Driver to decode bottom track velocity and direction from an ASCII output data ensemble from an RD Instruments (RDI) Acoustic Doppler Current Profiler (ADCP) or Doppler Velocity Log (DVL).
The driver returns the horizontal velocity along with its direction (heading), as well as the vertical velocity.
The Bottom-track, Ships referenced Velocity data message (":BS") will be used automatically when the direction observation is of Type "Angle".
The Bottom-track, Earth referenced Velocity data message (":BE") is used when the direction observation is Type "Bearing (True)".
No special two-way RS-232 cable connection is required.
The driver does not send any command to the Doppler, so the unit should be set to continuous data output mode.
The unit for the Speed observation should be meters/second, the recommended a priori SD 0.1.
The unit for the Angle or Bearing (True) observation should be degrees, the recommended a priori SD 5.0.
The unit for the Vertical Speed observation should be meters/second, with a recommended a priori SD of 0.1
Note that when the status of the velocity data is bad ("V"), it is not accepted by the driver and will not be used by QINSy. In other words, you will not see the observation if it has a bad status.
If a maximum speed threshold has been set in Drivers.io, the driver will decode the value, but it will set the Quality Indicator (qi) to -9, which can be seen in the Observation Physics display. Observations with a negative qi will not be used in calculations in QINSy.
Drivers IO Notes
The QINSy RDI driver has the possibility to validate the speed data that is being decoded.
To use this feature, the file "DRIVERS.IO" needs to be manually edited.
Locate the DrvRDIDopplerPD6.exe driver (use search, or look for driver number 300003).
Any number that is present as command line argument will be used as the maximum speed to be accepted by the driver.