Teledyne WORKHORSE Operation Manual page 241

WorkHorse H-ADCP Operation Manual
Table 47: DVL Output Data Format (PD4/PD5) Details
Hex Digit Binary Byte Field
11-14 6,7 X-Vel Btm
15-18 8,9 Y-Vel Btm
19-22 10,11 Z-Vel Btm
23-26 12,13 E-Vel Btm
27-30 14,15 Bm1
31-34 16,17 Bm2 Rng to
35-38 18,19 Bm3 Bottom
39-42 20,21 Bm4
43,44 22 Bottom Status
45-48 23,24 Velocity 1
49-52 25,26 Velocity 2
53-56 27,28 Velocity 3
57-60 29,30 Velocity 4
61-64 31,32 Ref Layer Start
Ref Layer End
65-68 33,34
69,70 35 Ref Layer Status
71,72 36 TOFP Hour
73,74 37 TOFP Minute
75,76 38 TOFP Second
TOFP Hundredth
77,78 39
Description
These fields contain the velocity of the vessel in relation to the bottom in mm/s. Positive
values indicate vessel motion to east (X), north (Y), and up (Z). LSD = 1 mm/s (see NOTES at
end of this table).
These fields contain the vertical range from the H-ADCP to the bottom as determined by
each beam. This vertical range does not compensate for the effects of pitch and roll. When
a bottom detection is bad, the field is set to zero.
Scaling: LSD = 1 centimeter; Range = 0 to 65535 cm
This field shows the status of bottom-referenced correlation and echo amplitude data.
Convert to binary and interpret as follows. A zero code indicates status is OK.
BIT 76543210
1xxxxxxx BEAM 4 LOW ECHO AMPLITUDE
x1xxxxxx BEAM 4 LOW CORRELATION
xx1xxxxx BEAM 3 LOW ECHO AMPLITUDE
xxx1xxxx BEAM 3 LOW CORRELATION
xxxx1xxx BEAM 2 LOW ECHO AMPLITUDE
xxxxx1xx BEAM 2 LOW CORRELATION
xxxxxx1x BEAM 1 LOW ECHO AMPLITUDE
xxxxxxx1 BEAM 1 LOW CORRELATION
These fields contain the velocity of the vessel in relation to the water-mass reference layer
in mm/s. The setting of the
H-ADCP references the
EX-CMD COORD SYS
xxx00xxx Beam
xxx01xxx Instrument
xxx10xxx Ship
xxx11xxx Earth
Positive values indicate water movement (see notes at end of this table).
These fields contain the starting boundary (near surface) and the ending boundary (near
bottom) of the water-mass reference layer (BL-command). If the minimum size field is
zero, the H-ADCP does not calculate reference-layer data.
Scaling: LSD = 1 dm; Range = 0-9999 dm
This field shows the status of reference layer depth and correlation data. Convert to binary
and interpret as follows. A zero code indicates status is OK.
BIT 76543210
xxx1xxxx ALTITUDE IS TOO SHALLOW
xxxx1xxx BEAM 4 LOW CORRELATION
xxxxx1xx BEAM 3 LOW CORRELATION
xxxxxx1x BEAM 2 LOW CORRELATION
xxxxxxx1 BEAM 1 LOW CORRELATION
These fields contain the time of the first ping of the current ensemble.
EAR-Controlled Technology Subject to Restrictions Contained on the Cover Page.
EX-command (Coordinate Transformation) determines how the
velocity data.
Velocity 1 Velocity 2
To Beam 1 To Beam 2
Bm1-Bm2 Bm4-Bm3
Port-Stbd Aft-Fwd
To East To North
May 2015
Velocity 3 Velocity 4
To Beam 3 To Beam 4
To Xducer Err Vel
To Surface Err Vel
To Surface Err Vel
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