERROR

GETERROR retrieves a full description of the last error condition to occur. The error number is returned first followed by a string with the text description of the last error condition. A second string is also returned which contains information on the valid range of the failing argument, see example below.

Example:

SETAVG,CS=2.5

SAVE,ALL

ERROR

GETERROR

40,"Invalid setting: Avg Cell Size","GETAVGLIM,CS=([0.20;2.00])" OK

5.33 GETALL

GETALL retrieves all relevant configuration information for the instrument. This information can either be displayed on the command line or saved to a data file. For the SignatureWaves software to read a valid .ad2cp file it must contain both the Header and Data Record. The Header information can be obtained by using the command GETALL.

Example :

GETALL<CR><LF>

GETPLAN,600,1,0,0,10,0.0,1,0,0,1500,"",1<CR><LF> GETAVG,20,1.00,0.30,"BEAM",-12.0,1,0.000,1.29,3,1,0,0<CR><LF> GETBURST,50,4,0.400,0.200,"BEAM",0.0,1,1024,4.00,0.000,0,1,0<CR><LF > GETUSER,0.00,0.00,0,0,0<CR><LF> GETINST,9600,232,1<CR><LF> BEAMCFGLIST,1,10.00,20.00,1000,500,1,1<CR><LF> BEAMCFGLIST,2,10.00,20.00,1000,500,1,2<CR><LF> BEAMCFGLIST,3,10.00,20.00,1000,500,1,3<CR><LF> BEAMCFGLIST,4,10.00,20.00,1000,500,1,4<CR><LF> OK<CR><LF>

Page 41

5.34 RECSTAT

Argument

Description

SectorSize

# of Bytes in a Sector.

ClusterSize

# of Bytes in one Cluster

Free Clusters

# of Bytes in Free Clusters

Total Clusters

Total # of bytes in Clusters

Volume Size

Volume Size in bytes

Argument

Description

AVGPR

Returns the total profiling range for averaged measurements (SETAVG).

BURSTPR

Returns the total profiling range for burst profile measurements (SETBURST).

BURSTHRPR

Returns the total profiling range for burst HR profile measurements (SETBURSTHR)

Return Recorder Statistics

5.35 GETMISCLIM

This command returns configuration limits that cannot be returned through the relevant commands.

Commands 41

The output format for limits is described in Data Limit Formats.

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Integrator's Guide42

Argument

Description

ROWS

Number of Rows.

COLS

Number of Columns.

M11

M12

M13

M14

M21

M22

M23

M24

M31

M32

M33

M34

M41

M42

M43

M44

Figure: Matrix definitions

5.36 GETXFAVG / GETXFBURST

Returns the “Beam to XYZ” transfer matrix for the current setup. If the number of beams are 1 or 2 only ROWS and COLS are returned.

Examples:

GETXFBURST,ROWS=4,COLS=4,M11=1.183,M12=0.000,M13=-1.183,M14=0.000, M21=0.000,M22=1.183,M23=0.000,M24=-1.183,M31=0.552,M32=0.000, M33=0.552,M34=0.000,M41=0.000,M42=0.552,M43=0.000,M44=0.552 GETXFAVG,ROWS=3,COLS=3,M11=1.183,M12=0.000,M13=-1.183,M21=1.183, M22=-2.366,M23=1.183,M31=0.552,M32=0.000,M33=0.552

Page 43

5.37 SETTMAVG/GETTMAVG/GETTMAVGLIM

Argument

Description

Enable Averaging Mode Telemetry

Cells Divisor

Packets Divisor

AVG

Average Telemetry Data

Store Velocity

Store Amplitude

Store Correlation

Coordinate System

Enable File Output

Enable Serial Output

Data format: (See Chapter 4)

DISTILT

Disable tilt

TPG

Enable storage of Percentage Good Data

Set/get averaging mode telemetry settings and get the relevant argument limits.

Commands 43

The actual valid range for the various parameters for the firmware version is used can be found by using the GETTMAVGLIM command. This command has the same arguments as the SETTMAVG/ GETTMAVG commands shown in the list above. The output format for limits is described in Data

Limit Formats.

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Integrator's Guide44

Argument

Description

Enable burst telemetry

Number of burst samples to save 0 – Save all burst samples 1 – BURST.NS

Enable Serial Output

Enable File Output

Data Format

ENAVG

Enable averaging

Coordinate system in data output

MAPBINS

Vertical bin mapping

Argument

Description

Enable/disable altimeter telemetry

Include time stamp

Include quality parameter

File output

Serial output

Altimeter Telemetry format. 200 – NMEA (PNORA) format without Tags. 201 – NMEA (PNORA) format with Tags.

5.38 SETTMBURST/GETTMBURST/GETTMBURSTLIM

The actual valid range for the various parameters for the firmware version is used can be found by using the GETTMBURSTLIM command. This command has the same arguments as the SETTMBURST/GETTMBURST commands shown in the list above. The output format for limits is described in Data Limit Formats.

5.39 SETTMALTI/GETTMALTI/GETTMALTILIM

Sets / gets the parameters and limits for altimeter.

Example:

SETTMALTI,1,1,0,1,201 GETTMALTI GETTMALTILIM

Page 45

5.40 SETTMBT/GETTMBT/GETTMBTLIM

Argument

Description

Enable/disable bottom track telemetry

File output

Serial output

Bottom track Telemetry format. 300 – NMEA without tags. 301 – NMEA with tags. 302 – NMEA without tags and Sensor Data. 303 – NMEA with tags and Sensor Data.

NPING

Number of Pings

FOMTH

Figure of Merit threshold.

Coordinate system

Sets / gets the parameters and limits for bottom track telemetry.

Commands 45

Example:

SETTMBT,1,1,1,301 GETTMBT GETTMBTLIM

5.41 TMSTAT

This command returns the length (# of bytes) of the telemetry file.

Example:

TMSTAT<CR><LF>

13500<CR><LF> OK<CR><LF>

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Integrator's Guide46

Argument

Description

Start address (offset) of the first byte to be returned.

LEN

Number of bytes to be downloaded. (Length of file)

CRC

Use Cyclic redundancy check. CRC=1 enables CRC. CRC cannot be enabled when CKS=1

CKS

Use Checksum. CKS=1 enables checksum. CKS cannot be enabled when CRC=1

Argument

Description

CODE

Code should be 9999

5.42 DOWNLOADTM

This command enables reading the telemetry file which can be created during measurement by using the appropriate SETTMxxx commands. The formats are described in the section detailing

Data Formats.

If no parameters are sent with the DOWNLOADTM command the complete file is directly returned, without the number of bytes to follow. The end of the file can then be detected by parsing the OK<CR><LF>.

The parameters can be used to download the telemetry file in several pieces. The number of bytes to follow will then be returned in ASCII format and terminated with <CR><LF> before the data is output. The end of telemetry stream is terminated with OK<CR><LF>. A cyclic redundancy check or a checksum will then be added to be able to verify data integrity during download. The complete file can also be downloaded in this way by specifying SA=0 and a large value for LEN. The actual file size is then returned before the data follows. See also TMSTAT for retrieving file information.

Example:

DOWNLOADTM,0,4096,CRC=1,CKS=0<CR><LF>

4096<CR><LF> <binary or ASCII data> 23432<CR><LF> (checksum/crc value) OK<CR><LF>

5.43 STOREHEADERTM

This command stores the GETALL (complete configuration) to the telemetry file.

5.44 ERASETM

Erase the telemetry file. The telemetry file can also be erased over FTP.

Page 47

5.45 TAG

Argument

Description

Valid Range

STR

Tag string

Maximum 200 bytes

CLK

Add clock in tag

0/1

Write a Tag to output file and data output. The TAG command adds a tag to the both the output file and the output data, if enabled. The output is a String Record as defined in the FWRITE command. The ID of the String Record Data packet is 19

Example:

$PNOR,TAG,STR="This is a test tag.",CLK=1*4A

a5 0a a0 10 2f 00 42 8c 42 5d 13 32 // Binary header 30 31 37 2d 30 31 2d 32 34 20 30 38 // String Record ID = 19dec 3a 34 32 3a 35 37 2e 34 34 39 20 2d // “2017-01-24 08:42” 20 54 68 69 73 20 69 73 20 61 20 74 // “:57.449 - This i” 65 73 74 20 74 61 67 2e 00 // “s is a test tag.” $PNOR,OK*2B

Commands 47

dec

Remember to use the BBPWAKEUP command when sending commands to an instrument in Measurement mode, when using Ethernet.

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Integrator's Guide48

Header

Synchronization, ID, length

and Checksums.

Data Record

Data

Field

Size

Description

Sync

8 bits

Always 0xA5

Header Size

8 bits (unsigned)

Size (number of bytes) of the Header.

8 bits

Defines type of the following Data Record.

0x15 – Burst Data Record. 0x16 – Average Data Record. 0x17 – Bottom Track Data Record. 0x18 – Interleaved Burst Data Record (beam 5). 0x1A - Burst Altimeter Raw Record. 0x1B - DVL Bottom Track Record. 0x1C - Echo Sounder Record. 0x1D - DVL Water Track Record. 0x1E - Altimeter Record. 0x1F - Avg Altimeter Raw Record. 0xA0 - String Data Record, eg. GPS NMEA data, comment

from the FWRITE command.

Family

8 bits

Defines the Instrument Family. 0x10 – AD2CP Family

Data Size

16 bits (unsigned)

Size (number of bytes) of the following Data Record. Data Checksum

16 bits

Checksum of the following Data Record.

Header Checksum

16 bits

Checksum of all fields of the Header (excepts the Header Checksum itself).

6 Data formats

Note: All data of the AD2CP interface are stored/sent as Little Endian. Each output data packet sent/stored by the AD2CP consists of a Header part and a Data Record part:

For the SignatureWaves software to read a valid .ad2cp file it must contain both the Header and Data Record. The Header information can be obtained by using the command GETALL.

The following chapters describe the format of the Header and the different variants of the Data Record.

6.1 Header Definition

The Header consists of the following fields:

Page 49

C-style Header Struct Definition

typedef struct {

unsigned char sync;

unsigned char hdrSize;

unsigned char ID;

unsigned char family; unsigned short dataSize; unsigned short dataChecksum; unsigned short hdrChecksum; } CommandHeader_t;

6.1.1 Checksum Definition

The Checksum is defined as a 16-bits unsigned sum of the data (16 bits). The sum shall be initialized to the value of 0xB58C before the checksum is calculated.

C-code for Checksum calculations:

Data formats 49

unsigned short calculateChecksum(unsigned short *pData, unsigned short size) { unsigned short checksum = 0xB58C; unsigned short nbshorts = (size >> 1); int i; for (i = 0; i < nbshorts; i++) { checksum += *pData; size -= 2; pData++; } if (size > 0) { checksum += ((unsigned short)(*pData)) << 8; } return checksum; }

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Integrator's Guide50

Field

Size

Format

Resolution/ Unit

Description

Version

8 bits

Version number of the Data Record Definition. (1)

offsetOfData

8 bits

Unsigned

#Bytes

Number of bytes from start of record to start of data (velocity/amplitude/correlation)

Configuration

16 bits

Record Configuration Bit Mask

Bit 0

Pressure sensor value valid

Bit 1

Temperature sensor value valid

Bit 2

Compass sensor values valid

Bit 3

Tilt sensor values valid

Bit 4

Bit 5

Velocity data included

Bit 6

Amplitude data included

Bit 7

Correlation data included

Bit 8

Altimeter data included

Bit 9

Altimeter Raw data included

Bit 10

AST data included

Bit 11

Echo Sounder data included

Bit 12

AHRS data icluded

Bit 13

Percentage Good data included

Bit 14

Std. Dev. data included

Bit 15

Unused

Serial Number

32 bits

Year

8 bits

Unsigned

1 Year

Years since 1900 (see struct tm definition)

Month

8 bits

Unsigned

1 Month

Jan =0, Feb= 1, etc.(see struct tm definition)

Day

8 bits

Unsigned

1 Day

(see struct tm definition)

Hour

8 bits

Unsigned

1 Hour

(see struct tm definition)

Minute

8 bits

Unsigned

1 Minute

(see struct tm definition)

Seconds

8 bits

Unsigned

1 Second

(see struct tm definition)

Microsec100

16 bits

Unsigned

100 µsec

Speed of Sound

16 bits

Unsigned

0.1 m/s

Temperature

16 bits

Signed

0.01 Degree Celsius

Pressure

32 bits

Unsigned

0.001 dBar

6.1.2 Burst/Average Data Record Definition (DF3)

Page 51

Data formats 51

Field

Size

Format

Resolution/ Unit

Description

Heading

16 bits

Unsigned

0.01 Deg

Pitch

16 bits

Signed

0.01 Deg

Roll

16 bits

Signed

0.01 Deg

#Beams & Coordinate system & #Cells

16 bits

Definition: (Standard)

Bit 9 - 0

Number of Cells (NC)

Bit 11 - 10

Coordinate system, b00: ENU, b01: XYZ, b10: BEAM, b11: -

Bit 15 – 12

Number of Beams (NB)

Definition: (Echo Sounder)

Bit 15-0

Number of echo sounder cells Cell Size

16 bits

Unsigned

1 mm

Blanking

16 bits

Unsigned

1 cm

Nominal Correlation

8 bits

Unsigned

The nominal correlation for the configured combination of cell size and velocity range

Temperature pressure sensor

8 bits

Unsigned

0.2 deg C

Temperature of pressure sensor: T=(Val/5)-4.0 Battery Voltage

16 bits

Unsigned

0.1 Volt

Magnetometer Raw( X-axis )

16 bits

Signed

Magnetometer Raw, X axis value in last measurement interval.

Magnetometer Raw( Y-axis )

16 bits

Signed

Magnetometer Raw, Y axis value in last measurement interval.

Magnetometer Raw( Z-axis )

16 bits

Signed

Magnetometer Raw, Z axis value in last measurement interval.

Accelerometer Raw ( X-axis )

16 bits

Signed

Accelerometer Raw X axis value in last measurement interval. (16384 = 1.0)

Accelerometer Raw ( Y-axis )

16 bits

Signed

Accelerometer Raw Y axis value in last measurement interval. (16384 = 1.0)

Accelerometer Raw ( Z-axis )

16 bits

Signed

Accelerometer Raw Z axis value in last measurement interval. (16384 = 1.0)

Ambiguity Velocity / Echo sounder Frequency

16 bits

Unsigned

Standard Definition

10^(Velocity scaling) m/s

Ambiguity velocity, corrected for sound velocity, scaled according to Velocity scaling

Echo Sounder Definition

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Integrator's Guide52

Field

Size

Format

Resolution/ Unit

Description

Number of Echo Sounder Cells

Data Set Description

16 bits

Bits

Description

0-3

Physical beam used for 1st data set.

4-7

Physical beam used for 2nd data set.

8-11

Physical beam used for 3th data set.

12-16

Physical beam used for 4th data set.

Transmit Energy

16 bits

Unsigned

Velocity Scaling

8 bits

Signed

Used to scale velocity data. Power level

8 bits

Signed

Configured power level

Magnetometer temperature

16 bits

Signed

Uncalibrated

Magnetometer temperature reading

Real Time Clock Temperature

16 bits

Signed

0.01 deg C

Real Time Clock temperature reading

Error

16 bits

See error description (version 1)

Status0

16 bits

Bit 0

ProcIdle3 - Indicates that the processor Idles less than 3 percent

Bit 1

ProcIdle6 - Indicates that the processor Idles less than 6 percent

Bit 2

ProcIdle12 - Indicates that the processor Idles less than 12 percent

Bit 3-14

_Unused

Bit 15

Status0 in use. If this bit is set the rest of the word should be interpreted

Status

32 bits

Bit 3128

Wakeup state

10=break, 11=RTC alarm, 00=bad power, 01=power applied

Bit 2725

Orientati on

See table 1

Bit 2422

Autoorie ntation

See table 2

Bit 2118

Previous wakeup state

10=break, 11=RTC alarm, 00=bad power, 01=power applied

Bit 17

Last measure ment low

0=normal operation, 1=last measurement skipped due to low input voltage

Page 53

Data formats 53

Field

Size

Format

Resolution/ Unit

Description

voltage skip

Bit 16

Active configur ation

0=Settings for PLAN,BURST, AVG, 1=Settings for PLAN1, BURST1,AVG1

Bit 1512

Echo Sounder Index

Bit 11

Telemetr y data

Bit 10

Boost Running

Bit 9-5

Echo Sounder Frequen cy Bin

Bit 4

_Unused

Bit 3

_Unused

Bit 2

_Unused

Bit 1

bdScalin g, Set bit indicate s cm scaling of blanking distance

Bit 0

_Unused

Ensemble counter

32 bits

Unsigned

Counts the number of ensembles in both averaged and burst data

Velocity data

NB*NC* 16 bits

Signed

10^(Velocity Scaling) m/ s

This field exists if the Velocity data included bit of the Config byte is set.

Amplitude data

NB*NC* 8 bits

Unsigned

1 Count =

0.5 dB

This field exists if the Amplitude data included bit of the Config byte is set.

Correlation data

NB*NC* 8 bits

Unsigned

[0 – 100 %]

This field exists if the Correlation data included bit of the Config byte is set.

Altimeter distance

32 bits

Float

Meters

These fields exists if the Altimeter data included bit if the config byte is set

Altimeter quality

16 bits

Unsigned

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Integrator's Guide54

Field

Size

Format

Resolution/ Unit

Description

Altimeter status

16 bits

Bit 0

Pitch or roll > 5 deg

Bit 1

Pitch or roll > 10 deg

AST distance

32 bits

Float

Meters

These fields exists if the AST data included bit if the config byte is set

AST quality

16 bits

Unsigned

AST_offset_10 0us

16 bits

Signed

100 us

Offset in step of 100 us from AST measurement to velocity measurement

AST pressure

32 bits

Float

dbar

Pressure value measured during the AST/altimeter ping

Altimeter spare

8*8 bits

Spare Values

Altimeter Raw Data – Number of Samples

32 bits

Unsigned

Altimeter Raw Data – Number of Samples

These fields exist if the Altimeter Raw Data is set.

Altimeter Raw Data – Sample distance

16 bits

Unsigned

0.1 mm

Distance between samples

Altimeter Raw Data – Samples

16 bits

Signed fract

Altimeter Raw Data – Samples

Echo Sounder data

NC*16 bit

Unsigned

0.01 dB/ count

Echo Sounder Amplitude Data

These fields exist if the Echo Sounder data included bit of the Config byte is set.

AHRS Rotation Matrix – M11

32 bits

Float

AHRS Rotation Matrix [3x3]

These fields exist if the AHRS data included bit of the Config byte is set.

AHRS Rotation Matrix – M12

32 bits

Float

AHRS Rotation Matrix [3x3]

AHRS Rotation Matrix – M13

32 bits

Float

AHRS Rotation Matrix [3x3]

AHRS

32 bits

Float

AHRS Rotation

Page 55

Data formats 55

Field

Size

Format

Resolution/ Unit

Description

Rotation Matrix – M21

Matrix [3x3]

AHRS Rotation Matrix – M22

32 bits

Float

AHRS Rotation Matrix [3x3]

AHRS Rotation Matrix – M23

32 bits

Float

AHRS Rotation Matrix [3x3]

AHRS Rotation Matrix – M31

32 bits

Float

AHRS Rotation Matrix [3x3]

AHRS Rotation Matrix – M32

32 bits

Float

AHRS Rotation Matrix [3x3]

AHRS Rotation Matrix – M33

32 bits

Float

AHRS Rotation Matrix [3x3]

AHRS Dummy

4 * 32 bits

AHRS Gyro X

32 bits

Float

[dps] – Degrees pr Second

AHRS Gyro

AHRS Gyro Y

32 bits

Float

[dps] – Degrees pr Second

AHRS Gyro

AHRS Gyro Z

32 bits

Float

[dps] – Degrees pr Second

AHRS Gyro

Percent good data

NC * 8 bits

Unsigned

Percent

Percent Good Estimat e per cell

These fields exist if the Percentage Good data included bit of the Config byte is set

Std. Dev. Pitch

16 bits

Signed

0.01 Degrees

These fields exist if the Std. Dev. data included bit of the Config byte is set

Std. Dev. Roll

16 bits

Signed

0.01 Degrees

Std. Dev. Heading

16 bits

Signed

0.01 Degrees

Std. Dev. Pressure

16 bits

Signed

0.001 Bar

Page 56

Integrator's Guide56

Field

Size

Format

Resolution/ Unit

Description

Std. Dev. Dummy

12 * 16 bits

_Unused

Page 57

Value

Instrument Vertical Definition

Description

“XUP”

Instrument x-axis defined up, heading reference axis is Z positive

“XDOWN”

Instrument x-axis defined down, heading reference axis is Z positive

“ZUP”

Instrument z-axis defined up, heading reference axis is X positive

“ZDOWN”

Instrument z-axis defined down, heading reference axis is X positive

Value

Description

Fixed orientation

Auto Up Down

Error Description

Bit

Field

Description

Bit 15

Tag Error Beam 3 (Quadrature-phase)

1 = Error / 0 = OK

Bit 14

Tag Error Beam 3 (In-phase)

1 = Error / 0 = OK

Bit 13

Tag Error Beam 2 (Quadrature-phase)

1 = Error / 0 = OK

Bit 12

Tag Error Beam 2 (In-phase)

1 = Error / 0 = OK

Bit 11

Tag Error Beam 1 (Quadrature-phase)

1 = Error / 0 = OK

Bit 10

Tag Error Beam 1 (In-phase)

1 = Error / 0 = OK

Bit 9

Tag Error Beam 0 (Quadrature-phase)

1 = Error / 0 = OK

Bit 8

Tag Error Beam 0 (In-phase)

1 = Error / 0 = OK

Bit 7

Not Used

Bit 6

Not Used

Bit 5

Sensor read failure

1 = Error / 0 = OK.

Bit 4

Measurement not finished

1 = Error / 0 = OK. The Measurement and data storage/transmit didn’t finish before next measurement started.

Bit 3

Data retrieval Samples missing.

1 = Error / 0 = OK.

Bit 2

Data retrieval Underrun.

1 = Error / 0 = OK.

Bit 1

Data retrieval Overflow.

1 = Error / 0 = OK.

Bit 0

Data retrieval FIFO error.

1 = Error / 0 = OK.

Data formats 57

Table 1 Orientation Description

Table 2 Automatic Orientation Detection Status

Page 58

Integrator's Guide58

Bit

Field

Description

Bit 15-8

Not used

Bit 7-6

Power level

00 = 0 (high) 01 = 1 10 = 2 11 = 3 (low)

Bit 5-4

Wakeup State

00 = bad power 01 = power applied 10 = break 11 = RTC alarm

Bit 3-0

Not used

Status Description

Version 3 VelocityData Record Struct Definition (C99 standard)

typedef struct { unsigned short beamData1 : 4; unsigned short beamData2 : 4; unsigned short beamData3 : 4; unsigned short beamData4 : 4; } t_DataSetDescription4Bit;

typedef struct { unsigned long _empty1 : 1; unsigned long bdScaling : 1; unsigned long _empty2 : 1; unsigned long _empty3 : 1; unsigned long _empty4 : 1; unsigned long echoFreqBin : 5; unsigned long boostRunning : 1; unsigned long telemetryData : 1; unsigned long echoIndex : 4; unsigned long activeConfiguration : 1; unsigned long lastMeasLowVoltageSkip : 1; unsigned long prevWakeUpState : 4; unsigned long autoOrient : 3; unsigned long orientation : 3; unsigned long wakeupstate : 4; } t_status;

Page 59

Data formats 59

typedef struct { unsigned short procIdle3 : 1; unsigned short procIdle6 : 1; unsigned short procIdle12 : 1; unsigned short _empty1 : 12; unsigned short stat0inUse : 1; } t_status0;

#define VERSION_DATA_STRUCT_3 3

/* Data field */

typedef struct { unsigned char version; // 3 unsigned char offsetOfData; // offsetof(BurstData3_t, data) struct { unsigned short pressure : 1; // 0 unsigned short temp : 1; // 1 unsigned short compass : 1; // 2 unsigned short tilt : 1; // 3 unsigned short _empty : 1; // 4 unsigned short velIncluded : 1; // 5 unsigned short ampIncluded : 1; // 6 unsigned short corrIncluded : 1; // 7 unsigned short altiIncluded : 1; // 8 unsigned short altiRawIncluded : 1; // 9 unsigned short ASTIncluded : 1; // 10 unsigned short echoIncluded : 1; // 11 unsigned short ahrsIncluded : 1; // 12 unsigned short PGoodIncluded : 1; // 13 unsigned short stdDevIncluded : 1; // 14 unsigned short _unused : 1; } headconfig; unsigned long serialNumber; unsigned char year; unsigned char month; unsigned char day; unsigned char hour; unsigned char minute; unsigned char seconds; unsigned short microSeconds100; unsigned short soundSpeed; /* resolution: 0.1 m/s */ short temperature; /* resolution: 0.01 degree

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Integrator's Guide60

Celsius */

unsigned long pressure; unsigned short heading; short pitch; short roll; union { unsigned short beams_cy_cells; ///< bit 15-12: Number of

beams, ///< bit 11-10: coordinate system, ///< bit 9-0: Number of cells.

unsigned short echo_cells; ///< OR, Number of echo

sounder cells.

}; unsigned short cellSize; unsigned short blanking; unsigned char nominalCorrelation; unsigned char pressTemp; unsigned short battery; short magnHxHyHz[3]; ///< Magnetometer Min data short accl3D[3]; ///< Accelrometer Data union { unsigned short ambVelocity; unsigned short echoFrequency; }; t_DataSetDescription4Bit DataSetDescription4bit; /* unsigned

short */

unsigned short transmitEnergy; char velocityScaling; char powerlevel; short magnTemperature; short rtcTemperature; unsigned short error; t_status0 status0; /* Unsigned short */ t_status status; /* Unsigned long */ unsigned long ensembleCounter; unsigned char data[SIZE_VAR_DATA]; ///< actual size of the following =

///< int16_t hVel[nBeams][nCells]; // velocity ///< uint8_t cAmp[nBeams][nCells]; // amplitude ///< uint8_t cCorr[nBeams][nCells]; // correlation (0-100)

} OutputData3_t;

/* Altimeter result */

Page 61

Data formats 61

typedef struct _altiData_t { float fDistanceLE; ///< Distance Leading

Edge [m].

unsigned short qualityLE; ///< Quality parameter

Leading Edge

struct { unsigned short pitchRoll5deg : 1; ///< Pitch or Roll more

> 5 deg.

unsigned short pitchRoll10deg : 1; ///< Pitch or Roll more

> 10 deg.

unsigned short multiBeamIncluded : 1; ///< Multi beam data

included

unsigned short nBeams : 4; ///< Number of

altimeter beams

unsigned short powIndex : 3; ///< Power level index

for current ping

unsigned short _unused : 6; } status; ///< Status. float fDistanceAST; ///< Distance Leading

AST [m].

unsigned short qualityAST; ///< Quality parameter

Leading AST.

short offsetAST_100us; ///< Time from pressure

measurement.

float fAltiPressure; ///< Altimeter Pressure

[dBar]

float fPowLev; ///< Power level for

current ping

float fSpare; ///< Spare } altiData_t;

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Integrator's Guide62

Field

Size

Format

Resolution/ Unit

Description

Version

8 bits

Version number of the Data Record Definition. (3)

offsetOfData

8 bits

Unsigned

#Bytes

Number of bytes from start of record to start of data (velocity/amplitude/correlation)

Configuration

16 bits

Record Configuration Bit Mask

Bit 0

Pressure sensor value valid.

Bit 1

Temperature sensor value valid.

Bit 2

Compass sensor values valid.

Bit 3

Tilt sensor values valid.

Bit 4

Bit 5

Velocity data included

Bit 6

Bit 7

Bit 8

Distance data included

Bit 9

Figure of Merit data included

Bit 10-15

Unused

Serial Number

32 bits

Unsigned

Year

8 bits

Unsigned

1 Year

Years since 1900 (see struct tm definition)

Month

8 bits

Unsigned

1 Month

Jan =0, Feb= 1, etc.(see struct tm definition)

Day

8 bits

Unsigned

1 Day

(see struct tm definition)

Hour

8 bits

Unsigned

1 Hour

(see struct tm definition)

Minute

8 bits

Unsigned

1 Minute

(see struct tm definition)

Seconds

8 bits

Unsigned

1 Second

(see struct tm definition)

Microsec100

16 bits

Unsigned

100 µsec

Speed of Sound

16 bits

Unsigned

0.1 m/s

Temperature

16 bits

Signed

0.01 Degree Celsius

Pressure

32 bits

Unsigned

0.001 dBar

Heading

16 bits

Unsigned

0.01 Deg

Pitch

16 bits

Signed

0.01 Deg

6.1.3 Bottom Track Data Record Definition (DF20)

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Data formats 63

Field

Size

Format

Resolution/ Unit

Description

Roll

16 bits

Signed

0.01 Deg

#Beams & Coordinate system & #Cells

16 bits

Definition:

Bit 9 - 0

Number of Cells (NC)

Bit 11 - 10

Coordinate system, b00 : ENU b01 : XYZ b10 : BEAM b11 : -

Bit 15 – 12

Number of Beams (NB) Cell Size

16 bits

Unsigned

1 mm

Blanking

16 bits

Unsigned

1 mm

Nominal Correlation

8 bits

Unsigned

The nominal correlation for the configured combination of cell size and velocity range.

Unused value

8 bits

Battery Voltage

16 bits

Unsigned

0.1 Volt

Magnetometer Raw( X-axis )

16 bits

Signed

Magnetometer Raw, X axis value in last measurement interval.

Magnetometer Raw( Y-axis )

16 bits

Signed

Magnetometer Raw, Y axis value in last measurement interval.

Magnetometer Raw( Z-axis )

16 bits

Signed

Magnetometer Raw, Z axis value in last measurement interval.

Accelerometer Raw ( X-axis )

16 bits

Signed

Accelerometer Raw X axis value in last measurement interval. (16384 = 1.0)

Accelerometer Raw ( Y-axis )

16 bits

Signed

Accelerometer Raw Y axis value in last measurement interval. (16384 = 1.0)

Accelerometer Raw ( Z-axis )

16 bits

Signed

Accelerometer Raw Z axis value in last measurement interval. (16384 = 1.0)

Ambiguity Velocity

32 bits

Unsigned

10^(Velocity Scaling) m/s

Ambiguity velocity, corrected for sound velocity, scaled according to Velocity Scaling

Data Set Description

16 bits

Bits

Description

0-3

Physical beam used for 1st data set.

4-7

Physical beam used for 2nd data set.

8-11

Physical beam used for 3th data set.

12-16

Physical beam used for 4th data

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Integrator's Guide64

Field

Size

Format

Resolution/ Unit

Description

set.

Transmit Energy

16 bits

Unsigned

Velocity Scaling

8 bits

Signed

Used to scale velocity data. Power level

8 bits

Signed

Configured power level

Magnetometer Temperature

16 bits

Signed

Uncalibrated

Magnetometer temperature reading

Real Time Clock Temperature

16 bits

Signed

0.01 Degree Celsius

Real time clock temperature reading

Error

32 bits

See Error Description (version 1)

Status

32 bits

Bit 31-28

Wakeup State

10 = break 11 = RTC alarm 00 = bad power 01 = power applied

Bit 27-25

Orientation

See Table 1.

Bit 24-22

Auto orientation

See Table 2.

Bit 21

Active Configuration

0 = BT Settings 1 = BT1 Settings

Ensemble counter

32 bits

Unsigned

Counts the number of ensembles in both averaged data and burst data

Velocity data

NB* 32 bits

Signed

10^(Velocity Scaling) m/s

This field exists if the Velocity data included bit of the Config byte is set.

Distance data

NB* 32 bits

Signed

This field exists if the Distance data included bit of the Config byte is set.

Figure Of Merit data

NB * 16 bits

Unsigned

This field exists if the FOM data included bit of the Config byte is set.

Version 1 Bottom Track Data Record Struct Definition (C99 standard)

typedef struct { unsigned char version; unsigned char offsetOfData; struct {

Page 65

Data formats 65

unsigned short pressure : 1; // 0 unsigned short temp : 1; // 1 unsigned short compass : 1; // 2 unsigned short tilt : 1; // 3 unsigned short _empty : 1; // 4 unsigned short velIncluded : 1; // 5 unsigned short _unused1 : 1; // 6 unsigned short _unused2 : 1; // 7 unsigned short distIncluded : 1; // 8 unsigned short fomIncluded : 1; // 9 unsigned short _unused3 : 6; } headconfig; unsigned long serialNumber; unsigned char year; unsigned char month; unsigned char day; unsigned char hour; unsigned char minute; unsigned char seconds; unsigned short microSeconds100; unsigned short soundSpeed; ///< resolution: 0.1 m/s short temperature; ///< resolution: 0.01 degre

Celsius

unsigned long pressure; unsigned short heading; short pitch; short roll; unsigned short beams_cy; ///< bit 15-12: Number of beams,

bit 11-10: coordinate system

unsigned short cellSize; unsigned short blanking; unsigned short velocityRange; unsigned short battery; short magnHxHyHz[3]; ///< Magnetometer Data short accl3D[3]; ///< Accelerometer Data unsigned int ambVelocity; t_BottomTrackDataSetDescription4Bit DataSetDescription4bit; /*

unsigned short */

unsigned short transmitEnergy; char velocityScaling; char powerlevel; short magnTemperature; short rtcTemperature; unsigned long error; t_BottomTrackstatus status; /* Unsigned long */

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Integrator's Guide66

unsigned long ensembleCounter; unsigned char data[SIZE_VAR_DATA_BT]; ///< actual size of the following:

///< int32_t velocity[nBeams]; // velocity ///< int32_t distance[nBeams]; // distance ///< unsigned short FOM[nBeams]; // Figure Of Merit

} OutputBottomTrackFormat1_t;

Page 67

6.2 String Data Record Definition

Field

Size

Description

8 bits

The ID parameter (0-15) of the FWRITE command.

String

Variable

The STR parameter of the FWRITE command. The string is zero terminated.

The String Data Record is written to the SD memory card using the FWRITE command. The string data record is also used to store the instrument configuration. The ID parameter is then set to 16 (0x10).

6.3 Data Limit Formats

The limits for the various arguments are returned as a list of valid values, and/or ranges, enclosed in parenthesis (). An empty list, (), is used for arguments that are unused/not yet implemented. Square brackets [] signify a range of valid values that includes the listed values. String arguments are encapsulated with “”, like for normal parameter handling. A semicolon, ;, is used as separator between limits and values.

The argument format can also be inferred from the limits, integer values are shown without a decimal point, floating point values are shown with a decimal point and strings are either shown with the string specifier, “”, or as a range of characters using ‘’ for specifying a character.

Data formats 67

Examples: [1;128] – Integer value, valid from 1 to 128 ([1300.00;1700.00];0.0) – Floating point value, valid values are 0.0 and the range from 1300.00 to

1700.00. (['0';'9'];['a';'z'];['A';'Z'];'.') – String argument with valid characters being . and the character ranges

a-z, A-Z, 0-9 . ("BEAM") – String argument with BEAM being the only valid string.

(0;1) – Integer value with two valid values, 0 and 1.

NMEA interface example:

$PNOR,GETAVGLIM*22

$PNOR,GETAVGLIM,NC=([1;128]),CS=([0.25;2.00]),BD=([0.10;45.00]),CY= ("BEAM"),PL=([-40.0;0.0];-100.0),AI=([1;300]),VP=([0.000;0.100]), VR=([1.25;5.00]),DF=([0;3]),NPING=([1;4])*46 $PNOR,OK*2B

Regular interface example:

GETPLANLIM

([1;3600]),(0;1),(),([0;2]),(),([0.0;50.0]),(0;1),([10;21600]),(), ([1300.00;1700.00];0.0),(['0';'9'];['a';'z'];['A';'Z'];'.'),(0;1) OK

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Integrator's Guide68

Data format (DF)

Description

Binary format as described in ‘Data Record Definition (version 3)’.

100

Same format as AWAC NMEA format. (NMEA sentences: PNORI, PNORS and PNORC).

101

NMEA format 1 (without Tags). (NMEA sentences: PNORI1, PNORS1 and PNORC1).

102

NMEA format 2 (with Tags). (NMEA sentences: PNORI2, PNORS2 and PNORC2).

103

NMEA format 3 (with Tags). (NMEA sentences: PNORH3, PNORS3 and PNORC3).

104

NMEA format 4 (without Tags). (NMEA sentences: PNORH4, PNORS4 and PNORC4).

150

RDI Workhorse PD0 data format.

7 Telemetry Data Formats

This section describes the Telemetry Data formats.

7.1 Averaging Mode

The telemetry of the AVG mode is controlled by the SET/GETTMAVG command. The DF parameter of this command sets the data format.

Table 3 Available Telemetry Data formats for AVG.

Page 69

7.1.1 AWAC NMEA Format (DF=100)

Column

Description

Data format

Example

Identifier

"$PNORI"

Instrument type

N, 4=Signature

42Head ID

Signaturexxx xNNNNNN

Signature100 0900002

Number of beams

N44

Number of cells

dd.dd

205Blanking (m)

dd.dd

0.206Cell size (m)

dd.dd

1.00

Coordinate system

ENU=0, XYZ=1, BEAM=2

Checksum

*hh

Column

Description

Data format

Example

Identifier

"$PNORS"

Date

MMDDYY

102115

Time

hhmmss

090715

Error Code (hex)

00000000

Status Code (hex)

2A480000

Battery Voltage

dd.d

14.46Sound Speed

dddd.d

1523.0

Heading

ddd.d

275.9

Pitch (deg)

dd.d

15.79Roll (deg)

dd.d

-2.310Pressure (dBar)

ddd.ddd

0.000

Data with variants of -9 (-9.00, -999…) are invalid data. Empty files are fields not used. The checksum calculation is part of the NMEA standard. It is the representation of two hexadecimal characters of an XOR if all characters in the sentence between – but not including – the $ and the * character.

Information (configuration) $PNORI

Telemetry Data Formats 69

Example (DF=100): $PNORI,4,Signature1000900002,4,5,0.20,1.00,0*2E

Sensor data $PNORS

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Integrator's Guide70

Temperature (deg C)

dd.dd

22.45

Analog input #1

Not in use

013Analog input #2

Not in use

014Checksum

*hh

Column

Description

Data format

Example

Identifier

"$PNORC"

Date

MMDDYY

102115

Time

hhmmss

090715

Cell number

N44

Velocity 1 (m/s) (Beam1/X/East)

dd.dd

0.565Velocity 2 (m/s) (Beam2/Y/North)

dd.dd

-0.80

Velocity 3 (m/s) (Beam3/Z1/Up1)

dd.dd

-1.99

Velocity 4 (m/s) (Beam4/Z2/Up2)

dd.dd

-1.33

Speed (m/s)

dd.dd

0.989Direction (deg)

ddd.d

305.2

Amplitude unit

C= counts

C11Amplitude (Beam 1)

dd8012

Amplitude (Beam 2)

dd8813

Amplitude (Beam 3)

dd6714

Amplitude (Beam 4)

dd7815

Correlation (%) (Beam1)

dd1316

Correlation (%) (Beam2)

dd1717

Correlation (%) (Beam3)

dd1018

Correlation (%) (Beam4)

dd1819

Checksum

*hh

Example (DF=100):

$PNORS,102115,090715,00000000,2A480000,14.4,1523.0,275.9,15.7,2.3,0 .000,22.45,0,0*1C

Current velocity data $PNORC

Example (DF=100): $PNORC,102115,090715,4,0.56,-0.80,-1.99,-

1.33,0.98,305.2,C,80,88,67,78,13,17,10,18*22

Note that the amplitude can be converted to a dB scale by multiplying by 0.50 dB/count.

Page 71

7.1.2 NMEA Format 1 and 2 (DF=101/102)

Column

Field

Description

TAG

Data format

Example

Instrument type

4 = Signature

ITNIT=42Head ID

SNNSN=123456

Number of Beams

NBNNB=3 4

Number of Cells

NCNNC=30

Blanking Distance

[m]BDdd.dd

BD=1.00 6

Cell Size

[m]CSdd.dd

CS=5.00

Coordinate System

ENU,BEAM, XYZ

CY=BEAM

Column

Field

Description

TAG

Data format

Example

Date

DATEMMDDYY

DATE=083013

Time

TIMEhhmmss

TIME=132455 3

Error Code

ECNEC=0

Status Code

hhhhhhhh

SC=34000034

Battery Voltage

[V]BVdd.d

BV=23.9

Sound Speed

[m/s]

dddd.d

SS=1500.0

Heading Std. Dev.

[deg]

HSD

dd.dd

HSD=0.02 8

Heading

[deg]

ddd.d

H=123.4

Pitch

[deg]

dd.d

PI=45.6

Pitch Std.Dev

[deg]

PIS

dd.dd

PISD=0.02

Information Data:

Identifier: PNORI1 for DF = 101 PNORI2 for DF = 102

Telemetry Data Formats 71

Table 4 PNORI1/2 NMEA sentence parameter description

Example (DF=101): $PNORI1,4,123456,3,30,1.00,5.00,BEAM*5B Example (DF=102): $PNORI2,IT=4,SN=123456,NB=3,NC=30,BD=1.00,CS=5.00,

CY=BEAM*68

Sensors Data:

Identifier: PNORS1 for DF = 101 PNORS2 for DF = 102

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Integrator's Guide72

D11Roll

[deg]

dd.d

R=23.4

Roll Std.Dev.

[deg]

RSD

dd.dd

RSD=0.02

Pressure

[dBar]

ddd.ddd

P=123.456

Pressure StdDev

[dBar]

PSD

dd.dd

PSD=0.02 15

Temperature

[deg C]

dd.dd

T=24.56

Column

Field

Description

TAG

Data format

Example

Date

DATEMMDDYY

DATE=083013

Time

TIMEhhmmss

TIME=132455 3

Cell Number

#CNdd

CN=3

Cell Position

[m]CPdd.d

CP=11.0

Velocity East

[m/s] Only if CY=ENU

dd.ddd

VE=0.332

Velocity North

[m/s] Only if CY=ENU

dd.ddd

VN=0.332

Velocity Up

[m/s] Only if CY=ENU and #beams >= 3

dd.ddd

VU=0.332

Velocity Up2

[m/s] Only if CY=ENU and #beams = 4

VU2

dd.ddd

VU2=0.332 9

Velocity X

[m/s] Only if CY=XYZ

dd.ddd

VX=0.332

Velocity Y

[m/s] Only if CY=XYZ

dd.ddd

VY=0.332

Velocity Z

[m/s] Only if CY=XYZ and #beams >= 3

dd.ddd

VZ=0.332

Table 5 PNORS1/2 NMEA sentence parameter description

Example (DF=101):

$PNORS1,083013,132455,0,34000034,23.9,1500.0,0.02,123.4,45.6,0.02, R=23.4,0.02,123.456,0.02,24.56*39

Example (DF=102):

$PNORS2,DATE=083013,TIME=132455,EC=0,SC=34000034,BV=23.9,SS=1500.0, HSD=0.02,H=123.4,PI=45.6,PISD=0.02,R=23.4,RSD=0.02,P=123.456, PSD=0.02,T=24.56*3F

Averaged Data:

Identifier: PNORC1 for DF = 101 PNORC2 for DF = 102

The averaged data is repeated for each measurement cell.

Page 73

Telemetry Data Formats 73

Column

Field

Description

TAG

Data format

Example

Velocity Z2

[m/s] Only if CY=XYZ and #beams = 4

VZ2

dd.ddd

VZ2=0.332 13

Velocity Beam 1

[m/s] Only if CY=BEAM

dd.ddd

V1=0.332

Velocity Beam 2

[m/s] Only if CY=BEAM and #beams >=2

dd.ddd

V2=0.332

Velocity Beam 3

[m/s] Only if CY=BEAM and #beams >=3

dd.ddd

V3=-0.332

Velocity Beam 4

[m/s] Only if CY=BEAM and #beams =4

dd.ddd

V4=-0.332

Amplitude Beam 1

[dB]A1ddd.d

A1=78.9

Amplitude Beam 2

[dB] Only if #beams >=2

ddd.d

A2=78.9

Amplitude Beam 3

[dB] Only if #beams >=3

ddd.d

A3=78.9

Amplitude Beam 4

[dB] Only if #beams =4

ddd.d

A4=78.9

Correlation Beam 1

[%]C1dd

C1=78

Correlation Beam 2

[%] Only if #beams >=2

C2ddC2=78

Correlation Beam 3

[%] Only if #beams >=3

C3ddC3=78

Correlation Beam 4

[%] Only if #beams =4

C4ddC4=78

Table 6 PNORC1/2 NMEA sentence parameter description

Example (DF=101 (ENU, 3 beams):

$PNORC1,083013,132455,3,11.0,0.332,0.332,0.332,78.9,78.9,78.9,78,78 ,78*46

Example (DF=102 (ENU, 3 beams):

$PNORC2,DATE=083013,TIME=132455,CN=3,CP=11.0,VE=0.332,VN=0.332, VU=0.332,A1=78.9,A2=78.9,A3=78.9,C1=78,C2=78,C3=78*6D

Example (DF=102 (BEAM, 4 beams):

$PNORC2,DATE=083013,TIME=132455,CN=3,CP=11.0,V1=0.332,V2=0.332,V3=-

0.332,V4=-0.332,A1=78.9,A2=78.9,A3=78.9,A4=78.9,C1=78,C2=78,C3=78, C4=78*49

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Integrator's Guide74

Column

Field

Description

TAG

Data format

Example

Date

DATEYYMMDD

DATE=141112

Time

TIMEhhmmss

TIME=081946 3

Error Code

See DF3 (3.2.3)

ECNEC=0

Status Code

See DF3 (3.2.3)

HHHHHHHH

SC=2A4C0000

Column

Field

Description

TAG

Data format

Example

Battery

[V]BVdd.d

BV=23.9

Sound Speed

[m/s]

dddd.d

SS=1500.0

Heading

[deg]

ddd.d

H=123.4

Pitch

[deg]

dd.d

PI=45.6

Roll

[deg]

dd.d

R=23.4

Pressure

[dBar]

ddd.ddd

P=123.456

Temperature

[deg C]

dd.dd

T=24.56

7.1.3 NMEA Format 3 and 4 (DF=103/104)

Header Data:

Identifier: PNORH3 for DF = 103 PNORH4 for DF = 104

Table 7 PNORH3/4 NMEA Header sentence parameter description

Example (DF=103): $PNORH3,DATE=141112,TIME=081946,EC=0,SC=2A4C0000*5F Example (DF=104): $PNORH4,141112,083149,0,2A4C0000*4A68

Sensors Data:

Identifier: PNORS3 for DF = 103 PNORS4 for DF = 104

Table 8 PNORS3/4 NMEA Sensor sentence parameter description

Example (DF=103):

$PNORS3,BV=33.0,SS=1546.1,H=151.1,PI=-12.0,R=-5.2,P=705.669, T=24.96*7A

Example (DF=104):

$PNORS4,33.0,1546.1,151.2,-11.9,-5.3,705.658,24.95*5A

Averaged Data:

Identifier: PNORC3 for DF = 103 PNORC4 for DF = 104

Page 75

Telemetry Data Formats 75

Column

Field

Description

TAG

Data format

Example

Cell position

[meter]

D.D

CP=2.5

Speed

[m/s]

d.ddd

SP=0.751

Direction

[deg]

DIR

ddd.d

DIR=170.1

Averaged Correlation

ACNAC=5

Averaged Amplitude

AANAA=28

The averaged data is repeated for each measurement cell.

Table 9 PNORC3/4 NMEA Averaged data sentence parameter description

Example (DF=103): $PNORC3,CP=4.5,SP=3.519,DIR=110.9,AC=6,AA=28*3B Example (DF=104): $PNORC4,27.5,1.815,322.6,4,28*70

7.1.4 RDI Workhorse PD0 data format.

See RDI documentation.

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Integrator's Guide76

Data format (DF)

Description

Binary format as described in ‘Data Record Definition (version 3)’.

101

NMEA format 1 (without Tags). (NMEA sentences: PNORI1, PNORS1 and PNORC1).

102

NMEA format 2 (with Tags). (NMEA sentences: PNORI2, PNORS2 and PNORC2).

Column

Field

Description

TAG

Data format

Example

Instrument type

4 = Signature

ITNIT=42Head ID

SNNSN=123456

Number of Beams

NBNNB=3 4

Number of Cells

NCNNC=30

Blanking Distance

[m]BDdd.dd

BD=1.00 6

Cell Size

[m]CSdd.dd

CS=5.00

Coordinate System

ENU,BEAM, XYZ

CY=BEAM

Column

Field

Description

TAG

Data format

Example

Date

DATEMMDDYY

DATE=083013

7.2 Burst

The telemetry of the BURST mode is controlled by the SET/GETTMBURST command. The DF parameter of this command sets the data format.

Table 10 Available Telemetry Data formats for BURST.

7.2.1 NMEA format 1 and 2 (DF=101/102)

Information Data:

Identifier: PNORI1 for DF = 101 PNORI2 for DF = 102

Table 11 PNORI1/2 NMEA sentence parameter description

Example (DF=101): $PNORI1,4,1234,1,54,0.50,1.00,BEAM*58 Example (DF=102): $PNORI2,IT=4,SN=1234,NB=1,NC=54,BD=0.50,CS=1.00,

CY=BEAM*68

Sensors Data:

Identifier: PNORS1 for DF = 101 PNORS2 for DF = 102

Page 77

Telemetry Data Formats 77

Time

TIMEhhmmss

TIME=132455 3

Error Code

ECNEC=0

Status Code

hhhhhhhh

SC=34000034

Battery Voltage

[V]BVdd.d

BV=23.9

Sound Speed

[m/s]

dddd.d

SS=1500.0

Heading Std. Dev.

[deg]

HSD

dd.dd

HSD=0.02 8

Heading

[deg]

ddd.d

H=123.4

Pitch

[deg]

dd.d

PI=45.6

Pitch Std.Dev

[deg]

PISDdd.dd

PISD=0.02 11

Roll

[deg]

dd.d

R=23.4

Roll Std.Dev.

[deg]

RSD

dd.dd

RSD=0.02

Pressure

[dBar]

ddd.ddd

P=123.456

Pressure StdDev

[dBar]

PSD

dd.dd

PSD=0.02 15

Temperature

[deg C]

dd.dd

T=24.56

Column

Field

Description

TAG

Data format

Example

Date

DATEMMDDYY

DATE=083013

Time

TIMEhhmmss

TIME=132455 3

Cell Number

#CNdd

CN=3

Table 12 PNORS1/2 NMEA sentence parameter description

Example (DF=101):

$PNORS1,083013,132455,0,34000034,23.9,1500.0,0.02,123.4,45.6,0.02, R=23.4,0.02,123.456,0.02,24.56*39

Example (DF=102):

$PNORS2,DATE=083013,TIME=132455,EC=0,SC=34000034,BV=23.9,SS=1500.0, HSD=0.02,H=123.4,PI=45.6,PISD=0.02,R=23.4,RSD=0.02,P=123.456, PSD=0.02,T=24.56*3F

Burst Data, 4 slanted beams:

Identifier: PNORC1 for DF = 101 PNORC2 for DF = 102

The burst data is repeated for each measurement cell.

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Integrator's Guide78

Column

Field

Description

TAG

Data format

Example

Cell Position

[m]CPdd.d

CP=11.0

Velocity Beam 1

[m/s] Only if CY=BEAM

dd.ddd

V1=0.332

Velocity Beam 2

[m/s] Only if CY=BEAM and #beams >=2

dd.ddd

V2=0.332

Velocity Beam 3

[m/s] Only if CY=BEAM and #beams >=3

dd.ddd

V3=-0.332

Velocity Beam 4

[m/s] Only if CY=BEAM and #beams =4

dd.ddd

V4=-0.332

Amplitude Beam 1

[dB]A1ddd.d

A1=78.9

Amplitude Beam 2

[dB] Only if #beams >=2

ddd.d

A2=78.9

Amplitude Beam 3

[dB] Only if #beams >=3

ddd.d

A3=78.9

Amplitude Beam 4

[dB] Only if #beams =4

ddd.d

A4=78.9

Correlation Beam 1

[%]C1dd

C1=78

Correlation Beam 2

[%] Only if #beams >=2

C2ddC2=78

Correlation Beam 3

[%] Only if #beams >=3

C3ddC3=78

Correlation Beam 4

[%] Only if #beams =4

C4ddC4=78

Table 13 PNORC1/2 NMEA sentence parameter description

Example (DF=101 (ENU, 3 beams)):

$PNORC1,083013,132455,3,11.0,0.332,0.332,0.332,78.9,78.9,78.9,78,78 ,78*46

Example (DF=102 (ENU, 3 beams)):

$PNORC2,DATE=083013,TIME=132455,CN=3,CP=11.0,VE=0.332,VN=0.332, VU=0.332,A1=78.9,A2=78.9,A3=78.9,C1=78,C2=78,C3=78*6D

Example (DF=102 (BEAM, 4 beams)):

$PNORC2,DATE=083013,TIME=132455,CN=3,CP=11.0,V1=0.332,V2=0.332,V3=-

0.332,V4=-0.332,A1=78.9,A2=78.9,A3=78.9,A4=78.9,C1=78,C2=78,C3=78, C4=78*49

Burst Data, Vertical beam:

Identifier: PNORC1 for DF = 101 PNORC2 for DF = 102

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Telemetry Data Formats 79

Column

Field

Description

TAG

Data format

Example

Date

DATEMMDDYY

DATE=083013

Time

TIMEhhmmss

TIME=132455 3

Cell Number

#CNdd

CN=3

Cell Position

[m]CPdd.d

CP=11.0

Velocity Beam 5

[m/s] Only if CY=BEAM

dd.ddd

V1=0.332

Amplitude Beam 5

[m/s] Only if CY=ENU

ddd.d

A1=78.9

Correlation Beam 5

[m/s] Only if CY=ENU and #beams >= 3

C1ddC1=78

Table 14 PNORC1/2 NMEA sentence parameter description, 5th beam (vertical) only

Example (DF = 102 (BEAM, 5th beam)):

$PNORC2,DATE=020217,TIME=132553,CN=6,CP=6.5,V1=1.304,A1=37.2, C1=20*35

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Integrator's Guide80

Data format (DF)

Description

200

NMEA (PNORA) format without Tags.

201

NMEA (PNORA) format with Tags.

Column

Field

Description

TAG

Data format

Example

Date

DATEYYMMDD

DATE=130830

Time

TIMEhhmmss

TIME=132455 3

Pressure

[dBar]

ddd.ddd

P=123.456

Altimeter Distance

[m]Addd.ddd

A=112.233

Quality Parameter

QNQ=78 6

Status

STXXST=00

7.3 Altimeter

The telemetry for the Altimeter is controlled by the SET/GETTMALTI command. The DF parameter of this command sets the data format.

Table 15 Available Data formats for Altimeter.

Table 16 PNORA NMEA sentence parameter description.

Example (DF=200): $PNORA,130920,134824,37.604,125.583,42,=00*46 Example (DF=201): $PNORA,DATE=130920,TIME=134824,P=37.604,A=125.583,

Q=42,ST=00*3D

Page 81

7.4 DVL Bottom Track

Data format (DF)

Description

300

NMEA (PNORBT) format without Tags.

301

NMEA (PNORBT) format with Tags.

Column

Field/TAG

Description

Data format

Example

BEAM

Beam number

BEAM=3

DATE

Date

MMDDYY

DATE=112813

TIME

Time

hhmmss.ssss

TIME=072228.23 454DT1

Diff. time 1

s.ssss

DT1=0.1234

DT2

Diff. time 2

s.ssss

DT2=0.1234

6BVBottom Velocity [m/s]

f.fffff

BV=1.11111

7FMFigure of Merit

f.f

FM=122.2

DIST

Distance [meter]

f.ff

DIST=36.66

9WVWater Velocity [m/s]

f.fffff

WV=2.22222

STAT

Status

STAT=F7

The telemetry for the Bottom track is controlled by the SET/GETTMBT command. The DF parameter of this command sets the data format.

Table 17 Available Data formats for Bottom track.

Telemetry Data Formats 81

Table 18 PNORBT NMEA sentence parameter description.

Example (DF=300):

$PNORBT,3,112813,072228.2345,0.1234,0.1234,1.11111,122.2,36.66,2.22 222,F7*7A

Example (DF=301):

$PNORBT,BEAM=3,DATE=112813,TIME=072228.2345,DT1=0.1234,DT2=0.1234, BV=1.11111,FM=122.2,DIST=36.66,WV=2.22222,STAT=F7*75

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Integrator's Guide82

7.5 ASCII Data Input Using Ethernet

/* Sample code showing how to connect to and receive data from the Nortek Signature series * of instruments using the ASCII only data port. * Compiles on both Windows (requires ws2_32 library) and Linux. */

#include <stdio.h> #include <stdlib.h> #include <sys/types.h> #ifdef __WIN32__ #include <winsock2.h> #else #include <sys/socket.h> #include <sys/types.h>

#include <sys/time.h> #include <netinet/in.h> #include <netdb.h> #include <arpa/inet.h> #endif

#include <sys/time.h> #include <unistd.h> #include <stdarg.h>

#include <stdio.h> #include <string.h> #include <stdlib.h> #include <errno.h>

static int socket_fd = -1;

#define ASCII_DATA_PORT 9004

char dataBuffer[4096];

int main(void) {

struct sockaddr_in server; struct hostent *hp; char *ip_address = "192.168.20.10";

#ifdef __WIN32__ WSADATA version; WORD mkword = MAKEWORD(2, 2); int what = WSAStartup(mkword, &version); if (what != 0) { printf("Version not supported\n\n"); exit(-1); }

#endif

/* Create socket */

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Telemetry Data Formats 83

socket_fd = socket(AF_INET, SOCK_STREAM, 0); if (socket_fd < 0) { printf("Could not create socket %s\n\n", strerror(errno)); exit(-1); }

memset((char *) &server, 0, sizeof(server));

/* Connect socket using name specified name / IP address. */ server.sin_family = AF_INET; hp = gethostbyname(ip_address); if (hp == 0) { printf("Invalid host name\n\n"); exit(-1); } memcpy(&server.sin_addr, hp->h_addr, hp->h_length); server.sin_port = htons((unsigned short) ASCII_DATA_PORT);

/* 30 second receive timeout. The actual timeout to use will depend * upon the instrument configuration and other considerations. */ #ifdef __WIN32__ /* On windows, the timeout is number of ms. */ int ts = 30000;

#else

/* Other OSes use timeval structure. */ struct timeval ts; ts.tv_sec = 30; ts.tv_usec = 0;

#endif

if (setsockopt(socket_fd, SOL_SOCKET, SO_RCVTIMEO, (void *) &ts, sizeof(ts)) < 0) { printf("Could not set receive timeout\n\n"); exit(-1); }

/* Connect to the instrument... */ if (connect(socket_fd, (struct sockaddr *) &server, sizeof(server)) < 0) { printf("Could not connect to host %s\n\n", ip_address); exit(-1); }

int length = 0; while (1) { char c; int r; #ifdef __WIN32__ if ((r = recv(socket_fd, &c, 1, 0)) <= 0) { if (r == 0) { /* Instrument terminated socket for some reason. Re-connect required. */ printf("Instrument terminated socket.\n\n"); } else {

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Integrator's Guide84

if (WSAGetLastError() == WSAETIMEDOUT) { /* No data received within timeout period. Could either loop or * re-open / check connection at this point. */ printf("Socket read timed out\n\n"); } else { /* Local socket error. Re-connect required. */ wchar_t *s = NULL; FormatMessageW( FORMAT_MESSAGE_ALLOCATE_BUFFER | FORMAT_MESSAGE_FROM_SYSTEM | FORMAT_MESSAGE_IGNORE_INSERTS, NULL, WSAGetLastError(), MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT), (LPWSTR) &s, 0, NULL); printf("Socket read failed %S\n\n", s); LocalFree(s); } } break; }

#else

if ((r = read(socket_fd, &c, 1)) <= 0) { if (r == 0) { /* Instrument terminated socket for some reason. Re-connect required. */ printf("Server terminated socket\n\n"); } else { if (errno == EAGAIN) { /* No data received within timeout period. Could either loop or * re-open / check connection at this point. */ printf("Socket read timed out\n\n"); } else { /* Local socket error. Re-connect required. */ printf("Socket read failed (%d) %s\n\n", errno, strerror(errno)); } }

break; }

#endif

dataBuffer[length++] = c;

if (length >= sizeof(dataBuffer)) { printf("Truncating data input...\n\n"); length = sizeof(dataBuffer) - 1; }

/* Set last byte to 0 so that strings are zero terminated. */ dataBuffer[length] = 0; if ('\n' == c) { /* '\n' indicates end-of-line for ASCII data. */

Page 85

printf("Received: %s", dataBuffer); /* Receive next line of data. */ length = 0; } } close(socket_fd);

exit (1); }

Telemetry Data Formats 85

Nortek Signature, Signature 55, Signature 250, Signature 500, Signature 1000 Series Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1 Introduction

2 Basic interface concept

2.1 Modes

2.2 Break

2.3 Dual Processor

3 Interfaces

3.1 Command interface

3.2 Telemetry

3.3 Ethernet Operation

3.3.1 Telnet Connection

3.3.2 Raw Connections

3.3.4 HTTP

4 User Cases

4.1 Average velocity data and NMEA, Signature 55

4.2 Download telemetry file via FTP

4.3 Download telemetry file over serial port

4.4 Erase telemetry file

4.5 Checking instrument state over Ethernet

5 Commands

5.1 List of Commands

5.2 SETINST/GETINST/GETINSTLIM

5.3 SETCLOCK/GETCLOCK

5.4 SETCLOCKSTR/GETCLOCKSTR

5.5 SETPLAN/GETPLAN/GETPLANLIM

5.6 SETAVG/GETAVG/GETAVGLIM

5.7 SETBURST/GETBURST/GETBURSTLIM

5.8 SETBURSTHR/GETBURSTHR/GETBURSTHRLIM

5.9 SETECHO/GETECHO/GETECHOLIM

5.10 SETBT/GETBT/GETBTLIM

5.11 SETALTERNATE/GETALTERNATE/GETALTERNATELIM

TRIG

5.12 GETMEM

5.13 SETTRIG/GETTRIG/GETTRIGLIM

5.14 GETPWR

5.15 GETPRECISION

5.16 GETPRECISION1

5.17 SETUSER/GETUSER

5.18 GETHW

5.20 SETDEFAULT

5.21 SAVE

5.22 DEPLOY

5.23 FWRITE

5.24 POWERDOWN

5.25 ERASE

5.26 FORMAT

5.27 SECREBOOT

5.28 LISTFILES

5.29 DOWNLOAD

5.31 GETSTATE

GETERROR

5.33 GETALL

5.34 RECSTAT

5.35 GETMISCLIM

5.36 GETXFAVG / GETXFBURST

5.37 SETTMAVG/GETTMAVG/GETTMAVGLIM

5.38 SETTMBURST/GETTMBURST/GETTMBURSTLIM

5.39 SETTMALTI/GETTMALTI/GETTMALTILIM

5.40 SETTMBT/GETTMBT/GETTMBTLIM

5.41 TMSTAT

5.42 DOWNLOADTM

5.43 STOREHEADERTM

5.44 ERASETM

6 Data formats

6.1 Header Definition

6.1.1 Checksum Definition

6.1.2 Burst/Average Data Record Definition (DF3)

6.1.3 Bottom Track Data Record Definition (DF20)

6.2 String Data Record Definition

6.3 Data Limit Formats

7 Telemetry Data Formats

7.1 Averaging Mode

7.1.1 AWAC NMEA Format (DF=100)

7.1.2 NMEA Format 1 and 2 (DF=101/102)

7.1.3 NMEA Format 3 and 4 (DF=103/104)

7.1.4 RDI Workhorse PD0 data format.

7.2 Burst