WorkHorse Sentinel User's Guide
Contents
1. 12 5 1 Serial Communications svarteneste ateist ede tetas ed te aa 12 5 2 What if the WorkHorse Does Not RESPONd eee eeeeeeee cence eeeeneeeeeeaeeeseeeeeesaaeeesesaaeeeeeneeeenenaeeeeneaas 13 6 SoftwareLiuhkusttn dd sec cones cute ceva cay Ge dd ke 13 6 1 System Requirements uarsi tea tae dd date ditt ee aie 14 6 2 Softwareinstallati n s 14 6 3 WorkHorse Software PhilOSOPNY 14 6 4 File Naming GoOnventiOns 15 7 Batteries and Power E 16 7 1 pe yte gare Ener beder near Ann one keel 16 7 2 Alkaline Battery Pack Capacity seisine ueis 16 7 3 External Battery Pack un 17 7 4 Bench Top Battery Power Requirements rrrruravvvnnnnnvvrnnrnnnrnvnvrvvnnnenvrrnnrrnrnenrsvnnnensrreerrnnrneetsrvnneenn 17 7 5 Operation Mod s sesi Soe aie ine ee 17 Testing Your WorkHorse ccccccitecccesttceccesttececsstecceeresteceeresttcceeseteececuenteceresteceersstteecerventecerssteeereats 18 Compass Cali rat Or a a 19 7 1 Preparing for Calibrators dnesni ip ee itso 192. 3 Table 4 Spare ANS oa he NN 9 Table 5 WorkHorse Software 13 Table 6 WorkHorse ADCP Tests 18 WorkHorse Sentinel User s Guide RD Instruments Acoustic Doppler Solutions WorkHorse Sentinel User s Guide 1 Introduction Thank you for purchasing the RD Instruments RDI WorkHorse This guide is designed to help first time WorkHorse users to set up test and de ploy their ADCP This guide is designed for use with the other WorkHorse Technical Manual books Where needed there are references to detailed information and fig ures contained in the WorkHorse Technical Manual WorkHorse Sentinel deployments are most often Self Contained but can be Real Time Typically deployments are considered to be Self Contained when the ADCP is remotely deployed and powered using internal batteries In this configuration no external connections to the ADCP are made during the deployment However the ADCP can be connected to external power This power can be provide either by an external battery case or from shore This type of deployment is still considered Self Contained but this quick reference guide may not consider all of the possibilities of this application Real Time use refers to the fact you are viewing the data as the ADCP col lects it via personal computer This data is also stored on the co
3. 33 11 5 Recover the Data penis eee ne anda Soha shi hs en sak tare ae baken 34 11 6 View the Datta secuneseeece 35 11 7 Erase the Recorder 36 12 Backing Up Data he 36 13 Reviewing the 37 13 1 Where was the Data ac ecscscszerchecsctteaidecic 37 13 2 When was the Data 2 Bs tec din 37 13 3 What is the Dated 22 does 37 14 A Few Principles f panier 38 15 Sp N EHE arada 39 List of Figures Figure 1 5 Figure 2 Connecting and Disconnecting the I O Cable ri iii 6 Figure 3 6 Figure 4 Battery Pack Overvlem asnssarssat aud 8 Figure 5 Memory tn d de stred kreert 9 Figure 6
4. 16 Batteries and Power All WorkHorse tests and operations work equally well using internal battery packs external battery packs or the AC power adapter NOTE The AC Adapter input voltage is sufficient to override the internal battery voltage i e the ADCP will draw all power from the AC adapter even if the battery is installed and connected AC Adapter The AC Adapter runs on any standard AC power and supplies 48 VDC to run the Work Horse when the batteries are not connected Alkaline Battery Pack Capacity RDI specifies its battery packs to have 450 Watt hours Wh of usable en ergy at 0 NOTE Transmitted power increases or decreases depending on the input voltage A fresh battery provides 42 VDC Batteries spend most of their life at a nominal voltage of 33 VDC The transmitted power is decreased 1 DB if the input voltage drops from 42 VDC to 33 VDC For a 300kHz WorkHorse ADCP each DB will result in a decrease in range of one default depth cell Keep in mind the following e Standard WorkHorse battery packs hold 28 D cell alkaline batteries with a voltage when new of approximately 42 VDC e When the capacity of a battery pack is 50 used the voltage measured across the battery connector under no load condi tions falls to approximately 32 35 volts However keep in mind that this voltage is not an accurate predictor of remain ing capacity e Batteries should be r
5. RD Instruments 3 3 WorkHorse Sentinel User s Guide Battery Pack Overview WorkHorse Sentinel ADCPs require 20 to 50 VDC to operate The stan dard AC Adapter runs on any standard AC power and supplies 48 VDC to run the Workhorse when the batteries are not connected The Sentinel s in ternal battery supplies 42 VDC NOTE The AC Adapter input voltage is sufficient to override the internal battery voltage i e the ADCP will draw all power from the AC adapter even if the battery is installed and connected Transmitted power increases or decreases depending on the input voltage within the voltage range of 20 to 50 fresh battery provides 42 VDC Batteries spend most of their life at a nominal voltage of 33 VDC NOTE The transmitted power is decreased 1 DB if the input voltage drops from 42 VDC to 33 VDC For a 300kHz WorkHorse ADCP each DB will result in a decrease in range of one default depth cell Batteries should be replaced when the voltage falls below 30 VDC meas ured across the battery connector under no load conditions NOTE Battery replacement induces both single and double cycle compass errors The compass accuracy should be verified after replacing the battery pack The compass does not have to be recalibrated if the compass verification passes specification These compass effects can be avoided by using an external battery pack The external battery housi
6. The WorkHorse records velocity data in units of mm s Calibration depends on how well the WorkHorse knew the speed of sound which it computed based on its measured temperature and the salinity value it was given A salinity error of 5 ppt introduces less than 0 5 velocity error P N 957 6163 00 April 2005 page 37 WorkHorse Sentinel User s Guide 14 A Few Principles of Operation Consult RDI s Primer ADCP Principles of Operation a Practical Primer Second Edition for BroadBand ADCPs to learn more about WorkHorse principles of operation The following are a few points from the Primer that may be worth knowing page 38 Horizontal velocity measurement accuracy is unaffected by vertical stratification Stratification has negligible affect on the ability of the WorkHorse to penetrate through the water concentration of suspended particles is the main factor influencing profiling range WorkHorse measurements are automatically corrected for tilts up to 20 In addition to correcting for the beam point ing angles the WorkHorse maps depth cells to other cells at the same depth If you want to make measurements near the surface from a bottom mounted WorkHorse you should minimize the tilt Depth cells are most sensitive to velocities at the center of the depth cell and less sensitive at the top and bottom This sensitivity is reflected by what we call a triangular weight ing function The details of this weighting fu
7. Calibrate the compass if the batteries have been replaced see Compass Calibration Procedure page 21 a Prepare the ADCP for calibration see Preparing for Calibration page 19 b Using BBTalk send a Break to wake up the Workhorse On Transfer menu click Command History In the Enter a Command box enter AX and click OK Command History x Enter Command A Cancel z Figure 8 BBTalk Command History Box d When prompted rotate the Workhorse slowly 360 degrees approxi mately 5 degrees per second Pay particular attention to the Overall Er ror For example HEADING ERROR ESTIMATE FOR THE CURRENT COMPASS CALIBRATION OVERALL ERROR Peak Double Single Cycle Error should be lt 5 1 55 DETAILED ERROR SUMMARY Single Cycle Error 1 54 Double Cycle Error 10 07 Largest Double plus Single Cycle Error 1 61 RMS of 3rd Order and Higher Random Error 0314 If the overall error is less than 2 the compass does not require alignment You can align the compass to reduce the overall error even more if de sired RD Instruments 9 3 WorkHorse Sentinel User s Guide Compass Calibration Procedure The built in automated compass calibration procedure is similar to the alignment verification but requires three rotations instead of one The Workhorse uses the first two rotations to compute new calibration matrix and the third to verify the calibration It
8. 7 2 Compass Calibration Verification 20 7 3 Compass Calibration Procedure 21 10 Internal PreSSure Sensor cecsci s ccccaecececesesdescantectncetesdsnctceteteccanadntceauceiaseiqedaecuantetecetetdansannneceaeaeais ec 23 10 1 Pressure Sensor Maintenance ea 23 11 Deployment 24 11 1 Deployment Checklist ae 24 11 2 Prepare the ADCP for Deployment 26 11 3 Use the Deployment Wizard 27 11 3 1 Plan the Deployment aus versert Andakt dre dreiende Aae 28 113 2 lt Set the ADEP S GlOCK visas ronin e tin etan else 29 11 3 3 Verify the COMPASS vic 30 11 3 4 Runithe Pre Deploymient Tests 31 11 3 5 Send the Commands sistini 32 11 4 Deploy and Recover the ADCP
9. Start sample intervals on the minute by using delayed start up Instead of having your 10 minute sample intervals start at 15 36 47 delay startup few minutes to have samples start at 15 40 00 RD Instruments WorkHorse Sentinel User s Guide 11 3 2 Set the ADCP s Clock The second step in the Deployment Wizard will set the ADCP s clock to the computer s time and date using the TS command For more information on the TS command see the Command and Output Data Format Guide If you want to skip this step check the Skip box or click Next to begin setting the clock NOTE WorkHorse time is set from your computer s time Be sure your computer is set to the time appropriate for your deployments before you use WinSC to start data collection Set ADCP s Clock The next step is to setthe ADCP s clock Press the Next button to set the ADCP s clock to the PC s clock You should verify that your PC s clock is set correctly before executing this function Figure 14 Deployment Wizard Setting the Clock P N 957 6163 00 April 2005 page 29 WorkHorse Sentinel User s Guide 11 3 3 Verify the Compass page 30 The third step in the Deployment Wizard will verify the compass using the AX command For more information on the compass verification see Compass Calibration Verification page 20 If you want to skip this step check the Skip box or click Next to begin verifying the compass Compass Verific
10. WorkHorse Sentinel 12 Figure 7 External Battery Pack Connection aia 17 Figure 8 BBTalk Command History ae 20 Figure 9 Compass Alignment 22 Figure 10 Visual Inspection before 25 Figure 11 Prepare the ADEP satt 26 Figure 12 Using the Deployment Wizard 27 Figure 13 Pl nith Deplbym nt sals 28 Figure 14 Deployment Wizard Setting the 29 Figure 15 Deployment Wizard Compass 30 Figure 16 Deployment Wizard Test the 31 Figure 17 Deployment Wizard Send the 32 Figure 18 Deploy and Recover the ADGP 4 ungen 33 Figure 19 Recover the Datax kann 34 Figure 20 Verity and Wiew the Data sisi nasa 35 Figure 21 Erase the 36 List of Tables Table 1 WorkHorse Self Contained Application Guide 2 Table 2 WorkHorse Real Time Application Guide 3 Table 3 WorkHorse Special
11. MB Free Disk Space 20 MB recommended One Serial Port two or more High Speed UART Serial Ports recommended Minimum display resolution of 800 x 600 256 color 1024 x 768 recommended Software Installation To install the WorkHorse software do the following a Insert the compact disc into your CD ROM drive and then follow the browser instructions on your screen If the browser does not appear complete Steps b through 4 b Click the Start button and then click Run Type lt drive gt launch For example if your CD ROM drive is drive D type d launch d Follow the browser instructions on your screen WorkHorse Software Philosophy Self contained data collection involves a series of independent steps Using WinSC s Deployment Wizard will ensure that the ADCP is setup correctly Test your WorkHorse WinSC Plan your deployment PlanADCP can be run separately or run inside WinSC Transfer your plan into the WorkHorse and start data col lection WinSC Transfer the data from the WorkHorse s PC Card recorder to your computer WinSC Verify data integrity WinSC RD Instruments 6 4 WorkHorse Sentinel User s Guide e When you are satisfied that your recorded data is safely backed up erase the WorkHorse PC Card recorder WinSC e Display and process your data WinADCP and WinSC The WorkHorse software is designed to allow you to set up your WorkHorse to get the best possible data witho
12. specified WorkHorse deployment depths and temperatures Remember that desiccant rapidly absorbs mois ture from normal room air Replace the desiccant whenever the WorkHorse housing or end cap is removed Verify the compass calibration RD Instruments WorkHorse Sentinel User s Guide 11 3 Use the Deployment Wizard WinSC Deployment Wizard dpl COMMAND FILE 10 MB RECORDER INSTALLED 470 wh BATTERY CONNECTED There are five steps the Deployment Wizard helps lead you through Plan ning Setting the ADCP s clock Compass Verification Pre Deployment Tests and sending verifying the commands to the ADCP RDI highly rec ommends using the wizard each time you deploy the ADCP The deploy ment wizard will start whenever a new deployment file is created To use the deployment wizard do the following Figure 12 Using the Deployment Wizard a Connect and power up the WorkHorse b Start WinSC c Start the Deployment Wizard by doing one of the following Atthe Welcome screen click Configure an ADCP for a New Deployment Click OK e Click File New Deployment the deployment wizard will start automatically e If you are working an open deployment file dpl on the Functions menu click Deployment Wizard NOTE Choose and use Deployment Names carefully they help you identify and organize all the data and lo
13. 5 Memory Card Overview Spare Parts The following parts are included in the spare parts kit Table 4 Spare Parts Description Part number O ring face 2 260 Desiccant sealed bag DES3 Lubricant silicone 5 3 oz Dow Corning DC 111 Fuse 3 0 Amp 250V GMA 3A WorkHorse Care This section contains a list of items you should be aware of every time you handle use or deploy your WorkHorse Please refer to this list often P N 957 6163 00 April 2005 page 9 WorkHorse Sentinel User s Guide 4 1 page 10 General Handling Guidelines Never set the transducer on hard or rough surface The urethane faces may be damaged Always remove the retaining strap on the end cap underwa ter connect cable and dummy plug when disconnecting them Failure to do so will break the retainer strap Do not apply any upward force on the end cap connector as the I O cable is being disconnected Stressing the end cap connector may cause the ADCP to flood Read the Main tenance guide for details on disconnecting the I O cable Do not expose the transducer faces to prolonged sunlight The urethane faces may develop cracks Cover the trans ducer faces on the Workhorse if it will be exposed to sun light Do not expose the I O connector to prolonged sunlight The plastic may become brittle Cover the connector on the Workhorse if it will be exposed to sunlight Do not store the ADCP in temperatures over 60 degrees C with the batteries remo
14. 70 Watt hours Wh of usable energy at 0 C When fresh the voltage is 42 VDC When de pleted the voltage drops to 30 VDC or less Flash Memory Card The Sentinel ADCP comes standard with one memory card Two PCMCIA memory card slots are available with the total memory capacity not to exceed 2GB RD Instruments WorkHorse Sentinel User s Guide PRESSURE SENSOR OPTIONAL URETHANE FACE THERMISTOR BEAM 3 MARK TRANSDUCER HEAD HOUSING INTERNAL BATTERY PACK MEMORY CARD END CAP I O CABLE CONNECTOR Figure 1 Sentinel ADCP Overview P N 957 6163 00 April 2005 page 5 WorkHorse Sentinel User s Guide 3 2 I O Cable Overview Always remove the retaining strap on the end cap underwater connect cable and dummy plug when disconnecting them Failure to do so will break the retainer strap Do not apply any upward force on the end cap connector as the I O cable is being disconnected Stressing the end cap connector may cause the ADCP to flood Read the Maintenance guide for details on disconnecting the I O cable TI Figure 2 Connecting and Disconnecting the I O Cable RS 232 IN CHARS 485A RS 422 OUT A RS 232 OUT RS 485B RS 422 OUT B CH RS 485A RS 422 IN CH RS 485B RS 422 IN COMMUNICATION RETURN POWER POWER Figure 3 I O Cable Overview page 6 BLK WHT U N BLU BRN GRN RED YEL BLKANHT an U
15. WorkHorse Sentinel ADCP User s Guide IT 12 17 127 17 217 A fl I a af a a 4 J 4 4 4 u 4 RD Instruments Acoustic Doppler Solutions P N 957 6163 00 April 2005 Table of Contents 1 Introduction sidde A dundee bi 1 2 WorkHorse Sentinel ADCP ApplicationS r rnnsvnnsvnnnnvnnnvnnsvnnnvnnnvennvenanennnvnnsvenanennnennnnnnsnnnsnnnnnvnnsennr 2 3 System Overview indre 4 3 1 Sentinel ADCP Overview eel ali e E 4 3 2 VO Cable Overview ae 6 3 3 Battery Pack 2 7 3 4 Flash Memory Card Overview 2 ccceseegeisesereeeesentqeedecettenseesdetanensesbceen sqacdnepodeneecnsgeseneuaientesseenesees 9 3 5 SP re Parsun innsettes E ta i 9 4 WorkHOrse snarere sie krenke 9 41 General Handling 10 4 2 Assembly G ideli eS issiima brenne 11 4 3 Deployment Guidelines Secu 11 5 Setup the WorkHorse Sentinel
16. able is not available place the Workhorse on the floor as far away from metal objects as possible Use the cardboard to rotate the Workhorse during calibration this way you will not scratch the Workhorse Place the ADCP in the same orien tation as it will be deployed NOTE If you will deploy your Workhorse looking up calibrate it looking up If you will deploy it looking down calibrate it looking down CAUTION If you calibrate the compass in one direction up or down and deploy the ADCP in the opposite direction i e calibrate it in a downward position and deploy it in a upward position the compass calibration will be invalid Compass errors in excess of 5 degrees may occur P N 957 6163 00 April 2005 page 19 WorkHorse Sentinel User s Guide 9 2 page 20 b Connect the Workhorse as shown in the appropriate ADCP User s Guide c Start BBTalk See the RDI Tools User s Guide for assistance on using BBTalk Compass Calibration Verification Compass calibration verification is an automated built in test that measures how well the compass is calibrated The procedure measures compass pa rameters at every 5 of rotation for a full 360 rotation When it has col lected data for all required directions the Workhorse computes and displays the results NOTE Verify the compass if you have just replaced the memory module or any ferrous metals is relocated inside or around the Workhorse housing
17. al deployments Unfortunately the location of the deployment site usually dictates action in this regard NOTE The pressure sensor is optional It may not be included on your system CAUTION 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 A pressure sensor You will perforate the sensor causing it to fail Do not remove the cover disc or attempt to clean the surface of the pressure sensor The diaphragm is very thin and easy to damage Do not remove the pressure sensor It is not field replaceable P N 957 6163 00 April 2005 page 23 WorkHorse Sentinel User s Guide 11 Deployment Guide Use the following steps and the WinSC Quick Reference card to setup the WorkHorse for Self Contained deployment 11 1 Deployment Checklist Test the ADCP using WinSC a Seal the ADCP for deployment Q Install new o rings use silicone lubricant Use fresh desiccant 2 bags inside ADCP Install and connect the battery Check Recorder PC card is installed a Visually inspect the ADCP Check the transducer head condition Check the zinc anode condition High Pressure Housing only Check the housing paint condition High Pressure Housing only All mounting hardware installed Transducer faces clean and free from defects Verify the compass alignment using WinSC if necessary re calibrate Check rec
18. ater Costal and Continental Shelf Real Time deployment KE e Oil production platforms e Port and harbor monitoring e Current mapping Water quality studies Boat Mount portable e Oceanography e Plume tracking e Boundary layer studies e Environmental surveys e Fisheries e Planning new ports e Plankton biomass e Current mapping Towed e Towed fish positioning e Towed fish positioning e Boundary layer studies e Water quality studies e Circulation model studies Offshore of Sentinel using VmBas and gas e Seismic prospecting e Exploration drilling e Field development e Production Table 3 WorkHorse Special Applications e River stream and channel discharge e Coastal protection and engineering e Suspended sediment load estimation e Port design and operation e Plume tracking e Environmental monitoring e Bridge scouring e Shipping safety e Simultaneous bathymetry discharge flow structure NOTE For information on how to use a Sentinel in river discharge measurements see the WinRiver User s Guide For information on how to use a Sentinel to monitor waves see the Waves User s Guide P N 957 6163 00 April 2005 page 3 WorkHorse Sentinel User s Guide 3 1 page 4 System Overview The Sentinel ADCP system consists of an ADCP cables battery pack flash memory card and software Both battery capacity and memory can be in creased with upgrades for longer deployments The Sentinel can a
19. ation The next step is to verify the ADCP s compass Press the Next button to begin verifying the compass Figure 15 Deployment Wizard Compass Verification RD Instruments WorkHorse Sentinel User s Guide 11 3 4 Run the Pre Deployment Tests The fourth step in the Deployment Wizard will run the pre deployment tests Deploy System TS PSO PA PC2 RS and PC1 commands For more information on how to test your ADCP see Testing Your WorkHorse page 18 If you want to skip this step check the Skip box or click Next to begin the pre deployment tests Pre Deployment Tests The next step is to run pre deployment tests on the ADCP Press the Next button to run the Figure 16 Deployment Wizard Test the ADCP P N 957 6163 00 April 2005 page 31 WorkHorse Sentinel User s Guide 11 3 5 Send the Commands page 32 The fifth and final step in the Deployment Wizard will send the commands from the command file to the ADCP Click Next to send the commands When the commands have been sent to the ADCP you should see a mes sage You have successfully deployed the apep Click OK NOTE If you have created a new deployment file you will be prompted to name the deployment Choose and use Deployment Names carefully they help you identify and organize all the data and log files associated with each deployment Deploy the ADCP The final step is to deploy the ADCP Press the Next button to start
20. e of the end cap 35 mm block will give you an 11 degree tilt Check the on screen instructions to see if the orientation is OK Adjust as necessary NOTE The tilts must remain constant during the rotations The transducer beam is the center point of the rotation e When prompted rotate the ADCP slowly 360 degrees approximately 5 degrees per second f The second rotation requires the ADCP to be tilted 15 degrees in another direction than from the first rotation see Figure 9 page 22 Follow the on screen instructions to orient the ADCP correctly When prompted rotate the ADCP slowly 360 degrees approximately 5 degrees per sec ond P N 957 6163 00 April 2005 page 21 WorkHorse Sentinel User s Guide g The third rotation requires the ADCP to be tilted 15 degrees in another direction than from the first and second rotations Follow the on screen instructions to orient the ADCP correctly h If the calibration procedure is successful it records the new calibration matrix to nonvolatile memory The ADCP will not change its matrix unless the calibration is properly carried out i Ifthe calibration procedure is not successful return your ADCP to the original factory calibration by using the AR command Try using the AR command if you have trouble calibrating your compass In some circumstances a defective compass calibration matrix can prevent proper calibration Spin 90 degrees Tilt gt 10 degree
21. ects data for tilts as large as 15 but tilts reduce the effective range and increase the depth of surface contamination Anti fouling paint You are free to use anti fouling paint or other anti fouling material over any surface of the Work Horse However you should consider the following 1 Ensure that your coating can be used safely on plastic in general and polyurethane specifically 2 Apply it thinly and evenly to the transducer faces 3 Poorly applied coatings on the transducer could adversely affect instrument performance Magnetic material Keep the WorkHorse s compass away from magnetic material when you deploy the instrument Check for magnetic fields by smoothly moving a compass around and near the WorkHorse and its mounting frame page 33 WorkHorse Sentinel User s Guide 11 5 page 34 Recover the Data 7 fm 000 000 Figure 19 Recover the Data Data are recorded internally on flash memory PC Cards that can be re moved and plugged into many PC computers especially laptops and read the same as from any hard drive If your computer is able to read the WorkHorse s flash card recovering the data is as simple as copying from one disk to another However be aware that because each computer uses different PC Card drivers installing PC Card drivers on a laptop is not necessarily easy If you cannot read the memory cards in your co
22. eplaced when the voltage falls below 30 VDC measured across the battery connector under no load conditions e Battery packs differ from one to another e Store batteries in a cool dry location 0 to 21 degrees e Do not store batteries inside the ADCP for extended periods The batteries may leak e Use batteries within one year shelf life RD Instruments 7 3 7 4 7 5 WorkHorse Sentinel User s Guide External Battery Pack The External Battery Pack holds two 450 Watt hours Wh batteries To avoid affecting the compass place the external battery case at least 30 cm away from the Sentinel WorkHorse EXTERNAL BATTERY PACK MINIMUM 30 cm APART EXTERNAL BATTERY PACK CABLE i Lg ost a TO COMPUTER DUMMY PLUG Figure 7 External Battery Pack Connection Bench Top Battery Power Requirements While the WorkHorse is awake and responding to commands it consumes approximately 2 2 Watts A single internal battery pack supplies this power level for about five days When the WorkHorse is asleep it consumes less than one mw A standard battery pack supplies sleep power for years At every opportunity the WorkHorse will sleep to conserve power while de ployed Operation Modes The WorkHorse has two modes of operation command m
23. eploy System TS PSO PA PC2 RS PC1 WorkHorse ADCP Tests Guidelines This will show a list of the deployment commands and their current setting This will show a list of the system commands and their current setting This will show the current setting of the real time clock Displays system parameters Extensive pre deployment test that tests the signal path and all major signal processing subsystems This test may not pass unless the WorkHorse transducer face is immersed water Continuously updates sensor display Rotate and tilt WorkHorse and watch the readings on the display change This will show the amount of used and free recorder space in megabytes Beam continuity test Follow instructions to rub each beam in turn to generate a noise signal the WorkHorse uses to verify the transducer beam is connected and operational Results Verify the command settings Verify the command settings Verify the clock setting Verify the information is consistent with what you know about the setup of your system All tests must pass Satisfy yourself that the readings make sense Verify the recorder space is sufficient for the deployment All beams must pass RD Instruments 9 1 WorkHorse Sentinel User s Guide Compass Calibration The main reason for compass calibration is battery replacement Each new battery carries different magnetic signature The compass calibration al g
24. g files associated with each deployment P N 957 6163 00 April 2005 page 27 WorkHorse Sentinel User s Guide 11 3 1 page 28 Plan the Deployment The first step in the Deployment Wizard is planning When you click Next the program PlanADCP will start For more information on PlanADCP see the WinSC and PlanADCP User s Guide If you want to skip this step check the Skip box or click Next to begin using PlanADCP Use the Deployment Wizard to set deployment parameters Choices Consequences Range Resolution Battery Usage Memory Requirements This wizard will take you though each step of the deployment The first step is to plan your deployment Press the Next button to start the planning function COMMAND FILE Figure 13 Plan the Deployment Things to remember while using PlanADCP e PlanADCP can be run separately or within WinSC e PlanADCP allows you to make choices and see the conse quences for the entire deployment Once you decide on the optimum deployment setup it creates Command File with the commands you will later use to set up the WorkHorse for deployment e PlanADCP assumes that the WorkHorse is set to its factory defaults it includes commands in the Command File that put the WorkHorse back to the factory defaults and it adjusts only a subset of the available commands Expert users may add other commands to the Command File e Uniform sample times
25. l 2005 page 11 WorkHorse Sentinel User s Guide 5 1 page 12 Setup the WorkHorse Sentinel ADCP Figure 6 illustrates how to connect the WorkHorse cables and adapters on your workbench The internal battery plugs into connector on the top circuit board NOTE When you first receive your WorkHorse the battery is not connected You will need container of water large enough to submerge the Work Horse s transducer head into during testing two to three inches of water is sufficient Testing the WorkHorse out of water may cause some tests to fail but causes no harm to the WorkHorse 100 240 VAC AONA POWER SUPPLY COMPUTER 16 MB i WinSC MEMORY CARD BBTalk 450 Wh BATTERY NOT CONNECTED Figure 6 WorkHorse Sentinel Connections Serial Communication The standard communications settings are RS 232 9600 baud no parity 8 data bits and I stop bit Self contained applications receive no benefit from setting a faster baud rate You can set the WorkHorse for baud rates other than 9600 baud If you make the new baud rates permanent WinSC will search for the correct set tings and will try COM2 but not COM3 or COM4 If you tell WinSC these settings you will save time required for searching If you have trou ble connecting to the WorkHorse use WinSC s Auto Detect which searches for the WorkHorse s current serial port and baud rate RS422 The WorkHorse Se
26. lso be used for direct reading current profile operation They only require the ad dition of a Windows compatible computer to configure the ADCP and re play collected data Sentinel ADCP Overview The transducer assembly contains the transducer ceramics and electronics Standard acoustic frequencies are 300 600 and 1200kHz See the outline drawings in the WorkHorse Installation Guide for dimensions and weights Cable Connector Input Output I O cable connects the WorkHorse ADCP to the computer Beam 3 Mark The Beam 3 mark shows the location of Beam 3 Forward Urethane Face The urethane face covers the transducer ceramics Never set the transducer on a hard surface The urethane face may be damaged Housing The standard WorkHorse housing allows deployment depths to 200 meters Thermistor The Thermistor measures the water temperature Pressure Sensor The Optional pressure sensor measures water pressure depth Transducer Head The WorkHorse electronics and transducer ceramics are mounted to the transducer head The numbers embossed on the edge of the transducer indicates the beam number When assembling the unit match the transducer beam number with the Beam 3 mark on the end cap End Cap The end cap holds the I O cable connector When assembling the unit match the Beam 3 mark on the end cap with beam 3 number on the transducer Internal Battery Pack The internal battery pack has 4
27. mputer use WinSC to read the data through the WorkHorse s serial port RDI can supply or recommend laptops that can read our PC Card flash cards Remove the flash cards by pushing button on one side of the PC Card see Figure 5 page 9 PC cards are installed with the label side toward the face of the transducer WinSC reads data files from the WorkHorse PC Card recorder via the serial port and saves the data to the computer s hard disk It uses the Work Horse s current Deployment Name to create a new directory for the data on the computer s hard drive You can specify a different destination directory when you run WinSC When WinSC is finished you will find on your PC all the same files that are on your WorkHorse and in the exact same format WinSC transfers all data files even if you have recorded more than one de ployment WinSC transfers data using an error correcting protocol YMODEM so you can be confident about the integrity of the data files RD Instruments WorkHorse Sentinel User s Guide 11 6 Verify and View the Data 7 BACKUP DATA RAW DATA Figure 20 Verify and View the Data WinSC rapidly scans each ensemble in your data files and checks them for integrity and quality Its primary purpose is to ensure that you have prop erly transferred the data to your computer but it also does some simple er ror and problem checking Keep in mind that WinSC d
28. mputer to allow for data playback and processing at a later time NOTE When you receive your WorkHorse look for set up card that shows all of the pieces you should have in your box If anything is missing or damaged contact RDI immediately CAUTION WorkHorse Sentinel batteries are shipped inside the ADCP but A not connected Connect the battery and seal the ADCP before deployment NOTE When an addition or correction to the manual is needed an Interim Change Notice ICN will be posted to our web site on the Customer Service page www rdinstrument com Please check our web site often P N 957 6163 00 April 2005 page 1 WorkHorse Sentinel User s Guide page 2 WorkHorse Sentinel ADCP Applications The WorkHorse Sentinel ADCP is designed so that it can be used as a fully self contained system This means that it contains its own battery for power and internal recorder for the storage of all data that you have set it up to col lect Using the internal battery and recorder the WorkHorse Sentinel can be used for several month autonomous current profile deployments from temporary or permanent mountings in the ocean near shore harbors and lakes WinSC is the software package for self contained ADCP setup data collec tion and data review For detailed information on how to use WinSC see the WinSC and PlanADCP User s Guide PlanADCP part of WinSC lets you enter known or best guess values fo
29. nction are rarely important for interpretation and use of your data The actual maximum range can be different from the range predicted in PlanADCP PlanADCP corrects for range varia tions caused by temperature and salinity but it assumes typi cal scattering conditions Weak backscatter can sometimes reduce range by a factor of two or more In self contained deployments the maximum profiling range decreases with time as the battery voltage falls This is be cause transmit power depends on battery voltage Transmit power is optimized for about 32 volts RDI s alkaline battery packs start at 42 VDC but spend most of their useful lives within a few volts of 32 VDC RD Instruments WorkHorse Sentinel User s Guide 15 Technical Support If you have technical problems with your instrument contact our field ser vice group in any of the following ways RD Instruments RD Instruments Europe 9855 Businesspark Ave 5 Avenue Hector Pintus San Diego California 92131 06610 La Gaude France 858 693 1178 33 0 492 110 930 FAX 858 695 1459 33 0 492 110 931 Sales rdi rdinstruments com rdi rdieurope com Field Service rdifs rdinstruments com rdifs rdieurope com Web www rdinstruments com After Hours Emergency Support 1 858 578 0781 P N 957 6163 00 April 2005 page 39 WorkHorse Sentinel User s Guide NOTES page 40 RD Instruments
30. ng holds two batteries and can easily be replaced on site If properly used no compass calibration will be required It provides an option for extended ADCP deployments P N 957 6163 00 April 2005 page 7 WorkHorse Sentinel User s Guide RUBBER BANDS gt BATTERY INTERNAL I O CABLE DESICCANT RUBBER BAND THREADED ROD 4 WING NUT 4 LOCK WASHER 4 WASHER 4 SUPPORT PLATE BATTERY PACK Figure 4 Battery Pack Overview CAUTION The Workhorse Sentinel battery pack is held in place by four sets of washers lock washers and wing nuts If the wing nuts are not A tight the assembly of washers and wing nut can become loose and eventually fall onto the PIO board This has caused the PIO board to short out Place a rubber band around the wing nuts to help hold them in place page 8 RD Instruments 3 4 3 5 WorkHorse Sentinel User s Guide Flash Memory Card Overview Sentinel ADCPs come standard with one memory card Two PCMCIA memory card slots are available with the total memory capacity not to ex ceed 2GB The PC Card recorder is located on the Digital Signal Processor DSP board inside the Workhorse s electronics To recover data the card can be removed and used in personal computer PC or left in the Work horse and accessed by using WinSC see the WinSC and PlanADCP User 5 Guide gt 37 s eM A gt Fr ee ith Figure
31. ntinel is normally set for RS232 but it can be changed to RS422 by changing a switch setting The switch is in plain view on the top circuit board near the cable connectors Its settings are plainly marked on the board If the serial protocol is set for RS422 and your com puter expects RS232 you will need an RS232 RS422 adapter between the RD Instruments 5 2 WorkHorse Sentinel User s Guide WorkHorse cable and your computer This user s guide assumes that you use RS232 There is no reason to use RS422 for Self Contained operation What if the WorkHorse Does Not Respond If your WorkHorse does not respond check the serial port cables AC power and battery connection If necessary refer to the Troubleshooting Guide in the WorkHorse technical manual CAUTION WorkHorse Sentinel batteries are shipped inside the ADCP but A not connected Connect the battery and seal the ADCP before deployment Software RDI has utility programs to help you set up use test and trouble shoot your Workhorse ADCP Each program has a help file and printed User s Guide The User s Guide is included in pdf format on the software CD Table 5 WorkHorse Software Program Name Description WinSC WinSC is the software package for Self Contained ADCP setup data collection and data review For detailed information on how to use WinSC see the WinSC and PlanADCP User s Guide PlanADCP PlanADCP lets you enter known or best guess val
32. ode and ping mode also referred to as Deployment Saver Mode Depending on what mode the ADCP is in it will go either to sleep or to resume pinging In the Command Mode Whenever you wake up your WorkHorse power dissipation increases from less than one mW to around 2 2 Watts If you leave the WorkHorse in com P N 957 6163 00 April 2005 page 17 WorkHorse Sentinel User s Guide page 18 command mode without sending command for more than five minutes the WorkHorse automatically goes to sleep This protects you from inadvertently depleting batteries In the Ping Mode After you send commands to the WorkHorse that tells it to start collecting data the WorkHorse goes into deployment saver mode If power is some how removed and later restored the WorkHorse simply picks up where it left off and continues to collect data using the same setup Testing Your WorkHorse Use the following steps to test the ADCP Connect and power up the ADCP as shown in Figure 6 page 12 b Start WinSC for help on using WinSC see the WinSC and PlanADCP User s Guide At the Welcome screen click Test an ADCP Click OK This will run the pre deployment tests Deploy System TS PSO PA PC2 RS and PC1 The results of the tests will be printed to the screen and saved to the log file scl Table 6 lists the tests WinSC runs gives you guidelines for running the tests and tells you what the results mean Table 6 Test D
33. oes not check every possible problem with your data NOTE Check your data carefully and back it up before erasing the WorkHorse s data recorder WinADCP plays back data in a variety of formats i e profiles time series and color contour plots To view the data using WinADCP open the raw data file To zoom in on the data hold down the Space Bar and then click and hold the Left mouse button to create a rubber band selection box in the Whole Set chart When the mouse button is released the selected portion of the Whole set is marked by a blinking box outline The blinking box outlines a set of data called the Selected Set NOTE The Whole Set or Sub Set form must be selected the title bar color is highlighted before the space bar is pressed P N 957 6163 00 April 2005 page 35 WorkHorse Sentinel User s Guide 11 7 Erase the Recorder 12 page 36 7 TN PC CARD mn Figure 21 Erase the Recorder WinSC can be used to erase the data recorder inside the WorkHorse When instructed WinSC erases all files in the recorder be sure your data are safely backed up If you read the PC Card by putting it into your com puter you may delete the file s using the DOS delete command Before you can delete the file you must use the DOS attribute command to reset the read only attribute Backing Up Data Once you have recovered the data from yo
34. order status using WinSC Are biofouling precautions needed Verify battery and recorder space requirements Zero pressure sensor optional at deployment site with AZ command Install the dummy plug use silicone lubricant Oooooo page 24 RD Instruments WorkHorse Sentinel User s Guide VISUALLY INSPECT THE ADCP URETHANE TRANSDUCER FACES REMOVE BARNACLES AND CHECK FOR CRACKS TRANSDUCER HEAD CHECK O RINGS AND MOUNTING HARDWARE ARE INSTALLED HOUSING CHECK FOR CRACKS ELECTRONICS AND BATTERY PACKS CHECK MEMORY CARD AND BATTERIES ARE INSTALLED END CAP CHECK O RINGS AND MOUNTING HARDWARE ARE INSTALLED I O CABLE CONNECTOR INSTALL DUMMY PLUG Figure 10 Visual Inspection before Deployment P N 957 6163 00 April 2005 page 25 WorkHorse Sentinel User s Guide 11 2 Prepare the ADCP for Deployment page 26 100 240 VAC 50 60 Hz 16 MB MEMORY CARD m 48 VDC 450 Wh BATTERY NOT CONNECTED Lt ED a ansav ADCP I O CABLE POWER SUPPLY COMPUTER Figure 11 Prepare the ADCP Things to remember while preparing the ADCP Use the Deployment Checklist to verify that the ADCP is ready for the deployment Test the ADCP using WinSC Some tests will fail if the ADCP is not placed in water while the tests are being run Use the AC power supply while testing the ADCP Save the batteries for deployments Desiccant lasts a year at
35. orithm corrects for the distortions caused by the battery to give you an ac curate measurement You should be aware of the following items e We recommend against calibrating the Workhorse while on a ship The ship s motion and magnetic fields from the hull and engine will likely prevent successful calibration e Ifyou think your mounting fixture or frame has some mag netic field or magnetic permeability calibrate the Workhorse inside the fixture Depending on the strength and complexity of the fixture s field the calibration procedure may be able to correct it NOTE If only the battery modules were removed and replaced back in the same orientation the compass does not require calibration If the battery cores were replaced you must verify the compass Battery replacement induces both single and double cycle compass errors The compass accuracy should be verified after replacing the battery pack The compass does not have to be recalibrated if the compass verification passes specification These compass effects can be avoided by using an external battery pack The external battery housing holds two batteries and can easily be replaced on site If properly used no compass calibration will be required The external battery pack provides an option for extended ADCP deployments Preparing for Calibration a Place the Workhorse on a piece of strong cardboard on top of a smooth wooden non magnetic table If a wooden t
36. r the various ADCP profiling pa rameters and shows predictions of expected results For detailed informa tion on how to use PlanADCP see the WinSC and PlanADCP User s Guide Table 1 WorkHorse Self Contained Application Guide Application Blue Water Costal and Continental Shelf Autonomous Sentinel using WinSC Sentinel using WinSC Seployment e Oceanography e Environmental monitoring e Energy transport Costal engineering e Environmental monitoring e Enabling safe movement e Engineering stress determination e Measuring Power plant discharge e Circulation model studies e Protecting coastal land forms e Boundary layer studies e Detecting sewer outfall e Monitoring sensitive environments e Planning new ports Lowered Sentinel using WinSC e Deep water oceanography RD Instruments WorkHorse Sentinel User s Guide The WorkHorse Sentinel ADCP is also able to be used in real time applica tions that either take advantage of the internal battery power or external battery power and can be used to collect data internally as well as exter nally When considering real time applications RDI offers you choices in software packages that are intended to directly meet your needs VmDas is the most often used software package for ADCP setup real time data col lection and data review For detailed information on how to use VmDas see the VmDas User s Guide Table 2 WorkHorse Real Time Application Guide Application Blue W
37. s Place the Dummy Plug or small block under the end cap to make the tilt less than or equal to 20 degrees UPWARD DEPLOYMENT Spin 90 degrees Tilt gt 10 degrees Figure 9 Compass Alignment page 22 RD Instruments 10 10 1 WorkHorse Sentinel User s Guide Internal Pressure Sensor If you have the optional pressure sensor installed in your ADCP use the AZ command to zero out the pressure sensor at the deployment site a Connect and apply power to the system as described in Setup the WorkHorse Sentinel ADCP page 12 b Start BBTalk and wakeup the ADCP press the END key c Type AZ and press the Return key d Exit BBTalk Pressure Sensor Maintenance In order to read the water pressure depth water must be able to flow through the copper screw on the pressure sensor Antifoulant paint will block the sensor s port a small hole that is drilled through the copper screw You should tape off the screw during anti fouling paint application This means that the sensor port is not fully protected from bio fouling The sensor port is surrounded by the antifouling paint but bio fouling may build up on the screw and eventually clog the sensor port However most organ isms do not seem to find the small amount of unpainted surface attractive If it is logistically possible to periodically inspect clean the pressure sensor screw it is highly recommended This tradeoff situation must be analyzed for individu
38. the deployment Figure 17 Deployment Wizard Send the Commands e The WorkHorse must be using battery power and be sealed ready for deployment e Ping beeps Whenever the WorkHorse pings an internal beeper makes an audible beep The beep consumes negligi ble energy and tells you the WorkHorse is pinging If your command file has a Time of First Ping command the ADCP will wait until that time to begin pinging and therefore you will not hear it beep e View the deployment log file This file shows all of the com mands sent to the WorkHorse and the ADCP s response Ifa command generates an error message correct the problem and re send the commands CAUTION Do not send a break any other command or run any other programs once the commands have been sent to the ADCP or your commands will be over written Disconnect the I O cable before turning off power to the computer Some computers may send a break signal out the serial ports when shutting down RD Instruments WorkHorse Sentinel User s Guide 11 4 Deploy and Recover the ADCP Figure 18 8 Deploy Recover the ADCP Things to remember while deploying the ADCP P N 957 6163 00 April 2005 Data files are SCL deployment log file and 000 000 raw data For example if your deployment file is named Test dpl then the deployment log file will be Test scl and the raw data file will be Test000 000 Tilts The WorkHorse corr
39. to connect or remove the I O cable and dummy plug e Do not connect or disconnect the I O cable with power ap plied An exception to this is the external battery case The external battery case connector is always hot when batter ies are installed When you connect the cable with power applied you may see a small spark The connector pins may become pitted and worn e Do not attach a Workhorse Monitor or Sentinel I O cable or power supply to the Workhorse Rio Grande ADCP The Workhorse Mariner Monitor and Sentinel ADCPs are 24 VDC systems The Workhorse Rio Grande uses 12VDC only e The WorkHorse I O cable is wet mate able not under water mate able 4 3 Deployment Guidelines e Read the appropriate WorkHorse User s Guide and the Soft ware User s Guides These guides have tutorials to help you learn how to use the ADCP e WorkHorse Sentinel batteries are shipped inside the ADCP but not connected Connect the battery and seal the ADCP before deployment e Align the compass whenever the battery pack or recorder module is replaced or when any ferrous metals are relocated inside or around the WorkHorse housing Ferro magnetic materials affect the compass e The AC power adapter is not designed to withstand water Use caution when using on decks in wet conditions e Avoid using ferro magnetic materials in the mounting fixtures or near the Workhorse Ferro magnetic materials affect the compass P N 957 6163 00 Apri
40. ues for the various ADCP profiling parameters and shows predictions of expected results For detailed information on how to use PlanADCP see the WinSC and PlanADCP User s Guide BBTalk Windows ADCP communication program Use this program to talk to the ADCP and to run test script files BBTalk is included on the RDI Tools CD For detailed information on how to use BBTalk see the RDI Tools User s Guide WinADCP Gives users a visual display of the entire set of data You can zoom in on a portion of the data for closer analysis and export data to text or MatLab files For detailed information on how to use WinADCP see the WinADCP User s Guide Documentation CD The Documentation CD has an Adobe Acrobat pdf electronic version of the WorkHorse Technical Manual Use the Documenta tion CD to search for information For detailed information on how to use Adobe Acrobat and the Documentation CD see the Read This First guide NOTE See WorkHorse Sentinel ADCP Applications page 2 to see what software package to use for collecting data P N 957 6163 00 April 2005 page 13 WorkHorse Sentinel User s Guide 6 1 6 2 6 3 page 14 System Requirements The WorkHorse software requires the following Windows 958 Windows 988 Windows NT 4 08 with Ser vice Pack 4 installed Windows 20008 or Windows XP Pentium class PC 233 MHz 350 MHz or higher recom mended 32 megabytes of RAM 64 MB RAM recommended 6
41. ur PC Card recorder you should get in the habit of backing up all data files Here are several examples of how to backup data e Remove the original Card containing data and store it in a safe place Install another PC Card in its place e Backup your data to a CD RW or other device e Download the data to another computer RD Instruments 13 13 1 13 2 13 3 WorkHorse Sentinel User s Guide Reviewing the Data Where was the Data The quickest way to find out the depth of each depth cell is to display your recorded data using WinADCP The velocity display tells you the distance to the center of each cell The computed distance assumes that the speed of sound is constant from the transducer to the depth cell The actual distance is proportional to the average sound speed if the average sound speed is 1 less than the sound speed at the transducer the distance to the depth cell is 1 less than the displayed distance When was the Data The time recorded with each data record is the time of the beginning of the first ping of the ensemble PlanADCP sets the ping interval so pings occur uniformly across the ensemble interval as opposed to putting all the pings at the beginning of the interval It leaves a few seconds at the end of each ensemble to allow time for data recording Hence the average time of the ensemble is midway between the recorded ensemble time and the time of the next ensemble What is the Data
42. ut having to understand and use Work Horse commands PlanADCP creates command files These files hold the commands that will be sent to the WorkHorse to start the deployment File Naming Conventions The WorkHorse software gives you complete record of information that might help you understand your data To help you associate these files with your data they use the same deployment name Be careful not to lose these files NOTE Choose and use Deployment Names carefully they help you identify and organize all the data and log files associated with each deployment Raw Data files produced by WinSC have the following filename format DeployName000 nnn Where DeployName is user entered name for the deployment up to 128 char acters 000 is the deployment number changes with each stop restart nnn is the recorder card number which is incremented when the recorder card is full 000 card one 001 card two The file extensions have the following meaning DeployName WHP WorkHorse command file created by PlanADCP DeployName SCL Deployment log file created by WinSC This file contains all of the commands sent to the WorkHorse from WHP and the WorkHorse s system information before deployment DeployName DPL Binary deployment status file This file keeps track of which steps were completed when using the deployment wizard P N 957 6163 00 April 2005 page 15 WorkHorse Sentinel User s Guide 7 1 7 2
43. ved The urethane faces may be damaged Check the temperature indicator inside the ship ping case It changes color if the temperature limit is ex ceeded Store batteries in a cool dry location 0 to 21 degrees C If the batteries are installed in the ADCP do not store the ADCP in temperatures over 21 degrees C Do not store batteries inside the ADCP for extended periods The batteries may leak Use batteries within one year Batteries stored for more than 12 months should NEVER be used Vent the system before opening by loosing the end cap If the ADCP flooded with batteries installed there may be gas under pressure 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 ADCP to flood Do not risk a deploy ment with damaged O ring surfaces Do not lift or support a WorkHorse by the external I O cable The connector or cable will break RD Instruments WorkHorse Sentinel User s Guide 4 2 Assembly Guidelines e Read the Maintenance guide for details on WorkHorse re assembly Make sure the housing assembly O rings stay in their groove when you re assemble the WorkHorse Tighten the hardware as specified Loose missing stripped hard ware or damaged O rings can cause the WorkHorse transducer to flood e Place a light amount of DC 111 lubricant on the end cap connector pins rubber portion only This will make it eas ier
44. will not accept the new matrix unless the calibration was carried out properly and it asks you to verify that you want to use the new calibration if it is not as good as the previous cali bration While you are turning the Workhorse for the two calibration rota tions the Workhorse checks the quality of the previous calibration and dis plays the results It compares these results with the results of the third cali bration rotation There are two compass calibrations to choose from one only corrects for hard iron while the other corrects for both hard and soft iron characteristics for materials rotating with the ADCP Hard iron effects are related to resid ual magnetic fields and cause single cycle 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 recom mended because the effect of hard iron dominates soft iron If a large dou ble cycle error exists then use the combined hard and soft iron calibration a Prepare the ADCP for calibration see Preparing for Calibration page 19 b Using BBTalk send a Break to wake up the ADCP On Transfer menu click Command History In the Enter a Command box enter AF and click OK When the calibration proce dure starts choose the calibration type d Tilt the ADCP see Figure 9 page 22 Tilt an upward looking Work horse with a block under one sid
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