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Integrator's Guide

5.36

GETXFAVG / GETXFBURST

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

Argument

Description

ROWS

Number of Rows.

COLS

Number of Columns.

M11

M12

M13

M14

M21

M22

M23

M24

M31

M32

M33

M34

M41

M42

M43

M44

Figure: Matrix definitions

Exam ples:

GETXFBURST,ROWS=4,COLS=4,M11=1.183,M12=0.000,M13=-1.183,M14=0.000,

M21=0.000,M22=1.183,M23=0.000,M24=-1.183,M31=0.552,M32=0.000,

M33=0.552,M34=0.000,M41=0.000,M42=0.552,M43=0.000,M44=0.552

GETXFAVG,ROWS=3,COLS=3,M11=1.183,M12=0.000,M13=-1.183,M21=1.183,

M22=-2.366,M23=1.183,M31=0.552,M32=0.000,M33=0.552

Содержание Signature 100

Страница 1: ......

Страница 2: ...velocity data and NMEA Signature 55 15 4 2 Download telemetry file via FTP 17 4 3 Download telemetry file over serial port 18 4 4 Erase telemetry file 19 4 5 Checking instrument state over Ethernet Ch...

Страница 3: ...36 5 24 POWERDOWN 36 5 25 ERASE 36 5 26 FORMAT 36 5 27 SECREBOOT 36 5 28 LISTFILES 37 5 29 DOWNLOAD 38 5 30 INQ 39 5 31 GETSTATE 40 5 32 GETERROR 40 5 33 GETALL 41 5 34 RECSTAT 41 5 35 GETMISCLIM 42 5...

Страница 4: ...g Data Record Definition 67 6 3 Data Limit Formats Ch 7 Telemetry Data Formats 68 68 7 1 Averaging Mode 69 AWAC NMEA Format DF 100 71 NMEA Format 1 and 2 DF 101 102 74 NMEA Format 3 and 4 DF 103 104 7...

Страница 5: ...tion Manual The document is complete in the sense that it describes all available commands and modes of communication For most users it will make sense to let the supplied Nortek software do most of t...

Страница 6: ...e instrument The majority of the commands are initiated from the Command mode The possible modes for the instrument are Command Command and control Data Retrieval Data download from recorder Measureme...

Страница 7: ...g up due to some other cause e g alarm from the real time clock This ensures that the processor will interpret the following command correctly The figure and the table below show the specified timing...

Страница 8: ...eved through commands Comprehensive validation and error handling is implemented Invalid configurations return the erroneous argument with limits directly so that each subsequent error can be handled...

Страница 9: ...using FTP When the network processor receives an incoming FTP request it will interrupt the Doppler processor by entering data retrieval mode and mount the file system of the recorder The data files...

Страница 10: ...sername nortek and password hit Enter if password protection hasn t been enabled via the Web interface Signature Username nortek Password Nortek Signature Command Interface The interface is very simil...

Страница 11: ...hannel which will output all data that is configured for serial output This can for example be used by display only software while configuration is done by another application Port 9004 outputs ASCII...

Страница 12: ...e data collection software and port must first be configured using the web interface The IP address identifies the client to which the data is to be sent and the port may be used to uniquely identify...

Страница 13: ...ted the instrument will resynchronize its data sampling according to the deployment time and the instrument configuration This means you may have to wait for one average measurement interval or one bu...

Страница 14: ...Coarse SETALTERNATE EN 1 PLAN 1380 IDLE 10 PLAN1 180 IDLE1 230 OK Setting the telemetry file to average the Fine profile over the averaging interval SETTMAVG EN 1 CD 1 PD 1 AVG 180 TV 1 TA 1 TC 1 CY E...

Страница 15: ...your IP addressto find the telemetry file telemetryfile bin Here is part of the result from the above configuration Note that the data were collected in air PNORC 091715 142440 1 0 24 1 35 2 21 1 69 1...

Страница 16: ...89 340 1 C 78 84 65 67 12 13 8 9 15 PNORI 4 Signature1000900002 4 11 0 20 1 00 0 1B After downloading the telemetry file erase it either via FTP or commands Only the telemetry file can be deleted usi...

Страница 17: ...f the telemetry file Return in bytes TMSTAT 95558 OK Outputting the telemetry file over serial port in 4096 byte chunks DOWNLOADTM 0 4096 CKS 1 OUTPUT OK Next 4096 byte chunk etc DOWNLOADTM 4097 4096...

Страница 18: ...of time Send Break CONFIRM OK Going into Data Retrieval Mode RM NORTEK AS Version 2176 Sep 17 2015 18 58 53 DATA RETRIEVAL MODE OK Checking the size of the telemetry file Return in bytes TMSTAT 34768...

Страница 19: ...uence starts by wanting to know the state of the instrument before proceeding with either a new measurement or data retrieval Waking up the BBP to make sure commands are received BBPWAKEUP OK Inquirin...

Страница 20: ...ual instrument in use Default parameters can be retrieved be setting default configuration SETDEFAULT ALL and reading out the desired parameter through the appropriate GET command The same is the case...

Страница 21: ...TPLANLIM Set Get Plan Settings Get Plan Limits Command mode SETAVG GETAVG GETAVGLIM Set Get Averaging Mode Settings Get Averaging Mode Limits Command mode SETBURST GETBURST GETBURSTLIM Set Get Burst P...

Страница 22: ...own Command mode ERASE Erase the recorder Command mode FORMAT Format the recorder Command mode SECREBOOT Reboot the SEC Interface processor Command mode LISTFILES Lists the files stored on the Instrum...

Страница 23: ...ltimeter Telemetry Settings Get Altimeter Telemetry argument limits Command mode TMSTAT Returns number of bytes in the telemetry file Command mode Data retrieval mode DOWNLOADTM Download telemetry dat...

Страница 24: ...DMTOUT Data retrieval mode timeout CFMTOUT Confirmation mode timeout 5 3 SETCLOCK GETCLOCK Set or retrieve the Real Time Clock Note that all parameters must be set when using the SETCLOCK command Arg...

Страница 25: ...MV Unused Not yet implemented Absolute max Vertical velocity cm s SA Salinity ppt BURST Burst measurement disabled enabled MIBURST Burst Interval s DIBURST Depth interval m SV Sound velocity m s FN F...

Страница 26: ...elect beams 0 select beams according the PLAN VD setting Example 134 select the three beams 1 3 and 4 MUX Multiplexor Selection 0 1 0 ping all beams in parallel 1 ping beams in sequence BW Bandwidth s...

Страница 27: ...5 BT Enabled bottom track in BURST measurements DISV Disable Velocity measurement ECHO Enable Echo Sounder RAWALTI Enable Storage of Raw Altimeter data Raw data are store for first and last ping in e...

Страница 28: ...t pulses vertical beam SCORR Number of Ambiguities to resolve when using EVR NC Number of cells CS Cell size m BD Blanking distance m PL Power Level 5 9 SETECHO GETECHO GETECHOLIM Set get echo sounder...

Страница 29: ...T1 is then run for PLAN1 seconds and the unit powers down for IDLE1 seconds The configuration is then switched back to the primary and the process is repeated The valid range for the various arguments...

Страница 30: ...ument When triggered the instrument will perform a complete ping Tx and Rx before it goes back to monitoring the trigger Any triggers asserted during an ongoing ping will be ignored There are no speci...

Страница 31: ...e TTL input tolerate voltages between 0 5 5 V The pulse length should be minimum 1 ms DVL trigger types RS 485 Trigger A RS 485 signal can be used to trig the AD2CP either Rising Edge Falling Edge or...

Страница 32: ...precision in the horizontal range and along the beam in cm s for the various measurement modes Argument Description AVGHORZ Precision in the horizontal range in average mode cm s BURSTHORZ Precision...

Страница 33: ...nning DSP FW version Number FPGA Running FPGA FW version Number DIGITAL Board Revision Example C 0 String INTERFACE Board Revision Example C 0 String ANALOG Board Revision Example C 0 String SENSOR Bo...

Страница 34: ...ST default TMALTI Restore TMALTI default DVL Restore DVL default 5 21 SAVE Save current settings for next measurement At least one argument must be specified for the SAVE command Argument Description...

Страница 35: ...ected the instrument will resynchronize its data sampling according to the deployment time and the instrument configuration This means you may have to wait for one average measurement interval or one...

Страница 36: ...tion CODE Code should be 9999 Format the recorder Note that this can take minutes depending on the recorder size 5 27 SECREBOOT Argument Description CODE Code should be 9999 Reboots the SEC Interface...

Страница 37: ...file can then be detected by parsing the OK CR LF The parameters can be used to download the file in several pieces The number of bytes to follow will then be returned in ASCII format and terminated...

Страница 38: ...ion a description of the Instrument modes Parameter Instrument Mode 0000 Bootloader Firmware upgrade 0001 Measurement 0002 Command 0004 Data Retrieval 0005 Confirmation 0006 FTP mode Example in comman...

Страница 39: ...has not yet started 0009 Confirmation measurement 0010 Confirmation deploy 0011 Confirmation pre deploy 0012 Data retrieval internal processing in progress DEPTIME 0 DEPLOY command has not been receiv...

Страница 40: ...ation information for the instrument This information can either be displayed on the command line or saved to a data file For the SignatureWaves software to read a valid ad2cp file it must contain bot...

Страница 41: ...me Size Volume Size in bytes 5 35 GETMISCLIM This command returns configuration limits that cannot be returned through the relevant commands Argument Description AVGPR Returns the total profiling rang...

Страница 42: ...Rows COLS Number of Columns M11 M12 M13 M14 M21 M22 M23 M24 M31 M32 M33 M34 M41 M42 M43 M44 Figure Matrix definitions Examples GETXFBURST ROWS 4 COLS 4 M11 1 183 M12 0 000 M13 1 183 M14 0 000 M21 0 0...

Страница 43: ...tore Amplitude TC Store Correlation CY Coordinate System FO Enable File Output SO Enable Serial Output DF Data format See Chapter 4 DISTILT Disable tilt TPG Enable storage of Percentage Good Data The...

Страница 44: ...are version is used can be found by using the GETTMBURSTLIMcommand This command has the same arguments as the SETTMBURST GETTMBURST commands shown in the list above The output format for limits is des...

Страница 45: ...O Serial output DF Bottom track Telemetry format 300 NMEA without tags 301 NMEA with tags 302 NMEA without tags and Sensor Data 303 NMEA with tags and Sensor Data NPING Number of Pings FOMTH Figure of...

Страница 46: ...OK CR LF The parameters can be used to download the telemetry file in several pieces The number of bytes to follow will then be returned in ASCII format and terminated with CR LF before the data is ou...

Страница 47: ...lid Range STR Tag string Maximum 200 bytes CLK Add clock in tag 0 1 Example PNOR TAG STR This is a test tag CLK 1 4A a5 0a a0 10 2f 00 42 8c 42 5d 13 32 Binary header 30 31 37 2d 30 31 2d 32 34 20 30...

Страница 48: ...ields Field Size Description Sync 8 bits Always 0xA5 Header Size 8 bits unsigned Size number of bytes of the Header ID 8 bits Defines type of the following Data Record 0x15 Burst Data Record 0x16 Aver...

Страница 49: ...Checksum Definition The Checksum is defined as a 16 bits unsigned sum of the data 16 bits The sum shall be initialized to the value of 0xB58C before the checksum is calculated C code for Checksum cal...

Страница 50: ...ata included Bit 8 Altimeter data included Bit 9 Altimeter Raw data included Bit 10 AST data included Bit 11 Echo Sounder data included Bit 12 AHRS data icluded Bit 13 Percentage Good data included Bi...

Страница 51: ...4 0 Battery Voltage 16 bits Unsigned 0 1 Volt Magnetometer Raw X axis 16 bits Signed Magnetometer Raw X axis value in last measurement interval Magnetometer Raw Y axis 16 bits Signed Magnetometer Raw...

Страница 52: ...its Signed 0 01 deg C Real Time Clock temperature reading Error 16 bits See error description version 1 Status0 16 bits Bit 0 ProcIdle3 Indicates that the processor Idles less than 3 percent Bit 1 Pro...

Страница 53: ...32 bits Unsigned Counts the number of ensembles in both averaged and burst data Velocity data NB NC 16 bits Signed 10 Velocity Scaling m s This field exists if the Velocity data included bit of the C...

Страница 54: ...ata Number of Samples 32 bits Unsigned Altimeter Raw Data Number of Samples These fields exist if the Altimeter Raw Data is set Altimeter Raw Data Sample distance 16 bits Unsigned 0 1 mm Distance betw...

Страница 55: ...Matrix 3x3 AHRS Dummy 4 32 bits AHRS Gyro X 32 bits Float dps Degrees pr Second AHRS Gyro AHRS Gyro Y 32 bits Float dps Degrees pr Second AHRS Gyro AHRS Gyro Z 32 bits Float dps Degrees pr Second AHR...

Страница 56: ...Integrator s Guide 56 2017 Nortek AS Field Size Format Resolution Unit Description Std Dev Dummy 12 16 bits _Unused...

Страница 57: ...Beam 3 Quadrature phase 1 Error 0 OK Bit 14 Tag Error Beam 3 In phase 1 Error 0 OK Bit 13 Tag Error Beam 2 Quadrature phase 1 Error 0 OK Bit 12 Tag Error Beam 2 In phase 1 Error 0 OK Bit 11 Tag Error...

Страница 58: ...short beamData2 4 unsigned short beamData3 4 unsigned short beamData4 4 t_DataSetDescription4Bit typedef struct unsigned long _empty1 1 unsigned long bdScaling 1 unsigned long _empty2 1 unsigned long...

Страница 59: ...short _empty 1 4 unsigned short velIncluded 1 5 unsigned short ampIncluded 1 6 unsigned short corrIncluded 1 7 unsigned short altiIncluded 1 8 unsigned short altiRawIncluded 1 9 unsigned short ASTInc...

Страница 60: ...HxHyHz 3 Magnetometer Min data short accl3D 3 Accelrometer Data union unsigned short ambVelocity unsigned short echoFrequency t_DataSetDescription4Bit DataSetDescription4bit unsigned short unsigned sh...

Страница 61: ...unsigned short multiBeamIncluded 1 Multi beam data included unsigned short nBeams 4 Number of altimeter beams unsigned short powIndex 3 Power level index for current ping unsigned short _unused 6 stat...

Страница 62: ...ata included Bit 6 Bit 7 Bit 8 Distance data included Bit 9 Figure of Merit data included Bit 10 15 Unused Serial Number 32 bits Unsigned Year 8 bits Unsigned 1 Year Years since 1900 see struct tm def...

Страница 63: ...Signed Magnetometer Raw Y axis value in last measurement interval Magnetometer Raw Z axis 16 bits Signed Magnetometer Raw Z axis value in last measurement interval Accelerometer Raw X axis 16 bits Si...

Страница 64: ...er applied Bit 27 25 Orientation See Table 1 Bit 24 22 Auto orientation See Table 2 Bit 21 Active Configuration 0 BT Settings 1 BT1 Settings Ensemble counter 32 bits Unsigned Counts the number of ense...

Страница 65: ...short microSeconds100 unsigned short soundSpeed resolution 0 1 m s short temperature resolution 0 01 degre Celsius unsigned long pressure unsigned short heading short pitch short roll unsigned short b...

Страница 66: ...AS unsigned long ensembleCounter unsigned char data SIZE_VAR_DATA_BT actual size of the following int32_t velocity nBeams velocity int32_t distance nBeams distance unsigned short FOM nBeams Figure Of...

Страница 67: ...ng A semicolon is used as separator between limits and values The argument format can also be inferred from the limits integer values are shown without a decimal point floating point values are shown...

Страница 68: ...y format as described in Data Record Definition version 3 100 Same format as AWAC NMEA format NMEA sentences PNORI PNORS and PNORC 101 NMEA format 1 without Tags NMEA sentences PNORI1 PNORS1 and PNORC...

Страница 69: ...PNORI 1 Instrument type N 4 Signature 4 2 Head ID Signaturexxx xNNNNNN Signature100 0900002 3 Number of beams N 4 4 Number of cells dd dd 20 5 Blanking m dd dd 0 20 6 Cell size m dd dd 1 00 7 Coordina...

Страница 70: ...dd 0 56 5 Velocity 2 m s Beam2 Y North dd dd 0 80 6 Velocity 3 m s Beam3 Z1 Up1 dd dd 1 99 7 Velocity 4 m s Beam4 Z2 Up2 dd dd 1 33 8 Speed m s dd dd 0 98 9 Direction deg ddd d 305 2 10 Amplitude uni...

Страница 71: ...able 4 PNORI1 2 NMEA sentence parameter description Example DF 101 PNORI1 4 123456 3 30 1 00 5 00 BEAM 5B Example DF 102 PNORI2 IT 4 SN 123456 NB 3 NC 30 BD 1 00 CS 5 00 CY BEAM 68 Sensors Data Identi...

Страница 72: ...6 PSD 0 02 T 24 56 3F Averaged Data Identifier PNORC1 for DF 101 PNORC2 for DF 102 The averaged data is repeated for each measurement cell Column Field Description TAG Data format Example 1 Date Date...

Страница 73: ...dB Only if beams 3 A3 ddd d A3 78 9 20 Amplitude Beam 4 dB Only if beams 4 A4 ddd d A4 78 9 21 Correlation Beam 1 C1 dd C1 78 22 Correlation Beam 2 Only if beams 2 C2 dd C2 78 23 Correlation Beam 3 O...

Страница 74: ...4C0000 5F Example DF 104 PNORH4 141112 083149 0 2A4C0000 4A68 Sensors Data Identifier PNORS3 for DF 103 PNORS4 for DF 104 Column Field Description TAG Data format Example 1 Battery V BV dd d BV 23 9 2...

Страница 75: ...D CP 2 5 2 Speed m s SP d ddd SP 0 751 3 Direction deg DIR ddd d DIR 170 1 4 Averaged Correlation AC N AC 5 5 Averaged Amplitude AA N AA 28 Table 9 PNORC3 4 NMEA Averaged data sentence parameter descr...

Страница 76: ...2 DF 101 102 Information Data Identifier PNORI1 for DF 101 PNORI2 for DF 102 Column Field Description TAG Data format Example 1 Instrument type 4 Signature IT N IT 4 2 Head ID SN N SN 123456 3 Number...

Страница 77: ...ev dBar PSD dd dd PSD 0 02 15 Temperature deg C T dd dd T 24 56 Table 12 PNORS1 2 NMEA sentence parameter description Example DF 101 PNORS1 083013 132455 0 34000034 23 9 1500 0 0 02 123 4 45 6 0 02 R...

Страница 78: ...dB Only if beams 4 A4 ddd d A4 78 9 13 Correlation Beam 1 C1 dd C1 78 14 Correlation Beam 2 Only if beams 2 C2 dd C2 78 15 Correlation Beam 3 Only if beams 3 C3 dd C3 78 16 Correlation Beam 4 Only if...

Страница 79: ...3 4 Cell Position m CP dd d CP 11 0 5 Velocity Beam 5 m s Only if CY BEAM V1 dd ddd V1 0 332 6 Amplitude Beam 5 m s Only if CY ENU A1 ddd d A1 78 9 7 Correlation Beam 5 m s Only if CY ENU and beams 3...

Страница 80: ...Available Data formats for Altimeter Column Field Description TAG Data format Example 1 Date Date DAT E YYMMDD DATE 130830 2 Time Time TIM E hhmmss TIME 132455 3 Pressure dBar P ddd ddd P 123 456 4 Al...

Страница 81: ...M 3 2 DATE Date MMDDYY DATE 112813 3 TIME Time hhmmss ssss TIME 072228 23 45 4 DT1 Diff time 1 s ssss DT1 0 1234 5 DT2 Diff time 2 s ssss DT2 0 1234 6 BV Bottom Velocity m s f fffff BV 1 11111 7 FM Fi...

Страница 82: ...clude sys socket h include sys types h include sys time h include netinet in h include netdb h include arpa inet h endif include sys time h include unistd h include stdarg h include stdio h include st...

Страница 83: ...use will depend upon the instrument configuration and other considerations ifdef __WIN32__ On windows the timeout is number of ms int ts 30000 else Other OSes use timeval structure struct timeval ts...

Страница 84: ...led S n n s LocalFree s break else if r read socket_fd c 1 0 if r 0 Instrument terminated socket for some reason Re connect required printf Server terminated socket n n else if errno EAGAIN No data re...

Страница 85: ...Telemetry Data Formats 85 2017 Nortek AS printf Received s dataBuffer Receive next line of data length 0 close socket_fd exit 1...

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