Description

Driver with user-interface to decode bottom track velocity and direction from an ASCII output data ensemble from an RD Instruments (RDI) Acoustic Doppler Current Profiler (ADCP) that is configured as a Doppler Velocity Log (DVL).

The driver returns the horizontal velocity (Speed) along with its direction (Angle) (and/or Bearing True). When decoding the PD6 message, vertical velocity is also returned.

Three different ASCII output formats are supported:

  1. PD6
  2. Remote Cherry
  3. VmDas NMEA

For more information about these formats, see their entries in the Drivers Manual under Speed Log.

Driver Information

Driver RDI Doppler BottomTrack Speed (ASCII) (Active)  Interface Type   Driver Class Type Terminated 
UTC Driver (question) No Input / Output Input  Executable DrvRDIDopplerUI.exe 
Related Systems
Related Pages  



Decoding Notes

The RS-232 cable connection must have two-way direction, both receiving (Rx) and transmitting (Tx) data, since this driver will send commands to the unit and will receive data ensembles.

Database Setup

Make sure you set the baud rate as high as possible and that the FIFO buffers of the serial port are disabled (set as low as possible).


Add at least the following observations for following objects

  1. Vessel
    1. Angle
    2. Speed (Horizontal Speed)
  2. ROV
    1. Angle
    2. Speed 
    3. Vertical Speed 

Output format

Speed unit

Angle unit

Hor. Speed SD

Angle SD

Vert Speed SD

PD6

m/s

degrees

0.1

5.0

0.1

Remote Cherry

knots

degrees

0.1

5.0

(error)

VmDas NMEA

knots

degrees

0.1

5.0

(error)



Values found during the (Dead Reckoning) calibration procedure need to be entered on this page, before commencing your survey to get the best real time results.

Online

  • Active Driver Interface

    The user-interface can be found in the Windows taskbar:

    The driver is active, meaning commands can be sent directly to the unit by the user.
    Click on the RDI Doppler System in the taskbar to restore its dialog.

    Use the Advanced button to browse for a configuration text file containing predefined commands. For more information on each setting, use the context sensitive help ('?' button). 
    For detailed descriptions regarding the commands displayed below, please refer to the COMMANDS AND OUTPUT DATA FORMAT document by RDI (P/N 957-6156-00 (March 2014))

    • Bottom Track commands

      Command

      Value

      Range

      Unit

      Description

      BA

      30

      1-255

      counts

      Bottom Track (BT) filter setting

      BB

      160

      1-9999

      dm

      Band with selection 50%-25% boundary

      BC

      220

      0-255

      counts

      Bottom Track correlation filter

      BD

      0

      0-999

      ensemble

      Delay for BT detection after BT loss

      BE

      1000

      0-9999

      mm/s

      Error velocity

      BF

      0

      1-65535

      dm

      Depth guess (0=off)

      BI

      010

      0-999

      m

      Low / High gain mode boundary

      BK

      0

      1-3

      times

      Water mass Layers (0=disable)

      BP

      001

      1-999

      pings

      No. of pings for average

      BX

      030

      10-65535

      dm

      Max. expected depth for B.T. detection

      BL

      80, 160, 240

      dm

      Water mass layers (if BK=0, do not care)

      BM

      5

      4, 5

      BT mode

      BN

      25

      ?

      BO

      25

      BT filter setting

      BR

      0

      0-2

      0 = 4%, 1 = 2%, 2 = 1% depth resolution (effects ping rate)

      BS

      Start pinging

      BW

      00001

      0-65535

      No of water pings (do not care id BK = 0)

      BZ

      004

      ?

    • Control system commands

      Command

      Value

      Range

      Unit

      Description

      CB

      811

      Baud rate
      411 = 9600,8,none,1
      811= 115200,none,1

      CF

      Flow control

      CQ

      ?

      0-255

      Transmit power 
      0 = Low,  255 = High

      CR

      0, 1

      1= retrieve factory settings

      CS

      Start pinging

      CX

      Low latency trigger
      0 = off, 1 = on

      CZ

      Power down

    • Environmental commands

      Command

      Value

      Range

      Unit

      Description

       EX

      01000

       

       

       Coordinate transformations/corrections

       EC

       

       1400-1600

       m/s

       Speed of sound

    • Timing commands

      Command

      Value

      Range

      Unit

      Description

       TE

       00:00:00.20

       

      hh:mm:ss.ss

      Time between ensembles (ensemble rate)
      00:00:00.00 = max. update rate

       TP

      00:00.00

       

       mm:ss.ss

       Time between individual pings within ensemble

    • Water profile commands

      Command

      Value

      Range

      Unit

      Description

      WP

      0

      0-16384

      pings

      No of water profile pings per ensemble
      0 = no water profiles

  • Calibration



    Read the Help file for further instructions!
  • Computation Setup

    The DVL is not visible in the equipment (devices) tree of the object.
    The observations of the DVL can be selected via the tabs Position Filter and Position Results of the object (Vessel / ROV) it is installed on:

    Smoothing Vessel or ROV Track

    Please read the Knowledge Base document 'How-to Smooth Vessel or ROV Track'.

    This document will give you additional information about the Computation Settings.

  • Alert Display

    The Alert Display can be used to alert users on bottom track loss and exceeding the maximum speed.
    When the bottom track is lost the driver will return a speed of approx -32768 m/s, and will not be used by the computation.

    The Quality Indicators can also be used in the alert display. For more information follow the links under the driver description (on top).