Aquadopp Manual
Aquadopp Manual
Aquadopp Manual
CURRENT METER
USER MANUAL
www.nortek-as.com
Copyright by NORTEK AS. All rights reserved. This document may not, in whole or in part, be copied, photocopied,
reproduced, translated, or reduced to any electronic medium or Machine readable form without prior consent in writing
from NORTEK AS. Every effort has been made to ensure the accuracy of this manual. However, NORTEK AS makes no
warranties with respect to this documentation and disclaims any implied warranties of merchantability and fitness for a
particular purpose. NORTEK AS shall not be liable for any errors or for incidental or consequential damages in connec-
tion with the furnishing, performance or use of this manual or the examples herein. The information in this document is
subject to change without notice.
1. INTRODUCTION ................................................................. 5
1.1. Software updates and technical support ................................. 6
1.2. Your Feedback is appreciated................................................... 6
1.3. Nortek Forum Support ............................................................... 6
1.4. Warranty ...................................................................................... 6
1.5. Copyright statement................................................................... 7
5. OPERATION ..................................................................... 31
5.1. Introduction to the main menu ................................................ 31
5.2. Data collection .......................................................................... 32
5.2.1. Deployment planning.............................................................................. 33
5.2.2. Start recorder deployment ...................................................................... 38
5.2.3. Stop recorder Deployment...................................................................... 39
5.2.4. Recording Data Internally as a Backup .................................................. 39
5.2.5. Getting Data out of the Aquadopp .......................................................... 40
5.2.6. Finish operations .................................................................................... 41
5.2.7. Erasing Recorded Data .......................................................................... 41
5.3. Interpret and analyse Data....................................................... 41
5.4. Operational concerns............................................................... 41
5.4.1. My data doesn't look right....................................................................... 41
5.4.2. Boundaries. ............................................................................................ 42
5.4.3. Sidelobes................................................................................................ 42
5.4.4. Grounding problems ............................................................................... 44
5.4.5. Mooring tilt .............................................................................................. 44
5.4.6. Mooring vibration .................................................................................... 44
5.5. Troubleshooting ....................................................................... 45
5.5.1. Simple Problems .................................................................................... 45
5.5.2. Problems detecting the instrument on the Serial Port ............................ 45
6. MAINTENANCE ................................................................ 47
6.1. Preventive maintenance........................................................... 47
6.1.1. Cleaning ................................................................................................. 47
6.1.2. Replacing the desiccant ......................................................................... 47
6.1.3. Installing/changing batteries ................................................................... 47
6.2. Corrective Maintenance ........................................................... 49
1. INTRODUCTION
Getting started
www.nortek-as.com
inquiry@nortek.no
www.nortek-as.com/cgi-bin/ib/ikonboard.cgi,
and post your message there. The Forums also offer a great opportu-
nity to share your experience using Nortek sensors with other users
around the world, and to learn from their experience.
1.4. Warranty
The Aquadopp is covered under a one year limited warranty that
extends to all parts and labor and covers any malfunction that is due
to poor workmanship or due to errors in the manufacturing process.
The warranty does not cover shortcomings that are due to the
design, nor does it cover any form of consequential damage as a
result of errors in the measurements.
Every effort has been made to ensure the accuracy of this manual.
However, NORTEK AS makes no warranties with respect to this
documentation and disclaims any implied warranties of merchant-
ability and fitness for a particular purpose. NORTEK AS shall not
be liable for any errors or for incidental or consequential damages in
connection with the furnishing, performance or use of this manual or
the examples herein. The information in this document is subject to
change without notice.
2. MAIN DATA
2.2. Environmental
2.3. Power
The battery is able to sustain sleep state for 4 years (RS232 only).
The AC power adapter requires a 100-240VAC 50/60Hz voltage
supply.
External Power
You can supply external power to the Aquadopp. If you use an inter-
nal battery to backup data collection, an external supply of 15 VDC
provides a higher voltage than the battery pack, which prevents the
internal pack from discharging. Then, if external power fails, the
internal battery pack takes over and sustains operation.
2.5. Materials
Standard model: Delrin and polyurethane plastics with titanium
screws
2.6. Sensors
Temperature (thermistor embedded in head)
Maximum tilt: 30
Accuracy/Resolution: 2/0.1
Accuracy/Resolution: 0.2/0.1
Up or down: Automatic detect
Pressure (piezoresistive)
I / 0: RS232 or RS422
Baud rate: 300-115200
User control: Handled via WIN32 software, ActiveX
function calls, or direct commands
Number of channels: 2
Voltage supply: 12V. Hardware can be modified to
provide 5V or battery voltage.
Voltage input: 0-5V
Resolution: 16 bit A/D
2.13. Software
2.15. Connectors
2.16. Options
3. TECHNICAL DESCRIPTION
Outside Inside
Tilt sensor
Connector O-Rings
Compass
Dessicant
Sensor head
End cap Pressure case Battery
Battery
Pressure Bulkhead
sensor
Beam 1 O-Ring
Beam 2 detail
Beam 3
The figure above shows a standard Aquadopp, and particular models can vary from the above.
The list below describes the major system components.
Head Configurations
The sensor head contains three acoustic transducers and a pressure
sensor, all visible from the outside. The sensor head also holds the
following sensors:
Tilt sensor
The tilt sensor is on a small round daughter board attached to the
head, inside the case. The tilt sensor orientation is set in accordance
with the system orientation during normal operation. The standard
Aquadopp is designed for vertical orientation. Tilt sensors in heads
designed for horizontal orientations will be mounted at right angles.
The tilt sensor can be inverted 180 degrees - you can use it pointing
up or down.
Temperature sensor
The temperature sensor, standard on all Aquadopps, is mounted
internally in the sensor head.
Pressure sensor
The pressure sensor is mounted in the Aquadopp sensor head.
3.1.3. Compass
The compass measures the earth's magnetic field. Combined with
the tilt sensor on the head, the compass enables the Aquadopp to
obtain the heading. Without a compass, the Aquadopp still measures
tilt. This data enables the Aquadopp to convert velocity measure-
ments to Earth coordinates.
Cable Wiring
The Aquadopp comes standard with a 5-conductor cable, but it can
be special ordered with an 8-conductor cable for use with RS422
communication. The tables list the pin assignments for the five-con-
ductor cable, the 8-conductor RS422 cable and the 8-conductor
cable with analog inputs & RS232.
The Aquadopp power and battery lines are diode protected, so you
don't have to worry about wiring the Aquadopp power backwards -
this will not damage your instrument.
Please note that TX and Rx refers to the Aquadopp and not the PC
Command Mode
An Aquadopp in command mode is powered up and ready to accept
your instructions. If it gets no commands for about five minutes, it
automatically powers down and goes into sleep mode.
To get the instrument out of data collection mode, use one of the
"Stop" commands in the Aquadopp software. You might notice that
sending a break to an Aquadopp in data acquisition mode gets a
response, but that data collection does not stop. The purpose of this
design is to protect the system from stopping after an accidental
break.
There are many ways to measure the Doppler effect, each with its
own advantages and drawbacks. NORTEK implements a narrow-
band auto covariance method because it has been established as
robust, reliable and accurate.
Sound does not reflect from the water itself, but rather from particles
suspended in the water. These particles are typically zooplankton or
suspended sediment. Long experience with Doppler current sensors
tells us that the small particles the Aquadopp sees move on average
at the same speed as the water - the velocity it measures is the veloc-
ity of the water.
Each beam measures velocity parallel to the beam and does not
sense the velocity perpendicular to the beam at all. The Aquadopp
senses the full 3D velocity with three beams, all pointed in different
directions. The Aquadopp measures horizontal velocity with two
horizontal, orthogonal beams, and the vertical component with the
beam slanted up (or down) at 45. If you assume the flow is uniform
across the three beams, simple trigonometry is sufficient to compute
the vertical velocity.
Coordinate System
The Aquadopp measures velocity components parallel to its three
beams, or in beam coordinates, but it reports data in east, north and
up or ENU coordinates. To get to ENU components, it first converts
the data to XYZ coordinates, an orthogonal coordinates system rela-
tive to the Aquadopp. The Aquadopp then uses its compass and tilt
measurements to convert this velocity to components relative to the
earth, or ENU coordinates.
Attitude Correction.
Typical moorings allow the Aquadopp to tilt and rotate freely. It
measures its tilt and heading and uses this information to correct the
data to true earth coordinates. Because the compass uses energy, the
Aquadopp reads heading only as often as it needs to. In a near-sur-
face mooring, it will read the compass more often than it would on a
fixed bottom mount.
Velocity Uncertainty.
The Aquadopp velocity is an average of many velocity estimates
(called pings). The uncertainty of each ping is dominated by the
short-term error. We reduce the measurement uncertainty by aver-
aging together many pings. There is a limit to how much you can
reduce your uncertainty. We call this limit the long-term bias.
If you keep the same power level and change the range, follow the
curve closest to the value you started with. If you change the power
level, move up or down one curve for each power level (the curves
are 6 dB apart).
Measurement range vs. signal strength at 2 MHz. The "+" symbols show
actual data from a river at power level 2.
The noise floor is typically found at 20-30 counts. The range figure
arbitrarily assigns 25 counts the value 0 dB. Because of the way we
compute the signal strength, you can actually obtain good data at
signal strengths a few dB below the noise floor. This means the
noise floor gives you a conservative cutoff for good data.
4. PREPARATION
Please perform the following procedures to prepare your new Aqua-
dopp for future successful operation:
1. Transportation box
5. Packing list
7. Aquadopp software
8. Warranty card
Tilt and rotate the Aquadopp to verify that the readings are
sensible.
NOTE: Diagnostics data give you the ability to obtain the in-situ
noise floor of the instrument after it is deployed.
2. Write a name to use for the file you will record internally.
3. Consider the effects large objects will have on the flow itself.
A rough rule of thumb is that objects disturb the flow as far
as 10 diameters away from the object. Flow disturbance is
greatest directly downstream in the wake behind the object.
Flow disturbance affects your measurements by changing
the flow and by making it non-uniform across the Aqua-
dopp's beams.
The pressure sensor can handle pressure that is about double its
maximum reading. For example, the standard 200 m pressure sensor
can safely withstand 400 m depth, which is also the rating of the
plastic housing.
You can also try using RS232 with longer cables by reducing the
baud rate. Keep in mind that RS422 is a more reliable means of
communication than RS232 - changing environmental conditions
could cause RS232 communications to fail over a long wire without
apparent reason.
The standard baud rate is 9600, and we recommend that you use this
baud rate unless you have a good reason to change it. To change the
baud rate and make it permanent, do the following:
5. OPERATION
The Aquadopp program is designed to aid in the planning, execu-
tion, recovery and processing of autonomous Aquadopp deploy-
ments. It also contains a test section, including all functions required
to operate the Aquadopp in real-time applications.
Click on the symbol below and select a menu item. A detailed expla-
nation of the selected item is presented on-screen.
4. Set PC time.
13. Install on site. Ensure the acoustic beams point where you
want and that they are not obstructed.
Standard tab
Measurement interval
The time between each measurement, i.e. the data output rate.
Assumed duration
Enter the number of days you would like to collect data. This value,
together with the other deployment parameters and the hardware
configuration, will be used for calculating the performance parame-
ters, i.e. battery utilization, recorder memory requirements and
velocity range.
Battery utilization
The expected battery life based upon total battery capacity and cur-
rent duty cycle.
Memory required
The recorder memory required to fulfil the planned deployment as
entered by the user configuration parameters and the planned length
of the deployment.
Advanced tab
Measurement interval
The line between each measurement, i.e. the data output rate.
Average interval
The period during which the Aquadopp should be actively measur-
ing through the measurement interval. The sensor will be in sleep
mode the remaining part of the measurement interval.
Measurement load
Within each second, the instrument can either be in active mode
(collecting data) or in idle mode (not collecting data). The Measure-
ment load is the relative time spent in active mode within each sec-
ond and can have value from 0 (no data collection) to 100 (always in
active mode).
Blanking distance
The distance from the sensor to the start of the measurement area.
See section 3.2.3. for an illustration of this.
Power level
The power level bar sets how much acoustic energy the instrument
transmits into the water. The difference between the highest level
and the lowest level is about 20dB. Unless you know your environ-
ment has high backscatter, you should generally use HIGH power.
Speed of sound
Speed of sound can be set by the user (Fixed) or calculated by the
instrument based on the measured temperature and a user-input
value for salinity (Measured). The salinity is 0 for fresh water and
typically 35 for the ocean.
Coordinate system
The coordinate system can be selected to Beam, XYZ, or ENU.
Beam means that the recorded velocities will be in the coordinate
system of the acoustic beams. XYZ means that the measurements
are transformed to a fixed orthogonal XYZ coordinate system and
ENU means that the data are converted to geographic coordinates
every second.
Analog inputs
The instrument can read two analog inputs at the same time. The
input range is 0-5 Volt, where 0 Volt equals 0 counts, 5 Volts equals
65535 counts and 2.5 Volts equals 32768 counts.
Check the Output power box to supply power from the instrument
to your external sensor. The voltage output is fixed in production to
either 5 Volts, 12 Volts or to the instrument voltage. The use of ana-
log inputs requires a special internal harness. Some systems are
equipped with this at the time of purchase. It is also possible to pur-
chase the harness separately and upgrade the Aquadopp.
File wrapping
If checked, data are logged to the internal instrument recorder in
ring-buffer mode. This ensures that the recorder always holds the
latest data. If not checked data logging will stop when the recorder is
full.
Use a delayed start-up either to make sure the Aquadopp starts data
collection on the hour or to conserve batteries for a deployment that
starts some time in the future. You can start an Aquadopp deploy-
ment well in advance of when you plan to install it on site, and use a
delayed start-up to conserve the Aquadopp's battery and recording
resources for the actual deployment.
When the program tells the Aquadopp to stop collecting data, it dis-
plays both the Aquadopp time and the computer time. Keep a record
of the differences.
If you have an internal backup battery, then you can record backup
data in the event of power failures.
In a moment, you will see a list of the recorded data files - the most
recent file is the last one listed. Highlight the file(s) you want, click
"Retrieve" and select the location for the file. The software recovers
the files you select and puts it on your hard drive.
When conversion is complete, you will find three files on your hard
drive:
5.4.2. Boundaries.
In open waters, boundaries are not a concern, but if you want to use
the Aquadopp near the bottom or surface, you should think about the
boundaries as you design your experiment.
5.4.3. Sidelobes.
Transducer sidelobes are rays of acoustic energy that go in direc-
tions other than the main beam. Because the Aquadopp's beams are
narrow, sidelobes are not always a factor in your measurements. In
general, sidelobes may be unimportant in water with strong back-
scatter (i.e. sediment-laden rivers), but they may contaminate your
data when backscatter is weak.
If you turn the picture upside down and place the Aquadopp near the
bottom, the situation changes. Echoes vertically from the bottom are
typically much weaker than the mirror reflection from the surface,
so contamination at Position A will be less serious. However, con-
tamination at Position C could be more serious, for two reasons:
5.5. Troubleshooting
Computers don't always behave as they should and not all of them
have serial ports available. If one computer is giving you a problem,
try another one instead.
Run the test with the Aquadopp's built-in terminal emulator, and if
that doesn't work, try HyperTerminal instead (a terminal program
that comes with Windows).
Test your serial cable the same way. Plug the cable into the com-
puter and put a loop-back connector on the end of the cable. If your
serial cable passes the test and you still cannot wake up the instru-
ment, there is a chance that your cable is a null modem cable - if so,
it crosses wires 2 and 3. You can test this by substituting a different
cable or by using a null-modem adapter in series with the cable
(which crosses wires 2 and 3 back).
6. MAINTENANCE
Before you assemble a system that involves custom cables, power
supplies or the like, first assemble and test the Aquadopp using just
the cables and battery that come with the system. This is the easiest
way to get the system to work, and if you have trouble you can
always return to this setup to confirm that problems are not caused
by a faulty instrument.
6.1.1. Cleaning
Perform regular cleaning of the Aquadopp Current Meter. Use a
mild detergent to clean the Aquadopp. Pay special attention to the
transducers.
Check the pressure sensor and remove any dirt in the two front
holes.
At least once a year, replace the desiccant located behind the inter-
nal battery. Refer to the battery installation procedure for detailed
information.
1. Remove the four screws (1) and washers holding the end cap
to the pressure case and remove the pressure case
2. Disconnect the 2-pin connector (2) and pull the old battery
(3) out of the pressure case.
4. Insert the end cap to the pressure case and mount the four
screws and washers.Tighten the screws carefully to avoid
damaging the threads in the pressure case. Tighten the
screws only until the end-cap touches the pressure case and
you can just feel that they are seated. Keep in mind that
ocean pressure holds the end cap in tightly - all the screws
have to do is to keep the end cap from falling out when the
system is above water.
7. SPARE PARTS
Always use the spare part number (next pages) when ordering spare
parts from NORTEK.
PROFORMA INVOICE
SENDER RECEIVER
Name: Name: Nortek AS
Address: Address: Industriveien 33
City: City: 1337 Sandvika
Country: Country: Norway
Tel.: Tel.: +4767556200
Fax: Fax: +4767546150
Ref.: Ref.:
Date: Units:
Freight forwarder: RMA no:
Customs
account no: 28605-56
AWB no.: VAT/com-
pany no: 976119185
Description: Value:
Total value: