Channel Master Horizontal ADCP Operation Manual P/N 95B-6001-00 (January 2005) RD Instruments Acoustic Doppler Solutions
Table of Contents 1 Introduction....................................................................................................................................... 1 1.1 1.2 1.3 2 Channel Master Applications ..............................................................................................................1 Getting Started....................................................................................................................................2 Conventions Used in Manuals ........
10 Channel Master Commands .......................................................................................................... 46 10.1 10.1.1 10.1.2 10.2 10.3 10.3.1 10.4 10.4.1 10.5 10.5.1 10.6 10.6.1 10.7 10.8 10.8.1 10.9 10.9.1 10.10 10.10.1 Data Communication and Command Format....................................................................................46 Command Input Processing........................................................................................................
WB – Mode 1 Bandwidth Control ......................................................................................................74 WC – Low Correlation Threshold ......................................................................................................75 WD – Data Out..................................................................................................................................76 WF – Blank after Transmit .....................................................................
Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure 21. 22. 23. 24. 25. 26. 27. 28. 29. 30. 31. 32. 33. 34. 35. 36. 37. Personality Module........................................................................................................ 30 Barnacle Damage ......................................................................................................... 32 Filling the Pressure Sensor Cavity with Oil.............................
Channel Master Operation Manual Acoustic Doppler Solutions Channel Master Operation Manual 1 Introduction Thank you for purchasing the RD Instruments (RDI) Channel Master Horizontal Acoustic Doppler Current Profiler. Channel Master deployments are most often Real-Time. Real-Time use refers to the fact you are viewing the data as the Channel Master collects it via a personal computer. This data is also stored on the computer to allow for data playback and processing at a later time. NOTE.
Channel Master Operation Manual 1.2 Getting Started You are probably eager to get started, but take a moment to read a few words of guidance. We strongly recommend you read all of the provided documentation to learn the full capabilities of your Channel Master. All documentation is being provided to you on CD in a fully searchable, printable, electronic format.
Channel Master Operation Manual 2 System Overview The Channel Master is designed to measure real-time horizontal current profiles from a permanent fixed mount. The Channel Master system consists of a Channel Master Horizontal ADCP, cables, and software. The input power requirements for the Channel Master are +10.5 to 18 VDC. The Channel Master system requires the addition of a Windows® compatible computer to collect data. 2.
Channel Master Operation Manual SHIPPING CRATE DUMMY PLUG (INSTALLED ON H-ADCP) DOCUMENTATION CD WinHADCP CD RDI Tools CD I/O CABLE MOUNTING PLATE KIT Figure 1. 2.2 CHANNEL MASTER H-ADCP TOOLS AND SPARE PARTS KIT Channel Master Inventory Visual Inspection of the Channel Master Inspect the Channel Master using Table 2 and Figure 2, page 6 through Figure 4, page 7. If you find any discrepancies, call RDI for instructions.
Channel Master Operation Manual 2.3 Channel Master Overview The Channel Master instrument contains two horizontal and one vertical transducer ceramics and the electronics. The standard acoustic frequencies for the horizontal transducers are 1200kHz, 600kHz, and 300kHz. The standard frequency for the vertical beam is 600kHz. See “Outline Installation Drawings,” page 115 for dimensions and weights. I/O Cable Connector – Input/Output (I/O) cable connects the Channel Mas- ter to the computer.
Channel Master Operation Manual VERTICAL BEAM I/O CABLE BEAM 1 BEAM 2 THERMISTOR TRANSDUCER HEAD URETHANE FACES I/O CABLE STRAIN RELIEF HOUSING I/O CABLE CONNECTOR PRESSURE SENSOR (ON BOTTOM) Figure 2.
Channel Master Operation Manual Figure 3. Channel Master Transducer (1200kHz) with Mounting Plate Figure 4.
Channel Master Operation Manual 3 Channel Master Care This section contains a list of items you should be aware of every time you handle, use, or deploy your Channel Master. Please refer to this list often. 3.1 3.2 General Handling Guidelines • Never set the Channel Master on a hard or rough surface. The urethane faces may be damaged. • Always remove the retaining strap on the end-cap underwater-connect cable and dummy plug when disconnecting them. Failure to do so will break the retainer strap.
Channel Master Operation Manual 3.3 • The Channel Master uses Titanium hardware for the transducer housing and strain relief. These hardware sets are expensive and difficult to purchase locally. Don’t loose or substitute other metal hardware. • Place a light amount of DC-111 lubricant on the end-cap connector pins (rubber portion only). This will make it easier to connect or remove the I/O cable and dummy plug. • Do not connect or disconnect the I/O cable with power applied.
Channel Master Operation Manual 4 Setup the Channel Master Figure 5 through Figure 7, page 11 illustrates how to connect the Channel Master cable to your computer and power. Make sure the Channel Master is resting with the vertical beam facing upward or on its housing end to protect the I/O cable connector and the transducer urethane faces. Channel Master units are pre-configured to use RS-232, RS-422, or SDI-12 communications protocols.
Channel Master Operation Manual NOTE. The RS-232 to RS-422 converter supplied with the Channel Master is powered by the computer’s COM port. It may be necessary to use a different converter when very long communication lines are used (maximum 1300 meters). BBTalk To COMPUTER SERIAL PORT I/O CABLE BLUE = SDI12 BLACK = GND BLACK = Neg (-) RED = Pos (+) H-ADCP Figure 7. 4.
Channel Master Operation Manual 5 Software RDI has utility programs to help you set up, use, test, and trouble-shoot your Channel Master. Each program has a help file that you can print, or you can view help while running the program. Table 3: 5.1 Channel Master Software Main Modules Program Name Description BBTalk Windows Channel Master communication program. Use this program to "talk" to the Channel Master and to run test script files. BBTalk is included on the RDI Tools CD.
Channel Master Operation Manual 6 Testing Your Channel Master Use the following steps to test the Channel Master. a. Interconnect and apply power to the system as described in “Setup the Channel Master,” page 10. b. Start the BBTalk program (for help on using BBTalk, see the RDI Tools User’s Guide). c. On the File menu, click Break (you can also press the End key to send a break or use the Toolbar and press the B button). You should see the wakeup message appear on the log file window.
Channel Master Operation Manual 7 Recovering Data from the Loop Recorder Use BBTalk to recover data from the loop recorder. NOTE. You must use version 3.04 of BBTalk. Older versions of BBTalk do not have the Loop Recorder functions. a. Start BBTalk. Configure BBTalk to connect to a Channel Master ADCP type device (see the RDI Tools User’s Guide for details on using BBTalk). Figure 8. Connecting to the Channel Master with BBTalk CAUTION. Make sure you select Channel Master as the Device.
Channel Master Operation Manual d. BBTalk displays current protocol status, filename being received, total size of receiving file and current number of bytes received. Figure 10.
Channel Master Operation Manual 8 Channel Master Maintenance This section explains how to prepare the Channel Master for deployment, how to do certain maintenance, and how to prepare the Channel Master for storage or shipment. 8.1 Spare Parts The following parts are included in the spare parts kit. Table 4: page 16 Spare Parts Description Part number O-ring, face 2-254 Desiccant, sealed bag DES3 Lubricant, silicone, 5.
Channel Master Operation Manual 8.2 I/O Cable and Dummy Plug The I/O cable connector (on the Channel Master housing) and the I/O cable and dummy plug are molded wet-mate connectors. The I/O cable connector is a factory-installed item. We do not recommend removing it for any routine maintenance. NOTE. The dummy plug should be installed any time the I/O cable is removed. Use the dummy plug when the Channel Master is in storage or is being handled.
Channel Master Operation Manual 8.2.1 Disconnecting the I/O Cable or Dummy Plug The I/O cable should be disconnected with a straight outward motion only. Use the following procedure to disconnect the cable. CAUTION. When disconnecting the Channel Master I/O cable, do not apply any upward force on the connector as it is being pulled off. Applying an upward angle as the cable is disconnected puts stress on the end-cap connector.
Channel Master Operation Manual PIN 1 PIN 9 P2 P1 3 2 1 4 7 6 5 P1 P2 COMMUNICATION LINE 2 COMMUNICATION LINE 1 COMMUNICATION LINE 3 COMMUNICATION LINE 4 COMMUNICATION RETURN POWER + POWER Y-MOLD Figure 12. SPLICE MOLD RS232/RS422 I/O Cable Overview and Wiring Diagram Communication lines 1 through 4 signal names depend on what personality module is installed. Use the following tables to identify the signal name.
Channel Master Operation Manual P2 P1 P2 (RS232) P1 COMMUNICATION LINE 2 1 COMMUNICATION LINE 1 2 COMMUNICATION LINE 3 5 COMMUNICATION LINE 4 6 COMMUNICATION RETURN 4 BLK 3 WHT 2 BLU 9 BRN NC GRN 5 NC POWER + 7 POWER - 3 WHT BLU BLK BLK YEL WHT RED RED BLK BLK Y-MOLD Figure 13.
Channel Master Operation Manual 8.3 Housing Assembly Removal a. Remove all power to the Channel Master. b. Remove the I/O cable and place the dummy plug on the I/O cable connector (see “I/O Cable and Dummy Plug,” page 17). c. Set the transducer assembly (transducer face down) on a soft pad. d. Loosen (do not remove) the four titanium bolts (M6) bolts to vent the system. e. Once all four bolts have been loosened, remove the four bolts that attach the housing flange to the transducer head assembly. f.
Channel Master Operation Manual Figure 15. Disconnecting the Internal I/O Cable h. Clean the O-ring mating surfaces with a soft, lint-free cloth. Inspect the surfaces for damage (see “O-Ring Inspection and Replacement,” page 24). i. When you are ready to re-assemble the Channel Master, see “Channel Master Re-assembly,” page 24.
Channel Master Operation Manual I/O Cable Transducer Head Housing Retaining Strap Strain Relief I/O Cable Connector Housing Mounting Hardware (4) O-Ring Pressure Sensor Cover (Do Not Remove) Copper Port Screw Figure 16.
Channel Master Operation Manual 8.4 Channel Master Re-assembly To replace the housing, proceed as follows. Use Figure 16, page 23 for parts identification. 8.4.1 O-Ring Inspection and Replacement This section explains how to inspect/replace the Channel Master O-ring. A successful deployment depends on the condition of O-ring and the retaining groove. See Figure 16, page 23 for the location of the O-ring. Read all instructions before doing the required actions.
Channel Master Operation Manual 8.4.2 Housing Assembly Replacement a. Set the Housing assembly on its end on a soft pad. b. Make sure all printed circuit boards, spacers, cables, and screws have been installed. c. Inspect, clean, and lubricate the O-ring on the housing (see “O-Ring Inspection and Replacement,” page 24). CAUTION. Follow all the steps for O-Ring Inspection and Replacement. The watertight integrity of the Channel Master depends on this seal. d.
Channel Master Operation Manual 8.4.3 Pressure Sensor Calibration and Close-up a. Interconnect and apply power to the Channel Master as described in “Setup the Channel Master,” page 10. b. Start the BBTalk program (for help on using BBTalk, see the RDI Tools User’s Guide). c. On the File menu, click Break (you can also press the End key to send a break or use the Toolbar and press the B button). You should see the wakeup message appear on the log file window. d.
Channel Master Operation Manual k. Remove any wedge between the housing and transducer head. Tighten the bolts in small increments in a “cross” pattern until the split washer flattens out, and then tighten each bolt ¼ turn more to compress the face seal O-ring evenly. Tighten the bolts to the recommended torque value of 4 Newton-meters (34.4 pound-force inches). CAUTION. Apply equal pressure to the O-ring as you tighten the bolts.
Channel Master Operation Manual b. Download or copy the CMFlash_Vxxx.exe file to your computer’s hard drive. c. Double-click the CMFlash_Vxxx.exe file. Click the Setup button when you are ready to begin the firmware update. Figure 17. CMFlash Program d. Enter the Serial port and BAUD rate settings. Click Connect. If you are unsure of the settings, click Auto Detect. You should see the wakeup message. Click OK to continue. Figure 18. Communication Settings e.
Channel Master Operation Manual Figure 19. Start Screen f. Wait for the Firmware upload successful message. Click Close. Figure 20. Successful Firmware Upgrade Message g. Start BBTalk. At the “>” prompt, type PS0. Verify the firmware versions have been updated. Horizontal ADCP RD Instruments (c) 2004 All rights reserved. Firmware Version: 28.
Channel Master Operation Manual 8.6 Personality Module Replacement Personality modules can be replaced to change the Channel Master communications protocols (i.e. switch from RS-422 to RS-232). a. Remove all power to the Channel Master. b. Remove the I/O cable and place the dummy plug on the I/O cable connector (see “I/O Cable and Dummy Plug,” page 17). c. Set the transducer assembly (transducer face down) on a soft pad. d. Remove the housing (see “Housing Assembly Removal,” page 21). CAUTION.
Channel Master Operation Manual 8.7 Desiccant Bags Desiccant bags are used to dehumidify the housing interior. Desiccant is essential in deployments with plastic housings. The factory-supplied desiccant lasts a year at specified Channel Master deployment depths and temperatures. Remember that desiccant rapidly absorbs moisture from normal room air. The average dry weight of a new desiccant bag is 7.2 grams ((5%). The weight increases to 8.4 to 9 grams for a “used” desiccant bag.
Channel Master Operation Manual 8.9 Prevention of Biofouling This section explains how to prevent the buildup of organic sea life (biofouling) on the transducer faces. Objects deployed within about 100 meters (≈328 feet) of the surface are subject to biofouling, especially in warm, shallow water. Soft-bodied organisms usually cause no problems, but barnacles can cut through the urethane transducer face causing failure to the transducer and leakage into the Channel Master (see Figure 22).
Channel Master Operation Manual If using antifouling grease, remove the grease immediately after recovering the Channel Master from its deployment. Remove the grease with soapy water. Be sure to wear protective gloves and a face shield. CAUTION. 1. Do not arbitrarily use antifouling grease for every application. When barnacles are a threat to the transducer faces; using antifouling grease may be appropriate if you cannot clean the Channel Master regularly (weekly).
Channel Master Operation Manual 8.9.3 Applying Antifouling Paints Follow the urethane faces application instructions for TRILUX II. One thin coat can last for several months. NOTE. You cannot protect the pressure sensor from biofouling. The pressure sensor is located near the center of the transducer array, between the urethane-covered transducers. The sensor port is a small hole drilled through a screw (see “Pressure Sensor Maintenance,” page 35).
Channel Master Operation Manual 8.11 Pressure Sensor Maintenance In order to read the water pressure, water must be able to flow through the copper screw on the pressure sensor. The tiny hole in the copper screw may at times be blocked. Use the following procedure and Figure 16, page 23 to clean the screw. a. Place the Channel Master on its’ housing end. Use a soft pad to protect the Channel Master. b. Use a straight-slot screwdriver to remove the copper screw. c.
Channel Master Operation Manual a. Place the Channel Master on its side with the vertical beam facing down and the pressure sensor port facing up. Use a soft pad to protect the Channel Master. b. Use a straight-slot screwdriver to remove the copper port screw on the pressure sensor. Do not remove the pressure sensor cover. c. A plastic bottle with silicone oil (part number 75BK6004-00) is included in the spare parts kit. Place the tip of the bottle over the screw hole.
Channel Master Operation Manual 8.11.2 Zero the Pressure Sensor Use the SZ-command to zero out the pressure sensor at the deployment site, prior to deploying the Channel Master in the water. a. Connect and apply power to the system as described in Figure 5, page 10. b. Start BBTalk and wakeup the Channel Master (press the END key). c. Type SZ and press the Return key. d. Exit BBTalk. 8.12 Storage and Shipping Maintenance This section lists the maintenance items to do before storing the Channel Master.
Channel Master Operation Manual Master to RDI for repair (see Figure 22, page 32). If you do not think you can remove barnacles without damaging the transducer faces, contact RDI. 8.12.2 Transducer Head Inspection The urethane coating on the transducer faces is important to Channel Master watertight integrity. Mishandling, chemicals, abrasive cleaners, and excessive depth pressures can damage the transducer ceramics or urethane coating.
Channel Master Operation Manual a. Use a strong shipping container made out of wood or plastic. b. Install a layer of shock-absorbing static-shielding material, 70-mm to 100-mm thick, around all sides of the instrument to firmly cushion and prevent movement inside the container. c. Seal the shipping container securely. d. Mark the container FRAGILE to ensure careful handing. e. In any correspondence, refer to the Channel Master by model and serial number. 8.
Channel Master Operation Manual Mark the Package(s) To: RD Instruments, Inc. (RMA Number) 9855 Businesspark Avenue San Diego, CA 92131-1101 Step 3 - Urgent shipments Send the following information by fax or telephone to RDI. Attention: Fax: Phone: Sales Administration (858) 695-1459 (858) 693-1178 • Detailed descriptions of what you are shipping (number of packages, sizes, weights, and contents).
Channel Master Operation Manual Mark the package(s) as follows: To: RD Instruments, Inc. (RMA Number) 5 Avenue Hector Pintus 06610 La Gaude, France Step 3 - Include Proper Customs Documentation The Customs statement should be completed very carefully. It should accurately and truthfully contain the following information.
Channel Master Operation Manual 9 Channel Master Installation This section is a guide for installing the Channel Master. Use this section to plan your installation layout. We recommend you distribute this information to your organization’s decision-makers and installation engineers. 9.1 Mounting Plate Assembly Assemble the mounting plate by connecting the four standoffs to the base plate (see Figure 24). Mount the standoffs with the flat end toward the base plate. Use the provided M6x1.
Channel Master Operation Manual +Z Vertical Beam +X Bea m1 Bea m2 -X +Y Figure 25. Channel Master Instrument Coordinates It is important to mount the Channel Master with the two horizontal acoustic beams in the same horizontal plane (zero roll). A small tilt of the Channel Master may result in an interference of the acoustic beams with either the channel bottom or water surface (see Figure 26). The Channel Master is equipped with a tilt sensor that can be used to guide in mounting.
Channel Master Operation Manual 9.3 Installing the Channel Master on Site The Channel Master must be mounted on a rigid structure in the channel, such as a solid wall, pier, or pile. The mounting structure must be firm, stable, without settlement or displacement over time. NOTE. In order to gain the maximum profiling range at a site, we recommend the Channel Master be mounted near the middle of the water depth at the mounting structure location.
Channel Master Operation Manual NOTE. It should be emphasized that the acoustic backscattering intensity profile is the most important parameter for Channel Master data quality control and assurance. We recommend the user examine the intensity profile during the installation to make sure the profile does not show any thing abnormal. The velocity data will be questionable if the intensity profile is abnormal. The intensity profile should also be monitored during the Channel Master operation.
Channel Master Operation Manual 10 Channel Master Commands This section defines the commands used by the Channel Masters. These commands let you set up and control the Channel Master without using an external software program such as our WinHADCP program. However, we recommend you use our software to control the Channel Master because entering commands directly from a terminal can be difficult. Most Channel Master settings use factory-set values.
Channel Master Operation Manual If the entered command is valid, the Channel Master executes the command. If the command is one that does not provide output data, the Channel Master sends a carriage return line feed and displays a new “>” prompt.
Channel Master Operation Manual last stored in non-volatile memory (semi-permanent user settings) through the CK-command. If the Channel Master receives a CR1, it will load into RAM the factory default command set stored in ROM (permanent or factory settings). 10.2 Command Descriptions Each listing includes the command’s purpose, format, default setting (if applicable) range, recommended setting, and description. When appropriate, we include amplifying notes and examples.
Channel Master Operation Manual 10.3 Control System Commands The Channel Master uses the following commands to control certain system parameters. 10.3.1 Standard Control System Commands This section lists the most often used Control System commands. CB – Serial Port Control Purpose Sets the RS-232/422 serial port communications parameters (Baud Rate/Parity/Stop Bits). Format CBnnn Range nnn = baud rate, parity, stop bits (see description) Default CB411 Recommended Setting.
Channel Master Operation Manual save it in the Channel Master. This procedure assumes that you will be using the program BBTalk that is supplied by RD Instruments. a. Connect the Channel Master to the computer and apply power (see “Setup the Channel Master,” page 10). b. Start the BBTalk program and establish communications with the Channel Master. Wakeup the Channel Master by sending a break signal with the End key. c. Send the command CR1 to place the Channel Master in the factory default setup. d.
Channel Master Operation Manual CF – Flow Control Purpose Sets various Channel Master data flow-control parameters. Format CFnnnnn Range Firmware switches (see description) Default CF11110 Recommended Setting. The default setting for this command is recommended for most applications.
Channel Master Operation Manual CJ – SDI-12 Configuration Purpose This command is used to enable SDI-12 communications. Format CJ x;y;z x – Enable/Disable (0 = Disable, 1 = Enable) y – Address (The address can be any alphanumeric character) z – English/Metric Units for output (0 = Metric, 1 = English) Default CJ0;0;0 Recommended Setting. Use as needed. Description This command is used to enable SDI-12 communications for data logging purposes only.
Channel Master Operation Manual CL - Battery Saver Mode Purpose Determines whether the Channel Master will attempt to conserve power. Format Range Default CLn n = 0 to 1 (0 = do not conserve power, 1 = conserve power) CL1 Recommended Setting. The default setting for this command is recommended for most applications. Description CL0 means the ADCP will not make any attempt to conserve power.
Channel Master Operation Manual CS – Start Pinging (Go) Purpose Starts the data collection cycle (same as the Tab key). Format CS Recommended Setting. Use as needed. Use WinHADCP to create the command file. The CS command will be added to the end of the command file or sent by the software. Description Use CS (or the Tab key) to tell the Channel Master to start pinging its transducers and collecting data as programmed by the other commands.
Channel Master Operation Manual CZ – Power Down Channel Master Purpose Tells the Channel Master to power down. Format CZ Recommended Setting. Use as needed. Description Sending the CZ-command powers down the Channel Master. Channel Master processing is interrupted and the Channel Master goes in the STANDBY mode (RAM is maintained). Notes 1.
Channel Master Operation Manual 10.4 Environmental Commands The Channel Master uses the following commands to control the environmental and positional information that affects internal data processing. 10.4.1 Standard Environmental Commands This section lists the most often used Environmental commands. EC – Speed of Sound Purpose Sets the speed of sound value used for Channel Master data processing. Format ECnnnn Range nnnn = 1400 to 1600 meters per second Default EC1500 Recommended Setting.
Channel Master Operation Manual taken at the transducer head. See the primer for information on speed of sound calculations. Note If the EZ Transducer Depth field = 1, the Channel Master overrides the manually set ED value and uses depth from the internal pressure sensor. If a pressure sensor is not available, the Channel Master uses the manual ED setting. EP - Pitch (Tilt 1) Purpose Sets the Channel Master pitch (tilt 1) angle. Format EP±nnnn Range ±nnnn = -179.00 to +180.
Channel Master Operation Manual ES – Salinity Purpose Sets the water’s salinity value. Format ESnn Range nn = 0 to 50 parts per thousand Default ES00 Recommended Setting. Set using WinHADCP. The default setting for this command is recommended for most applications. Description ES sets the water’s salinity value. The Channel Master uses ES in its speed of sound calculations. The Channel Master assumes the speed of sound reading is taken at the transducer head.
Channel Master Operation Manual EX – Coordinate Transformation Purpose Sets the coordinate transformation processing flags. Format EXnnnnn Range Firmware switches (see description) Default EX01010 Recommended Setting. The default setting for this command is recommended for most applications. Description Table 12: EX sets firmware switches that control the coordinate transformation processing for velocity and percent-good data.
Channel Master Operation Manual EZ – Sensor Source Purpose Selects the source of environmental sensor data. Format EZcdhprst Default EZ1101101 Recommended Setting. The default setting for this command is recommended for most applications. Range Firmware switches (see description) Description Setting the EZ-command firmware switches tells the Channel Master to use data from a manual setting or from an associated sensor.
Channel Master Operation Manual 10.5 Loop Recorder Commands The loop recorder contains approximately two megabytes of solid-state nonvolatile memory, which can be used to continuously record data. If more data is collected than fits in the memory, the oldest data will be overwritten with the newest data. You always have up to the last two megabytes of data available for download. 10.5.1 Standard Loop Recorder Commands ME – Erase Recorder Purpose Erase the contents of the loop recorder.
Channel Master Operation Manual MN – Set File Name Purpose Sets the file name for the recorder. Format MN xxx Range xxx = file name up to 32 characters long Default MN CHM Recommended Setting. Use as needed. Description The MN command sets the deployment name to be used for any future deployments. The deployment name can be up to 32 characters long, and may contain letters, numbers, or the underscore (i.e. “_”) character. If no deployment name is specified, a default of “CHM” is used.
Channel Master Operation Manual MY – Y-Modem Output Purpose Uploads recorder data to a host computer using standard YMODEM protocol. Format MY Recommended Setting. Use BBTalk to recover data (see “Recovering Data from the Loop Recorder,” page 14). Description Use the MY command to recover data from the recorder only when BBTalk is not available to recover the data.
Channel Master Operation Manual 10.6 Performance and Testing Commands The Channel Master uses the following commands for calibration and testing. 10.6.1 Standard Performance and Testing Commands This section lists the most often used Performance and Testing commands. PA – Pre-deployment Tests Purpose Sends/displays results of a series of Channel Master system diagnostic tests. Format PA Recommended Setting. Use as needed.
Channel Master Operation Manual PC0 – Help Menu Sending PC0 displays the help menu. >pc0 PC0 PC2 PC4 = Help = Show Temperature = Surface Track Ping - Advanced >pc2 Temperature (degC) / 20.1 NOTE. Use the ST command to change the units for the temperature (see “ST – Temperature Units,” page 69). >pc4 Range = 947 PD – Data Stream Select Purpose: Selects the type of ensemble output data structure. Format: PDn Range n = 0 or 14 (see description) Default PD0 Recommended Setting.
Channel Master Operation Manual PS – Display System Parameters Purpose Sends/displays Channel Master system configuration data. Format PSn Range n = 0 (see description) Recommended Setting. Use as needed. Description See below. PS0 – System Configuration PS0 sends the Channel Master hardware/firmware information.
Channel Master Operation Manual >PS2 3D8000130004031E10320352000000D005000000000505A40D0000BD0833005F00000000000000000000000 00000000000FFFFFFFF0000000000000000FA14 > NOTE. The output format of the PS1 command is determined by the CF command (see “CF – Flow Control,” page 51). PS4 – Ping Sequence PS4 sends an ASCII representation of the ping sequence generated by the WP command (see “TP – Time Between Pings,” page 70 for explanation of ping sequence).
Channel Master Operation Manual • Part 2 - The Channel Master displays the demodulator DAC values. • Part 3 - The Channel Master compares the RSSI value at high gain versus low gain. These values give the noise floor for RSSI. A high noise floor indicates possible interference or a hardware problem. A low difference between high and low RSSI values can indicate a problem in the demodulator, receiver, or RSSI switching circuitry.
Channel Master Operation Manual 10.7 Sensor Commands This section lists the sensor commands. SZ – Zero Pressure Sensor Purpose Zeros the pressure sensor. Format SZ Recommended Setting. Use as needed. Description This command zeros the pressure sensor at the specific location where the Channel Master will be used. ST – Temperature Units Purpose Sets the units for the temperature sensor in the PC2 test.
Channel Master Operation Manual 10.8 Timing Commands The following commands let you set the timing of various profiling functions. 10.8.1 Standard Timing Commands This section lists the most often used Timing commands. TE – Time Per Ensemble Purpose Sets the minimum interval between data collection cycles (data ensembles). Format TEhh:mm:ss.ff Range hh mm ss ff Default TE00:00:01.00 = 00 to 23 hours = 00 to 59 minutes = 00 to 59 seconds = 00 to 99 hundredths of seconds Recommended Setting.
Channel Master Operation Manual Recommended Setting. Set using WinHADCP. Description The Channel Master interleaves individual pings within a group so they are evenly spread throughout the ensemble. During the ensemble interval set by TE, the Channel Master transmits the number of pings set by the WP-command. TP determines the spacing between the pings. If TP = 0, the Channel Master pings as quickly as it can based on the time it takes to transmit each ping plus the overhead that occurs for processing.
Channel Master Operation Manual 10.9 Vertical Beam Commands The following commands define the criteria used to set the Vertical Beam data. 10.9.1 Standard Vertical Beam Commands This section lists the most often used Vertical Beam commands. VD – Vertical Beam Data Out Purpose Selects the data types collected by the Channel Master. Format VD abc def ghi Range Firmware switches (see description) Default VD 111 000 000 Recommended Setting.
Channel Master Operation Manual VF – Vertical Beam Blank after Transmit Purpose Moves the start of the search away from the transducer head. Format VFnnnn Range nnnn = 5 to 9999 cm (328 feet) Default VF0005 Recommended Setting. The default setting for this command is recommended for most applications. Description Set the VF command to start the search for the surface to some distance after transmit to avoid adjacent structures or to allow transmit recovery.
Channel Master Operation Manual 10.10 Water Profiling Commands The following commands define the criteria used to collect the water-profile data. 10.10.1 Standard Water Profiling Commands This section lists the most often used Water Profiling commands. WA – False Target Threshold Maximum Purpose Sets a false target (fish) filter. Format WAnnn Range nnn = 0 to 255 counts (255 disables this filter) Default WA255 Recommended Setting.
Channel Master Operation Manual Table 15: Bandwidth Control Bandwidth Sample rate Data variance Profiling range 0 = High High Low Low 1 = Low Low High High WC – Low Correlation Threshold Purpose Sets the minimum threshold of water-track data that must meet the correlation criteria. Format WCnnn Range nnn = 0 to 255 counts Default WC072 Recommended Setting. The default setting for this command is recommended for most applications.
Channel Master Operation Manual WD – Data Out Purpose Selects the data types collected by the Channel Master. Format WD abc def ghi Range Firmware switches (see description) Default WD 111 100 000 Recommended Setting. The default setting for this command is recommended for most applications. Description WD uses firmware switches to tell the Channel Master the types of data to collect. The Channel Master always collects header data, fixed and variable leader data, and checksum data.
Channel Master Operation Manual Description WF positions the start of the first cell at some vertical distance from the transducer head. This allows the Channel Master transmit circuits time to recover before beginning the receive cycle. In effect, WF blanks out bad data close to the transducer head, thus creating a depth window that reduces unwanted data in the ensemble. Notes 1. The distance to the middle of cell #1 is a function of blank after transmit (WF), cell size (WS), and speed of sound.
Channel Master Operation Manual WS – Cell Size Purpose Selects the volume of water for one measurement cell. Format WSnnnn Range nnnn = 100 to 1000 cm (300kHz), 100 to 800 cm (600kHz), 10 to 400 cm (1200kHz) Default WS0100 (1200kHz), WS0200 (600kHz), WS0xxx (300kHz) Recommended Setting. Set using WinHADCP. Description The Channel Master collects data over a variable number of cells. WS sets the size of each cell in centimeters.
Channel Master Operation Manual 11 Channel Master PD0 Output Data Format This section shows the output data format of the Channel Master. Channel Master output data can be in either hexadecimal-ASCII or binary format. You can select this option through the CF-command (see the “CF – Flow Control,” page 51). We explain the output data formats in enough detail to let you create your own data processing or analysis programs (see “13 How to Decode a Channel Master Ensemble,” page 108).
Channel Master Operation Manual ALWAYS OUTPUT WD-command WP-command VD-command VP-command ALWAYS OUTPUT Figure 28. HEADER (6 BYTES + [2 x No.
Channel Master Operation Manual 11.1 Header Data Format BIT POSITIONS BYTE 7 6 5 4 3 2 1 HEADER ID (7Fh) 2 DATA SOURCE ID (7Fh) 3 1 0 NUMBER OF BYTES IN ENSEMBLE 4 5 SPARE 6 NUMBER OF DATA TYPES 7 OFFSET FOR DATA TYPE #1 8 9 OFFSET FOR DATA TYPE #2 10 11 OFFSET FOR DATA TYPE #3 12 (SEQUENCE CONTINUES FOR UP TO N DATA TYPES) ↓ 2N+5 OFFSET FOR DATA TYPE #N 2N+6 LSB MSB LSB MSB LSB MSB LSB MSB ↓ LSB MSB See Table 17, page 82 for a description of the fields. Figure 29.
Channel Master Operation Manual Header information is the first item sent by the Channel Master to the output buffer. The Channel Master always sends the Least Significant Byte (LSB) first. Table 17: page 82 Header Data Format Hex Digit Binary Byte Field Description 1,2 1 HDR ID / Header ID Stores the header identification byte (7Fh). 3,4 2 HDR ID / Data Source ID Stores the data source identification byte (7Fh for the Channel Master).
Channel Master Operation Manual 11.2 Fixed Leader Data Format BIT POSITIONS BYTE 7 1 6 5 4 3 2 FIXED LEADER ID = 0000 2 CPU F/W VER. 4 CPU F/W REV. 6 7 8 SYSTEM CONFIGURATION NUMBER OF BEAMS 10 NUMBER OF CELLS {WN} 12 13 14 15 16 PINGS PER ENSEMBLE {WP} RANGE CELL LENGTH {WS} BLANK AFTER TRANSMIT {WF} 17 RESERVED 18 LOW CORR THRESH {WC} 19 NO.
Channel Master Operation Manual Continued from Previous Page 29 RESERVED 30 31 SENSOR SOURCE {EZ} 32 SENSORS AVAILABLE 33 BIN 1 DISTANCE 34 35 36 RESERVED 37 38 39 FALSE TARGET THRESH {WA} 40 RESERVED 41 TRANSMIT LAG DISTANCE 42 43 LSB MSB LSB ↓ CPU BOARD SERIAL NUMBER 50 ↓ MSB 51 SYSTEM BANDWIDTH {WB} 52 LSB MSB RESERVED 53 54 55 ↓ CHANNEL MASTER SERIAL NUMBER 58 See Table 18, page 85 for a description of the fields Figure 30. Fixed Leader Data Format NOTE.
Channel Master Operation Manual Fixed Leader data refers to the non-dynamic Channel Master data that only changes when you change certain commands. Fixed Leader data also contain hardware information. The Channel Master always sends Fixed Leader data as output data (LSBs first). Table 18: Fixed Leader Data Format Hex Digit Binary Byte Field Description 1-4 1,2 FID / Fixed Leader ID Stores the Fixed Leader identification word 0000 (00 00h). LSB is sent first. 5,6 3 fv / CPU F/W Ver.
Channel Master Operation Manual Table 18: Fixed Leader Data Format (continued) Hex Digit Binary Byte Field Description 19,20 10 WN / Number of Cells Contains the number of range cells over which the Channel Master collects data (WN-command). Scaling: LSD = 1 range cell; Range = 1 to 128 range cells 21-24 11,12 WP / Pings Per Ensemble Contains the number of pings averaged together during a data ensemble (WP-command). If WP = 0, the Channel Master does not collect the WD water-profile data.
Channel Master Operation Manual Table 18: Fixed Leader Data Format (continued) Hex Digit Binary Byte Field Description 61,62 31 EZ / Sensor Source Contains the selected source of environmental sensor data (EZ-command). These firmware switches indicate the following.
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Channel Master Operation Manual Continued from Previous Page 35 ↓ RESERVED ↓ 48 49 LSB 50 PRESSURE 51 52 MSB 53 ↓ RESERVED ↓ 60 See Table 19, page 90 for a description of the fields. Figure 31. Variable Leader Data Format NOTE. This data is always output in this format.
Channel Master Operation Manual Variable Leader data refers to the dynamic Channel Master data (from clocks/sensors) that change with each ping. The Channel Master always sends Variable Leader data as output data (LSBs first). Table 19: Variable Leader Data Format Hex Digit Binary Byte Field Description 1-4 1,2 VID / Variable Leader ID Stores the Variable Leader identification word 0080 (80 00h). LSB is sent first.
Channel Master Operation Manual Table 19: Variable Leader Data Format (continued) Hex Digit Binary Byte Field Description 33-36 17,18 ED / Depth of Transducer Contains the depth of the transducer below the water surface (ED-command). This value may be a manual setting or a reading from a depth sensor.
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Channel Master Operation Manual The Channel Master packs velocity data for each range cell of each beam into a two-byte, two’s-complement integer [-32768, 32767] with the LSB sent first. The Channel Master scales velocity data in millimeters per second (mm/s). A value of –32768 (8000h) indicates bad velocity values. All velocities are relative based on a stationary instrument.
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Channel Master Operation Manual Correlation magnitude data give the magnitude of the normalized echo autocorrelation at the lag used for estimating the Doppler phase change. The Channel Master represents this magnitude by a linear scale between 0 and 255, where 255 is perfect correlation (i.e., a solid target). A value of zero indicates bad correlation values.
Channel Master Operation Manual The percent-good data field is a data-quality indicator that reports the percentage (0 to 100) of good data collected for each range cell of the velocity profile. The setting of the EX-command (Coordinate Transformation) determines how the Channel Master references percent-good data as shown below. EX-Command Coord.
Channel Master Operation Manual mand has a default of 5000 mm/s. This large WE setting effectively prevents the Channel Master from rejecting data based on error velocity. FIELD 3 - Percentage of No Solution Transformations - 45% of the velocity data were rejected because there was insufficient information (velocity Data) to attempt a transformation. FIELD 4 - Percentage of Full Solutions - 0% of the velocity data collected during the ensemble for range cell 60 generated a Full Solution.
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Channel Master Operation Manual Continued from Previous Page BIT POSITIONS BYTE 7 6 5 4 3 2 1 0 35 36 STD of Depth based on Corrected Pressure 37 38 39 40 Min of Depth based on Corrected Pressure 41 42 43 44 Max of Depth based on Corrected Pressure 45 46 Figure 34.
Channel Master Operation Manual For Evaluation Amplitude, Amplitude at the Surface, Standard Deviation, Max Surface Track and Min Surface Track the following applies: If number of bursts per ensemble is 1, then this is based on the good pings in the ensemble. If the number of bursts per ensemble is greater than 1, then this is based on the output from each burst which could be from individual pings or from average RSSI data.
Channel Master Operation Manual 11.7 Surface Track Amplitude Output BIT POSITIONS BYTE 7 1 6 5 4 3 2 1 Vertical Beam Amp ID = 4002 2 3 0 LSB 02h MSB 40h Pings in Burst (NPing) 4 Bin Location of Surface (Avg.) 5 6 Filter Evaluation Amp (Avg.) 7 Amplitude at Surface (Avg.) 8 W Filter Bin Location of Surface (Avg.) 9 10 W Filter Evaluation Amp (Avg.) 11 W Filter Amplitude at Surface (Avg.) 12 Leading Edge Filter Bin Location of Surface (Avg.
Channel Master Operation Manual The data in this structure is from the last burst in an ensemble. Table 25: page 102 Surface Track Amplitude Output Hex Digit Binary Byte Field Description 1-4 1,2 VB_AMP_ID / Vertical Beam Amp ID Stores the Vertical Beam Amplitude ID word 4002 (02 40h). LSB is sent first.
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Channel Master Operation Manual Table 26: Surface Track Commands Output Hex Digit Binary Byte Field Description 1-4 1,2 VB_CMD_ID / Vertical Beam Commands ID Stores the Vertical Beam Commands ID word 4001 (01 40h). LSB is sent first. 5-8 3,4 VM_Blank See VF command. 9-12 5,6 VM_Pings See VP command. 13,14 7 VM_BW See #VB command. 15,16 8 VM_DetectMode See #VC command. 17,18 9 VM_PressScreen See #VC command. 19,20 10 VM_RangeScreen See #VC command.
Channel Master Operation Manual 11.9 Binary Reserved BIT Data Format BIT POSITIONS BYTE 7 6 1 5 4 3 2 1 0 LSB RESERVED FOR RDI USE 2 Figure 36. MSB Binary Reserved BIT Data Format NOTE. The data is always output in this format. See Table 27 for a description of the fields. Table 27: Reserved for RDI Format Hex Digit Binary Byte Field Description 1-4 1,2 Reserved for RDI’s use This field is for RDI (internal use only). 11.
Channel Master Operation Manual 12 Channel Master PD14 Output Data Format This section details the specification of an output format for data consisting of a header (with timestamp), a two dimensional profile of velocity, acoustic intensity, and standard error data, tilt sensor data, stage data, and a checksum. This format is primarily intended for integrating the Channel Master with other systems or data loggers. Data will be output in this format when PD14 is selected as the output format. 12.
Channel Master Operation Manual Table 29: Channel Master PD14 Output Data Format Position Size Name Description 0 2 SOE Start of ensemble - always 0x8F8F 2 2 NBytes Number of bytes 4 2 NEnsemble Number of ensembles since start of deployment 6 2 Year 4-digit year 8 1 Month Month 9 1 Day Day of month 10 1 Hour Hour of day since midnight 11 1 Minutes Number of minutes since the last hour 12 1 Seconds Number of seconds since the last minute 13 1 Hundredths Hundredth
Channel Master Operation Manual 13 How to Decode a Channel Master Ensemble Use the following information to help you write your own software. 13.1 Rules for the Channel Master Data Format PD0 a. All data types (i.e. fixed leader, variable leader, velocity, echo intensity, correlation, percent good, etc.) will be given a specific and unique ID number. The table below shows some of the most common IDs.
Channel Master Operation Manual f. The total number of the bytes in an ensemble minus the 2-byte checksum will be included in the header. 13.2 Recommended Data Decoding Sequence for Data Format PD0 a. Locate the header data by locating the header ID number (in the case of PD0 profile data that will be 7F7F). b. Confirm that you have the correct header ID by: 1. Locating the total number of bytes (located in the header data) in the ensemble. This will be your offset to the next ensemble. 2.
Channel Master Operation Manual 3. typedef struct { } VelocityType 4. and so on for every available type. b. Clear checksum. c. Look for PD0 ID 0x7F. Add to checksum. d. Is next byte a 0x7F? Add to checksum. e. If no, return to step “b”. f. Else, read next two bytes to determine offset to checksum. Add two bytes to checksum. g. Read in X more bytes, where X = offset to checksum - 4. Adding all bytes to checksum. h. Read in checksum word. i. Do checksums equal? j.
Channel Master Operation Manual /****************************************************************************/ /* structures */ /****************************************************************************/ typedef unsigned char uchar; typedef unsigned short ushort; typedef unsigned long ulong; typedef struct { uchar Minute, Second, Sec100; } TimeType; typedef struct { uchar Year, Month, Day, Hour, Minute, Second, Sec100; } DateTimeType; typedef struct { uchar Version, Revision; } VersionType; typedef stru
Channel Master Operation Manual ushort } BITResult, SpeedOfSound, Depth, reserved1; short Pitch, Roll; ushort Salinity; short Temperature; TimeType MaxTimeBetweenPings; uchar HeadingStddev, PitchStddev, RollStddev; uchar reserved2 [17]; ulong pressure; uchar reserved3 [4]; VarLeaderType; typedef struct { ushort ID; short Data [256]; } OneBeamShortType; typedef struct { ushort ID; uchar Data [256]; } OneBeamUcharType; typedef struct { ushort ID; short Data [1024]; } IntStructType; typedef struct { ushort
Channel Master Operation Manual { } 14 } VelPtr = (IntStructType *)&RcvBuff [ HdrPtr->Offset [i] ]; break; } case CorSelected { CorPtr = break; } case AmpSelected { AmpPtr = break; } case PctSelected { PctPtr = break; } case SttSelected { SttPtr = break; } } : (ByteStructType *)&RcvBuff [ HdrPtr->Offset [i] ]; : (ByteStructType *)&RcvBuff [ HdrPtr->Offset [i] ]; : (ByteStructType *)&RcvBuff [ HdrPtr->Offset [i] ]; : (ByteStructType *)&RcvBuff [ HdrPtr->Offset [i] ]; Specifications Table 31: Velocit
Channel Master Operation Manual Table 33: Power Specifications Voltage 10 to 18 VDC Maximum Current 1.5A NOTE. Energy consumption depends on velocity profiling parameters. Contact RD Instruments or a representative for an accurate prediction for your application. Table 34: Standard Sensors Specifications Acoustic Stage Pressure Temperature Tilt Table 35: Range 0.15 to 10 meters Accuracy ±0.1%, ± 3 mm (which ever is greater) Resolution 0.1 mm Range 0.1 to 10.
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Channel Master Operation Manual page 116 RD Instruments
Channel Master Operation Manual P/N 95B-6001-00 (January 2005) page 117
Channel Master Operation Manual 14.2 Mounting Plate Drawing 15 Technical Support If you have technical problems with your instrument, contact our field service group in any of the following ways: RD Instruments RD Instruments Europe 9855 Businesspark Ave. 5 Avenue Hector Pintus San Diego, California 92131 06610 La Gaude, France (858) 693-1178 +33(0) 492-110-930 FAX (858) 695-1459 +33(0) 492-110-931 Sales - rdi@rdinstruments.com rdi@rdieurope.com Field Service – rdifs@rdinstruments.
Channel Master Operation Manual 16 Glossary If, after reviewing this section, you are unable to find the word/jargon in question, please send us an e-mail containing that word. Your questions will ensure that our glossary remains an effective reference tool for our customers.
Channel Master Operation Manual AUV: Autonomous Underwater Vehicle ------ B -----Backscatter: 1) The portion of a sound wave that is reflected by scatterers directly back toward the source. 2) A qualitative measurement (in decibels) of scatterer concentration which is calculated in the WinRiver software. This calculation corrects the echo intensity data for sound absorption, beam spreading, transducer temperature, etc. and provides an excellent means of tracking relative concentration (e.g.
Channel Master Operation Manual Beam Coordinates: Profile data is reported as referenced along each beam (i.e. no coordinate transformation is performed upon the raw data). Beam Spreading: The extent to which the main lobe of energy generated by a transducer fans out, or spreads as an acoustic wave front, with distance from the transducer. This is proportional to λ/d where λ is the wavelength of sound generated and d is the diameter of the transducer.
Channel Master Operation Manual Bottom Track Modes: There are currently four bottom tracking modes of operation available from RDI: Bottom Mode 4: Uses ambiguity resolution, and adjusts lags for reduced variance at higher elevations (or deeper depths). Bottom Mode 5: Specifically designed for reduced variance in shallow water/low elevations. It transmits several pings with computations to best determine depth and speed.
Channel Master Operation Manual Degaussing: Technique used to remove the magnetic field from RDI battery packs before installation, done to minimize any effects the batteries will have on the magnetic compass. Depth Cell (Bin): A measurement within a profile, generally equivalent to a single-point current meter on a mooring. Depth Cell Mapping (Bin Mapping): When the ADCP is tilted; the measurements taken at equal distances along each beam are no longer in the same horizontal layer of water.
Channel Master Operation Manual Doppler Velocity Log (DVL): An instrument designed to measure the velocity and elevation of a moving platform with bottom tracking. Most DVLs will switch to measuring velocity relative to the water when the bottom is out of range. DVL: Doppler Velocity Log. ------ E -----Earth Coordinates: Profile data is reported in an orthogonal coordinate frame as referenced to the Earth (East, North and Up). “North” can mean magnetic or true, depending on the heading input.
Channel Master Operation Manual ------ G -----Gimbals: Frame that will support the weight of an object but allow its free rotation. Gimbals can be constructed to allow free rotation in one, two, or three axes. GO-DVL: DOS batch file used to configure a Navigator and start data collection with Shiptrack. Gyro: A rapidly spinning device mounted on gimbals to maintain a constant orientation.
Channel Master Operation Manual ------ M -----Main Lobe: The main focus of energy emitted from a transducer. If the transducer were a flashlight, the main lobe would be the visible beam of light. Mariner: Model name for a Workhorse Monitor ADCP configured for underway current measurement in shallow water (as opposed to the deep water Ocean Surveyor systems). Modes: RDI offers several modes of operation that are optimized for certain conditions.
Channel Master Operation Manual common for bottom tracking measurements to lock onto a sediment layer that is still moving, resulting in a bias to the bottom tracking velocity. This is especially important for river discharge measurements, where the vessel’s navigation must be substituted for the bottom track velocity to obtain accurate results. ------ N -----Navigator: Model name for the RDI Doppler Velocity Log. Narrowband ADCP: An ADCP that uses narrowband processing.
Channel Master Operation Manual Ping: The entirety of the sound generated by an ADCP transducer for a single measurement cycle. A broadband ping contains a coded series of pulses and lags, while a narrowband ping contains a single pulse. Ping Mode: Power conserving mode for a deployed ADCP or DVL, where only the power needed for the immediate deployment task is drawn (as opposed to command mode, where the ADCP consumes considerable power while simply waiting for input).
Channel Master Operation Manual 7. Salinity: generally, the fresher the water, the longer the range. Range Gating: After sending a ping into the water, the ADCP transducers listen for returned signal. The time series of the returned signal is then broken into a sequence of time segments, or range gates. Each segment is equivalent to a depth cell, with the last segment coming from the farthest range from the ADCP. RDI Tools: Software package containing all of the BB* programs (BBTalk, BBList, etc.
Channel Master Operation Manual Sentinel: The model name for a self-contained Workhorse ADCP. Ship Coordinates: Profile data is reported in an orthogonal coordinate frame as referenced to the ship (if beam 3 is forward then ship coordinates are the same as instrument coordinates). Shiptrack: DOS program to integrate and display Navigator data. Sidelobes: Peaks in sound intensity generated by a transducer found to the side of the main lobe.
Channel Master Operation Manual ------ U -----Unmanned Underwater Vehicle (UUV): Generic term referring to both AUVs and ROVs. UUV: Unmanned Underwater Vehicle ------ V -----Vessel Mount: An ADCP mounted to the hull of a vessel, typically in a sea chest, and having inputs from the vessel’s navigation equipment. VM-DAS: Windows-based data acquisition package for vessel mount ADCPs. This package includes the ability to incorporate the ship’s navigation equipment.
Channel Master Operation Manual NOTES page 132 RD Instruments
