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VmDas User's Guide

1. gt Sending commands from ADCP command file El Step 9 On the Control menu click Go to begin collecting data The ADCP Communication window will open and show the commands from the command file you selected see Load a Command File page 9 being sent to the ADCP and the ADCP s response Once all of the commands have been captured to the LOG file the window will close automatically The LOG file is saved to the same path as set in the Recording tab See Detailed ADCP Initialization page 52 for details on how the ADCP commands are generated and sent to the ADCP Use this area for notes P N 95A 6015 00 September 2003 page 15 VmDas User s Guide 3 VmDas Tutorial The first section of th s User s Guide presented a Quick Start to collecting data The default Command files presented in that section w ll work for most condi tions There may be specific sites where you will need to create your own User Option files and Command files see Command Files and ADCP Configura tion page 46 f you want to change some of the sampling parameters The tutorial will go through a step by step procedure for creating a site specific User Option file for collecting data The tutorial will also go through the re processing data see Reprocessing Data with VmDas page 57 and data playback see Playback a Data File page 59 CAUTION If you edit the default command files with a text editor b
2. occccocccccccnccocnnoconnnoncnccncnnonnnnnncnnnnnnnnonnnnnnnnnnnnnnrnnnnnnnnnnnnnnnnnnnnnnnnnnnneninnnnns 72 9 3 Ensemble Output ASCII Dal O ae 74 9 3 1 ASCII Ensemble Output FO Matar ae tia 75 9 3 2 Sample Ensemble Out Data Transmission cccocccccccnccncnccocnnncnnnnnnnncnnnnnnnnnnnnannnnnnnnonnnnnnnnnnnnnnnnannnnns 75 9 3 3 Ensemble Out Data Format Description cococcccoccnccoccncconnncccnnnonnncononononnnnnnnnonnnnnonnnnnnnnnnnnnncnnnnononos 76 10 VNDaSs USEF EXS ao 80 10 1 Tips and Tricks to Creating User Exit Programs occooocccccccccnccnncnncnononnnnnnnnnnnnnnnononnnnonnrnnonnnrnnnnnnnnnnnns 81 10 2 Example 1 Modifying Raw ADCP Data ccoooccnccoccococononcccnconoconcnocnnnnnonononononcnnononcnnonannnonnncanononens 82 10 3 Example 2 Modifying Raw NMEA Data oocccccocccccnoccncccnccnononcnnonnnonononcnnononnnnnnnrnnnnnnrnnonnnrnnonnrnnnnnnens 82 10 4 Example 3 gt Transtormalion ci e 83 10 5 USER DISDIAYS aus han ui ee an a ek es et ee ee ale ee 84 11 File Naming Eonventionsa u a se 86 12 ADCP Output Data Format and VMDAS 2 22020 2000nann0onnnnnnnnnnnnnnnnnnannnnnnnnunnnnnunnnnnnnnnnnnnnnnnnnnnnn 87 12 1 Binary Navigation Data Formal er en 88 12 2 Navigation Data Format Detailed Explanation uu444400444n nenne nnnnn nenn nenne nenne nnnnn nenne nennen 91 13 Sotware HIStO iio 94 List of Figures Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6
3. Step 6 Click the Recording tab The Recording property page allows you to set the deployment name and path to where the data files are recorded Enter a name in the Name box that identifies your deployment This name will be used as part of the filename for each file that is part of this deployment see File Naming Conventions page 86 For testing Test or Practice are good choices In the Primary Path box enter the drive and directory where you would like to store the files of collected data Use the Browse button or enter the path manually Note that this folder must already exist NOTE It is recommended to not set the Maximum File Size greater than 10MB as larger files will slow data processing considerably Use this area for notes P N 95A 6015 00 September 2003 page 11 VmDas User s Guide 2 7 page 12 Setup the Transform Screen Program Options Communications ADCP Setup Recording Transform Averaging Data Screening User Exits Simulated Inputs Heading Source C NMEA HDG C NMEA PRDID C Fixed Heading deg NMEA PASHR NMEA PASHR ATT NMEA PRDID AT2 Heading Correction Enable ADCP tit sensor gyro NMEA PRDID Fixed Tits Pitch deg Rll deg C NMEA PASHR C NMEA PASHR ATT C NMEA PRDID AT2 Tilt Correction Enable EA heading alignment error ref Fwd EJ pitch alignment error ref Mast El roll alignment error PitchT a
4. lt data field gt required even when a data field is null checksum field Checksum The checksum is the 8 bit exclusive OR of all characters in the sentence including delimiters between but not including the and the delimiters The hexadecimal value of the most significant and least significant 4 its of the result are converted to two ASCII characters 0 9 A F for transmission The most significant character is transmitted first lt CR gt lt LF gt HEX OD OA End of sentence RD Instruments VmDas User s Guide Data Fields Detailed descriptions of each message VmDas uses are provided below These descriptions use format specifiers for data fields The meanings of some of the format specifiers are listed in Table 4 Table 4 Data Fields Field hhmmss ss X X hh aa aaa etc XX XXX etc Description A mixed fixed variable length time field 2 fixed digits of hours 2 fixed digits of minutes 2 fixed digits of seconds and a variable number of digits for decimal fraction of seconds Leading zeros are always included for hours minutes and seconds to maintain fixed length The decimal point and associated decimal fraction are optional if full resolution is not required A variable length integer or floating numeric field with optional leading and trailing zeros The decimal point and associated decimal fraction are optional if full resolution is not required example 73 10
5. Each command file is intended for a specific ADCP There are example files for Broadband Workhorse and Ocean Surveyors Navigators should start with a Broadband file and edit it as described in the next section For VmDas purposes an Ocean Observer is the same as an Ocean Surveyor Creating Command Files To create anew command file do the following a Make a copy of one of the default command files see Table 2 page 10 and give 1t a new name VmDas expects command files to have a txt exten sion but other extensions can be used b Open the copy in NotePad or a similar type of text editor Editors such as WordPad or word processors such as Word or WordPerfect should be used carefully because they add hidden characters to the file for formatting c Edit the commands as needed Refer to the ADCP Technical Manual for detailed information on each command d You may want to add or edit commands but most commands should not be deleted Deleting a command leaves the configuration dependent on the ADCP s command default setting This can cause the configuration to change unexpectedly 1f the command file 1s used with a different ADCP or the same ADCP with a new firmware version e Save the file f Test the new command file with the ADCP that the file is intended to con figure The ADCP must be in water RD Instruments VmDas User s Guide Open VmDas in data collection mode Edit the options and set the com mand file a
6. NOTE NMEA data is read through one or two serial ports These serial ports must be configured on the Communications tab see Communication Tab page 26 Selecting NMEA data without configuring the Navigation and or RPH serial ports results in an error VmDas will not allow the options to be saved until the error is corrected NOTE The NMEA HDG sentence contains magnetic heading together with variation and deviation corrections VmDas calculates true heading of the ship from this When this sentence is the heading source the only heading correction needed is a heading alignment error if the ADCP is not aligned with the ship Heading Correction EV magnetic offset This is variation the angle between magnetic north and true north It is used to correct the heading from magnetic heading sensors EV is negative for a west variation where magnetic north is west of true north For example a magnetic variation chart for the deployment area shows a varia tion of W3 5 3 5 To counteract the effects of this magnetic field you must enter a heading bias value of 3 5 in the magnetic offset box EA hdng align error The Heading Alignment Error is the angle between the forward axis of the ADCP and the forward axis of the ship or other platform it is mounted on The EA command is used to correct the heading when the heading describes the attitude of the ship EA is the heading of the ADCP s P N 95A 6015 00 September 2003 page
7. Click the ADCP Setup tab Select Use File in the ADCP Setup from File area Set the Ensemble Time to the value shown in Table 1 Table 1 Ensemble Time Frequency kHz With Bottom Track sec Without Bottom Track sec 38 4 2 75 2 1 150 1 1 300 600 Select Ping as Fast as possible 1200 Click the Browse button and use Table 2 page 10 to choose a command file for your ADCP and load it into VmDas These text files txt were copied into the same directory as VmDas when you installed it from the CD sent with your system P N 95A 6015 00 September 2003 page 9 VmDas User s Guide page 10 Table 2 File Name OS38BBDEF OS38NBDEF OS38BB8NBDEF OS75BBDEF OS75NBDEF OS75BB amp NBDEF OS150BBDEF OS150NBDEF OS150BB amp NBDEF BB75DEF BB150DEF BB300DEF Example User Option Files Description Default setup for an Ocean Surveyor OS 38kHz ADCP in the highest precision broad bandwidth but reduced range profiling mode Default setup for an Ocean Surveyor OS 38kHz ADCP in the longest range narrow bandwidth but reduced precision Default setup for an Ocean Surveyor OS 38kHz ADCP in the highest precision broad bandwidth and the longest range narrow bandwidth but reduced precision Default setup for an Ocean Surveyor OS 75kHz ADCP in the highest precision broad bandwidth but reduced range profiling mode Default setup for an Ocean Surveyor OS 75kHz ADCP in the longest range narrow bandwidth but reduced p
8. Figure 7 Figure 8 Figure 9 Figure 10 Figure 11 Figure 12 Figure 13 Figure 14 Figure 15 Figure 16 Figure 17 Figure 18 Figure 19 Figure 20 Figure 21 Figure 22 Figure 23 Figure 24 Figure 25 Figure 26 List of Table 1 Table Table Table Table Table Table Table Table Table 10 Table 11 Table 12 Table 13 Table 14 Table 15 Table 16 Table 17 Table 18 Table 19 ee Oe eo ee A TaD E E E E E 19 O AAA 21 Chart Control PRO Peres arriba se see nee 23 Ship Track Properties Dial a ori ci dos 24 Communications Tab roscado 26 Communications Tab Ensemble Output ASCII Selected oocoocccoccccncccicaccncnnannns 28 Communications Tab Speed Log Output Selected oocccooccccccoccocncococononnnnoncncnnnnonannns 29 ADEP Selo Tab sala a ti epee Ee 30 RECOLANG Mata o 32 CMOGSIMG TG Pal iaa 33 Transtornos 34 VERXIS AMA MO ic cados 36 Averaging TaD ana ar 39 Data Screening TDi AA A A EA 41 Users EXIS TAD anne 43 gt imulated Inpuis Ta Durna a RE BLEI 45 Select YMO ERS EEE a 57 Reprocessing Data Recorder Tab oocccccconconconconcconconconoononnncononncanconononononancanennennos 57 Reprocessing Done Message iii abad dt 58 Playing Back a Data File oleo A 59 VmDas Shortcut in the Startup Polder occoccconccccoccccnconcoccoconcncnnonnnanonncnnonnnnanenncncnnns 60 Shortcut Properties AA AA 60 AOS ATE DI AO e E E E A AT 61 U 12 0 a E On OO OE a RS 85 ENS ENX
9. STA and LTA Binary Output Data Format ccoccoccnoccccncoccoccccnoccnnnnancnncnnonoss 87 Binary Navigation Data Format 88 Tables ENSEMDIE TIME ari a nn eee ee ee 9 Example User Opt OM Eileen ker 10 NMEA Data EOL tics esate ccna ce EE A 62 BA A A A 63 GEGANMEA FO a C ener to ne A Ea 64 FE essen 65 FU PINION AU e caciones 65 VES INMEA PO Mais parara AE SEERREEEERERERTELRERLERRERERERERERERTEERENENL PEFER 66 PASAR NMES TO Malos aaron torio ciicisic s 66 PASAR ATTNMES FO Manara ocioteca 67 PASFHR ATZ NMEA FOM usaran ora apise 67 PRDID NMEA Format aaa ld aaa 68 VDBBTNMER FOMAE seen 69 NF a IN IVE FOMA Seesen ee 69 VOVBWINMEA FO Matisse scsi lali 69 VDZDAINMER FOM alsun ust scut ca seaiteneut deduct ae ideaedidedtandecacusecaee 70 BPABEFENMERAFONAL osorno Sejogususounsenstecde secede cede cateac cect eteeataeareeeasecee 71 ENSemble QUEDaa FO Ma isssrsosesetess a E E leticia lcd codes 76 Binary Navigation Data ForMat oooocooccnconccnccnconcncnnnnccnconcnnnnnnnnnnnnnnnrcnronnnnnnrnnrnrrnnonannnnns 91 NOTES VmDas User s Guide FR V RD Instruments Acoustic Doppler Solutions VmDas User s Guide 1 1 introduction VmDas is a software package for use with RDI Vessel Mount Acoustic Doppler Current Profilers This software package supports the Broadband Workhorse and Ocean Surveyor PDO Binary Output Data Formats for data collection re play and reprocessing NOTE This guide covers version 1 40 or higher Conv
10. 1 PSN Valid bit 2 Speed Valid bit 3 Mag Track Valid bit 4 True Track Valid bit 5 Date Time Valid bit 6 SMG DMG Valid bit 7 Pitch Roll Valid bit 8 Heading Valid bit 9 ADCP Time Valid bit 10 Clock Offset Valid bit 11 Reserved bit 12 Reserved bit 13 Reserved bit 14 Reserved bit 15 Reserved 97 100 49 50 Reserved Reserved for RDI use 101 108 51 54 ADCP En This field contains the sequential number of the ensemble to semble Num which the data in the output buffer apply ber Scaling LSD 1 ensemble Range 1 to 4 294 967 296 en sembles 109 112 55 56 ADCP En This field contains the ADCP year i e O7CFH 1999 semble Year 113 114 57 ADCP En This field contains the ADCP day semble Day 115 116 58 ADCP En This field contains the ADCP month semble Day 117 124 59 62 ADCP En Number of seconds since midnight LSB 1E 4 seconds semble Time 125 128 63 64 Pitch Pitch angle LSB approx 0 0055 deg 16 bit BAM Pitch is positive when bow is higher than stern 129 132 65 66 Roll Roll angle LSB approx 0 0055 deg 16 bit BAM Roll is positive when the port side is higher than the starboard side 133 136 67 68 Heading Heading input LSB approx 0 0055 deg 16 bit BAM 137 140 69 70 Number of The number of speed samples averaged since the previous Speed Sam ADCP ping ples Averaged 141 144 71 72 Number of The number of True Track samples averaged since the previous True Track ADCP ping Samples Avg 145 148
11. 2 9 Simulated Inputs Tab Use the simulated data files to help learn how to use VmDas or to test the User Exits NOTE Enabling the simulated data will automatically disable the serial port communications setting for the corresponding items on the communication setup tab Program Options Communications ADCP Setup Recording Transform Averaging Data Screening User Exits Simulated Inputs For Testing in Collect Mode Only Simulate ADCP data from a prerecorded file Serial port disabled Ping Time seconds Filename jepe E NMEA Data Simulation f Collect real NMEA data from a serial port Simulate NMEAdata from a prerecorded file Serial port disabled Filename SimNavinmr EE Figure 16 Simulated Inputs Tab P N 95A 6015 00 September 2003 page 45 VmDas User s Guide 4 1 4 2 page 46 Command Files and ADCP Configuration Command files provide a way to configure the ADCP with user selected com mands as data collection begins This provides the advanced user with more control than 1s possible by having VmDas configure the ADCP from user se lected options This section describes how to create a command file To use an existing com mand file see ADCP Setup Tab page 30 Example Command Files VmDas ships with several example command files listed in Table 2 page 10 These command files are usable as they are They will configure an ADCP with reasonable general purpose settings
12. 2 in the EI pitch alignment error box The tilt correction is positive 1f the x axis 1s to the star board NOTE To verify the EV EA EJ and El corrections do the Water Profile Reasonableness Test as shown in the ADCP Technical Manual Test Guide NOTE If reprocessing data and heading corrections are enabled EA EB and EV commands in a command file will have no effect If tilt corrections are enabled EA El and EJ commands will have no effect VmDas will issue its own EAO EBO EVO EIO and EJO commands after the command file has been sent to the ADCP NOTE If an ensemble contains EA and EV information in its fixed leader VmDas will apply the corrections in addition to other corrections entered in the Transform page Note About Conventions VmDas needs the attitude Heading Pitch and Roll of the ADCP to obtain true water and bottom east and north components However heading pitch and roll devices sometimes describes the attitude of the ADCP an other times they describe the attitude of the ship or other platform that the ADCP is mounted on Sometimes heading is magnetic sometimes true VmDas can ac cept any of these When describing the attitude of a ship heading is the angle between the for ward axis and true or magnetic north Actually the projection of the forward axis on the horizontal plane is used This usually makes very little difference in practice Pitch and roll describe the tilt of the mast Pitch 1s po
13. 35 VmDas User s Guide page 36 beam 3 when the ship is level and headed north EA is positive if beam 3 is to the starboard For Example the ADCP is mounted in place on a moving ship The Y axis has been rotated 45 clockwise 45 from the ship s centerline En ter 45 in the EA hdng align error box Hsuip TRUE Hsuip MAG NORT Hrrue T Y AXIS Projected onto ship forward starboard plane Figure 12 Y Axis Alignment Tilt corrections EA heading alignment error As before this is the angle between the for ward axis of the ADCP and the forward axis of the ship or other platform it 1s mounted on This time EA is used to correct pitch and roll when the heading describes the attitude of the ship EA 1s the heading of the ADCP s beam 3 when the ship is level and headed north The heading correction is positive 1f the Y axis is to the starboard EJ roll alignment error EJ is the roll of the ship when the ADCP is level For example the amount of rotation that the ADCP s y axis is physically offset from the ship s starboard axis is 2 degrees Enter 2 in the EJ roll alignment error box The tilt correction is positive if the y axis 1s to the starboard RD Instruments VmDas User s Guide El pitch alignment error El is the pitch of the ship when the ADCP is level For example the amount of rotation that the ADCP s x axis 1s physically offset from the ship s starboard axis is 1 2 degrees Enter 1
14. 73 1 073 1 73 A negative sign HEX 2D is the first character if the value is negative The sign is omitted if value is positive A fixed length HEX number The most significant digit is on the left A fixed length alpha field This type of field contains a fixed number of upper case or lower case alpha characters In all strings recognized by VmDas all these fields have a length of one character A fixed length numeric field This type of field contains a fixed number of numeric characters 0 9 Some fields allow negative values If needed a negative sign HEX 2D is the first character increasing the length of the field by one The sign is omitted if value is positive A single character status field A Yes Data Valid or Warning Flag Clear V No Data Invalid or Warning Flag Set Other single A single character field with fixed content The letter is the content of the data field letter When used below the HEX value of the letter is also given NOTES Spaces should not be used anywhere in these NMEA strings Spaces may only be used in variable text fields No NMEA string recognized by VmDas uses a variable text field If data is not available or unreliable a null field is used A null field is a field with no characters in it When a null field is present two delimiters comma or lt CR gt are found side by side A null field does NOT contain the zero character HEX 30 the ASCII
15. 90 150 270 360 Depth m Depth m Amplitude Correlation Magnitude Direction Percent good Ship Track 1 NAY Ship Track Bin 1 Bin5 Bin 9 Ship Track 2 Bottom Trk Ship Track Bin 1 Bin 5 1 000 mis 25 0 0 25 5 0 75 East km lEns O closed _ NAYIO closed 4 Figure 20 Playing Back a Data File P N 95A 6015 00 September 2003 page 59 VmDas User s Guide 7 Turnkey Mode When VmDas is started in the turnkey mode a message box appears to prompt the user to start collecting data After 30 seconds or on confirmation VmDas begins collecting data automatically Syntax C program files RD Instruments VmDas exe autostart For example if a computer operating system has VmDas with the autostart switch in the startup folder VmDas will open with a message box asking if it is OK to start collecting data when the computer is started The user clicks OK or waits 30 seconds for the message box to time out VmDas will close the message box open a document in data collect mode and begin collecting data If the user clicks Cancel VmDas exits Acrobat Assistant a Microsoft Office a Office Startup ff Startup VmDas exe Figure 21 VmDas Shortcut in the Startup Folder YmDas exe Properties Y a mem a General Shortcut Compatibility Security _ JN VmDas exe Target type Application Target location VmDas Target NRD Instruments
16. 95A 6015 00 September 2003 page 65 VmDas User s Guide 8 2 4 8 2 5 page 66 VTG Track Made Good and Ground Speed The actual track made good and speed relative to the ground VTG x x T x x M x x N x x K a hh lt CR gt lt LF gt Table 8 VTG NMEA Format Field Description 1 X X Track degrees true 2 E HEX 54 3 X X Track degrees magnetic 4 M HEX 4D 5 X X Speed knots 6 N HEX 4E 1 X X Speed km hr 8 K HEX 4B 9 a Mode indicator A Autonomous mode D Differential mode E Estimated dead reckoning mode M Manual input mode S Simulator mode N Data not valid This shall not be a null field This field 1s used by VmDas PASHR Heading Pitch and Roll Heading pitch and roll from multiple GPS receivers PASHR hhmmss ssss xxx xx 1 RRR RR PPP PP HHH HH a aaa b bbb c ccc d e hh lt CR gt lt LF gt Table 9 Field 1 9 3 4 5 6 7 8 9 10 11 hhmmss ssss XXX XX T RRR RR PPP PP HHH HH a aaa b bbb C CCC d e PASHR NMEA Format Description UTC time of data True vessel heading 0 359 99 degrees True T Roll 90 00 to 90 00 degrees for starboard down Pitch 90 00 to 90 00 degrees for bow up Heave 99 00 to 99 00 meters Accurracy roll 0 to 9 999 degrees Accurracy pitch 0 to 9 999 degrees Accurracy heading O to 9 999 degrees Flag Accur hdg O No aiding 1 GPS aiding 2 GPS and GAMS aiding Flag IMU O Satisfactory 1 IMU out This field s
17. Data Screening checkbox see VmDas User Exits page 80 and Figure 24 page 85 to give an external user supplied pro gram access to the raw NMEA data Normally the VmDas NMEA data screen ing logic reads data from the NIR N2R raw NMEA data file screens the data and averages the data between ADCP time stamps then writes the averaged data out in binary format to a NMS file When this user exit option is enabled the user supplied program is expected to read data from the N1R N2R files and write the modified data to a NIJ or N2J text file with the same NMEA format The VmDas NMEA data screening and averaging functions will then read the NMEA data from the N1J or N2J file instead of the NIR or N2R file NOTE The last two user exits are enabled by clicking on their associated checkboxes in the User Exits tab However VmDas does not currently support automatic launching of these user exits They must be launched independently before selecting Go on the Control menu in VmDas Suggested Setting If you want to view the data using WinADCP select the Launch WinADCP box Enter the path to the WinADCP program using the Browse button VmDas will automatically enter the default path Select what file you want to view in the Data File to Open drop down list Select a Refresh Rate equal to your STA or LTA file average The WinADCP program will check VmDas for new data based on the Refresh Rate RD Instruments VmDas User s Guide 3
18. Digit Binary Byte 1 4 1 2 5 6 3 7 8 4 9 12 5 6 13 20 7 10 21 28 11 14 29 36 15 18 37 44 19 22 45 52 23 26 53 60 27 30 Field ID Code UTC Day UTC Month UTC Year UTC Time of first fix PC Clock offset from UTC First Latitude First Longi tude UTC Time of last fix Last Latitude P N 95A 6015 00 September 2003 Binary Navigation Data Format Description Stores the sum of velocities identification word 2000h This field contains the UTC Day This field contains the UTC Month This field contains the UTC Year i e i e O7CF 1999 UTC time since midnight LSB 0 01 seconds PC Time UTC signed LSB milliseconds This is the first latitude position received after the previous ADCP ping LSB approx 8E 8 deg 32 bit BAM In the BAM Binary Angular Measure format the most signifi cant bit of the word has a weight of 180 degrees and you keep dividing by 2 as you proceed to the right The lease significant bit for a 32 bit BAM is about 8E 8 arc degrees 180 2 or just under 1 cm of longitudinal distance at the equator where 1 arc minute 1 Nautical mile If you interpret the BAM word as an unsigned number the range is O to 360 LSB degrees and if you interpret the BAM as a signed number the range is 180 to 180 LSB degrees The least significant bit for a 16 bit BAM is about 0 0055 degrees 180 2 Some 32 bit BAM examples are UNSIGNED 0x40000000 90 degrees 0x800000
19. IL IL IL IL IL IL 1 El F2 Scip ON F3 LogON FA ASC y Step 2 Run BBTalk to verify the ADCP is functioning properly Select a script file from the table below The results of the tests will be saved to an ASCII text log file in the same directory as the BBTalk is running from COM1 119200 M 8 1 Script File Name ADCP Type Results Saved to testBB rds Broadband BB_RSLTS txt testOS rds Ocean Surveyor OS_RSLTS txt testWH rds Workhorse WH_RSLTS txt These text files rds were copied into the same directory as BBTalk when you installed the RDI Tools software CD sent with your system Use this area for notes NOTE Exit BBTalk when you are done testing the ADCP so that VmDas can use the COM port P N 95A 6015 00 September 2003 page 5 VmDas User s Guide 2 3 Start VmDas EX RD Instruments YmDas File View Options Control Chart Window Help lt VYmDas1 gt Asa megaa OC aaa Ship Track 1 Ship Track 2 el eE as sie DIE Short Average Data Quality amp3 Amp4 cor c cor2 co 2 Ens 10 dosed NAVIO dosed Step 3 Start VmDas On the File menu click Collect Data On the Options menu click Load Select the Default ini file and click Open This will set VmDas to the factory default options Use this area for notes page 6 RD Instruments VmDas User s Guide 2 4 Setup Communications Program Options Communications ADCP Setup Recording Transform Aver
20. NUL character HEX 00 a space HEX 20 or other character VmDas ignores some fields when it decodes messages The fields it reads are explained in NMEA Input page 64 P N 95A 6015 00 September 2003 page 63 VmDas User s Guide 82 NMEA Input The messages VmDas reads are standard GGA HDG HDT VTG messages and the RDI proprietary PRDID PASHR PASHR ATT and PASHR AT2 mes sages VmDas NMEA data files will contain the RDI proprietary PADCP message VmDas generates this message and uses it internally It is expected to be of no use externally and is not transmitted to other devices It 1s stored in the NIR and N2R data files 8 2 1 GGA Global Positioning System Fix Data Time position and fix related data for a GPS receiver GGA hhmmss ss llll ll a yyyy yy a X XXx X X X X M x x M x x xxxx hh lt CR gt lt LF gt Table 5 GGA NMEA Format Field Description 1 hhmmss ss UTC of position 2 fixed digits of hours 2 fixed digits of minutes 2 fixed digits of seconds and a variable number of digits for decimal fraction of seconds Leading zeros are always included for hours minutes and seconds to maintain fixed length The decimal point and associated decimal fraction are optional if full resolution is not required 2 II I Latitude Two fixed digits of degrees 2 fixed digits of minutes and a variable number of digits for decimal fraction of minutes Leading zeros are always included for degrees and
21. PASHR AT2 messages it receives If two ports are enabled VmDas expects GPS data GGA VTG at the Naviga tion port and attitude data HDG HDT PRDID at the RPH port VmDas internally generates PADCP messages and adds them to both log files These messages are expected to have meaning only to VmDas page 68 RD Instruments VmDas User s Guide 8 3 NMEA Output 8 3 1 VDDBT Depth Below Transducer Water depth referenced to the transducer VDDBT x x f x x M x x F hh lt CR gt lt LF gt Table 13 VDDBT NMEA Format Field Description 1 X X Water depth feet 2 f HEX 66 3 X X Water depth Meters 4 M HEX 4D 5 X X Water depth Fathoms 6 F HEX 46 8 3 2 VDHDT Heading True Actual vessel heading in degrees True VDHDT x x T hh lt CR gt lt LF gt Table 14 VDHDT NMEA Format Field Description 1 X X Heading degrees True 2 T HEX 54 8 3 3 VDVBW Dual Ground Water Speed Water referenced and ground referenced speed data VDVBW x x Xx X A x Xx x x A hh lt CR gt lt LF gt Table 15 VDVBW NMEA Format Field Description 1 X X Longitudinal water speed knots astern 2 X X Transverse water speed knots port 3 A Status water speed A Data valid V Data invalid 4 X X Longitudinal ground speed knots astern 5 X X Transverse ground speed knots port 6 A Status ground speed A Data valid V Data invalid P N 95A 6015 00 September 2003 page 69 VmDas U
22. Profile Plots e How do I manually set the ranges for the plot axes Select the Axes tab On the right click the tab that contains the attribute that you want to change for the axis in this case Scale On the left click on the label of the axis you want to change On the right enter new numbers for Max and Min and click OK or Apply e How do I put symbol markers on my data points Select the Chart Styles tab On the right click the Symbol Style tab On the left click on the label for the series you want to mark 1 e Stylel Style2 etc Click the box labeled Shape and select a shape for the symbol Click the box labeled Size to set the size of the symbol Click the Name box to set the desired color for the symbol Click OK or Apply Note that from the Chart Styles tab you can also set the line width pattern and color of each line in the graph D Chart Control Properties Charb4rea Plot rea ChartLabels Tea Markers Control Ares ChartGroups Charts tyles Titles Legend General Border Interior Image About IsEatched M IsDoubleBuffered Load Save Lancel Ampy Help Figure 3 Chart Control Properties P N 95A 6015 00 September 2003 page 23 VmDas User s Guide Ship Track Plots e How do I manually set the ranges for the plot axes Right click the ship track plot and click on Properties Figure 4 Click the Plot Area tab Manually enter values for Left Right Top and B
23. Range meters Ensemble Time Ping as fast as possible Set time between ensembles Figure 8 ADCP Setup Tab Ensemble Time 2 Ensemble Time is set on this tab for both Use Options and Use File Select the Set time between ensembles button to specify a ping interval see Table 1 page 9 Select the Ping as fast as possible button to let the processing and I O time dictate the ping rate NOTE See Detailed ADCP Initialization page 52 for details on how the ADCP commands are generated and sent to the ADCP page 30 RD Instruments VmDas User s Guide To set the ADCP commands using this dialog box select the Use Options button e Select the Set Profile Parameters box in the Water Current Pro file section to set the following parameters Number of Bins WN Bin Size WS Blank Distance WF and Transducer Depth ED e Select the Set Processing Mode box to switch between high and low resolution modes e Select the Set BT on off box to enable or disable bottom track pings BP1 and set the maximum search range BX command e Select the Heading Sensor Set Sensor Type box in this section to switch between using the ADCP s internal sensor or an external ana log gyro synchro stepper EZ command e Select the Tilt Sensor Set Sensor Type box in this section to switch between using the ADCP s internal sensor or an external analog gyro synchro EZ command When this box is not checked the default A
24. To set up a Reference Layer you must set the Start Bin and the End Bin to be used as the meaning reference layer P N 95A 6015 00 September 2003 page 39 VmDas User s Guide page 40 Noise introduced by platform accelerations can overwhelm the velocity meas urements We have found keeping track of velocities relative to a stable refer ence layer can improve the data in such Cases As an example suppose we have a four ping ensemble Because signal amplitude falls off with distance the deeper bins will have more of the data flagged as bad Bad data are not in cluded in averages As a result the average profile might be erratic when the percent good is low In the data below a constant profile 1s assumed for bins 20 to 22 yet the average of good data shows it to be sheared Ping 1 2 3 4 Bin Velocities AVG 1 1 12 2 10 y y 20 16 21 2 22 15 Bins 1 and 2 have all good data and in this example are used as the reference layer Averaging these bins for each ping gives a reference velocity of Ping 1 2 3 4 Layer Average 4 5 17 18 Mean Layer Average 11 4 5 17 18 4 When the layer average is subtracted from the velocities within each ping the data become Bin Velocities Average 1 Average 2 1 12 2 10 y y 20 9 21 9 22 9 The last column Average 2 gives a better picture of the velocities at the deeper bins than the algorithm for obtaining AVG 1 NOTE When using a reference
25. Velocity mms Percent Good Water Mass Reference Layer Thresholds Correlation ee Fish Error Velocity mms E Percent Good Water Current Profile Thresholds Rssi E T Vert Velocity Correlation ETS Fish ETS Eror Velocity Percent Good Mark Data Bad Below Bottom Figure 14 Data Screening Tab For RSSI amplitude Correlation and Percent Good screening the thresh old value represents a minimum allowed value For example if you set the RSSI threshold to 35 counts then any beam with an RSSI value below 35 counts will be discarded and not used in the processed data RSSI and correla tion screening for each beam are performed on the raw data Percent good screening is performed on the averaged data For Error Velocity and Vertical Velocity screening the threshold value repre sents a maximum allowed value For example if you set the Error Velocity threshold to 1500 mm s then any transformed ensemble that has an error ve locity greater than 1500 mm s will be discarded and not used in the processed data Error Velocity and Vertical Velocity screening are performed on the transformed data before averaging P N 95A 6015 00 September 2003 page 41 VmDas User s Guide For Fish screening also known as false target detection the threshold used for bottom track is based on percentage and the water track ping and profile ping 1s based on counts Check the box labeled Mark Data Bad Below Bot
26. Velocity BB WH NV All others Profile Parameters Command WN WS WF ED If the Set Profile Parameters check box is unchecked nothing is sent For BB WH NV type of ADCPs or OS in high resolution mode the following commands are constructed and sent ADCP setup tab data source Number of Bins Bin Size Blank Distance Transducer Depth P N 95A 6015 00 September 2003 page 55 VmDas User s Guide Command NN NS NF ED For OS in low resolution mode the following commands are con structed and sent ADCP setup tab data source Number of Bins Bin Size Blank Distance Transducer Depth h Send commands for flow control heading and tilt corrections and coordi nate transformations Flow Control This command is always sent The current CF setting is read from the ADCP A new command is generated using the last bit the recorder bit of the current setting CF 0111x 1s sent Heading and Tilt Corrections Command EAO EBO EVO ElO EJO If the user has selected Use Options on the ADCP Setup tab of the options he does not intend to send his own commands VmDas will send all of the commands that are appropriate for the ADCP as shown below If the user has selected Use File but has enabled Heading Correc tions on the Transform tab the user does not intend to send EA EB or EV commands VmDas will send the appropriate ones If the user has selected Use File and has enabled Tilt Correction
27. VinDas Win Dias exe autostart Start in CA Program Files RD Instruments VmDas h Shortcut key None i Run Normal window A E Comment Figure 22 Shortcut Properties page 60 RD Instruments VmDas User s Guide YmDas autostart mb as is in automatic startup mode ls t OK to to begin collecting data now Sec until es is automatically selected Stop timer Figure 23 Autostart Dialog NOTE Turnkey mode only works on startup Once data collection has started VmDas reverts to normal operation It will not enter turnkey mode again until closed and restarted with the autostart switch If a second document is opened with the File Collect Data menu the user must use the Control Go menu item to start data collection It will not happen automatically P N 95A 6015 00 September 2003 page 61 VmDas User s Guide 8 1 page 62 VmDas and NMEA Data VmDas can read in decode and record ensembles from an ADCP and NMEA data from some specific 1 e GPS and attitude sensors external devices VmDas stores this data in both raw NMEA data files NIR and N2R leaving all original data input in its original format and in a combined averaged data file VmDas uses all of this data to create different displays for the user As well as being able to input NMEA strings to VmDas it can produce NMEA output strings of speed lo
28. and 1 stop bit The Navigation Input and RPH input ports read NMEA data The NMEA 0183 standard specifies 4800 BAUD no parity 8 data bits and 1 stop bit Never the less many ships use 9600 BAUD and some may use faster rates NOTE Advanced users can change the ADCP serial port parameters with a command file Those parameters are used only while collecting data When data collection stops the serial port settings the ADCP uses will return to their wakeup values VmDas automatically changes the PC serial port when the ADCP serial port changes P N 95A 6015 00 September 2003 page 29 VmDas User s Guide 3 2 3 ADCP Setup Tab Use this dialog box to setup the ADCP Select either Use Options to set the ADCP commands on this tab or select Use File to use a command file Program Options Communications ADCP Setup Recording Transform Averaging Data Screening User Eats Simulated Inputs ADCP Setup from Options Water Current Profile Set Profile Parameters Number of Bins ho Bin Size e meters Blank Distance eo meters Transducer W Set Processing Mode f Hiresolutiar short range C Low esolution long range ADCP Setup from File Use File Command File meters Heading Sensor lf Set Sensor Type intemal Sensor Exemal Analog Gyro Synchro Stepper Tit Sensor W Set Sensor Type Internal Sensor Extemal Analog Gyro Synchro Bottom Track Set BT on off a fe Maximum
29. commands sent to the ADCP the replies returned by the ADCP and some auxiliary information such as time stamps When configuring an ADCP VmDas sends commands one at a time and waits for a response after each line If VmDas does not receive a response or the re sponse is an error message initialization fails VmDas will start initialization over again VmDas will keep trying until it succeeds or the program 1s stopped Detailed ADCP Initialization Abbreviations The following abbreviations for ADCP types are used in the following sections OS Ocean Surveyor or Ocean Observer BB Broadband WH Workhorse NV Navigator If VmDas does not recognize the ADCP type but the data format is correct it will use this type UN Unknown Choosing Setup Parameters As VmDas begins collecting data it configures the ADCP by sending 1t com mands Which commands are sent depends partly on options the user selects and partly on the type of ADCP The major choices the user makes are in the ADCP Setup tab of the options dialog The primary choice is Use Options or Use File RD Instruments VmDas User s Guide Selecting Use Options activates more user options VmDas creates commands from the options Selecting Use File causes VmDas to configure the ADCP by reading com mands from a command file as described earlier n this section Either way VmDas adds commands of its own Some commands depend on options the user has select
30. data in degrees during the ADCP data ensemble from the compass The standard deviation accuracy of pitch tilt 1 x axis data in tenths of degrees e g 15 1 5 during the ADCP data ensemble from the pendulum gyrocompass The standard deviation accuracy of roll tilt 2 y axis data in tenths of degrees e g 5 0 5 during the ADCP data ensemble from the pendulum gyrocompass The salinity value in parts per thousand from the ADCP ES or EZ command The speed of sound value in m s from the ADCP EC or EZ command Flag 7 marks the start of bottom track data A value of 32768 indicates bad or missing velocity data A zero indicates bad or missing beam range data The fields identified by this flag contain The number of lines of bottom track data sent This value corresponds to the number of ROWS of data beginning with the next output line The number of beams used by the ADCP to collect the bottom track data This value corresponds to the number of COLUMNS of data beginning with the next output line The east west bottom track velocity in mm s The north south bottom track velocity in mm s The up down bottom track velocity in mm s The bottom track error velocity in mm s The Beam 1 range in meters to the bottom surface excluding ADCP depth The Beam 2 range in meters to the bottom surface excluding ADCP depth The Beam 3 range in meters to the bottom surface excluding ADCP depth The Beam 4
31. rrr rr hhh hh or PRDID ppp pp rrr rr hhh hh Where carriage return line feed h heading p pitch r roll 10 4 Example 3 Transformation The VmDas program normally reads in the contents of the binary file ENS and performs a beam to earth coordinate transformation This beam to earth coordinate transformation is performed using the users selections for where to obtain attitude information such as heading pitch and roll the choices being either the raw ADCP leader data or the raw NMEA data Using this attitude information VmDas will transform the data from beam to earth using RDI s standard matrix table conversion and then writes this data to the file ENX The VmDas program does allow the user to perform their own coordinate trans formation routine The user would select the User Exit option of External Transformation This choice would disable the VmDas coordinate transfor mation routine and the user would have to create their own being sure to write the data out in correct format to a data file with the ENX naming convention This is important as the next routines of the VmDas program will be reading in the ENX data for averaging displaying and recording in the STA and LTA files An example of why a user may want to do this 1s that the user may have pur chased a special RDI ADCP that does not have the standard 4 beam Janus con P N 95A 6015 00 September 2003 page 83 VmDas User s Guide figurat
32. signed PC clock offset from UTC in seconds includes time zone difference The N1R extension is used for single port NMEA data collection or for GPS position data Nav in dual port collection mode The N2R extension is used for Roll Pitch Heading RPH data collection when using two serial ports for NMEA data collection NMS Binary format NAV data file after having been screened and pre averaged VMO The option settings used for collecting the data text file VMP The option settings used for reprocessing the data text file ENJ ADCP raw data after adjustment by a user exit application N1J Raw NMEA data after being adjusted by a user exit application N2J LOG ASCII file containing any errors found in NEA ASCII Ensemble Output or ADCP communi cations VmDas User s Guide 12 ADCP Output Data Format and VMDAS This section shows the format of the VmDas Navigation data when using an ADCP This output can only be binary The ADCP binary output data buffer contains header data leader data velocity correlation magnitude echo intensity percent good and a checksum The ADCP collects all data in the output buffer during an ensemble The VmDas program writes this ADCP output into the ENR files see File Naming Con ventions page 86 The ENR file format is described in the ADCP Techni cal Manual Commands and Output Data Format guide The Navigation data is inserted before the checksum and reserved bytes wh
33. to collect the data This value corresponds to the number of COLUMNS of data beginning with the next output line The first bin selected for transmission in the Communication options The last bin selected for transmission in the Communication options Column data for the Beam 1 correlation data for the bin range selected in the Communication options Column data for the Beam 2 correlation data for the bin range selected in the Communication options Column data for the Beam 3 correlation data for the bin range selected in the Communication options Column data for the Beam 4 correlation data for the bin range selected in the Communication options Flag 3 marks the start of echo intensity data VmDas scales echo intensity data in ADCP counts A value of 32768 indicates missing data VmDas lists echo intensity data in columns beginning with the next output line The fields identified by this flag contain The number of bins selected for transmission The number of beams used by the ADCP to collect the data This value corresponds to the number of COLUMNS of data beginning with the next output line The first bin selected for transmission in the Communication options The last bin selected for transmission in the Communication options Column data for the Beam 1 echo intensity data for the bin range selected in the Communication options Column data for the Beam 2 echo intensity data for the bin range selected in the Commu
34. 0 0 0 35 1480 lt CR LF gt 7 2 4 lt CR LF gt 33 1414 62 32768 lt CR LF gt 833 878 0 783 lt CR LF gt 8 13856000 324937000 634 4786 425 470 lt CR LF gt C B 0 97 91 10 2 9 55 00 lt CR LF gt 1 4 4 1 4 0 0 0 O lt CR LF gt 7 1373 40 29 lt CR LF gt 19 1456 1 4 lt CR LF gt 89 1462 46 51 lt CR LF gt 48 1466 73 34 lt CR LF gt 2 4 4 4 lt CR LF gt 121 123 130 139 lt CR LF gt 127 100 122 114 lt CR LF gt 130 135 140 141 lt CR LF gt 130 140 138 129 lt CR LF gt E 4 4 ii 4 lt CR LF gt 167 156 153 166 lt CR LF gt 163 155 147 162 lt CR LF gt 156 143 138 153 lt CR LF gt 147 140 132 151 lt CR LF gt page 75 VmDas User s Guide 4 4 4 100 100 100 100 1 4 lt CR LF gt 100 100 100 100 100 100 100 100 5 4 4 1 32678 32678 32678 32678 32678 32678 32678 32678 6 0 0 O 10 A lt CR LF gt 100 25 100 lt CR LF gt 100 lt CR LF gt 100 lt CR LF gt 100 lt CR LF gt 32678 32078 lt CR LE gt 32678 326 T8 lt CR LE gt 32678 32678 lt CR LF gt 32678 32678 lt CR LF gt 7 2 4 lt CR LF gt 31 1420 58 840 862 845 8 13857000 324938000 SG 9 3 3 25 2 0 0 0 0 5000 25 0 0 0 2500 0 0 0 35 1480 lt CR LF gt 768 lt CR LF gt 850 lt CR LF gt 634 4787 426 471 lt CR LF gt Ensemble Out Data Format Description Each ASCII ensemble out data stream begins with a Start Of Text code lt B gt and ends with an End Of Text code
35. 00 180 degrees 0xC0000000 270 degrees OxFFFFFFFF 360 degrees minus one LSB degrees SIGNED 0x40000000 90 degrees 0x80000000 minus 180 degrees 0xC0000000 minus 90 degrees OxFFFFFFFF minus one LSB degrees This is the first longitude position received after the previous ADCP ping LSB approx 8E 8 deg 32 bit BAM Time since midnight UTC LSB 1E 4 seconds This is the last latitude position received prior to the current ADCP ping LSB approx 8E 8 deg 32 bit BAM Continued Next Page page 91 VmDas User s Guide Table 19 Hex Digit Binary Byte 61 68 31 34 69 72 35 36 73 76 37 38 77 80 39 40 81 84 41 42 85 88 43 44 89 92 45 46 page 92 Field Last Longi tude Avg Speed Avg Track True Avg Track Magnetic Speed Made Good SMG Direction Made Good DMG Reserved Binary Navigation Data Format continued Description This is the last longitude position received prior to the current ADCP ping LSB approx 8E 8 deg 32 bit BAM Average Navigational Speed mm sec signed Average True Navigational Ship Track Direction LSB approx 0 0055 deg 16 bit BAM Average Magnetic Navigational Ship Track Direction LSB approx 0 0055 deg 16 bit BAM Speed calculated between navigation positions LSB one mm sec signed The Speed Made Good SMG and Direction Made Good DMG quantities are calculated from the navigation fixes that enter the system between ADCP outputs and are calculated as fo
36. 015 00 September 2003 page 43 VmDas User s Guide page 44 Select which type of data to view with WinADCP using the Data File to Open box Choose from single ping beam data ENR single ping screened beam data single ping Earth data ENX short term averaged data STA or long term averaged data LTA Once data collection has started you can use the WinADCP application menu to open a different file type if desired Just re member to exit the monitor mode in order to make the change then reenter monitor mode to continue the automatic data refreshing Enter the number of seconds that WinADCP should wait between screen re freshes in the Refresh Interval sec box NOTE When you press Stop VmDas leaves WinADCP open so that your data screen does not disappear A consequence of that is if you have WinADCP enabled as a User Exit and click Go Stop Go in VmDas it will cause a second instance of WinADCP to run Click the External Raw ADCP Data Screening checkbox see VmDas User Exits page 80 and Figure 24 page 85 to give an external user supplied pro gram access to the raw ADCP data before the initial screening The user supplied program is expected to read raw ADCP ensemble data from the ENR file and write the modified ensembles to an ENJ file This occurs before VmDas performs its data screening does not bypass it and if additional screening by VmDas is desired it may be enabled Click the External Raw Nav
37. 29 LSB 30 MSB Continued Next Page page 88 RD Instruments VmDas User s Guide Continued from Previous Page 31 LSB 32 MSB LAST LONGITUDE 33 LSB 34 MSB 35 LSB AVG SPEED 37 LSB AVG TRACK TRUE 39 LSB AVG TRACK MAGNETIC 40 MSB 41 LSB SPEED MADE GOOD 42 MSB 43 LSB DIRECTION MADE GOOD 44 MSB 45 RESERVED 46 47 FLAGS 48 49 RESERVED 50 51 LSB 52 ADCP ENSEMBLE NUMBER 53 54 MSB 99 LSB ADCP ENSEMBLE YEAR 56 MSB 57 ADCP ENSEMBLE DAY 58 ADCP ENSEMBLE MONTH 59 60 ADCP ENSEMBLE TIME 61 62 63 LSB 64 MSB Continued Next Page P N 95A 6015 00 September 2003 page 89 VmDas User s Guide Continued from Previous Page 65 LSB 66 MSB 67 LSB HEADING 68 MSB 69 LSB NUMBER OF SPEED AVG 70 MSB 71 LSB NUMBER OF TRUE TRACK AVG 72 MSB 73 LSB NUMBER OF MAG TRACK AVG 74 MSB 15 LSB NUMBER OF HEADING AVG 76 MSB 77 LSB NUMBER OF PITCH ROLL AVG 78 MSB See Table 11 for description of fields NOTE This data is output in this format only by the VmDas program in the STA and LTA data files page 90 RD Instruments 12 2 VmDas User s Guide Navigation Data Format Detailed Explanation These fields contain the Navigation Data This data is only recorded in the STA and LTA files created by the RDI Windows software program VmDas The LSB s always sent first The ADCP Technical Manual has descriptions of commands used to set these values Table 19 Hex
38. 73 74 Number of The number of Magnetic Track samples averaged since the Magnetic previous ADCP ping Track Sam ples Avg P N 95A 6015 00 September 2003 page 93 VmDas User s Guide Table 19 Binary Navigation Data Format continued Hex Digit Binary Field Description Byte 140 152 75 76 Number of The number of Heading samples averaged since the previous Heading ADCP ping Samples Av eraged 153 156 77 78 Number of The number of Pitch Roll samples averaged since the previous Pitch Roll ADCP ping Samples Av eraged 13 Software History Version 1 40 e Fixed the problem with the year being set to number bigger than 100 e Changed format of displaying a date e Changed Copyright dates in About box e Fixed problem with names with too many underscores e Tied up Speed Log output rate to LTA e Fixed the problem with reprocessing that would stop at end of first N2R file e Fixed problem with OS when Use Options for low resolution mode would send W commands instead of N commands e Changed the time out message for ADCP and NMEA devices e Changed equatorial radius and flattening to match WGS 84 standard e Improved speed of reprocessing the data e Added ability to select an ENS file to the drop down list for the WINADCP read file selection e Fixed typo in WH600def txt file e Added Reference Layer source selection in Speed Log output e Changed the names of the averaging intervals on the Averaging Tab e Remove
39. DCP ensemble The next section shows a sample ensemble out data transmission The first byte in the ensemble out data stream is a START OF TEXT B byte This byte is also known as STX ASCII character 2 or Control B B VmDas always sends the STX byte when data transmission begins After the STX byte VmDas sends a 2 byte flag that represents the data type that will be sent next See Ensemble Out Data Format Description page 76 for an explanation of all the flags and associated fields used in the ensemble out data stream Sample Ensemble Out Data Transmission B 0 96 91 10 2 9 54 30 lt CR LF gt 1 4 4 1 4 0 0 0 O lt CR LF gt 6 1375 38 33 lt CR LF gt 23 1453 2 3 lt CR LF gt 85 1465 44 52 lt CR LF gt 49 1464 76 30 lt CR LF gt 2 44 1 4 lt CR LF gt 128 119 133 142 lt CR LF gt 129 103 120 110 lt CR LF gt 117 133 141 142 lt CR LF gt 134 141 134 127 lt CR LF gt 3 4 4 i 4 lt CR LF gt 167 155 159 168 lt CR LF gt 162 151 149 161 lt CR LF gt 154 145 137 154 lt CR LF gt 146 138 130 152 lt CR LF gt 4 4 4 1 4 lt CR LF gt 100 100 100 100 lt CR LF gt 100 100 100 100 lt CR LF gt 100 100 100 100 lt CR LF gt 100 100 100 100 lt CR LF gt 5 4 4 dl 4 lt CR LF gt 32678 32678 32678 32678 lt CR LF gt 32678 32678 32678 32678 lt CR LF gt 32678 32678 32678 32678 lt CR LF gt 32678 32678 32678 32678 lt CR LF gt 6 0 0 0 10 100 25 25 2 0 0 0 0 5000 25 0 0 0 2500
40. DCP setup will be used To set the ADCP commands using a command file select the Use File button Enter the name of an ADCP command file in the Command File box or click the Browse button to navigate to a file using a File Open dialog box This should be a text file with one ADCP command per line and can have any valid ADCP commands The contents of this file will be sent to the ADCP during initialization Suggested Setting for First Time Users Select the Use File button in the ADCP Setup file area and click the Browse button under the Command File window Select one of the default command files See Load a Command File page 9 and Command Files and ADCP Configuration page 46 and click Open Set the Ensemble Time as shown in Table 1 page 9 NOTE The ADCP automatically increases the Time per Ensemble if WP NP BP x TP gt the setting in Set time between ensembles box P N 95A 6015 00 September 2003 page 31 VmDas User s Guide 3 2 4 page 32 Recording Tab The Recording property page allows you to set the deployment name and path to where the data files are recorded Program Options C ications ADCF Setup Recording Transform Averaging Data Screening User Eats Simulated Inputs Deployment Files Name me Humber p The deployment number displayed here is automaticaly chosen by ay the sofware each time data is collected or reprocessed Change Max Size MB 10 the number to overrid
41. E command setting and uses data from the appropriate sensor If no sensor is available the ADCP defaults to the manual E command setting in in RD Instruments VmDas User s Guide strument coordinates regardless of the coordinate frame parameter of the E command setting The example command files contain either EZ1020001 for shipboard use or EZ1111111 for a stationary deployment such as Oil Rig plat forms Edit this command as needed ED The ED command sets the transducer depth Edit this to fit the ADCP and de ployment Store to Nonvolatile Memory CK This command stores the ADCP s current configuration in the ADCP s non volatile memory so that the ADCP wakes up in the same state after being shut down All commands above CK in the command file except CB see below will be permanently stored Commands sent after the CK command will not be saved Make sure CK is the last command in the command file VmDas sends commands after the command file is done These commands are not stored in non volatile memory Serial Port Configuration CB This command configures the ADCP s serial port VmDas watches for the CB command and provides the special handling that it needs First VmDas reads the CB command before sending it to the ADCP After the command is sent VmDas configures the PC serial port to match the ADCP Communication is not lost Second it is very important that the ADCP wake up with its serial port in a known
42. R extension data files as a time stamp It is not transmitted over any I O port PADCP ens yyyy XX XX XX XX SS SS xX x hh lt CR gt lt LF gt Table 17 PADCP NMEA Format Field Description 1 ens Ensemble number A variable length integer numeric field without leading zeros 2 yyyy Year 4 digits PC local time 3 XX Month 01 12 PC local time 4 XX Day 01 31 PC local time 5 XX Hours 00 23 PC local time 6 XX Minutes 00 59 PC local time 7 SS SS Seconds and hundredths 00 00 59 99 PC local time 8 X X PC clock offset from UTC in seconds 86399 99 to 86399 99 VmDas keeps track of the date time of GGA messages by recording the date time according to the PC clock when the message is read and calculating the offset between the times in the PC clock and the GGA message If the clock offset is added to a GGA message time the result is a local PC time The offset corrects for the difference in time zone between local PC time and GGA time UTC and any errors because the two clocks are not perfectly synchronized If no GGA messages have been read this field is null NOTES This message is used to synchronize ensemble data and NMEA data The year month day hour minute and second fields describe the time that a ping command was sent to the ADCP The ens field contains the number of the ensemble generated by the ping command Further Information About NMEA Strings Users who need full detai
43. SC104 Type 1 or 9 update null field when DGPS is not used Differential reference station ID 0000 1023 This field 1s used by VmDas RD Instruments 8 2 2 8 2 3 VmDas User s Guide HDG Heading Deviation and Variation Heading magnetic sensor reading which 1f corrected for deviation will pro duce Magnetic heading which 1f offset by variation will provide True heading HDG x x x x a x x a hh lt CR gt lt LF gt Table 6 HDG NMEA Format Field Description 1 X X Magnetic sensor heading degrees 2 X X Magnetic deviation degrees This field and the following direction field are null if deviation is unknown 3 a Direction of magnetic deviation E or W 4 X X Magnetic variation degrees This field and the following direction field are null if variation is unknown 5 a Direction of magnetic variation E or W This field is used by VmDas To obtain Magnetic Heading a Add Easterly deviation E to Magnetic Sensor Reading b Subtract Westerly deviation W from Magnetic Sensor Reading To obtain True Heading a Add Easterly variation E to Magnetic Heading b Subtract Westerly variation W from Magnetic Heading HDT Heading True Actual vessel heading in degrees True produced by any device or system pro ducing true heading HDT x x T hh lt CR gt lt LF gt Table 7 HDT NMEA Format Field Description 1 X X Heading degrees True 2 T HEX 54 This field is used by VmDas P N
44. TP000300 Six seconds between ensembles Since VmDas uses manual pinging TE is ignored by the ADCP You must set the time between ensemble in the VmDas Communication options TE00000600 Set to calculate speed of sound no depth sensor external synchro heading sensor no pitch or roll being used no salinity sensor use internal transducer temperature sensor EZ1020001 Output beam data rotations are done in software EX00000 Set transducer misalignment hundredths of degrees EAO0000 Set transducer depth to decimeters EDO0000 Set Salinity ppt ES35 save this setup to non volatile memory in the ADCP ER page 48 RD Instruments 4 2 2 VmDas User s Guide Commands that Should be in a Command File ADCPs mostly use the same set of commands but there are minor differences Consult the technical manual for a particular ADCP for details of 1ts com mands In addition some commands are not appropriate for all ADCPs For example only the Ocean Surveyor understands commands such as NP El and EJ They will cause errors 1f sent to other kinds of ADCP For RDI recommendations on which commands should be used with which ADCP check the example command file for the ADCP Restore Factory Defaults CRI It is a good idea to restore the ADCP to the known factory default configuration before starting CR1 should be the first command in the file Data fields WD Edit this to turn on or off each kin
45. VmDas User s Guide RD Instruments Acoustic Doppler Solutions P N 95A 6015 00 September 2003 Table of Contents 1 ay dojo Ulea q Lo y OPA AR N y gn 1 1 1 Conventions Used in this Guide cometas nee anne 1 1 2 SACAN nennen nnnnnnnnnnnnnnnennnnnnnnnnnnnnnnnnnennnennennnnnsnsnnnnsnnnnnsnnnnnnnnnnennn 2 1 2 1 US SINGAVVINGOWS 99 A ee 2 1 2 2 USING WINAOWSIN Taurina 3 1 3 So tMWware NS tal ui eos 3 Quick Star Guides arcada das 4 2 1 A Naeem ate at ee a ee ee eg rare nee ea eee re er ere eer eee 4 2 2 IO Lon ee 5 2 3 SAL VIE ae a eee A e 6 2 4 Ma rs le ele ee ae gsehe 7 2 5 Load a Command Ple dida cli 9 2 6 SEL REEOLdING OPIO Ss es ll e de aon 11 2 7 Setup the Transform Screen ea Ri 12 2 8 Save the User Option ci ars ea en ee ee 14 2 9 GCOlleetDala a een 15 VITID AS TU alas 16 3 1 Creating a Data O Pron File vag lt ii li de 16 3 1 1 SENG UD Data OPINAS io O 17 Saving Data OPIO Si oi eds codes codo cds 17 EO E A O ee en Duara ane guetta sia 18 Loading Dala OPOS a ee ante Mone ee 18 View the Current Data ODlIONS een an an La ie ia 18 3 1 2 SELUNG UB DISPIAY OBUONS a ee O 18 Edit DIS pla ODPIONS an een 19 Reference A nee ee 19 Ship Track Tabs een 21 Change Chan Propenliesz u 22 2 a na eine 23 3 2 Dala OPlIONSSEISEenSs anne ee ee ee re ee 25 3 2 1 Editing the Data Options a Ar ee ee ee 25 3 2 2 COMMUNICATION Tabs se aves i en een tee 26 3 283 ADCP Setup Tabea ae 30 3 2 4 Recordin
46. Y i oe Seen ee ae 64 8 2 1 GGA Global Positioning System Fix Data ooccccocccccccccnccnncnncnnnconononnncnncononnnrnnonnnrnnonarnnnnnnrnnonnnnnns 64 8 2 2 HDG Heading Deviation and VarlatiON ooccccocccconnccccnnonacnnoncnoconnnononnnnnnnnnnnnnnnnnnnnnncnnnninnnons 65 8 2 3 HD Hlead ng Sia da 65 8 2 4 VTG Track Made Good and Ground Speed cccoccnccccccccccnccccnccncnnconcncnncnonnnnnnnnnnnonnnonnnnnonnnnnnnnnnncncnns 66 8 2 5 SPASHR Heading Pitch and Roll ae a 66 8 2 6 PASHR ATT Global Positioning System Attitude Data 2222202222222seneneneeenneennnnenennennnn 67 8 2 7 PASHR AT2 Global Positioning System Attitude Data oonnncnnccccccccccccoooooooononooonononornnrnrrrnonnnnnnos 67 8 2 8 SPRD Den A NUN see 68 8 2 9 Reading NMEA Data crio tal ee ee ee 68 8 3 AMEA OUDOT sten een ee 69 8 3 1 VDDBT Depth Below Transducer ua nad 69 8 3 2 SVYDEHDT lt IHe ding MUG 2 nee a a ais esas 69 8 3 3 VDVBW Dual Ground Water Speed ea 69 8 3 4 SVDZDA T ime and Dale re a aa a ue EE adn 70 8 3 5 VITIINGEINMEA Data aura A A AA dde 70 8 4 Internal NMEA Messages init A A A Ae 71 8 4 1 SPADO P er nee ee re ee 71 8 9 Further Information About NMEA StringS 24400204s0nnenne nennen nennen nenne nnennnnnnennnnnnnnne nennen nenn 71 9 VIDS CUES a 22 2 2 ae dao aioe ole E 72 9 1 EnsembleOut ut Data seen sent uses sans Mal 72 9 2 Speed Log Output Data
47. after starting the pro gram It then needs to monitor the file size to determine when new data is available and it has to observe the same file size limits specified for VmDas and automatically advance to the next file in the sequence when the size limit 1s reached Program Options Communications ADCP Setup Recording Transform Averaging Data Screening User Exits Simulated Inputs WinAdcp Application Launch WinAdcp WinAdcp Path Data File To Open Refresh Interval sec Extemal Raw ADCP Data Screening Extemal Raw Nav Data Screening Pre Averaging Enable Figure 15 Users Exits Tab Click the Launch WinADCP checkbox to have VmDas automatically start the WinADCP application in monitor mode when data collection 1s started When in monitor mode WinADCP will periodically refresh its displays from the data recorded by VmDas and will allow you to view time series and contour graphs of the data From the WinADCP application menu you can exit the monitor mode to change the WinADCP setup and then reenter the monitor mode to con tinue the data updates The WinADCP application must be installed on the computer for this option to work Enter the WinADCP program file name in the WinADCP Path box including the entire path for the directory in which it resides VmDas uses this informa tion to find the WinADCP application Alternatively you may click the Browse button to navigate using the File Open dialog P N 95A 6
48. aging Data Screening User Exits Simulated Inputs Select tem to Set Current Settings COM Port Setup Ethemet Setup an an Il COM1 9600 N 8 1 N A C Navigation Input NMEA None 4800 N 8 1 T N A RPH Input NMEA None 4800 N 8 1 T N A Ensemble Output Binary LTA None 3600 N 8 1 T 5433 0 0 0 0 Ensemble Output ASCII None 9600 N 8 1 FT 5433 0 0 0 0 Speed Log Output None 3600 N 8 1 MT 54240000 Set Communication Parameters Here Com Port Baud Rate Party Data Bits Stop Bits W Enable Serial com 9600 No Paty fe f h Set Remote IP Pot Remote IP Address or Host Name es e E Step 4 On the Options menu click Edit Data Options Click the Communi cations tab and set the communications settings for the ADCP and NMEA ports Up to three serial ports may be enabled and configured for input and three more for output Click the ADCP Input radio button in the Select Item to Set box When this is done the controls in the Set Communication Parameters Here box apply to the ADCP Input port In the Set Communication Parameters Here box click the Enable Serial check box to enable the controls for configuring the serial port Set the serial port to match the ADCP serial port wakeup settings RDI strongly recommends 9600 No Parity 8 1 for the ADCP Input port When the settings are correct click the Set button and verify that the settings are reflected
49. alculates a reference velocity from speed made good and direction made good which is in turn calculated from the averages of position and time as received in the NMEA GGA messages for each ADCP data interval Velocity Units Choose between millimeters per second meters per second knots or feet per second for all displayed velocity data Depth Units Choose between meters centimeters or feet for all displayed depth data RD Instruments VmDas User s Guide Ship Track Tab When you click the Ship Track tab Figure 2 in the Display Options dialog box the following settings are displayed and may be changed Ship Track 2 C NAV Display as le a Bottom Track BT Bottom Track BT BT Water Mass Ref Layer BT Water Mass Ref Layer Water Curent Profile Layer Water Curent Profile Layer Bins Bins Start ie Stat 2 End JB End B Displayed ship movement distance units f Kilometers Meters Miles Feet Current Sticks Ship Track 1 Ship Track 2 Fe fi a Fre fr a Fon 3 Gem fF a i Blue a3 EN W Blue 3 EN Figure 2 Ship Track Tab Ship Position Source For each ship track plot choose between NAV Bottom Track Water Mass Reference Layer and Current Profile Layer e If NAV is selected the last NMEA GGA position received in each ADCP data interval is used to calculate the ship track and can be displayed as a Lat Lon position or as a distance from the initial po sition received withi
50. art of a non supported NMEA string e g Ashtech s SGPPAT position and attitude NMEA string into a supported string e g RD Instruments PRDID NMEA string NOTE The last three user exits are enabled by clicking on their associated checkboxes in the User Exits tab However VmDas does not currently support automatic launching of these user exits They must be launched independently before selecting Go on the Control menu in VmDas page 80 RD Instruments VmDas User s Guide 10 1 Tips and Tricks to Creating User Exit Programs There are many non supported NMEA string formats for position heading and pitch roll devices In order to use a non supported NMEA string with VmDas the user needs to create a User Exit program The User Exit program needs to do the following Opens the NIR or N2R file for input the file may not exist right away so it must clear the error condition and keep trying Creates the N1J or N2J file for output Read characters from the file until an end of line 1s found It has to handle the fact that 1t will often see an End Of File condition be cause the data may not be there yet but it must clear the error condi tion and keep trying The best way to do this might be to check the file status in a loop to get the current file size and detect when 1t changes Each time it has read a complete line decode and convert the non supported NMEA string into a xxHDT string the first two letters
51. ata Speed Log Output Data Speed log data output consists of the NMEA VBW and DBT messages and is calculated from the short term averaged data Use the following procedure to enable speed log data output NOTE Speed log data is not stored to a disk file It is only sent to a serial port and or an Ethernet port a On the File menu click Collect Data b If you have created a User Option File on the Options menu click Load Choose your file and click OK c On the Options menu click Edit Data Options d On the Communications tab select the Speed Log Output button e To output the data to a serial port click the Enable Serial box and config ure the serial port parameters then click the Set button to apply the new RD Instruments VmDas User s Guide configuration Verify that the new settings appear in the Current Settings section f To output the data to a network port first choose an IP port number VmDas uses 5434 by default which should be fine for most users Remote clients will need to know the IP port number and the IP address of the com puter running VmDas to receive data Click the Enable Network box and set the Local IP Port number VmDas will use the local machine s IP address automatically Click the Set button to apply the new configuration Verify that the new settings appear in the Current Settings section After data collection has started a remote client can request a TCP IP con nection
52. ath to the command text file You can use this same method in case you wish to create several different setup files for the same machine As an example you could create a command text file that has a 6 meter bin size You might save this to a text file with the name BB150BIN6M TXT and call the n file 6METER INI You could then create another command file and ini file with a 16 meter bin size page 16 RD Instruments VmDas User s Guide with the same concept Then when you want to actually use the proper command file you just have to select the ini file you intend to use 3 1 1 Setting up Data Options When data collection or data reprocessing 1s started the current data options tell VmDas how to collect and process data e Data options are not used for playing back data Editing them is not allowed in playback mode e VmDas stores current data options They persist until changed even if VmDas 1s closed and restarted e Ifthe current set of data options is not satisfactory they must be changed before starting data collection or data reprocessing Once collection or reprocessing has started it must be stopped before changes can be made e Current settings can be viewed at any time when a mode is selected e The current data options can be replaced with a set of data options stored in an INI VMO or VMP file The current options can be edited Saving Data Options When the current data options are changed th
53. ave As e Enter a file name for the 1ni file that you have just created j To start data reprocessing on the Control menu click Go You should see the Ensemble number increase on the Processing Bar during reprocessing If the Processing Bar is not visible Click View Processing Bar When re processing is done you will see the message Done next to the toolbar Es RD Instruments YmDas File View Options Control Chart Window Help VmDast El E Done Processing Deployment C Program Files RD Instruments mDas SAMPLE 002 Figure 19 Reprocessing Done Message RD Instruments VmDas User s Guide 6 Playback a Data File a Start VmDas Click File Playback Data b Browse and locate the data file for the data you wish to view Click Open NOTE VmDas will automatically search for enr enx sta and lta files In order to view files that use other naming conventions the user can either type the file name directly into the File name field of the Open File dialog box or click in the Files of type box to select the All files filter from the drop down list c On the Playback Tool Bar click Play EX YmD as NKK001_009_000000 STA A ES File View Options Control Chart Window Help a x Ki RD gt ol so welocity Ens 16 Data Quality Ens 16 Velocity mis Direction deg Counts amp Percent 0 0 05 10 15 2 0 250 S00 T 750 1000 1000 0 25 50 75 100 0
54. b VmDas can collect data from one to three input serial ports When collecting data ensembles must be read from the ADCP input port The Navigation and RPH input ports can collect NMEA data if desired If both NMEA ports are used see Reading NMEA Data page 68 for details on which sentences are accepted at which port Enabling an input port instructs VmDas to listen for data at that port to log all data received to a file and to generate error messages if data 1s not received VmDas enforces some rules for input port options e Duplicate or invalid COM ports cannot be specified for active ports e If options on the Transform page use NMEA data at least one input port must be configured to accept it e If only one NMEA port is enabled it must be the Navigation port VmDas can write data to up to three output serial ports and up to three TCP IP ports RD Instruments VmDas User s Guide VmDas can provide up to three optional real time outputs through serial ports Ethernet ports or both Enabling an output port instructs VmDas to write data to that port whether or not anyone 1s listening Ensemble Output Binary LTA provides long term averaged ensembles This output 1s a copy of the LTA output file Ensemble output ASCII converts binary ensembles to an ASCII format If this port is enabled the data to be written must be selected in the Set Ensemble Output Configuration Here box Speed Log Output produces NMEA mes
55. could be anything as VmDas doesn t care about the device ID Write the new xxHDT string out to the N1J or N2J file Repeat This program can be written in any of several ways DOS type program written using Borland C or Turbo Pascal or other programs Windows console program Visual Basic program Visual C program In other words you can use any development tool that can create a program that will read and write disk files on a PC running the Microsoft Windows operating system P N 95A 6015 00 September 2003 page 81 VmDas User s Guide 10 2 10 3 page 82 Example 1 Modifying Raw ADCP Data VmDas writes the ADCP raw data into a file with the naming convention ENR The format of this data is the ADCP raw binary data The data file ENR is normally read in by the VmDas screening and filtering stage of the software The output of this screening and filtering is then written into a file with the naming convention of ENS A user can set an option via the User Exit tab that will instruct the VmDas program to read in a file with the naming convention of ENJ instead of the ENR file This allows the user to write their own program which can modify the data n side the ENR file in anyway as long as they write the data back out into a file with the same original data format as the ENR file except they rename the file ENJ The VmDas program will read in the ENJ file and screen and process it as 1t woul
56. d have the ENR file An example of why a user may want to do this is that the user wishes to screen the heading data that is read directly by the ADCP gyro interface board and output to the ENR data file The user could write a program that would read the heading data from the ENR file and compare that heading data to the heading in the NMEA data file NIR or N2R The user can then decide based on an algorithm they write which heading is more accurate to use The user would then take the heading they chose to use and write this new heading value into the raw ADCP ensemble file ENJ being sure to modify the ADCP checksum for that ensemble as required The VmDas would read in the ENJ file because the user had selected the User Exit Option for RAW ADCP Data Screening Example 2 Modifying Raw NMEA Data VmDas writes the NMEA raw data into a file with the naming convention NIR or N2R depending on which NMEA device we are working with The format of this data is ASCII and is in the same format as what is transmit ted by the users NMEA device with one exception That exception being we add an ADCP mark or time tag string PADCP The NIR or N2R data file is normally then just converted to binary and stored in a file with the nam ing convention NMS A user can set an option via the User Exit menu that will instruct the VmDas program to read in a file with the naming convention of N1J or N2J instead of the NIR o
57. d of data to record in the output file Profile WP For VmDas to perform correctly command files must set the ADCP for single ping data This means either a WP1 command must be present 1f velocity pro file data is desired or WPO 1f not Most Navigators do not recognize the WP command unless they have the Water Profiling upgrade installed It should not be in command files intended for Navigators without this upgrade NP Command files for Ocean Surveyor should include NP1 or NPO Other ADCPs do not recognize this command and should not have it WS WF WN WV or NS NF NN for Ocean Surveyor s using the NP1 command These commands configure the velocity profile Edit these to fit the ADCP and deployment Omit them for ADCPs that do not have water pings Bottom Track BP For VmDas to perform correctly command files must set the ADCP for single ping data This means a BP1 command must be present 1f bottom track data 1s desired or BPO if not P N 95A 6015 00 September 2003 page 49 VmDas User s Guide page 50 Some Workhorses do not recognize the BP command unless they have the Bot tom Track upgrade installed It should not be in command files intended for Workhorses without this upgrade BX This sets the maximum bottom tracking depth the ADCP will use Edit it to fit the ADCP and deployment Some Workhorses do not recognize the BX command unless they have the Bot tom Track feature upgrade installed It should
58. d the grayed out spatial averaging interval selections from the Averaging tab e Removed the grayed out Application Selection items in the User Exit tab page 94 RD Instruments VmDas User s Guide e Changed version number string to match new standard e Fixed the problem with program crashing when Bottom Track was selected as reference in ASCII out and Bottom Track was not avail able e Added ability to use COM port above 9 e Added ability to pass a file name for playback on the command line e Fixed problem with internal heading to be more than 360 degrees e Activated Preview button under ADCP Setup from File and re named 1t to View Edit e Made Reference Layer labels consistent e Disabled display of serial product number 1f not necessary e Added sending of CR1 command before any other commands P N 95A 6015 00 September 2003 page 95 VmDas User s Guide NOTES page 96 RD Instruments
59. e Each digit is number of double differences for V12 V13 V14 PDOP This field 1s used by VmDas P N 95A 6015 00 September 2003 page 67 VmDas User s Guide 8 2 8 PRDID RDI defines a proprietary NMEA message that contains ship heading pitch and roll data PRDID x x x x x x hh lt CR gt lt LF gt Table 12 PRDID NMEA Format Field Description 1 X X Vessel Pitch degrees bow up 2 xx Vessel Roll degrees port up 3 X X Vessel Heading degrees True This field is used by VmDas NOTE PRDID pitch and roll are not the standard gimbaled pitch and roll They are simple tilts of the mast In most cases the difference is small VmDas ignores the difference 8 2 9 Reading NMEA Data NMEA input is required n all moving vessel open ocean data collections However VmDas can just collect ensembles from an ADCP If NMEA data is to be used options must be set in the communications tab to configure the se rial ports to read the data up to two serial ports are available Each enabled port logs all data that arrives The Navigation port logs to a file with an NIR extension The RPH port uses an N2R extension The ports are not interchangeable VmDas expects certain data at each one Any unexpected NMEA messages will be logged but not processed further If only one port is enabled 1t must be the Navigation port When used alone this port will process any GGA HDG HDT VTG PRDID PASHR PASHR ATT and
60. e Max Size MB the number to ovemide the software s choice Output Directories Dual Output Directories Primary Path C Program Files RD Instruments VmDas Browse Backup Path Cancel Help Figure 18 Reprocessing Data Recorder Tab P N 95A 6015 00 September 2003 page 57 VmDas User s Guide page 58 e Click the Transforms tab see Transform Tab page 34 e The Heading Source needs to be selected for the input you intend to use If you will use the gyro heading being fed into the ADCP real time then leave 1t selected to ADCP e The Tilt Source needs to be selected for the input you intend to use f Click the Averaging tab see Averaging Tab page 39 e Enter a time value for the First Time Interval This is the Short Term Average which will become file name with a sta extension Enter a time value for the Second Time Interval This is the Long Term Average which will become file name with a lta extension You can set these to any times you like and they may even be the same g Click the Data Screening tab e You are able to screen data based on the items in this menu and the thresholds you decide This screening will affect what is displayed on the screen and what data is recorded to the sta and Ita files The original raw data will be unaffected by what is setup here h Click OK to exit the Edit Data Options screen 1 Save the User Option file by clicking Options S
61. e Water Current Profile Layer velocity reference Program Options Communications ADCP Setup Recording Transform Averaging Data Screening User Exts Simulated Inputs Select Item to Set Current Settings COM Port Setup Ethemet Setup on on ADCP Input 7 COM1 9600 N 8 1 I N A Navigation Input NMEA None 4800 N 8 1 I N A C RPH Input NMEA None 4800 N 8 1 I N A C Ensemble Output Binary LTA None 9600 N 8 1 5433 0 0 0 0 C Ensemble Output ASCII None 9600 N 8 1 5433 0 0 0 0 None 9600 N 8 1 5434 0 0 0 0 Baud Rate Parity Data Bits Stop Bits None 9600 NoParty g i f Set Local IP Port Uses Local P Address I Enable Network 5434 local Address Sat Set Speelog Output Configuration Here Data Select STA Shorttem avg Earth v Water Reference Layer Source Water Current Profile Layer hd Figure 7 Communications Tab Speed Log Output Selected NOTE Ifthe start and end bins are out of range e g the ADCP ensemble contains 40 bins and you set the Output Start Bin 1 and the Output End Bin 50 VmDas automatically adjusts the output bin range to the ADCP ensemble i e Output End Bin 40 Suggested Setting The parameters set in the ADCP input port should match the ADCP wakeup serial port settings RDI recommends that the ADCP wakeup serial port settings be set at 9600 BAUD no parity 8 data bits
62. e old version is overwritten To keep from losing a set of options they should be stored in a file by clicking Options Save As e The Save As option is available only when options have been edited but not saved in a file e Choose a file name that suggests the purpose of this set of data op tions VmDas will add the INI extension to the name No extension should be supplied by the user e Whenever data collection starts the current data options are auto matically saved in a VMO file e Whenever reprocessing starts the current data options are automati cally saved in a VMP file e All of these files are stored as standard Windows INI files They are easy to read with a text editor Editing them directly is not recom mended P N 95A 6015 00 September 2003 page 17 VmDas User s Guide Error Messages Some options or combinations of options are illegal VmDas detects some of these bad settings and refuses to allow them to be saved or used e Clicking OK or Apply on the Edit Data Options dialog box causes VmDas to do a consistency check and save the new settings as the current data options if no errors are found e The check is also done when starting data collection e Ifan error is found a message describing the error will pop up and no changes will be saved The user can either correct the problem or cancel editing and lose all changes made Loading Data Options On the Options menu click Load By default onl
63. e only These commands are generated if Use Options is selected on the ADCP setup tab If the Heading Correction Enable box in the Transform tab is checked then EAO and EBO or EVO commands are generated If the Tilt Correction Enable box is checked then an EAO command will be generated For Ocean Surveyor EIO and EJO are generated as well P N 95A 6015 00 September 2003 page 53 VmDas User s Guide 44 3 Detailed ADCP Initialization Procedure a Open the serial port using the settings from the Communications tab b Send a break c Interpret the ADCP s response to the break to determine what kind of ADCP is present d For OS Initialize the ADCP time to the PC time with a TS command e Ifacommand file 1s selected copy it to the ADCP one line at a time with the following caveats e Letters are converted to upper case e Comments lines starting with are ignored e CS Start Pinging and CZ Power Down commands are not sent e Baud rate commands CB are held until all other commands in the file have been sent e After each line a check is done for an error message from the ADCP If one is found no further commands from the file are sent Initialization will start over e Immediately after sending a CB command change the PC serial port parameters to match the CB command f For BB WH and NV read the beam to instrument transformation matrix Write it to a log on the hard disk g If Use Options was selected
64. e sure to back them up first and save the file in plain text format when you have finished editing Extra formatting characters inserted for other document file formats will make the file unreadable by VmDas 3 1 Creating a Data Option File In the following you will be creating a Data Option file that will be used to program both the ADCP and VmDas software processing The VmDas WinADCP and RDI Tools software should be installed on your computer as outlined in Software Installation page 3 Connect the ADCP to a computer as shown in the ADCP Technical Manual and apply power to the ADCP Start VmDas Click File Collect Data b Click Options Load Select the Default ini file Select Open c Click Options Edit Data Options See Data Options Screens page 25 for details on each tab Once you have set all the parameters click OK to exit the Edit User Options screens When OK is clicked VmDas checks the new options for consistency For example 1t 1s not allowed to use the same serial port twice on the Communications tab If VmDas finds an er ror 1t will display an error message box and refuse to close the Edit Data Options dialog box You may either correct the error s or use Cancel to abandon all changes to the options d Save the Data Option file by clicking Options Save As Enter a file name for the in file that you have just created This ini file will save the setup in all of the tabs including the p
65. e the software s choice Primary Path C Program Files RD Instruments VmDas Browse Backup Path Figure 9 Recording Tab Enter a name that identifies your deployment This name will be used as part of the filename for each file that is part of this deployment see File Naming Conventions page 86 Normally you do not need to enter a starting Number as the software handles it automatically This deployment number is used to identify the specific data collection run and becomes part of the filename of each data file recorded for the deployment If you do not enter a deployment number the software will automatically assign one for each deployment Enter the desired Maximum File Size Each file type in your deployment will be limited to the specified size Each file has a sequence number as part of the file name and as each recorded file reaches the specified size limit the se quence number will be incremented and a new file started It is recommended to not set the Maximum File Size greater than 10MB as larger files will slow data processing considerably RD Instruments VmDas User s Guide For example a data files produced by VmDas during data collect mode has the following file name RDI000_000001 enr where RDI is the user entered name for the deployment 000 is the deployment number changes with each stop restart 000001 is the file sequence number which is incremented when the specified maximum fi
66. e useful to have the ADCP and a computer available to follow along You may also want to keep the ADCP Technical manuals handy for reference when you want more detail ADCP Setup Step 1 Connect the ADCP and computer as shown in your ADCP Technical Manual If you have not already installed VmDas and the RDI Tools CD do so as outlined in Software Installation page 3 Use this area for notes RD Instruments VmDas User s Guide 2 2 Test the ADCP BBTalk COM1 E File Edit View Transfer Toole Window Help x Dy Hie E 2 WH ADCP Test HHAHHHA AHA The following tests are basic tests which will confirm that your system is ready for use Some tests will need to be run with the system in water You will be prompted when this is necessary connect the wH ADCP to power and the PC as described in the manual Turn on power to the wH ADCP The results of all tests will be printed to the screen and saved to the loq file wH_TESTS TXT A Tile called wH_TESTS TXT with the results of this test will be created in the same directory as the BBTALK program is running from The following tests will be performed FA Basic Internal System Tests PEZ sensor verification Test PCL Beam Continuity Test Program is delaying 20 seconds before continuing Press lt Enter gt to continue Ready LALJ IL IL IL IL IL IL IL LIL IL IL IL IL IL
67. e water is stored in a separate location in the bottom track data Enabling this feature will reference all of the profile velocities to this recorded speed through the water This feature is typically enabled only when the bottom track is not possi ble and navigation data will not be collected The Water Current Profile Layer is setup as a totally independent water layer to reference the averaged data in either the STA or LTA files The user should set this to a number of consecutive bins that will represent only the vessel motion 1 e that has as little real water motion as possible The Start and Stop bins selected will all be averaged together to produce a single speed through the water This speed through the water 1s stored in a separate location in computer RAM If not used it 1s discarded and not recorded Enabling this feature will reference all of the profile velocities to this recorded speed through the water This feature 1s intended to be used when there is no bottom track or navigation data available Delta Position calculates a reference velocity as delta position di vided by delta time where the position data 1s obtained from the NMEA GGA message The position used in the calculation is the first and last GGA position received in each ADCP data interval Speed calculates a reference velocity from speed and direction ob tained from the NMEA VTG message by resolving them into East and North components Speed Dir Made Good c
68. each ensemble VmDas reads this flag and corrects internally before doing the transformation to earth coordinates The unit for all angles is degrees RD Instruments VmDas User s Guide 3 2 6 Averaging Tab The Averaging property page allows you to set the Ensemble Averaging inter val and Reference Layer Averaging properties Program Options Communications ADCP Setup Recording Transform Averaging Data Screening User Exits Simulated Inputs Averaging Method First Time Interval STA 1120 seconds Second Time Interval LTA 1600 seconds Profile Ping Normalization Reference Layer W Enable Start bin 13 End bin 10 Figure 13 Averaging Tab Enter the Temporal Averaging short term averaging in the First Time Inter val STA box Use the short term average to get more frequent updates for a data quality check The First Time Interval STA is what we refer to as the Short Term Average which will become file name with a STA extension Enter the long term averaging period in the Second Time Interval LTA box Use the long term average to get your intended results The Second Time In terval LTA 1s what we refer to as the Long Term Average which will be come file name with a LTA extension Enable the Profile Ping Normalization Reference Layer checkbox to turn on or off the reference layer averaging feature Using a Reference Layer helps removes biases caused from accelerations on platforms or ships
69. ed condition so that VmDas may continue to access the file and update it with the new ensembles page 84 RD Instruments VmDas User s Guide VAWN OSV CCN x paea Jasn yxe Jasn VAWN VAWN IIOSY UN ejendoJg E Iay leuIg dun ssa90Iday OWA SUINEay SAN i VAWN IIOSV HLN JINN 00d Aseulg VAWN IIOSY PLN VAIN 00d Meulg pajealo Jos OWA ssadolday Ur suneoy odd Meulg UNT INN 00d Aseulg 0dd Heug yxa Jasn TNT Buluaalos eIep dOQV Mes eula x3 NUOAX yxa Jasn HASN UONEWJOJSUEJ S EUIPIOOD paeas asp paea Jos User Exits Figure 24 page 85 P N 95A 6015 00 September 2003 VmDas User s Guide 11 RD Instruments page 86 File Naming Conventions Data files produced by VinDas during data collect mode have the following filename format DeployName000 000000 Ext Where DeployName is a user entered name for the deployment up to 128 characters 000 is the deployment number changes with each stop restart 000000 is the file sequence number which is incremented when the specified maximum file size is reached and Ext is the file extension and reflects the type of data in the file Reprocessed files have a similar format DeployName000 000 000000 Ext Where 000 Represents the reprocessing number and gets incremented each time the same raw data is reprocessed The other fields are the same as for the data collect mode for mat and
70. ed or the type of ADCP connected It should be noted that VmDas will override a command in a command file 1f it will setup the ADCP in such a way that it would conflict with VmDas ability to process the data The following sections explain the specific commands that are over written Manual pinging VmDas always generates a CF 0111x command where x indicates that the last bit 1s unchanged from its current setting This bit controls the recorder This setup places the ADCP n a Manual Ensemble mode A Manual Ensemble mode means that VmDas will control the timing of ADCP ensembles and there fore the ADCP TE command is ignored VmDas sets up the ADCP for single ping Water Profile and single ping Bottom Track if Bottom Track 1s required Because of this setting the ADCP ensemble can be thought of as a ping and thus manual pinging Beam Coordinates VmDas always generates an EX00000 command This places the ADCP in Beam Coordinates With the ADCP in Beam Coordinates VmDas 1s able to perform the transformations to Earth Coordinates The advantage of this 1s VmDas can interface with external Heading Pitch and Roll sensors and there fore it can be setup to use either the internal or external input for this informa tion Heading and Tilt Corrections Depending on options the user has selected and the type of ADCP VmDas may generate EA0 EBO EVO EIO or EJO commands EVO EIO and EJO are gen erated for Ocean Surveyor with recent firmwar
71. en VmDas saves the ENS ENX STA and LTA files Figure 25 show the sequence in which the VmDas program creates the ENS ENX STA and LTA files that make up the binary output buffer Figure 26 page 88 shows the format of the binary Navigation Data Table 19 page 91 lists the format bytes fields scal ing factors and a detailed description of every item in the binary navigation output buffer Always Output WD command Aecom PERCENT GOOD BP command BOTTOM TRACK DATA See Binary Navigation Data Format page 88 NAVIGATION DATA 78 BYTES RESERVED Always Output CHECKSUM Figure 25 ENS ENX STA and LTA Binary Output Data Format NOTE For a full description of the Binary Output Data Format i e Header Fixed Leader Data etc see the ADCP Technical Manual Commands and Output Data Format guide This guide is also available in Adobe Acrobat Reader pdf format on RDI s website and on the documentation CD sent with your system P N 95A 6015 00 September 2003 page 87 VmDas User s Guide 12 1 Binary Navigation Data Format Figure 26 Binary Navigation Data Format BIT POSITIONS BYTE 1 NAVIGATION ID LSB 00h 2 MSB 20h 3 UTC DAY 4 UTC MONTH 5 LSB UTC YEAR 6 MSB T LSB 8 UTC TIME OF FIRST FIX 9 10 MSB 11 LSB 12 PC CLOCK OFFSET FROM UTC 13 14 MSB 15 LSB 16 FIRST LATITUDE 17 18 MSB 19 LSB 20 FIRST LONGITUDE 21 22 MSB 23 LSB 24 UTC TIME OF LAST FIX 25 26 MSB 27 LSB 28 MSB LAST LATITUDE
72. entions Used in this Guide Conventions used in the VmDas User s Guide have been established to help you learn how to use VmDas quickly and easily Windows menu items are printed in bold File menu Open Items that need to be typed by the user or keys to press will be shown as lt F1 gt Ifa key combina tion were joined with a plus sign lt ALT F gt you would press and hold the first key while you press the second key Words printed in italics include program names VmDas BBTalk and file names Test001r 000 Code or sample files are printed using a fixed font Here is an example WorkHorse Broadband ADCP Version X XX RD INSTRUMENTS c 1996 2002 ATL RIGHTS RESERVED gt P N 95A 6015 00 September 2003 page 1 VmDas User s Guide You will find two other visual aids that help you Notes and Cautions NOTE This paragraph format indicates additional information that may help you avoid problems or that should be considered in using the described features CAUTION This paragraph format warns the reader of hazardous procedures for example activities that may cause loss of data or damage to the ADCP 1 2 System Requirements VmDas requires the following e Windows 95 see Using Windows 95 page 2 Windows 9868 Windows NT 4 08 with Service Pack 4 installed see Using Win dows NT page 3 Windows 20008 or Windows XP e Pentium class PC 233 MHz 350 MHz or higher recommended e 32 megabytes
73. eptember 2003 page 73 VmDas User s Guide 9 3 page 74 e The VBW message will contain bottom speed data only if the ADCP has been configured to produce bottom velocity data The BP com mand is useful here e The DBT message will contain depth data only if the ADCP has been configured to produce bottom track range data This data 1s present whenever bottom track data is being produced and the bot tom is inrange The BP and BX commands are useful here e The Options on the ADCP Setup tab can override the BP and BX commands in a command file To use the ADCP defaults for these commands or to set them from a command file the Set BT On Off box must be unchecked Ensemble Output ASCII Data ASCII out files contain a fixed format of text You can then use these files in other programs spreadsheets databases and word processors a On the File menu click Collect Data b On the Options menu click Edit Data Options If you have created a User Option File click Load c On the Communications tab select the Ensemble Output ASCII button d To output the data to a serial port click the Enable Serial box and config ure the serial port parameters then click the Set button to apply the new configuration Verify that the new settings appear in the Current Settings section e To output the data to a network port click the Enable Network box and set the Local IP Port number VmDas will be the server and the local ma c
74. g Lana ee ne rennen An Renee ii 32 3 2 5 Trans Our ea Nooo este A ee 34 Note About Conventions a ee ii ii 37 3 2 6 Av raging Cid lid weecaice 39 3 2 7 Data Screening Tai taa less ee 41 3 2 8 USELSIERIS AD dd eig ener yeti 43 3 2 9 Simulated INPUES TD ai retador N toria teria ee cen 45 Command Files and ADCP ConfiguratiON coonnnccconnciconcnncccnnanccnnnancononnnrrnnnnancnnnannrenanarernanarernnannos 46 4 1 Example Command Files ooccccocnccocnccoccncccnnccncncnonnnnnnnnnnnrnnonnnnonnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnininanos 46 4 2 Creating Command Files ui a Sah wh See Gea e ice ca re 46 4 2 1 Command File Basics seen anne ee ee 47 4 2 2 Commands that Should be in a Command File 00222002200002000 nenne nnnne anne nnnnne nenne nennen 49 4 3 How VmDas uses Command Files 2 200222000200002000 nenne nnnnnnnnnn nenne nenne anne nenn ennnnenennennnnennnnnn 52 4 4 Detailed AD CP Initialization csi a a dad 52 4 4 1 PAIRS VATIONS sexes ia a aa lt es le e a bs dale ad a NEE 52 4 4 2 Choosing Setup Paramelers aii 52 4 4 3 Detailed ADCP Initialization Procedure 222200242002000000000 00000 nnnnn nano nenne nnnnnnnnnnnnnnne nenne nnnnnnnnenn 54 Reprocessing Data with DS a sed etna cenncncenvorm need enanes taetaane einieseamnenes Aeneas 57 Playback a Data Plena 59 TULNKEVY MOGO ui A ee 60 8 VvnDaSs ana NMEA D3l a een 62 8 1 GeneralNMEA Data Format era Reel 62 8 2 AME AN
75. g information The speed log contains VDVBW ground water speed VDDBT depth VDHDT Heading True and VDZDA UTC Time and Date General NMEA Data Format Much of the following information was abstracted from the NMEA 0183 stan dard Discussion 1s limited to NMEA strings that VmDas understands All NMEA messages are ASCII strings with the general format as shown in Table 3 Table 3 NMEA Data Format String Description HEX 24 start of sentence lt Address field gt Approved address fields consist of five characters defined by the NMEA 0183 standard The first two characters are the TALKER identifier The next three characters identify the message The proprietary address field consists of the proprietary character P followed by a three character Manufacturer s Mnemonic Code used to identify the TALKER issuing a proprietary sentence and any additional characters as required VmDas accepts any two valid characters as the TALKER identifier in approved address fields RD Instruments uses the RDI Mnemonic Code for proprietary address fields even though it is assigned to Radar Devices VmDas also uses the unassigned ADC Mnemonic Code for its own data files lt data field gt Zero or more data fields each preceded by a comma HEX 2C delimiter The number of data fields and their content are determined by the address field D l Data fields may be null contain no characters The comma delimiter is
76. he heading pitch and roll information from the ADCP in the ADCP leader data ID Additionally it will store heading pitch and roll sensor data from a NMEA device in the NMEA data ID This means that your data can contain information from both a direct connection to the ADCP and from an external input NMEA The Transform tab allows you to select which of these are actually used in the transformation RD Instruments VmDas User s Guide Heading and Tilt Sources VmDas can accept heading and tilt data from five sources e ADCP internal sensors e External sensors gyro connected directly to the ADCP e Fixed heading and tilts entered in the ADCP with a command file e External NMEA sensors connected to the PC e Fixed heading and tilts entered as options in VmDas For the first two data sources heading pitch and roll data are obtained from the variable leader of the ADCP ensembles Select the ADCP compass gyro heading option and the ADCP tilt gyro tilt option to use them in your trans formation To use a VmDas generated fixed input for Heading Pitch and Roll select Fixed Heading and or Fixed Tilts Once selected enter in the fixed heading or tilts you require This information will be stored in the VmDas configura tion file To use an external sensor input that produces data in NMEA format select the heading or tilt option that contains the NMEA sentence you wish to read Ex ternal sensor NMEA data is stored in the NMEA data ID
77. hine s IP address will be used automatically After data collection has started a remote client can request a TCP IP connection using the specified port number and the IP address of the computer running VmDas to receive the data f In the Set Ensemble Output Configuration Here section check the box for each type of data within the ensemble that you want output In the Data Select box select the desired data source In the Velocity Ref box select the desired reference velocity to be applied to the profile data In the Out put column select the desired depth cell range to output by setting the Start Bin and End Bin If Water Current Profile Layer is selected as the velocity reference then in the Profile Layer column select the desired depth cell range to use as the reference velocity by setting the Start Bin and End Bin RD Instruments 9 3 1 9 3 2 P N 95A 6015 00 September 2003 VmDas User s Guide ASCII Ensemble Output Format This section explains the format of the data sent from the ADCP to the ensem ble out serial device after each ADCP ensemble Sending ensemble out data is an option in the Options Program Options Communications Setup menu You set the communications protocol and select the data to send to the ensem ble out device through the Communication options Ensemble out data are in ASCII with fixed field lengths The transmission of ensemble out data occurs after VmDas finishes recording ADCP data after each A
78. identify the raw data source that was reprocessed The file extensions have the following meaning ENR Raw ADCP data file see your ADCP Technical Manual Commands and Output Data For mat guide for the output data format LTA ADCP plus Navigation Data see Binary Navigation Data Format page 88 data that has been averaged using the long time period specified in the Options Edit Data Options Averaging tab STA ADCP plus Navigation Data see Binary Navigation Data Format page 88 data that has been averaged using the short time period specified in the Options Edit Data Options Averaging tab ENS ADCP data after having been screened for RSSI and correlation by VmDas or adjusted by the user via a User Exit Also has Navigation Data see Binary Navigation Data Format page 88 records merged into the ensembles from the NMS file ENX ADCP single ping data plus Navigation Data see Binary Navigation Data Format page 88 after having been bin mapped transformed to Earth coordinates and screened for error velocity vertical velocity and false targets This data is ready for averaging N1R Raw NMEA data files text files includes ADCP time stamps with the following format N2R PADCP eeeee yyyymmdd hhmmss nnnnn nn lt CR gt lt LF gt Where eeeee ADCP ensemble number yyyymmdd Year Month Day date of ADCP ping hhmmss ss Hour minute seconds hundredths Time of ADCP ping nnnnn nn
79. in the top row of the Current Settings section P N 95A 6015 00 September 2003 page 7 VmDas User s Guide page 8 VmDas can accept optional NMEA data on up to two serial ports Navigation input is GPS data RPH 1s roll pitch and heading data If both types of data arrive on a single serial port use the Navigation Input NMEA port and leave the RPH Input NMEA port disabled If GPS data appears on one port and RPH data on another port then use the Navigation input NMEA port for GPS data and the RPH input NMEA port for your RPH data They will not work properly 1f reversed Configuring the NMEA ports is much the same as configuring as for the ADCP Input port The NMEA standard requires the settings to be 4800 No Parity 8 1 however some equipment can transmit faster NOTE For more information see the Communication Tab page 26 Use this area for notes RD Instruments VmDas User s Guide 2 5 Load a Command File Program Options Communications ADCP Setup Recording Transform Averaging Data Screening User Exits Simulated Inputs ADCF Setup from Options Water Current Profile Heading Sensor Use Options r 7 Number of Bins a e a Synchro Stepper Blank Distance Tit Sensor Transducer Depth iv e e Bottom Track Bi a e Maximum Range meters Browse Ensemble Time Ping as fast as possible Set time between ensembles Ensemble Time seconds Step 5
80. ion Many times these systems do not come with a coordinate transfor mation algorithm built into them The user 1s responsible for this conversion Special Notes Included in the Transformation routine are the following func tions If the user chooses to perform their own Transformation they must en sure that these functions are also covered A description of how RDI performs this transformation is included in the Coordinate Transformation Booklet available on RDI s web site e Selection of the attitude sensor based on the user input during Edit Data Options e Apply Heading Corrections e Apply Beam Angle Corrected Matrix table read from the ADCP e Bin Mapping e Three Beam Solutions e Mark Data Bad Below Bottom e Error Velocity Screening e Vertical Velocity Screening e Percent Good Calculations and Screening 10 5 User Displays The VmDas program has its own display modules built in The VmDas pro gram reads in the raw ADCP files ENR short term average files STA and long term average files LTA and displays this data in either a Tabular Profile or Ship Track plot The files ENR STA and LTA are available to be read by other programs such as WinADCP during real time data collection This allows a user to create their own software package to display or output the data in any way they would like The only restriction is that when reading in the data file they must leave the data file open or in a shar
81. ion in the Communication options The east west water current velocity of the reference layer if VELOCITY REF is set to BOTTOM or MEAN Communication options The north south water current velocity of the reference layer if VELOCITY REF is set to BOTTOM or MEAN Communication options Continued Next Page RD Instruments Table 18 Flag Field 8 10 11 12 13 VmDas User s Guide Ensemble Out Data Format continued Description The up down water current velocity of the reference layer if VELOCITY REF is set to BOTTOM or MEAN Communication options The error velocity of the reference layer if VELOCITY REF is set to BOTTOM or MEAN Communication options Column data for the east west water current velocities for the bin range selected in the Communication options Column data for the north south water current velocities for the bin range selected in the Communication options Column data for the up down water current velocities for the bin range selected in the Communication options Column data for the error velocities for the bin range selected in the Communication options Flag 2 marks the start of correlation magnitude data A value of 32768 indicates missing data VmDas lists correlation data in columns beginning with the next output line The fields identified by this flag contain The number of bins selected for transmission The number of beams used by the ADCP
82. isplay units and velocity reference settings are displayed and may be changed Reference Ship Track The selected measurement of ship velocity will be subtracted from the water curent profile before it is displayed This will affect the displayed velocity profile graphs tabular profile data and water curent sticks in ship track graphs but will not affect stored data None Extemal Data Speed Dir Made Good Displayed Velocity Units C Millimeters per sec Meters per second Knots Feet per second Figure 1 Reference Tab P N 95A 6015 00 September 2003 ADCP Data C Bottom Track BT BT Water Mass Reference Layer C Water Curent Profile Layer End Bin Displayed Depth Units Meters Centimeters Feet page 19 VmDas User s Guide page 20 Velocity Reference Choose between None Bottom Track Bottom Track Water Mass Reference Layer Water Current Profile Layer Delta Position Speed and Speed Dir Made Good Bottom Track Water Mass Reference Layer refers to the water reference layer output that some ADCP instruments output along with the bottom track data This layer 1s only available from the BroadBand and WorkHorse ADCPs This data 1s collected and re corded by these ADCPs only when the BK command is set to collect Water Mass Layer and the BL command has been set to select the section of water that will be measured to record a speed through the water This speed through th
83. layer use bins in the upper part of the profile and bins that have a high percent good more than 85 If you select a bad bin range the averages will be wrong and data will be bad Suggested Setting You will be collecting three different files and will be able to view all three during real time data collection The first file is the raw data input which is single ping data The selections for the other two files are based on your time input values here The First Time Interval is what we refer to as the Short Term Average which will become file name with a STA extension The Second Time Interval is what we refer to as the Long Term Average which will become file name with a LTA extension You can set these to any times you like and they may even be the same value RD Instruments VmDas User s Guide 3 2 7 Data Screening Tab Click the checkboxes for the data screening options you wish to enable When a box 1s checked 1ts associated edit box becomes enabled and you may enter a threshold value for screening the data Program Options Communications ADCP Setup Recording Transform Averaging Data Screening User Exits Simulated Inputs These options allow you to select additional screening thresholds beyond what is applied in the ADCP Selecting lower thresholds than are used in the ADCP will have no effect Bottom Track Thresholds Assi E counts M Vert Velocity Correlation counts Fish Error
84. le size is reached and enr is the file extension and reflects the type of data in the file is raw data Enter the Primary Path where the raw intermediate and processed data files are to be stored Clicking the Browse button to the right of the Primary Path edit box will allow you to browse your computer to select a folder to record to You will be presented with a Choose Directory dialog box see Figure 10 which will have the default path of C Program Files RD Instruments VmDas selected Select the primary path note the directory must already exist and click OK Choose Directory Directory Name C Program FilestRD Instruments mD as Drives Program Files C BB VmDas Cancel Figure 10 Choosing the Path Check the Dual Output Directories box to create two copies of the raw data files and to allow a backup path to be entered If this box is not checked only the Primary Path is enabled Enter the Backup Path where optional backup copies of raw data and option files are stored These files are not used for data processing They are made available in case the primary files are lost If the backup copies are needed copy them to the primary directory and reprocess them to create intermediate and processed data files Suggested Setting Enter a file name that identifies your deployment Select the primary path note the directory must exist already VMDAS does not create it except for the default path already en
85. llows IF aLat i the average of the latitudes of the nav fixes in in terval aLon i the average of the longitudes of the nav fixes in interval Ta i the average of the time of validity of the nav fixes in interval dLat the difference in average latitude between averag ing intervals dLon the difference in average longitude between aver aging intervals VelMGn i the velocity made good in the East direction for interval VelMGn i the velocity made good in the East direction for interval LatToDist dLat is a function that converts delta Latitude to a distance LonToDist dLon is a function that converts delta Longi tude to a distance Smg i speed made good in interval Dmg i direction made good in interval i THEN dLat aLat 1 1 aLat 1 dLon aLon i 1 aLon i VelMgn i LatToDist dLat Ta i 1 Ta i VelMge i LonToDist dLon Ta i 1 Ta i Smg i sqrt VelMgn i VelMGe i Dmg i atan VelMge i VelMGn i Direction calculated between navigation positions LSB ap prox 0 0055 deg 16 bit BAM Reserved for RDI use RD Instruments VmDas User s Guide Table 19 Binary Navigation Data Format continued Hex Digit Binary Field Description Byte 93 96 47 48 Flags Describes the validity of the data Each bit has represents a separate flag and has its own meaning 1 true O false The flag bits are defined as follows bit O Data updated bit
86. ls about NMEA data strings can find more informa tion in the NMEA 0183 standard available from the National Marine Electron ics Association at P O Box 3435 252 638 2626 voice nmea coastalnet com e mail New Bern NC 252 638 4885 fax http www nmea org web site 28564 3435 P N 95A 6015 00 September 2003 page 71 VmDas User s Guide 9 9 1 9 2 page 72 VmDas Outputs VmDas can output Ensemble Speed Log and ASCII data out the serial port or through an Ethernet port Ensemble Output Data Long term averaged ensemble data is output in the RDI standard binary ensemble PDO output format a On the File menu click Collect Data b On the Options menu click Edit Data Options If you have created a User Option File click Load c On the Communications tab select the Ensemble Output Binary LTA button d To output the data to a serial port click the Enable Serial box and config ure the serial port parameters then click the Set button to apply the new configuration Verify that the new settings appear in the Current Settings section e To output the data to a network port click the Enable Network box and set the Local IP Port number VmDas will be the server and the local ma chine s IP address will be used automatically After data collection has started a remote client can request a TCP IP connection using the specified port number and the IP address of the computer running VmDas to receive the d
87. lt C gt VmDas identifies each data type with an integer flag At least one space separates the fields within each data type Each line of data ends with a carriage return lt CR gt and line feed lt LF gt sequence Table 18 Field 1 Flag 0 0 N O 1 A O N page 76 Ensemble Out Data Format Description Flag 0 identifies the ensemble number just processed by the ADCP and the date time that data collection for the ensemble began The fields identified by this flag contain The ensemble number just processed by the ADCP The year data collection began for this ensemble The month data collection began for this ensemble The day data collection began for this ensemble The hour data collection began for this ensemble The minute data collection began for this ensemble The second data collection began for this ensemble Flag 1 marks the start of velocity data VmDas scales the water current velocity data in millimeters per second mm s A value of 32768 indicates bad or missing data VmDas lists water profile velocity data in columns beginning with the next output line The fields identified by this flag contain The number of bins selected for transmission The number of beams used by the ADCP to collect the data This value corresponds to the number of COLUMNS of data beginning with the next output line The first bin selected for transmission in the Communication options The last bin selected for transmiss
88. minutes to maintain fixed length of the first 4 chars The decimal point and associated decimal fraction are optional if full resolution is not required 3 a 4 yyyy yy Latitude hemisphere N or S Longitude 3 fixed digits of degrees 2 fixed digits of minutes and a variable number of digits for decimal fraction of minutes Leading zeros are always included for degrees and minutes to maintain fixed length of the first 5 chars The decimal point and associated decimal fraction are optional if full resolution is not required 5 a 6 x Longitude hemisphere E orW GPS Quality indicator O fix not available or invalid 1 GPS fix 2 Differential GPS fix 3 GPS PPS Mode fix valid 4 Real Time Kinematic System used in RTK mode with fixed integers 5 Float RTK Satellite system used in RTK mode floating integers 6 Estimated dead reckoning mode 7 Manual Input Mode 8 Simulator mode This shall not be a null field page 64 XX X X X X X X XXXX Number of satellites in use 00 12 may be different from the number in view Horizontal dilution of precision Antenna altitude above below mean sea level geoid HEX 4D Units of antenna altitude meters Geoidal separation The difference between the WGS 84 earth ellipsoid and mean sea level geoid mean sea level below ellipsoid HEX 4D Units of geoidal separation meters Age of Differential GPS data Time in seconds since last
89. n an ADCP data interval e If Bottom Track BT is selected the ADCP bottom track velocity data are integrated to calculate a ship track P N 95A 6015 00 September 2003 page 21 VmDas User s Guide e If Bottom Track Water Mass Reference Layer is selected the ADCP water reference layer data are integrated to calculate a ship track This layer is only available from the BroadBand and Work Horse ADCPs This data 1s collected and recorded by these ADCPs only when the BK command is set to collect Water Mass Layer and the BL command has been set to select the water depths to collect a speed through the water The delta speed and delta time between consecutive averaging intervals 1s then used to calculate a distance traveled and direction and plotted on the Ship Track graph This feature is typically enabled only when the bottom track is not possi ble and navigation data will not be collected e If Water Current Profile Layer is selected the layer velocity is de fined to be the average of the range of profile bins selected as the velocity reference and that velocity 1s integrated to calculate a ship track This layer is setup as a totally independent water layer to ref erence the averaged data in either the STA or LTA files The user should set this to a number of consecutive bins that will represent only the vessel motion i e that has as little real water motion as possible The Start and Stop bins selected will all be averaged to gethe
90. nd LTA Output Data Format for information on how status data are scaled A value of 32768 indicates bad or missing data VmDas lists status data in columns beginning with the next output line The fields identified by this flag contain 2 The number of bins selected for transmission 3 The number of beams used by the ADCP to collect the data This value corresponds to the number of COLUMNS of data beginning with the next output line 4 The first bin selected for transmission in the Communication options 5 The last bin selected for transmission in the Communication options 6 Column data for the Beam 1 status data for the bin range selected in the Communication options 7 Column data for the Beam 2 status data for the bin range selected in the Communication options 8 Column data for the Beam 3 status data for the bin range selected in the Communication options 9 Column data for the Beam 4 status data for the bin range selected in the Communication options 6 1 Flag 6 marks the start of leader data The fields identified by this flag contain 2 The minutes portion of the time between pings as set by the TP command 3 The seconds portion of the time between pings as set by the TP command 4 The hundredths of seconds portion of the time between pings as set by the TP command The number of pings per ensemble as set by the WP command The number of depth cells bins as set by the WN command The depth cell bin length in centime
91. nges are not saved until the OK or Apply buttons are clicked Use this area for notes P N 95A 6015 00 September 2003 page 13 VmDas User s Guide 2 8 page 14 Save the User Option File Save YmDas Settings To File mD asAutoConfig 1N1 Save ir Ym as 13 Default ini a Sf les El save as type User Option Files ini Cancel 2 Step 8 On the Options menu click Save As The options may be saved to a file for later retrieval You may wish to save several sets of options to be used as starting points for different deployments Option files that are created this way may have any name you choose NOTE The ini file includes the path to the command txt file you choose This allows you to create a ini file for each command file or have different ini files with different processing parameters averaging screens etc pointing to the same command file Use this area for notes RD Instruments 2 9 VmDas User s Guide Collect Data ADCP Communication ADCP Setup gt Opening ADCP port Successful gt VYaking up ADCP up to 20 second timeout Ocean Surveyor Broadband Narrowband ADCP RD Instruments c 1997 2000 All rights reserved Firmware Version 14 14 gt Detected ADCP type Ocean Surveyor gt Setting ADCP clock TS 000607 082857 gt Successtul Wakeup successful Initializing ADCP command file C Program Files RD Instruments mDa
92. nication options Column data for the Beam 3 echo intensity data for the bin range selected in the Communication options Column data for the Beam 4 echo intensity data for the bin range selected in the Communication options P N 95A 6015 00 September 2003 page 77 VmDas User s Guide Table 18 Ensemble Out Data Format continued Flag Field Description 4 1 Flag 4 marks the start of percent good data VmDas scales percent good data in percentage points 0 99 A value of 32768 indicates bad or missing data VmDas lists percent good data in columns beginning with the next output line The fields identified by this flag contain 2 The number of bins selected for transmission 3 The number of beams used by the ADCP to collect the data This value ee to the number of COLUMNS of data beginning with the next output 4 The first bin selected for transmission in the Communication options 5 The last bin selected for transmission in the Communication options 6 Column data for the Beam 1 percent good data for the bin range selected in the Communication options 7 Column data for the Beam 2 percent good data for the bin range selected in the Communication options 8 Column data for the Beam 3 percent good data for the bin range selected in the Communication options 9 Column data for the Beam 4 percent good data for the bin range selected in the Communication options 5 1 Flag 5 marks the start of status data See VmDas STA a
93. not be in command files in tended for Workhorses without this upgrade Timing TP This sets the time between bottom track and water pings It is the only timing command that normally needs to be in the command file TE This is not needed since VmDas does single pinging it and other timing com mands have no effect Itis present so that a user reading the file will see it read the accompanying comment and understand that timing is controlled by the ADCP Setup tab in the options Coordinate Transformation EX00000 VmDas requires data to be in beam coordinates The transformation to earth coordinates is done by VmDas EX00000 is in the command file to make it clear to the user that no transformation is done in the ADCP VmDas would work the same if the EX00000 command was modified or left out of the command file VmDas sends an EX00000 command after all the commands in the command file If the EX command is omitted or an EX command with different parameters is present the automatically generated command overrides the command file NOTE The automatically generated EX00000 command is not stored by the CK command If the ADCP were to be used with another program without setting the command in the command file it would not have the same configuration External Sensors EZ The EZ command tells the ADCP to use data from a manual setting or from an associated sensor When a switch value is nonzero the ADCP overrides the manual
94. of RAM 64 MB RAM recommended e 6 MB Free Disk Space plus space for data files A large fast hard disk 1s recommended e One Serial Port two or more High Speed UART Serial Port recom mended e Minimum display resolution of 800 x 600 256 color 1024 x 768 recommended e CD ROM Drive e Mouse or other pointing device e An Ethernet card if network I O is desired NOTE VmDas can use up to six serial ports in some configurations 1 2 1 Using Windows 95 To use VmDas with Windows 95 you must have the ws2_32 dll file installed on your computer To determine if you have this file click Start Find Files or Folders In the Named box type ws2_32 dll and click Find Now If the file is included on your system then proceed with the VmDas software installation NOTE Installing Microsoft s Internet Explorer version 5 xx will automatically install the ws2_32 dll file If the file 1s not on your computer do the following page 2 RD Instruments VmDas User s Guide a Go to http www Microsoft com windows95 downloads b Itis highly recommended that you download and install all of the critical and recommended updates and the service releases for Windows 95 c Scroll down the list of files on the Windows95 download page and select the Windows Socket 2 Update link Click the Download Now button This will download the w95ws2setup exe file Double click the file to 1n stall it d You will also need to download and ins
95. on the ADCP Setup tab VmDas will generate commands based on user selections and send them to the ADCP User op tions are enabled and disabled by check boxes on the ADCP Setup tab If the check box is unchecked the ADCP Setup tab will not generate the commands and the current ADCP settings will be used Bottom track e Ifthe Set BT On Off check box is unchecked nothing is sent e If Off is selected BPO is sent e If On is selected BP1 and a BX command created from the ADCP Setup tab maximum range Is sent page 54 RD Instruments VmDas User s Guide Processing Mode Command NPO WP1 WM1 WBO WV650 WV480 lt none gt Command WPO NP1 WP1 WM1 WB1 WV330 lt none gt If the Set Processing Mode check box 1s unchecked nothing 1s sent Different commands are sent to different types of ADCP as shown in the tables below If Hi resolution short range option is selected the following com mands are sent Command Description ADCP Type NB mode Pings per Ensemble OS Pings per Ensemble OS BB WH NV WT Profiling Mode BB WH NV Mode 1 WT Bandwidth BB WH NV WT Mode 1 Ambiguity Velocity BB WT Mode 1 Ambiguity Velocity WH NV All others If Low resolution long range option is selected the following commands are sent Command Description ADCP type Pings per Ensemble OS NB mode Pings per Ensemble OS Pings per Ensemble BB WH NV WT Profiling Mode BB WH NV Mode 1 WT Bandwidth BB WH NV WT Mode 1 Ambiguity
96. or will pop up and no changes will be saved The user can either correct the problem or cancel editing and lose all changes made e Editing data options saves them as the current options not in a file see Saving Data Options page 17 NOTE If the save to a file step is skipped the current options still persist until changed even if VmDas is closed P N 95A 6015 00 September 2003 page 25 VmDas User s Guide 3 2 2 page 26 Communication Tab When you click the Communications tab in the Program Options dialog box the following communications settings are displayed and may be changed to match the communication parameters to those of the device you have con nected to the computer Program Options Communications ADCP Setup Recording Transform Averaging Data Screening User Exits Simulated Inputs Current Settings COM Port Setup Ethemet Setup ps on on E 7 COM1 9600 N 8 1 I N A Navigation Input NMEA None N 8 T N A RPH Input NMEA None N 8 T N A C Ensemble Output Binary LTA None N 8 5433 0 0 0 0 Ensemble Output ASCII None N 8 5433 0 0 0 0 Speed Log Output None N 8 5434 0 0 0 0 Set Communication Parameters Here Com Port Baud Rate Party Data Bits Stop Bits Y Enable Serial com 960 NoPanty 8 Ah x Set Remote IP Port Remote IP Address or Host Name Po Sa Figure 5 Communications Ta
97. ottom On this property page you may also change the font turn on or off the grid lines and set their style and change the aspect ratio method Click OK Properties Axis Values Axis Labels Title Stick Legend Plot Area ltem f Font Font Style Size Aria Regular E Aral Black Bold 3 RE Harrow 10 180 41280 Display Precision fo a e Visible caca um Figure 4 Ship Track Properties Dialog page 24 RD Instruments VmDas User s Guide 3 2 Data Options Screens Click Options Edit Data Options to display a tabbed dialog box from which you can change the program options e Communications see Communication Tab page 26 e ADCP Setup see ADCP Setup Tab page 30 e Recording see Recording Tab page 32 e Transforms see Transform Tab page 34 e Averaging see Averaging Tab page 39 e Data Screening see Data Screening Tab page 41 e Users Exits see Users Exits Tab page 43 e Simulated Inputs see Simulated Inputs Tab page 45 3 2 1 Editing the Data Options On the Options menu click Edit Data Options to display a tabbed dialog box Data Options can be edited only when collect or reprocess mode is selected and collection or reprocessing is not in progress e Clicking OK or Apply causes VmDas to do a consistency check and save the new settings as the current data options e Ifan error is found a message describing the err
98. profile Other velocities such as bottom track are not changed If Velocity Ref is set to None velocities are unchanged If Velocity Ref is set to Bottom the velocity from the bottom track field if present is subtracted from the velocity of each bin If Velocity Ref is set to Water Current Profile Layer the average velocity of a water layer is subtracted from the velocity of each bin P N 95A 6015 00 September 2003 page 27 VmDas User s Guide page 28 Program Options The Start Bin and End Bin boxes in the Profile Layer column se lect the bins that makes up the water layer Output Start End Bin Lets you select the portion of the ADCP profile depth cell range to send to the ASCII ensemble out port Profile Layer Start End Bin Lets you select the bin depth cell range for the Water Current Profile Layer velocity reference Communications ADCP Setup Recording Transform Averaging Data Screening User Exits Simulated Inputs Select ltem to Set ADCP Input Current Settings COM Port Setup Ethemet Setup on on V COM1 9600 N 8 1 I N A Navigation Input NMEA None 4800 N 8 1 T N A C RPH Input NMEA None 4800 N 8 1 I N A Ensemble Output Binary LTA None 9600 N 8 1 5433 0 0 0 0 Ensemble Output ASCII None 9600 N 8 1 5433 0 0 0 0 Speed Log Output None 9600 N 8 1 5434 0 0 0 0 Set Communication Parameter
99. r N2R naming convention This allows the user to write their own program which can modify the data in side the NIR or N2R in anyway as long as they write the data back out into a file with the same original data format as the NIR and if collected N2R file except they rename the file N1J and if N2R is collected the file N2J When the user turns on the User Exit option External Raw Nav Data Screening Pre Averaging the VmDas program will read in the N1J or RD Instruments VmDas User s Guide N2J file convert 1t into the binary file with the naming convention of NMS An example of why a user may want to do this 1s that the user wishes to decode pitch and roll data from a NMEA string that the VmDas does not currently de code The user can write a program that would read in the data from the NIR file or N2R and create a string that is read by the VmDas program from the data available in the NMEA strings An example of this 1s seen when using an Ashtech device that outputs pitch and roll data in the string GPPAT not supported and GPASHR supported VmDas does not currently decode the GPPAT proprietary NMEA string The user could write a program that would take the data from the Ashtech NMEA strings and write them into the RDI propriety NMEA string PRDID The RDI NMEA string contains heading pitch and roll data and is decoded by the VmDas program The format for this string 1s as follows PRDID ppp pp
100. r to produce a single speed through the water The delta speed and delta time between consecutive averaging inter vals is then used to calculate a distance traveled and direction and plotted on the Ship Track graph This feature is typically enabled only when there is no bottom track or navigation data available NOTE If Bottom Track BT Bottom Track Water Mass Reference Layer or Water Current Profile Layer is selected the ship track is shown as a distance from the initial position where the initial position is 0 0 Chart units for distances Choose between Kilometers Meters Miles statute or Feet Current Sticks Choose to display up to three current sticks at each ship posi tion and select which profile bin each stick represents NOTE Changes made to the Ship Track tab may require that the ship track be re plotted VmDas will issue a warning before accepting these changes If the ship track must be re plotted the ship track is erased Plotting continues from the current position When collecting data this means it is a good idea to settle on desired configurations early Once erased from the display the Ship Track cannot be redisplayed until the deployment files are played back page 22 RD Instruments VmDas User s Guide Change Chart Properties Whenever you right click on any profile plot a pop up property menu Figure 3 1s displayed from which you can change many attributes for the pro file graphs
101. range in meters to the bottom surface excluding ADCP depth P N 95A 6015 00 September 2003 page 79 VmDas User s Guide Table 18 Flag Field 8 1 2 3 4 5 6 7 Ensemble Out Data Format continued Description Flag 8 marks the start of external navigation data collected by VmDas A value of 2147483647 indicates bad or missing latitude longitude data A value of 32768 indicates bad or missing data for all other fields The fields identified by this flag contain Navigation device latitude in thousandths of seconds Navigation device longitude in thousandths of seconds 324937000 W90 15 37 Navigation device speed in mm s Navigation device course in hundredths of degrees 4786 47 86 The east west navigation device velocity in mm s The north south navigation device velocity in mm s 10 VmDas User Exits The User Exit options in VmDas are hooks at various points in the processing where the user can modify the data with an external program e The first User Exit option selects a VmDas data file to be displayed using WinADCP e The second User Exit option allows a program to adjust RAW ADCP data that VmDas put in the ENR file e The third User Exit option allows a program to adjust RAW NMEA data that VmDas put in the NIR and N2R file e The fourth User Exit option allows a program to perform coordinate transformations For example a User Exit could be used to translate all or p
102. re are minor differences Consult the ADCP technical manual for a particular ADCP for details of its commands e Commands are not case sensitive P N 95A 6015 00 September 2003 page 47 VmDas User s Guide The following shows the printout of the default command file OS38BBDEF txt ADCP Command File for use with VmDas software ADCP type 38 Khz Ocean Surveyor Setup name default Setup type High resolution short range profile broadband NOTE Any line beginning with a semicolon in the first column is treated as a comment and is ignored by the VmDas software NOTE This file is best viewed with a fixed point font eg courier Modified Last 12August2003 pe RR a eee a a ee aS a Zar 1 Sear Restore factory default settings in the ADCP er set the data collection baud rate to 38400 bps no parity one stop bit 8 data Bits NOTE VmDas sends baud rate change command after all other commands in this file so that it is not made permanent by a CK command cb611 Set for broadband single ping profile mode WP forty WN 24 meter bins WS 16 meter blanking distance WF 390 cm s ambiguity vel WV NPO WP00001 WNO40 WS2400 WF1600 WV390 Enable single ping bottom track BP Set maximum bottom search depth to 2000 meters BX BP001 BX20000 output velocity correlation echo intensity percent good WD111100000 Three seconds between bottom and water pings
103. recision Default setup for an Ocean Surveyor OS 75kHz ADCP in the highest precision broad bandwidth and the longest range narrow bandwidth but reduced precision Default setup for an Ocean Surveyor OS 150kHz ADCP in the highest precision broad bandwidth but reduced range profiling mode Default setup for an Ocean Surveyor OS 150kHz ADCP in the longest range narrow bandwidth but reduced precision Default setup for an Ocean Surveyor OS 150kHz ADCP in the highest precision broad bandwidth and the longest range narrow bandwidth but reduced precision Default setup for a BroadBand BB 75kHz ADCP to provide the most range with the optimal precision Default setup for a BroadBand BB 150kHz ADCP to provide the most range with the optimal precision Default setup for a BroadBand BB 300kHz ADCP to provide the most range with the optimal precision NOTE These text files txt were copied into the same directory as VmDas when you installed it from the software CD sent with your system Use this area for notes RD Instruments VmDas User s Guide 2 6 Set Recording Options Program Options Communications ADCP Setup Recording Transform Averaging Data Screening User Exits Simulated Inputs Deployment Files Name ADCP eee fo The deployment number displayed here is automatically chosen by A the software each time data is collected or reprocessed Change AAA A Max Size MB 10 pb GER
104. s the user does not intend to send EA El or EJ VmDas will send them as appropriate Command Description ADCP Type Heading alignment correction All Magnetic variation All except OS with recent firmware Magnetic variation OS with recent firmware Roll alignment OS with recent firmware Pitch alignment OS with recent firmware Coordinate Transformation page 56 Beam coordinates EX00000 1s always sent RD Instruments 5 VmDas User s Guide Reprocessing Data with VmDas a Start VmDas Click File Reprocess Data b Browse and locate the vmo file for the data you wish to reprocess For this example select the SAMPLE002 000000 VMO file Click Open see File Naming Conventions page 86 Select deployment to open for reprocessing File name SAMPLEDOZ_000000 VMO Files of type VmDas Esplingnend Files Forma vmp o Cancel Cancel Figure 17 Select VMO File c Click Options Edit Data Options d Click the Recording tab see Recording Tab page 32 e Verify the Name of the data set is the one you wish to reprocess e Verify the Number of the data set 1s the one you wish to reprocess Program Options Communications ADCP Setup Recording Transform Averaging Data Screening User Exits Simulated Inputs Deployment Files Name SAMPLE Number The deployment number displayed here is automatically chosen by the software each time data is collected or reprocessed Chang
105. s Here IV Enable Serial Data Select Com Port Baud Rate Parity Data Bits Stop Bits None 9600 NoParty 8 1 x Set Local IP Port Uses Local IP Address sul ENR Single ping beam Data type switches check the boxes forthe data to output V Leader V Bottom Track Y Navigation V Velocity IV Echo Intensity IV Correlation V Percent Good Y Status Figure 6 Communications Tab Ensemble Output ASCII Selected Set Speed Log Output Configuration Here If the Speed Log Output box is selected and either Enable Serial or Enable Network is checked the Set Speed Log Output Configuration Here section lets you select the following parameters for the speed log output only see Figure 7 page 29 e Data Select Lets you select between STA Short term avg Earth or LTA Long term avg Earth as the output source e Water Reference Layer Source Lets you select the reference velocity to subtract from the profile output Water Current Profile Layer sets the reference velocity to the average of the user defined bin range in the Profile Layer column and causes the reference velocity to be subtracted from the profile before data output Bot tom Track Water Mass Reference Layer sets bottom track as the reference velocity and causes the reference velocity to be subtracted from the profile before output RD Instruments VmDas User s Guide e Start End Bin Lets you select the bin depth cell range for th
106. s described in the ADCP Setup Tab page 30 Begin collecting data If data collection starts normally and VmDas begins displaying data even bad data the test 1s passed g If any command causes an error VmDas will stop the initialization process and start over This cycle will repeat indefinitely If this happens stop data collection and use Notepad to look in the log file An error message will pinpoint the offending command 4 2 1 Command File Basics A command file provides instructions to the ADCP for profiling setup bottom track and ADCP sensor source internal such as the flux gate compass or ex ternal such as the synchro or stepper gyro input The following describes how to create or modify a command file e Acommand file should contain only ASCII characters Each line should end with a Carriage Return e Command files should be created with an editor that does not insert hidden characters Notepad is a good choice WordPad Word or Word Perfect are not e Every line in a command file should be a command a comment or blank e Lines with a semicolon in the first column are comments They are often used to explain the commands to a person reading the file VmDas ignores comments NOTE The default command files have comments that explain the function of each command It is a good idea to keep the comments and edit them when you make command changes e ADCPs mostly use the same set of commands but the
107. sages containing ship speed informa tion from short term averaged data Data 1s output at the same rate as the short term average Set Ensemble Output Configuration Here The settings in the Set Ensemble Output Configuration Here box are needed only if Ensemble Output ASCII is selected and either Enable Serial or En able Network is checked see Figure 6 page 28 e Data Select VmDas produces several output files with binary en sembles Data Select chooses one of these files as the source of en semble data for ASCII output Some of the data in the binary source will be extracted converted to an ASCII format See Ensemble Output ASCII Data page 74 and written out the output port e Data Type Switches Select the type of data to send to the ensem ble out device during data collection Check the appropriate check box for each type of data you want sent to the ASCII ensemble out port The Navigation box will have no effect if the Data Select box contains ENR Navigation data is not present in the raw ENR files Navigation data comes from NMEA inputs The navigation and en semble data are merged to produce ENX STA and LTA files e Velocity Switch If the Velocity box 1s checked the Start Bin and End Bin boxes in the Output column set the bins that will be added to the ASCII ensemble velocity data e Velocity Ref If the Velocity box is checked the Velocity Ref box can be used to remove ship velocity from the velocity
108. ser s Guide 8 3 4 8 3 9 page 70 VDZDA Time and Date UTC day month year and local time zone VDZDA hhmmss ss xx XX XXXX XX Xx hh lt CR gt lt LF gt Table 16 Field 1 2 3 4 5 hhmmss ss XX XX XXXX XX XX VDZDA NMEA Format Description UTC Day 01 31 Month 01 12 Year Local time zone description 13 to 13 hours The number of whole hours added to local time to obtain GMT Zone description is negative for East longitudes Local time zone minutes description 59 to 59 minutes The number of whole minutes added to local time to obtain GMT This permits a finer resolution time zone description than is possible using hours alone The sign is the same as the hour time zone description VmDas produces a null field here Writing NMEA Data VmDas writes strings formatted as described in the NMEA 0183 standard to a serial port a TCP IP port or both NOTE This is not in keeping with NMEA standards The NMEA 0183 standard specifies that strings are to be transmitted through a serial port The NMEA 2000 standard is being developed for transmitting similar data over a network VmDas does not support the NMEA 2000 standard RD Instruments 8 4 8 4 1 8 5 VmDas User s Guide Internal NMEA Messages RDI defines a proprietary NMEA message for VmDas internal use only that contains VmDas internal timing information PADCP This message is stored in VmDas N1R and N2
109. sitive if the bow 1s higher than the stern Roll is positive 1f the port side is higher than the starboard side As seen from above a clockwise rotation of the ship makes the heading increase When describing the attitude of an ADCP the ADCP takes the place of the mast Beam 3 marks the forward axis If beam 3 points north slanted up or down then the heading is zero It does not matter whether the system is con cave or convex or whether transducer 3 is on the north or south side of the in strument Therefore your attitude input must reflect the attitude of the ADCP which may or may not be the same as the ship An ADCP uses the same sign conventions as a ship The bow is always the beam 3 side The stern is the beam 4 side Port and starboard are marked by beams 1 and 2 but which is which changes when the ADCP is rotated from up facing to down facing P N 95A 6015 00 September 2003 page 37 VmDas User s Guide page 38 Facing up or down an ADCP has a positive pitch if the bow the beam 3 side is higher than the stern beam 4 Roll is positive if the port side is higher than the starboard side Heading increases as the forward beam 3 axis rotates in a clockwise direction Pitch and roll should always be near zero in relation to the ship An ADCP has an internal sensor to tell whether it is facing up or down It sets an up facing down facing flag in the system configuration field of the fixed leader in
110. state This state need not be the same as a high speed configuration de sired for transmitting lots of data RD Instruments strongly recommends that all ADCPs be set to wake up at 9600 BAUD 8 data bits no parity and 1 stop bit VmDas provides for keeping the wakeup and data collection serial port con figurations separate VmDas does not send the CB command immediately upon reading it in the command file The CB command is sent after all other commands in the command file are sent This means that the CB command will never be saved because it is sent after the CK command VmDas will not change the wakeup serial port configuration P N 95A 6015 00 September 2003 page 51 VmDas User s Guide 4 3 4 4 4 4 1 4 4 2 page 52 How VmDas uses Command Files One command file can be used for many deployments Whenever data collec tion starts VmDas copies the current options into a VMO file This includes the path and filename of the command file if any The command file itself is not copied into the VMO file When data collection starts VmDas sends commands to the ADCP to configure it VmDas creates some of the commands Others are taken from the com mand file if the options are set to do so VmDas may edit the commands in the command file before sending them to the ADCP as described in Detailed ADCP Initialization page 52 VmDas creates a log file extension LOG whenever data collection is started This file contains the
111. tall the Microsoft DUN 1 3 and Winsock2 Year 2000 Update Use the link on the Windows Socket 2 Up date page to get the y2kvdhcp exe file Double click the file to install it install the w95ws2setup exe file first if you have not already done so 1 2 2 Using Windows NT To use VmDas with Windows NT you must have Windows NT 4 0 Service Release 4 or higher installed before attempting to install VmDas You must also have the ws2_32 dll file installed on your computer see Using Windows 95 page 2 VmDas cannot install on computers running Windows NT 3 0 or earlier versions 13 Software Installation To install VmDas do the following a Insert the compact disc into your CD ROM drive and then follow the browser instructions on your screen If the browser does not appear com plete Steps b through d b Click the Start button and then click Run c Type lt drive gt launch For example if your CD ROM drive is drive D type d launch d Follow the browser instructions on your screen P N 95A 6015 00 September 2003 page 3 VmDas User s Guide 2 1 page 4 Quick Start Guide The Quick Start Guide contains simple instructions to help you begin collecting data Making accurate profile measurements is less difficult than you probably believe now You will soon see that you need to use only a few keystrokes on the computer to collect data in the field Please take the time to read this entire manual It will b
112. tan tan PitchM cos EA tan RollM sin E4 EJ RollT atan tan PitchM sin EA tan RollM cos EA El EV magnetic offset EA hdng align error ref Mast HeadingT HeadingM EV EA RollM measured roll RollT true roll HeadingM measured heading HeadingT true heading PitchM measured pitch Pitch T true pitch Step 7 Click the Transforms tab VmDas requires heading data and option ally pitch and roll data The data can come from the ADCP s internal compass and tilt sensors gyros connected to the ADCP s electronics chassis NMEA data from a serial port or fixed values entered by the user It is possible to use one source for heading and a second source for pitch and roll To use either the ADCP internal compass tilt sensors or gyro data check the ADCP compass gyro radio button To use NMEA data check the radio button for the NMEA sentence that con tains the data To use fixed values check the Fixed Heading or Fixed Tilts button and enter the values VmDas needs true heading and pitch and roll of the ADCP Sometimes the heading source reports magnetic data and some sensors are not aligned to the ADCP Sometimes the tilt sensors are not aligned to the ADCP s axes For these situations check the Enable check box in the Heading Correction or Tilt Corrections sections and enter corrections RD Instruments VmDas User s Guide Click OK to save the changes made to the Program Options tabs Cha
113. tered P N 95A 6015 00 September 2003 page 33 VmDas User s Guide 3 2 5 page 34 Transform Tab VmDas reads single ping beam coordinate data from the ADCP VmDas trans forms the data to earth coordinates and averages 1t How the transformation 1s done depends on details of the geometry of the ADCP sensors and the plat form they are mounted on see Note About Conventions page 37 for more insight Use this screen to select the Heading Source Tilt Source Heading Correction and Tilt Correction Program Options Communications ADCP Setup Recording Transform Averaging Data Screening User Exits Simulated Inputs Tit Source fe ADCF tit sensor gyro Heading Source NMEA PRDID C Fixed Tits Pitch deg Roll deg Eed Heading po dg NMEA PASHR NMEM PASHRATT NMEA PRDID AT2 Heading Correction Enable C NMEA PASHR C NMEA PASHR ATT C NMEA PRDID AT2 Tilt Correction Enable EA heading alignment eror ref Fwd EJ pitch alignment error El roll alignment error PitchT atan tan PitchM cos EA tan RollMPsin E4 EJ RollT atan tan PitchM sin EA tan RollM cos EA El EV magnetic offset EA hdng align error ref Mast ref Mast Heading T HeadingM EV EA Roll measured roll RollT true roll PitchM measured pitch HeadingM measured heading Pitch T true pitch HeadingT true heading Figure 11 Transform Tab VmDas stored t
114. ters as set by the WS command oO N O O0 The blank after transmit in centimeters as set by the WF command page 78 RD Instruments Table 18 Flag Field 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 oO ON O O A 11 VmDas User s Guide Ensemble Out Data Format continued Description The ADCP profiling mode as set by the WM command The Built In Test result code from the last ADCP ensemble The sensor source as set by the EZ command The available sensors as read by the PS1 command The low correlation threshold as set by the WC command The error velocity threshold in mm s as set by the WE command The percent good minimum as set by the WG command The average ADCP pitch tilt 1 x axis angle in hundredths of degrees e g 70 0 7 during the ADCP data ensemble This value comes from the internal pendulums or external gyrocompass The average ADCP roll tilt 2 y axis angle in hundredths of degrees e g 430 4 3 during the ADCP data ensemble This value comes from the internal pendulums or external gyrocompass The average ADCP heading angle in hundredths of degrees e g 7707 77 07 during the ADCP data ensemble This value comes from the internal flux gate compass or external gyrocompass The average water temperature in hundredths of degrees C e g 1711 17 11 C at the transducer head during the ADCP data ensemble The standard deviation accuracy of heading
115. tom to have the software mark bad all profile bins that fall below the sea bottom The formula is Last GoodBin ShallowestBeam COS BeamAngle BinLength NOTE The ADCP has its own internal thresholds Setting thresholds on this page that is lower than those used by the ADCP will have no effect While it is possible for advanced users to modify the ADCP command file to disable some of the internal thresholds this practice is not recommended VmDas is designed to do those checks It allows you to change them when you reprocess the data This gives you the maximum flexibility Suggested Setting You are able to screen data based on the items in this menu and the thresholds you decide during real time or when reprocessing This screening will affect what is displayed on the screen and what data is recorded to the STA and LTA files The original raw data will be unaffected by what is setup here For real time data collection we recommend you only enable Mark Bad Below Bottom You can reprocess data later and change the settings in this screen to see what the effect is page 42 RD Instruments VmDas User s Guide 3 2 8 Users Exits Tab User exits are hooks at various points in the processing where the user can modify the data with an external program The external user application needs to be written so that it will keep trying to look for the appropriate file names which will not exist until VmDas creates them some time
116. used by VmDas RD Instruments VmDas User s Guide 8 2 6 PASHR ATT Global Positioning System Attitude Data Heading pitch and roll from multiple GPS receivers PASHR ATT ssssss s hhh hh ppp pp rrr rr mmm mm bbb bb r lt CR gt lt LF gt Table 10 Field 1 ATT 2 SSSSSS S 3 hhh hh 4 ppp pp 5 rrr rr 6 mmm mm 7 bbb bb 8 r PASHR ATT NMEA Format Description Identifies this as a PASHR ATT string GPS receive time seconds of week Heading degrees Pitch degrees for starboard down Roll degrees for bow up Baseline rms error BRMS meters Measurement rem error MRMS meters Altitude reset flag O good attitude 1 bad attitude or rough estimate This field 1s used by VmDas 8 2 7 PASHR AT 2 Global Positioning System Attitude Data Heading pitch and roll from multiple GPS receivers SPASHR AT2 ssssss s hhh hh ppp pp rrr rr mmm mm bbb bb r ddd P lt CR gt lt LF gt Table 11 Field 1 AT2 2 SSSSSS S 3 hhh hh 4 PPP PP 9 rrr rr 6 mmm mm 7 bbb bb 8 r 9 10 ddd 11 P PASHR AT2 NMEA Format Description Identifies this as a PASHR AT2 string GPS receive time seconds of week Heading degrees Pitch degrees for starboard down Roll degrees for bow up Baseline rms error BRMS meters Measurement rem error MRMS meters Altitude reset flag O good attitude 1 bad attitude or rough estimate Last state O No search in progress gt 0 Start from last completed stat
117. using the specified port number and the IP address of the computer running VmDas to receive the data Tips for Advanced Users Advanced users can get more control over the Speed Log data by using the fol lowing tips Speed Log data will only be output if the serial and or Ethernet port s are con figured for that purpose e Ifa port is configured for speed log output speed log output will be produced If there is no data or the data is invalid the NMEA mes sages will indicate that they contain invalid data The data will only be received if something is listening to the port s This re quires a cable and usually a second computer e One device may listen to a serial port When sending speed log data out an Ethernet port VmDas is a TCP IP server and supports up to 100 clients Speed log data is calculated from ensembles in the short term averaged data There will be one VBW and one DBT message for each short term average en semble e To control the time between messages on the Options menu click Edit Data Options choose the Averaging tab and change the First Time Interval The speed log will contain valid data only if the ADCP is configured to pro duce the data The data comes from the bottom track field in the short term average data e The VBW message will contain water speed data only f the ADCP has been configured to produce water reference layer data The BK and BL commands are useful here P N 95A 6015 00 S
118. y INI files are displayed VMO files can be displayed by choosing them in the Files of type box To display VMP files choose all files in the Files of type box NOTE To return to the factory default setting select the Default ini file View the Current Data Options On the Options menu click View Data Options The same dialog opens as when editing but no changes can be made You can view the data options in the Playback mode 3 1 2 Setting up Display Options The Display Options determine how data 1s displayed e They can be set for modes that display data playback and collect e They can be changed at any time when one of those two modes is active whether or not data 1s being played or collected e Graphs or charts may be erased and re plotted because of changes to these options but 1t makes no change to the data itself e Inreprocess mode data is not displayed so there are no settings to determine how it is displayed page 18 RD Instruments Edit Display Options VmDas User s Guide Click Options Edit Display Options to display a tabbed dialog box from which you can change the display options Click the Reference tab to select the display units or the velocity reference to use for profiles Click the Ship Track tab to select the ship position source and the profile bins to use for the current stick plots Reference Tab When you click the Reference tab Figure 1 in the Display Options dialog box the following d

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