Valeport va500 User manual

© Valeport Limited
VA500 Altimeter Manual Page 1 0430831e_VA500_Altimeter_Manual
VALEPORT LIMITED
VA500 Altimeter
Operating Manual
Document Ref: 0430831
Document Version: E
Date: September 2012
This confidential document was prepared by the staff of Valeport Limited, the Company, and
is the property of the Company, which also owns the copyright therein. All rights conferred
by the law of the copyright and by virtue of international copyright conventions are reserved
to the Company. This document must not be copied, reprinted or reproduced in any material
form, either wholly or in part, and the contents of this document, and any method or
technique available therefrom, must not be disclosed to any other person whatsoever
without the prior written consent of the Company.
Valeport Limited, Tel: [phone]
St Peters Quay, Fax: [phone]
Totnes, e-mail: [e-mail]
Devon, TQ9 5EW, Web: www.valeport.co.uk
UK
As part of our policy of continuous development, we reserve the right to alter, without prior
notice, all specifications, designs, prices and conditions of supply for all our equipment.
Copyright 2011

© Valeport Limited
VA500 Altimeter Manual Page 2 0430831e_VA500_Altimeter_Manual
This page is intentionally blank

© Valeport Limited
VA500 Altimeter Manual Page 3 0430831e_VA500_Altimeter_Manual
1 INTRODUCTION
The VA500 altimeter has been designed with the objective of providing an accurate, reliable
and robust measurement of range from surface and underwater platforms. State of the art
signal processing offers unrivalled range and performance from a 500kHz transducer.
Millimetre precision, 0.1m –100m range, RS232/RS485/0-5V & 0-10V analogue outputs with
a wide range power supply address the needs of the ROV, AUV and Hydrographic
community in a compact, robust package.
The option of integrating a high accuracy pressure sensor (0.01%) as used in the MiniIPS
offers an unbeatable package for your underwater positioning requirements.

© Valeport Limited
VA500 Altimeter Manual Page 4 0430831e_VA500_Altimeter_Manual
2 SPECIFICATIONS
2.1 ACOUSTIC
State of the art signal processing technology provides stable, repeatable readings while
allowing the range to be extended to unrivalled distances for a 500kHz altimeter.
Type: 500 kHz broadband transducer
Range: 0.1m –100m
Resolution: 1mm
Beam Angle: ±3
2.2 PRESSURE
The optional pressure sensor fitted to the Altimeter is a temperature compensated piezo-
resistive sensor, which delivers the performance previously only available from a resonant
quartz sensor at a more cost-effective price.
Type: Temperature compensated piezo-resistive
Range: 10, 30, 100, 300 or 600 Bar
Accuracy: ±0.01% FS
Resolution: 0.001% FS
2.3 DATA ACQUISITION
Sampling: Continuous or data on demand (by serial command/TTL trigger).
Data Rate: 1, 2, 4 Hz
2.4 COMMUNICATIONS
RS485 is enabled by grounding a pin in the communications lead, See section 6
Digital Output: RS232 & RS485 fitted as standard
Protocol: 4800 to 115200 baud, (8,1,N)
Formats: Valeport NMEA / Tritech / Kongsberg / $SDDBT NMEA
Analogue output: 0-5/10V fitted as standard
2.5 POWER REQUIREMENTS
Input: 9 - 28vDC (isolated power supply)
Power: <125 mA @ 12V
2.6 PHYSICAL
Housing: Titanium (6000m rated)
Size: 48mm max Ø
43mm main body Ø
215mm length (including connector)
248mm length with pressure fitted
Weight: 0.95 kg (air)/ ~0.7 kg (in water)
Connector: Subconn MCBH10F (titanium)

© Valeport Limited
VA500 Altimeter Manual Page 5 0430831e_VA500_Altimeter_Manual
Figure 1: VA500 Altimeter dimensions

© Valeport Limited
VA500 Altimeter Manual Page 6 0430831e_VA500_Altimeter_Manual
3 CONFIGURATION + OPERATION
The VA500 is supplied with a Valeport Terminal, a terminal communications program and
configuration tool designed specifically for use with Valeport instruments.
Install the program by opening the install package on the supplied CD and follow the on
screen instructions. Once installed, Launch the terminal program
3.1 USING THE CONFIGURATION WIZARD
Valeport Terminal can be used to
manually connect and configure
the VA500 or can be used in the
configuration wizard mode.
Click on the configure button to
launch the wizard.
Select the COM port the
VA500 is connected to.
The wizard is configured
with the default settings of
the unit but can be altered
if the unit has been
modified.

© Valeport Limited
VA500 Altimeter Manual Page 7 0430831e_VA500_Altimeter_Manual
Default ASCII settings are
preconfigured and should
not need changing.
Select the VA500 altimeter
from the dropdown list.
Select the Read
Configuration from the
instrument to determine
current settings
Or
Open previously saved
configuration file to load a
predefined setup.

© Valeport Limited
VA500 Altimeter Manual Page 8 0430831e_VA500_Altimeter_Manual
The first wizard screen will
give information about the
instrument. These are
settings that are set at the
factory.
The next page defines:
Communications settings.
Analogue mode and
limits.(See wiring schedule
in section 6 for analogue
outputs)
Anaologue range can be 0-
5V or 0-10V
Analogue limit is the
distance that equates to
full scale voltage output.
Serial Data format (see
data format section for
definition of formats)

© Valeport Limited
VA500 Altimeter Manual Page 9 0430831e_VA500_Altimeter_Manual
The next page defines:
Output units, can be
seconds, metres, feet or
fathoms.
Minimum range allows
fixed returns close to the
VA500 to be filtered out.
Maximum range allows
filtering of spiking in noisy
environments or in the
presence of multiple
echoes.
Sound speed is set to
1500m/s. To improve
accuracy then the local
sound speed should be
measured and applied
here.
Error is the value returned when no echo is detected or it is outside the minimum and
maximum ranges defined.
If the Altimeter is fitted
with the optional pressure
sensor, this can be
configured here.
Units can be dBar, metres
or feet.
Tare allows the pressure
sensor to be zeroed to
atmospheric pressure.
Latitude is used in the
conversion from pressure
to depth.

© Valeport Limited
VA500 Altimeter Manual Page 10 0430831e_VA500_Altimeter_Manual
Continuous output rates
can be 1,2 or 4 Hz
Alternatively the VA500
can be triggered with a
serial command (S
followed by a carriage
return) or via TTL (see
wiring schedule in section
6)
Once configuration is
complete, the wizard will
summarise the commands
to be sent to the
instrument.
The configuration can also
be saved to file for later
use or reference.
If the Run mode checkbox
is ticked the instrument will
start outputting data into
the terminal window behind
once the configuration is
complete.

© Valeport Limited
VA500 Altimeter Manual Page 11 0430831e_VA500_Altimeter_Manual
3.2 MANUALLY CONFIGURING THE UNIT
Alternatively the VA500 Altimeter can be manually configured via serial communications
using a series of # code commands. This can be with Valeport terminal or an alternative
terminal program such as HyperTerminal.
Valeport Terminal is preconfigured with the required settings, but for reference the settings
required to communicate with the VA500 are:
Baud Rate: 115200 (can be 9600-115200)
Data Bits 8
Parity none
Stop bits 1
Flow control none
Send line ends with line feed
The unit can be stopped at any time by sending the ‘#’ character. The unit returns a ‘>’, and
waits for a further command. The unit can then be interrogated or configured using the
following codes.
Note that all commands must be “sent” by pressing the Enter (carriage return) key, with the
exception of the single ‘#’ character required to enter setup mode
Note that there is a “watchdog” function here – if the unit is interrupted with the ‘#’ character,
and no further command is received for a period of 5 minutes, the sensor will automatically
begin sampling data using the existing settings.

© Valeport Limited
VA500 Altimeter Manual Page 12 0430831e_VA500_Altimeter_Manual
3.3 INSTRUMENT SETTINGS
# code
Followed By:
Operation
#032
<CR>
Returns the software version number.
#034
<CR>
Returns the units serial number
#136
<CR>
Read pcb serial number
#138
<CR>
Send calibration date
#839
<CR>
Reads the transducer frequency
3.4 COMMUNICATIONS SETTINGS
# code
Followed By:
Operation
#059
;baud_rate<CR>
Sets the units baud rate 2400,4800,9600,19200,38400,
57600,115200
RS485 settings: RS485 is enabled by grounding a pin in the communications lead, See section 6
#001
;ALTIMETER_address<CR>
Sets the 485 address
#002
<CR>
Returns the address
#005
;ON<CR> or ;OFF<CR>
Turns ON or OFF address mode
#006
<CR>
Returns ON or OFF for address mode
Analogue Settings:
#094
;analogue_range<CR>
Sets the analogue output voltage range
0 –0-5V
1 –0-10V
#095
<CR>
Reads analogue output voltage range set above
#096
;counts<CR>
Analogue output test.
#097
;Analogue range limit<CR>
Sets the range equivalent to full scale DAC output
#098
<CR>
Reads the range equivalent to full scale DAC output
3.5 SAMPLING REGIME
# code
Followed By:
Operation
S
<CR>
Performs Single measurement
M
rate<CR>
Performs continuous measurement at set rate. If rate is
omitted then instrument performs continuous
measurements at previous rate.
1,2, or 4 Hz
#039
;ModeValue<CR>
Set mode without putting unit into run mode
Where
Mode = M
Value = 1,2 or 4 for Normal mode (M)
Mode = S for serial trigger single shot measurement
Mode = T for TTL trigger measurement
#040
<CR>
Read operating mode.
#028
<CR>
Puts unit into run mode
3.6 OUTPUT FORMAT
See section 4 for detailed description of output formats
#089
<CR>
Reads current output format
#082
;SDDBT<CR>
;TRITEC<CR>
;BENTHOS<CR>
;NMEA<CR>
Sets output format (see section 4)

© Valeport Limited
VA500 Altimeter Manual Page 13 0430831e_VA500_Altimeter_Manual
3.7 RANGE SETTINGS
The VA500 has a standard operational range of 0.1m to 100m. If required this can be
restricted with the setting of a minimum range and maximum range.
The default setting for sound speed used to calculate range is 1500 m/s
# code
Followed By:
Operation
#021
;Range_units
Set to either
0 –Seconds
1 –Metres
2 –Feet
3 –Fathoms
#022
<CR>
Read range units set above
#118
;0 or 1 or 2<CR>
Set Altimeter Error output message
Where 0=zero (0.000), 1=-999, 2=NR
#119
<CR>
Reads Altimeter Error output message
#823
;maximum range<CR>
set the maximum range that is considered when processing
data (acoustic returns beyond maximum range are ignored)
#824
<CR>
Reads maximum range
#840
;maximum range<CR>
set the minimum range that is considered when processing
data (acoustic returns before minimum range are ignored)
#841
<CR>
Reads minimum range
#830
; Value, <CR>
Variable to change the Speed of Sound ms-1
#831
<CR>
Reads the sound speed
3.8 PRESSURE SETTINGS
The pressure sensor fitted to the VA500 measures absolute pressure, i.e. it includes
atmospheric pressure. The pressure tare function allows the atmospheric pressure (as
measured by the sensor before deployment) to be removed from the readings, so the output
is simply pressure of water. Note also that by taking a tare reading at any fixed point in the
water column, readings will then be output relative to that point.
# code
Followed By:
Operation
#009
;<CR> or ;VALUE<CR>
Sets the tare value in systems with pressure fitted.
;<CR> = Makes device take a reading to use as tare.
;VALUE<CR> = User entered value in units as set by #018
command.
#010
<CR>
Returns the tare value
#011
;ON<CR> or ;OFF<CR>
Turns Tare function ON/OFF
#012
<CR>
Reads Tare mode
#016
;Latitude <CR>
Sets Latitude
#017
<CR>
Reads Latitude
#018
;Pressure units<CR>
Set to either
0 –dBar
1 –Metres
2 –Feet
#019
<CR>
Read pressure units
#083
;0 or 1 or 2 or 3
Setup the pressure output format
Where
0=not fitted, 1=PPPP.P, 2=PPP.PP, 3=PP.PPP
#084
<CR>
Returns the set pressure range

© Valeport Limited
VA500 Altimeter Manual Page 14 0430831e_VA500_Altimeter_Manual
4 OUTPUT FORMATS
If the optional pressure sensor is fitted and enabled then the only data format that supports
this is the Valeport NMEA format. A number of other formats have been implemented to
provide compatibility with existing systems.
4.1 VALEPORT NMEA
$PRVAT, xx.xxx,M, xxxx.xxx, dBar*hh<CR><LF>
Field Number:
1 Range from transducer
2 Units
3 Pressure
4 Units
5 Checksum
Example:
$PRVAT,00.115,M,0010.073,dBar*39
$PRVAT,00.116,M,0010.056,dBar*3d
$PRVAT,00.116,M,0010.069,dBar*31
$PRVAT,00.116,M,0010.080,dBar*36
$PRVAT,00.116,M,0010.098,dBar*3f
$PRVAT,00.114,M,0010.083,dBar*37
$PRVAT,00.115,M,0010.086,dBar*33
4.2 $SDDBT
NB: this format limits the resolution of the altimeter to 0.1m
Sounder, Depth: Depth below transducer
$SDDBT,x.x,f,x.x,M,x.x,F*hh<CR><LF>
Field Number:
1. Depth, feet
2. f = feet
3. Depth, meters
4. M = meters
5. Depth, Fathoms
6. F = Fathoms
7. Checksum
Example:
$SDDBT,0.4,f,0.1,M,0.1,F*02
$SDDBT,0.4,f,0.1,M,0.1,F*02
$SDDBT,0.4,f,0.1,M,0.1,F*02
$SDDBT,0.4,f,0.1,M,0.1,F*02
$SDDBT,0.4,f,0.1,M,0.1,F*02
$SDDBT,0.4,f,0.1,M,0.1,F*02
$SDDBT,0.4,f,0.1,M,0.1,F*02

© Valeport Limited
VA500 Altimeter Manual Page 15 0430831e_VA500_Altimeter_Manual
4.3 TRITECH
xx.xxxm<CR><LF>
Example:
00.126m
00.124m
00.126m
00.125m
00.126m
00.125m
00.125m
4.4 BENTHOS
The serial output will be in the following format:
Rxx.xx<cr><lf>
where xx.xx can range from 0.10 to 99.99. If no echo was received the output
will be R99.99E<cr><lf>.
Example:
R00.13
R00.12
R00.12
R00.12
R00.12
R00.12
R00.12
R00.12

© Valeport Limited
VA500 Altimeter Manual Page 16 0430831e_VA500_Altimeter_Manual
5 CARE AND MAINTENANCE
There are no user serviceable parts within the VA500. The VA500 is remarkably robust,
being primarily constructed of titanium. The only maintenance required, other than periodic
recalibration as necessary, is to keep the sensor as clean as possible.
After use, rinse all parts in fresh water removing any growth or debris as necessary, but take
exceptional care not to touch or damage the pressure diaphragm itself if fitted.
5.1 SUBCONN CARE
The following handling procedures should be adopted when using Subconn connectors:
• The connector should not be exposed to long term heat or sunshine.
• If this occurs, and the connectors are very dry, soak in fresh water before use.
• Ensure the connectors are lubricated - the recommended lubricant is:
Loctite 8021 in a spray can
or
Molykote 44 Medium - but use very sparingly.
• Any accumulation of sand or mud in the female contact should be removed with
fresh water. Failure to do so could result in the splaying of the female contact and
damage to the O-ring seals.
• When using bulkhead connectors ensure that there are no angular loads as this
destroys the connector.
• When disconnecting, pull straight, not at an angle.
6 WIRING INFORMATION
Wiring colours are correct at the time the manual was printed. However, it is advised that
continuity checks are performed prior to all terminations.
6.1 INSTRUMENT CONNECTOR
Subconn MCBH10F
Function
1
Power Ground
2
Power +V
3
Analogue +Ve
4
Analogue -Ve
5
Enable 485
Link to Pin 9 for RS485.
N/C for RS232
6
TTL trigger +Ve
7
RS232 Tx (To PC)
/RS485A
8
RS232 Rx (From PC)
/RS485B
9
RS232 Ground
10
TTL Trigger -Ve

© Valeport Limited
VA500 Altimeter Manual Page 17 0430831e_VA500_Altimeter_Manual
Housed systems (standard Subconn connector):
Systems are supplied with a short (1m) lead terminated with a 9 way D-type and banana plugs for splicing or testing
END 1 :
END 2 :
END 3 :
FUNCTION
CONNECTOR
WIRE
LENGTH
WIRE
COLOUR
PIN
CONNECTOR
CONNECTOR
PIN
WIRE
COLOUR
SUBCONN MCIL10M
+ DLSA-M
60cm
BLACK
1
Black 4mm Plug RS
444-797
-V
WHITE
2
Red 4mm Plug
RS 444-832
+V
RED
3
Analogue +Ve
GREEN
4
Analogue -Ve
ORANGE
5
Enable 485
Link to Pin 9 for
RS485.
N/C for RS232
BLUE
6
Trigger +Ve
WHITE/
BLACK
7
9 Way D Socket RS 465-362
With Hood. RS 480-119
2
BLUE
RS232 TX (out of
sensor) /RS485A
RED/ BLACK
8
3
WHITE
RS232 RX (into
sensor) /RS485B
GREEN/
BLACK
9
1, 5, 6, 8, 9,
SHELL
GREEN
RS232 GND
ORANGE/
BLACK
10
Trigger -Ve