Nortek Signature Series Manual
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Nortek Signature Series Manual

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  • Page 2: Table Of Contents

    5.2 SETINST/GETINST/GETINSTLIM ........................... 24 5.3 SETCLOCK/GETCLOCK ........................... 24 5.4 SETCLOCKSTR/GETCLOCKSTR ........................... 24 5.5 SETPLAN/GETPLAN/GETPLANLIM ........................... 25 5.6 SETAVG/GETAVG/GETAVGLIM ........................... 26 5.7 SETBURST/GETBURST/GETBURSTLIM ........................... 27 5.8 SETBURSTHR/GETBURSTHR/GETBURSTHRLIM ........................... 28 5.9 SETECHO/GETECHO/GETECHOLIM ........................... 28 5.10 SETBT/GETBT/GETBTLIM ........................... 29 © 2017 Nortek AS...

  • Page 3: Contents

    Contents 5.11 SETALTERNATE/GETALTERNATE/GETALTERNATELIM ........................... 29 5.12 GETMEM ........................... 30 5.13 SETTRIG/GETTRIG/GETTRIGLIM ........................... 30 TRIG ................................30 Triggers ................................31 5.14 GETPWR ........................... 32 5.15 GETPRECISION ........................... 32 5.16 GETPRECISION1 ........................... 32 5.17 SETUSER/GETUSER ........................... 33 5.18 GETHW ........................... 33 5.19 ID ...........................
  • Page 4 RDI Workhorse PD0 data format................................75 7.2 Burst ........................... 76 NMEA format 1 and 2 (DF=101/102) ................................76 7.3 Altimeter ........................... 80 7.4 DVL Bottom Track ........................... 81 7.5 ASCII Data Input Using Ethernet ........................... 82 © 2017 Nortek AS...

  • Page 5: Introduction

    The document is complete in the sense that it describes all available commands and modes of communication. For most users, it will make sense to let the supplied Nortek software do most of the hardware configuration and then let the controller limit its task to starting/stopping data collection.

  • Page 6: Basic Interface Concept

    Integrator's Guide Basic interface concept The Nortek Signature Series products command interface are ASCII based and line oriented. Before diving into the chapters covering interfaces and commands, the operational modes and how to change between the modes are described. Understanding the use and constrains of the modes is important as it is used frequently when communicating with the instrument.

  • Page 7: Break

    Interface (SEC). The primary interface is Ethernet, so the Interface processor is only powered when external power is applied. Note that powering through the Ethernet cable will also power the rest of the electronics. Figure: Pow er distribution relating to the tw o-processor design. © 2017 Nortek AS...

  • Page 8: Interfaces

    The data format can be selected from a number of formats, including both binary © 2017 Nortek AS...

  • Page 9: Ethernet Operation

    9004 is an ASCII data only channel (no input accepted). The password entry is ignored if password authentication, as shown in the web page configuration, is disabled (so any input, including an empty password, is accepted). The © 2017 Nortek AS...

  • Page 10: Telnet Connection

    The Windows telnet client can be used to connect into the instrument using the command line telnet ip_address 9000. You will get prompted for a username (nortek) and password (hit Enter if password protection hasn’t been enabled via the Web interface).

  • Page 11: Raw Connections

    If an FTP connection is done when the instrument is in measurement mode (see Figure 1), the FTP connection is made through data retrieval mode. When the FTP connection is terminated, the instrument will then return to measurement mode. If there is no data transferred or FTP © 2017 Nortek AS...

  • Page 12: Http

    Precision Time Protocol (IEEE-1588) is a standard used for distributing a high-resolution absolute time throughout an Ethernet network. The Signature series instrument can be configured to act as a slave to an existing PTP master clock (customer supplied) located in the same Ethernet LAN.

  • Page 13: User Cases

    Interfaces User Cases Note that the Nortek Signature Series products command interface are ASCII based and line oriented (commands terminated with CR/LF). All commands should be set explicitly. The .deploy file created by the Deployment software is command-based and can be read directly into the command interface.
  • Page 14 Note that SETTMAVG,AVG must equal the AI set by SETAVG,AI. To set telemetry averaging for the alternate plan use SETTMAVG1, note that these will be recorded to the same telemetryfile.bin file. Enter START or DEPLOY,TIME to begin the deployment. © 2017 Nortek AS...

  • Page 15: Download Telemetry File Via Ftp

    Go to ftp://your-IP-a ddress to find the telemetry file (telemetryfile.bin). Here is part of the result from the above configuration. Note that the data were collected in air. $PNORC,091715,142440,1,0.24,-1.35,-2.21,-1.69,1.37,169.7,C,79,84,67,102,11,13,8,11*2B $PNORC,091715,142440,3,0.64,-0.28,-1.91,-1.32,0.70,113.9,C,79,84,66,96,12,14,7,20*13 $PNORC,091715,142440,5,0.08,-0.50,-1.76,-1.48,0.51,171.2,C,78,84,66,92,11,13,7,24*1D $PNORC,091715,142440,7,-0.37,0.97,-1.02,-1.07,1.04,339.0,C,78,84,66,67,11,14,10,10*21 $PNORC,091715,142440,9,-0.94,0.57,-0.76,-1.11,1.10,301.1,C,78,83,65,69,12,15,9,10*10 $PNORC,091715,142440,11,-0.37,0.76,-0.95,-1.06,0.85,334.0,C,78,83,65,66,13,15,8,8*14 $PNORC,091715,142440,13,0.05,-0.25,-1.64,-1.36,0.26,168.4,C,78,84,66,82,11,14,9,33*2F $PNORC,091715,142440,15,-0.20,0.20,-1.36,-1.32,0.28,314.6,C,78,84,66,67,11,13,9,7*16 $PNORC,091715,142440,17,0.19,0.17,-1.47,-1.13,0.25,48.0,C,78,84,65,69,12,16,9,2*0D $PNORC,091715,142440,19,-0.91,0.45,-0.90,-1.19,1.02,296.5,C,78,84,65,66,12,14,10,8*27 $PNORC,091715,142440,21,-0.49,0.66,-1.00,-1.11,0.82,323.1,C,78,84,65,67,12,14,11,10*13 $PNORI,4,Signature1000900002,4,11,0.20,1.00,0*1B $PNORS,091715,143440,00000000,2A4C0000,14.3,1300.0,278.3,15.7,-33.0,0.000,-262.45,0,0*65 © 2017 Nortek AS...
  • Page 16 The clock drifts with about 1 sec/week. Since DEPLOY was used the measurement intervals will resynchronize according to the deployment time and the instrument configuration (see DEPLOY for more information), thus is should be easier to schedule automatic data download as the window 12:02 to 12:10 remains. © 2017 Nortek AS...

  • Page 17: Download Telemetry File Over Serial Port

    Copy the returned text and paste to file. Or check "Record to file", the file will appear by default in: C:\Users\xxxx\Documents\Nortek\Deployment\Online Parameters can be added to the DOWNLOADTM command to set start address, length of file, etc (see section DOWNLOADTM) © 2017 Nortek AS...

  • Page 18: Erase Telemetry File

    Version 2176 (Sep 17 2015 18:58:53) DATA RETRIEVAL MODE %Checking the size of the telemetry file. Return in bytes TMSTAT 34768 %Erasing the telemetry file ERASETM,9999 %Continuing the configured deployment plan The telemetry file can also be erased over FTP. © 2017 Nortek AS...

  • Page 19: Checking Instrument State Over Ethernet

    This indicates the instrument has been configured to deploy and has started its scheduled deployment for 27521 seconds. See GETSTATE for more information. Depending on the desired action, send Break usually followed by; either MC to enter command mode, RM for data retrieval or START/DEPLOY/CO to start/schedule/continue a deployment. © 2017 Nortek AS...

  • Page 20: Commands

    GETxxxLIM command, e.g. GETAVGLIM,CS to read the valid range of cell sizes. All command parameters should be set explicitly, e.g. SETAVG,NC=10,BD=0.7 A configuration of the instrument should always start with setting the default configuration, e.g. SETDEFAULT,ALL © 2017 Nortek AS...

  • Page 21: List Of Commands

    Command mode GETALTERNATE/ GETALTERNATELI GETMEM Returns the amount of data the various modes will Command mode store to the recorder in Mbytes/hour SETTRIG/ Sets / gets the parameters and limits for Trigger. Command mode GETTRIG/ GETTRIGLIM © 2017 Nortek AS...
  • Page 22 Returns configuration limits that cannot be returned Command mode through the relevant commands GETXFAVG/ Returns the “Beam to XYZ” transfer matrix for the Command mode GETXFBURST current setup. ADDLINE Command mode SETTMAVG/ Set/Get Averaging Mode Telemetry Settings Command mode © 2017 Nortek AS...
  • Page 23 Command mode ERASETM Erase telemetry file Command mode, Data retrieval mode Write tag to output file and data output All modes BBPWAKEUP Wakes up the Doppler processor | Ethernet interface All modes only, see Ethernet description © 2017 Nortek AS...

  • Page 24: Setinst/Getinst/Getinstlim

    Hours (24 hour format) MINUTE Minutes SECOND Seconds SETCLOCKSTR/GETCLOCKSTR Set or retrieve the Real Time Clock using a string. The format must be exactly as shown. Argument Description TIME yyyy-mm-dd hh:mm:ss Example: $PNOR,GETCLOCKSTR*64 $PNOR,GETCLOCKSTR,TIME="2014-11-12 14:27:42"*42 $PNOR,OK*2B © 2017 Nortek AS...

  • Page 25: Setplan/Getplan/Getplanlim

    Number of Time Slots. Set to 0 giving the default number of slots. The valid range for the various arguments should be verified using the GETPLANLIM command, also for the values listed here as they may change with firmware versions and instrument frequencies. © 2017 Nortek AS...

  • Page 26: Setavg/Getavg/Getavglim

    The actual valid range for the various parameters for the firmware version is used can be found by using the GETAVGLIM command. This command has the same arguments as the SETAVG/GETAVG commands shown in the list above. The output format for limits is described in Data Limit Formats © 2017 Nortek AS...

  • Page 27: Setburst/Getburst/Getburstlim

    The actual valid range for the various parameters for the firmware version is used can be found by using the GETBURSTLIM command. This command has the same arguments as the SETBURST/ GETBURST commands shown in the list above. The output format for limits is described in Data Limit Formats. © 2017 Nortek AS...

  • Page 28: Setbursthr/Getbursthr/Getbursthrlim

    Enable and set frequency of echo gram NBINF1 N/A - must be set to 1 XMIT1 Transmit length Power level PULSECOMP1 Enable Pulse Compression FREQ2,..repeat for 2 and 3 Note that Pulse Compression may only be enabled for one echogram. © 2017 Nortek AS...

  • Page 29: Setbt/Getbt/Getbtlim

    The actual valid range for the various parameters for the firmware version is used can be found by using the GETAVGLIM command. This command has the same arguments as the SETAVG/GETAVG commands shown in the list above. The output format for limits is described in Data Limit Formats. © 2017 Nortek AS...

  • Page 30: Getmem

    This enables several instruments to be synchronized together through RS485 with one of the instruments acting as master. Only continuous measurement configurations are supported in this mode. 5.13.1 TRIG Command used for trigging measurement when Trigger is enabled and trigger type equals “COMMAND”. Argument Description Counting number © 2017 Nortek AS...

  • Page 31: 5.13.2 Triggers

    Trig on Command When the TRIG parameter of the SETTRIG command is set to “COMMAND” the AD2CP is trigged by sending a “TRIG[CrLf]” command. The trigger time will be when the end of the [CrLf] is received. © 2017 Nortek AS...

  • Page 32: Getpwr

    BURSTHORZ Precision in the horizontal range in burst1 mode [cm/s] BEAM5 Precision in the vertical range in burst1 mode [cm/s] AVGBEAM Precision along beam in average1 mode [cm/s] BURSTBEAM Precision along beam in average1 mode [cm/s] © 2017 Nortek AS...

  • Page 33: Setuser/Getuser

    Board Revision. Example: C-0 String BOOT DSP Bootloader FW Version Number MINOR Running DSP FW version (minor part) Number 5.19 Returns System name and serial number. Argument Description System name, maximum 15 characters Serial number Example: "Signature1000",900002 ID,STR "Signature1000" © 2017 Nortek AS...

  • Page 34: Setdefault

    Save Telemetry AVG parameters. PLAN Save PLAN parameters. BURST Save BURST setting parameters. Save PTP parameters. TMBT Save Telemetry BT parameters. USER Save USER parameters. TMBURST Save TMBURST setting parameters. TMALTI Save TMALTI Profile parameters. Save DVL setting parameters. © 2017 Nortek AS...

  • Page 35: Deploy

    Default value: 0 0 - Comment 1 - Dive Location 2 - Surface Location String (Maximum 200 bytes long) B64STR B64 coded string (maximum 200 bytes long) Note: Fwrite STR and B64STR cannot be set together. © 2017 Nortek AS...

  • Page 36: Powerdown

    Reboots the SEC (Interface processor). This command makes it possible to reboot the SEC without going via the web interface. 5.28 LISTFILES Lists the files stored on the Instrument recorder. Argument Description OPT=”la” – lists extended information. © 2017 Nortek AS...

  • Page 37: Download

    SA=0 and a large value for LEN. The actual file size is then returned before the data follows. Example: DOWNLOAD,FN=”TestFile.ad2cp”,SA=0,LEN=4096,CRC=1,CKS=0<CR><LF> 4096<CR><LF> <binary or ASCII data> 23432<CR><LF> (CRC value) OK<CR><LF> © 2017 Nortek AS...

  • Page 38: Inq

    Example (in measurement mode) : 08:43:31 INQ<CR><LF> 08:43:31 0001<CR><LF> Example (in confirmation mode) : 08:43:31 INQ<CR><LF> 08:43:31 0005<CR><LF> Example (in data retrieval mode) : 08:43:31 INQ<CR><LF> 08:43:31 0004<CR><LF> Example (in firmware upgrade mode) : 08:43:31 INQ<CR><LF> 08:43:31 0000<CR><LF> © 2017 Nortek AS...

  • Page 39: Getstate

    > 0 – Number of seconds that measurement has been running. CURRTIME The current instrument time Time format is “YYYY-MM-DD HH:MM:SS” WAKEUP Reason for instrument wakeup 0 – Bad power 1 – Power on 2 – Break 3 – Real-time clock INTPROC Internal processing Active © 2017 Nortek AS...

  • Page 40: Geterror

    .ad2cp file it must contain both the Header and Data Record. The Header information can be obtained by using the command GETALL. Argument Description Write the output to this file Example : GETALL<CR><LF> GETPLAN,600,1,0,0,10,0.0,1,0,0,1500,"",1<CR><LF> GETAVG,20,1.00,0.30,"BEAM",-12.0,1,0.000,1.29,3,1,0,0<CR><LF> GETBURST,50,4,0.400,0.200,"BEAM",0.0,1,1024,4.00,0.000,0,1,0<CR><LF > GETUSER,0.00,0.00,0,0,0<CR><LF> GETINST,9600,232,1<CR><LF> BEAMCFGLIST,1,10.00,20.00,1000,500,1,1<CR><LF> BEAMCFGLIST,2,10.00,20.00,1000,500,1,2<CR><LF> BEAMCFGLIST,3,10.00,20.00,1000,500,1,3<CR><LF> BEAMCFGLIST,4,10.00,20.00,1000,500,1,4<CR><LF> OK<CR><LF> © 2017 Nortek AS...

  • Page 41: Recstat

    Returns the total profiling range for averaged measurements (SETAVG). BURSTPR Returns the total profiling range for burst profile measurements (SETBURST). BURSTHRPR Returns the total profiling range for burst HR profile measurements (SETBURSTHR) The output format for limits is described in Data Limit Formats. © 2017 Nortek AS...

  • Page 42: Getxfavg / Getxfburst

    Returns the “Beam to XYZ” transfer matrix for the current setup. If the number of beams are 1 or 2 only ROWS and COLS are returned. Argument Description ROWS Number of Rows. COLS Number of Columns. Figure: Matrix definitions Exam ples: GETXFBURST,ROWS=4,COLS=4,M11=1.183,M12=0.000,M13=-1.183,M14=0.000, M21=0.000,M22=1.183,M23=0.000,M24=-1.183,M31=0.552,M32=0.000, M33=0.552,M34=0.000,M41=0.000,M42=0.552,M43=0.000,M44=0.552 GETXFAVG,ROWS=3,COLS=3,M11=1.183,M12=0.000,M13=-1.183,M21=1.183, M22=-2.366,M23=1.183,M31=0.552,M32=0.000,M33=0.552 © 2017 Nortek AS...

  • Page 43: Settmavg/Gettmavg/Gettmavglim

    The actual valid range for the various parameters for the firmware version is used can be found by using the GETTMAVGLIM command. This command has the same arguments as the SETTMAVG/ GETTMAVG commands shown in the list above. The output format for limits is described in Data Limit Formats. © 2017 Nortek AS...

  • Page 44: Settmburst/Gettmburst/Gettmburstlim

    Argument Description Enable/disable altimeter telemetry Include time stamp Include quality parameter File output Serial output Altimeter Telemetry format. NMEA (PNORA) format without Tags. 200 – NMEA (PNORA) format with Tags. 201 – Example: SETTMALTI,1,1,0,1,201 GETTMALTI GETTMALTILIM © 2017 Nortek AS...

  • Page 45: Settmbt/Gettmbt/Gettmbtlim

    303 – NMEA with tags and Sensor Data. NPING Number of Pings FOMTH Figure of Merit threshold. Coordinate system Example: SETTMBT,1,1,1,301 GETTMBT GETTMBTLIM 5.41 TMSTAT This command returns the length (# of bytes) of the telemetry file. Example: TMSTAT<CR><LF> 13500<CR><LF> OK<CR><LF> © 2017 Nortek AS...

  • Page 46: Downloadtm

    OK<CR><LF> 5.43 STOREHEADERTM This command stores the GETALL (complete configuration) to the telemetry file. 5.44 ERASETM Argument Description CODE Code should be 9999 Erase the telemetry file. The telemetry file can also be erased over FTP. © 2017 Nortek AS...

  • Page 47: Tag

    // “:57.449 - This i” 65 73 74 20 74 61 67 2e 00 // “s is a test tag.” $PNOR,OK*2B Remember to use the BBPWAKEUP command when sending commands to an instrument in Measurement mode, when using Ethernet. © 2017 Nortek AS...

  • Page 48: Data Formats

    Size (number of bytes) of the following Data Record. (unsigned) Data Checksum 16 bits Checksum of the following Data Record. Header Checksum 16 bits Checksum of all fields of the Header (excepts the Header Checksum itself). © 2017 Nortek AS...

  • Page 49: Checksum Definition

    = (size >> 1); int i; for (i = 0; i < nbshorts; i++) checksum += *pData; size -= 2; pData++; if (size > 0) checksum += ((unsigned short)(*pData)) << 8; return checksum; © 2017 Nortek AS...

  • Page 50: Burst/Average Data Record Definition (Df3)

    8 bits Unsigned 1 Second (see struct tm definition) Microsec100 16 bits Unsigned 100 µsec Speed of 16 bits Unsigned 0.1 m/s Sound Temperature 16 bits Signed 0.01 Degree Celsius Pressure 32 bits Unsigned 0.001 dBar © 2017 Nortek AS...
  • Page 51 Raw ( Z-axis ) measurement interval. (16384 = 1.0) Ambiguity 16 bits Unsigned Standard Definition Velocity / 10^(Velocity Ambiguity velocity, corrected for sound velocity, Echo sounder scaling) m/s scaled according to Velocity scaling Frequency Echo Sounder Definition © 2017 Nortek AS...
  • Page 52 See table 1 Bit 24- Autoorie See table 2 ntation Bit 21- Previous 10=break, 11=RTC alarm, wakeup 00=bad power, 01=power state applied Bit 17 Last 0=normal operation, 1=last measure measurement skipped due to ment low input voltage © 2017 Nortek AS...
  • Page 53 This field exists if the Correlation data included bit data 8 bits of the Config byte is set. Altimeter 32 bits Float Meters These fields exists if the distance Altimeter data included bit if the config byte is set Altimeter 16 bits Unsigned quality © 2017 Nortek AS...
  • Page 54 Matrix – M11 byte is set. AHRS 32 bits Float AHRS Rotation Rotation Matrix [3x3] Matrix – M12 AHRS 32 bits Float AHRS Rotation Rotation Matrix [3x3] Matrix – M13 AHRS 32 bits Float AHRS Rotation © 2017 Nortek AS...
  • Page 55 Pitch Degrees Dev. data included bit of the Config byte is set Std. Dev. Roll 16 bits Signed 0.01 Degrees Std. Dev. 16 bits Signed 0.01 Heading Degrees Std. Dev. 16 bits Signed 0.001 Bar Pressure © 2017 Nortek AS...
  • Page 56 Integrator's Guide Field Size Format Resolution/ Description Unit Std. Dev. 12 * 16 _Unused Dummy bits © 2017 Nortek AS...
  • Page 57 Bit 2 Data retrieval Underrun. 1 = Error / 0 = OK. Bit 1 Data retrieval Overflow. 1 = Error / 0 = OK. Bit 0 Data retrieval FIFO error. 1 = Error / 0 = OK. © 2017 Nortek AS...
  • Page 58 : 4; unsigned long activeConfiguration : 1; unsigned long lastMeasLowVoltageSkip : 1; unsigned long prevWakeUpState : 4; unsigned long autoOrient : 3; unsigned long orientation : 3; unsigned long wakeupstate : 4; } t_status; © 2017 Nortek AS...
  • Page 59 /* resolution: 0.1 m/s */ short temperature; /* resolution: 0.01 degree © 2017 Nortek AS...
  • Page 60 /* Unsigned long unsigned long ensembleCounter; unsigned char data[SIZE_VAR_DATA]; ///< actual size of the following = ///< int16_t hVel[nBeams][nCells]; // velocity ///< uint8_t cAmp[nBeams][nCells]; // amplitude ///< uint8_t cCorr[nBeams][nCells]; // correlation (0-100) } OutputData3_t; /* Altimeter result */ © 2017 Nortek AS...
  • Page 61 AST [m]. unsigned short qualityAST; ///< Quality parameter Leading AST. short offsetAST_100us; ///< Time from pressure measurement. float fAltiPressure; ///< Altimeter Pressure [dBar] float fPowLev; ///< Power level for current ping float fSpare; ///< Spare } altiData_t; © 2017 Nortek AS...

  • Page 62: Bottom Track Data Record Definition (Df20)

    Unsigned 100 µsec Speed of 16 bits Unsigned 0.1 m/s Sound Temperature 16 bits Signed 0.01 Degree Celsius Pressure 32 bits Unsigned 0.001 dBar Heading 16 bits Unsigned 0.01 Deg Pitch 16 bits Signed 0.01 Deg © 2017 Nortek AS...
  • Page 63 Data Set 16 bits Bits Description Description Physical beam used for 1st data set. Physical beam used for 2nd data set. 8-11 Physical beam used for 3th data set. 12-16 Physical beam used for 4th data © 2017 Nortek AS...
  • Page 64 This field exists if the FOM data included bit of the data 16 bits Config byte is set. Version 1 Bottom Track Data Record Struct Definition (C99 standard) typedef struct unsigned char version; unsigned char offsetOfData; struct © 2017 Nortek AS...
  • Page 65 ///< Magnetometer Data short accl3D[3]; ///< Accelerometer Data unsigned int ambVelocity; t_BottomTrackDataSetDescription4Bit DataSetDescription4bit; unsigned short */ unsigned short transmitEnergy; char velocityScaling; char powerlevel; short magnTemperature; short rtcTemperature; unsigned long error; t_BottomTrackstatus status; /* Unsigned long */ © 2017 Nortek AS...
  • Page 66 Integrator's Guide unsigned long ensembleCounter; unsigned char data[SIZE_VAR_DATA_BT]; ///< actual size of the following: ///< int32_t velocity[nBeams]; // velocity ///< int32_t distance[nBeams]; // distance ///< unsigned short FOM[nBeams]; // Figure Of Merit } OutputBottomTrackFormat1_t; © 2017 Nortek AS...

  • Page 67: String Data Record Definition

    ("BEAM") – String argument with BEAM being the only valid string. (0;1) – Integer value with two valid values, 0 and 1. NMEA interface example: $PNOR,GETAVGLIM*22 $PNOR,GETAVGLIM,NC=([1;128]),CS=([0.25;2.00]),BD=([0.10;45.00]),CY= ("BEAM"),PL=([-40.0;0.0];-100.0),AI=([1;300]),VP=([0.000;0.100]), VR=([1.25;5.00]),DF=([0;3]),NPING=([1;4])*46 $PNOR,OK*2B Regular interface example: GETPLANLIM ([1;3600]),(0;1),(),([0;2]),(),([0.0;50.0]),(0;1),([10;21600]),(), ([1300.00;1700.00];0.0),(['0';'9'];['a';'z'];['A';'Z'];'.'),(0;1) © 2017 Nortek AS...

  • Page 68: Telemetry Data Formats

    (NMEA sentences: PNORI2, PNORS2 and PNORC2). NMEA format 3 (with Tags). (NMEA sentences: PNORH3, PNORS3 and PNORC3). NMEA format 4 (without Tags). (NMEA sentences: PNORH4, PNORS4 and PNORC4). RDI Workhorse PD0 data format. Table 3 Available Telemetry Data formats for AVG. © 2017 Nortek AS...

  • Page 69: Awac Nmea Format (Df=100)

    MMDDYY 102115 Time hhmmss 090715 Error Code (hex) 00000000 Status Code (hex) 2A480000 Battery Voltage dd.d 14.4 Sound Speed dddd.d 1523.0 Heading ddd.d 275.9 Pitch (deg) dd.d 15.7 Roll (deg) dd.d -2.3 Pressure (dBar) ddd.ddd 0.000 © 2017 Nortek AS...
  • Page 70 Amplitude (Beam 4) Correlation (%) (Beam1) Correlation (%) (Beam2) Correlation (%) (Beam3) Correlation (%) (Beam4) Checksum Example (DF=100): $PNORC,102115,090715,4,0.56,-0.80,-1.99,- 1.33,0.98,305.2,C,80,88,67,78,13,17,10,18*22 Note that the amplitude can be converted to a dB scale by multiplying by 0.50 dB/count. © 2017 Nortek AS...

  • Page 71: Nmea Format 1 And 2 (Df=101/102)

    Error Code EC=0 Status Code hhhhhhhh SC=34000034 Battery Voltage dd.d BV=23.9 Sound Speed [m/s] dddd.d SS=1500.0 Heading Std. [deg] HSD dd.dd HSD=0.02 Dev. Heading [deg] ddd.d H=123.4 Pitch [deg] dd.d PI=45.6 Pitch Std.Dev [deg] dd.dd PISD=0.02 © 2017 Nortek AS...
  • Page 72 [m/s] Only if CY=ENU VU2 dd.ddd VU2=0.332 and #beams = 4 Velocity X [m/s] Only if CY=XYZ dd.ddd VX=0.332 Velocity Y [m/s] Only if CY=XYZ dd.ddd VY=0.332 Velocity Z [m/s] Only if CY=XYZ dd.ddd VZ=0.332 and #beams >= 3 © 2017 Nortek AS...
  • Page 73 [%] Only if #beams =4 C4=78 Beam 4 Table 6 PNORC1/2 NMEA sentence parameter description Example (DF=101 (ENU, 3 beams): $PNORC1,083013,132455,3,11.0,0.332,0.332,0.332,78.9,78.9,78.9,78,78 ,78*46 Example (DF=102 (ENU, 3 beams): $PNORC2,DATE=083013,TIME=132455,CN=3,CP=11.0,VE=0.332,VN=0.332, VU=0.332,A1=78.9,A2=78.9,A3=78.9,C1=78,C2=78,C3=78*6D Example (DF=102 (BEAM, 4 beams): $PNORC2,DATE=083013,TIME=132455,CN=3,CP=11.0,V1=0.332,V2=0.332,V3=- 0.332,V4=-0.332,A1=78.9,A2=78.9,A3=78.9,A4=78.9,C1=78,C2=78,C3=78, C4=78*49 © 2017 Nortek AS...

  • Page 74: Nmea Format 3 And 4 (Df=103/104)

    [dBar] ddd.ddd P=123.456 Temperature [deg C] dd.dd T=24.56 Table 8 PNORS3/4 NMEA Sensor sentence parameter description Example (DF=103): $PNORS3,BV=33.0,SS=1546.1,H=151.1,PI=-12.0,R=-5.2,P=705.669, T=24.96*7A Example (DF=104): $PNORS4,33.0,1546.1,151.2,-11.9,-5.3,705.658,24.95*5A Averaged Data: Identifier: PNORC3 for DF = 103 PNORC4 for DF = 104 © 2017 Nortek AS...

  • Page 75: Rdi Workhorse Pd0 Data Format

    SP=0.751 Direction [deg] ddd.d DIR=170.1 Averaged AC=5 Correlation Averaged AA=28 Amplitude Table 9 PNORC3/4 NMEA Averaged data sentence parameter description Example (DF=103): $PNORC3,CP=4.5,SP=3.519,DIR=110.9,AC=6,AA=28*3B Example (DF=104): $PNORC4,27.5,1.815,322.6,4,28*70 7.1.4 RDI Workhorse PD0 data format. See RDI documentation. © 2017 Nortek AS...

  • Page 76: Burst

    Table 11 PNORI1/2 NMEA sentence parameter description Example (DF=101): $PNORI1,4,1234,1,54,0.50,1.00,BEAM*58 Example (DF=102): $PNORI2,IT=4,SN=1234,NB=1,NC=54,BD=0.50,CS=1.00, CY=BEAM*68 Sensors Data: Identifier: PNORS1 for DF = 101 PNORS2 for DF = 102 Column Field Description TAG Data format Example Date MMDDYY DATE=083013 © 2017 Nortek AS...
  • Page 77 PNORC1 for DF = 101 PNORC2 for DF = 102 The burst data is repeated for each measurement cell. Column Field Description TAG Data format Example Date Date MMDDYY DATE=083013 Time Time hhmmss TIME=132455 Cell Number CN=3 © 2017 Nortek AS...
  • Page 78 Example (DF=101 (ENU, 3 beams)): $PNORC1,083013,132455,3,11.0,0.332,0.332,0.332,78.9,78.9,78.9,78,78 ,78*46 Example (DF=102 (ENU, 3 beams)): $PNORC2,DATE=083013,TIME=132455,CN=3,CP=11.0,VE=0.332,VN=0.332, VU=0.332,A1=78.9,A2=78.9,A3=78.9,C1=78,C2=78,C3=78*6D Example (DF=102 (BEAM, 4 beams)): $PNORC2,DATE=083013,TIME=132455,CN=3,CP=11.0,V1=0.332,V2=0.332,V3=- 0.332,V4=-0.332,A1=78.9,A2=78.9,A3=78.9,A4=78.9,C1=78,C2=78,C3=78, C4=78*49 Burst Data, Vertical beam: Identifier: PNORC1 for DF = 101 PNORC2 for DF = 102 © 2017 Nortek AS...
  • Page 79 [m/s] Only if CY=ENU ddd.d A1=78.9 Correlation [m/s] Only if CY=ENU C1=78 Beam 5 and #beams >= 3 Table 14 PNORC1/2 NMEA sentence parameter description, 5th beam (vertical) only Example (DF = 102 (BEAM, 5th beam)): $PNORC2,DATE=020217,TIME=132553,CN=6,CP=6.5,V1=1.304,A1=37.2, C1=20*35 © 2017 Nortek AS...

  • Page 80: Altimeter

    Date Date YYMMDD DATE=130830 Time Time hhmmss TIME=132455 Pressure [dBar] ddd.ddd P=123.456 Altimeter ddd.ddd A=112.233 Distance Quality Q=78 Parameter Status Status ST=00 Table 16 PNORA NMEA sentence parameter description. Example (DF=200): $PNORA,130920,134824,37.604,125.583,42,=00*46 Example (DF=201): $PNORA,DATE=130920,TIME=134824,P=37.604,A=125.583, Q=42,ST=00*3D © 2017 Nortek AS...

  • Page 81: Dvl Bottom Track

    Bottom Velocity [m/s] f.fffff BV=1.11111 Figure of Merit FM=122.2 DIST Distance [meter] f.ff DIST=36.66 Water Velocity [m/s] f.fffff WV=2.22222 STAT Status STAT=F7 Table 18 PNORBT NMEA sentence parameter description. Example (DF=300): $PNORBT,3,112813,072228.2345,0.1234,0.1234,1.11111,122.2,36.66,2.22 222,F7*7A Example (DF=301): $PNORBT,BEAM=3,DATE=112813,TIME=072228.2345,DT1=0.1234,DT2=0.1234, BV=1.11111,FM=122.2,DIST=36.66,WV=2.22222,STAT=F7*75 © 2017 Nortek AS...

  • Page 82: Ascii Data Input Using Ethernet

    Integrator's Guide ASCII Data Input Using Ethernet /* Sample code showing how to connect to and receive data from the Nortek Signature series * of instruments using the ASCII only data port. * Compiles on both Windows (requires ws2_32 library) and Linux.
  • Page 83 #ifdef __WIN32__ if ((r = recv(socket_fd, &c, 1, 0)) <= 0) { if (r == 0) { /* Instrument terminated socket for some reason. Re-connect required. */ printf("Instrument terminated socket.\n\n"); } else { © 2017 Nortek AS...
  • Page 84 = sizeof(dataBuffer) - 1; /* Set last byte to 0 so that strings are zero terminated. */ dataBuffer[length] = 0; if ('\n' == c) { /* '\n' indicates end-of-line for ASCII data. */ © 2017 Nortek AS...
  • Page 85 Telemetry Data Formats printf("Received: %s", dataBuffer); /* Receive next line of data. */ length = 0; close(socket_fd); exit (1); © 2017 Nortek AS...

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