Dvl Output Data Format (Pd6); Table 49: Dvl Output Data Format (Pd6) - Teledyne WORKHORSE Operation Manual

WorkHorse H-ADCP Operation Manual

DVL Output Data Format (PD6)

The H-ADCP sends this data format only when the PD6 command is used. The H-ADCP outputs data in
the following line order. The H-ADCP may not sent all data lines. Examples: (1) If BK = zero, the H-ADCP
does not send water-mass data (line items beginning with W); (2) If BK = three, the H-ADCP does not
send bottom-track data (line items beginning with B).
PD6 output data format cannot be recorded – it must be output through the serial port only. Do
not use this output data format for a self-contained deployment.
Table 49: DVL Output Data Format (PD6)
Line Description
1 SYSTEM ATTITUDE DATA
:SA,±PP.PP,±RR.RR,HH.HH <CR><LF>
where:
PP.PP = Pitch in degrees
RR.RR = Roll in degrees
HHH.HH = Heading in degrees
2 TIMING AND SCALING DATA
:TS,YYMMDDHHmmsshh,SS.S,+TT.T,DDDD.D,CCCC.C,BBB <CR><LF>
where:
YYMMDDHHmmsshh = Year, month, day, hour, minute, second, hundredths of seconds
SS.S = Salinity in parts per thousand (ppt)
TT.TT = Temperature in C
DDDD.D = Depth of transducer face in meters
CCCC.C = Speed of sound in meters per second
BBB = Built-in Test (BIT) result code
WATER-MASS, INSTRUMENT-REFERENCED VELOCITY DATA
3
:WI,±XXXXX,±YYYYY,±ZZZZZ,±EEEEE,S <CR><LF>
where:
±XXXXX = X-axis vel. data in mm/s (+ = Bm1 Bm2 xdcr movement relative to water mass)
±YYYYY = Y-axis vel. data in mm/s (+ = Bm4 Bm3 xdcr movement relative to water mass)
±ZZZZZ = Z-axis vel. data in mm/s (+ = transducer movement away from water mass)
±EEEEE = Error velocity data in mm/s
S = Status of velocity data (A = good, V = bad)
4 WATER-MASS, SHIP-REFERENCED VELOCITY DATA
:WS,±TTTTT,±LLLLL,±NNNNN,S <CR><LF>
where:
±TTTTT = Transverse vel. data in mm/s (+ = Port Stbd ship movement rel. to water mass)
±LLLLL = Longitudinal vel. data in mm/s (+ = Aft Fwd ship movement rel. to water mass)
±NNNNN = Normal velocity data in mm/s (+ = ship movement away from water mass)
S = Status of velocity data (A = good, V = bad)
5 WATER-MASS, EARTH-REFERENCED VELOCITY DATA
:WE,±EEEEE,±NNNNN,±UUUUU,S <CR><LF>
where:
±EEEEE = East (u-axis) velocity data in mm/s (+ = H-ADCP movement to east)
±NNNNN = North (v-axis) velocity data in mm/s (+ = H-ADCP movement to north)
±UUUUU = Upward (w-axis) velocity data in mm/s (+ = H-ADCP movement to surface)
S = Status of velocity data (A = good, V = bad)
EAR-Controlled Technology Subject to Restrictions Contained on the Cover Page.
May 2015
Page 233