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Teledyne WORKHORSE Operation Manual Download Page 40

May

 

2015 

WorkHorse H-ADCP Operation Manual 

Page 28 

EAR-Controlled Technology Subject to Restrictions Contained on the Cover Page.

 

 

 

 

Figure 14. 

SurfaceView

 Deployment Screen 

Intensity Plot 
Start collecting data and check the intensity profile for abnormal data. What you are looking for are unu-

sually large spikes, especially ones that stay fixed along the Y-axis of the plot. 
Spikes that don't move are usually fixed objects in the water like rocks or pylons. Spikes that move along 

the Y-axis are usually moving objects like schools of fish or logs. 
It is important to mount the H-ADCP in a location free from fixed obstructions. The velocity data will be 

questionable if the intensity profile shows abnormalities. 

 

Figure 15. 

SurfaceView

 Intensity Profile 

Summary of Contents for WORKHORSE

Page 1: ...icense exception or other approval from the appropriate U S Government agency before being exported from the United States or provided to any foreign person Diversion contrary to U S law is prohibited WORKHORSE HORIZONTAL H ADCP OPERATION MANUAL P N 957 6212 00 May 2015 2015 Teledyne RD Instruments Inc All rights reserved ...

Page 2: ...Page ii EAR Controlled Technology Subject to Restrictions Contained on the Cover Page ...

Page 3: ... the H ADCP to a Structure 23 H ADCP Wave System Installation Checklist 25 Testing the Installed H ADCP 27 Periodic Maintenance 29 CHAPTER 3 COLLECTING DATA 31 Collecting Data with SurfaceView 32 Data Playback with SurfaceView 37 Data Recovery 38 Recover a Single File using BBTalk 38 Recover the Entire Recorder using BBTalk 38 Recover a Single File Using Direct Commands 39 Recover Recorder Using D...

Page 4: ...oefficients 72 Testing the System after Board Replacement 72 Replacing the End Cap Connector 73 Equipment Provided 73 Customer Supplied Additional Equipment 73 Removing the End Cap Connector 74 Installing the New End Cap Connector 75 Wiring Diagrams 77 Replacing the H ADCP Lithium Battery 78 Testing the Lithium Battery Voltage 78 Replacing the Lithium Battery 79 CHAPTER 5 TROUBLESHOOTING 81 Equipm...

Page 5: ... Field Calibrate Compass 128 AR Return to Factory Calibration 128 AX Examine Compass Calibration 129 AZ Zero Pressure Sensor 130 Bottom Track Commands 131 Available Bottom Track Commands 131 Bottom Track Command Descriptions 131 BA Evaluation Amplitude Minimum 131 BB High Bandwidth Maximum Depth 132 BC Correlation Magnitude Minimum 132 BE Error Velocity Maximum 132 BF Depth Guess 133 BI Gain Switc...

Page 6: ...nd Testing Commands 154 Performance and Testing Command Descriptions 154 PA Pre deployment Tests 154 PC User Interactive Built In Tests 155 PD Data Stream Select 156 PM Distance Measurement Facility 157 PS Display System Parameters 157 PT Built In Tests 159 PT Test Results Error Codes 159 PT0 Help 159 PT2 Ancillary System Data 160 PT3 Receive Path 160 PT4 Transmit Path 161 PT5 Electronics Wrap Aro...

Page 7: ...vailable Sound Velocity Smart Sensor Command 181 Sound Velocity Smart Sensor Descriptions 181 DB RS 485 Port Control 181 DS Load SpeedOfSound with SVSS Sample BIT Result 182 DW Current ID on RS 485 Bus 182 DX Set SVSS to RAW Mode 182 DY Set SVSS to REAL Mode 183 DZ Get Single SCAN from SVSS 183 Waves Commands 184 Available Waves Commands 184 Waves Command Descriptions 184 HA Waves False Target Thr...

Page 8: ...inary Data Format PD5 231 DVL Output Data Format PD5 Details 232 DVL Output Data Format PD6 233 PD8 ASCII Output 235 H ADCP Condensed 2D Output Format PD14 236 PD14 Format 236 PD14 Invalid Data 236 Output Data Format PD16 238 Output Data Format PD18 238 How to Decode an H ADCP Ensemble 239 Rules for the BroadBand Data Format PD0 239 Decoding Sequence for PD0 Data 240 Decoding Sequence Example 240 ...

Page 9: ... with Isolation Bushing 76 Figure 37 End Cap Connector Wiring H ADCP 77 Figure 38 Lithium Battery Test Points on the CPU Board 79 Figure 39 Lithium Battery 80 Figure 40 H ADCP Wake up and Timer Logic 95 Figure 41 DC Power Path 96 Figure 42 H ADCP Block Diagram 97 Figure 43 Water Mass Layer Processing 135 Figure 44 H ADCP Coordinate Transformation 152 Figure 45 PT7 RSSI Bandwidth Test 164 Figure 46...

Page 10: ...Failure 161 Table 27 PT6 Receive Bandwidth Nominal Values 163 Table 28 Bandwidth Control 174 Table 29 Ping Weights 179 Table 30 WV command Maximum Setting 20 Degree 180 Table 31 Waves Flow Control 186 Table 32 Synchronization Parameters 189 Table 33 Sleep Mode Parameters 191 Table 34 Summary of Output Data Formats 197 Table 35 Header Data Format 200 Table 36 Fixed Leader Data Format 203 Table 37 V...

Page 11: ...s for ICN 145 I O Connector Lubricant Added corrections for ICN 153 Converting ADC channels Updated the installation instructions Updated the maintenance procedures and parts location drawings Updated the specifications and outline installation drawings Updated Commands and Output Data Format to firmware version 11 11 Updated styles and fonts December 2008 General update to the manual Removed add ...

Page 12: ...Page xii EAR Controlled Technology Subject to Restrictions Contained on the Cover Page EXCLUSIONS AND OMISSIONS 1 None ...

Page 13: ...d Technology Subject to Restrictions Contained on the Cover Page Page 1 Chapter 1 AT A GLANCE In this chapter you will learn H ADCP Models and Options System Overview Computer Considerations Power Overview Setting up the H ADCP Caring for your H ADCP System ...

Page 14: ...r Current Profiler H ADCP Operation Manual have been established to help learn how to use the system quickly and easily Menu items are printed in bold click Collect Data Items that need to be typed by the user or keys to press will be shown as F1 If a key combination were joined with a plus sign ALT F press and hold the first key while pressing the second key Words printed in italics include progr...

Page 15: ... weights Picture Description The Input Output I O cable connects the H ADCP to the computer and external power supply When the cable is not connected use the dummy plug to protect the connector The optional pressure sensor standard 200 Bar measures water pressure depth The orange urethane faces covers the transducer ceramics Never set the transducer on a hard surface The urethane faces may be dama...

Page 16: ...May 2015 WorkHorse H ADCP Operation Manual Page 4 EAR Controlled Technology Subject to Restrictions Contained on the Cover Page Figure 1 300 600 kHz H ADCP Overview Figure 2 300 kHz NB H ADCP Overview ...

Page 17: ...ion CD This CD has PDF versions of all of the H ADCP documentation Please read the manual 957 6276 00 H ADCP Setup Card A printed reference card showing H ADCP connection and inventory A PDF version is included on the H ADCP documentation CD 907 8040 00 RDI Tools Software CD Utility and testing software package including BBTalk that can be used to test the H ADCP 907 8076 00 907 8082 00 Waves Soft...

Page 18: ...s XP Windows 7 Windows 8 One Serial Port two or more High Speed UART Serial Port recommended Minimum display resolution of 1024 x 768 256 color higher recommended The computer configuration varies depending of the number of communication ports and the external data refresh rate Serial communications require a lot of processor resources and the minimum require ments can vary A good quality video ca...

Page 19: ...ly charge up the capacitors when power is applied to the H ADCP The capacitors provide a store of energy for use during transmit The inrush current is as high as 3 Amps rms The H ADCP will draw this amperage until its capacitors are fully charged If the power supply limits the current or the power drop on the cable is significant then the power on cycle will take longer It can take up to one minut...

Page 20: ...t in against the connector Roll the retaining strap over the connector Place a light amount of dry silicone lubricant spray on the connector pins rubber portion only This will make it easier to connect or remove the I O cable and dummy plug See I O Cable and Dummy Plug for details 2 Attach the I O cable to your computer s communication port The standard communications set tings are RS 232 9600 bau...

Page 21: ... the H ADCP Start BBTalk Start the BBTalk program for help on using BBTalk see the RDI Tools User s Guide On the Connect To screen select WorkHorse Select the COM port the H ADCP cable is connected to Click Next Enter the Baud Rate Parity Stop Bits and Flow Con trol If you are unsure of the settings leave them at the default settings as shown Click Next Click Finish ...

Page 22: ...bleshooting sec tion If the wakeup message is not readable or visible On the File menu click Properties Click the Auto Detect H ADCP button Click OK when the H ADCP is detected Try to wake up the H ADCP again Both BBTalk and the H ADCP must use the same Baud rate Testing the H ADCP These tests checks that the H ADCP is able to communicate with the computer and runs the H ADCP Pre Deployment tests ...

Page 23: ...he H ADCP system configuration data pa PRE DEPLOYMENT TESTS CPU TESTS RTC PASS RAM PASS ROM PASS RECORDER TESTS PC Card 0 NOT DETECTED Card Detect PASS Communication PASS DOS Structure PASS Sector Test short PASS PC Card 1 NOT DETECTED DSP TESTS Timing RAM PASS Demod RAM PASS Demod REG PASS FIFOs PASS SYSTEM TESTS XILINX Interrupts IRQ3 IRQ3 IRQ3 PASS Receive Loop Back PASS Wide Bandwidth PASS Nar...

Page 24: ...ith the End key At the prompt in the communication window type CR1 then press the Enter key This will set the H ADCP to the factory default settings BAUD RATE CB command 300 CB011 1200 CB111 2400 CB211 4800 CB311 9600 CB411 Default 19200 CB511 38400 CB611 57600 CB711 115200 CB811 Send the CB command that selects the baud rate you wish The table on the left shows the CB command settings for differe...

Page 25: ... inside the housing Do not scratch or damage the O ring surfaces or grooves If scratches or damage exists they may provide a leakage path and cause the H ADCP to flood Do not risk a deployment with damaged O ring surfaces Do not lift or support an H ADCP by the external I O cable The connector or cable will break The 300 kHz NB H ADCP should only be lifted by holding onto the transducer mounting p...

Page 26: ...to the H ADCP Other metals may cause corrosion damage Use isolating bush ings when mounting the H ADCP to a metal structure Keep this in mind when fabricat ing a fixture which materials to use or deciding how to place it at the installation site Sacrificial anodes are fitted to the H ADCP to prevent corrosion see Zinc Anode Inspection and Replacement Standard anode protection will typically protec...

Page 27: ...y Subject to Restrictions Contained on the Cover Page Page 15 Chapter 2 INSTALLATION In this chapter you will learn How to connect disconnect the I O cable How to connect the optional external battery case Cable wiring diagrams Available mounts for the WorkHorse H ADCP ...

Page 28: ...al serious problems a The connector or connector pins can crack b The O ring on the bottom of the connector can be damaged c The molded urethane on the connector may separate from the brass insert If the connector is damaged in any of these ways your H ADCP will flood Disconnecting the Cable To disconnect the cable 1 Release the retaining strap by pulling it over the connector 2 Grasp the cable cl...

Page 29: ... Apply dry type silicone lubricant prior to each connection When the cable is connected without any lubricant excessive force is needed to fully seat or remove the connector This can cause several serious problems The neoprene rubber portion of the contact pin may tear from the metal pin Wiggling the cable side to side to overcome the friction as it is connected or disconnected may cause the neopr...

Page 30: ...Route this cable so It does not have kinks or sharp bends Protect the cables with hose if zip ties are used to secure them to structures see Figure 6 The cable can easily be replaced it if it fails The cable connector is not spliced The wet end connector is 3 0cm 1 18 inches long 2 54cm 1 00 inches wide 1 27cm 0 5 inches high Model Impulse LPMIL 7 FS Figure 6 Do not use Zip Ties Directly on Cables...

Page 31: ...m and may not be shown here If you feel there is a conflict contact TRDI for specific infor mation about your system The following figures show various H ADCP cable locations connectors and pin outs Where shown the color code is for reference only your cable may be different Figure 7 I O Cable Wiring Where shown IN refers to signals going into the H ADCP and OUT refers to signals coming out of the...

Page 32: ... down for maintenance 3 Dual taught wire system lowered via a winch 4 Free hanging from a spreader bar lowered over the side of the platform from a winch The two preferred methods are fixed mounted or via the dual taught wire method to eliminate any head ing roll or pitch movement Changes in transducer orientation will cause errors in water velocity meas urements Fixed mounted and rail system moun...

Page 33: ...ction connects the H ADCP s metal housing to a more easily corroded sacrificial metal anode The sacrificial metal then corrodes instead of the protected metal The anode only provides cathodic protection as long as it is present and connected to the H ADCP housing check the anode condition on a regular basis Figure 9 Cathodic Protection and Anodes Dissimilar metals and alloys have different electro...

Page 34: ... looking horizontally also called side looking The pressure sensor which is for water depth measurement must be looking up towards the water surface X Axis Pitch is measured around the X axis and should be set to zero Y Axis Roll is measured around the Y axis and should be set to zero Pressure Sensor The pressure sensor must be facing up towards the water surface for the 300 kHz NB H ADCP it is fa...

Page 35: ...sure that the I O cable is routed so that it is not subject to becoming entangled or snagged Bolt the H ADCP to the structure using isolating bushings when mounting the H ADCP to a metal struc ture Your H ADCP transducer housing and mounting plate is made of aluminum that is protected by sacrificial anodes and a hard anodize coat and paint Do not connect other metal to the H ADCP Other metals may ...

Page 36: ...dle the system during production of the H ADCP Do not use these holes to mount the H ADCP or connect any other metal structures to the H ADCP This can lead to Galvanic Corrosion and destruction of the H ADCP Poor Mount H ADCP mount is using the two M5 tapped holes to connect to a metal structure Good Mount H ADCP mount uses the three user mounting holes with isolation bushings Does not use the two...

Page 37: ...cting the beams close to the system makes collecting data impossible o The bottom is a fixed obstruction and one must choose range cells that are short of it if deployed in shallow water o The system is resilient to striking the surface at a grazing angle o A very large sea state will create wave troughs that block the beams if the deployment depth is too shallow Know Your Heading 1 Confirm that t...

Page 38: ...ance with frequency and min imum wave height has been de rated for these kinds of dynamics 2 Pitch is the most damaging of the types of motion Pitch causes the depth of the range cells to move up and down in partially correlated fashion with the waves The consequence of dynamic pitching is that the highest usable frequency will be reduced 0 2 Hz rather than 0 5Hz at 10m deployment depth 3 Roll is ...

Page 39: ...ollect 2048 5 The upper cutoff frequency default is 0 2Hz 5 second period waves While we can often out perform this it is a setting that will work across a wide range of deployment conditions and environments 6 You must collect data using Beam Coordinates in order to calculate waves data Testing the Installed H ADCP Once the H ADCP is mounted in the water it s time to communicate with it and make ...

Page 40: ...king for are unu sually large spikes especially ones that stay fixed along the Y axis of the plot Spikes that don t move are usually fixed objects in the water like rocks or pylons Spikes that move along the Y axis are usually moving objects like schools of fish or logs It is important to mount the H ADCP in a location free from fixed obstructions The velocity data will be questionable if the inte...

Page 41: ... should be the hottest that can be found Water flowing across the transducers will wash this mix away over time The silicone mixture tends to last longer Some organizations may decide to use antifouling grease However most antifouling greases are toxic and may cause problems Recent tests suggest antifouling grease may cause the urethane on the transducer faces to develop cracks Warmer temperatures...

Page 42: ...May 2015 WorkHorse H ADCP Operation Manual Page 30 EAR Controlled Technology Subject to Restrictions Contained on the Cover Page NOTES ...

Page 43: ...DCP Operation Manual May 2015 EAR Controlled Technology Subject to Restrictions Contained on the Cover Page Page 31 Chapter 3 COLLECTING DATA In this chapter you will learn How to collect data How to play back data ...

Page 44: ... Windows 7 or 8 Start SurfaceView Start SurfaceView by double clicking the SurfaceView icon On the Start Wizard click Real Time Data Acquisition Click Next Setup Communications A message box will display whenever the wizard is waiting for a response from the COM port device If the connection did not get automatically made on the Communications Settings dialog box select the COM Port Baudrate Datab...

Page 45: ...e Pick Directory button to select the directory Use the Date Time in File Name selection to add the Date and Time to the file name Enter a Maximum File Size in the box When the data file size reaches the maximum limit the file will be closed and a new data file generated with an incre mented file name Click Next Click the Browse button and select a path to save the Peak Mean Data Log file CSV CSV ...

Page 46: ...Wizard for standalone operation of Sur faceView If you will be collecting waves data with SurfaceWaves use the Command File option Enter the H ADCP Setup Choices SurfaceView enters the default settings in the Parame ter Setup screen based on the H ADCP frequency Leave the default settings for the Number of Cells Cell Size and Blank Distance for this Quick Start example ...

Page 47: ... in the box only available if using Earth coordinates ADCP Xducer Depth If the H ADCP does not have a pressure sensor check the Use Manual Depth box and set the depth of the H ADCP transducer faces below the surface This value is used by the H ADCP to calcu late the speed of sound ADCP Xducer Heading If the H ADCP does not have a compass check the Use Manual Heading box and enter the heading of th...

Page 48: ...P Operation Manual Page 36 EAR Controlled Technology Subject to Restrictions Contained on the Cover Page Start Data Collection Click Finish to begin data collection See the SurfaceView User s Guide for details on the displays ...

Page 49: ...k of H ADCP current profile data Start SurfaceView by double clicking the SurfaceView icon On the Start Wizard click Playback Processing Click Next Select the Data File On the Playback File Selection screen select the file to be played by clicking the Browse button and click the Open button Click Next Select the Bin Selection by clicking the Change Bin Selection box Enter the bins you want and cli...

Page 50: ...start the BBTalk program send a BREAK to wake up the H ADCP and send CR1 Then on the menu bar click File and then the Recover Recorder selection This process will ask you to select your recording directory path After selecting the path and clicking OK BBTalk will then display the H ADCP recorder s contents To recover a single file click the filename in the H ADCP recorder s contents and then click...

Page 51: ...p The response will be to receive the H ADCP wake up banner followed by a prompt Example BREAK Wakeup A WorkHorse Broadband ADCP Version 16 30 RD Instruments c 1996 2008 All rights reserved 2 CR1 This places the H ADCP in factory default mode The H ADCP will respond confirming that it has been reset to factory defaults and outputting a prompt Example cr1 Parameters set to FACTORY defaults 3 RR The...

Page 52: ...s is a 100ms transition signal sent to the H ADCP to wake it up The response will be to receive the H ADCP wake up banner followed by a prompt Example BREAK Wakeup A WorkHorse Broadband ADCP Version 16 30 RD Instruments c 1996 2008 All rights reserved 2 CR1 This places the H ADCP in factory default mode The H ADCP will respond confirming that it has been reset to factory defaults and outputting a ...

Page 53: ...ctions Contained on the Cover Page Page 41 Chapter 4 MAINTENANCE In this chapter you will learn Where parts are located on the H ADCP How to spot problems How to take the H ADCP apart and put it back together How to replace the batteries How to do periodic maintenance items on the H ADCP ...

Page 54: ...ogy Subject to Restrictions Contained on the Cover Page Parts Location Drawings This section is a visual overview of the inside and outside parts of the H ADCP Use the following figures to identify the parts used on your system Figure 17 300 kHz NB Assembly One Piece Housing ...

Page 55: ...WorkHorse H ADCP Operation Manual May 2015 EAR Controlled Technology Subject to Restrictions Contained on the Cover Page Page 43 Figure 18 300 kHz NB Assembly Two Piece Housing ...

Page 56: ...May 2015 WorkHorse H ADCP Operation Manual Page 44 EAR Controlled Technology Subject to Restrictions Contained on the Cover Page Figure 19 300 600 kHz H ADCP Assembly ...

Page 57: ...first 12 months of operation The fluxgate compasses accumulate an error of approximately 1 over a year Maintenance Items Inspect the H ADCP to spot problems Item TRDI Recommended Period Transducer Beams The urethane coating is important to H ADCP watertight integrity Many users are not familiar with the early signs of urethane failure The primary damage to the urethane is from bio fouling and long...

Page 58: ... than 75 in contact with the bolt Replace all anodes every one to two years maximum Cables and Connectors Check the end cap I O connector for cracks or bent pins see Figure 21 before each deployment Replace the end cap I O connector every five years as a normal maintenance item see Table 4 Replace ment Kits to order parts Check the cable connectors for cracks or bent pins Inspect the full length o...

Page 59: ...7Z 6052 00 O Ring 2 260 97Z 6050 00 O Ring 2 258 97Z 6068 00 O Ring Backup 8 258 DES3 Desiccant Sealed Bag M10COMBINATION Wrench 10MM COMB Used to attach housing to transducer M13COMBINATION Wrench 13MM COMB 7289A16 Key Hex 5M 7289A17 Key Hex 6M 305D0010 Bushing Inst housing 810 4004 00 Bushing Inst housing M6WASHSPLTI Washer 6MM Split Lock M6WASHSTDTI Washer Flat 12 5MM OD M6X1 0NUTTI Nut Hex 10M...

Page 60: ...101 4 Socket Crimp 18 16AWG 817 1067 00 Screw Pressure Sensor Pressure Sensor Table 4 Replacement Kits Part Number Description Where Used 757K6122 00 H ADCP End Cap Tools Kit Replacing the End Cap Connector 757K6134 00 757K6144 00 End Cap Connector Replacement Kit requires the H ADCP End Cap Tools Kit 810 4006 00 Anode end cap H ADCP 300 600 kHz Zinc Anode Inspection and Replacement 817 1086 00 An...

Page 61: ...mended that you loosen but do not remove the four transducer bolts to allow any internal pressure to be vented from the system Loosen the transducer bolts two turns each in a cross pattern Repeat until the face seal O ring is not compressed and the system has the opportunity to vent If you note that the transducer moves as you loosen the bolts then this may indicate that internal pressure is prese...

Page 62: ...he four end cap bolts to allow any internal pressure to be vented from the system Loosen the end cap bolts two turns each in a cross pattern Repeat until the face seal O ring is not compressed and the system has the opportunity to vent If you note that the end cap moves as you loosen the bolts then this may indicate that internal pressure is present Be sure to only loosen the bolts far enough to a...

Page 63: ...ng TRDI strongly recommends replacing these O rings whenever you disassemble the H ADCP Inspecting and replacing the O rings should be the last maintenance task done before sealing the H ADCP TRDI recommends you use new O rings if you are preparing for a deployment To replace the O Ring 1 Inspect the O rings When viewed with an unaided eye the O rings must be free of cuts indenta tions abrasions f...

Page 64: ...a very thin coat of silicone lube on the O ring TRDI recommends you use new O rings if you are preparing for a deployment Apply a very thin coat of silicone lube on the O ring Using too much silicone lube on the O ring can be more harmful than using no O ring lube at all 3 Connect the internal I O connector to the plug on the common mode choke 4 Gently lower the transducer head electronics assembl...

Page 65: ... bolts is 9 6 Newton meters 85 pound inches End Cap Replacement To replace the end cap 1 Stand the H ADCP on its transducer face on a soft pad 2 Inspect clean and lubricate the O ring on the housing see O ring Inspection and Replacement Apply a very thin coat of silicone lube on the O ring TRDI recommends you use new O rings if you are preparing for a deployment Apply a very thin coat of silicone ...

Page 66: ...dly absorbs mois ture from normal room air The average dry weight of a new desiccant bag is 7 2 grams 5 The weight increases to 8 4 to 9 grams for a used desiccant bag Used desiccant bags may be dried at 250 for 14 hours As a minimum replace the desiccant bags Table 2 item 6 whenever you are preparing to deploy or store the H ADCP for an ex tended time Do not open the desiccant bag Contact with th...

Page 67: ...nd all areas between deployments The pressure sensor is filled with silicone oil Never poke a needle or other object through the copper screw while the screw is installed over the pressure sensor You will perforate the sensor causing it to fail Do not attempt to clean the surface of the pressure sensor The diaphragm is very thin and easy to damage If the pressure sensor surface looks corroded or i...

Page 68: ...your local laws Antifouling Paints You can use almost any EPA approved anti fouling paint on the housing or the urethane transducer faces Contact the antifouling paint manufacturer for preparation and application procedures for this and other antifoulant paints Interlux is one source of antifouling paint Contacting this company is done with the knowledge that Teledyne RD Instruments is not recomme...

Page 69: ...es the optional pressure sensor do not block the sensor port The sensor port is a small hole in the center of the copper screw see Pressure Sensor Maintenance During anti fouling paint application tape off the screw Once the anti fouling paint has cured remove the tape This means that the sensor port is not fully protected from bio fouling Even though the sensor port is surrounded by the antifouli...

Page 70: ...should send the H ADCP to TRDI for repair If you do not think you can remove barnacles without damaging the transducer faces contact TRDI 2 Rinse with fresh water to remove soap or Lime Away residue 3 Dry the transducer faces with low pressure compressed air or soft lint free towels Always dry the H ADCP before placing it in the storage case to avoid fungus or mold growth Do not store the H ADCP i...

Page 71: ...anode to protect the housing anodizing and paint Carefully strike the block to loosen the anode 3 Clean the bonding area under the anode Remove all foreign matter and corrosion Apply a con tinuous 1 to 2 mm bead 0 04 0 08 in of RTV around each screw hole 4 Set a new anode in place and fasten with new screws 5 Fill the counter bore above each screw head with RTV The RTV protects the screw heads fro...

Page 72: ...table compass error Compass error is based not only on the quantity of measurements made during the cali bration but also the quality of the magnetic environment Attempting to calibrate the compass in a poor environment e g near fixed ferrous objects will likely result in an unacceptable compass error regardless of how well the calibration is performed The Single tilt calibration is intended for a...

Page 73: ...k to wake up the H ADCP 3 At the prompt type AX and press the Return key 4 When prompted rotate the H ADCP slowly 360 degrees approximately 5 degrees per second Pay particular attention to the Overall Error For example HEADING ERROR ESTIMATE FOR THE CURRENT COMPASS CALIBRATION OVERALL ERROR Peak Double Single Cycle Error should be 5 1 55 DETAILED ERROR SUMMARY Single Cycle Error 1 54 Double Cycle ...

Page 74: ...cessary The tilts must remain constant during the rotations The transducer beam is the center point of the rotation 5 When prompted rotate the H ADCP slowly 360 degrees approximately 5 degrees per second 6 The second rotation requires the H ADCP to be tilted 15 degrees in another direction than from the first rotation see Figure 24 Follow the on screen instructions to orient the H ADCP correct ly ...

Page 75: ...Field Service rdifs teledyne com to request a copy To install a firmware upgrade 1 Connect the H ADCP to the computer as shown in Setting up the H ADCP System 2 Start the program HAxxx exe where xxx is the firmware number Click the Setup button 3 Click Setup Click the View README TXT button to view the Readme txt file for details on what is new in this version of the firmware 4 Click Next and foll...

Page 76: ...talling the feature upgrade see Firmware Upgrades To install a feature upgrade 1 Set up the H ADCP as shown in Setting up the H ADCP System 2 Start the program Activate_HA_xxxx exe where xxxx is the H ADCP s serial number 3 The installation program will start see Figure 25 The program is encoded with the H ADCP s serial number and the requested feature upgrade Figure 25 Installing Feature Upgrades...

Page 77: ...air To repair or touch up the protective paint 1 Remove all loose paint without damaging the anodizing Clean and prepare the damaged area us ing a fine grade abrasive cloth Feather the edges of the paint near the damaged area Try to have a smooth transition between the paint and the damaged area Do not sand the anodized area If there is damage to the anodizing return the H ADCP to TRDI for repair ...

Page 78: ...head see Housing Assembly Removal 3 Remove the PC cards by pushing the button on the side of the PCMCIA card slot The card should pop out of the connector If you cannot reach the release button with your finger use a plastic pen or non conductive tool to depress the button Do not try to force the card in or out of the con nector PC cards slide easily in or out when properly oriented Figure 26 PC C...

Page 79: ...he fuse housing Turn the end 180 counter clockwise to open the fuse housing 4 Gently pull the fuse housing out Turn the housing to remove the fuse 5 Check the fuse using an ohmmeter Replace the fuse if necessary with the correct voltage and am perage fuse Table 2 item 7 6 Install the transducer head see Housing Assembly Replacement 7 Test the system see Testing the H ADCP Changing Communications S...

Page 80: ...g static protection strap The electronics in the H ADCP are very sensitive to static discharge Static discharge can cause damage that will not be seen immediately and will result in early failure of electronic components TRDI assumes that a qualified technician or equivalent will perform all of the following work The Spare Boards Set will allow your system to perform to the same velocity specifica...

Page 81: ...e from the PIO board If this is not possible you may unplug the cable from the Receiver board Be sure to note its orientation before unplugging Figure 28 Transmit Cable 4 Once the transmit cable has been disconnected you may now remove the top three boards as a set by lifting the set straight up These top three boards are connected to each other via connectors and will remain as one piece see Figu...

Page 82: ...our earth ground static protection strap on remove the Spare Board Kit from the anti static bag 2 Using a 3 mm Allen wrench and a 7mm wrench remove the nuts from the bolts that secure the Spare Boards together You will be using these bolts to secure the spare set in your system DO NOT change the position of any of the bolts The bolt containing the felt washers and ground jumper must remain in the ...

Page 83: ...h VXMT 19 3 Volts rms Data 4ch Z 999 9 Ohms Transmit Test Results C0 FAIL 6 Insert the four new bolts and tighten to 6 Pound Force Inch 0 67 Nm 7 Install the Transducer into the Pressure Case See H ADCP Re assembly for instructions Figure 31 Mounting Hardware Installing the Beam Cosine Matrix The beam cosine matrix table corrects small transducer beam misalignment angles that occur during manufact...

Page 84: ...ents loaded by viewing the PS0 results Testing the System after Board Replacement To test the system after replace any board s 1 Install the Transducer in the Pressure Case 2 Connect the cable and power as you normally do and test the H ADCP as shown in Testing the H ADCP All PA tests should pass when run in water and the PC tests should pass with the H ADCP out of water 3 Perform a field calibrat...

Page 85: ...owing Socket lock nut removal Extracting wrench Plug dummy modified The End Cap Replacement Kit P N 757K6123 00 200 and 500 meter systems 757K6125 00 6000 me ter systems and 757K6149 00 H ADCP External Battery case includes the following 7 pin end cap connector with cable and 2 014 O ring Isolation bushing and 2 017 O ring metal end caps only Connector header 8 pin Molex or 2 pin as needed Fuses a...

Page 86: ...ert the modified dummy plug into the connector Figure 32 Modified Dummy Plug 3 Place the Extracting Wrench over the connector and dummy plug The wrench will fit into the End Cap slot Figure 33 Extracting Wrench 4 Flip the end cap assembly over and insert the socket onto the lock nut Slide the cable wires into the socket s clearance slot Figure 34 Lock Nut Removal Socket 5 Attach a ratchet wrench t...

Page 87: ... cap if any burrs or divots are found These could provide a leakage path into the H ADCP housing Installing the New End Cap Connector To install the new connector 1 Clean the connector threads with Flux Off cleaner or similar product 2 Apply a light coat of silicon lubricant onto the O rings P N 2 014 and 2 017 Do not over lube the O rings 3 Systems with a metal end cap use an isolation bushing an...

Page 88: ...ms out in the O ring pocket Do not score or scratch the bore or the O ring pocket sealing face 9 Feed the brass nut through the wires and pins and hand tighten onto the connector threads 10 Place the Extracting Wrench over the connector and dummy plug The wrench will fit into the End Cap slot between the 2 rails see Figure 33 Extracting Wrench 11 Flip the End Cap assembly over and insert the slott...

Page 89: ...lled use a multi meter to confirm that the connector has been wired properly by performing an end to end continuity check 16 Use the black lacing cord to bind the connector wires together The lacing is applied by wrapping it around the wire bundle approximately four times and then tying it securely with a square knot Each wrap on the wire bundle should be spaced approximately 3 inches apart This w...

Page 90: ... safe work space Soft pad ESD Safe to rest H ADCP on while dissembling and reassembly Anti static ground strap Hex wrenches O rings and desiccant for H ADCP Soldering iron Digital multi meter Lithium battery VL2330 Testing the Lithium Battery Voltage To verify that the lithium battery is working 1 Remove the transducer head assembly 2 Measure the voltage on the CPU board between TP17 BAT and TP20 ...

Page 91: ...Attach an earth grounded wrist strap Before handling any of the H ADCP boards you must be sure that you always wear an earth grounding static protection strap The electronics in the H ADCP are very sensitive to electro static discharge ESD ESD can cause damage that will not be seen immediately and will result in early failure of electronic components 2 Remove all power from the H ADCP Wait a few m...

Page 92: ...ge 7 Install the new battery assembly VL2330 Please note the battery pins the battery can only be installed one way Figure 39 Lithium Battery 8 Verify the voltage holds stable at approximately 3 VDC see Testing the Lithium Battery Voltage step 2 9 Replace the transducer head assembly Make sure to use new O rings and desiccant ...

Page 93: ...tions Contained on the Cover Page Page 81 Chapter 5 TROUBLESHOOTING In this chapter you will learn Basic Steps in Troubleshooting Troubleshooting a Communication Failure Troubleshooting a Built In Test Failure Troubleshooting a Beam Failure Troubleshooting a Sensor Failure System Overview ...

Page 94: ...ons please contact Teledyne RD Instruments see Technical Support for contact information to obtain the correct part number for your specific system configuration Please provide the serial number of the H ADCP when contacting Teledyne RD Instruments about a replacement assembly If you want to replace the I O Cable only then please provide the cable length Equipment Required Special test equipment i...

Page 95: ...cur This section explains how to troubleshoot and fault isolate problems to the Least Replaceable Assembly level see Table 5 Before troubleshooting review the procedures figures and tables in this guide Also read the System Overview to understand how the H ADCP processes data Under all circumstances follow the safety rules listed in the Troubleshooting Safety Troubleshooting Safety Follow all safe...

Page 96: ...es with a switch on the PIO board in the H ADCP To successfully communicate both the host computer and the H ADCP must communicate using the same class of serial interface Standard serial interfaces in IBM compatible computers are also RS 232 If you have just received your H ADCP from TRDI the standard configuration is RS 232 for Sentinels and RS 422 for Monitors and Mariners If you are using a hi...

Page 97: ...ear their end of life and are approaching use lessness 4 Is the computer hooked up properly Does it have power 5 Make sure that your computer and the BBTalk programs are set up to use the communication port the serial cable is connected to on the computer 6 In the case where the H ADCP is only able to accept a SOFT BREAK due to telemetry components that will not pass a HARD BREAK to the H ADCP and...

Page 98: ...ing you type 6 If the keys are echoed correctly on the screen the computer and the communication cable are good Re connect the I O cable to the H ADCP The above loop back test does not show if trans mit and receive pairs are interchanged Thus it is important that you check the wiring diagrams provided in H ADCP Cables A loop back test does not show if transmit and receive wires or pairs are interc...

Page 99: ...pare boards kit may be used to repair some failures This kit includes Spare Boards including PIO board CPU board and DSP board These boards are held together with the standard M4 screw assembly and kept inside a protective anti static bag A disk containing your original beam cosine matrix table Tools for installation The Spare Boards kit is not included with the system You can order the kit by con...

Page 100: ...elow the copper shield If it passes all PA tests and yet the data is all marked as bad Fails the following PA test System Tests Wide Bandwidth bandwidth tests may fail due to external interference Narrow Bandwidth bandwidth tests may fail due to external interference RSSI Filter Transmit Table 7 Pre deployment Test PA Possible Cause of Failures PA Test Name Possible Cause of Failure Pre Deployment...

Page 101: ...k and the log file F3 key or record data straight to the recorder card if your H ADCP has one Then look at the data using the WinADCP program and make sure that the echo amplitude counts in the 1st depth cell for all beams is between 128 and 192 If they are not contact Field Service for further troubleshooting tips If the beam continuity test still fails and or the echo amplitude indicates a probl...

Page 102: ... 96 Up 24 37 C 22 98 C 0 0 kPa 300 69 7 61 0 96 Up 24 35 C 22 98 C 0 0 kPa 300 76 7 60 0 98 Up 24 38 C 22 97 C 0 0 kPa If the temperature sensor is bad the data can still be collected with no effects to accuracy or quality Contact TRDI about scheduling a repair of the temperature sensor at your convenience Fault Log To determine why a sensor failed view the fault log To view the fault log start BB...

Page 103: ...the capacitor is charged this only takes a few seconds the H ADCP goes back to sleep Ping Mode After you send commands to the H ADCP that tells it to start collecting data the H ADCP goes into de ployment saver mode If power is somehow removed and later restored the H ADCP simply picks up where it left off and continues to collect data using the same set up If the H ADCP receives a BREAK it will g...

Page 104: ... The DSP Board digitizes this information and sends it to the CPU for processing 8 The CPU repeats steps b through g for a user defined number of pings The CPU averages the data from each ping to produce an ensemble data set 9 At the end of the ensemble sampling interval the CPU sends the collected data to the serial I O connector or PCMCIA recorder Functional Description of Operation The followin...

Page 105: ... draw only the current it needs Board Descriptions PIO Board Receives the filtered internal power Uses a diode OR gate to determine which power source to use external or internal With both sources connected the OR gate selects the higher voltage for H ADCP use Limits the in rush of current to the H ADCP and provides over and negative voltage protection Either condition will blow a protective fuse ...

Page 106: ...is used to determine the heading Since the tilt sensor data is only valid when the H ADCP is 20 from vertical the heading information is also limited to this range Attitude Sensor Determines the tilt angles of the H ADCP This sensor is located on the PIO board The attitude sensor uses a pitch and roll liquid filled sensor This sensor is functional to an angle of 20 from vertical Pressure Sensor op...

Page 107: ...WorkHorse H ADCP Operation Manual May 2015 EAR Controlled Technology Subject to Restrictions Contained on the Cover Page Page 95 Figure 40 H ADCP Wake up and Timer Logic ...

Page 108: ...May 2015 WorkHorse H ADCP Operation Manual Page 96 EAR Controlled Technology Subject to Restrictions Contained on the Cover Page Figure 41 DC Power Path ...

Page 109: ...WorkHorse H ADCP Operation Manual May 2015 EAR Controlled Technology Subject to Restrictions Contained on the Cover Page Page 97 Figure 42 H ADCP Block Diagram ...

Page 110: ...May 2015 WorkHorse H ADCP Operation Manual Page 98 EAR Controlled Technology Subject to Restrictions Contained on the Cover Page NOTES ...

Page 111: ...ntrolled Technology Subject to Restrictions Contained on the Cover Page Page 99 Chapter 6 RETURNING SYSTEMS TO TRDI FOR SERVICE In this chapter you will learn How to pack and ship the H ADCP How to get a RMA number Where to send your H ADCP for repair ...

Page 112: ...l costs associated with customer applied coatings will be at the customer s expense When shipping the H ADCP through a Customs facility be sure to place the unit so identifying labels are not covered and can be seen easily by the Customs Inspector Failure to do so could delay transit time TRDI strongly recommends using the original shipping crate whenever transporting the H ADCP If you need to shi...

Page 113: ...t issue s need to be corrected Name of the Field Service Engineer that knows about the issue When you need the instrument returned TRDI s Customer Service will then respond with the RMA number for the shipment Please include this number on all packages and correspondence Step 2 Provide a MSDS as necessary Please provide a Material Safety Data Sheet MSDS if the system transducer is painted with ant...

Page 114: ...ent do one of the following Open the RMA using the web link http adcp com support sendadcp aspx Contact Customer Service Administration at rdiefs teledyne com Call 33 0 492 110 930 When requesting a RMA number please give us the following information What is being shipped include the serial number When you plan to send the shipment What issue s need to be corrected Name of the Field Service Engine...

Page 115: ...n the following in formation Contents of the shipment Value Purpose of shipment example American made goods returned for repair Any discrepancy or inaccuracy in the Customs statement could cause the shipment to be delayed in Customs Step 5 Send the Following Information by Fax or Telephone to TRDI Attention Sales Administration Phone 33 0 492 110 930 Fax 33 0 492 110 931 Detailed descriptions of w...

Page 116: ...May 2015 WorkHorse H ADCP Operation Manual Page 104 EAR Controlled Technology Subject to Restrictions Contained on the Cover Page NOTES ...

Page 117: ...CP Operation Manual May 2015 EAR Controlled Technology Subject to Restrictions Contained on the Cover Page Page 105 Chapter 7 SPECIFICATIONS In this chapter you will learn Specifications Outline Installation Drawings ...

Page 118: ...specified range and divides this range into uniform segments called depth cells or bins The collection of depth cells yields a profile The H ADCP produces two profiles one for velocity and one for echo intensity The H ADCP calculates velocity data relative to the H ADCP The velocity data has both speed and direc tion information The H ADCP can get absolute direction information from a heading sens...

Page 119: ...nal depth 19 1 range tonal depth 1 User s choice of cell size is not limited to the typical values specified 2 Range which depends on cell size is specified here for narrow bandwidth mode at 5 C typical ocean backscatter and nominal 48VDC input power Default configuration is LR mode WB 1 Table 9 Specifications Profile Parameters H ADCP 300 H ADCP 600 H ADCP N 300 Velocity accuracy 0 5 5mm sec 0 25...

Page 120: ...recision 0 50 Resolution 0 01 Max tilt 15 Optional Pressure Sensor 2 Short term uncertainty 0 1 Max drift 0 25 1 60 magnetic dip angle 0 5G total field Includes built in field calibration procedure Compass uncertainty is for tilts less than 15 2 A 50m pressure sensor is standard 100m and 200m are available if required Outline Installation Drawings The following drawings show the standard H ADCP Mo...

Page 121: ...WorkHorse H ADCP Operation Manual May 2015 EAR Controlled Technology Subject to Restrictions Contained on the Cover Page Page 109 ...

Page 122: ...May 2015 WorkHorse H ADCP Operation Manual Page 110 EAR Controlled Technology Subject to Restrictions Contained on the Cover Page ...

Page 123: ...WorkHorse H ADCP Operation Manual May 2015 EAR Controlled Technology Subject to Restrictions Contained on the Cover Page Page 111 ...

Page 124: ...May 2015 WorkHorse H ADCP Operation Manual Page 112 EAR Controlled Technology Subject to Restrictions Contained on the Cover Page ...

Page 125: ...WorkHorse H ADCP Operation Manual May 2015 EAR Controlled Technology Subject to Restrictions Contained on the Cover Page Page 113 ...

Page 126: ...May 2015 WorkHorse H ADCP Operation Manual Page 114 EAR Controlled Technology Subject to Restrictions Contained on the Cover Page NOTES ...

Page 127: ...lled Technology Subject to Restrictions Contained on the Cover Page Page 115 Chapter 8 COMMANDS In this chapter you will learn Data Communication and Command Format Installing Firmware Updates Installing Feature Upgrades Deploying the ADCP Command Summary ...

Page 128: ...be posted to our web site Please check TRDI s web site often at www rdinstrument com Data Communication and Command Format You can enter commands with a Windows compatible computer running TRDI s BBTalk The H ADCP communicates with the computer through an RS 232 or RS 422 serial interface TRDI initially set the H ADCP at the factory to communicate at 9600 baud no parity and one stop bit Immediatel...

Page 129: ...interval see TE Time per En semble A data ensemble can contain header leader velocity correlation magnitude echo intensity per cent good and status data H ADCP output data can be in either hexadecimal ASCII Hex ASCII or binary format set by CF Flow Control The Hex ASCII mode is useful when you use a terminal to communicate with and view data from the H ADCP The binary mode is useful for high speed...

Page 130: ...r magnetic compass offset for true north EDxxx This command will set your H ADCP depth ESxx This command will set your H ADCP s expected salinity EXxxxxx This command will set your H ADCP s coordinate system earth beam etc EZxxxxxxx This command will set what sensors will be used by your H ADCP heading pitch roll temp etc WBx This command will set the water profile bandwidth between wide 0 and nar...

Page 131: ...emove hard iron error AR Return to factory calibration AX Examine compass performance AZ Zero pressure sensor BAnnn Evaluation amplitude minimum 1 to 255 counts BBnnnn High Bandwidth Maximum Depth dm BCnnn Correlation Magnitude minimum 0 to 255 counts BEnnnn Error velocity maximum 0 to 9999 mm s BFnnnn Depth guess 1 to 65535 dm 0 automatic BGss dd nnnnn BHccc sss lll mmm BInnn Gain switch depth 0 ...

Page 132: ...um data recording PA Pre deployment tests PC1 Beam Continuity Built in test PC2 Display Heading Pitch Roll and Orientation Built in test PDnn Data stream select 0 6 8 14 PM Distance measurement facility PS0 Display System Configuration PS3 Display Instrument Transformation Matrix PTnnn Built In test 0 to 200 RA Number of deployments RB Recorder built in test RE ErAsE Erase recorder RF Recorder fre...

Page 133: ...Water reference layer WNnnn Number of depth cells 1 to 128 WPnnnn Pings per ensemble 0 to 16384 WQn Sample ambient sound 0 Off 1 On WSnnnn min max Depth cell size 20 to 800 300kHz 10 to 800 600kHz WTnnnn Transmit length 0 to 3200 cm WUn Ping weight 0 Box 1 Triangle WVnnn Ambiguity velocity 002 to 480 cm s radial WWnnn Mode 1 Pings before Mode 4 Re acquire WYn nnn WM 1 Bandwidth 0 WB 1 NB Amb Vel c...

Page 134: ... 010 021 022 023 001 010 021 022 023 HT 00 00 00 50 00 00 00 50 HV 001 010 021 022 023 001 010 021 022 023 PD 0 0 SA 001 001 SB 1 1 SI 0 0 SM 0 0 SS 0 0 ST 0 0 SW 0 0 TB 00 00 00 00 00 00 00 00 TC 0 0 TE 00 00 00 00 00 00 00 00 TP 00 01 00 00 00 20 WA 255 255 WB 1 1 WC 64 64 WD 111 100 000 111 100 000 WE 1500 1500 WF 175 100 WI 0 0 WJ 1 1 WL 0 5 0 5 WN 30 30 WP 30 30 WQ 0 0 WS 800 20 1600 400 10 8...

Page 135: ...lp for one command group enter x where x is the command group you wish to view When the H ADCP dis plays the help for a command group it also shows the format and present setting of those commands To see the help or setting for one command enter the command followed by a question mark For example to view the WP command setting enter WP Examples See below BREAK Wakeup A WorkHorse Broadband H ADCP V...

Page 136: ...keup B H ADCP is set to send receive RS432 communication through the se rial lines of the I O cable BREAK Wakeup AB RS232 422 switch on the top of the PIO board in the H ADCP is in between two positions but neither RS232 nor RS422 It can also mean that the H ADCP received a trigger pulse while in command mode ALARM Wakeup A When you send a break if the input voltage has a low voltage reading you w...

Page 137: ...xpert On command shows all of the available commands in the help menu Examples See below expertoff Expert Mode is Off experton Expert Mode is On OL Features Purpose Lists special firmware upgrades that are installed Format OL Recommended Setting Use as needed Description Lists special features that are installed See Feature Upgrades for information on how to install additional capability in your H...

Page 138: ...tions AC Output Active Calibration Data Purpose Outputs active fluxgate and tilt calibration data Format AC Recommended Setting Use as needed Description The AC command is identical to the AD command except that the AC command doesn t prompt the user for Factory or Active Calibration data it assumes active The AC Com mand doesn t prompt the user to press any key to continue when the screen is full...

Page 139: ...libration data or active calibration data f or a a ACTIVE FLUXGATE CALIBRATION MATRICES in FLASH Calibration date and time 3 8 1996 09 53 42 S inverse Bx 2 9102e 01 2 6325e 01 2 1267e 02 4 0145e 01 By 2 7342e 01 2 5335e 01 4 8691e 02 3 9508e 01 Bz 1 8192e 01 2 0180e 01 2 3319e 01 2 7045e 02 Err 3 9761e 01 3 9925e 01 6 4865e 01 6 0795e 02 Coil Offset 3 5076e 04 3 3277e 04 3 2996e 04 3 3953e 04 Elec...

Page 140: ...rd iron while the other corrects for both hard and soft iron characteristics for materials rotating with the H ADCP Hard iron effects are related to residual magnetic fields and cause single cy cle errors while soft iron effects are related to magnetic permeability that distorts the earth s magnetic field and causes double cycle errors In general the hard iron calibration is recommended because th...

Page 141: ...I Compass Error Estimating Algorithm Press any key to start taking data after the instrument is setup Rotate the unit in a plane until all data samples are acquired rotate less than 5 sec Press Q to quit N NE E SE S SW W NW N Accumulating data Calculating compass performance Total error 1 5 Press D for details or any other key to continue HEADING ERROR ESTIMATE FOR THE CURRENT COMPASS CALIBRATION ...

Page 142: ...Z Zero Pressure Sensor Purpose Zeros the pressure sensor Format AZ Recommended Setting Use as needed Description This command zeros the pressure sensor at the specific location where the H ADCP will be used If the pressure sensor is not installed using the AZ command will generate the following error Err No pressure sensor detected ...

Page 143: ...dm BG 80 20 00030 BM6 Shal Xmt Deep Xmt Deep dm BH 190 010 004 040 BM6 Thresh cnt S Amb cm s L Amb cm s MinAmb BI 005 Gain Switch Depth 0 999 meters BK 0 Layer Mode 0 Off Only Disabled BL 040 0060 0100 Layer Min Size dm Near dm Far dm BM 5 Mode 4 wo PP 5 w PP BP 000 Pings per Ensemble BR 0 Resolution 0 4 1 2 2 1 BS Clear Distance Traveled BX 00040 Maximum Depth 40 65535 dm BZ 004 Coherent Ambiguit...

Page 144: ...ion Sets a minimum threshold for good bottom track data The H ADCP flags as bad any bot tom track data with a correlation magnitude less than this value A count value of 255 is a perfect correlation i e solid target BE Error Velocity Maximum Purpose Sets maximum error velocity for good bottom track data Format BEnnnn Range nnnn 0 to 9999 mm s Default BE1000 Recommended Setting The default setting ...

Page 145: ...e H ADCP uses to search for the bottom if lost If improperly set the H ADCP may not bottom track at all if the bottom range varies from the input range BI Gain Switch Depth Purpose Selects the maximum vertical distance from the transducer to the bottom at which the H ADCP operates at low gain Format BInnn Range nnn 0 to 999 meters Default BI20 300 kHz BI10 600 kHz Recommended Setting The default s...

Page 146: ...rs x 10 ffff Far Layer Boundary 0 to 9999 decimeters meters x 10 Default BL160 320 480 300 kHz BL80 160 240 600 kHz Recommended Setting The default setting for this command is recommended for most applications Description The BL command sets a water mass layer You can use this layer as a reference point when the bottom is out of range or is incorrect Water mass layer output data are availa ble whe...

Page 147: ...ed depth to improve variance Bottom Track Mode 5 Bottom Track Mode 5 is similar to Bottom Track Mode 4 but has a lower variance in shallow water by a factor of up to four In very shallow water at slow speeds the variance is lower by a factor of up to 100 Bottom Track Mode 5 also has a slightly slower ping rate than Bottom Track Mode 4 Bottom Mode 5 default setting will shift to Bottom Mode 4 if th...

Page 148: ...ution Purpose Sets the vertical depth resolution Format BRn Range n 0 to 2 see description Default BR1 Recommended Setting The default setting for this command is recommended for most applications Description BR sets the vertical depth resolution as a percentage of the overall range detected the lower the resolution the finer the depth reading With BR0 set if you had a depth of 100 meters then the...

Page 149: ...s track of the bottom If the bottom track water reference layer is in use BK 0 BX must be greater than the Far Layer Boundary BLmmm nnnn ffff or the H ADCP sends Error Code 012 Example If you know the maximum depth in the deployment area is 20 meters 200 decimeters set BX to a value slightly larger than 200 dm say 210 dm instead of the default 350 dm for a 300 kHz H ADCP Now if the H ADCP loses tr...

Page 150: ...Velocity Purpose Sets the Bottom Track Mode 5 ambiguity velocity Format BZnnn Range nnn 2 to 160 cm s radial Default BZ4 Recommended Setting The default setting for this command is recommended for most applications Description The BZ command selects the ambiguity velocity used by the bottom track ping in shallow water when bottom track Mode 5 is in use ...

Page 151: ...Control System Command Descriptions CB Serial Port Control Purpose Sets the RS 232 422 serial port communications parameters Baud Rate Parity Stop Bits Format CBnnn Range nnn baud rate parity stop bits see description Default CB411 Recommended Setting The default setting for this command is recommended for most applications Description The H ADCP and your external device dumb terminal computer sof...

Page 152: ...e Cycling Enters the STANDBY mode after transmission of the data ensemble displays the prompt and waits for a new command CFx1xxx Automatic Ping Cycling Pings immediately when ready CFx0xxx Manual Ping Cycling Sends a character to signal ready to ping and then waits to receive an Enter before pinging The Enter sent to the H ADCP is not echoed This feature lets you manually control ping timing with...

Page 153: ...iguration into non volatile memory by sending a CK command Note that the H ADCP will restart in the previous configuration even if it was not saved with a CK command as long as the volatile memory s internal battery is not discharged This can happen after several months without any power applied to the H ADCP Note that this battery will recharge as soon as power is reapplied If the H ADCP is stopp...

Page 154: ...H ADCP into a mode where it doesn t sleep Instead the H ADCP stays awake between pings listening for certain commands and drawing more power Polled mode is only recommended for deployments where shore power can be provided The commands the H ADCP responds to while in polled mode are shown in Table 18 The polled mode requires sufficient time between pings to listen for the polling com mands Setting...

Page 155: ...commands are only available when CP 1 Enabling polled mode disables the battery saver feature Do not enable this mode when running from batteries CQ Transmit Power Purpose Allows the transmit power to be adjusted Format CQnnn Range nnn 0 or 1 to 255 0 Low 1 to 255 High Default CQ255 Recommended Setting The default setting for this command is recommended for most applications Description Allows the...

Page 156: ... the terminal computer CS Start Pinging Go Purpose Starts the data collection cycle same as the Tab key Format CS Recommended Setting Use as needed Use SurfaceView to create the command file The CS command will be added to the end of the command file or sent by the software Description Use CS or the Tab key to tell the H ADCP to start pinging its transducers and collecting data as programmed by th...

Page 157: ...red 0x00010000 Clock read failure occurred 0x00020000 Unexpected Alarm 0x00040000 Clock jump forward 0x00080000 Clock jump backward 0x00100000 Unused 0x00200000 Unused 0x00400000 Unused 0x00800000 Unused 0x01000000 Unused 0x02000000 Unused 0x04000000 Unused 0x08000000 Power Fail Unrecorded 0x10000000 Spurious level 4 interrupt DSP 0x20000000 Spurious level 5 interrupt UART 0x40000000 Spurious leve...

Page 158: ...tained Example See below cz Powering Down 1 When powered down using the CZ command the H ADCP still draws up to 30µa but wakes up periodically every 8 to 12 hours for a few seconds to maintain RAM 2 This command should be used whenever batteries have been installed and you do not send commands to start a deployment If you do not use the CZ command the H ADCP will draw up to 50 milli amps of curren...

Page 159: ...r Source C D H P R S T Environmental Command Descriptions EA Heading Alignment Purpose Corrects for physical misalignment between Beam 3 and the heading reference Format EA nnnnn Range nnnnn 17999 to 18000 179 99 to 180 00 degrees Default EA 00000 Recommended Setting EA is typically set to zero default since Beam 3 is used as the heading reference for stationary deployment Description EA is a head...

Page 160: ...rpose Sets the speed of sound value used for H ADCP data processing Format ECnnnn Range nnnn 1400 to 1600 meters per second Default EC1500 Recommended Setting The default setting for this command is recommended for most applications Description EC sets the sound speed value used by the H ADCP to scale velocity data depth cell size and range to the bottom The H ADCP assumes the speed of sound readi...

Page 161: ...vert heading values of 34 and 3 5 to EH command values EH 34 00 100 3400 EH03400 EH 3 50 100 350 EH00350 If the EZ Heading field one the H ADCP overrides the manually set EH value and uses heading from the transducer s internal sensor If the sensor is not available the H ADCP uses the manual EH setting EP Pitch Tilt 1 Purpose Sets the H ADCP pitch tilt 1 angle Format EP nnnn Range nnnn 6000 to 600...

Page 162: ...linity Purpose Sets the water s salinity value Format ESnn Range nn 0 to 40 Default ES0 Recommended Setting Set using SurfaceView The default setting for this command is recommended for most applications Description ES sets the water s salinity value The H ADCP uses ES in its speed of sound calculations The H ADCP assumes the speed of sound reading is taken at the transducer head ET Temperature Pu...

Page 163: ... coordinates Note 1 X Y Z vectors relative to the ship Heading not applied EA command used but not the EB command If Bit 3 of the EX command is a 1 then Pitch Roll applied EX11xxx Earth coordinates Note 1 East North Vertical vectors relative to Earth Heading applied EA and EB commands used If Bit 3 of the EX command is a 1 then Pitch Roll applied EXxx1xx Use tilts pitch and roll in transformation ...

Page 164: ...tch value is non zero the H ADCP over rides the manual E command setting and uses data from the appropriate sensor If no sensor is available the H ADCP defaults to the manual E command setting The follow ing table shows how to interpret the sensor source switch settings Table 22 Sensor Source Switch Settings Field Value 0 Value 1 c Speed Of Sound Manual EC Calculate using ED ES and ET d Depth Manu...

Page 165: ...he fault log Format FC Recommended Setting Use as needed Description Use this command to clear the fault log of all previous entries FD Display Fault Log Purpose Displays the fault log Format FD Recommended Setting Use as needed Description Displaying the fault log will list why a built in test failed This may aid in troubleshooting Example FD Total Unique Faults 2 Overflow Count 0 Time of first f...

Page 166: ...tion These diagnostic tests check the major H ADCP modules and signal paths We recom mend you run this command before a deployment These tests check the following boards paths CPU CPU RAM and real time clock Recorder verifies recorder operation DSP RAM registers and DSP to CPU Communications System Tests A test signal is routed through the DSP and back to the CPU This checks the main electronics p...

Page 167: ...sts the beam continuity by measuring the quiescent Receiver Signal Strength Indicator RSSI levels There must be a change of more than 30 counts when the transducer face is rubbed The PC1 test is designed to measure relative noise in the environment and then have you apply more noise by rubbing the ceramics with your hand Sometimes your hand does not generate enough noise for the system to detect T...

Page 168: ...mand and return to the command prompt Press any key to quit sensor display Heading Pitch Roll Up Down Attitude Temp Ambient Temp Pressure 301 01 7 42 0 73 Up 24 35 C 22 97 C 0 0 kPa 300 87 7 60 0 95 Up 24 36 C 22 97 C 0 0 kPa 300 95 7 60 0 99 Up 24 37 C 22 97 C 0 0 kPa 300 71 7 61 0 96 Up 24 37 C 22 98 C 0 0 kPa 300 69 7 61 0 96 Up 24 35 C 22 98 C 0 0 kPa 300 76 7 60 0 98 Up 24 38 C 22 97 C 0 0 kP...

Page 169: ...ble PD14 Send the H ADCP Condensed 2D Output Format PD16 NMEA format without the leading PD18 PD18 is the same Output Data Format as PD16 but with the leading necessary to fully comply with the NMEA format Not all data formats can be recorded Carefully review the output data format before setting the CF command to set where data is sent and if the recorder is on or off All of TRDI s software suppo...

Page 170: ...lations for example the output may look like this ps3 Beam Width 3 7 degrees Beam Elevation Azimuth 1 70 14 269 72 2 70 10 89 72 3 69 99 0 28 4 70 01 180 28 Beam Directional Matrix Down 0 3399 0 0017 0 9405 0 2414 0 3405 0 0017 0 9403 0 2410 0 0017 0 3424 0 9396 0 2411 0 0017 0 3420 0 9398 0 2415 Instrument Transformation Matrix Down Q14 1 4691 1 4705 0 0078 0 0067 24069 24092 127 109 0 0068 0 007...

Page 171: ...vidual tests for description of bit results rrrr Overall test result PASS or FAIL PT Test Results Error Codes To find what bits are set when an error occurs use the following tables Table 24 Error Code Hex to Binary Conversion Hex Digit Binary Hex Digit Binary 0 0000 8 1000 1 0001 9 1001 2 0010 A 1010 3 0011 B 1011 4 0100 C 1100 5 0101 D 1101 6 0110 E 1110 7 0111 F 1111 To convert error code 32CF ...

Page 172: ...nibbles 1 nibble 4 bits Each nibble represents the result for a particular beam most significant nibble beam 1 least significant nibble beam 8 H ADCPs utilize the four most significant nibbles In this example we only describe which bit is set for beam 2 for a given failure type This test has three parts Part 1 The H ADCP pings without transmitting and displays the result of an autocorrelation func...

Page 173: ...ent and voltage For example PT4 IXMT 2 0 Amps rms VXMT 74 0 Volts rms Z 37 6 Ohms Transmit Test Results 0 PASS The H ADCP should be in non moving water during this test to get valid test results PT4 failure description You can determine failure results 0 see PT Test Results Error Codes by the individual bit settings Table 26 PT4 Failure Bit PT4 Failure Description 0 ADC TIMEOUT ERROR The DSP Board...

Page 174: ...ming generator are routed directly to the Receiver board The receiver then processes this signal The test output signal sends a certain correlation pattern when processed The ideal pattern is as follows 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 255 255 255 255 0 0 0 0 0 0 0 0 255 255 255 255 0 0 0 0 0 0 0 0 0 0 0 0 255 255 255 255 Acceptable deviations from this pattern are due to deviations in sampling ban...

Page 175: ...r during this test to get valid test results Table 27 PT6 Receive Bandwidth Nominal Values Bandwidth setting WB command 300 kHz 600 kHz Broad 0 79 200 Narrow 1 14 40 Beam fails if 50 or 125 of nominal value PT7 RSSI Bandwidth This test checks the RSSI filter circuits are working Values listed are the indicated RSSI sampled at 1 ms intervals after a listen ping PT7 RSSI Time Constant RSSI Filter St...

Page 176: ...Nominal noise floor 20 or 60 Counts for ms 1 through 4 not rising 9th ms sample not between 70 and 100 of nominal counts To verify a RSSI failure re run the PT7 test in a different location and change the orientation 180 degrees to determine if any external interference is an issue Even try running PT7 at a different time of day to eliminate powerful radio transmitters The ADCP should be in non mo...

Page 177: ...ailable Recorder Commands This section lists the available Recorder commands r Available Commands RA Number of Deployments Recorded RB Recorder Built In Test RE Recorder Erase RF Recorder Space used free bytes RN g Set Deployment Name RR Recorder diRectory RS Recorder Space used free Mb RY Upload Recorder Files to Host R Display Recorder Commands RA Number of Deployments Purpose Shows the number o...

Page 178: ... of recorder space used and free in bytes Recommended Setting Use as needed Example See below RF RF 0 10407936 REC SPACE USED BYTES FREE BYTES This shows the H ADCP contains a 10 MB recorder RN Set Deployment Name Purpose Sets the deployment name used for future deployments Format RN AAAAA Default RN _RDI_ Recommended Setting Use as needed Description RN sets the deployment name to be used for any...

Page 179: ... of recorder space used and free in megabytes Example See below RS RS 000 010 REC SPACE USED MB FREE MB This shows the H ADCP contains a 10 MB recorder RY Upload Recorder Files Purpose Uploads recorder data to a host computer using standard YMODEM protocol Format RY Recommended Setting Use as needed Description RY uploads the entire contents of the recorder via the serial interface to a host compu...

Page 180: ...es ss 00 to 59 seconds ff 00 to 59 hundredths of seconds Recommended Setting Special applications only Description The TB and TC commands work together to allow the H ADCP to sample in a burst mode In some applications it is desirable for the H ADCP to ping for a short period of time at a high ping rate burst wait for a set period of time and then repeat the pro cess You also must set the time per...

Page 181: ...ription During the ensemble interval set by TE the H ADCP transmits the number of pings set by the WP command If TE 00 00 00 00 the H ADCP starts collecting the next ensemble immediately after processing the previous ensemble Example TE01 15 30 00 tells the H ADCP to collect data ensembles every 1 hour 15 minutes 30 seconds 1 The H ADCP automatically increases TE if WP x TP TE 2 The time tag for e...

Page 182: ...ollection Format TGccyy mm dd hh mm ss Range cc century 19 to 20 yy year 00 to 99 mm month 01 to 12 dd day 01 to 31 leap years are accounted for hh hour 00 to 23 mm minute 00 to 59 ss second 00 to 59 Recommended Setting Set using WinSC Description TG delays the start of data collection This lets you deploy the H ADCP in the Standby mode and have it automatically start data collection at a preset t...

Page 183: ... ping plus the over head that occurs for processing Several commands determine the actual ping time WF WN WS and actual water depth Example TP00 00 10 sets the time between pings to 0 10 second The H ADCP automatically increases TE if WP x TP TE Note that excessively short ping times will prevent keyboard input from being recognized TS Set Real Time Clock Purpose Sets the H ADCP s internal real ti...

Page 184: ...to 99 mm month 01 to 12 dd day 01 to 31 hh hour 00 to 23 mm minute 00 to 59 ss second 00 to 59 Recommended Setting Set using BBTalk or SurfaceView Example TT2000 06 17 13 15 00 sets the real time clock to 1 15 00 pm June 17 2000 1 When the H ADCP receives the carriage return after the TS command it enters the new time into the real time clock and sets hundredths of seconds to zero 2 If the entry i...

Page 185: ...ce Layer Begin Cell 0 OFF End Cell WN 030 Number of depth cells 1 255 WP 00030 Pings per Ensemble 0 16384 WQ 0 Sample Ambient Sound 0 OFF 1 ON WS 0800 Depth Cell Size cm WT 0000 Transmit Length cm 0 Bin Length WU 0 Ping Weighting 0 Box 1 Triangle WV 185 Mode 1 Ambiguity Vel cm s radial WW 004 Mode 1 Pings before Mode 4 Re acquire WY 1 185 WM 1 Bandwidth 0 WB 1 NB Amb Vel cm s WA False Target Thres...

Page 186: ...g range 0 Wide 25 High Low Low 1 Narrow 6 25 Low High High WC Low Correlation Threshold Purpose Sets the minimum threshold of water track data that must meet the correlation criteria Format WCnnn Range nnn 0 to 255 counts Default WC64 Recommended Setting The default setting for this command is recommended for most applications Description The H ADCP uses WC to screen water track data for the minim...

Page 187: ...to collect velocity correlation magnitude echo intensity and percent good 1 Each bit can have a value of one or zero Setting a bit to one means output data zero means suppress data 2 If WP zero the H ADCP does not collect water profile data 3 Spaces in the command line are allowed 4 Status data is not used as it does not mean anything WE Error Velocity Threshold Purpose Sets the maximum error velo...

Page 188: ...f sound The fixed leader data contains this distance 2 Small WF values may show ringing recovery problems in the first depth cells that cannot be screened by the H ADCP WI Clip Data Past Bottom Purpose Allows the H ADCP to flag velocity data from beyond the bottom as bad Format WIn Range n 0 Off 1 on Default WI0 Recommended Setting The default setting for this command is recommended for most appli...

Page 189: ...velocity and depth cell velocities At the end on an ensemble the H ADCP adds the average reference veloci ty back to the normalized depth cell velocities This results in quieter data for depth cells in which there were few good samples WN Number of Depth Cells Purpose Sets the number of depth cells over which the H ADCP collects data Format WNnnn Range nnn 1 to 255 depth cells Default WN30 Recomme...

Page 190: ...lects data over a variable number of depth cells WS sets the size of each cell in vertical centimeters If you set WS to a value less than its minimum value or greater than its maximum value the H ADCP will accept the entry but uses the appropriate minimum or maximum value For example if you enter WS0001 for a 300kHz system the H ADCP uses a value of 20 cm for WS Similarly if you enter WS8000 the H...

Page 191: ... sum of the weighted velocities divided by the sum of the weights The WL command Water reference layer must be turned on when triangle weighting is used WU1 WV Ambiguity Velocity Purpose Sets the radial ambiguity velocity Format WVnnn Range nnn 2 to 700 cm s Default WV185 Recommended Setting It is strongly recommended that the WV command be left at its default value of 185 Description Set WV as lo...

Page 192: ...ire Purpose Sets the number of Mode 1 pings sent before a Mode 4 ping is attempted Format WWnnn Range nnn 0 to 999 pings Default WW4 Recommended Setting Leave this command at the default setting Description WW is the number of Mode 1 pings generated by the H ADCP before a Mode 4 ping is tried The H ADCP uses this value when Mode 4 is in use and the bottom is lost If WW 0 the H ADCP continually tri...

Page 193: ...ITResult D Display SVSS Commands Sound Velocity Smart Sensor Descriptions DB RS 485 Port Control Purpose Change the communication parameters of the RS 485 bus Format DBxyz Range x 0 to 7 Baud Rate see CB Serial Port Control y l to 5 Unused z l to 2 Unused Default DB411 Recommended Setting Use as needed Description This command changes the communication parameters of the RS 485 bus Currently only t...

Page 194: ...e SVSS Upon success ful completion of the function call the SpeedOfSound variable will contain the new value Any errors in the function will result in the BIT Result Table 37 xxxxxlxx xxxxxxxx which is displayed after the value DW Current ID on RS 485 Bus Purpose Change the device ID sent out before attempting to communicate Format DWx Range x 0 to 31 Default DW0 Recommended Setting Use as needed ...

Page 195: ... is listening it will change its data output mode to REAL REAL data is in units of m s and the form XXXX XX DZ Get Single SCAN from SVSS Purpose This command gets a single scan of data from the SVSS Format DZ Recommended Setting Use as needed Description This command sends s out on the RS 485 bus If the SVSS is listening it will respond 23ms later with one scan of data The data format will be dete...

Page 196: ... 00 50 Time between Wave Pings hh mm ss ff HV 001 010 021 022 023 Bins selected for Velocity Spectrum data recording H Display Waves Menu Help Waves Command Descriptions HA Waves False Target Threshold Purpose Sets a false target fish filter Format HAnnn Range nnn 0 to 255 counts 255 disables this filter Default HA255 Recommended Setting The default setting for this command is recommended for most...

Page 197: ...tput in the Waves Packet Structure Format HD abc def ghi Range abc def ghi can be 1 On or 0 Off Default HD 111 000 000 Recommended Setting The default setting for this command is recommended for most applications Description This command selects which data will be output in the waves packet data a Velocity b Pressure c Surface Track d Heading Pitch and Roll e i Reserved HF Waves Flow Control Purpo...

Page 198: ... command is run HP Waves Pings per Wave Record Purpose Set the number of pings per wave record Format HPn Range n 0 to 8400 Default HP0 Recommended Setting Set using WavesMon Description The command sets the number of pings collected per wave record or burst With this value set to zero Waves data collection is disabled HR Time Between Wave Records Purpose Set the maximum interval between the start...

Page 199: ... current profiling bins being collected This list is completely separate from the Velocity Spectrum bin list to allow the selection of different bins for Directional Wave and Velocity Spectrum processing Example If automatic bin selection is turned off HB 0 and the H ADCP is collecting 50 bins of current profiling data the highest single element in the list n1 n20 is limited to 50 HT Time Between ...

Page 200: ...for most applications Description This command sets the bins to be used for velocity spectrum processing if automatic bin selection is off The list can contain a maximum of 20 bins The limit of each element in the list is set by the number of current profiling bins being collected This list is complete separate from the Directional Wave Spectrum bin list to allow the selection of different bins fo...

Page 201: ... Purpose Sets the rough timing of the synchronization pulse Format SAxyz Range x 0 1 y 0 1 z 0 1 2 Default SA001 Recommended Setting Special applications only This command has no effect unless SM 1 or 2 Description Use the SA command to set the rough timing of the synchronization pulse The first pa rameter determines whether the Master or Slave will send or wait for a synchroniza tion pulse before...

Page 202: ...e following 1 Send SB0 2 Immediately following the SB0 command send a Break see Break 3 The SB0 command is now in effect and the H ADCP will ignore potential Breaks on the Channel B RS 422 lines Use SB0 only when the H ADCP does not conserve power i e go to sleep between samples see CL Sleep Enable and SS RDS3 Sleep Mode When changing the SB command confirm the change by immediately following the ...

Page 203: ... the RDS3 Sleep Mode Format SSx Range x 0 1 0 No Sleep 1 Sleep Default SS0 Recommended Setting The default setting for this command is recommended for most applications This command has no effect unless SM 1 or 2 Description This command sets the RDS3 Sleep Mode When x is set to No Sleep the instrument re mains awake while waiting for the next ping time or synchronization pulse in a loop When x is...

Page 204: ...to wait indefinitely SW Synchronization Delay Purpose Sets the amount of time to wait after sending the pulse Format SWn Range n 0 to 65535 units of 0 1 milliseconds Default SW00075 Recommended Setting The default setting for this command is recommended for most applications This command has no effect unless SM 1 or 3 Description Use the SW command to set the amount of time to wait after sending t...

Page 205: ...some other force intervenes To terminate data collection 1 Send a BREAK to the master ADCP see note 2 2 Verify that the master ADCP outputs the RS 232 banner see note 2 3 Send a CZ command to the master ADCP 4 Send a BREAK to the slave ADCP 5 Verify that the slave ADCP outputs the RS 232 banner see note 2 6 Send the CZ command to the slave ADCP 1 The master and slave ADCP must use the same baud ra...

Page 206: ... on the Cover Page Example Wakeup Banners RS232 Banner BREAK Wakeup A WorkHorse Broadband H ADCP Version 11 08 Teledyne RD Instruments c 1996 2007 All Rights Reserved RS422 Banner BREAK Wakeup B WorkHorse Broadband H ADCP Version 11 08 Teledyne RD Instruments c 1996 2007 All Rights Reserved Incomplete Banner BR ...

Page 207: ...y 2015 EAR Controlled Technology Subject to Restrictions Contained on the Cover Page Page 195 Chapter 9 OUTPUT DATA FORMAT In this chapter you will learn Choosing a Data Format PD0 Output Data Format Special Data Formats PD3 through PD18 ...

Page 208: ... of ASCII characters There are no carriage returns and or line feed sequences CR LF sent from the ADCP The CRT provides a CR LF after 60 characters Hex ASCII PD0 data is not supported by TRDI s software Individual parameters within a data string may be enabled disabled All binary output formats have the option of outputting data in HEX ASCII instead of true binary using the CF command see CF Flow ...

Page 209: ...odems The following table is a summary of the type of data outputted by PD0 through PD14 data output formats Note that this is not an exhaustive list and it is advised to check out the full description of a format before choosing it above another Table 34 Summary of Output Data Formats PD0 PD3 PD4 PD5 PD6 PD8 PD14 PD16 PD18 System Info Temperature Depth Tilts H P R Time of Ping Speed of Sound Wate...

Page 210: ... simply scan for them as the binary data is received in real time on the serial lines and then use the output data format description table to jump directly to the desired data The PD0 Header ID is 7F7Fh which makes it easy to detect In the PD0 Header are the number of bytes in the ensemble the number of data types and the offset respective to each data type lo cation in the binary ensemble This g...

Page 211: ...DER DATA FIXED 65 BYTES OF VARIABLE LEADER DATA FIXED 242 BYTES OF VELOCITY DATA 2 8 x 30 122 BYTES OF CORRELATION MAGNITUDE DATA 2 4 x 30 122 BYTES OF ECHO INTENSITY 2 4 x 30 122 BYTES OF PERCENT GOOD DATA 2 4 x 30 85 BYTES OF BOTTOM TRACK DATA FIXED 2 BYTES OF RESERVED FOR TRDI USE FIXED 2 BYTES OF CHECKSUM DATA FIXED 841 BYTES OF DATA PER ENSEMBLE Header Data Format BIT POSITIONS BYTE 7 6 5 4 3...

Page 212: ...the Fixed Variable Leader data 13 16 7 8 Address Offset for Data Type 1 Off set for Data Type 1 This field contains the internal memory address offset where the H ADCP will store information for data type 1 with this firmware always the Fixed Leader Adding 1 to this offset number gives the absolute Binary Byte number in the ensemble where Data Type 1 begins the first byte of the ensemble is Binary...

Page 213: ...H 9 NUMBER OF BEAMS 10 NUMBER OF CELLS WN 11 PINGS PER ENSEMBLE WP LSB 12 MSB 13 DEPTH CELL LENGTH WS LSB 14 MSB 15 BLANK AFTER TRANSMIT WF LSB 16 MSB 17 PROFILING MODE WM 18 LOW CORR THRESH WC 19 NO CODE REPS 20 GD MINIMUM WG 21 ERROR VELOCITY MAXIMUM WE LSB 22 MSB 23 TPP MINUTES 24 TPP SECONDS 25 TPP HUNDREDTHS TP 26 COORDINATE TRANSFORM EX 27 HEADING ALIGNMENT EA LSB 28 MSB 29 HEADING BIAS EB L...

Page 214: ...37 starting cell WP REF LAYER AVERAGE WL ending cell LSB 38 MSB 39 FALSE TARGET THRESH WA 40 SPARE 41 TRANSMIT LAG DISTANCE LSB 42 MSB 43 CPU BOARD SERIAL NUMBER MSB 50 LSB 51 SYSTEM BANDWIDTH WB LSB 52 MSB 53 SYSTEM POWER CQ 54 SPARE 55 INSTRUMENT SERIAL NUMBER MSB 58 LSB 59 BEAM ANGLE See Table 36 for a description of the fields Figure 48 Fixed Leader Data Format ...

Page 215: ...ITS 7 6 5 4 3 2 1 0 0 0 15E BEAM ANGLE 0 1 20E BEAM ANGLE 1 0 30E BEAM ANGLE 1 1 OTHER BEAM ANGLE 0 1 0 0 4 BEAM JANUS CONFIG 0 1 0 1 5 BM JANUS CFIG DEMOD 1 1 1 1 5 BM JANUS CFIG 2 DEMD Example Hex 5249 i e hex 49 followed by hex 52 identifies a 150 kHz system con vex beam pattern down facing 30E beam angle 5 beams 3 demods 13 14 7 PD Real Sim Flag This field is set by default as real data 0 15 1...

Page 216: ...lly set by the WE command contains the actual threshold value used to flag water current data as good or bad If the error velocity value exceeds this thresh old the H ADCP flags all four beams of the affected bin as bad Scaling LSD 1 mm s Range 0 to 5000 mm s 45 46 47 48 49 50 23 24 25 Minutes Seconds Hundredths These fields set by the TP command contain the amount of time between ping groups in t...

Page 217: ...entimeter Range 0 to 65535 cm 2150 feet 69 72 35 36 WT Xmit pulse length This field set by the WT command contains the length of the transmit pulse When the H ADCP receives a BREAK signal it sets the transmit pulse length as close as possible to the depth cell length WS command This means the H ADCP uses a WT command of zero However the WT field contains the actual length of the transmit pulse use...

Page 218: ...TC MONTH TS 7 RTC DAY TS 8 RTC HOUR TS 9 RTC MINUTE TS 10 RTC SECOND TS 11 RTC HUNDREDTHS TS 12 ENSEMBLE MSB 13 BIT RESULT LSB 14 MSB 15 SPEED OF SOUND EC LSB 16 MSB 17 DEPTH OF TRANSDUCER ED LSB 18 MSB 19 HEADING EH LSB 20 MSB 21 PITCH TILT 1 EP LSB 22 MSB 23 ROLL TILT 2 ER LSB 24 MSB 25 SALINITY ES LSB 26 MSB 27 TEMPERATURE ET LSB 28 MSB 29 MPT MINUTES 30 MPT SECONDS 31 MPT HUNDREDTHS 32 HDG STD...

Page 219: ... 39 ADC CHANNEL 4 40 ADC CHANNEL 5 41 ADC CHANNEL 6 42 ADC CHANNEL 7 43 ERROR STATUS WORD ESW CY LSB 44 45 46 MSB 47 SPARE 48 49 PRESSURE LSB 50 51 52 MSB 53 PRESSURE SENSOR VARIANCE LSB 54 55 56 MSB 57 SPARE 58 RTC CENTURY 59 RTC YEAR 60 RTC MONTH 61 RTC DAY 62 RTC HOUR 63 RTC MINUTE 64 RTC SECOND 65 RTC HUNDREDTH See Table 37 for a description of the fields Figure 49 Variable Leader Data Format ...

Page 220: ...his field contains the results of the H ADCP s Built in Test function A zero code indicates a successful BIT result BYTE 13 BYTE 14 BYTE 14 RESERVED FOR FUTURE USE 1xxxxxxx xxxxxxxx RESERVED x1xxxxxx xxxxxxxx RESERVED xx1xxxxx xxxxxxxx RESERVED xxx1xxxx xxxxxxxx DEMOD 1 ERROR xxxx1xxx xxxxxxxx DEMOD 0 ERROR xxxxx1xx xxxxxxxx RESERVED xxxxxx1x xxxxxxxx TIMING CARD ERROR xxxxxxx1 xxxxxxxx RESERVED 2...

Page 221: ...onverter ADC located on the DSP board The ADC sequentially samples one of the eight channels per ping group the number of ping groups per ensemble is the maximum of the WP These fields are zeroed at the beginning of the deployment and updated each ensemble at the rate of one channel per ping group For example if the ping group size is 5 then END OF ENSEMBLE No CHANNELS UPDATED Start All channels 0...

Page 222: ...x x x 1 x x x Power Fail Unrecorded x x x 1 x x x x Spurious level 4 intr DSP x x 1 x x x x x Spurious level 5 intr UART x 1 x x x x x x Spurious level 6 intr CLOCK 1 x x x x x x x Level 7 interrupt occurred 93 96 47 48 Reserved Reserved for TRDI use 97 104 49 52 Pressure Contains the pressure of the water at the transducer head relative to one atmos phere sea level Output is in deca pascals see H...

Page 223: ...the Transmit voltage and Transmit current ADC channels Transmit voltage Transmit current Frequency kHz 2092719 43838 76 8 592157 11451 153 6 592157 11451 307 2 380667 11451 614 4 253765 11451 1228 8 253765 11451 2457 6 The transmit voltage and current values are calculated for the built in test by multiplying the ADC upper 8 bit value by the scale factor they are very rough values However the tran...

Page 224: ...the ADC samples the pressure sensor five times and averages the data This is an attempt to reduce the Standard Deviation 2 Using the Pressure coefficients the pressure data from the ADC is converted to kPa 3 That data is converted to dm and corrected for salinity with the following equation Depth dm Pressure kPa 1 02 0 00069 ES where ES is the Salinity setting This is the depth value recorded in t...

Page 225: ...SB 9 DEPTH CELL 1 VELOCITY 4 LSB 10 MSB 11 DEPTH CELL 2 VELOCITY 1 LSB 12 MSB 13 DEPTH CELL 2 VELOCITY 2 LSB 14 MSB 15 DEPTH CELL 2 VELOCITY 3 LSB 16 MSB 17 DEPTH CELL 2 VELOCITY 4 LSB 18 MSB SEQUENCE CONTINUES FOR UP TO 128 CELLS 1019 DEPTH CELL 128 VELOCITY 1 LSB 1020 MSB 1021 DEPTH CELL 128 VELOCITY 2 LSB 1022 MSB 1023 DEPTH CELL 128 VELOCITY 3 LSB 1024 MSB 1025 DEPTH CELL 128 VELOCITY 4 LSB 10...

Page 226: ... VEL 2 VEL 3 VEL 4 EX00xxx BEAM TO BEAM 1 TO BEAM 2 TO BEAM 3 0 EX01xxx INST X AXIS Y AXIS 0 ERROR VEL EX10xxx SHIP X AXIS Y AXIS VERTICAL ERROR VEL tilt applied EX11xxx EARTH EAST NORTH VERTICAL ERROR VEL heading applied Positive values indicate water movement toward the H ADCP Table 38 Velocity Data Format Hex Digit Binary Byte Field Description 1 4 1 2 Velocity ID Stores the velocity data ident...

Page 227: ...e magnitude of the normalized echo autocorrelation at the lag used for estimating the Doppler phase change The H ADCP represents this magnitude by a linear scale between 0 and 255 where 255 is perfect correlation i e a solid target A value of zero indicates bad correlation val ues Table 39 Correlation Magnitude Data Format Hex Digit Binary Byte Field Description 1 4 1 2 ID Code Stores the correlat...

Page 228: ...x Earth 1 Because profile data did not exceed correlation threshold WC 2 Because the error velocity threshold WE was exceeded At the start of the velocity profile the backscatter echo strength is typically high on all three beams Under this condition the H ADCP uses all three beams to calculate the orthogonal and error velocities As the echo returns from far away depth cells echo intensity decreas...

Page 229: ... identification word 00 04h 5 6 3 Depth cell 1 Field 1 Stores percent good data for depth cell 1 field 1 See above 7 8 4 Depth cell 1 Field 2 Stores percent good data for depth cell 1 field 2 See above 9 10 5 Depth cell 1 Field 3 Stores percent good data for depth cell 1 field 3 See above 11 12 6 Depth cell 1 Field 4 Stores percent good data for depth cell 1 field 4 See above 13 1028 7 514 Depth c...

Page 230: ...4 MSB 5 BT DELAY BEFORE RE ACQUIRE BD LSB 6 MSB 7 BT CORR MAG MIN BC 8 BT EVAL AMP MIN BA 9 BT PERCENT GOOD MIN BG 10 BT MODE BM 11 BT ERR VEL MAX BE LSB 12 MSB 13 RESERVED 14 15 16 17 BEAM 1 BT RANGE LSB 18 MSB 19 BEAM 2 BT RANGE LSB 20 MSB 21 BEAM 3 BT RANGE LSB 22 MSB 23 RESERVED LSB 24 MSB 25 BEAM 1 BT VEL LSB 26 MSB 27 BEAM 2 BT VEL LSB 28 MSB 29 BEAM 3 BT VEL LSB 30 MSB 31 RESERVED LSB 32 MS...

Page 231: ...OOD 44 RESERVED 45 REF LAYER MIN BL LSB 46 MSB 47 REF LAYER NEAR BL LSB 48 MSB 49 REF LAYER FAR BL LSB 50 MSB 51 BEAM 1 REF LAYER VEL LSB 52 MSB 53 BEAM 2 REF LAYER VEL LSB 54 MSB 55 BEAM 3 REF LAYER VEL LSB 56 MSB 57 RESERVED LSB 58 MSB 59 BM 1 REF CORR 60 BM 2 REF CORR 61 BM 3 REF CORR 62 RESERVED 63 BM 1 REF INT 64 BM 2 REF INT 65 BM 3 REF INT 66 RESERVED 67 BM 1 REF GOOD 68 BM 2 REF GOOD 69 BM...

Page 232: ...e LSB is always sent first Table 43 Bottom Track Data Format Hex Digit Binary Byte Field Description 1 4 1 2 ID Code Stores the bottom track data identification word 00 06h 5 8 3 4 BP BT Pings per ensemble Stores the number of bottom track pings to average together in each ensemble BP command If BP 0 the H ADCP does not collect bottom track data The H ADCP automatically extends the ensemble interv...

Page 233: ...is the percentage of bottom track pings that have passed the H ADCP s bottom track validity algorithm during an ensemble Scaling LSD 1 percent Range 0 to 100 percent 89 92 93 96 97 100 45 46 47 48 49 50 Ref Layer Min Near Far Stores the minimum layer size the near boundary and the far boundary of the BT water reference layer BL command Scaling minimum layer size LSD 1 dm Range 0 999 dm Scaling nea...

Page 234: ... Reserved Binary Reserved BIT Data Format BIT POSITIONS BYTE 7 6 5 4 3 2 1 0 1 RESERVED FOR TRDI USE LSB 2 MSB Figure 53 Binary Reserved BIT Data Format This data is always output See Table 44 for a description of the fields Table 44 Reserved for TRDI Format Hex Digit Binary Byte Field Description 1 4 1 2 Reserved for TRDI s use This field is for TRDI internal use only Binary Checksum Data Format ...

Page 235: ...g an ensemble Figure 55 through Figure 57 shows the format of these buffers and the sequence in which the H ADCP sends the data Table 46 through Table 48 list the format bytes fields scaling factors and a detailed de scription of every item in the DVL binary output buffers The DVL output data formats are available with or without bottom track However if bottom track is not available they will cont...

Page 236: ... Respect To BTM LSB 6 MSB 7 UPWARD VELOCITY With Respect To BTM LSB 8 MSB 9 STARBOARD EAST VELOCITY With Respect To WATER REF LSB 10 MSB 11 FORWARD NORTH VELOCITY With Respect To WATER REF LSB 12 MSB 13 UPWARD VELOCITY With Respect To WATER REF LSB 14 MSB 15 BM1 RNG TO BTM LSB 16 MSB 17 BM2 RNG TO BTM LSB 18 MSB 19 BM3 RNG TO BTM LSB 20 MSB 21 BM4 RNG TO BTM LSB 22 MSB 23 RANGE TO BTM AVERAGE LSB ...

Page 237: ...ese fields contain the velocity of the vessel in relation to the bottom in mm s Positive values indicate vessel motion to X Starboard East Y Forward North Z Upward 9 12 5 6 Y Vel Btm 13 16 7 8 Z Vel Btm Bit 1 Vertical velocities 17 20 9 10 X Vel Water Bit 2 These fields contain the velocity of the vessel in relation to the water reference layer in mm s Positive values indicate vessel motion to X S...

Page 238: ...h in hundredths of degrees 99 102 50 51 Roll Sensor Other Data Bit 3 this field contains the Roll in hundredths of degrees 103 106 52 53 Temp Sensor Other Data Bit 4 this field contains the Temperature in hundredths of degrees 107 110 54 55 BIT results Sensor Other Data Bit 5 this field contains the Built In Test results Each bit specifies the result of built in test during an ensemble If the bit ...

Page 239: ...TURE 3 NO OF BYTES LSB 4 MSB 5 SYSTEM CONFIG 6 X VEL BTM LSB 7 MSB 8 Y VEL BTM LSB 9 MSB 10 Z VEL BTM LSB 11 MSB 12 E VEL BTM LSB 13 MSB 14 BM1 RNG TO BTM LSB 15 MSB 16 BM2 RNG TO BTM LSB 17 MSB 18 BM3 RNG TO BTM LSB 19 MSB 20 BM4 RNG TO BTM LSB 21 MSB 22 BOTTOM STATUS 23 X VEL REF LAYER LSB 24 MSB 25 Y VEL REF LAYER 26 27 Z VEL REF LAYER 28 29 E VEL REF LAYER 30 31 REF LAYER START 32 33 REF LAYER...

Page 240: ...ucture Identifies which data pattern will follow based on the PD command 0 PD4 Bytes 1 through 47 from Figure 56 1 PD5 Bytes 1 through 45 from Figure 56 and bytes 46 through 88 from Figure 57 Note PD6 is ASCII only see Table 49 5 8 3 4 No of Bytes Contains the number of bytes sent in this data structure not including the final checksum 9 10 5 System Config Defines the DVL hardware firmware configu...

Page 241: ...BEAM 1 LOW CORRELATION 45 48 49 52 53 56 57 60 23 24 25 26 27 28 29 30 Velocity 1 Velocity 2 Velocity 3 Velocity 4 These fields contain the velocity of the vessel in relation to the water mass reference layer in mm s The setting of the EX command Coordinate Transformation determines how the H ADCP references the velocity data EX CMD COORD SYS Velocity 1 Velocity 2 Velocity 3 Velocity 4 xxx00xxx Be...

Page 242: ... head Scaling LSD 0 01 C Range 5 00 to 40 00 C 91 94 46 47 Checksum This field contains a modulo 65536 checksum The H ADCP computes the checksum by summing all the bytes in the output buffer excluding the checksum NOTE This field con tains the checksum only when the PD4 command is used If PD5 is used the remaining bytes are explained in Table 48 The H ADCP packs velocity data into a two byte two s...

Page 243: ...2 1 0 46 SALINITY 47 DEPTH LSB 48 MSB 49 PITCH LSB 50 MSB 51 ROLL LSB 52 MSB 53 HEADING LSB 54 MSB 55 DISTANCE MADE GOOD BTM EAST LSB 56 57 58 MSB 59 DISTANCE MADE GOOD BTM NORTH LSB 60 61 62 MSB 63 DISTANCE MADE GOOD BTM UP LSB 64 65 66 MSB 67 DISTANCE MADE GOOD BTM ERROR LSB 68 69 70 MSB 71 DISTANCE MADE GOOD REF EAST LSB 72 73 74 MSB 75 DISTANCE MADE GOOD REF NORTH LSB 76 77 78 MSB ...

Page 244: ...n Beam 4 Scaling LSD 0 01 degree Range 20 00 to 20 00 degrees 101 104 51 52 Roll Contains the H ADCP roll angle ER command This value may be a manual setting or a reading from a tilt sensor For up facing H ADCPs positive values mean that Beam 2 is spatially higher than Beam 1 For down facing H ADCPs positive values mean that Beam 1 is spatially higher than Beam 2 Scaling LSD 0 01 degree Range 20 0...

Page 245: ...arts per thousand ppt TT TT Temperature in C DDDD D Depth of transducer face in meters CCCC C Speed of sound in meters per second BBB Built in Test BIT result code 3 WATER MASS INSTRUMENT REFERENCED VELOCITY DATA WI XXXXX YYYYY ZZZZZ EEEEE S CR LF where XXXXX X axis vel data in mm s Bm1 Bm2 xdcr movement relative to water mass YYYYY Y axis vel data in mm s Bm4 Bm3 xdcr movement relative to water m...

Page 246: ...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...

Page 247: ...n then use the PD0 data to troubleshoot any setup problems with the H ADCP 1997 02 28 11 16 50 07 00001 Hdg 209 1 Pitch 9 6 Roll 9 1 Temp 22 8 SoS 1529 BIT 00 Bin Dir Mag E W N S Vert Err Echo1 Echo2 Echo3 Echo4 1 32768 32768 32768 32768 43 49 46 43 2 32768 32768 32768 32768 44 41 45 44 3 32768 32768 32768 32768 43 41 45 43 4 32768 32768 32768 32768 43 41 46 43 5 32768 32768 32768 32768 43 41 45 4...

Page 248: ...ties are reported in unsigned units of counts Standard error will be re ported as unsigned quantities in mm sec The checksum will be calculated as described by the CRC 16 algorithm using the polynomial x16 x15 x2 1 with an initial register value of 0xFFFF PD14 Invalid Data Several quantities may on occasion be out of range or may not pass quality checks In such cases an inva lid result will be ind...

Page 249: ...eam 1 intensity for bin 1 NBins N 4N 24 1 I21 Beam 2 intensity for bin 1 NBins N 4N 2m 21 1 I1m Beam 1 intensity for bin m NBins N 4N 2m 22 1 I2m Beam 2 intensity for bin m NBins N 6N 23 2 SX1 Standard error of X component of velocity for bin 1 NBins N 6N 25 2 SY1 Standard error of Y component of velocity for bin 1 NBins N 6N 4m 19 2 SXm Standard error of X component of velocity for bin m NBins N ...

Page 250: ...r yyddmm Date hhmmss ss Time bx Bin Number mx Magnitude dx Direction xx NMEA checksum In the event of bad data the appropriate field will be left empty with the commas present to indi cate the absence of data The bins to be displayed are selected using the PB command as in the case of PD12 The maximum length for the message is 480 bytes Sea Bird Electronics has acknowledged that they have a proble...

Page 251: ...of bytes in the data type see Rule 3 3 Data may be added to an existing data type only by adding the bytes to the end of the data format As an example the variable leader data contains information on ensemble number time heading pitch roll temperature pressure etc The format for the bytes 1 53 are now specified by changes added in support to the H ADCP If additional sensor data is to be added to t...

Page 252: ...cated in the header data 5 Locate the data ID type you wish to decode by using the offset to each data type and confirm the data ID number at that offset matches the ID type you are looking for 6 Once the proper ID type has been located use this manual to understand what each byte repre sents in that particular data type Decoding Sequence Example All the available binary output data formats respec...

Page 253: ... 2 15 decimal YYY YYYY YYYY YYYY x Scale factor Where the binary word is XYYY YYYY YYYY YYYY Using this formula in this example we obtain X 1 Y Y 111 1111 1110 1010 Scale Factor see Table 48 0 01 degree Thus Decimal Roll 1 x 1 x 2 15 decimal 111 1111 1110 1010 x 0 01deg Decimal Roll 32768 32746 x 0 01deg Decimal Roll 0 22 degrees The same method can be used for all PDx binary formats If you simply...

Page 254: ...May 2015 WorkHorse H ADCP Operation Manual Page 242 EAR Controlled Technology Subject to Restrictions Contained on the Cover Page NOTES ...

Page 255: ...ration Manual May 2015 EAR Controlled Technology Subject to Restrictions Contained on the Cover Page Page 243 Appendix A NOTICE OF COMPLIANCE In this chapter you will learn China RoHS requirements Material disclosure table ...

Page 256: ...r covered products as required in Chinese law and does not reflect in any way the safety quality or warranty associated with these TRDI products Some homogenous substance within the EIP contains toxic or hazardous substances or elements above the requirements listed in SJ T 11363 2006 These substances are identified in Table 52 WEEE The mark shown to the left is in compliance with the Waste Electr...

Page 257: ...E 换能器配件 Transducer Assy X O O O O O 接收机电路板 Receiver PCB X O O O O O 数据处理器电路板 DSP PCB X O O O O O 微处理器电路板 CPU PCB X O O O O O 输入输出口电路板 PIO PCB X O O O O O 机体装配 Housing Assy X O O O O O 底座装配 End Cap Assy X O O O O O 交流电转换器 AC Voltage Adapter X O O O O O 水下专用电缆 Underwater Cable X O O O O O 专用装运箱和泡沫塑料垫 Shipping Case w Foam O O O O O O O 表示该有毒或有害物质在该部件所有均质材料中的含量均在 SJ T 11363 2006 标准规定的限量要求以下 O Indicate...

Page 258: ...May 2015 WorkHorse H ADCP Operation Manual Page 246 EAR Controlled Technology Subject to Restrictions Contained on the Cover Page NOTES ...

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