Teledyne WORKHORSE, Operation Manual, Page: 246 / 258

May 2015 WorkHorse H-ADCP Operation Manual
Page 234
EAR-Controlled Technology Subject to Restrictions Contained on the Cover Page.
Table 49: DVL Output Data Format (PD6)
Line Description
6 WATER-MASS, EARTH-REFERENCED DISTANCE DATA
:WD,±EEEEEEEE.EE,±NNNNNNNN.NN,±UUUUUUUU.UU,DDDD.DD,TTT.TT <CR><LF>
where:
+EEEEEEEE.EE = East (u-axis) distance data in meters
+NNNNNNNN.NN = North (v-axis) distance data in meters
+UUUUUUUU.UU = Upward (w-axis) distance data in meters
DDDD.DD = Range to water-mass center in meters
TTT.TT = Time since last good-velocity estimate in seconds
7 BOTTOM-TRACK, INSTRUMENT-REFERENCED VELOCITY DATA
:BI,±XXXXX,±YYYYY,±ZZZZZ,±EEEEE,S <CR><LF>
where:
±XXXXX = X-axis velocity data in mm/s (+ = Bm1 Bm2 xdcr movement relative to bottom)
±YYYYY = Y-axis velocity data in mm/s (+ = Bm4 Bm3 xdcr movement relative to bottom)
±ZZZZZ = Z-axis velocity data in mm/s (+ = transducer movement away from bottom)
±EEEEE = Error velocity data in mm/s
S = Status of velocity data (A = good, V = bad)
8 BOTTOM-TRACK, SHIP-REFERENCED VELOCITY DATA
:BS,±TTTTT,±LLLLL,±NNNNN,S <CR><LF>
where:
±TTTTT = Transverse vel. data in mm/s (+ = Port Stbd ship movement relative to bottom)
±LLLLL = Longitudinal vel. data in mm/s (+ = Aft Fwd ship movement relative to bottom)
±NNNNN = Normal velocity data in mm/s (+ = ship movement away from bottom)
S = Status of velocity data (A = good, V = bad)
9 BOTTOM-TRACK, EARTH-REFERENCED VELOCITY DATA
:BE,±EEEEE,±NNNNN,±UUUUU,S <CR><LF>
where:
±EEEEE = East (u-axis) velocity data in mm/s (+ = H-ADCP movement to east)
±NNNNN = North (v-axis) velocity data in mm/s (+ = H-ADCP movement to north)
±UUUUU = Upward (w-axis) velocity data in mm/s (+ = H-ADCP movement to surface)
S = Status of velocity data (A = good, V = bad)
10 BOTTOM-TRACK, EARTH-REFERENCED DISTANCE DATA
:BD,±EEEEEEEE.EE,±NNNNNNNN.NN,±UUUUUUUU.UU,DDDD.DD,TTT.TT <CR><LF>
where:
+EEEEEEEE.EE = East (u-axis) distance data in meters
+NNNNNNNN.NN = North (v-axis) distance data in meters
+UUUUUUUU.UU = Upward (w-axis) distance data in meters
DDDD.DD = Range to bottom in meters
TTT.TT = Time since last good-velocity estimate in seconds
The PD6 output does not pad spaces with zeroes. The spaces are left intact. The example below shows a
realistic output from a H-ADCP locked onto the bottom.
:SA, -2.31, +1.92, 75.20
:TS,04081111563644,35.0,+21.0, 0.0,1524.0, 0
:WI,-32768,-32768,-32768,-32768,V
:BI, +24, -6, -20, -4,A
:WS,-32768,-32768,-32768,V
:BS, -13, +21, -20,A
:WE,-32768,-32768,-32768,V