The RDI Broadband ADCP and Transect User Notes for Logging
Contents
1. Cable Length meters Transducer Number of Beams Beam Angle degrees Sensors Communications Serial ASCII 8 bit Baud Rate Parity 1 5 98 CSIRO 229036 Vessel M ount 150 kHz Concave 137 2699 5 52 1 16 c5d3 1 01 High 20 4 20 Temperature Synchro RS 232 9600 None This is based on the sheet RDI Instruments Broadband Configuration Summary which was shipped with the instrument The RDI Broadband ADCP and Transect User Notes 27 BBADCP Configuration Summary 28 The RDI Broadband ADCP and Transect User Notes BBADCP Test Results Appendix 2 BBADCP Test Results Wakeup message ef Broadband ADCP Version 5 52 RD Instruments c 1991 96 All rights reserved gt COM port COM1 Baud rate 9600 TEST OK INFO TEST Frequency 153600 HZ Configuration 4 BEAM J ANUS Match Layer 10 Beam Angle 20 DEGREES Beam Pattern CONCAVE Orientation DOWN Xducer Ser 02699 Sensor s TEMPERATURE XDC Firmware 1 16 CPU Firmware 5 52 DEMOD 1 Ver ad46 Type 3 DEMOD 2 Ver ad46 Type 3 PWRTIMG Ver c5d3 Type 4 TEST OK BUILT IN TESTS P test BEGIN Built In Tests CPU RAM Test aaa PASS Realtime Clock Test PASS Timing Card RAM Test PASS Demod RAM Test PASS PASS END Built in Tests PT1 test2. Clear BIT Log CZ Power Down BBADCP gt D DA SVP 16 Atmospheric Pressure Correction DI Identify the SVP 16 DQ SVP 16 Power On Off Toggle DS SVP 16 Sample Display Data Scan DW SVSS Address Select 0 31 DX SVSS Select Raw Data DY SVSS Select Real Data DZ SVSS Sample Display Data Scan gt E EA 00000 Heading Alignment 1 100 deg EB 00000 Heading Bias 1 100 deg EC 1500 Speed Of Sound m s ED 00000 Transducer Depth 0 65535 dm EH 00000 Heading 1 100 deg EP 0000 Tilt 1 Sensor 1 100 deg ER 0000 Tilt 2 Sensor 1 100 deg ES 35 Salinity 0 40 pp thousand The RDI Broadband ADCP and Transect User Notes 35 Post SS9802 BBADCP Settings ET 2500 Temperature 1 100 deg Celsius EX 00000 Coord Transform Xform Type Tilts 3Bm Map EZ 0020001 Sensor Source C D H P R S T gt P PA Pre Deployment Tests PC HH Built In Tests PC 0 Help PD 00 Data Stream Select 0 7 PI 011111 Built in Tests Rpt CPU Clk TC DSP Loop PM inann D
3. DAC ADC Test Results 0 PASS PT2 test AMBTEMP 26 1 Degrees C VMVDD3 _ 15 5 Volts The RDI Broadband ADCP and Transect User Notes 29 BBADCP Test Results VMVDD1 __ 5 0 Volts VMVDC 24 3 Volts PT3 test Correlation Magnitude Lag Bm1 Bm2 Bm3 Bm4 255 255 255 255 195 186 184 197 85 59 61 85 24 23 14 28 2 18 8 10 4 12 5 6 4 4 4 2 7 15 6 10 NOUBWNEF O High Gain RSSI 53 51 51 51 Low Gain RSSI 18 13 13 13 Demod 1 DAC 115 112 116 114 Duty 49 51 50 49 LPF 0 Demod 2 DAC 113 117 115 112 Duty 52 49 47 49 LPF 0 Receive Test Results 00000000 PASS PT4 test IXMT 3 3Amps peak VXMT 253 5 Volts peak Transmit Test Results 00 PASS PT5 test 000 0 000 0 000 0 000 0 255 255 255 255 000 0 000 0 255 255 255 255 000 0 000 0 000 0 255 255 255 255 Electronics Test Results 00000000 PASS PT6 test Receive Bandwidth Sample bw bw bw bw bw rate expect Bm1 Bm2 Bm3 Bm4 154 39 43 46 46 42kKhz results PASS PASS PASS PASS 30 The RDI Broadband ADCP and Transect User Notes BBADCP Test Results PT7 test RSSI Time Constant RSSI Filter Strobe 1 38400 Hz time Bm1 Bm2 Bm3 Bm4 msec cnts cnts cnts cnts 6 4 6 4 13 11 12 11 18 17 18 16 22 21 22 21 26 24 25 24 29 27 28 27 OONAUBWNE 10 37 36 36 35 nom 48 45 47 45 result PASS PASS PASS PASS TEST OK The RDI Broadband ADCP and Transect User Notes BBADCP T
4. Acquire Ensembles BE 5000 Max Error Velocity mm s BF 00000 Depth Guess O Auto 1 65535 dm BG 80 30 00030 N A Shal Xmt Deep Xmt Deep dm BH 190 010 004 040 N A Thresh cnt S Amb cm s L Amb cm s MinAmb BK 0 Layer Mode 0 Off 1 On 2 Lost 3 No BT BL 320 0640 0960 Layer Min Size dm Near dm Far dm BM 4 Mode 4 Default Coherent 5 Default BP 001 Pings per Ensemble BR 0 Range Resolution 0 4 1 2 2 1 BS Clear Distance Traveled BX 4000 Maximum Depth 80 9999 dm BZ 005 Coherent Ambiguity Velocity cm s radial gt C CB 611 Serial Port Control Baud Par Stop CF 10110 Flow Ctrl EnsCyc PngCyc Binry Ser Rec CG 0 Ping Mode 0 Std 1 Timed Data Out CK Keep Parameters as USER Defaults CL 0 Battery Saver Mode O OF F 1 ON CP 255 Xmt Power O min 255 max CQ 008 Xmt Delay Select 0 127 CR Retrieve Parameters 0 USER 1 FACTORY CS Go Start Pinging CT 00 Turnkey Mode O OF F 1 TURNKEY CX 0 Triggered Xmt O OF F 1 _H 2 HL 3 _H HL 44_ 5 H CY FFFFFEFF
5. the BBADCP establish a Telnet session to the instrument from the Sun or connect the ADCP toa PC runninga Terminal session or RDI Bbtalk software Make sure the ADCP is turned on e Senda Break signal to the ADCP with the lt End gt key e f you wish to add to the already saved user default settings enter CRO Adding commands this way should only be done when you are assured of which settings have been saved If you wish to start afresh enter the CR1 command e Enter the commands you wish to be saved e Issue the CK command to save these settings to non volatile memory e You can query the settings which have been changed to ensure they are set as required See section 4 2 above e Exit the Telnet Terminal or Bbtalk session The RDI Broadband ADCP and Transect User Notes 37
6. type The PC Autoexec File For Transect Version 2 80 there are some DOS settings which can be used to invoke useful features These can be added to the autoexec bat file of the PC The configuration files used to log each data set will be saved and replayed with the data using the following two commands set AUTOSAVE CF G Y set AUTOLOADCF G Y The Percent Good quality calculation will be altered to be based upon the number of good velocity values averaged together by Transect in a bin using set USEPERCVEL Y Other Settings Set the ADCP internal real time clock to UT with the command TSyy dd mm hh mm ss The RDI Broadband ADCP and Transect User Notes 33 Quick Guide to Data Acquisition It is Suggested that this time is checked for drift against UT in a week using TS in BBTALK This time will be used only for a time stamp in Transect notably seen on playback screens The Battery Saver Mode was set to CLO for no sleep between ensembles or pings in the User Default settings of the instrument 3 1 4 Acquisition In this mode with these settings the following steps will start acquisition Reboot the PC from Win95 into DOS mode to get into the right directory on the c drive type cd rdi torun the program type transect From the menu selection go to Acquire Select the SSNAV NAV navigation setup file Check that the SS0298 CF G configuration file is loaded If not press the F3 key and enter that f
7. 14 July 1998 CSIRO Division of Marine Research RV Southern Surveyor Data Collection System The RDI Broadband ADCP and Transect User Notes for Logging Data on a PC Pamela Brodie amp Helen Beggs CSIRO Division of Marine Research Hobart Tasmania Australia Version 1 01 July1998 1998 CSIRO Division of Marine Research Describes the Broadband ADCP installation on the RV Southern Surveyor and setting up a PC for data acquisition using the RD Instruments software Transect and associated RDI utilities SS0198 files and data from the Transect PC can be found gzipped on local3 crdata3 raw_data ss9801_phc newdata ss2 pc_data transect or on exabyte tape backup of ss9801 This document was created based on the template on fdcs opt fdcs doc F DCS_template It is archived fdcs opt fdcs doc ssurv transect doc A PDF version of this document transect pdf requires Acrobat Reader 3 See http marine csiro au datacentre GIS_data doc transect pdf The RDI Broadband ADCP and Transect User Notes Introduction 1 0 Introduction This document describes the RD Instruments RDI Broadband Acoustic Doppler Current Profiler BBADCP It outlines the installation of the instrument on the RV Southern Surveyor in J anuary 1998 and the con figuration and PC setup used to log data using the RDI software Transect 2 80 Material from the several available references is drawn together here so that procedures which w
8. 51 The GPA files were not logged on the Sun from 22 00 so it is possible that the Ash tech data stream was stopped during Sun software testing Due to time constraints the requested second transect was not attempted The RDI Broadband ADCP and Transect User Notes 15 Installation 16 The RDI Broadband ADCP and Transect User Notes Transect 5 0 Transect Transect software Version 2 80 was used to test the instrument settings and acquire data Note that the documentation the User s Manual TUM assumes that you are using software version 2 70 Transect 2 85 was released in J une 1998 and down loaded from the RDI web site The only change is a new Playback module fix The Transect user interface draws together several program modules to communicate with and configure the ADCP to collect and display data as well as to play back or re process the data Transect has satisfied users but there are major limitations especially for vessel mounted BBADCPs where navigation and attitude readings are required and large amounts of data are gathered e AsatJ uly 1998 Transect will still not run on fast microprocessers such as a Pentium II The message PC runtime error 200 is received Don t up grade your pcin a hurry e Backup Transect is reliably run only in DOS mode on the PC To back up the data acquisition has to stop This can be quite an interruption to logging as typically there are many large files to ar
9. AwWvmMoO BBADCP commands can be sent to the instrument and settings can be queried using a Telnet Terminal or Bbtalk session to connect to the instrument A general query using the first letter of a command group fol lowed by a question mark can be useful For example to view the bottom track command setting type B Sending the ADCP the string of a two upper case etter command followed by a question mark will invoke the response which displays the setting For example the response to BA would be BA 20 The post SS9802 settings for the BBADCP were queried in this way The result in Appendix 5 is a useful record of the commands with descrip tions ranges and units for Firmware Version 5 52 4 3 Set up of the Instrument and Default Settings 4 3 1 The BBADCP comes with a set of Factory Default commands These are stored in ROM The most recent set of commands used are stored in bat tery backed RAM The ADCP will retain the configuration in RAM unless a CR command is issued or the backup power is lost The command CR1 loads the Factory Default settings into RAM The command CRO loads into RAM User Default settings the commands last stored in non volatile memory using the CK command If this is to be used see Appendix 5 When the ADCP is logging and commands are to be issued to it a Break signal is normally used This interrupts ADCP processing initializes the system and sends a ADCP Version message The AD
10. CP is ready for input The Break signal does not erase any settings or data VMTM C 9 The ADCP Clock The BBADCP has an internal real time clock and it is advisable that this time be set to UT When using Transect for logging data the time should be checked as the software uses this clock for the date time stamp on Acquire screens on Playback displays in the logged raw and processed data and in the ASCI I Out data files 12 The RDI Broadband ADCP and Transect User Notes Installation 4 3 2 4 3 4 Baud Rate On advice from RDI the baud rate of the BBADCP was set for efficient data flow to 38400 It was increased from the default 9600 to 38400 using RDI software Bbtalk in the following a procedure which is outlined in RDI FAQ10 The process would need to be repeated in such instances as that on 14 February 1998 when the instrument appeared not to be talk ing An inexplicable glitch had reset the ADCP to 9600 baud e connect the ADCP tothe PC and switch the instrument on e run Bbtalk probably from the c rdi directory of the PC e senda Break signal with the lt End gt key e with the command CRO retrieve User Parameters and check them e enter the command CB611 to select the 38400 baud rate using no parity and one stop bit e press the lt F 5 gt function key which opens BBTALK port setup window and change the comms port setting to 38400 e lt F6 gt saves configuration e press lt Esc gt to exit the setup wi
11. F F 1 ON WS 0800 Depth Cell Size cm WT 0000 Transmit Length cm 0 Bin Length WV 425 Mode 1 Ambiguity Velocity cm s radial WW 004 Mode 1 Pings before Mode 4 Re acquire WX 999 Mode 4 Ambiguity Velocity cm s radial WZ 010 Modes 5 and 8 Ambiguity Velocity cm s radial gt 36 The RDI Broadband ADCP and Transect User Notes BBADCP User Default Settings Appendix 5 BBADCP User Default Settings Normally on RV Southern Surveyor configuration of the ADCP for log ging with the Sun acquisition software and with Transect explicit direct commands are sent after loading the Factory Default settings into RAM using the CR1 command To load the commands used by the Sun logging system there is a defaults file bbadcp cfg defaults which can be loaded Changes to logging parame ters are be made with the BBADCP Menu in the User I nterface strictly in accordance with the directions in the SSLS User Manual particularly Chapters 2 and 4 However if required certain BBADCP settings could be saved as User Defaults to non volatile memory which can then be loaded into the instru ment at any time with the command CRO Setting up User Defaults is done using a terminal emulator or Bbtalk Note that the CB command for Serial Port Control is a special case and done separately see 4 3 2 e Toset up User Defaults for
12. I Broadband ADCP and Transect User Notes The Configuration File 6 0 The Configuration File 6 1 Configuration File Used on SS9802 The Transect configuration files formats are described in TUM Appendix C Below is the config file for the SS9802 The headers and section delimit ers in the file are in bold They should not be edited BEGIN RDI CONFIGURATION FILE COMMUNICATIONS ADCP ON COM1 38400 N 81 Port Baud Parity Databits Stopbits ENSOUT OFF COM2 9600N 81 Port Baud Parity Databits Stopbits NAV ON COM29600N 81 Port Baud Parity Databits Stopbits REFOUT OFF COM4 4800N 82 Port Baud Parity Databits Stopbits EXTERNAL ON COM49600N 81 Port Baud Parity Databits Stopbits ENSEMBLE OUT ENS CHOICE YYYYNNNN Vel Corr Int Gd Status Leader BTrack Nav ENS OPTIONS NONE 1 8 1 8 Ref First Last Start End ENSTYPE RAW RAW default or AVERAGED data transmitted ADCP HARDWARE Firmware 5 52 Angle 20 Frequency 150 System EARTH Mode 1 Orientation DOWN Pattern CONCAVE DIRECT COMMANDS BA030 BC220 BD000 BE 5000 BFO BM5 BPOO1 BX4000 CxX0 EC1500 EX11000 TP000000 WBO WD111100000 WF 400 WL 000010 WM1 WN 050 WP 00001 The RDI Broadband ADCP and Transect User Notes 23 The Configuration File Wwss800 WV425 RECORDING Deployment SS0298 Drivel C Drive2 C ADCP YES Average YES Navigation YES CAL
13. IBRATION ADCP depth 550m Heading Magnetic offset 0 00 0 00 deg Transducer misalignment 30 26 Intensity scale 0 43 dB cts Absorption 0 039dB m_ Salinity 35 0ppt Speed of sound correction NO 1 0 Pitch amp roll compensation NO Tilt Misalignment 0 00deg Pitch_Offset 0 000deg Roll_Offset 0 000deg Top discharge estimate CONSTANT Bottom discharge estimate CONSTANT Power curve exponent 0 1667 E dge _slope coefficient 1 00000 1 Trianglar 0 3535 2 Square 0 91 U ser PROCESSING Average every 180 00 s Depth sounder NO MaxFileSize 1200 Refout_info 1 8 30 00 1 000 0 1 bins 1st last limit weight format delaysec External_formats Y NNNN HDT HDG RDID RDIE External_decode Y NNN heading pitch roll temp Start_Shore distance 1 cam End_Shore distance 1 cm Edge distance prompt NO GRAPHICS Units SI Velocity Reference EARTH East_Velocity 100 0 100 0 cm s North_Velocity 100 0 100 0 cm s Vert_Velocity 100 0 100 0 cm s Error Velocity 100 0 100 0 cm s Depth 1 40 bin Intensity 40 150 dB Discharge 1000 1000 m3 s East_Track 100 1000 m North_Track 3050 400 m 24 The RDI Broadband ADCP and Transect User Notes The Configuration File Ship track 5bin 50 0 cm s Proj Velocity 100 0 100 0 cm s Proj Angle 0 0 degfromN Bad_Below Bottom NO Linel Lin
14. and groups and short notes on how to query settings on the instrument The RDI Broadband ADCP and Transect User Notes 7 The Instrument The settings were compared with those documented for 150kHz instru ments running firmware V5 5x or later VMTM c 5 Table C 2 These dif ferences were found Documented default Factory default BC245 BC220 BG25 BG80 30 00030 WG25 WGO nil BB0000 nil BH190 010 004 040 The BG factory default setting on our instrument was queried Also there was no documentation for two Bottom Track settings RDI were notified of the BB and BH values The function and effects of these defaults was queried Also details on the four undocumented SVSS sen sor commands DW DX DY DZ were requested email 01 04 98 The response from RDI follows 3 2 RDI Email Supplementary Documentation An email from RDI s Darryl Symmonds 10 04 98 contained the following notes on BBADCP documentation BB Bottom Track Blank Interval This command works exactly like the WF command does The only difference it is a blanking period for the bot tom track measurement The water profile blanking WF command is not used by the bottom track Therefore it is possible for the bottom track to sometimes lock onto a false bottom This really only happens when the ADCP is being used towards the end of its bottom track range Say the last 85 of bottom track range At this time it has been seen for the ADCP to lock in on the ring
15. be avoided The RDI Broadband ADCP and Transect User Notes 17 Transect The user is prompted for the name of a configuration file on starting Transect or the formerly loaded file will be invoked at startup Transect displays show the options from that configuration file To load another configuration file use the lt F 3 gt key and enter the file name It is useful to note that in Acquire Transect issues a stream of commands to the ADCP before issuing the direct commands from the configuration file TUM H 2 This is worth noting as if they are used User Default set tings will not take effect in Transect unless CRO is explicitly included in the direct commands of the configuration file The commands Transect usually sends to the ADCP to place it in a known state are CR1 CF1110 EZ0111111 EX00000 TE 00000000 TPO000000 PDO An outline of the Transect menu options follows With the appropriate configuration file there is little if any need to alter options using these interfaces unless otherwise noted 5 2 Communications Menu Communications between Transect and external devices are set up or dis played here Given a suitable configuration file see the following section 6 a nav file created with Navcfg and an External dat file all that is done in this menu is to confirm that an interrupt is set up in the Naviga tion menu to enable acquisition and processing of navigation data with Navsoft For the Southern S
16. chive e Reliability of Settings Although the user may elect to use a particular configuration file that file will be up dated by Transect Indeed the list of direct commands may be truncated with potentially unreliable results e Stability and memory problems The software will crash for example if there are too many files in a directory Transect is accessing e A Transect software crash may corrupt your configuration file so always run with a copy of the file e Rigid data stream inputs a 3D GPS can feed all the data required for navigation and attitude in a single stream These data must neverthe less be sent through two separate comms ports on the PC e Rigid data formats To fully utilise some attitude readings pitch and roll which are in this single data stream from the 3D GPS a second PC would be required to reformat the string and feed it to the Transect PC as Transect will accept only pitch roll and heading in that order All Ashtech ADU2 output streams which include these fields are in the order heading pitch roll 5 1 Configuration Files Transect modules use an ASCII configuration file which contains settings information The user could use the Transect software to select settings creating or modifying a configuration file H owever in the first instance it is recommended the user edit an existing text configuration file outside Transect and selection of options in Transect modules which will modify this file
17. dband ADCP and Transect User Notes 13 Installation as input by the instrument VMTM C 5 RDI were notified email 27 02 98 4 3 6 Gyro On powering the deck unit procedures for setting up the gyro should be observed if it is to be used as backup for the heading data stream from the Ashtech Refer to the documentation SSLS 4 4 Testing the BBADCP 4 4 1 4 4 2 4 4 3 Instrument Test A preliminary comms test was performed with Bbtalk or another termi nal emulator Send a Break signal to the ADCP press the lt End gt key The response should be the display of a wake up message The PI com mand will run built in tests of the BBADCP and the results of these four tests will be displayed VMTM 1 6 Bbtest can be run from a PC VMTM 5 3 The log file resulting from run ning RDI software Bbtest is in Appendix 2 Leg 1 of SS0198 Voyage 1 was the opportunity to test the BBADCP logging data with both Transect and Sun software It was necessary to become familiar with the new BB commands and set up suitable configurations Many short acquisitions were made in an attempt to estimate transducer misalignment However the results were inconclusive until calibration software was run from bottom track data collected on the Sun The range of the BBADCP in various profiling modes was tested M axi mum range of about 320m was obtained This was in calm conditions when the ship was stationary Data logged The data logged with Tra
18. e2 HISTORY SOFTWARE BB TRANSECT Version 2 80 END RDI CONFIGURATION FILE 6 2 RDI Recommendations for Configuration Water profiling modes are described in an RDI Application Note FAS003 dated to apply J anuary 1 1997 If using modes other than WM 1 WBO must be used RDI email 22 03 98 Using WM1 the Mode 1 Ambiguity Velocity WV is calculated WV Max ship speed max expected current speed sin beam angle 1 5 369 cm s in our case For Bottom tracking RDI recommends you never change BC correlation threshold default BC220 Version 5 50 and later For water tracking RDI recommends you never change WC064 Correla tion Threshold default and suggests care in adjusting WE 1000 Error velocity turned off WA Bbsetup The RDI Bbsetup software provides a testing ground for combinations of some settings It can indicate the standard deviations profiling ranges and timings which may result does not cover some recent Phase 3 BBADCP options There is adequate on line help The RDI Broadband ADCP and Transect User Notes 25 The Configuration File 26 The RDI Broadband ADCP and Transect User Notes BBADCP Configuration Summary Appendix 1 BBADCP Configuration Summary Date Customer J ob Number System Type Frequency Configuration Serial Numbers Chassis Transducer Firmware CPU XDC PWRTIMING Sync Power Configuration Input Voltage Range
19. ere used for the BBADCP setup are recorded ina single document A minefield of different versions of firmware software and documentation has been negotiated although no doubt not exhaus tively The procedures described here would be repeated to check on the instru ment on re commission after moonpool trolley installation or after it has been returned from service or repair by the manufacturer It is unlikely that the same PC would be available on the Southern Surveyor for when Transect is to be used after SS9802 so another PC would need to be con figured A quick outline of data acquisition procedures for using Transect is found in Appendix 3 The primary means of logging ADCP data on the Southern Surveyor is on a Sun with an extended version of the ADCP Logging System software used for the Narrowband instruments on the RV Franklin and on RV Aurora Australis The code now also interprets the completely different BBADCP command set Refer to the The Southern Surveyor BBADCP Logging System User Manual for details Transect is the RDI data collection program which is run on a PC This was used for initial testing of the BBADP and if required can serve as a backup BBADCP logging system The main purpose of this document is to detail how Transect was set up and used to note the problems which were encountered and to provide a quick guide to running Transect for the user with a suitably prepared PC The Ashtech ADU2 is a GPS based 3 dimen
20. est Results 32 The RDI Broadband ADCP and Transect User Notes Quick Guide to Data Acquisition Appendix 3 Quick Guide to Data Acquisition 3 1 Transect ADCP Data Acquisition 3 1 2 If required the software package Transect can be used for logging but also particularly for testing BBADCP data acquisition There are useful graphics which can be re displayed by playing back logged data Data acquisition using the configuration file SS0298 cfg includes naviga tion input from COM 2 and heading input from COM 4 The data stream from Port B of the Ashtech 3D GPS is split between these two ports and contains the VTG PAT and HDT NMEA sentences These sentences nor mally are requested through the SSGPA Input Controller from the User Interface of the Southern Surveyor Data Collection System See the fol lowing Appendix 4 for information on directly requesting the required set ting from the Ashtech ADU2 Communication Options Navigation input to Transect is configured in the RDI utility NAVCFG The relevant fields from the data stream are selected and saved in the file SSNAV NAV An interrupt must be nominated to interface the N avsoft programme with Transect for navigation to be logged Heading data is set up for Transect using a file which has been created called EXTERNAL DAT to select data in this case from the HDT string This is done from the External screen in the Transect Communications option based on the PRHT
21. fore SS9802 departed We used COM4 with the interrupt normally used for a printer IRQ7 FAQ12 5 2 1 Navigation A package called Navsoft decodes navigation data for Transect For it to function the configuration file should enable NAV communications and have in the Recording section of the configuration file Navigation Y ESY An initial setup is required using Navcfg to select the port parameters and the data format expected in the input NMEA string TUM N 7 The software saves the results of this configuration session to a file eg ssO1 nav This need only be done once for a given port and NMEA sen tence and the file can be invoked for any subsequent Transect session NOTE A software interrupt is required for Navsoft to interface with Transect while in Acquire mode This is not done with the config file but is specified we used 242 in the Navigation screen of the Communications menu 5 2 2 External External files are a means of feeding data from an external sensor into Transect They are documented in FAQ18 and FSB 089 In this case the E xternal dat file was created to specify the format in which Transect should read the NMEA GPHDT heading string from the Ashtech ADU2 GPS which is received in the EXTERNAL port nominated in the Transect Communications menu and or the configuration file This four line External dat text file is as follows 1 signifies data type 1 xxH DT hhh hh GPHDT 10 44 NOTE Ideally heading
22. ile name Start logging by pressing the F 4 key To stop logging toggle the F 4 key You can remain in this screen until the next logging session To exit the screen press ALT X and follow with an x You are back in the main menu and can quit the software pressing q and confirming with a y The data will bein a directory c SS02 This can be archived to the SS2 directory data archive pc_data transect after copying the files to data newdata ss2 pc_data transect Mapping a network drive from the PC to SS2 requires a netlogon which is done when typing exit to return to Windows from DOS mode At the logon opportunity use username pcuser with password pcuser It is recommended that changes to direct commands in the configura tion file are made using DOS Edit It is no slower but more reliable than using the Expert mode in the ADCP screen of the Planning menu 34 The RDI Broadband ADCP and Transect User Notes Post SS9802 BBADCP Settings Appendix 4 Post SS9802 BBADCP Settings This is the result of the BBTALK logged session of command group que ries of the BBADCP and settings and help on 31 03 1998 gt Broadband ADCP Version 5 52 RD Instruments c 1991 96 All rights reserved gt B BA 020 Evaluation Amplitude Min 1 255 BB 0000 Blanking cm 0 9999 BC 220 Correlation Magnitude Min 0 255 BD 100 Delay Re
23. ing that occurs in the first few meters of the profiling range The BB command can eliminate this false detection BG and BH These commands have been developed for certain shallow water bottom tracking thresholds N A stands for not applicable These commands are used for Bottom Mode 6 Bottom Mode 6 is intended for shallow river work and is a proto type mode Please just ignore these commands As for J im Rogers recommendations on the BG command this was a small mistake He confused the BG command for the WG command The WG command stands for the water profile percent good threshold J im mis takenly assumed that the BG command would have the same meaning He apologises for the confusion this caused D commands in general had all been added for a special speed of sound sensor This sensor is a non standard piece of equipment that is only for 3 customers in the world The commands really should not be visable within the system but are Since these commands are for a very select group of users RDI does not document them The RDI Broadband ADCP and Transect User Notes The Instrument 3 3 Care with Settings RDI warns that the ADCP is a complex instrument and suggests caution in any departure from Factory set values With due consideration changes could be made to the Factory Default settings of the BBADCP and saved as User Default Settings see Appendix 5 For logging data on RV Southern Surveyor both on the Sun and on a PC r
24. istance Measure Facility PS Show Sys Parms O Xdcr 1 F Ldr 2 VLdr 3 M at 4 Seq PT HHE Built In Tests PT 0 Help gt T TB 00 00 00 00 Time per Burst hrs min sec sec 100 TC 00000 Ensembles Per Burst 0 65535 TE 00 00 00 00 Time per Ensemble hrs min sec sec 100 TF Sk x k xx xx Time of First Ping yr mon day hour min sec TP 00 00 10 Time per Ping min sec sec 100 TS 98 03 31 02 22 17 Time Set yr mon day hour min sec WA 255 False Target Threshold Max 0 255 counts WB 0 Mode 1 Bandwidth Control O Wid 1 M ed 2 Nar WC 064 Low Correlation Threshold 0 255 WD 101 000 000 Data Out V C A PG St Vsum Vsum7 2 4G P0 WE 9999 Error Velocity Threshold 0 5000 mm s WF 0400 Blank After Transmit cm WG 000 Percent Good Minimum 0 100 WH 111 100 000 Bm 5 Data Out V C A PG St Vsum Vsum 72 4G P0 WI 0 Clip Data Past Bottom O OF F 1 ON WJ 1 Revr Gain Select O L_ow 1 High WL 000 010 Water Reference Layer Begin Cell O OFF End Cell WM 1 Profiling Mode 1 8 WN 050 Number of depth cells 1 128 WP 00001 Pings per Ensemble 0 16384 WQ 0 Sample Ambient Sound O O
25. ith RDI Support e corr Correspondence with Nils Oien of NIWA and others 2 4 Floppy Disk A floppy disk containing the following files is in the Red Folder e ss cfg e ssnav nav e External dat e asciidate awk e notes txt The RDI Broadband ADCP and Transect User Notes The Instrument 3 0 The Instrument The RDI Broadband ADCP is a 150kHz High Power module instrument with a four beam transducer a beam angle of 20 degrees and concave con figuration The firmware is Version 5 52 The BBADCP Configuration Summary can be found in Appendix 1 Vessel mounted ADCPs used on DMR s RV Franklin and on the Antarctic Division RV Aurora Australis have hitherto been Narrowband instru ments The BBADCP was purchased because of the lack of availability from RDI of another Narrowband ADCP within the required time frame There are major differences between Broadband and Narrowband ADCPs The Narrowband ADCP is an older design with many hardware settings whereas the BBADCP is more easily maintained having an emphasis on firmware settings The profiling range of the BBADCP is lower than the older NBADCP Range is sacrificed in favour of greater single ping accuracy allowing higher accuracy in shorter averaging times RDI notes that on a moving platform this may be an advantage as longer averaging times of Narrow band instruments result in less spatial resolution It is conceded however that on some vessel mounted applications pr
26. n however is on the RDI web site For full access to the important customer support sections of this site user is registration with RDI is required This can be done within a couple of business days by entering the required details at http www rdinstruments com for ms registration rdiwebreg html For urgent access tothe RDI site the registration form must be completed before a call is made to RDI to hurry the process along Bob Mains rdifs rdinstruments com 1 619 693 1178 RDI News the RD Instruments Electronic Newsletter is emailed to sub scribers It contains notices of courses events notification of updates to Field Service Bulletins application notes technical papers upgrade notices documentation and FAQs To subscribe to the newsletter MAILTO rdifs rdinstruments com SUBJ ECT subscribe MESSAGE Your name organization e mail and postal addresses telephone and fax numbers ADCP system type The RDI Broadband ADCP and Transect User Notes 5 References To unsubscribe or to remove duplicate mailings MAILTO rdifs rdinstruments com SUBJ ECT unsubscribe 2 3 Red Folder Print outs of useful items from this site and correspondence with RDI Customer Service are found with other documents of interest in the Red BBADCP Folder RB e FAQ Broadband Frequently Asked Questions e FSA Field Service Application Notes e FSD Field Service Documents e email Correspondence through email w
27. ndow e send the command CK to save the new baud rate setting as user default e the command CB should confirm CB is 611 e lt Alt gt X doses Bbtalk The ADCP is now ready to use the new baud rate The baud rate will reportedly stay at this until you change it with the CB command or press the reset button on the CPU board NOTE Fortunately the CR1 command will not change this baud rate set ting to the factory default value stored in ROM Battery Sleep Mode During initial testing an annoying factory default setting caused prob lems The ADCP placed itself into sleep mode when a ping CS command had not been sent It was necessary toissue the CLO command to stop this battery saver mode CLO was saved as a User Default and used in configu ration files The the factory default setting is CL1 External sync and Acoustic Interference To avoid interference with other acoustic devices the BBADCP can syn chronise pings with an external trigger If the ADCP cannot be master the preferred setting is CX2 where the ADCP triggers on a low to high transition The omni directional fish detection sonar used on SS9801 did interfere with ADCP data gathered on that cruise There was no opportunity to sys tematically test when or why this occurred Setting the Time Per Ensemble It was found that on our instrument the TE command required the format TEhh mmiss ff The documented format TEhhmmssff was not accepted The RDI Broa
28. ng is toggled on and off in this screen using the lt F 4 gt key There are various display options with which it is necessary to become familiar TUM Chapter 7 The lt F 9 gt information screen is useful to check the current setup There is and option to toggle the display on the right of the screen between navigation and bottom track ship course information using the lt AIt gt N key sequence 5 6 Playback Menu 5 6 1 5 6 2 The Playback menu is for replaying raw or processed ADCP data files or to re process the data in various ways TUM Chapter 8 Text Dump of Data Collected using Transect ASCIl Out Function The ASCII Out function for output of data files is available in the Play back option of Transect The raw or processed data of interest is selected use function key F8 The Alt A key sequence will toggle ASCII Out Transect will prompt the user for a file name and a maximum file size TUM 8 2 The format of the ASCII Out data file is described in TUM A 4 Error in Playback In version 2 80 an error was introduced for the Broadband Transect pro gram F SB 112 which was fixed in Transect 2 85 This error in the Play back module typically caused an underestimation of the side estimate discharge calculations The previously released version of this module v2 74 did not contain this error 20 The RDI Broadband ADCP and Transect User Notes Transect A self extracting executable file plbk274 exe can be d
29. nsect were for testing purposes so otherwise are of no particular interest They can be found on the exabyte tape backup of SS9801 There are 140 raw data files 149 processed data files and 118 navigation data files The ADCP date and time was incorrect throughout SS0198 The year was 0 and is changed to 98 To convert the time to UT it is necessary to sub tract 21 minutes and to subtract 36 seconds from the time There is an ascdate awk script which can be used to fix the date time of a Transect ascii out file with a single command line where y md would be the date to be fixed eg O 2 12 awk f ascdate awk infilename grep v y m d gt outfilename Transect off West Coast of Tasmania Although the BBADCP was in the initial stages of testing there was an attempt made to gather data for David Griffin along one transect off the west coast of Tasmania on 11 02 98 14 The RDI Broadband ADCP and Transect User Notes Installation Because for this voyage the PC did not have the required comms ports for logging both Nav and heading data logging was only performed within bottom track range with heading input from the Ashtech ADU2 The raw data file was rerun with in Playback with a configuration file applying the transducer misalignment of 30 26 Good heading data was available for only the first 26 minutes It was found later that the Ashtech data stream to the Transect PC had not been up dated from 22 03
30. ofiling range is considered of paramount importance RDI claims that with cer tain settings the BBADCP can obtain 90 95 of the NBADCP range FAQ24 If so no doubt this would bein very favourable sea conditions Such settings certainly impose constraints on ship speed The range on a BBADCP is increased by narrowing the bandwidth which increases the signal to noise ratio Use of the narrowest bandwidth setting WM1 WB2 however is not recommended by RDI email from rdifs 23 03 1998 A Broadband ADCP scales bin depth cell sizes based on the true beam angle of the transducer whereas the Narrowband depth cells are selected Speed of sound calculations are possible with the BBADCP whereas the Narrowband always uses a constant speed of sound Theinstrument was shipped with a temperature sensor which can be used for salinity calculations It has an accuracy of 0 5 VMTM B 6 There is also a synchro sensor which was used for the gyrocompass H ead ing input from the ADU2 GPS is normally used for logging but the gyro provides a backup data stream The system is also capable of external triggering sothe BBADCP and for example the EK 500 and or the bridge echo sounder can function without mutual interference 3 1 Factory Default Settings Factory default settings were examined by resetting the instrument to factory defaults and then interrogating the BBADCP using the RDI util ity BBTALK See section 4 2 for descriptions of BBADCP comm
31. own loaded from the RDI website and run on the Transect PC The resulting plbkmenu exe dated 11 29 95 should replace the Transect version 2 80 file dated 7 24 96 5 7 Other Settings There are useful functions which can be invoked through DOS set com mands which set Transect to save each configuration file with a similar file name to the raw and processed data and nav files To load those files when playing back and to select which way the percent good is calculated set AUTOSAVE CF G Y set AUTOLOADCF G Y set USEPERCVEL Y These may be saved in the autoexec bat file of the PC used for Transect However once again Transect is not very clever With the AUTO options enabled Transect names the config files with the same extension of the data and nav files eg 000 or 005 Transect is confised when you try to manually load any of these AUTOSAVE config files as it seems to want only to look for config files with a cfg extension Even worse care must be taken with AUTOLOADCFG enabled When replaying data which has been logged without recording the config file Transect will report it has loaded that data and display the name of a fic titious config file For example Playback of ssO1001r 000 will display ss01001c 000 as the config file That file does not exist and there is no indication of whichconfig file Transect is in fact using The RDI Broadband ADCP and Transect User Notes 21 Transect 22 The RD
32. pitch and roll also should be input to Transect this way from the GPPAT string but format limitations require the fields to be in the order pitch roll heading This could be achieved with another PC receiving the Ashtech feed reformatting it and sending it to the EXTERNAL comms port of the Transect PC 5 3 Calibration Menu The ADCP date and time the transducer depth and the transducer mis alignment and other settings in the Calibration section of the configura tion file can be checked in the Offsets and Scaling screens of this menu TUM Chapter 5 The RDI Broadband ADCP and Transect User Notes 19 Transect 5 4 Planning Menu 5 5 Acquire Menu In this menu the user can see or define where and how the data are to be recorded This corresponds to the Recording and Processing sections of the configuration file An Expert mode gives the user access to the con tents of the Direct Commands section of the calibration file TUM Chap ter 6 Care should be taken using this mode as unexpected changes may be made by the Transect software to your configuration file On entry to this screen one is prompted to select the navigation configura tion file which was created with Navcfg The next step in Acquireis for Transect to wake up the ADCP and send it the seven set commands used to put the instrument into a known state see section 5 1 above The direct commands from the configuration file are then sent to the ADCP Data loggi
33. sional position and altitude determination system This was installed on the Southern Surveyor also in late anuary 1998 As well as position data the Ashtech logs heading pitch and roll data These provide the important rotation corrections to BBADCP measurements For details of the installation calibration and configuration of the Ashtech refer to the SSDCS Ashtech ADU2 GPS Installation and Configuration Notes The RDI Broadband ADCP and Transect User Notes 3 Introduction The RDI Broadband ADCP and Transect User Notes References 2 0 References 2 1 SSDCS Notes and Manuals The Southern Surveyor BBADCP Logging System User Manual 1 0 CSIRO April 1998 SSLS Ashtech ADU2 GPS Installation and Configuration Notes CSIRO April 1998 AGIC 2 2 RDI Documentation The RDI BBADCP documentation which came with the instrument is listed bel ow e VMTM Vessel Mount Technical Manual April 1997 Assumes Ver sion 5 5x firmware Version 5 52 firmware was supplied with the instrument e UG VM BBADCP User s Guide for Vessel Mount Data Collection 1996 e TUM User s Manual for the RD Instruments Transect Program for Use With Broadband ADCP J uly 1994 Incorporates Change 5 This manual assumes the use of software version 2 70 NOTE Version 2 80 Transect software was supplied with the instrument e PRIM Principles of Operation A Practical Primer 1996 Essential reading for the latest RDI informatio
34. tallation should be followed by sea trials of the instrument Ade quate time should be allowed for data acquisition within bottom track range for calibration purposes using the Sun system Calibration and Misalignment On installation of the transducer there was a reported misalignment of 45 This refers to the angle of the reference beam which is beam number 3 with respect to the fore aft axis of the ship In dry dock 4 8 04 98 meas urements were taken of the position of the transducer before the pod assembly and with it the BBADCP transducer was removed The trans ducer was 13 89 from the intended 45 alignment Currently calibration for transducer alignment is done on the Sun On SS9801 a calibration was performed which resulted in a misalignment value of 30 26 This value corroborates the physical measurements per formed in dry dock of the transducer being 31 11 from the centreline of the ship The result of the calibration for SS9802 was that there was no significant change in the transducer misalignment angle The RDI Broadband ADCP and Transect User Notes 11 Installation 4 22 BBADCP Commands The command set for the BBADCP are described in the invaluable VMTM Appendix C There are command groupings of which it is helpful to be aware First Letter Command Group Bottom track Control system SVP 16 sensors Environmental sensors Performance and testing Speed log Timing Water track commands OW S
35. unning Transect it was decidedexplicit configuration is preferable and that User Default settings would not normally be used The RDI Broadband ADCP and Transect User Notes The Instrument 10 The RDI Broadband ADCP and Transect User Notes Installation 4 0 Installation 4 1 Transducer 4 1 1 TheBBADCP was successfully bench tested after delivery in late anuary 1998 Location In J anuary 1998 the ADCP transducer was installed on an adjustable pod in the moonpool of the Southern Surveyor by divers The draft of the Southern Surveyor is 5 5m LOA is 66m The transducer on the pod was located at the aft end of the moonpool 28 5m from the stern of the ship It was measured at dry dock to be 1 3m starboard of the centreline of the ship The aft end of the moonpool is 19 5m forward of the reference antenna of the Ashtech GPS which is 11 5m above the waterline The transducer can be lowered more than 1m below the hull of the South ern Surveyor Adjustment of the pod may alter the alignment of the trans ducer This would need to be measured after each adjustment with a calibration using bottom track data For SS9801 the transducer was 0 5m below the hull a transducer depth of 5 5m On SS9802 the pod was lowered to 1 5m below the hull a transducer depth of 6 5m A new transducer installation on a trolley is planned for the moonpool before the BBADCP is next used This would be late 1998 or early 1999 A new ins
36. urveyor setup COM1 connects to the ADCP COM 2 is used for navigation and COM 4 is used for an external sensor in this case heading and potentially pitch and roll if the data stream was correctly formatted Navigation is necessary for corrections for ship velocity to ADCP meas urements when the ship is not within range of bottom tracking The qual ity of data which is logged will improve when differential corrections can be applied to GPS data Heading is also required to rotate ADCP measurements into earth refer enced currents Further corrections to measurements can be applied using pitch and roll readings if they are available The options for feeding navigation and attitude data streams into Transect are extremely limited The Ashtech ADU 2 GPS is the single source of the data streams of inter est the NMEA sentences VTG and PAT However incredibly attitude and navigation sentences must be fed into separate comms ports on the PC which is to be used torun Transect At least three comms ports are 18 The RDI Broadband ADCP and Transect User Notes Transect thus required the ADCP uses one port the second port receives naviga tion data The third port is necessary for attitude Only the heading data can currently be used by Transect as pitch and roll readings appear in the wrong order in the data stream Installation of the third serial comms card to the PC on the Southern Sur veyor was not achieved until just be
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