Teledyne WORKHORSE II Quick reference guide

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WORKHORSE II
MONITOR /SENTINEL
DEPLOYMENT GUIDE
P/N 957-6299-00 (May 2022)
© 2022 Teledyne RD Instruments, Inc. All rights reserved.
www.teledynemarine.com/rdi

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EAR-Controlled Technology Subject to Restrictions Contained on the Cover Page.
TABLE OF CONTENTS
PREPARING THE ADCP ...............................................................................................................................................1
CONNECTING TO THE ADCP ........................................................................................................................................6
PLANNING THE DEPLOYMENT .......................................................................................................................................8
DEPLOYING THE ADCP ...............................................................................................................................................9
RECOVERING DATA ....................................................................................................................................................15
CONCLUSION ............................................................................................................................................................19
HOW TO CONTACT TELEDYNE RD INSTRUMENTS
If you have technical issues or questions involving a specific application or measurement with your instru-
ment, contact our Field Service group:
Teledyne RD Instruments Teledyne RD Instruments Europe
14020 Stowe Drive
Poway, California 92064
2A Les Nertieres
5 Avenue Hector Pintus
06610 La Gaude, France
Phone [phone] Phone [phone]
Sales – [e-mail] Sales – [e-mail]
Field Service – [e-mail] Field Service – [e-mail]
Client Services Administration – rdicsadm[email protected]
Web: http://www.teledynemarine.com/rdi
For all your customer service needs including our emergency 24/7 technical support, call [phone]
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Teledyne RDI documentation.
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Once you have secured an account, use the Teledyne Marine software portal to access this data with your unique username and password.
If you have an urgent need, please call our Technical Support hotline at [phone].

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Preparing the ADCP
PREPARING THE ADCP INCLUDES THE FOLLOWING STEPS:
Checking you have all the Monitor/Sentinel parts
Installing the documentation and software
Installing the batteries
Checking the system is closed properly
Identifying what’s in the Box
Included with the Monitor/Sentinel system:
Part Number
Name
Description
WHSII1200-I, 600, 300
WHMII1200, 600, 300
Sentinel system
Monitor system
The Workhorse II Monitor/Sentinel system includes the transducer, CompactFlash Memory
card (Sentinel only), dummy plug, and protective cap. When unpacking, use care to prevent
physical damage to the transducer face and connector. Use a soft pad to protect the
transducer.
Workhorse II Accessories:
Part Number
Name
Description
977-7016-00 Shipping case Shipping case with custom foam cutouts.
737-3172-005
737-3173-005
Test cable
Pigtail cable
Optional with Sentinel system. The test cable is used for serial communications.
Included with Monitor system. Note the cable is located under the foam in the shipping case.
97Z-6190-00 USB to Serial Adapter The USB adapter appears as an additional serial COM port.
717-3014-00
optional
AC Power Adapter The AC Adapter converts AC power and supplies +48 VDC to run the Workhorse II.
737-3010-00
optional
RS-422 to RS-232 Converter Converts RS-422 to RS-232 for serial communications (optional for Monitor systems).
757K6023-00 Alkaline Battery Pack
(Sentinel only)
Workhorse II Sentinel batteries are shipped inside the Workhorse II ADCP but not connected. Connect
the battery and seal the Workhorse II ADCP before deployment.
977-6037-00 Memory (Sentinel only) Workhorse II Sentinel ADCPs come standard with one 16GB CompactFlash memory card.
957-6300-00
95Z-6007-00
(part of
757K6189-00)
Getting Started A printed sheet showing Workhorse II Monitor/Sentinel set up.
Download instructions This sheet has instructions for downloading the software and manuals.
Download from
website
TRDI Toolz
Workhorse II Plan
Compass Calibration
Compass Post Calibration
ADCP Utilities (beta version)
Use TRDI Toolz to test the ADCP, send deployment commands, and recover data.
The Workhorse II Plan program creates a deployment configuration file.
Use CompassCal to calibrate the internal compass.
Use Compass Post Calibration to correct heading/velocity data in a PD0 data file.
Use ADCP Utilities or WinADCP to review data files.
957-6299-00 Deployment Guide Downloadable short guide showing Workhorse II Monitor/Sentinel set up and deployment.
757K6188-00
757K6191-00
Sentinel Spare Parts
Monitor Spare Parts Contains tools, O-Rings, and close-up hardware

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Tools and Spare Parts
A set of tools and spare parts are included with the system (located in the canvas bag).
Workhorse II Spare Parts:
Part Number Item Name Where Used
206062-1 Clamp, Cable, Plastic Shell
Optional AC Power Adapter
(Sentinel only)
206430-2 Receptacle, 4 Pin, Free Hang
66101-4 Socket, Crimp, 18-16awg
PO3-6 Cord, Power, AC
PO4-6 Cord, Power, European AC
SPR84-1LB Rubber Band Battery pack (Sentinel only)
5020 Silicone Lubricant
Housing
97Z-6052-00 O-Ring, 2-260 (200-meter housing)
97Z-6084-00 O-RING, 2-015 .070DIAX.551 ID, EPDM, DURO 90A, VENT PLUG
97Z-6084-01 O-RING, 3-904, .072DIAX.351 ID, EPDM, DURO90A, VENT PLUG
M10COMBINATION Wrench, 10MM COMB.
M13COMBINATION Wrench, 13MM COMB.
M6WASHSPLTI Washer, 6MM Split Lock, Titanium
M6WASHSTDTI Washer, Flat, Titanium 12.5MM OD
M6X1.0NUTTI Nut, Hex, Titanium 10MM
M6X1.0X45HHTI Screw, Hex Head, Titanium
M8WASHSPLTI Washer, Split Lock, Titanium
M8WASHSTDTI Washer, Flat, Titanium 22.9MM OD
M8X1.25NUTTI Nut, Hex, Titanium 13MM
M8X1.25X65HHTI Screw, Hex Head, Titanium Full Threads Length
717-3008-00 Jumper, GND
Main Electronics
817-3003-00 Washer, Felt
GMA-3A Fuse, 5MM X 20MM 3R 250V
DES3 Desiccant, Sealed Bag Inside Housing
817-1067-00 Screw, Pressure Sensor Pressure Sensor

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Installing Documentation and Software
The Workhorse II software and manuals are downloaded.
1. Follow the instruction sheet on downloading TRDI software and manuals.
2. Software is available on https://tm-portal.force.com/TMsoftwareportal.
Download TRDI Toolz, Workhorse II Plan, Compass Calibration, Compass
Post Calibration,and ADCP Utilities (beta version) or WinADCP. These pro-
grams are required for set up, testing, and data review.
Download application software VmDas or WinRiver II as needed.
3. Manuals are available for download on http://www.teledynemarine.com/rdi. Download the Work-
horse II Operation manual and Workhorse ADCP Commands and Output Data Format Guide.
PDF versions of all Workhorse II documentation are available for download.
Installing the USB to Serial Adapter Driver
If there is an available internet connection, Windows 10/11 will install the USB driver on first
connection. If necessary, install the Virtual COM port (VCP) driver to make the USB adapter
appear as an additional COM port. The free FTDI driver download page is available here:
https://ftdichip.com/drivers/
Use Windows Device Manager® to determine the USB to Serial adapter COM port number.
Remove the adapter, wait a moment, note the list of ports, reinsert the adapter and note the
new port.

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Installing Sentinel Batteries
To connect the battery pack:
Sentinel battery packs are shipped inside the
system but not connected. Connect the battery
and seal the Sentinel before deployment.
4. Place the Sentinel ADCP with the end-cap
facing up. Use a soft pad or the transducer
cover to protect the ADCP.
5. Loosen the Vent plug on the end-cap to
vent any pressure inside the housing.
6. Carefully lift the end-cap away from the
housing.
7. Connect the battery cable to the top PC
board two-pin connector.
8. Check there is a battery pack rubber band
around all four wing nuts. This will prevent
the wing nuts from backing off the post.
The Workhorse II Sentinel battery packs are
held in place by four sets of washers, lock washers,
and wing nuts. If the wing nuts are not tight, the
assembly of washers and wing nut can become loose
and eventually fall onto the PIO board. This has
caused the PIO board to short out.
1. Place the end-cap on the housing, aligning
the mating holes and the beam 3 number
embossed on the end-cap with the beam 3
number embossed on the transducer head.
2. Examine the titanium end-cap assembly
nuts, bolts, and washers (6-mm) for corro-
sion; replace if necessary.
3. Tighten the bolts to the recommended
torque value of 5.6 Newton-meters (50
pound-inches).
4. Tighten the vent plug to 6.78 Newton-me-
ters (60 pound-inches).

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Quick Review
Check that you have all the
Monitor/Sentinel parts.
If you are missing parts, contact TRDI
support [e-mail] or call
[phone].
Check that the software and
documentation is installed.
The software is available for download on
https://tm-portal.force.com/TMsoftwareportal
Install TRDI Toolz, Workhorse II Plan,
Compass Calibration.
Install Compass Post Calibration, and
ADCP Utilities.
Install any application software as needed.
Check that the system is closed properly. For more information about installing the
battery and system close-up, see chapter
4 in the Workhorse II Operation Manual.

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Connecting to the ADCP
CONNECTING TO THE ADCP INCLUDES THE FOLLOWING STEPS:
Using TRDI Toolz to communicate with the Workhorse II
Connecting to the ADCP
To establish communications with the Workhorse II:
1. Lubricate the cable connector and connect to the ADCP. Attach the cable to the computer’s serial
communication port or connect the USB adapter to a spare USB port. Use a RS-422 to RS-232
converter if the ADCP is configured as RS-422. Apply +48VDC power.
2. Start the TRDI Toolz software.
3. Select New Serial Connection.
4. Enter the ADCP’s communication settings. Select the COM Port
the serial cable is connected to and set the Baud Rate from the
drop-down lists.
5. Click the Connect button. Once connected, the button will
change to Disconnect.
6. From the Break button drop down menu, select Hard Break (shortcut
Alt+H). Click the Break ( ) button. The wakeup banner will display in
the terminal window.
If you are unsure of the ADCP’s baud rate, use Tools, Find ADCP. TRDI Toolz will try different
baud rates until it connects to the ADCP.
>{¡┐φ²∩╜╜²²jñ~ªñδgJ Checking 9600 baud rate
Checking 115200 baud rate
==
Workhorse II Broadband ADCP Version 77.xx
Teledyne RD Instruments (c) 1996-2021
All Rights Reserved.
>
Use Windows Device Manager® to determine the USB to Serial adapter COM port number.
Remove the adapter, wait a moment, note the list of ports, reinsert the adapter and note the
new port.

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Quick Review
Verify the wakeup banner displays
If you are unsure of the ADCP’s baud rate,
use Tools, Find ADCP. TRDI Toolz will try
different baud rates until it connects to
the ADCP.
The default factory set communications
settings for Sentinel is RS-232, 9600-baud, no
parity, 8 data bits and 1 stop bit. Monitor
systems use RS-422, 9600-baud, no parity, 8
data bits and 1 stop bit.
For help on using TRDI Toolz, click the
icon.
If you have any problems connecting, see
the Workhorse II Operation manual,
Chapter 6.
Install the USB to Serial adapter Virtual
COM Port (VCP) driver
The free FTDI driver download page is
available here: https://ftdichip.com/drivers/

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Planning the Deployment
PLANNING THE DEPLOYMENT INCLUDES THE FOLLOWING STEPS:
Creating a command file using Workhorse II Plan
Use Workhorse II Plan to create a command file.
Review the consequences.
Save the command file.
See the Workhorse II Plan help file for details.
Quick Review
Check that the resources for the
deployment are acceptable.
Use Workhorse II Plan wizard screens and
verify all consequences.

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Deploying the ADCP
DEPLOYING THE ADCP INCLUDES THE FOLLOWING STEPS:
Setting the ADCP clock
Formatting the CompactFlash card recorder
Testing the ADCP
Calibrating the Compass
Sending the commands to the ADCP
Pre-Deployment Checks
Use TRDI Toolz for running the pre-deployment tests and setting the Monitor/Sentinel real-time clock.
Refer to the Workhorse and Workhorse II Command Guide for a listing of all direct
commands and their format.
Setting the ADCP Clock
The real-time clock (date and time) within the Monitor/Sentinel maintains the correct time while system
power is removed. The clock is powered by a lithium battery on the WHP board.
To set the ADCP’s clock to match the PC time:
1. Setup the communication parameters between TRDI Toolz and the ADCP.
2. Wake up the ADCP by pressing the button.
3. Click Tools, PC Time to ADCP.
4. TRDI Toolz will send the TS command to set the clock.
[BREAK Wakeup A]
Workhorse II Broadband ADCP Version 77.xx
Teledyne RD Instruments (c) 1996-2021
All Rights Reserved.
>TS 21/06/17 09:50:34
>
Format the CompactFlash Card Recorder
Use the RE ErAsE command to erase and format the CompactFlash memory card to the FAT32 format.
To format the CompactFlash memory card:
1. Setup the communication parameters between TRDI Toolz and the ADCP.
2. Wake up the ADCP by pressing the button.
3. Enter the RE ErAsE command and then press the Enter key or click on Send. This command is case
sensitive.

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>RE ErAsE erasing...
Recorder erased.
>
Use TRDI Toolz to download data from the CompactFlash card (see Downloading Data Files).
Once erased, data is not recoverable. Do not format or delete files from the CompactFlash
card using Windows®. This may leave hidden files on the card. Always use the ADCP’s RE
ErAsE command to format and delete data from the CompactFlash card recorder.
A recorder card with a file count more than 50 files will cause a noticeable delay between the
first ensemble and the Start Pinging (CS) command. If this delay is a concern, ensure that
unwanted files are cleared before starting the deployment.
Testing the ADCP
To run the Built-in tests:
1. Setup the communication parameters between TRDI Toolz and the ADCP.
2. Wake up the ADCP by pressing the button.
3. Enter the PA command and then press the Enter key or click on Send.
If any of the tests fail, read Chapter 6 in the Workhorse II Operation Manual.
Testing the Sensors
To test the sensors:
1. Setup the communication parameters between TRDI Toolz and the ADCP.
2. Wake up the ADCP by pressing the button.
3. Enter the PC2 command and then press the Enter key or click on Send.
Press any key to quit sensor display ...
Heading Pitch Roll Up/Down Attitude Temp Ambient Temp Pressure
301.01°-7.42°-0.73°Up 24.35°C 22.97°C 0.0 kPa
300.87°-7.60°-0.95°Up 24.36°C 22.97°C 0.0 kPa
4. Rotate and tilt the system and verify the Pitch and Roll sensor data is reasonable. Rotate the sys-
tem clockwise and verify the heading increases. Validate the accuracy at 0, 90, and 180 degrees. If
the heading is off by more than 2 degrees, calibrate the compass. If the Depth sensor is not zero,
zero the pressure sensor.
5. If a sensor fails, contact TRDI Field Service.
See the Workhorse II Operation Manual, Chapter 5 for details on testing the sensors.

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Zero the Pressure Sensor
Zero the pressure sensor at the deployment site, prior to deploying the Monitor/Sentinel ADCP in the
water.
To zero the pressure sensor:
1. Setup the communication parameters between TRDI Toolz and the ADCP.
2. Wake up the ADCP by pressing the button.
3. Enter the AZ command and then press the Enter key or click on Send.
Calibrating the Compass
The main reason for compass calibration is battery replacement. Each new battery carries a different mag-
netic signature. The compass calibration algorithm corrects for the distortions caused by the battery to
give you an accurate measurement.
To achieve the best possible field calibration of the compass, the compass calibration should be per-
formed:
•In a “magnetically clean” environment, i.e., in an area free from stray magnetic fields (elec-
tronics, power lines, etc.) and magnetic materials such as iron.
•As close as possible to the actual deployment site (so that during calibration the instrument is
measuring a magnetic field intensity and dip angle that are as close as possible to the as-de-
ployed environment)
•With a large variety of instrument orientations (ideally tilting the instrument by 30 degrees or
more during orientation).
•TRDI recommends that if you are having trouble calibrating the Workhorse II ADCP compass
that you move the system and/or ensure the area around the system is clear of electrical
equipment and ferrous materials.
In an oil & gas environment, it is typically impossible to meet the first two requirements
above. Oil fields are full of metal structures that preclude a “magnetically clean”
environment. Even in standard oceanography, for example a deep-water deployment in the
open ocean, it is not possible to meet both requirements because any location reasonably
near the deployment site is aboard a ship, which will be a decidedly magnetically dirty
environment. Therefore, the customer typically must choose between calibrating a long way
away from the deployment site or use the factory default calibration and then post-calibrate
the data (see Compass Post Calibration).
To calibrate the internal compass:
1. Go outside, away from magnetic materials.
2. Start the Compass Calibration software and set up the communication parameters
between the software and the ADCP.
Communication errors may occur during calibration when using a slow communication Baud
rate. If you receive a Failed to get calibration data… message, try increasing the Baud rate
(115200 Baud is recommended). The Workhorse II uses a Hard break.
3. Click the Calibrate button.

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4. Select Use Pitch/Roll?
•Select No. This calibration requires two rotations (one for calibration and one for
verification).
•Select Yes. This calibration requires eight rotations (four for calibration and four for
verification).
5. Click the Start Calibration button.
6. As you rotate the Workhorse II, the bars will change color. The Blue bar indicates where you are
in the rotations.
•Green – Good
•Light Green – Acceptable
•Yellow – Within parameters (one or two yellow bars for the entire rotation is OK)
•Orange – Unacceptable - Rotate slower!
•Red – Not measured
7. When the first rotation(s) are complete, click OK on the message box to continue with the verifica-
tion samples.
8. When the second rotation(s) are complete, click OK on the message box. The calibration error
should be less than 2 degrees.
Stability of the instrument during the calibration process, as well as a non-magnetic
calibration site is essential to getting the lowest overall error value.

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Removing the Transducer Cover
The Monitor/Sentinel ADCP is shipped with a transducer cover to protect the transducer faces. Remove
the cover when deploying the ADCP.
You MUST remove the cover to collect good data.
Deploying the ADCP
Use TRDI’s software Workhorse II Plan to create and save a command file (see Planning the Deployment).
To send multiple commands to configure the ADCP and start it pinging:
1. Setup the communication parameters between TRDI Toolz and the ADCP.
2. Wake up the ADCP by pressing the button.
3. On the Tools menu, select Script Editor.
4. Click the Open icon and select the command file to run from the list. If no
extension is given for the script file, an extension of *.txt is assumed.
5. Click the Send icon. Clicking the drop-down menu will show the options to
Send to current or Send to all. Use the Send to all feature to send the same
script file to all connected ADCPs.
6. Use the Layout menu to show or hide the Ensemble Display and Terminal
windows. The Ensemble Display shows limited situational data (Ensemble
Time, Temperature, Heading, Pitch, Roll, Bottom track range/velocity,
Vertical Beam range) in tabular form from the ADCP data stream, when present.
Note that the Ensemble Display is off when TRDI Toolz is first started.

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Quick Review
All maintenance items (as needed) were
done including set clock, erase the
CompactFlash memory card, zero
pressure sensor, and compass calibration.
TRDI recommends that if you are having
trouble calibrating the Monitor/Sentinel
compass that you move the system
and/or ensure the area around the system
is clear of electrical equipment and
ferrous materials.
You MUST remove the transducer cover
to collect good data.
Read Chapter 2 in the Workhorse II
Operation Manualfor information on how
to install/mount the ADCP for a
deployment.
The transducer cover is removed.
Send the command file to the ADCP

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Recovering Data
RECOVERING DATA INCLUDES THE FOLLOWING STEPS:
Downloading data files
Post-calibrate the compass data
Viewing data using the ADCP Utilities software
Downloading Data Files
To download a data file:
1. Setup the communication parameters between TRDI Toolz and the ADCP.
2. Wake up the ADCP by pressing the button.
3. Click Tools, Download Data.
4. TRDI Toolz sends the RY command to recover the data. The RY command uploads the entire con-
tents of the CompactFlash memory card via the serial interface to a host computer using the
standard YMODEM protocol for binary file transfer. The data is transferred to the host and stored
as binary files.
5. Once the data has been recovered, the CompactFlash memory card can be erased by sending the
command RE ErAsE. This command is case sensitive. Once erased, the data is not recoverable.
Compass Post Calibration
Compass Post Calibration corrects for heading errors due to hard and soft iron effects in the Workhorse
reference frame during the deployment. Often post calibration will provide results more reliable than
when only a pre-deployment calibration is performed.
Some example scenarios where the post calibration is useful:
•The Workhorse is installed on a mooring and rotates freely sampling the magnetic environment
throughout the deployment.
•The magnetic properties of the installation changed after the pre-deployment calibration. A bat-
tery pack was added, or the Workhorse was installed in a mounting frame constructed of a ferrous
material.
•The Workhorse was subject to magnetic interference during the pre-deployment calibration.
Post calibration will not be effective if:
•The magnetic interference is not in the Workhorse reference frame. The Workhorse is deployed
adjacent to a large metal structure like a bridge or ship for example.
•The magnetic properties change over the deployment.

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To post calibrate the data:
1. Use TRDI Toolz to download the data from the CompactFlash recorder. For example, the pd0 data
file is named _RDI_000.000and the _RDI_000.cal is the post calibration file and both files are down-
loaded to the same folder.
2. Start the Compass Post Calibration software and click the Menu button to select the PD0 data file
(*.000).
3. Compass Post Calibration will create the filename.postcal.txt and filename.postcal.000 files. The
original raw data is not changed. Use the filename.postcal.000file to view the data with the post
compass calibration correction applied.
The *.cal file is created during data collection and is recorded to the CompactFlash recorder
with the *.000 pd0 data file.
Post calibration relies upon the instrument moving sufficiently the during the deployment to
collect “raw magnetometer” data for the heading coverage. If the *.cal file did not have
sufficient heading coverage, then the post calibration will fail to converge.

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Viewing Data
ADCP Utilities (beta version) can open and display data files up to 32GB in size. WinADCP can also be
used to view data.
To open a data file:
1. Start ADCP Utilities.
2. Click Open and select a data file.
3. On the start screen, recently opened deployments are shown in the box and can be clicked to reo-
pen the file.
The original *.pd0 file is never changed, moved, or overwritten.
For information on using ADCP Utilities, click the icon.
To view a Workhorse II ADCP data file with the compass post-calibration data applied, open
the filename.postcal.pd0 files.
4. Click the Report tab to view an overview of the data file quality.
Redeployment
The Self-Contained deployment typical turn-around involves the following tasks:
1. Recover the ADCP to the deck of the support vessel.
2. Connect to the ADCP using TRDI Toolz.
Transfer the data to the laptop.
•It is recommended that all data is down-
loaded and verified before the recorder
is erased.
3. Replace the batteries.
4. Erase the CompactFlash memory card re-
corder.
5. Close the self-contained housing and run the
pre-deployment tests.
6. Plan the deployment with Workhorse II Plan
and redeploy the ADCP.
Recover system
Connect and
Recover Data
Replace batteries
Erase recorder
Run pre-
deployment tests
Plan and Deploy

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PDDecoder Library in C language
The Teledyne Marine PDDecoder library is an open-source library written in C language to decode the
PD0 data formats that are commonly output by Teledyne Marine/Teledyne RD Instruments ADCPs. The
definition and details of the PD0 format can be found in the Workhorse II Commands and Output Data
Format guide.
Available for download from the Teledyne Marine GitHub site at:
https://github.com/Teledyne-Marine/PDDecoder
Quick Review
Download the data. Use TRDI Toolz to download data.
Post-calibrate the compass data Use Compass Post Calibration software.
Check and process the data Read the ADCP Utilities help file for
information on how to check and process
data.