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Nortek Nucleus 1000 Integrator Manual

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  • Page 3: Table Of Contents

    Contents Table of Contents Ch. 1 Introduction Ch. 2 System Overview Ch. 3 Getting Started Checking the Inventory ....................11 Power Supply ....................... 11 Installing Software ....................... 11 Connecting to the Instrument ..................12 Connecting With the GUI ..................13 Serial interface .......................
  • Page 4 Altimeter settings ......................60 7.21 Current profile settings ....................61 7.22 Trigger settings ......................62 7.23 IMU settings ........................64 7.24 Magnetometer settings ....................65 7.25 Magnetometer calibration settings ................66 7.26 Update position during mission ..................67 © 2025 Nortek AS...
  • Page 5 Contents 7.27 Update water track during mission ................68 7.28 Get limits for UPDATEWT....................68 7.29 Ethernet settings ......................69 7.30 Read IP address ......................70 7.31 Get error ........................71 7.32 Get instrument ID ......................71 7.33 Get hardware information .................... 72 7.34 Get firmware version ....................
  • Page 6 Nucleus connector to open ended cable .............. 120 Nucleus connector to Adapter Interface Board ............. 122 Nucleus connector to Subconn ................124 Mechanical Drawing Nucleus origin ..............125 11.5 Adapter Interface Board ..................... 125 11.6 Proforma Invoice ......................127 © 2025 Nortek AS...

  • Page 7: Introduction

    Introduction Introduction The primary objective of this manual is to help users of the Nortek Nucleus to get familiar with the system. The manual includes chapters covering how to get the instrument up and running as quickly as possible, functional testing, basic software information, and tips for maintenance and troubleshooting.
  • Page 8 Configurable coordinate system for current profile. Updated RevA and RevB cable pinout 2024.3 03.12.2024 Update manual with system overview for Nucleus 1000 (300m) and Nucleus 1000 1000m 2025.1 07.05.2025 FastPressure is now available for specific Nucleus 1000 revisions. Possibility for multiple data streams out over Ethernet.

  • Page 9: System Overview

    Introduction System Overview The Nucleus 1000 is an instrument designed to facilitate navigation in GPS-denied areas. It contains acoustic Doppler functionality alongside sensors that enable AHRS functionality. The acoustic Doppler function, referred to as DVL (Doppler Velocity Log), enables the Nucleus to estimate the velocity relative to the bottom (Earth being the frame of reference) or relative to the water.
  • Page 10 0.01 mm/s 0.01 mm/s Depth rating 300 m 1000 m Diameter 90 mm 90 mm Height 42 mm 47 mm Weight in air/water 535 g / 295 g 690 g / 415g Table 2: Nucleus 1000 specifications. © 2025 Nortek AS...

  • Page 11: Getting Started

    Installing Software Download links to the software can be found on our website Nortek Nucleus software. Below are the most common ways of connecting to the Nucleus 1000: · The Nortek Nucleus software · The Nucleus driver built with python https://github.com/NortekSupport/nucleus_driver...

  • Page 12: Connecting To The Instrument

    9000 is established, and enabled again when the TCP connection is closed. Data interface (DATA) If you have other devices that need the data formats that the Nucleus 1000 provides during measurement, you can connect up to 2 clients to port 9002 for listen only.The data port does not accept any input from the connected client(s) or intervene with the type of command interface you use.

  • Page 13: Connecting With The Gui

    Connecting With the GUI 3.4.1 The Nortek Nucleus software is available in the Microsoft Store and as a web app (web app only allows serial connection), and is used to connect to, configure, and receive data from the Nucleus. Figure 2: Nortek Nucleus software logo Connecting to a Nucleus ·...
  • Page 14 Nucleus Operations and Integration Figure 4: Connection page · Click Connect. This will initiate communication with the Nucleus and display the Connection page when connected successfully. Figure 5: Nucleus 1000 connection page © 2025 Nortek AS...

  • Page 15: Serial Interface

    Ethernet communication static IP (directly to your PC) Static IP address can be set with SETETH. or under the communications settings in the The Nortek Nucleus software. Use the AutoIP address if the instrument is set to DHCP mode and you are connected directly to your pc.

  • Page 16: Updating Firmware

    Nucleus Firmware, then press download to request the firmware. Figure 6: Nortek group software download page In the Nortek Nucleus Software, navigate to "Instrument > Firmware update". Press "Upload a firmware file", select the file you downloaded in the earlier step and follow the steps in the GUI.

  • Page 17: Functionality Test

    To learn more about what kinds of noise can impact the Nucleus and how the instrument deals with them, please read the sections Heading - How it Works and What it is Sources of Error. Mounting © 2025 Nortek AS...
  • Page 18 AHRS (heading) and the bottom tracking DVL. The Nucleus arrives pre-calibrated and thus removes the misalignment between these two sensors. Options to address static disturbances of the magnetic field (Hard and Soft Iron distortions) are found in the Field/Magnetic calibration tool. © 2025 Nortek AS...

  • Page 19: Basic Operation

    This mode is intended for general Nucleus use and is used for the Nucleus’ full range of distances from the bottom as well as the full range of velocities. It is the bottom track legacy mode of the Nortek Nucleus. © 2025 Nortek AS...

  • Page 20: Water Track

    As the vertical range increases the WT cell starts further way from Nucleus, until it flattens out, same goes for where it stops. The bottom sub figure shows the delta between WT start and stop as the vertical range increases. © 2025 Nortek AS...

  • Page 21: Orientation Estimates - Ahrs

    Quick set-up (low noise) Calibrate your magnetic compass, if you haven’t done so already. Make sure it is mounted on the vehicle as it will be used. © 2025 Nortek AS...
  • Page 22 Try setting up the system as in the “high noise” case described below. Quick set-up (high noise) Make sure the instrument is mounted on the vehicle it should be used. Perform a regular measurement to check if your system performs acceptable: © 2025 Nortek AS...
  • Page 23 It is important to note than when operating in the fixed hard/soft iron mode (MODE=0), a field calibration should be performed before deployment. In cases where iron levels are expected to vary (MODE=1 or 2), the calibration becomes adaptive. In this scenario, it is necessary © 2025 Nortek AS...

  • Page 24: Position Estimates - Navigation

    SETNAV,DS="ON" Go to Ensures INS data is Instrument/Configuration transmitted Check AHRS data stream START Press the Play button Start your measurements. The filter requires some time to settle, and during which the position estimates may drift © 2025 Nortek AS...

  • Page 25: Doing Multiple Acoustic Measurements - Dvl/Altimeter/Current Profile

    STOP Press Stop button Stops measurement Table 9: Navigation mode setup for Nucleus 1000 Several additional arguments can also be set to adjust the behavior of the instrument. See Commands for more information. Assumptions and sources of error It is well-known that relying solely on inertial sensors to estimate velocity leads to a growing error in velocity estimate.
  • Page 26 Current profile estimates also include measures of amplitude and correlation. These may be used to quality control the estimates. Estimates that have either low amplitude (typically 26 dB for noise free environments) or Correlation below 50% should be discarded. © 2025 Nortek AS...

  • Page 27: Downloading Data Files

    Downloading Data Files Downloading captured data files from the Nucleus can be done using the Nortek Nucleus Software. The downloaded file will be in the format of a .nucleus file and how to convert it to a readable format is...
  • Page 28 Figure 12: Nucleus file convertion page Press "Upload Nucleus binaries" and select the .nucleus file that was saved during the step Downloading data files. Then select the desired output format, press "START EXPORT" and select where to save the file. © 2025 Nortek AS...

  • Page 29: Converted Data File

    When experiencing problems and requiring assistance from support, it is important to provide the following items in the request: · Nucleus data file · Debug file · Support file To download the support file, connect to the instrument, go to "Support" and get the file. © 2025 Nortek AS...
  • Page 30 For the debug files, navigate to "Instrument > File download". Select the desired recording where the error occurred and then press the button "SAVE DEBUG DATA". Select where to save the file and hit save. Figure 16: Download page for getting debug data for a single recording © 2025 Nortek AS...
  • Page 31 Basic Operation © 2025 Nortek AS...

  • Page 32: Nucleus Operation

    If you have changed the settings unintentionally, you can replace them with Saved settings or Default settings using either RESTORE or SETDEFAULT. You can either restore all settings or just a subset using the RESTORE and SETDEFAULT additional arguments. © 2025 Nortek AS...

  • Page 33: Coordinate System

    Y, and positive yaw goes counter-clockwise around Z. Be aware that the Nucleus is designed to be mounted facing downward on a vehicle, so the definitions of pitch, roll and yaw will be relative to the vehicle. © 2025 Nortek AS...

  • Page 34: Field/Magnetic Calibration

    If no action is taken, the instrument will continue with the estimated MAGCAL values until power is lost or new values are estimated or set by the user. © 2025 Nortek AS...

  • Page 35: Heading - How It Works And What It Is

    (a disturbance), but quickly returns to its original value, the gyroscopes can be trusted to provide a stable heading during that brief period. As a result, the gyrostabilized heading system effectively mitigates the heading shift caused by the disturbance. © 2025 Nortek AS...

  • Page 36: Sources Of Error

    Also, the cause of the effects has little importance in this context, the important thing is whether it can be compensated using a hard iron and/or soft iron model. © 2025 Nortek AS...
  • Page 37 In rare cases they can exceed 10 degrees. Anomalies on the order of 3-4 degrees are not uncommon. It is also worth noting that the declination at a given location may fluctuate over time. © 2025 Nortek AS...

  • Page 38: Other Sources Of Error

    This tool is accessible from the Nucleus App and helps identify if there is noise in the DVL’s operating band. If noise is discovered, then a process of searching for the source and removing is the next course of action. Contact Nortek for further guidance on noise mitigation. Losing Bottom Track Bottom track is central in both vehicle control and navigation.

  • Page 39: Acoustic Triggers And Sampling

    The acoustic sampling rate of the instrument is limited by its trigger frequency. Specifically, the maximum acoustic sampling rate is constrained by the distance set with the command SETMISSION,RANGE. This setting directly affects the instrument's trigger frequency. The range © 2025 Nortek AS...
  • Page 40 Range Maximum trigger frequency 3.5Hz 4.5Hz 5.5Hz 6.5Hz 7.5Hz <=9m Table 11: Acoustic trigger frequencies limited by range Figure 22: Trigger frequency limits by range, for acoustic measurements © 2025 Nortek AS...
  • Page 41 Table 15: Command line settings for measurement Trigger order Type BT BT BT ALTI BT BT BT ALTI BT BT BT ALTI BT BT ALTI Counter 10 11 12 13 14 15 16 17 Table 16: Trigger order © 2025 Nortek AS...
  • Page 42 Nucleus Operations and Integration Measurement type Sampling frequency 1.3Hz 0.26Hz ALTI 0.43Hz Table 17: Approximate sampling frequencies for Example 2 per measurement type © 2025 Nortek AS...

  • Page 43: Using The Command Interface

    Nucleus Operation Using the Command Interface This section covers the commands that can be used to control a Nortek Nucleus. The instrument continuously listens to the physical interfaces for incoming commands. All commands and responses are ASCII strings and shall be terminated with newline character(s) <CR> and/or <LF>, the terminal is not case sensitive.
  • Page 44 Nucleus Operations and Integration NMEA enabled interface example: GETBTLIM $PNOR,GETBTLIM,MODE=("FAST_ACQ";"AUTO";"CRAWLER"),VR=([5.00;5.00 ]),WT=("OFF";"ON"),PL=(-100;[- 20.00;0.00]),PLMODE=("MAX";"USER"),DS=("OFF";"ON";"CMD";"DATA"), DF=(180;156)*7D $PNOR,OK*2B © 2025 Nortek AS...

  • Page 45: Commands

    COMMAND SETFIELDCAL Set field calibration settings COMMAND GETFIELDCAL Get field calibration settings COMMAND GETFIELDCALLIM Get limits for field calibration settings COMMAND APPLYNAV Apply NAV settings during mission. This MEASUREMENT command is only valid after START command. © 2025 Nortek AS...
  • Page 46 NAV estimation and current velocity during mission. This command is only valid after START command. UPDATEWTLIM Get limits for UPDATEWT. COMMAND SETETH Set Ethernet settings COMMAND GETETH Get Ethernet settings COMMAND GETETHLIM Get limits for Ethernet settings COMMAND © 2025 Nortek AS...

  • Page 47: Start

    START is issued. Example: START Stop STOP Command: ACTION Command type: Mode: MEASUREMENT This commands stops measurement. See section 4.2 on Data Collection for more details. Example: STOP Trigger measurement TRIG Command: ACTION Command type: Mode: MEASUREMENT © 2025 Nortek AS...

  • Page 48: Start Field Calibration

    Sampling rate if enabled. Values may be 10, 15 or 30 Hz 10, 15, 30 Unit: [Hz] Data stream settings for fast pressure OFF, ON, CMD, DATA Default: OFF Data format for pressure data stream 150: Nortek binary pressure format. Default: 150 © 2025 Nortek AS...

  • Page 49: Save Settings

    Commands Only available for Nucleus 1000 where Digital and Analog revision is D-0 or higher. (Not Note: C-X, B-X, etc...) Note that higher data rates does not impact the resolution of the individual pressure estimates. SETFASTPRESSURE Set fast pressure settings Example: SETFASTPRESSURE,EN=1,SR=15.0,DF=150...

  • Page 50: Revert To Default Settings

    SETDEFAULT reverts to factory default values. If you instead want to revert to the Note: previously saved values, use the RESTORE command. This is particularly useful if you e.g. want to discard the latest field calibration. Example: SETDEFAULT,CONFIG SAVE,CONFIG © 2025 Nortek AS...

  • Page 51: Restore Saved Settings

    Initial position, Latitude. 9999 means unknown latitude. Unit: [deg] | Values: [-90; 90]; 9999 | Default: 9999 DECL Declination of magnetic field Unit: [Deg] | Values: [-90; 90] | Default: 0 RANGE DVL and altimeter range © 2025 Nortek AS...
  • Page 52 SETBT,MODE="CRAWLER"). Also note that enabling CRAWLER mode will update the values of RANGE and BD. SETMISSION Set mission settings Example: SETMISSION,POFF=9.50,LONG=9999.00,LAT=9999.00,SV=1500.00,SA=35.0 GETMISSION Get mission settings Example: GETMISSION,POFF,SV,SA 9.50,1500.00,35.00 GETMISSIONLIM Get limits for mission settings Example: GETMISSIONLIM,LONG,LAT (9999;[-180.00;180.00]),(9999;[-90.00;90.00]) © 2025 Nortek AS...

  • Page 53: Instrument Settings

    Rbn = Rz,ψ Ry,θRx,φ The rotation Rnb from NED to body can be found by transposing the matrix Rnb = (Rbn)T SETINST Set instrument settings Example: SETINST,ROTXY=4.3,LED="OFF" GETINST Get instrument settings GETINSTLIM Get limits for instrument settings © 2025 Nortek AS...

  • Page 54: Ahrs Settings

    OFF, ON, CMD, DATA Default: ON Data format for AHRS data stream 210: Nortek binary AHRS format. Default: 210 FREQ: This is how often AHRS data is output to the user. How often the AHRS is updated Note: internally depends on the sampling frequency of the sensors.

  • Page 55: Navigation Settings

    Data stream settings for navigation OFF, ON, CMD, DATA Default: ON Data format for navigation data stream 220: Nortek binary navigation format. Default: 220 USEWT Use Water Track in navigation estimation. See SETWT for configuring Water Track settings OFF, ON Default: OFF FREQ: This is how often navigation data is output to the user.

  • Page 56: Field Calibration Settings

    Default: 2 SETFIELDCAL Set field calibration settings Example: SETFIELDCAL,MODE=1 GETFIELDCAL Get field calibration settings Example: GETFIELDCAL,MODE GETFIELDCALLIM Get limits for field calibration settings 7.15 Apply NAV settings during mission APPLYNAV Command: CONFIGURATION Command type: Mode: MEASUREMENT © 2025 Nortek AS...

  • Page 57: Get Limits For Applynav

    Description MODE Bottom Track operating mode Note! Changing operating mode will cause some other argument values to change, see notes below. "FAST_ACQ": Bottom Track operating in fast acquisition mode "CRAWLER": Bottom Track operating in CRAWLER mode. © 2025 Nortek AS...
  • Page 58 Default: ON Data format for Bottom track data stream 180: Nortek binary format. Bottom track will be output as data format 180, water track will be output as data format 190. 156: RDI PD6 - RDI Documentation (Only rows :TS, :WI, :BI, :BD, :SA)

  • Page 59: Apply Tag To The Dataset

    Set the initial current velocity in z direction to value. Unit: [m/s] | Values: [-10; 10] | Default: 0 Be sure to read the section about Water Track in the manual to understand how the Note: different modes work. © 2025 Nortek AS...

  • Page 60: Altimeter Settings

    Data stream settings for altimeter OFF, ON, CMD, DATA Default: ON Data format for altimeter data stream 170: Nortek binary altimeter format. Default: 170 A power level of 0 dB represents maximum power output. Power is decreased by Note: entering negative values.

  • Page 61: Current Profile Settings

    Profile cells are returned in the instrument beam coordinate system. In VEHICLE mode, the cells are returned in the vehicle coordinate system. Argument Description RANGE Current Profile range Unit: [m] | Values: [1; 30] | Default: 30 © 2025 Nortek AS...

  • Page 62: Trigger Settings

    OFF, ON, CMD, DATA Default: ON Data format for Current Profile data stream 192: Nortek binary Current Profile format Default: 192 DS determines whether Current Profile data will be output on the active communication Note: interface, but it is SETTRIG,CP that determines whether or not Current Profile is enabled. If Current Profile is enabled but DS="OFF"...
  • Page 63 CP=0 disables current profiling. 0, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20 Default: 0 SETTRIG Set trigger settings Example: SETTRIG,SRC="INTERNAL",ALTI=8,CP=16 GETTRIG Get trigger settings Example: GETTRIG © 2025 Nortek AS...

  • Page 64: Imu Settings

    Unit: [Hz] | Values: [100; 100] | Default: 100 Data stream settings for IMU OFF, ON, CMD, DATA Default: OFF Data format for IMU data stream 130: Nortek binary IMU format. Default: 130 SETIMU Set IMU settings Example: SETIMU,DS="ON" GETIMU...

  • Page 65: Magnetometer Settings

    OFF, ON, CMD, DATA Default: OFF Data format for magnetometer data stream 135: Nortek binary magnetometer format. Default: 135 The FREQ argument specifies the *sampling* frequency of the magnetometer. Output Note: samples are fewer, and may come at irregular intervals. This is because the magnetometer output is filtered, preventing noisy samples to be published.

  • Page 66: Magnetometer Calibration Settings

    Values: [-2; 2] Magnetometer compensation matrix element Values: [-2; 2] Magnetometer compensation matrix element Values: [-2; 2] Magnetometer compensation matrix element Values: [-2; 2] Magnetometer compensation matrix element Values: [-2; 2] Magnetometer compensation matrix element Values: [-2; 2] © 2025 Nortek AS...

  • Page 67: Update Position During Mission

    Move local position of Nucleus by value. Unit: [m] | Values: [-99999; 99999] Move local position of Nucleus by value. Unit: [m] | Values: [-99999; 99999] LONG Set longitudinal position. Unit: [deg] | Values: [-180; 180] © 2025 Nortek AS...

  • Page 68: Update Water Track During Mission

    Unit: [m/s] | Values: [-10; 10] Example: UPDATEWT,MODE="FIXED",CURX=1.10,CURY=0.50,CURZ=0.20 7.28 Get limits for UPDATEWT. UPDATEWTLIM Command: CONFIGURATION Command type: Mode: License: COMMAND This command is only valid in command mode (i.e. not between START and STOP commands). © 2025 Nortek AS...

  • Page 69: Ethernet Settings

    Regardless of the method used for assigning the IP address, the instrument should be available on the local subnet through hostname "NORTEK-xxxxxx.local", where xxxxxx is the instrument serial number as engraved on the housing.

  • Page 70: Read Ip Address

    Example: SETETH,IPMETHOD="STATIC",IP="10.42.1.160",NETMASK="255.255.0.0", GATEWAY="10.42.1.1" GETETH Get Ethernet settings GETETHLIM Get limits for Ethernet settings 7.30 Read IP address READIP Command: INFO Command type: Mode: COMMAND Read the assigned IP address, subnet mask and default gateway. Argument Description © 2025 Nortek AS...

  • Page 71: Get Error

    Valid limits as text Example: SETUSER,sa=90.0 ERROR GETERROR 1,"Invalid setting: DVL Salinity","GETUSERLIM,SA=([0.0;50.0])" GETERROR,NUM GETERROR,STR "Invalid setting: DVL Salinity","GETUSERLIM,SA=([0.0;50.0])" 7.32 Get instrument ID Command: INFO Command type: Mode: COMMAND Commands for accessing instrument name and serial number Argument Description © 2025 Nortek AS...

  • Page 72: Get Hardware Information

    Get firmware version. Argument Description Nucleus version on format MAJOR.MINOR.PATCH[-EXTRA] Example: "1.0.2" MAJOR Nucleus major version MINOR Nucleus minor version PATCH Nucleus patch version EXTRA Nucleus version extra information string. Usually empty (""). Max 10 chars. Example: © 2025 Nortek AS...

  • Page 73: Clock Settings As Strings

    GETCLOCKSTR GETCLOCKSTR, TIME = "2014-11-12 14:27:42" 7.36 Get all GETALL Command: INFO Command type: Mode: COMMAND GETALL retrieves all relevant configuration information for the instrument. Example: $PNOR,GETALL*38 $PNOR,ID,STR="Nucleus1000",SN=58*31 $PNOR,GETHW,DIGITAL="B-1",ANALOG="B-0"*37 $PNOR,GETFW,STR="1.0.0",MAJOR=1,MINOR=0,PATCH=0,BUILD=0,HASH="71 d3ad7",DVLFW=4002,DVLMINOR=10,DVLBOOT=2,DVLFPGA=1014*19 $PNOR,GETCLOCKSTR,TIME="2022-05-04 13:24:08"*4F $PNOR,GETINST,TYPE="SENSORS",ROTXY=0.00,ROTYZ=0.00,ROTXZ=0.00*73 $PNOR,GETMISSION,POFF=9.50,LONG=9999.00,LAT=9999.00,DECL=0.00,RA NGE=50.00,BD=0.10,SV=1500.00,SA=35.00*03 © 2025 Nortek AS...

  • Page 74: Reboot The Instrument

    LISTLICENSE Command: INFO Command type: User Access: Mode: COMMAND List all license keys stored in the instrument. Example: LISTLICENSE LISTLICENSE,"GTJX5ZM1XLB","Bottom Track",1 LISTLICENSE,"7X21EB5MXLB","Altimeter",2 LISTLICENSE,"AJH6N26UXLB","Current Profile",3 LISTLICENSE,"1CGYMA13XLB","AHRS",4 7.39 Add license key ADDLICENSE Command: PRODUCTION Command type: Mode: COMMAND © 2025 Nortek AS...

  • Page 75: Delete License Key

    (like the one in the example) will fail. Example: ADDLICENSE,KEY="9H3F5PE47HUUB" 7.40 Delete license key DELETELICENSE Command: PRODUCTION Command type: Mode: COMMAND Delete a license key from the instrument. Argument Description The license key to delete Example: DELETELICENSE,KEY="9H3F5PE47HUUB" © 2025 Nortek AS...

  • Page 76: Binary Data Formats

    Nucleus Operations and Integration Binary data formats This chapter describes the Nortek Nucleus binary data formats for sensor output. Note that the binary data formats all use a common header that specifies how the rest of the data block should be interpreted. A data block is the data from and including one header to the next.

  • Page 77: Headerdata

    NUCLEUS Family. Data size Number of bytes in the following Data Record. uint16 Data checksum Checksum of the following Data Record. uint16 Header checksum Checksum of all fields of the Header except the uint16 Header Checksum itself.. © 2025 Nortek AS...

  • Page 78: Commondata

    Set if timestamp is based on instrument system time. AhrsDataV2 _CommonData Extends: 0xd2 Version: Data definitions for parsing AHRS data. Field Position Description Size Serial number Instrument serial number from factory. uint32 Operation mode AHRS operation mode © 2025 Nortek AS...
  • Page 79 Depth below sea surface, estimated from float pressure. Unit: [m] Position and size variables: Name Description OFFSET Offset of data given at position 1 in this dataset. Number of bytes from start of record to start of data. © 2025 Nortek AS...

  • Page 80: Insdatav2

    OFFSET + 132 + 8 Vz. Velocity in NED. float Unit: [m/s] Velocity vehicle.x OFFSET + 144 Vx. Velocity in vehicle. float Unit: [m/s] Velocity vehicle.y OFFSET + 144 + 4 Vy. Velocity in vehicle. float Unit: [m/s] © 2025 Nortek AS...

  • Page 81: Imudata

    Unit: [rad/s] Gyro.Y OFFSET + 12 + 4 Y axis value float Unit: [rad/s] Gyro.Z OFFSET + 12 + 8 Z axis value float Unit: [rad/s] Temperature OFFSET + 24 Temperature in IMU float Unit: [°C] © 2025 Nortek AS...

  • Page 82: Magnetometerdata

    Magnetometer status Object reference: Magnetometer Status Bit description Field Position Description Size Is compensated 0 = Not compensated for hard iron, 1 = for hard iron Compensated for hard iron © 2025 Nortek AS...

  • Page 83: Altimeterdata

    Altimeter distance valid valid Altimeter quality Altimeter quality valid valid Pressure valid Pressure valid Temperature valid Temperature valid FieldCalibrationData _CommonData Extends: 0x8b This data format is streamed when FIELDCAL command is run. Field Position Description Size © 2025 Nortek AS...

  • Page 84: Fastpressuredata

    See SETMISSION,POFF. Unit: [Bar] Position and size variables: Name Description OFFSET Offset of data given at position 1 in this dataset. Number of bytes from start of record to start of data. © 2025 Nortek AS...

  • Page 85: Bottomtrackdata

    Estimated velocity uncertainty reported as one float standard deviation (Figure of merit - FOM) for beam 1. invalid estimates set to 10.0 Unit: [m/s] Uncertainty beam Estimated velocity uncertainty reported as one float standard deviation (Figure of merit - FOM) for © 2025 Nortek AS...
  • Page 86 (Figure of merit - FOM) in X dimension. Invalid estimates set to 10.0 Unit: [m/s] Uncertainty Y Estimated velocity uncertainty reported as one float standard deviation (Figure of merit - FOM) in Y dimension. © 2025 Nortek AS...
  • Page 87 Beam 3 figure of merit (FOM) valid 3 valid Velocity X valid X velocity valid Velocity Y valid Y velocity valid Velocity Z valid Z velocity valid Uncertainty X valid X figure of merit (FOM) valid © 2025 Nortek AS...

  • Page 88: Watertrackdata

    Distance beam 1 Vertical distance to cell along beam 1 float invalid estimates set to 0.0 Unit: [m] Distance beam 2 Vertical distance to cell along beam 2 float invalid estimates set to 0.0 Unit: [m] © 2025 Nortek AS...
  • Page 89 3 float beam 3. Unit: [s] Velocity X Velocity X float Invalid estimates set to -32.768 Unit: [m/s] Velocity Y Velocity Y float Invalid estimates set to -32.768 Unit: [m/s] Velocity Z Velocity Z © 2025 Nortek AS...
  • Page 90 Beam 2 distance Beam 2 distance valid valid Beam 3 distance Beam 3 distance valid valid Uncertainty beam Beam 1 figure of merit (FOM) valid 1 valid Uncertainty beam Beam 2 figure of merit (FOM) valid 2 valid © 2025 Nortek AS...

  • Page 91: Currentprofiledata

    Unit: [m] Blanking Blanking distance as configured through float SETCURPROF,BD Unit: [m] Number of cells Number of cells in current profile data. This value uint16 determines the dimensions of the velocity, amplitude and correlation data described below. © 2025 Nortek AS...

  • Page 92: Spectrumdatav3

    Position Description Size Version Version number of the Data Record Definition. uint8 3 - DF3 20 - DF20 Offset of data Number of bytes from start of the record to start uint8 of the actual data. © 2025 Nortek AS...
  • Page 93 0-3 Physical beam used for 1st data set. 4-7 Physical beam used for 2nd data set. 8-11 Physical beam used for 3th data set. 12-16 Physical beam used for 4th data set. Power level Configured power level int8 Unit: [dB] © 2025 Nortek AS...
  • Page 94 16+BEAMSxBINSx2 If configuration.hasSpectrumData is false, spectrum data is length 0. RAW: !this.configuration.hasSpectrumData ? 0 : this.beamsAndBins.numberOfBeams*this.beamsAndBins.numberOfBins *2 + 16*4 OFFSET Number of bytes from start of record to start of data. Configuration Object reference: Record configuration bit mask Field Position Description © 2025 Nortek AS...
  • Page 95 Sensor read Sensor read failure failure Tag error beam 1 Tag error beam 1 (In-phase) (In-phase) Tag error beam 1 Tag error beam 1 (Quadrature-phase) (Quadrature- phase) Tag error beam 2 Tag error beam 2 (In-phase) (In-phase) © 2025 Nortek AS...
  • Page 96 If this bit is set the rest of the word/ extended should be status should be interpreted interpreted Status Object reference: Status bit mask. Note that bits 0, 2, 3, 4 are unused. Field Position Description Size Wake up state 28-31 00 = bad power © 2025 Nortek AS...

  • Page 97: Stringdata

    0: mm scaling 1: given in cm 8.14 StringData 0xa0 String Data Record, eg. GPS NMEA data, comment from the FWRITE command. Field Position Description Size String String data record. Size of record bytes © 2025 Nortek AS...

  • Page 98: Maintenance

    Instrument Care All Nortek instruments are intended for use in water. Other fluids may have an adverse effect on the materials used. If the instrument has been subjected to environmental conditions outside the...

  • Page 99: Cable Care

    · Ensure that the cable is fixed to the mounting fixture to avoid mechanical stress to the connection. · Elastomers can be seriously degraded if exposed to direct sunlight or high ozone levels for extended periods. © 2025 Nortek AS...

  • Page 100: Troubleshooting

    If the connection was lost all of a sudden; run a test and analysis function in Windows (see step- by-step description below) Figure 23: Ethernet LEDs blink ing Test and Analysis function in Windows: 1. Click "Start" 2. Click "Control Panel" 3. Click "Network and Sharing Center" © 2025 Nortek AS...
  • Page 101 Changing Ethernet settings Windows 10/11 system settings 4. Check if you can reach your instrument by pinging, write "ping NORTEK-xxxxxx.local" and hit enter a. See if you can reach the device by hostname (replace xxxxxx with the serial number on your device): "ping NORTEK-xxxxxx.local"...
  • Page 102 Is the instrument measuring (the led is blinking)? Disconnect and reconnect the power cable. Cable Cables are often exposed to heavy use and the connector might loosen or break. Using a multimeter to test pin to pin through the cable may reveal any bad connection or breakage. © 2025 Nortek AS...

  • Page 103: Appendices

    The area to either side of a beam where obstructions might interfere with the data; area generally 15°. Light Emitting Diode. A light on the instrument that indicates the current mode. Magnetic The difference in degrees between True North and Magnetic North at a given location declination © 2025 Nortek AS...
  • Page 104 X-axis and the second (middle) finger to point in the direction of positive Y. The positive Z-axis will then be in the direction that the thumb points. Rotation/tilt around the Z axis. Table 18: Glossary Table © 2025 Nortek AS...

  • Page 105: Parsing Nucleus Data

    1 byte (uint8). The value of this byte is 0x0A which converts into the decimal value 10 which tells us that the header consist of 10 bytes. With this information we can illustrate how to extract the header data with the following table: Figure 25: _HeaderData example bytes © 2025 Nortek AS...

  • Page 106: Extract Header Information

    The "Family id" is 0x20 which tells us that data belongs to the Nucleus family. This will always be the case with packages from a Nucleus instrument, but in the case of another Nortek product, this value would be different.

  • Page 107: Extract Data

    Nucleus. This is why it is crucial to refer to the Position Size column in these data tables to locate the correct position of the different data fields and NOT assume that all the data fields follow one another byte for byte. © 2025 Nortek AS...

  • Page 108: 11.2.3.2 Extract Ahrs Data

    In this table we have the fields "Figure of merit" and "Fom. field calibration" which are located in position 28 and 32 respectively. Adding these fields gives us the final mapping of fields to bytes which can be seen in the following table. © 2025 Nortek AS...
  • Page 109 Note! As with the common data, several bytes are not mapped to a specific field. Also, the fields from the _AhrsDataV2 table are located in-between the fields of the _AhrsData table. This further proves the necessity of referring to the Position Size column when assigning the different fields to their bytes © 2025 Nortek AS...

  • Page 110: Serial And Ethernet Communication

    Check which protocol your cable uses and set the jumper pin accordingly on the Adapter Interface Board How to setup static Ip address for the Nucleus 1000 1. Connect to Nucleus either trough UART (serial) or by Ethernet. 2. Configure Nucleus to use a static IP : a.
  • Page 111 When using automatic IP address assignment, there is generally no way of knowing which address was assigned to the instrument. To determine the assigned IP address, you can · Connect using the hostname "NORTEK-xxxxxx.local" and use the GUI or "READIP" command to get the the IP address ·...

  • Page 112: Changing Ethernet Settings Windows 10/11 System Settings

    1. Open the windows menu, search for "Ethernet Settings" and open the settings menu. Figure 31: Accessing Ethernet Settings in Windows 10/11 2. Select the Network you will be using. Figure 32: Selecting network adapter connected to the instrument © 2025 Nortek AS...
  • Page 113 Appendices 3. Click "Edit" to change the network settings for the adapter you selected. Figure 33: Edit the network adapter 4. Select "Manual" and save. Figure 34: Select manual mode © 2025 Nortek AS...
  • Page 114 Figure 35: Turn IPv4 on 6. Enter the desired values in 1, 2, and 3, then press "Save." The example in the image should work if you followed "How to connect directly to Nucleus 1000". Figure 36: Set network adapter values and save...

  • Page 115: Changing Ethernet Settings Windows Control Panel

    Changing Ethernet Settings Windows Control Panel 11.3.2 1. Open the windows menu, search for "Control Panel" and open the menu. Figure 37: Opening Windows Control Panel 2. Press "Network and Internet." Figure 38: Select Network and Internet settings © 2025 Nortek AS...
  • Page 116 Nucleus Operations and Integration 3. Press "Network and Sharing Centre." Figure 39: Select Network and Sharing Centre 4. Press "Change adapter settings." Figure 40: Select Change adapter settings © 2025 Nortek AS...
  • Page 117 Then hit "OK." The example in the image should work if you followed "How to connect directly to Nucleus 1000". Figure 42: Select Ipv4 properties and add the desired values © 2025 Nortek AS...

  • Page 118: Changing Ethernet Settings (Ubuntu)

    1. Press the super key (e.g. windows key), search for "Network" and open the menu Figure 43: Access GUI Network settings in Ubuntu 1.1. Alternatively you can access the network menu from the upper right corner. Figure 44: Access GUI Network settings in Ubuntu © 2025 Nortek AS...
  • Page 119 3. Select "Manual", enter the desired values and hit "Apply." NOTE! After hitting "Apply," you might need to disable/enable the network adapter for settings to take effect. Figure 46: Select manual and enter the desired values, then hit apply © 2025 Nortek AS...

  • Page 120: Mechanical Drawings And Pinout

    11.4 Mechanical Drawings and Pinout The physical size of the Nucleus 1000 (300m) and the Nucleus 1000 1000m differs slightly, so select the specific drawings for your instrument type. The links will open up a new web page that downloads the latest drawings or STEP file.
  • Page 121 Blue Blue TX232 Output White White RX232 Input Brown Brown Input Black Black PWR - PWR - Power Grey PWR + PWR + Power Table 19: Nucleus Connector to open ended cable based on comms type © 2025 Nortek AS...

  • Page 122: 11.4.1.2 Nucleus Connector To Adapter Interface Board

    Orange White Yellow Green Green White TRIGA Black Pink TRIGB White Violet Blue Blue TXY/TX232 White White RXB/RX232 Brown Brown Black Black PWR - Grey PWR + Table 20: Nucleus Connector to Adapter Interface Board wiring © 2025 Nortek AS...
  • Page 123 Appendices © 2025 Nortek AS...

  • Page 124: 11.4.1.3 Nucleus Connector To Subconn

    PWR + Ethernet RX- Ethernet RX- TX232 Ethernet RX+ Ethernet RX+ Ethernet TX- Ethernet TX- RX232 Ethernet TX+ Ethernet TX+ TRIGA TX232 TRIGA TRIGA TRIGB RX232 TRIGB TRIGB Table 21: Subconn pinout based on comms type © 2025 Nortek AS...

  • Page 125: Mechanical Drawing Nucleus Origin

    11.4.2 Nucleus origin Those requiring a reference origin for the Nucleus 1000 may use the figure below. This information is typically used for the moment arm calculations with an INS. All measurements are in mm. For the Nucleus 1000 1000m, the moment arm will be the same.
  • Page 126 Standard power jack for power input (Power Supply). · USB connector/Ethernet RJ45 for communications to the PC. · RS232EN jumper. · TRIG_IN pins for a TTL signal external trigger. Figure 51: Nucleus Adapter Interface Board components © 2025 Nortek AS...

  • Page 127: Proforma Invoice

    Appendices 11.6 Proforma Invoice © 2025 Nortek AS...

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