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Network (UDP) - Nortek Binary (Speed) - 30

Description

The Nortek Binary driver supports the following system types:

  • Doppler Velocity Log (DVL) (Speed Log)

    • Magnitude (Velocity)

    • Direction (Angle)

  • Acoustic Doppler Current Profiler (ADCP)

  • Acceleration and Velocity

  • Metadata (Miscellaneous System)

  • Underwater Sensor

    • Sound Speed

    • Pressure / Depth

    • Altimeter

  • Heading (Gyro Compass)

  • Motion (Roll, Pitch)

Driver Information

Driver

Nortek Binary 

Interface Type

Serial/TCP/UDP

Driver Class Type

Counted

Created

 

UTC Driver (question)

Yes

Input / Output

Input

Executable

DrvQpsCounted(TCP/UDP).exe DVL_500

Updated

 

Related Systems

Related Pages



Decoding Notes

The driver decodes the Nortek Binary format. This format is sometimes referred to as the AD2CP format. Currently the following record identifiers are supported:

Known usages

Identifier

Name

Content

DVL500

0x16

Data Format 3

ADCP, averaged data, 4 beams

0x1B

Data Format 21

DVL bottom track, 4 beams

0x1D

Data Format 22

DVL water track, 4 beams

Nucleus1000

0xAA

Altimeter

Altimeter, 3 beams

0xB4


DVL bottom track, 3 beams

0xBE


DVL water track, 3 beams

0xD2

AHRS

Motion & Heading

The driver decodes the records as various system types.

The following system types may be supported depending on the record type:

  • Speed Log (DVL)

    • Velocity

    • Angle

  • Acoustic Doppler Current Profiler (adcp)

  • Acceleration Velocity Sensor

  • Miscellaneous System

  • Underwater Sensor

    • Sound Speed

    • Pressure / Depth

    • Altimeter

  • Gyro Compass

  • Motion System

Below you will find a table per record identifier which specifies the decoded information.

In order to connect a specific Qinsy observation/system to (a) particular record field(s) a slot identifier is used.

DVL Bottom Track (0x1B) (DF 21)

Click here to expand interfacing details...

System Type

Observation

Slot Identifier

1

Not supported

Status

BT_STATUS

2

Underwater Sensor

Sound Speed

BT_SV

3

Miscellaneous

Temperature

BT_TEMP

4

Underwater Sensor

Pressure

BT_PRES

5

Miscellaneous

Velocity Beam 0

BT_VEL_B0

6

Miscellaneous

Velocity Beam 1

BT_VEL_B1

7

Miscellaneous

Velocity Beam 2

BT_VEL_B2

8

Miscellaneous

Velocity Beam 3

BT_VEL_B3

9

Miscellaneous

Distance Beam 0

BT_DST_B0

10

Miscellaneous

Distance Beam 1

BT_DST_B1

11

Miscellaneous

Distance Beam 2

BT_DST_B2

12

Miscellaneous

Distance Beam 3

BT_DST_B3

13

Not supported

Delta Time1 Beam 0

BT_DT1_B0

14

Not supported

Delta Time1 Beam 1

BT_DT1_B1

15

Not supported

Delta Time1 Beam 2

BT_DT1_B2

16

Not supported

Delta Time1 Beam 3

BT_DT1_B3

17

Not supported

Delta Time2 Beam 0

BT_DT2_B0

18

Not supported

Delta Time2 Beam 1

BT_DT2_B1

19

Not supported

Delta Time2 Beam 2

BT_DT2_B2

20

Not supported

Delta Time2 Beam 3

BT_DT2_B3

21

Acceleration Velocity Sensor

Velocity X

BT_VEL_X

22

Acceleration Velocity Sensor

Velocity Y

BT_VEL_Y

23

Acceleration Velocity Sensor

Velocity beam 0 & 2

BT_VEL_Z1

24

Acceleration Velocity Sensor

Velocity beam 1 & 3

BT_VEL_Z2

25

Not supported

Delta Time1 X

BT_DT1_X

26

Not supported

Delta Time1 Y

BT_DT1_Y

27

Not supported

Delta Time1 Z1

BT_DT1_Z1

28

Not supported

Delta Time1 Z2

BT_DT1_Z2

29

Not supported

Delta Time2 X

BT_DT2_X

30

Not supported

Delta Time2 Y

BT_DT2_Y

31

Not supported

Delta Time2 Z1

BT_DT2_Z1

32

Not supported

Delta Time2 Z2

BT_DT2_Z2

33

Speed Log

Velocity1

BT_SPEED

34

Speed Log

Angle1

BT_ANGLE

1 The 'Velocity' & 'Angle' observations are computed using the 'Velocity X' and 'Velocity Y' observations.

DVL Water Track (0x1D) (DF  22)

Click here to expand interfacing details...

System Type

Observation

Slot Identifier

1

Not supported

Status

WT_STATUS

2

Underwater Sensor

Sound Speed

WT_SV

3

Miscellaneous

Temperature

WT_TEMP

4

Underwater Sensor

Pressure

WT_PRES

5

Miscellaneous

Velocity Beam 0

WT_VEL_B0

6

Miscellaneous

Velocity Beam 1

WT_VEL_B1

7

Miscellaneous

Velocity Beam 2

WT_VEL_B2

8

Miscellaneous

Velocity Beam 3

WT_VEL_B3

9

Miscellaneous

Distance Beam 0

WT_DST_B0

10

Miscellaneous

Distance Beam 1

WT_DST_B1

11

Miscellaneous

Distance Beam 2

WT_DST_B2

12

Miscellaneous

Distance Beam 3

WT_DST_B3

13

Not supported

Delta Time1 Beam 0

WT_DT1_B0

14

Not supported

Delta Time1 Beam 1

WT_DT1_B1

15

Not supported

Delta Time1 Beam 2

WT_DT1_B2

16

Not supported

Delta Time1 Beam 3

WT_DT1_B3

17

Not supported

Delta Time2 Beam 0

WT_DT2_B0

18

Not supported

Delta Time2 Beam 1

WT_DT2_B1

19

Not supported

Delta Time2 Beam 2

WT_DT2_B2

20

Not supported

Delta Time2 Beam 3

WT_DT2_B3

21

Acceleration Velocity Sensor

Velocity X

WT_VEL_X

22

Acceleration Velocity Sensor

Velocity Y

WT_VEL_Y

23

Acceleration Velocity Sensor

Velocity beam 0 & 2

WT_VEL_Z1

24

Acceleration Velocity Sensor

Velocity beam 1 & 3

WT_VEL_Z2

25

Not supported

Delta Time1 X

WT_DT1_X

26

Not supported

Delta Time1 Y

WT_DT1_Y

27

Not supported

Delta Time1 Z1

WT_DT1_Z1

28

Not supported

Delta Time1 Z2

WT_DT1_Z2

29

Not supported

Delta Time2 X

WT_DT2_X

30

Not supported

Delta Time2 Y

WT_DT2_Y

31

Not supported

Delta Time2 Z1

WT_DT2_Z1

32

Not supported

Delta Time2 Z2

WT_DT2_Z2

33

Speed Log

Velocity1

WT_SPEED

34

Speed Log

Angle1

WT_ANGLE

1 The 'Velocity' & 'Angle' observations are computed using the 'Velocity X' and 'Velocity Y' observations.

ADCP Averaged Data (0x16) (DF 3)

Click here to expand interfacing details...

Apart from the ADCP profile a number of additional observations are decoded from this record which are listed below.

System Type

Observation

Slot Identifier

1

Acoustic Doppler Current Profiler

ADCP profile

-

2

Not supported

Status

STATUS

3

Miscellaneous

Pressure

PRES

4

Miscellaneous

Sound Speed

SV

5

Miscellaneous

Temperature

TEMP

6

Gyro Compass

Heading

HEADING

7

Motion system

Pitch & Roll

VRU_DF3

8

Not supported

Pitch

PITCH

9

Not supported

Roll

ROLL

10

Miscellaneous

Magneto Meter X axis

MAGN_X

11

Miscellaneous

Magneto Meter Y axis

MAGN_Y

12

Miscellaneous

Magneto Meter Z axis

MAGN_Z

13

Acceleration Velocity Sensor

Accelerometer X axis

ACC_X

14

Acceleration Velocity Sensor

Accelerometer Y axis

ACC_Y

15

Acceleration Velocity Sensor

Accelerometer Z axis

ACC_Z

16

Miscellaneous

Battery voltage

BATTERY

17

Miscellaneous

Altimeter distance

ALTI_DIST

18

Not supported

Altimeter quality

ALTI_QI

19

Miscellaneous

Altimeter Status

ALTI_STAT

20

Miscellaneous

AST distance

AST_DIST

21

Not supported

AST quality

AST_QI

22

Miscellaneous

AST offset

AST_OFFSET

23

Miscellaneous

AST pressure

AST_PRES

24

Not supported

Altimeter number of samples

ALTI_R_NR

25

Not supported

Altimeter raw distance

ALTI_R_DIS

26

Not supported

Altimeter sample fraction

ALTI_R_DT

27

Not supported

Altimeter raw distance

ADCP_CELLS

28

Not supported

ADCP number of beams

ADCP_BEAMS

29

Not supported

ADCP reference frame

ADCP_FRAME

30

Not supported

ADCP scaling factor

ADCP_V_SC

Nucleus Altimeter (0xAA)

Click here to expand interfacing details...

From this record the following observations are decoded:

System Type

Observation

Slot Identifier

1

Miscellaneous

Status

NALT_STAT

2

Underwater Sensor

Distance

NALT_DIST

3

Miscellaneous

Quality

NALT_QUAL

4

Miscellaneous

Temperature

NALT_TEMP

5

Underwater Sensor

Pressure

NALT_PRES

6

Underwater Sensor

Sound Speed

NALT_SV

Nucleus AHRS (0xB4)

Click here to expand interfacing details...

The following observations are decoded:

System Type

Observation

Slot Identifier

1

Motion Sensor

Roll & Pitch

VRU_AHRS

2

Miscellaneous

Status

AHRS_STAT

3

Miscellaneous

Roll

AHRS_ROLL

4

Miscellaneous

Pitch

AHRS_PITCH

5

Gyro Compass

Heading

AHRS_HDG

6

Miscellaneous

Magnetic Declination

AHRS_MAGN

7

Underwater Sensor

Depth below Sea Level

AHRS_DEPTH

8

Miscellaneous

Quality of AHRS

AHRS_A_FOM

9

Miscellaneous

Quality of Calibration

AHRS_C_FOM

Nucleus DVL Bottom Track (0xB4)

Click here to expand interfacing details...

System Type

Observation

Slot Identifier

1

Underwater Sensor

Sound Speed

NBT_SV

2

Miscellaneous

Temperature

NBT_TEMP

3

Underwater Sensor

Pressure

NBT_PRES

4

Miscellaneous

Velocity Beam 1

NBT_VEL_1

5

Miscellaneous

Velocity Beam 2

NBT_VEL_2

6

Miscellaneous

Velocity Beam 3

NBT_VEL_3

7

Miscellaneous

Distance Beam 1

NBT_DST_1

8

Miscellaneous

Distance Beam 2

NBT_DST_2

9

Miscellaneous

Distance Beam 3

NBT_DST_1

10

Miscellaneous

Uncertainty Beam 1

NBT_UNC_1

11

Miscellaneous

Uncertainty Beam 2

NBT_UNC_2

12

Miscellaneous

Uncertainty Beam 3

NBT_UNC_3

13

Miscellaneous

Delta Time Beam 1

NBT_DT_1

14

Miscellaneous

Delta Time Beam 2

NBT_DT_2

15

Miscellaneous

Delta Time Beam 3

NBT_DT_3

16

Miscellaneous

Duration Beam 1

NBT_DUR_1

17

Miscellaneous

Duration Beam 2

NBT_DUR_2

18

Miscellaneous

Duration Beam 3

NBT_DUR_3

19

Miscellaneous

Velocity Beam X

NBT_VEL_X

20

Miscellaneous

Velocity Beam Y

NBT_VEL_Y

21

Miscellaneous

Velocity Beam Z

NBT_VEL_Z

22

Miscellaneous

Uncertainty X

NBT_UNC_X

23

Miscellaneous

Uncertainty Y

NBT_UNC_Y

24

Miscellaneous

Uncertainty Z

NBT_UNC_Z

25

Miscellaneous

Delta Time XYZ

NBT_DT_XYZ

26

Miscellaneous

Duration XYZ

NBT_DR_XYZ

Nucleus DVL Water Track (0xBE)

Click here to expand interfacing details...

System Type

Observation

Slot Identifier

1

Underwater Sensor

Sound Speed

NWT_SV

2

Miscellaneous

Temperature

NWT_TEMP

3

Underwater Sensor

Pressure

NWT_PRES

4

Miscellaneous

Velocity Beam 1

NWT_VEL_1

5

Miscellaneous

Velocity Beam 2

NWT_VEL_2

6

Miscellaneous

Velocity Beam 3

NWT_VEL_3

7

Miscellaneous

Distance Beam 1

NWT_DST_1

8

Miscellaneous

Distance Beam 2

NWT_DST_2

9

Miscellaneous

Distance Beam 3

NWT_DST_3

10

Miscellaneous

Uncertainty Beam 1

NWT_UNC_1

11

Miscellaneous

Uncertainty Beam 2

NWT_UNC_2

12

Miscellaneous

Uncertainty Beam 3

NWT_UNC_3

13

Miscellaneous

Delta Time Beam 1

NWT_DT_1

14

Miscellaneous

Delta Time Beam 2

NWT_DT_2

15

Miscellaneous

Delta Time Beam 3

NWT_DT_3

16

Miscellaneous

Duration Beam 1

NWT_DUR_1

17

Miscellaneous

Duration Beam 2

NWT_DUR_2

18

Miscellaneous

Duration Beam 3

NWT_DUR_3

19

Miscellaneous

Velocity Beam X

NWT_VEL_X

20

Miscellaneous

Velocity Beam Y

NWT_VEL_Y

21

Miscellaneous

Velocity Beam Z

NWT_VEL_Z

22

Miscellaneous

Uncertainty X

NWT_UNC_X

23

Miscellaneous

Uncertainty Y

NWT_UNC_Y

24

Miscellaneous

Uncertainty Z

NWT_UNC_Z

25

Miscellaneous

Delta Time XYZ

NWT_DT_XYZ

26

Miscellaneous

Duration XYZ

NWT_DR_XYZ


Database Setup

It is important to use the same interfacing settings for all 'Nortek Binary' systems in your template setup.

Speed Log (DVL)

Click here to expand setup details...
  • Add a new system

    • Enter a Name:

      • Nortek DVL500

      • Nortek Nucleus 1000

    • Select System Type: “Speed Log”

    • Start typing Nortek

      • Select the required driver

        • (UTC) driver is preferred
          Only then the driver is using time from the messages received (Auxiliary Systems needs to contain a Time Synchronization System)

    • Result

      • Press “Next >”

  • Define Observations

    adding observations

    • Add the required observation types you need.

      • Angle

      • Speed

  • Observation Definition

    select slot values

    • Add the required Slot Identifiers (see decoding notes)

  • Observation Parameters

    • Here you can also change the default name of each observation and you may leave all parameters at their defaults.

      • You may change the default name for each observation as long as it doesn't exceed 16 characters.

      • This name is used Online in for example:

        • Observation Physics Display

        • Time Series Display

        • Alert Display

    • There is a DVL Calibration tool available Online to correct for the installation alignment, but refer to the manufacturer procedures if alternative methods are needed.
      Online - Controller - Calibrations - DVL/ADCP Alignment

      • Check the Help for more information.

After you added your first system we will offer you to add more related system types that can be decoded by this driver:

It offers all the systems supported by the driver (not all Nortek systems supply data for these Qinsy system types)
Please check the supported system types under the Decoding Notes above.

When you accidently aborted the wizard you can still add related systems by right clicking on the already added system type:

Acoustic Doppler Current Profiler

When interfacing a Nuclues1000 you can skip this system as its not supported.

Click here to expand setup details...
  • Select System Type: “Miscellaneous System”

    • New System - Related System [<NAME> [Miscellaneous System]]".

      System Type is added to the name

    • Driver Specific Parameters

      • Raw data storage can be enabled for problem solving. Please enable when QPS Support asks for this.

    • ADCP Parameters

      • Set the 'Max. cell count' to the maximum number of ADCP depth cells that you expect to receive from the instrument.

Warning

There are no procedures to determine the alignment correction in Qinsy. Please refer to the manufacturer procedures to determine the heading offset.

Acceleration Velocity Sensor

Click here to expand setup details...

Select System Type: “Acceleration Velocity Sensor”

  • New System - Related System [<NAME> [Acceleration Velocity Sensor]]".

  • Observation Definition

    • Add

      • Add the required observation types you need.
        You may change the default name for each observation as long as it doesn't exceed 16 characters.

  • Observation Parameters

    • Here you can also change the default name of each observation and you may leave all parameters at their defaults.
      You may change the default name for each observation as long as it doesn't exceed 16 characters.

Miscellaneous System

Click here to expand setup details...

These items are only recorded and displayed, but not used in computations. The can be used to fire Alarms.

  • Select System Type: “Miscellaneous System”

    • New System - Related System [<NAME> [Miscellaneous System]]".

      • Press “Next >”

    • Generic Observation Definition

      • Here you can add any generic observations that you may want to monitor.

        • Each generic observation needs a unique Slot Id so the driver knows which field to decode.

        • It is highly recommended to use the drop-down selection for the correct Slot Id:

          • Note that the Slot Id is case-sensitive.

          • Possible Slot Id's may be found in the Slot Identifier column above.

    • Observation Parameters

      • Here you can also change the default name of each observation as long as it doesn't exceed 16 characters.

Gyro

Click here to expand setup details...
  • Select System Type: “Gyro”

    • New System - Related System [<NAME> [Gyro System]]

      • Press “Next >”

    • Gyro Observation Parameters

      • Update the Name (Max 16 characters)

      • Select the correct object for the location.

      • Slot numbers may be selected from the drop down list (see also Slot Identifier column above).

      • Press “Finish”

Pitch Roll Heave Sensor

Click here to expand setup details...
  • Select System Type: “Pitch Roll Heave Sensor”

    • New System - Related System [<NAME> [Pitch Roll Heave Sensor]]

      • Press “Next >”

    • Motion Sensor Parameters

      • Select the correct Node location. Normally this will be the node location of the unit mounted on the object (main survey vessel/ROV/ect)

      • The correct Slot Identifier (see decoding notes) should be selected

    • Motion Sensor Parameter 2

      • You may leave these settings at their defaults.


Online

ADCP Display

https://qpssoftware.scrollhelp.site/qinsy/9.5/how-to-adcp

The ADCP Display shows the ADCP current direction and speed data in the following charts:

  • Profile charts through the water column;

  • History charts on average and surface;

  • Compass view on average and surface;

  • Raw data.


Info

The information bar of the display can contain warnings on decoded ADCP data


Additional Information

Registry settings

To log data to a text file in the log folder use the following registry key:



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