Teledyne WORKHORSE User manual

Information included herein is controlled by the Export Administration Regulations (EAR) and may
require an export license, license exception or other approval from the appropriate U.S.
Government agency before being exported from the United States or provided to any foreign
person. Diversion contrary to U.S. law is prohibited.
WORKHORSE
HORIZONTAL H-ADCP
OPERATION MANUAL
P/N 957-6212-00 (May 2015)
© 2015 Teledyne RD Instruments, Inc. All rights reserved.

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TABLE OF CONTENTS
CHAPTER 1-AT A GLANCE ...................................................................................................................................1
How to Contact Teledyne RD Instruments ...................................................................................................2
Conventions Used in this Manual.................................................................................................................2
System Overview..........................................................................................................................................3
Inventory List ...............................................................................................................................................5
Computer Considerations ............................................................................................................................6
Power Overview...........................................................................................................................................7
Setting up the H-ADCP System.....................................................................................................................8
Connecting to the H-ADCP ...................................................................................................................9
Testing the H-ADCP ..............................................................................................................................10
Changing the Baud Rate in the H-ADCPs ..............................................................................................12
Caring for the H-ADCP System .....................................................................................................................13
General Handling Guidelines................................................................................................................13
Assembly Guidelines ............................................................................................................................13
Deployment Guidelines........................................................................................................................14
CHAPTER 2-INSTALLATION ..................................................................................................................................15
I/O Cable and Dummy Plug ..........................................................................................................................16
Routing Cables .............................................................................................................................................18
Cable Wiring Diagrams.................................................................................................................................19
Installation ...................................................................................................................................................20
Cathodic Disbondment and Galvanic Corrosion...................................................................................21
H-ADCP Orientation .............................................................................................................................22
Attaching the H-ADCP to a Structure ...................................................................................................23
H-ADCP Wave System Installation Checklist ........................................................................................25
Testing the Installed H-ADCP................................................................................................................27
Periodic Maintenance ..................................................................................................................................29
CHAPTER 3–COLLECTING DATA............................................................................................................................31
Collecting Data with SurfaceView ................................................................................................................32
Data Playback with SurfaceView ..................................................................................................................37
Data Recovery ..............................................................................................................................................38
Recover a Single File using BBTalk........................................................................................................38
Recover the Entire Recorder using BBTalk ...........................................................................................38
Recover a Single File Using Direct Commands .....................................................................................39
Recover Recorder Using Direct Commands..........................................................................................40
CHAPTER 4-MAINTENANCE.................................................................................................................................41
Parts Location Drawings...............................................................................................................................42
Maintenance Schedule.................................................................................................................................45
Calibration Items ..................................................................................................................................45
Maintenance Items ..............................................................................................................................45
Spare Parts ...................................................................................................................................................47
Disassembly and Assembly Procedures .......................................................................................................49
Housing Assembly Removal .................................................................................................................49
End-Cap Removal Procedures ..............................................................................................................50
H-ADCP Re-assembly............................................................................................................................51
O-ring Inspection and Replacement.....................................................................................................51
Housing Assembly Replacement ..........................................................................................................52
End-Cap Replacement ..........................................................................................................................53
Periodic Maintenance Items ........................................................................................................................54
Replacing the Desiccant Bags ...............................................................................................................54
Cleaning the Pressure Sensor Port .......................................................................................................55
Preventing Biofouling ...........................................................................................................................55
Antifouling Paints...........................................................................................................................56

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Applying Antifouling Paints............................................................................................................56
Removing Biofouling ......................................................................................................................58
Zinc Anode Inspection and Replacement .............................................................................................58
Zinc Anode Inspection....................................................................................................................58
Zinc Anode Electrical Continuity Check..........................................................................................59
Zinc Anode Replacement ...............................................................................................................59
Calibrating the Compass.......................................................................................................................60
Compass Background.....................................................................................................................60
Preparing for Calibration................................................................................................................61
Compass Calibration Verification...................................................................................................61
Compass Calibration ......................................................................................................................61
Installing Firmware Upgrades ..............................................................................................................63
Installing Feature Upgrades .................................................................................................................64
Corrective Maintenance Items.....................................................................................................................65
Protective Coating Inspection and Repair ............................................................................................65
PC Card Recorder .................................................................................................................................66
Replacing Fuses ....................................................................................................................................67
Changing Communications Setting ......................................................................................................67
Installing the Spare Boards Kit .............................................................................................................68
Remove the Original Set of Boards ................................................................................................69
Installing the Spare Board Kit.........................................................................................................70
Installing the Beam Cosine Matrix .................................................................................................71
Installing the Pressure Sensor Coefficients ....................................................................................72
Testing the System after Board Replacement................................................................................72
Replacing the End Cap Connector ........................................................................................................73
Equipment Provided ......................................................................................................................73
Customer Supplied Additional Equipment.....................................................................................73
Removing the End-Cap Connector.................................................................................................74
Installing the New End-Cap Connector ..........................................................................................75
Wiring Diagrams ............................................................................................................................77
Replacing the H-ADCP Lithium Battery.................................................................................................78
Testing the Lithium Battery Voltage ..............................................................................................78
Replacing the Lithium Battery........................................................................................................79
CHAPTER 5- TROUBLESHOOTING............................................................................................................................81
Equipment Required ....................................................................................................................................82
Basic Steps in Troubleshooting ....................................................................................................................83
Troubleshooting the H-ADCP .......................................................................................................................83
Troubleshooting Safety ........................................................................................................................83
Troubleshooting a Communication Failure ..................................................................................................84
Incorrect Wakeup Message ...........................................................................................................84
No Wakeup Message .....................................................................................................................85
Check the Power ..................................................................................................................................85
Check the I/O Cable..............................................................................................................................86
H-ADCP Checks.....................................................................................................................................86
Troubleshooting a Built-In Test Failure ........................................................................................................87
When to use the Spare Boards Kit........................................................................................................87
Troubleshooting a Beam Failure ..................................................................................................................89
Troubleshooting a Sensor Failure.................................................................................................................90
Fault Log...............................................................................................................................................90
System Overview..........................................................................................................................................91
Operating Modes .................................................................................................................................91
Command Mode ............................................................................................................................91
Ping Mode......................................................................................................................................91
Overview of Normal H-ADCP Operation...............................................................................................92
Functional Description of Operation ....................................................................................................92
Input Power ...................................................................................................................................92
Board Descriptions.........................................................................................................................93

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Sensors...........................................................................................................................................94
CHAPTER 6-RETURNING SYSTEMS TO TRDI FOR SERVICE ............................................................................................99
Shipping the H-ADCP....................................................................................................................................100
Returning Systems to the TRDI Factory........................................................................................................101
Returning Systems to TRDI Europe Factory..................................................................................................102
CHAPTER 7-SPECIFICATIONS ................................................................................................................................105
Outline Installation Drawings.......................................................................................................................108
CHAPTER 8-COMMANDS ....................................................................................................................................115
Data Communication and Command Format ..............................................................................................116
Command Input Processing .................................................................................................................116
Data Output Processing........................................................................................................................117
Using Direct Commands to Deploy ..............................................................................................................118
Command Summary.....................................................................................................................................119
Command Descriptions ................................................................................................................................123
? – Help Menus ..............................................................................................................................123
Break..............................................................................................................................................124
Expert Mode ..................................................................................................................................125
OL - Features..................................................................................................................................125
Compass Commands....................................................................................................................................126
Available Compass Commands.............................................................................................................126
Compass Command Descriptions.........................................................................................................126
AC – Output Active Calibration Data..............................................................................................126
AD – Display Factory or Active Calibration Data ............................................................................127
AF – Field Calibrate Compass.........................................................................................................128
AR – Return to Factory Calibration ................................................................................................128
AX – Examine Compass Calibration................................................................................................129
AZ – Zero Pressure Sensor .............................................................................................................130
Bottom Track Commands.............................................................................................................................131
Available Bottom Track Commands .....................................................................................................131
Bottom Track Command Descriptions .................................................................................................131
BA - Evaluation Amplitude Minimum.............................................................................................131
BB – High Bandwidth Maximum Depth..........................................................................................132
BC - Correlation Magnitude Minimum...........................................................................................132
BE - Error Velocity Maximum .........................................................................................................132
BF - Depth Guess............................................................................................................................133
BI - Gain Switch Depth ...................................................................................................................133
BK – Water-Mass Layer Mode........................................................................................................134
BL - Water-Mass Layer Parameters................................................................................................134
BM - Bottom Track Mode ..............................................................................................................135
BP – Bottom-Track Pings per Ensemble .........................................................................................136
BR - Resolution...............................................................................................................................136
BS - Clear Distance Traveled ..........................................................................................................137
BX – Maximum Tracking Depth......................................................................................................137
BZ - Coherent Ambiguity Velocity ..................................................................................................138
Control System Commands..........................................................................................................................139
Available Control System Commands ..................................................................................................139
Control System Command Descriptions...............................................................................................139
CB - Serial Port Control ..................................................................................................................139
CF - Flow Control............................................................................................................................140
CG – Swap Beams 1 & 2 .................................................................................................................141
CK - Keep Parameters ....................................................................................................................141
CL – Sleep Enable ...........................................................................................................................141
CM - Master ...................................................................................................................................142
CN - Save NVRAM to Recorder.......................................................................................................142
CP – Polled Mode...........................................................................................................................142
CQ – Transmit Power .....................................................................................................................143

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CR – Retrieve Parameters ..............................................................................................................144
CS – Start Pinging (Go) ...................................................................................................................144
CY - Clear Error Status Word ..........................................................................................................145
CZ – Power Down H-ADCP .............................................................................................................146
Environmental Commands...........................................................................................................................147
Available Environmental Commands ...................................................................................................147
Environmental Command Descriptions................................................................................................147
EA - Heading Alignment .................................................................................................................147
EB - Heading Bias ...........................................................................................................................148
EC - Speed of Sound.......................................................................................................................148
ED - Depth of Transducer...............................................................................................................148
EH - Heading ..................................................................................................................................149
EP - Pitch (Tilt 1).............................................................................................................................149
ER - Roll (Tilt 2)...............................................................................................................................150
ES – Salinity ....................................................................................................................................150
ET - Temperature ...........................................................................................................................150
EX – Coordinate Transformation....................................................................................................151
EZ - Sensor Source..........................................................................................................................152
Fault Log Commands....................................................................................................................................153
Available Fault Log Commands ............................................................................................................153
Fault Log Command Descriptions.........................................................................................................153
FC – Clear Fault Log........................................................................................................................153
FD – Display Fault Log ....................................................................................................................153
Performance and Testing Commands ..........................................................................................................154
Available Performance and Testing Commands...................................................................................154
Performance and Testing Command Descriptions ...............................................................................154
PA – Pre-deployment Tests............................................................................................................154
PC – User-Interactive Built-In Tests................................................................................................155
PD - Data Stream Select .................................................................................................................156
PM - Distance Measurement Facility .............................................................................................157
PS – Display System Parameters ....................................................................................................157
PT - Built-In Tests ...........................................................................................................................159
PT Test Results Error Codes ...........................................................................................................159
PT0 - Help.......................................................................................................................................159
PT2 - Ancillary System Data ...........................................................................................................160
PT3 - Receive Path .........................................................................................................................160
PT4 - Transmit Path........................................................................................................................161
PT5 - Electronics Wrap Around ......................................................................................................162
PT6 - Receive Bandwidth ...............................................................................................................163
PT7 - RSSI Bandwidth .....................................................................................................................163
Recorder Commands....................................................................................................................................165
Available Recorder Commands ............................................................................................................165
RA - Number of Deployments ........................................................................................................165
RB - Recorder Built-In Test .............................................................................................................165
RE – Erase Recorder .......................................................................................................................166
RF – Recorder Free Space (Bytes) ..................................................................................................166
RN – Set Deployment Name ..........................................................................................................166
RR – Show Recorder File Directory ................................................................................................167
RS - Recorder Free Space (Megabytes) ..........................................................................................167
RY – Upload Recorder Files ............................................................................................................167
Timing Commands .......................................................................................................................................168
Available Timing Commands ................................................................................................................168
Timing Command Descriptions ............................................................................................................168
TB - Time per Burst ........................................................................................................................168
TC - Ensemble per Burst.................................................................................................................169
TE – Time per Ensemble.................................................................................................................169
TF – Time of First Ping....................................................................................................................169

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TG – Time of First Ping (Y2k Compliant).........................................................................................170
TP – Time Between Pings ...............................................................................................................171
TS – Set Real-Time Clock ................................................................................................................171
TT – Set Real-Time Clock (Y2k Compliant)......................................................................................172
Water Profiling Commands ..........................................................................................................................173
Standard Water Profiling Commands...................................................................................................173
WA - False Target Threshold Maximum.........................................................................................173
WB - Bandwidth Control ................................................................................................................174
WC - Low Correlation Threshold ....................................................................................................174
WD – Data Out ...............................................................................................................................175
WE - Error Velocity Threshold........................................................................................................175
WF – Blank after Transmit .............................................................................................................176
WI - Clip Data Past Bottom ............................................................................................................176
WJ - Receiver Gain Select...............................................................................................................176
WL - Water Reference Layer ..........................................................................................................177
WN – Number of Depth Cells.........................................................................................................177
WP – Pings Per Ensemble...............................................................................................................177
WQ - Sample Ambient Sound ........................................................................................................178
WS – Depth Cell Size ......................................................................................................................178
WT - Transmit Length.....................................................................................................................178
WU - Ping Weight...........................................................................................................................179
WV – Ambiguity Velocity ...............................................................................................................179
WW – Mode 1 Pings before Mode 4 Re-Acquire ...........................................................................180
WY – Mode 1 Bandwidth ...............................................................................................................180
Advanced Commands ..................................................................................................................................181
Sound Velocity Smart Sensor Commands ....................................................................................................181
Available Sound Velocity Smart Sensor Command ..............................................................................181
Sound Velocity Smart Sensor Descriptions...........................................................................................181
DB - RS-485 Port Control................................................................................................................181
DS - Load SpeedOfSound with SVSS Sample (BIT Result) ...............................................................182
DW - Current ID on RS-485 Bus......................................................................................................182
DX - Set SVSS to RAW Mode ..........................................................................................................182
DY - Set SVSS to REAL Mode ..........................................................................................................183
DZ - Get Single SCAN from SVSS.....................................................................................................183
Waves Commands........................................................................................................................................184
Available Waves Commands ................................................................................................................184
Waves Command Descriptions ............................................................................................................184
HA – Waves False Target Threshold...............................................................................................184
HB – Automatically Chosen Bins for Wave Processing...................................................................185
HD – Waves Data Out ....................................................................................................................185
HF – Waves Flow Control ...............................................................................................................185
HP – Waves Pings per Wave Record ..............................................................................................186
HR – Time Between Wave Records................................................................................................186
HS – Bins for Directional Wave Spectrum ......................................................................................187
HT – Time Between Wave Record Pings ........................................................................................187
HV – Bins for Velocity Spectrum ....................................................................................................188
Ping Synchronization Commands.................................................................................................................189
Available Ping Synchronization Commands .........................................................................................189
Ping Synchronization Command Descriptions......................................................................................189
SA - Synchronize Before/After Ping/Ensemble ..............................................................................189
SB – Enable Channel B Breaks........................................................................................................190
SI - Synchronization Interval ..........................................................................................................190
SM - RDS3 Mode Select..................................................................................................................191
SS - RDS3 Sleep Mode ....................................................................................................................191
ST - Slave Timeout..........................................................................................................................192
SW - Synchronization Delay ...........................................................................................................192
Example Master/Slave Setup ...............................................................................................................193

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Example Wakeup Banners .............................................................................................................194
CHAPTER 9–OUTPUT DATA FORMAT.....................................................................................................................195
Choosing a Data Format...............................................................................................................................196
PD0 Output Data Format .............................................................................................................................198
Header Data Format.............................................................................................................................199
Fixed Leader Data Format ....................................................................................................................201
Variable Leader Data Format ...............................................................................................................206
Converting ADC Channels ..............................................................................................................211
How Does the H-ADCP Sample Depth and Pressure? ....................................................................212
Converting kpa to Depth................................................................................................................212
Velocity Data Format............................................................................................................................213
Correlation Magnitude, Echo Intensity, Percent-Good, and Status Data Format ................................215
Binary Bottom-Track Data Format .......................................................................................................218
Binary Reserved BIT Data Format.........................................................................................................222
Binary Checksum Data Format.............................................................................................................222
Special Output Data Formats .......................................................................................................................223
DVL Binary Data Format (PD3) .............................................................................................................224
DVL Output Data Format (PD3) Details ................................................................................................225
DVL Binary Data Format (PD4/PD5) .....................................................................................................227
DVL Output Data Format (PD4/PD5) Details ........................................................................................228
DVL Binary Data Format (PD5) .............................................................................................................231
DVL Output Data Format (PD5) Details ................................................................................................232
DVL Output Data Format (PD6) ............................................................................................................233
PD8 ASCII Output .................................................................................................................................235
H-ADCP Condensed 2D Output Format (PD14) ....................................................................................236
PD14 Format ..................................................................................................................................236
PD14 Invalid Data...........................................................................................................................236
Output Data Format (PD16) .................................................................................................................238
Output Data Format (PD18) .................................................................................................................238
How to Decode an H-ADCP Ensemble..........................................................................................................239
Rules for the BroadBand Data Format PD0..................................................................................................239
Decoding Sequence for PD0 Data ................................................................................................................240
Decoding Sequence Example .......................................................................................................................240
APPENDIX A-NOTICE OF COMPLIANCE ...................................................................................................................243
Date of Manufacture....................................................................................................................................244
Environmental Friendly Use Period (EFUP) ..................................................................................................244
WEEE............................................................................................................................................................244
CE .................................................................................................................................................................244
Material Disclosure Table.............................................................................................................................245
LIST OF FIGURES
Figure 1. 300/600 kHz H-ADCP Overview..................................................................................................4
Figure 2. 300 kHz NB H-ADCP Overview....................................................................................................4
Figure 3. AC Power Adapter ......................................................................................................................7
Figure 4. H-ADCP Connections ..................................................................................................................8
Figure 5. Removing the I/O Cable ...........................................................................................................16
Figure 6. Do not use Zip-Ties Directly on Cables .....................................................................................18
Figure 7. I/O Cable Wiring .......................................................................................................................19
Figure 8. RS232-to-RS422 Converter Wiring (25-Pin to 9-Pin) ................................................................19
Figure 9. Cathodic Protection and Anodes..............................................................................................21
Figure 10. Galvanic Corrosion ...................................................................................................................21
Figure 11. Installing the H-ADCP ...............................................................................................................22

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Figure 12. Optional Mounting Kit (P/N 757K6085-00) ..............................................................................23
Figure 13. 300 kHz NB H-ADCP Mounting Holes .......................................................................................24
Figure 14. SurfaceView Deployment Screen .............................................................................................28
Figure 15. SurfaceView Intensity Profile ...................................................................................................28
Figure 16. Barnacle Damage to a Urethane Face ......................................................................................29
Figure 17. 300 kHz NB Assembly – One Piece Housing .............................................................................42
Figure 18. 300 kHz NB Assembly – Two Piece Housing .............................................................................43
Figure 19. 300/600 kHz H-ADCP Assembly................................................................................................44
Figure 20. Transducer View.......................................................................................................................46
Figure 21. End-Cap View ...........................................................................................................................46
Figure 22. 300 kHz Narrow Beam Width Backup O-Ring Detail ................................................................52
Figure 23. Antifouling Paint Applied to an H-ADCP ...................................................................................57
Figure 24. Compass Calibration.................................................................................................................62
Figure 25. Installing Feature Upgrades .....................................................................................................64
Figure 26. PC Card Recorder .....................................................................................................................66
Figure 27. Communication Switch and Fuse .............................................................................................67
Figure 28. Transmit Cable .........................................................................................................................69
Figure 29. PC Board Connectors................................................................................................................70
Figure 30. Ground Jumper.........................................................................................................................70
Figure 31. Mounting Hardware .................................................................................................................71
Figure 32. Modified Dummy Plug..............................................................................................................74
Figure 33. Extracting Wrench ....................................................................................................................74
Figure 34. Lock Nut Removal Socket.........................................................................................................74
Figure 35. Removing the Connector..........................................................................................................75
Figure 36. End-Cap Connector with Isolation Bushing ..............................................................................76
Figure 37. End-Cap Connector Wiring – H-ADCP.......................................................................................77
Figure 38. Lithium Battery Test Points on the CPU Board.........................................................................79
Figure 39. Lithium Battery.........................................................................................................................80
Figure 40. H-ADCP Wake-up and Timer Logic ...........................................................................................95
Figure 41. DC Power Path..........................................................................................................................96
Figure 42. H-ADCP Block Diagram .............................................................................................................97
Figure 43. Water-Mass Layer Processing ................................................................................................135
Figure 44. H-ADCP Coordinate Transformation ......................................................................................152
Figure 45. PT7 RSSI Bandwidth Test ........................................................................................................164
Figure 46. PD0 Standard Output Data Buffer Format .............................................................................198
Figure 47. Binary Header Data Format....................................................................................................199
Figure 48. Fixed Leader Data Format ......................................................................................................202
Figure 49. Variable Leader Data Format .................................................................................................207
Figure 50. Velocity Data Format..............................................................................................................213
Figure 51. Correlation Magnitude, Echo Intensity, Percent-Good, and Status Data Format...................215
Figure 52. Binary Bottom-Track Data Format .........................................................................................220
Figure 53. Binary Reserved BIT Data Format...........................................................................................222
Figure 54. Binary Checksum Data Format ...............................................................................................222
Figure 55. DVL Binary Data Format (PD3) ...............................................................................................225
Figure 56. DVL Binary Data Format (PD4/PD5) .......................................................................................228
Figure 57. DVL Binary Data Format (PD5) ...............................................................................................232
LIST OF TABLES
Table 1: Horizontal Waves Upper Cutoff Frequency..............................................................................27
Table 2: H-ADCP 300 Narrow Beam ADCP Spare Parts (P/N 757K6071-00)...........................................47
Table 3. H-ADCP 300 and 600 kHz ADCP Spares Parts (P/N 757K6073-00)............................................48
Table 4. Replacement Kits......................................................................................................................48
Table 5: List of Least Replaceable Assemblies .......................................................................................82
Table 6: Required Test Equipment.........................................................................................................82

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Table 7: Pre-deployment Test (PA) Possible Cause of Failures ..............................................................88
Table 8: Water Profiling Specifications ................................................................................................107
Table 9: Specifications .........................................................................................................................107
Table 10: Outline Installation Drawings .................................................................................................108
Table 11: ADCP Minimum Required Commands for Deployments ........................................................118
Table 12: H-ADCP Input Command Summary ........................................................................................119
Table 13: H-ADCP Factory Defaults ........................................................................................................121
Table 14: Water-Mass Reference-Layer Modes.....................................................................................134
Table 15: BM4/BM5 Minimum Tracking Depths....................................................................................135
Table 16: Serial Port Control ..................................................................................................................139
Table 17: Flow Control...........................................................................................................................140
Table 18: Polled Mode Commands ........................................................................................................143
Table 19: Retrieve Parameters...............................................................................................................144
Table 20: Error Status Word...................................................................................................................145
Table 21: Coordinate Transformation Processing Flags .........................................................................151
Table 22: Sensor Source Switch Settings................................................................................................152
Table 23: Data Stream Selections ..........................................................................................................157
Table 24: Error Code Hex to Binary Conversion .....................................................................................159
Table 25: PT3 Failure..............................................................................................................................161
Table 26: PT4 Failure..............................................................................................................................161
Table 27: PT6 Receive Bandwidth Nominal Values ................................................................................163
Table 28: Bandwidth Control .................................................................................................................174
Table 29: Ping Weights...........................................................................................................................179
Table 30: WV-command Maximum Setting (20 Degree) .......................................................................180
Table 31: Waves Flow Control ...............................................................................................................186
Table 32: Synchronization Parameters ..................................................................................................189
Table 33: Sleep Mode Parameters .........................................................................................................191
Table 34: Summary of Output Data Formats .........................................................................................197
Table 35: Header Data Format...............................................................................................................200
Table 36: Fixed Leader Data Format ......................................................................................................203
Table 37: Variable Leader Data Format .................................................................................................208
Table 38: Velocity Data Format..............................................................................................................214
Table 39: Correlation Magnitude Data Format ......................................................................................215
Table 40: Echo Intensity Data Format....................................................................................................216
Table 41: Percent-Good Data Format ....................................................................................................217
Table 42: Status Data Format.................................................................................................................217
Table 43: Bottom-Track Data Format.....................................................................................................220
Table 44: Reserved for TRDI Format ......................................................................................................222
Table 45: Checksum Data Format ..........................................................................................................222
Table 46: DVL Output Data Format (PD3) Details ..................................................................................225
Table 47: DVL Output Data Format (PD4/PD5) Details ..........................................................................228
Table 48: DVL Output Data Format (PD5) Details ..................................................................................232
Table 49: DVL Output Data Format (PD6) ..............................................................................................233
Table 50: PD14 Output Data Format......................................................................................................236
Table 51: Common Data Format IDs ......................................................................................................239
Table 52. Toxic or Hazardous Substances and Elements Contained in Product.....................................245