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)
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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)
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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)
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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
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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
