Teledyne WORKHORSE Quick reference guide

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WORKHORSE
MONITOR /SENTINEL
DEPLOYMENT GUIDE
P/N 957-6285-00 (June 2018)
© 2018 Teledyne RD Instruments, Inc. All rights reserved.

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TABLE OF CONTENTS
PREPARING THE ADCP .......................................................................................................................................1
CONNECTING TO THE ADCP .................................................................................................................................6
PLANNING THE DEPLOYMENT................................................................................................................................8
DEPLOYING THE ADCP .......................................................................................................................................9
RECOVERING DATA ............................................................................................................................................14
CONCLUSION ....................................................................................................................................................16
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]
FAX [phone] FAX [phone]
Sales – [e-mail] Sales – [e-mail]
Field Service – [e-mail] Field Service – [e-mail]
Client Services Administration – [e-mail]
Web: http://www.teledynemarine.com/rdi
For all your customer service needs including our emergency 24/7 technical support, call [phone]
Self-Service Customer Portal
Use our online customer portal at http://www.teledynemarine.com/rdi and click on the Support link to download manuals, firmware
updates, software, or other Teledyne RDI documentation.

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Preparing the ADCP
PREPARING THE ADCP INCLUDES THE FOLLOWING STEPS:
Checking you have all of the Monitor/Sentinel parts
Installing the documentation and software
Registering Velocity 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
WHS1200, 600, 300
WHM1200, 600, 300
Sentinel system
Monitor system
The Workhorse Monitor/Sentinel system includes the transducer, 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.
Included with the WorkHorse Accessories Kit:
Part Number
Name
Description
717-7000-00 Shipping case Shipping case with custom foam cutouts.
717-3030-xxx I/O cable The I/O cable is used for serial communications.
717-3014-00 AC Power Adapter The AC Adapter runs on any standard AC power and supplies +48 VDC to run the
WorkHorse when the batteries are not connected.
737-3010-00 RS-422 to RS-232
Converter (Monitor only)
Converts RS-422 to RS-232 for serial communications.
757K6023-00 Alkaline Battery Pack
(Sentinel only)
WorkHorse Sentinel batteries are shipped inside the WorkHorse ADCP but not connected.
Connect the battery and seal the WorkHorse ADCP before deployment.
977-6013-00 Memory (Sentinel only) The WorkHorse Sentinel ADCP includes one memory card installed inside the system. Two
PCMCIA memory card slots are available for all WorkHorse ADCPs.
97Z-8000-00 Marine Measurements
CD
This CD has PDF versions of all of the WorkHorse documentation including the WorkHorse
ADCP Commands and Output Data Format Guide. Please read the manual!
RDI Tools and TRDI Toolz Utility and testing software package that can be used to test the ADCP.
WinSC /PlanADCP The WinSC program works as a shell program to launch the PlanADCP program. The
PlanADCP program allows the user to create a deployment configuration file. After creating
a deployment configuration file (or loading an existing file) the WinSC program will continue
with the testing, deployment, recovery of data, and quick view of the data.
WinADCP Gives users a visual display of the entire set of data. You can zoom in on a portion of the
data for closer analysis and export data to text or MatLab files. For detailed information on
how to use WinADCP, see the WinADCP User's Guide.
957-6229-00 Monitor/Sentinel
Deployment Guide
A printed guide showing WorkHorse Monitor/Sentinel inventory and set up. A PDF version
is included on the Marine Measurements CD.
757K6037-00
(200 & 500 m)
Spare parts and tools Contains tools, O-Rings, and close-up hardware. See the WorkHorse Operation Manual,
Maintenance chapter for a list of included parts.

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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 200 and 500 meters Spare Parts
Part Number Item Name Where Used
206062-1 Clamp, Cable, Plastic Shell
AC Power Adapter
206430-2 Receptacle, 4 Pin, Free Hang
66101-4 Socket, Crimp, 18-16awg
SPR84-1LB Rubber Band Battery pack
5020 Silicone Lubricant, 4-Pack
Housing
97Z-6052-00 O-Ring, 2-260 (200 meter housing)
97Z-6053-00 O-Ring, 2-261 (500 meter housing)
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
75ZK6001-00 Kit, Clip, Cable
75ZK6001-01 Kit, Clip, Dummy Plug
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
For high pressure systems, see the WorkHorse Operation Manual, Chapter 4 for a list of the
included tools and spare parts.

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Installing Documentation and Software
The Monitor/Sentinel system includes a CD with the documentation and software needed for the system.
To install the Marine Measurements Documentation and Software CD:
1. Insert the CD into the drive and follow the browser instructions on the
screen. If the browser does not start automatically, complete steps 2
through 3.
2. Use Windows Explorer® to open the CD drive folder.
3. Double-click on the launch.exe file. Follow the browser to view or copy
the documentation to your computer.
Many companies require that Autorun be disabled. Double-click on Launch.exe to start the
browser on all TRDI software and documentation CDs/CDs.
4. Click WorkHorse to locate the documentation and software needed for the system.
Registering Velocity
When you purchase the Velocity software, you will receive an Activation code that unlocks the software.
To activate Velocity:
•On the License Registration screen, enter your activation code (xxxx-xxxx-xxxx-xxxx). Click the
Activate button. Click the OK button and then OK once more to close the License registration
screen.
The Velocity Activation Code sheet is located in the documentation kit.

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Installing 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.
1. Place the Sentinel ADCP with the end-cap
facing up. Use a soft pad or the transducer
cover to protect the ADCP.
2. Using a 4mm hex key, loosen the four M5
captured bolts on the end-cap.
3. Carefully lift the end-cap away from the
housing.
4. Connect the battery cable to the top PC
board two-pin connector.
5. 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 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).
For high pressure systems, see the WorkHorse Operation Manual, Chapter 4 for instructions
on end-cap replacement.

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Quick Review
Check that you have all of 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.
If the CD browser does not automatically
start, double-click on the launch.exe file.
Install Velocity, TRDI Toolz, WinSC,
PlanADCP, WinADCP, and the WorkHorse
documentation.
Check that the system is closed properly. For more information about installing the
battery and system close-up, see chapter
4 in the WorkHorse Operation Manual.

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Connecting to the ADCP
CONNECTING TO THE ADCP INCLUDES THE FOLLOWING STEPS:
Using TRDI Toolz
Connecting to the ADCP
To establish communications with the WorkHorse:
1. Connect the system and apply 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. Click the Break ( ) button. From the Break button drop down menu,
select Soft Break (= = =). The wakeup banner will display in the terminal
window.
[BREAK Wakeup A]
WorkHorse Broadband ADCP Version 50.38
Teledyne RD Instruments (c) 1996-2010
All Rights Reserved.
>
It may be necessary to click inside the terminal window and then click the Break button to
wake up the system.

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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.

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Planning the Deployment
PLANNING THE DEPLOYMENT INCLUDES THE FOLLOWING
STEPS:
Creating a command file using PlanADCP
Use the PlanADCP wizard to create a command file.
Review the consequences.
see the WinSC and PlanADCP User’s Guide for details
Quick Review
Check that the resources for the
deployment are acceptable.
Use the PlanADCP Basic, Advanced, and
Expert screens to verify all consequences.
If you are collecting Waves data, Velocity
can only process waves data collected at
2 Hz.
Use the PlanADCP Wizard and select
Wave Gauge.

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Deploying the ADCP
DEPLOYING THE ADCP INCLUDES THE FOLLOWING STEPS:
Setting the ADCP clock
Testing the ADCP
Calibrating the Compass
Sending the commands to the ADCP
Pre-Deployment Checks
TRDI Toolz has a user-friendly interface for running the pre-deployment tests and setting the Moni-
tor/Sentinel real-time clock.
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 CPU 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 Broadband ADCP Version 50.38
Teledyne RD Instruments (c) 1996-2010
All Rights Reserved.
>TS 18/06/17 09:50:34
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 direct command to send to the ADCP and then press the Enter key or click on
Send. Refer to the ADCP’s manual for a listing of all direct commands and their format.
If any of the tests fail, read Chapter 6 in the Monitor/Sentinel Operation Manual.

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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 direct command to send to the ADCP 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. Use the PC2 test to display the sensor values. Rotate and tilt the system and verify the Pitch and
Roll sensor data is reasonable. Rotate the system clockwise and verify the heading increases. Vali-
date 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 Operation Manual, Chapter 5 for details on testing the sensors.
Zero the Pressure Sensor
Zero the pressure sensor at the deployment site, prior to deploying the Monitor/Sentinel ADCP in the wa-
ter.
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 direct command to send to the ADCP 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.
1. Setup the communication parameters between TRDI Toolz and the ADCP.
2. Wake up the ADCP by pressing the button.
3. At the > prompt, type AR and press the Return key. This will return the compass to the factory
calibration matrix.
4. At the > prompt, type AF and press the Return key. Choose option “a” or “b” to start the calibra-
tion procedure.
Field Calibration Procedure
Choose calibration method:
a. Remove hard iron error (single cycle) only.
b. Remove hard and soft iron error (single + double cycle).
c. Calibration for a single tilt orientation (single + double cycle).
d. Help.
e. Quit.

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5. Tilt the ADCP. Tilt an upward-looking WorkHorse with a block under one side of the end-cap. A
35-mm block will give you an 11-degree tilt. Check the on-screen instructions to see if the orienta-
tion is OK. Adjust as necessary.
The tilts must remain constant during the rotations. The transducer beam is the center point
of the rotation.
6. When prompted, rotate the ADCP slowly 360 degrees (approximately 5 degrees per second).
7. The second rotation requires the ADCP to be tilted 15 degrees in another direction than from the
first rotation. Follow the on-screen instructions to orient the ADCP correctly. When prompted,
rotate the ADCP slowly 360 degrees (approximately 5 degrees per second).
8. The third rotation requires the ADCP to be tilted 15 degrees in another direction than from the
first and second rotations. Follow the on-screen instructions to orient the ADCP correctly.
9. If the calibration procedure is successful, it records the new calibration matrix to nonvolatile
memory. The ADCP will not change its matrix unless the calibration is properly carried out.
10. If the calibration procedure is not successful, return your ADCP to the original factory calibration,
by using the AR command. Try using the AR command if you have trouble calibrating your com-
pass. In some circumstances, a defective compass calibration matrix can prevent proper calibra-
tion.
For a detailed explanation of the calibration procedure, see the WorkHorse Operation
Manual, Chapter 4.
A compass calibration should be conducted at each measurement location, and whenever the
mounting fixture or ancillary equipment such as batteries are changed or rearranged.
Removing the Transducer Cover
The Monitor/Sentinel Self-Contained 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.

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Deploying the ADCP
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 file to run from the scroll-down list. If no extension is given for
the script file, an extension of *.txt is assumed.
Script files can have any extension as long as they are ASCII text files.
Use TRDI’s software PlanADCP to create a command file.
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 Ensem-
ble 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 filling the pressure sensor
with oil, 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 3 in the Monitor/Sentinel
Operation Manual for 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
Viewing data using the Velocity 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, Recover Recorder.
4. TRDI Toolz sends the “r?” and “m?” commands to verify the recorder type and then uses the RY or
MY command to recover the data. The RY and MY command uploads the entire contents of the
recorder via the serial interface to a host computer using the standard YMODEM protocol for bi-
nary file transfer. The data is transferred to the host and stored as binary files.
5. Once the data has been recovered, the recorder can be erased by sending the command RE ErAsE.
This command is case sensitive. Once erased, the data is not recoverable.
Opening a Data File with Velocity
When a *.PD0 (pd zero, not the letter o) file is opened, Velocity creates a matching *.pdv and *.pjv files
depending on the options selected. The *.pdv file is used to process data and the *.pjv file contains the lat-
est information about user selections for processing parameters and data displays.
The original *.pd0 file is never changed, moved, or overwritten.
To open a data file:
1. Start Velocity.
2. Click the Home button ( ) located in the top left corner.
3. Click the Options button and select the options. Data averaging is on by default.
4. Do one of the following:
•Drag a data file onto the Velocity desktop icon. This will start Velocity and open the data file.
•With the Start menu selected, on the Starting actions area, click Open a data file button.
•Click the Open menu button.
5. After the file is opened, a mini preview of the data file will display at the top of the Velocity screen.
Click the preview to switch to the session (if other files are opened).
See the Velocity quick reference card. A PDF copy is included when you install the soft-
ware/documentation CD.

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Quick Review
Download the data. Use TRDI Toolz or WinSC to download
data.
Check and process the data Read the Velocity Software User's Guide
for information on how to check and
process data.

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Conclusion
Congratulations! You have completed the Monitor/Sentinel Self-Contained Deployment Guide. Read the
following chapters in the Monitor/Sentinel Operation Manual for more detailed information.
WORKHORSE OPERATION MANUAL
Chapter 1 – At a Glance
This chapter includes an overview of the Monitor/Sentinel features, options, computer and power requirements,
and connecting to the Monitor/Sentinel ADCP.
Chapter 2 – Installation
Use this chapter to plan your installation requirements.
Chapter 3 – Data Collection
Use this chapter for an overview of collecting data using WinSC and PlanADCP.
Chapter 4 – Maintenance
This chapter covers Monitor/Sentinel ADCP maintenance. Use this section to make sure the Monitor/Sentinel is
ready for a deployment.
Chapter 5 – Testing the WorkHorse
Use this chapter to test the ADCP is functioning correctly.
Chapter 6 – Troubleshooting
This chapter covers how to troubleshoot the Monitor/Sentinel ADCP. If the Monitor/Sentinel fails a built-in test or
you cannot communicate with the system, use this information to help locate the problem.
Chapter 7 – Returning Systems to TRDI for Service
Use this information to obtain a Return Material Authorization (RMA) number if the Monitor/Sentinel ADCP needs
to be returned to TRDI.
Chapter 8 – Specifications
This chapter includes specifications and dimensions for the Monitor/Sentinel ADCP (including outline installation
drawings).
WORKHORSE COMMANDS AND OUTPUT FORMAT GUIDE
Chapter 1 – Introduction to Commands
This chapter explains how commands used by the Monitor/Sentinel ADCPs.
Chapter 2 – Command Descriptions
This chapter defines the commands used by the Monitor/Sentinel ADCPs.
Chapter 3 – Advanced Commands
This chapter defines the Sound Velocity Smart Sensor, Waves, Lowered ADCP, and Ping Synchronization
commands used by the Monitor/Sentinel ADCPs.
Chapter 4 - Output Data Format
This chapter explains the PD0 output data format used by the Monitor/Sentinel ADCPs.
Chapter 5 – Special Output Data Formats
This chapter explains the PD3 through PD18 output data formats used by the Monitor/Sentinel ADCPs.
Chapter 6– How to Decode an ADCP Ensemble
This chapter explains how to decode PD0 data.