Dvl Output Data Format (Pd5) Details; Figure 57. Dvl Binary Data Format (Pd5); Table 48: Dvl Output Data Format (Pd5) Details - Teledyne WORKHORSE Operation Manual

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DVL Output Data Format (PD5) Details

The H-ADCP sends this data format (Figure 56 and Figure 57) only when the PD5 command is used. Ta-
ble 47 explains the first part of this data structure.
Table 48: DVL Output Data Format (PD5) Details
Hex Digit Binary Byte Field
91,92 46 Salinity
93-96 47,48 Depth
97-100 49,50 Pitch
101-104 51,52 Roll
105-108 53,54 Heading
109-116 55-58 DMG/Btm East
DMG/Btm North
117-124 59-62
DMG/Btm Up
125-132 63-66
DMG/Btm Error
133-140 67-70
141-148 71-74 DMG/Ref East
DMG/Ref North
149-156 75-78
DMG/Ref Up
157-164 79-82
DMG/Ref Error
165-172 83-86
173-176 87,88 Checksum
Page 232
EAR-Controlled Technology Subject to Restrictions Contained on the Cover Page.
DISTANCE MADE GOOD/REF (UP)
DISTANCE MADE GOOD/REF (ERROR)
CHECKSUM
Figure 57. DVL Binary Data Format (PD5)
Description
Contains the salinity value of the water at the transducer head (ES-command). This value
may be a manual setting or a reading from a conductivity sensor.
Scaling: LSD = 1 part per thousand; Range = 0 to 40 ppt
Contains the depth of the transducer below the water surface (ED-command). This value
may be a manual setting or a reading from a depth sensor. Scaling: LSD = 1 decimeter;
Range = 1 to 9999 decimeters
Contains the H-ADCP pitch angle (EP-command). This value may be a manual setting or a
reading from a tilt sensor. Positive values mean that Beam #3 is spatially higher than Beam
#4. Scaling: LSD = 0.01 degree; Range = -20.00 to +20.00 degrees
Contains the H-ADCP roll angle (ER-command). This value may be a manual setting or a
reading from a tilt sensor. For up-facing H-ADCPs, positive values mean that Beam #2 is
spatially higher than Beam #1. For down-facing H-ADCPs, positive values mean that Beam
#1 is spatially higher than Beam #2. Scaling: LSD = 0.01 degree; Range = -20.00 to +20.00
degrees
Contains the H-ADCP heading angle (EH-command). This value may be a manual setting or
a reading from a heading sensor.
Scaling: LSD = 0.01 degree; Range = 000.00 to 359.99 degrees
These fields contain the Distance Made Good (DMG) over the bottom since the time of the
first ping after initialization or <BREAK>.
Scaling: LSD = 1 dm; Range = -10,000,000 to 10,000,000 dm
These fields contain the distance made good over the water-mass reference layer since the
time of the first ping after initialization or <BREAK>.
Scaling: LSD = 1 dm; Range = -10,000,000 to 10,000,000 dm
This field contains a modulo 65536 checksum. The H-ADCP computes the checksum by
summing all the bytes in the output buffer excluding the checksum.
WorkHorse H-ADCP Operation Manual
LSB
MSB
LSB
MSB
LSB
MSB