N3015 007 - Integrators Guide AD2CP - 0322

Contents 3
Table of Contents
Ch. 1 Introduction 6
Ch. 2 Basic interface concept 8
2.1 Modes .................................................................................................................................. 8
2.2 Break ................................................................................................................................... 9
2.3 Dual Processor ..................................................................................................................... 9
Ch. 3 Interfaces 10
3.1 Command interface ........................................................................................................... 10
3.2 Telemetry ........................................................................................................................... 10
3.3 Ethernet Operation ............................................................................................................. 11
Telnet Connection ....................................................................................................... 12
Raw Connections ......................................................................................................... 12
FTP .............................................................................................................................. 13
HTTP ............................................................................................................................ 13
UDP .............................................................................................................................. 13
PTP/NTP ...................................................................................................................... 14
3.4 Serial Operation ................................................................................................................ 14
3.5 Triggers .............................................................................................................................. 14
Ch. 4 Using the Command Interface 16

4.1 GETALL .............................................................................................................................. 16
4.2 User Cases ......................................................................................................................... 20
Checking instrument state over Ethernet ..................................................................... 20
Download telemetry file via FTP ................................................................................. 20
Download telemetry file over serial port ..................................................................... 22
View memory and power requirements, Signature100 ................................................ 23
Average velocity data and NMEA, Signature 55 ........................................................... 23
Disable a beam, Signature500 ..................................................................................... 24
Average telemetry, Signature1000 ............................................................................... 25
Ch. 5 Commands 27
5.1 List of Commands .............................................................................................................. 29
5.2 Wake processor from sleep mode ...................................................................................... 33
5.3 Instrument main settings .................................................................................................... 33
5.4 Clock settings ..................................................................................................................... 35
5.5 Clock settings as strings ..................................................................................................... 36
5.6 Deployment plan parameters ............................................................................................. 36
5.7 Average mode settings ...................................................................................................... 37
N3015-007
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4 Integrator's Guide
5.8 Burst settings ...................................................................................................................... 39

5.9 High resolution burst settings ............................................................................................. 41
5.10 echosounder settings ......................................................................................................... 42
5.11 Bottom track settings .......................................................................................................... 44
5.12 Alternating plan configuration ........................................................................................... 45
5.13 Get memory usage ............................................................................................................. 46
5.14 Trigger settings .................................................................................................................. 47
5.15 Trigger settings for secondary plan .................................................................................... 48
5.16 Trigger measurement ........................................................................................................ 49
5.17 Get power use .................................................................................................................... 49
5.18 Get measured precision ..................................................................................................... 50
5.19 Instrument user settings ..................................................................................................... 51
5.20 Get instrument ID ............................................................................................................... 52
5.21 Reload default settings ...................................................................................................... 52
5.22 Save settings ...................................................................................................................... 53
5.23 Deploy instrument .............................................................................................................. 53
5.24 Start instrument ................................................................................................................. 54
5.25 Enter command mode ........................................................................................................ 54
5.26 Data retrieval mode ........................................................................................................... 55
5.27 Enter measurement mode .................................................................................................. 55
5.28 Write to file ........................................................................................................................ 55
5.29 Power down ....................................................................................................................... 56
5.30 Erase files on recorder ....................................................................................................... 56
5.31 Format recorder ................................................................................................................. 56
5.32 SEC reboot ......................................................................................................................... 56
5.33 List files .............................................................................................................................. 57
5.34 Download ........................................................................................................................... 57
5.35 Inquire state ....................................................................................................................... 58
5.36 Get instrument state ........................................................................................................... 59
5.37 Get error ............................................................................................................................ 60
5.38 Get all ................................................................................................................................ 60
5.39 Get recorder statistics ........................................................................................................ 61
5.40 Get configuration limits ...................................................................................................... 61
5.41 Get transfer matrices .......................................................................................................... 62
5.42 Average mode telemetry settings ...................................................................................... 63
5.43 Burst mode telemetry settings ............................................................................................ 64
5.44 Altimeter telemetry settings ............................................................................................... 65
5.45 Bottom track telemetry settings .......................................................................................... 66
5.46 Get telemetry file size ........................................................................................................ 67
5.47 Download telemetry ........................................................................................................... 67
5.48 Save configuration to file ................................................................................................... 68
5.49 Erase telemetry file ............................................................................................................ 68
5.50 Write tag output ................................................................................................................. 69
© 2022 Nortek AS
Contents 5
5.51 Major beam angle calibration ............................................................................................ 69

5.52 Major beam angle offset calibration .................................................................................. 70
5.53 Minor beam angle calibration ............................................................................................ 71
5.54 Minor beam angle offset calibration .................................................................................. 72
5.55 Echosounder gain calibration ............................................................................................ 73
5.56 Two way beam angle calibration ...................................................................................... 74
5.57 Precision time protocol ...................................................................................................... 75
5.58 Wake Doppler processor .................................................................................................... 76
5.59 Get hardware specifications .............................................................................................. 77
5.60 Add license ........................................................................................................................ 77
5.61 Delete license .................................................................................................................... 77
5.62 Lists license keys ............................................................................................................... 78
Ch. 6 Data Formats 78

6.1 _HeaderData ...................................................................................................................... 80
6.2 _CommonData ................................................................................................................... 81
6.3 _CurrentProfileDataV3 ....................................................................................................... 85
6.4 EchosounderDataV3 ........................................................................................................... 87
6.5 VelocityDataV3 ................................................................................................................... 88
6.6 SpectrumDataV3 ................................................................................................................ 92
6.7 _DF20BottomTrack ............................................................................................................. 93
6.8 DF20BottomTrackV1 ........................................................................................................... 95
6.9 DF20BottomTrackV9 ........................................................................................................... 96
Ch. 7 Telemetry Data Formats 98

7.1 Averaging Mode ................................................................................................................. 99
AWAC NMEA Format (DF=100) .................................................................................... 100
NMEA Format 1 and 2 (DF=101/102) ............................................................................ 102
NMEA Format 3 and 4 (DF=103/104) ............................................................................ 106
RDI Workhorse PD0 data format. ................................................................................ 107
7.2 Burst ................................................................................................................................. 108
NMEA format 1 and 2 (DF=101/102) ............................................................................. 108
7.3 Altimeter .......................................................................................................................... 112
7.4 Bottom Track .................................................................................................................... 113
NMEA Bottom Track DF300/301 ................................................................................... 113
Ch. 8 Appendix 116

8.1 Echosounder equations .................................................................................................... 116
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1 Introduction
The primary objective of this manual is to provide the information needed to control a Nortek product
that is based on the AD2CP hardware platform. This includes all instruments in the Signature series. It
is aimed at system integrators and engineers with interfacing experience, but it also includes examples
on how to configure and start the instrument for more inexperienced integrators. The document's scope
is limited to interfacing and does not address general performance issues of the instrument. For a more
thorough understanding of the principles, we recommend the Principles of Operation, and for information
about how to operate the instrument, we recommend the instrument-specific Operations Manual,
available for the 55/100 and the 250/500/1000.
The document is complete in the sense that it describes all available commands and modes of
communication. For most users, it will make sense to let the supplied Nortek software do most of the
hardware configuration and then let the controller limit its task to starting/stopping data collection.
Nortek online
At our website, www.nortekgroup.com, you will find technical support, user manuals, and the latest
software and firmware. General information, technical notes, and user experience can also be found
here.
Nortek FAQ
Our old forum where users from all over the world met to discuss and shared their experience with
Nortek instruments has been converted to an FAQ section. If you have comments, questions,
application tips, suggestions for improvements, or simply want to learn from others or share your own
experience, we encourage you to comment on the relevant FAQ or start a topic in our new forum.
Your feedback is appreciated

If you find errors, omissions or sections poorly explained, please do not hesitate to contact us. We
appreciate your comments and your fellow users will as well.
Contact Information
We recommend first contacting your local sales representative before the Nortek main office. If you
need more information, support or other assistance, you are always welcome to contact us or any of our
subsidiaries by email, phone or fax.
Email: inquiry@nortekgroup.com (general inquiries), support@nortekgroup.com (technical support)
Phone: +47 67 17 45 00
Fax: +47 67 13 67 70
You can also write us at:

Nortek AS
Vangkroken 2
1351 RUD
Norway
Version/revision Date Comments

Version 2015.1 First version
Version 2015.2 20.10.2015
Version 2016.1 01.03.2016
Version 2016.2 14.03.2016 Minor updates
© 2022 Nortek AS
Introduction 7
Version 2016.3 30.09.2016

Version 2017.1 10.02.2017
Version 2017.2 20.10.2017
Version 2017.3 06.12.2017 Minor updates
Version 2018.1 03.10.2018
Version 2021.1 27.01.2021 Major updates
Version 2021.2 17.09.2021 Major updates
Version 2022.1 11.01.2022 Minor updates to command
layouts
Version 2022.2 31.03.2022 Additions to data format chapters
© 2022 Nortek AS
2 Basic interface concept

The Nortek Signature Series products command interface are ASCII based and line oriented. Before
diving into the chapters covering interfaces and commands, the operational modes and how to change
between the modes are described. Understanding the use and constraints of the modes is important as
they are used frequently when communicating with the instrument.
2.1 Modes
The current profiler operates in distinct modes. These modes have several explicit commands used to
control the instrument. The majority of the commands are initiated from the Command mode. The
possible modes for the instrument are:
· Command: Command and control
· Data Retrieval: Data download from recorder
· Measurement: Data collection mode
· Confirmation: Confirmation mode
Figure: Instrument modes of operation
Initializing communication with the instrument is performed by sending a <BREAK>, which is defined in
the next section. The <BREAK> will either set the instrument in Confirmation Mode or restart Command
Mode. The options for changing mode depends on the present mode of the instrument (see diagram
above for clarity). The timeout shown in the diagram occurs if no commands are received in the various
modes. A timer will then ensure that instrument operation continues. The timeout value in the
Confirmation and Data Retrieval Modes is 60 seconds. There is also a timeout in Command Mode when
© 2022 Nortek AS
Basic interface concept 9
operating over the serial interface. If no commands are received for 5 minutes, a break or a sequence of
@@@@@@ must be sent to wake up the processor.
2.2 Break
<BREAK> over the serial RS232/RS422 interface is defined as:
@@@@@@ <delay 150 milliseconds> K1W%!Q <delay 400 milliseconds> K1W%!Q
The @@@@@@ are used to wake up the processor when it is in sleep mode since the instrument will
only be able to monitor activity on the serial line when it sleeps. The second sequence of the actual
break characters is there to ensure that a break is detected even when the instrument is waking up due
to some other cause (e.g. alarm from the real time clock). This ensures that the processor will interpret
the following command correctly.
The figure and the table below show the specified timing of the <BREAK> sequence:
@@@@@@ K1W%!Q K1W%!Q

t1 t3
t2
Figure: Break tim ing
Symbol Parameter Min. Typical Max. Unit
t1 Time from end of @-sequence to start of first K1W%!Q- 100 150 ms

sequence.
t2 Time from end of @-sequence to start of second K1W 500 1000 2000 ms
%!Q-sequence.
t3 Time between first and second K1W%!Q-sequence. 300 400 ms
2.3 Dual Processor

The AD2CP uses a two-processor (DSP) design; one dedicated to Doppler processing (BBP) and the
other to Interface (SEC). The primary interface is Ethernet, so the Interface processor is only powered
when external power is applied. Note that powering through the Ethernet cable will also power the rest of
the electronics. As the primary interface, the Ethernet cable takes priority, so if it is powered while the
Serial interface is also powered, you will only be able to use Ethernet for communications and data
output.
© 2022 Nortek AS
3 Interfaces
In addition to the traditional serial port interface for real time data output there are several options for
communication over Ethernet. The Ethernet communication is handled by a dedicated processor in the
instrument. This network processor runs a Linux operating system, which makes it possible to connect
to the instrument via telnet, raw connections and FTP. The network processor mainly provides Ethernet
connectivity. The other processor in the instrument, called the Doppler processor, is where the
commands end up and where they are used to perform the measurements as specified.
The concept of a telemetry file has also been introduced which can be utilized in several ways
depending on the chosen interface. Below are some details:
3.1 Command interface

The command interface makes it possible to communicate with a Signature instrument using terminal
software, the serial port and a set of commands. The interface is also available over Telnet. Some
highlights:
· ASCII based and line oriented. Commands are terminated with CR/LF
· Optional capsulation of commands using NMEA style prefix and checksum to ensure data integrity
· NMEA style commands will return argument names in their response
· Argument limits can be retrieved through commands
· Comprehensive validation and error handling is implemented
· Invalid configurations return the erroneous argument with limits directly, so that each subsequent error
can be handled until a valid configuration is achieved
· A single command can be used to retrieve the complete configuration of the instrument with optional
output to file
· Commands to set default parameters
· External controllers can use commands to store data in the raw data file (e.g. GPS position)
3.2 Telemetry
Our use of the telemetry term implies a "subset transfer system", that is, storing a subset of data for
transfer over low-bandwidth links (for example over Iridium links, acoustic modems, etc.). The telemetry
file is typically used in cases where the integrator either does not have the processing power or
bandwidth (if only a low data rate serial port is available) to do the processing themselves.
For online data transmission a versatile scheme for telemetry options is available. The telemetry file can
be read out over the serial interface either in chunks or as a complete file while checksum or CRC on
the downloaded data can be applied in a configurable manner. This enables external controllers to
configure separate handling of all, or a subset, of the measured data. That means the file can be output
directly as they are ready, or the data can be stored to a telemetry file for later retrieval. The data format
can be selected from a number of formats, including both binary and ASCII data formats.
Since the instruments store individual ping data to file, the telemetry option can also be used to average
velocity data within the instrument. This averaged data can be immediately output via serial line or
stored for later retrieval in telemetry files. System integrators are able to regularly offload subsets of
data using FTP and telemetry files can be deleted after download.
© 2022 Nortek AS
Interfaces 11
Since the telemetry file can be retrieved also in Data Retrieval Mode, the instrument will continue
measuring after a timeout delay if the data transfer was interrupted. Erasing the telemetry file after data
retrieval will ensure that no data is lost if the transfer is interrupted.
The raw data, by design, is not supposed to be deleted from the disk. The raw data is collected and
saved continuously throughout the deployment and the configuration is supposed to be set up in such a
way that there is sufficient disk space to last for the whole deployment period (that is one of the factors
that the deployment software takes into account). The raw data is then taken off the disk after the
deployment and post-processed as required.
To FTP
The telemetry option implemented in the Doppler processor enables system integrators to regularly
offload subsets of the data by using FTP. When the network processor receives an incoming FTP
request, it will interrupt the Doppler processor by entering Data Retrieval Mode and mount the file
system of the recorder. The data files on the recorder can then be accessed over FTP. The telemetry
file can be deleted after it has been downloaded, which is particularly suitable for event driven data
downloads. If the instrument was started with the DEPLOY command, it will resynchronize to its
measurement time base after the FTP session has ended.
For an example on how to configure the instrument to output a telemetry file and download the file to
FTP, check out this section.
3.3 Ethernet Operation

The AD2CP uses TCP (transmission control protocol) for both command processing and data
transmission. The Internet Protocol uses a combination of the IP address and port to uniquely identify a
communications channel between two computers. For the AD2CP, different ports represent different
means of communicating with the instrument. TCP ports 9001, 2002, 9004 are assigned for the following
uses:
· Port 9000 is a telnet-protocol ASCII interface (require username / password authentication)
· port 9001 is a raw (binary) interface (requires username / password authentication)
· port 9002 is a data only channel (no input accepted)
· port 9004 is an ASCII data only channel (no input accepted).
The password entry is ignored if password authentication, as shown in the web page configuration, is
disabled (so any input, including an empty password, is accepted). The command and data record
formats for the interfaces are the same as for the serial port.
Commands available in measurement mode should be preceded by the command BBPWAKEUP. This
ensures that the BBP is ready to process the command when it is received (see Checking instrument
state over Ethernet). In measurement mode, another BBPWAKEUP must be sent when more than 2
seconds has elapsed since the previous command.
If uncertain of the active mode it is good practice to send BBPWAKEUP before sending GETSTATE or
INQ.
© 2022 Nortek AS
3.3.1 Telnet Connection

The telnet interface (TCP/IP port 9000) is used for user interaction with the instrument. This dedicated
port can be used for entering commands and getting human readable responses (ASCII). The supported
command set is available in the Commands section. The Windows telnet client can be used to connect
into the instrument using the command line telnet ip_address 9000. You will get prompted for a
username (nortek) and password (hit Enter if password protection hasn’t been enabled via the web
interface).
Signature Username: nortek

Password:
Nortek Signature Command Interface
The interface is very similar to the direct serial interface over RS232/RS422 but some additions are
made to simplify the interfacing. Most notable is the ability to send a <BREAK> to the Doppler
processor just by using Ctrl-C (ASCII 0x03). The internal application takes care of waking up the
Doppler DSP and timing the delivery of the break string.
The telnet server is not configured to echo characters, so users wishing to see and/or edit commands
before sending them to the instrument should enable local echo and local line editing. If those features
are desired, a telnet client capable of supporting local echo and local line editing must be used (e.g.
PuTTY).
Port 9000 is dedicated for ASCII only communication whereas the ports described in the next section
provide the complete set of data, including binary output of the measurements. A telnet client should not
be used to access these ports. Read more about this in the next section.
To terminate the telnet connection, enter Ctrl-X (ASCII 0x18).
3.3.2 Raw Connections

A port can be understood as a address point between two communicating parts. When first connecting
to a data listening port, the string "\r\nNortek name Data Interface\r\n" (name is replaced by the
instrument host name) is sent to identify the instrument that has responded to the connection request.
TCP ports 9001, 9002 and 9004 are assigned for the following uses:
· Port 9001 is used for machine driven control. This port requires username/password. The serial port
data is translated directly into TCP/ IP over Ethernet. Binary data generated in measurement mode is
visible on this port. Standard streaming record delineation techniques must be used in order to make
sure that the received data is properly synchronized for decoding. A break can be sent by sending the
string K1W%!Q<CR><LF> to the instrument or a Ctrl-C character (ASCII 0x03) (Ctrl-C has to be sent
on its own and not embedded in any command). The internal application takes care of the appropriate
timing of the break sent over the internal serial port. This port require username / password
authentication. Refer to previous section for example. The password entry is ignored if password
authentication, as shown in the web page configuration, is disabled (so any input, including an empty
password, is accepted). The command and data record formats for the interfaces are the same as for
the serial port.
· Port 9002 is a data only channel which will output all data that is configured for a telemetry file with
serial output. This can, for example, be used by display only software while configuration is done by
another application.
© 2022 Nortek AS
Interfaces 13
· Port 9004 outputs ASCII data (no binary) that is configured for serial output. The instrument should be
configured to output a telemetry file with serial output enabled in ASCII format.
A telnet client should not be used to access these ports. Telnet incorporates its own binary protocol
which is neither interpreted nor sent via the raw connection. Using a telnet client on these ports will
result in extraneous characters being sent and certain binary characters being interpreted by the client.
3.3.3 FTP
The internal data recorder is accessed over Ethernet using a standard FTP (File Transfer Protocol)
client. Together with the various telemetry options, the FTP data download serves as a simple way to
download measured data at regular intervals if true real time operation is not required. Only the telemetry
file can be deleted using FTP.
When an FTP connection is active, the internal state of the machine is changed so that commands are
no longer processed (and an error is returned when commands are entered). Terminating the FTP
connection or sending a <BREAK> followed by the CO command will switch the instrument back to the
mode it was in before the FTP session began. If a break command is sent while an FTP transaction is
in progress, the FTP connection will be forcibly terminated.
If an FTP connection is done when the instrument is in Measurement Mode (see Modes diagram), the
FTP connection is made through Data Retrieval Mode. When the FTP connection is terminated, the
instrument will then return to Measurement Mode. If no data is transferred or no FTP commands sent for
120 seconds, the FTP connection will terminate and the instrument will return to Measurement Mode.
For an example on how to configure the instrument to output a telemetry file and download the file to
FTP, check out the User Cases.
3.3.4 HTTP
HTTP (Hypertext Transfer Protocol) can also be used for data transmission. For organizations with
strong security/firewall restrictions, FTP access to the instrument may not be permitted. For that
reason, a web page allowing individual data files to be downloaded has been implemented in the
Ethernet processor. The web page can be accessed by clicking on the “Data Download (HTTP)” link
from the main web page.
3.3.5 UDP
UDP (user datagram protocol) can also be used for data transmission. When using UDP, the data
collection software simply waits for data to be sent from the instrument without having to establish a
connection first. This may be useful for cases in which instrument power is intermittently interrupted and
re-connecting to the instrument is not desirable. One downside to UDP communications is that
transmission of the data is not guaranteed. On a noisy/error-prone connection, it is possible that the
occasional datagram may be dropped. If every data record must be received, then TCP is
recommended.
In order to use UDP in a power-safe configuration, the IP address of the data collection software and
port must first be configured using the web interface. The IP address identifies the client to which the
data is to be sent, and the port may be used to uniquely identify the instrument to the application. The
port must be between 9000 and 9500. The same port may be used for all instruments if the data
collection software examines the IP address of the received datagram to identify the instrument. Once
© 2022 Nortek AS
this information has been configured, the Ethernet processor will automatically send real-time data
records to the configured address/port. An instrument in Measurement Mode re-enters Measurement
Mode shortly after a power-cycle, so the data collection software will immediately receive new data
without having to re-establish a connection.
3.3.6 PTP/NTP
Precision Time Protocol (IEEE-1588) is a standard used for distributing a high-resolution absolute time
throughout an Ethernet network. The Signature series instrument can be configured to act as a slave to
an existing PTP master clock (customer supplied) located in the same Ethernet LAN. The instrument
contains a high-resolution clock which is synchronized and conditioned using PTP when enabled. The
timestamps contained within the data records are then generated from this clock. When synchronized,
these timestamps are typically aligned to within ~10 microseconds.
The PTP master clock must use UDP (layer three) and be configured for two-step operation with an end-
to-end delay mode in order to be compatible with the Signature series PTP implementation. Using PTP
does not affect the choice of UDP or TCP for the transport of data.
Network Time Protocol provides time sync typically to within +-1 ms on a local area network and +-
10ms across a wide area network. The NTP Server IP address must be correctly configured for NTP to
operate.
PTP/NTP is enabled on the SEC processor from the Signature web interface.
3.4 Serial Operation

The AD2CP can also use serial communications, provided that it has been ordered with or upgraded to
include an 8-pin serial connector (replacing the 2-pin power connector). The serial cable can be used for
either RS232 or RS422 comms, which is chosen using the SETINST command.
Serial communication can only be achieved through commands, meaning that the GUI of the
SignatureDeployment software cannot be used. Instead, if you connect through a serial cable to
SignatureDeployment a terminal window will open. You can also connect to the Signature through any
other terminal.
3.5 Triggers
AD2CP offers four main types of triggers: Internal Sampling, TTL trigger, RS-485 trigger and trig on
command.
Internal Sampling (INTSR)

Internal triggers determined by the selected sampling rate.
TTL Trigger
The AD2CP can trig on either Rising Edge, Falling Edge or Both Edges of a TTL Signal. When triggered
the instrument will perform a complete ping (Tx and Rx) before it goes back to monitoring the trigger.
Any triggers asserted during an ongoing ping will be ignored. The requirements for the TTL input is Vlow
<0.7V and Vhigh>2.5V. The TTL input tolerate voltages between 0-5.5 V. The pulse length should be
minimum 1 ms.
© 2022 Nortek AS
Interfaces 15
Trigger types
RS-485 Trigger
A RS-485 signal can be used to trig the AD2CP, either Rising Edge, Falling Edge or Both Edges of a
RS-485 Signal. The following figure shows the polarities of the differential RS-485 signal pair for the
trigger types. When triggered the instrument will perform a complete ping (Tx and Rx) before it goes
back to monitoring the trigger. Any triggers asserted during an ongoing ping will be ignored. The pulse
length should be minimum 1 ms.
RS-485 trigger types
Trig on Command
When the TRIG parameter of the SETTRIG command is set to “COMMAND” the AD2CP is trigged by
sending a “TRIG[CrLf]” command. The trigger time will be when the end of the [CrLf] is received.
© 2022 Nortek AS
4 Using the Command Interface

Note that the Nortek Signature Series products command interface are ASCII based and line oriented
(commands terminated with CR/LF). All commands should be set explicitly. The .deploy file created by
the Deployment software is command-based and can be read directly into the command interface.
Entering the .deploy file into the command interface can be a good starting point before modifying
certain parameters using individual commands. Alternatively, use the Deployment software's
"Customize..." function to create a .deploy file and input commands in the #CustomCommands section.
Comprehensive validation and error handling is implemented. The setup is verified when sending the
SAVE command. If there is anything wrong with the deployment plan, i.e. some of the parameters are
entered with values outside their specific range, an ERROR will be returned. The GETERROR command
will describe why. If SAVE is not used, the deployment plan will be validated when sending the START
or DEPLOY command. Note the difference between DEPLOY and START, the latter will immediately
start a measurement any time the instrument state returns to Measurement Mode such as by applying
power or timeout from Data Retrieval Mode. If DEPLOY is used, be aware that if the deployment time
has passed when the battery is connected, the instrument will resynchronize its data sampling
according to the deployment time and the instrument configuration. This means you may have to wait
for one average measurement interval or one burst measurement interval before the instrument starts to
ping.
Invalid configurations return the ERROR with limits directly, so that each subsequent error can be
handled until a valid configuration is achieved. Argument limits can be retrieved through commands. For
example, if entering SETPLAN,MIAVG=5000, you will receive an OK. But when saving or deploying,
you will receive an ERROR. When using GETERROR, you will receive the following:
134,"Invalid setting: Plan Profile Interval","GETPLANLIM,MIAVG=([1;3600])"
The measurement interval must be within 1:3600 seconds. The valid range for the various arguments
can also be verified by using the GETPLANLIM and GETAVGLIM commands.
4.1 GETALL
GETALL retrieves all relevant configuration information for the instrument. This information can either be
displayed on the command line or saved to a data file. For Nortek post-processing software to read a
valid .ad2cp file it must contain both the Header and Data Record. The Header information can be
obtained by using the command GETALL.
Argument Description
FN Write the output to this file
Example: The result from a GETALL command on a Signature1000 with a default Average plan.
Different plans, e.g. with a Burst measurement enabled, will produce different parameters from a
GETALL command. Calibration values are not modifiable.
Parameter Example Description

TIME="2021-06-08 16:12:44" Current time on the instrument
GETCLOCKSTR
real-time clock
© 2022 Nortek AS
Using the Command Interface 17
STR="Signature1000",SN=900002 Instrument name and serial

ID
number
FW=2214,FPGA=185,DIGITAL="H- Firmware and electronics
0",INTERFACE="D-1",ANALOG="C- revision numbers
GETHW
4",SENSOR="C-
0(AHRS)",BOOT=12,FWMINOR=12
BOARDSENSG AV=23,NB=5,HF=1000,TTR=2.0000,TTRB5=2.000 Production information
ET 0,TTRB5AUX=0.0000,AUXRS=0
PLAN=53.51,BURST=0.00,AVG=50.78,PLAN1=0.0 Power consumption in mW for
GETPWR
0,BURST1=0.00,AVG1=0.00,TOTAL=53.51 current plan
PLAN=0.388,BURST=0.000,AVG=0.388,PLAN1=0. Memory consumption in MB for
GETMEM
000,BURST1=0.000,AVG1=0.000,TOTAL=0.388 current plan
GETPRECISIO AVGHORZ=0.95,BURSTHORZ=-9.99,BEAM5=- Horizontal and along-beam
N 9.99,AVGBEAM=0.57,BURSTBEAM=-9.99 precision values
MIAVG=600,AVG=1,DIAVG=0,VD=0,MV=10,SA=3 Current PLAN settings
GETPLAN 5.0,BURST=0,MIBURST=3600,DIBURST=0,SV=0.
00,FN="Data.ad2cp",SO=0,FREQ=1000,NSTT=0
NC=60,CS=0.50,BD=0.10,CY="BEAM",PL=0.0,AI= Current AVG settings
60,VP=0.000,VR=2.50,DF=3,NPING=60,NB=4,CH
GETAVG
=0,MUX=0,BW="BROAD",ALTI=0,BT=0,ICE=0,AL
TISTART=0.10,ALTIEND=30.00,RAWALTI=0
ROWS=4,COLS=4,M11=1.1831,M12=0.0000,M13= Transformation matrix values
-1.1831,M14=0.0000,M21=0.0000,M22=-
GETXFAVG 1.1831,M23=0.0000,M24=1.1831,M31=0.5518,M32
=0.0000,M33=0.5518,M34=0.0000,M41=0.0000,M4
2=0.5518,M43=0.0000,M44=0.5518
POFF=9.50,DECL=0.00,HX=0,HY=0,HZ=0 Pressure and compass offset
GETUSER
values
BR=9600,RS=422,LED="ON24H",ORIENT="AHRS Instrument settings
GETINST
3D",CMTOUT=300,DMTOUT=60,CFMTOUT=60
DX=247,DY=138,DZ=-40,M11=32418,M12=- Current compass calibration
GETCOMPASS
935,M13=-7,M21=1229,M22=32767,M23=- values
CAL
213,M31=-979,M32=1367,M33=31081
STR="OSv6m1_ng2_1.0.0.2 Oct 29 2019, If present; AHRS name and
READAHRS
SerialNumber=60000371,type=OS3DM" firmware version
SS=512,CS=32768,FC=4002381824,TC=40401633 Recorder status:
28,VS=4040163328 SS - Sector Size (bytes)
CS - Cluster Size (bytes)
FC - Number of bytes in free
Clusters
RECSTAT
TC - Total number of bytes in
Clusters
VS - Volume Size
FF - Number of free files
© 2022 Nortek AS
TF - Max number of recorder

files
BEAM=1,THETA=25.00,PHI=0.00,FREQ=1000,B Instrument beam configuration
W=25,BRD=1,HWBEAM=1,ZNOM=60.00,DIA=0.0
BEAM=2,THETA=25.00,PHI=-
90.00,FREQ=1000,BW=25,BRD=1,HWBEAM=2,Z
NOM=60.00,DIA=0.0
BEAM=3,THETA=25.00,PHI=180.00,FREQ=1000,
BEAMCFGLIST
BW=25,BRD=1,HWBEAM=3,ZNOM=60.00,DIA=0.
0
BEAM=4,THETA=25.00,PHI=90.00,FREQ=1000,B
W=25,BRD=1,HWBEAM=4,ZNOM=60.00,DIA=0.0
BEAM=5,THETA=0.00,PHI=0.00,FREQ=1000,BW
=25,BRD=1,HWBEAM=5,ZNOM=60.00,DIA=0.0
BEAM=1,P0=1.00000e+02,P1=0.00000e+00,P2=0. Instrument beam configuration
00000e+00,P3=0.00000e+00,P4=0.00000e+00,T1=
0.00000e+00
BEAM=2,P0=1.00000e+02,P1=0.00000e+00,P2=0.
00000e+00,P3=0.00000e+00,P4=0.00000e+00,T1=
0.00000e+00
BEAM=3,P0=1.00000e+02,P1=0.00000e+00,P2=0.
BEAMIMPLIST 00000e+00,P3=0.00000e+00,P4=0.00000e+00,T1=
0.00000e+00
BEAM=4,P0=0.00000e+00,P1=0.00000e+00,P2=0.
00000e+00,P3=0.00000e+00,P4=0.00000e+00,T1=
0.00000e+00
BEAM=5,P0=0.00000e+00,P1=0.00000e+00,P2=0.
00000e+00,P3=0.00000e+00,P4=0.00000e+00,T1=
0.00000e+00
KEY="D1EWY135MB7K7",DESC="Burst Installed instrument licences
Mode",TYPE=2
KEY="E39YR4H2MB7K7",DESC="Averaging
LISTLICENSE
Mode",TYPE=1
KEY="99BHT6KRMB7K7",DESC="16GB
Recorder",TYPE=11
DX=247,DY=138,DZ=-40,M11=32418,M12=- Compass calibration values
CALCOMPGET 935,M13=-7,M21=1229,M22=32767,M23=-
213,M31=-979,M32=1367,M33=31081
SC=1.00000 Water temperature calibration
CALTEMPGET
value
CALTILTGET PO=0.00,RO=0.00,MAGG=1,HO=0.00 Tilt sensor calibration values
AX=1.000000E+00,B0X=-5.838510E- Accelerometer calibration
CALACCLGET 04,B1X=4.038870E-03,B2X=1.900822E- values
© 2022 Nortek AS
03,B3X=0.000000E+00,A1X=-3.905594E-05,A2X=-
2.741814E-06,A3X=0.000000E+00
AY=1.000000E+00,B0Y=-8.213488E-
03,B1Y=9.444051E-03,B2Y=1.928553E-
03,B3Y=0.000000E+00,A1Y=-3.572553E-
05,A2Y=2.868473E-06,A3Y=0.000000E+00
AZ=1.000000E+00,B0Z=1.251627E-
02,B1Z=8.488446E-05,B2Z=1.951933E-
03,B3Z=0.000000E+00,A1Z=8.686632E-
05,A2Z=2.995133E-06,A3Z=0.000000E+00
AX=1.092663E+00,B0X=-1.458604E-02,B1X=- Gyro calibration values
1.925275E-03,B2X=-5.933643E-
05,B3X=0.000000E+00,A1X=1.739189E-04,A2X=-
7.793307E-06,A3X=0.000000E+00
AY=1.086592E+00,B0Y=1.325879E-
02,B1Y=4.371032E-04,B2Y=3.761053E-
CALGYROGET
05,B3Y=0.000000E+00,A1Y=-2.659187E-
04,A2Y=2.339482E-06,A3Y=0.000000E+00
AZ=1.087252E+00,B0Z=-4.356480E-
02,B1Z=5.960464E-08,B2Z=1.316518E-
05,B3Z=0.000000E+00,A1Z=4.348904E-
05,A2Z=2.026558E-06,A3Z=0.000000E+00
MT=1,RREF=4.5300000000e+02,RB0=0.00000000 Pressure sensor calibration
00e+00,RB1=0.0000000000e+00,RB2=0.00000000 values
00e+00,RB3=0.0000000000e+00,T0=-
CALPRESSGET
3.7026600000e+03,T1=2.7309500000e+00,T2=-
6.8649568750e-04,T3=5.9816006250e-
08,ID="L0165"
A0=5.4010770000e+01,A1=-4.2163353130e- Pressure sensor calibration
02,A2=1.1131470000e-05,A3=-9.9709175000e- coefficient values
10,B0=-3.1236960000e+00,B1=2.9407478130e-
CALPRESSCOE 03,B2=-7.7748162500e-07,B3=6.8127600000e-11
FFGET C0=-7.5628700000e-03,C1=6.2269425000e-
06,C2=-1.6925208750e-09,C3=1.5250131250e-
13,D0=4.1404246880e-05,D1=-3.4084846880e-
08,D2=9.3360593750e-12,D3=-8.5032206250e-16
M11=0.99685,M12=- Accelerometer rotation matrix
CALROTACCLG 0.00455,M13=0.01998,M21=0.00674,M22=0.99572, values
ET M23=-0.00375,M31=-
0.02500,M32=0.00529,M33=0.99523
M11=1.00000,M12=-0.01459,M13=- Gyro rotation matrix values
CALROTGYRO
0.00088,M21=0.00841,M22=1.00000,M23=-
GET
0.01623,M31=-0.02101,M32=0.00059,M33=1.00000
CALECHOGET CHA0=0.00,CHB0=0.00,CHC0=0.00 Echosounder calibration values
© 2022 Nortek AS
4.2 User Cases

4.2.1 Checking instrument state over Ethernet
In this example a user connects to and powers the Ethernet port, but is unsure of the current operational
state. If power is applied while in measurement mode, it will continue the measurement but not wake the
Ethernet processor (BBP). If power is applied while in deployment state a re-synch will occur and
resume sleep mode. Hence it is necessary to use BBPWAKEUP in both cases.
A typical sequence starts by wanting to know the state of the instrument before proceeding with either a
new measurement or data retrieval.
% Waking up the BBP to make sure commands are received

BBPWAKEUP
$PNOR,OK*2B
% Inquiring the state the of the instrument

GETSTATE
$PNOR,GETSTATE,MODE=0010,DEPTIME=27521,MEASTIME=27521,CURRTIME="2015-09-28
11:21:16",WAKEUP=2,INTPROC=0*01
$PNOR,OK*2B
This indicates the instrument has been configured to deploy and has started its scheduled deployment
for 27521 seconds. See GETSTATE for more information.
Depending on the desired action, send Break usually followed by; either MC to enter command mode,
RM for data retrieval or START/DEPLOY/CO to start/schedule/continue a deployment.
4.2.2 Download telemetry file via FTP

In this example, a Signature1000 is set up to measure currents for 2 minutes every 10 minutes and
waves every hour (4096 samples at 4 Hz). The raw current data are processed and a subset is saved as
a telemetry file and made available on FTP.
Configuration example:
% Recommended starting point for configuration file
SETDEFAULT,CONFIG
$PNOR,OK*2B
% Configuration for instrument:

SETPLAN,MIAVG=600,AVG=1,DIAVG=0,VD=0,MV=10,SA=35,BURST=1,MIBURST=3600,DIBUR
ST=0,SV=0,FN="Ex3.ad2cp",SO=0,FREQ=1000
$PNOR,OK*2B
SETAVG,NC=21,CS=1,BD=0.2,CY="ENU",PL=0,AI=120,VR=2.5,DF=3,NPING=13,NB=4,CH=
0,MUX=0,BW="BROAD",ALTI=0,BT=0,ICE=0,ALTISTART=1,ALTIEND=30
$PNOR,OK*2B
SETBURST,NC=13,NB=4,CS=1,BD=9.5,CY="BEAM",PL=0,SR=4,NS=4096,VR=2.5,DF=3,NPI
NG=1,CH=0,VR5=2.5,ALTI=1,BT=0,DISV=0,RAWALTI=1,ALTISTART=4.8,ALTIEND=33.1
$PNOR,OK*2B
© 2022 Nortek AS
% Configuration for telemetry file:

SETTMAVG,EN=1,CD=2,PD=1,AVG=120,TV=1,TA=1,TC=1,CY="ENU",FO=1,SO=0,DF=100
$PNOR,OK*2B
SAVE,CONFIG
$PNOR,OK*2B
DEPLOY,TIME="2014-11-12 14:40:00"
$PNOR,OK*2B
Go to ftp://your-IP-address to find the telemetry file (telemetryfile.bin). Here is part of the result from the
above configuration. Note that the data were collected in air.
$PNORI,4,Signature1000900002,4,11,0.20,1.00,0*1B
$PNORS,091715,143440,00000000,2A4C0000,14.3,1300.0,278.3,15.7,-33.0,0.000,-
262.45,0,0*65
$PNORC,091715,142440,1,0.24,-1.35,-2.21,-
1.69,1.37,169.7,C,79,84,67,102,11,13,8,11*2B
$PNORC,091715,142440,3,0.64,-0.28,-1.91,-
1.32,0.70,113.9,C,79,84,66,96,12,14,7,20*13
$PNORC,091715,142440,5,0.08,-0.50,-1.76,-
1.48,0.51,171.2,C,78,84,66,92,11,13,7,24*1D
$PNORC,091715,142440,7,-0.37,0.97,-1.02,-
1.07,1.04,339.0,C,78,84,66,67,11,14,10,10*21
$PNORC,091715,142440,9,-0.94,0.57,-0.76,-
1.11,1.10,301.1,C,78,83,65,69,12,15,9,10*10
$PNORC,091715,142440,11,-0.37,0.76,-0.95,-
1.06,0.85,334.0,C,78,83,65,66,13,15,8,8*14
$PNORC,091715,142440,13,0.05,-0.25,-1.64,-
1.36,0.26,168.4,C,78,84,66,82,11,14,9,33*2F
$PNORC,091715,142440,15,-0.20,0.20,-1.36,-
1.32,0.28,314.6,C,78,84,66,67,11,13,9,7*16
$PNORC,091715,142440,17,0.19,0.17,-1.47,-
1.13,0.25,48.0,C,78,84,65,69,12,16,9,2*0D
$PNORC,091715,142440,19,-0.91,0.45,-0.90,-
1.19,1.02,296.5,C,78,84,65,66,12,14,10,8*27
$PNORC,091715,142440,21,-0.49,0.66,-1.00,-
1.11,0.82,323.1,C,78,84,65,67,12,14,11,10*13
After downloading the telemetry file, erase it either via FTP or commands. Only the telemetry file can be
deleted using FTP.
% Erasing telemetry file

ERASETM,9999
$PNOR,OK*2B
% Continuing the configured deployment plan
© 2022 Nortek AS
CO
$PNOR,OK*2B
Note that the instrument does not process wave data internally (read more about this in the Operations
Manual, if interested), thus only current data will be output in the telemetry file.
For use with external controller it can be interesting to note the following: if the instrument is started at
e.g. 12:00, the first current profile is finished at 12:02 (120 seconds) and the next starts about 12:10.
That leaves us with 8 minutes to download the telemetry file to FTP before next current profile starts.
The clock drifts with about 1 sec/week. Since DEPLOY was used the measurement intervals will
resynchronize according to the deployment time and the instrument configuration (see DEPLOY for
more information), thus is should be easier to schedule automatic data download as the window 12:02 to
12:10 remains.
4.2.3 Download telemetry file over serial port

In this example the user wishes to download the telemetry file in 4096 byte chunks. To achieve this you
must connect via the Terminal Emulator or other console while the instrument is measuring.
% Send Break
CONFIRM
OK
%Going into Data Retrieval Mode

RM
NORTEK AS.
Version 2214_12 (Apr 15 2021 07:31:19)
DATA RETRIEVAL MODE
$PNOR,OK*2B
% Checking the size of the telemetry file. Return in bytes

TMSTAT
95558
$PNOR,OK*2B
% Outputting the telemetry file over serial port in 4096 byte chunks
DOWNLOADTM,0,4096,CKS=1
[OUTPUT]
$PNOR,OK*2B
% Next 4096 byte chunk, etc

DOWNLOADTM,4097,4096,CKS=1
[OUTPUT]
$PNOR,OK*2B
% Erasing telemetry file

ERASETM,9999
$PNOR,OK*2B
© 2022 Nortek AS
% Continuing the configured deployment plan

CO
$PNOR,OK*2B
Copy the returned text and paste to file, or check "Record to file" before retrieving the file and the file will
appear by default in: C:\Users\xxxx\Documents\Nortek\Deployment\Online.
Parameters can be added to the DOWNLOADTM command to set start address, length of file, etc. (see
section DOWNLOADTM).
4.2.4 View memory and power requirements, Signature100

If you create a custom deployment outside of the Deployment Wizard, you will not be able to open it in
the software. This means that you will not be able to see the power and memory requirements of your
plan in the summary pane. However, once you have configured the instrument, you can use commands
to retrieve the requirements for the plan you have chosen.
% Retrieve power requirements for the default Signature100 plan (mWatts)

GETPWR
$PNOR,GETPWR,PLAN=268.61,BURST=0.00,AVG=266.94,PLAN1=0.00,BURST1=0.00,AVG1=
0.00,TOTAL=268.61*5F
$PNOR,OK*2B
% Retrieve memory requirements for the default Signature100 plan

(Mbytes/hour)
GETMEM
$PNOR,GETMEM,PLAN=0.103,BURST=0.000,AVG=0.103,PLAN1=0.000,BURST1=0.000,AVG1
=0.000,TOTAL=0.103*72
$PNOR,OK*2B
4.2.5 Average velocity data and NMEA, Signature 55

Either use the Deployment wizard to create a .deploy file which can be uploaded via the Terminal
Emulator, or set the configuration through commands (seen below). The .deploy file can also be
uploaded then customized via commands once in the Terminal Emulator.
In this example: Signature55, configured to alternate between fine and coarse current profiles (3:1). In
this case the user wanted to download the averaged fine profile upon request.
Configuration example:
% Recommended starting point for configuration file
SETDEFAULT,CONFIG
$PNOR,OK*2B
% Setting plan for "Fine" profile

SETPLAN,MIAVG=600,AVG=1,DIAVG=0,VD=0,MV=10,SA=35,BURST=0,MIBURST=120,DIBURS
T=0,SV=0,FN="Data.ad2cp",SO=0,FREQ=75
$PNOR,OK*2B
© 2022 Nortek AS
SETAVG,NC=109,CS=5,BD=2,CY="ENU",PL=-
6,AI=180,VR=1,DF=3,NPING=137,NB=3,CH=0,MUX=0,BW="BROAD",ALTI=0,BT=0,ICE=0
$PNOR,OK*2B
% Setting plan for "Coarse" profile

SETPLAN1,MIAVG=1800,AVG=1,DIAVG=0,VD=0,MV=10,SA=35,BURST=0,MIBURST=120,DIBU
RST=0,SV=0,FN="Data.ad2cp",SO=0,FREQ=55
$PNOR,OK*2B
SETAVG1,NC=54,CS=20,BD=2,CY="ENU",PL=-
2,AI=180,VR=1,DF=3,NPING=60,NB=3,CH=0,MUX=1,BW="NARROW",ALTI=0,BT=0,ICE=0
$PNOR,OK*2B
% Setting the alternating measurement intervals and ratios of "Fine" and

"Coarse"
SETALTERNATE,EN=1,PLAN=1380,IDLE=10,PLAN1=180,IDLE1=230
$PNOR,OK*2B
% Setting the telemetry file to average the "Fine" profile over the
averaging interval
SETTMAVG,EN=1,CD=1,PD=1,AVG=180,TV=1,TA=1,TC=1,CY="ENU",FO=1,SO=0,DF=100
$PNOR,OK*2B
SAVE,CONFIG
$PNOR,ERROR*77
% Finding where the error in the configuration is

GETERROR
$PNOR,GETERROR,NUM=56,STR="Invalid setting: Avg Average Interval too low
for the configured number of pings and profiling
distance",LIM="GETAVG1LIM,AI=([360;1800])"*6E
$PNOR,OK*2B
% Number of pings too high compared to desired averaging interval with

multiplex enabled.
SETAVG1,NPING=30
$PNOR,OK*2B
SAVE,CONFIG
$PNOR,OK*2B
Note that SETTMAVG,AVG must equal the AI set by SETAVG,AI. To set telemetry averaging for the
alternate plan use SETTMAVG1, note that these will be recorded to the same telemetryfile.bin file.
Enter START or DEPLOY,TIME to begin the deployment.
4.2.6 Disable a beam, Signature500

Objective: disable a beam in the Burst measurements that you know will be blocked by an object when
the instrument is deployed.
© 2022 Nortek AS
% Upload prepared .deploy file to the instrument via the Terminal Window.
The file is read in line-by-line.
$PNOR,SETDEFAULT,ALL*4B
$PNOR,SETPLAN,MIAVG=60,AVG=1,DIAVG=0,VD=0,MV=10,SA=35,BURST=1,MIBURST=1200,
DIBURST=0,SV=0,FN="Data.ad2cp",SO=0,FREQ=1000,NSTT=0*42
$PNOR,SETAVG,NC=21,CS=1,BD=0.2,CY="ENU",PL=0,AI=10,VR=2.5,DF=3,NPING=13,NB=
4,CH=0,MUX=0,BW="BROAD",ALTI=0,BT=0,ICE=0,ALTISTART=0.1,ALTIEND=30,RAWALTI=
1*0B
$PNOR,SETBURST,NC=13,NB=4,CS=1,BD=9.5,CY="BEAM",PL=0,SR=4,NS=4096,VR=2.5,DF
=3,NPING=1,CH=0,VR5=2.5,ALTI=1,BT=0,DISV=0,ECHO=0,RAWALTI=1,ALTISTART=6.9,A
LTIEND=33.1,HR=0,HR5=0*3C
$PNOR,SETTMAVG,EN=0,CD=1,PD=1,AVG=10,TV=1,TA=1,TC=1,CY="ENU",FO=0,SO=1,DF=1
00,DISTILT=0,TPG=0,MAPBINS=0*6D
$PNOR,SAVE,ALL*43
$PNOR,OK*2B
$PNOR,OK*2B
$PNOR,OK*2B
$PNOR,OK*2B
$PNOR,OK*2B
$PNOR,OK*2B
% Disable averaging and enable burst measurements.

SETPLAN,AVG=0,BURST=1
$PNOR,OK*2B
% Configure to measure with just 3 beams, and specify which ones to use.
SETBURST,NB=3,CH=234
$PNOR,OK*2B
% Save the configuration.

SAVE,ALL*43
$PNOR,OK*2B
4.2.7 Average telemetry, Signature1000

Objective: send averaged velocity data over the serial line, and save the telemetry file to the instrument
recorder for retrieval later in case of communications failure. Deploy the instrument to start at a later
time. In this case, NMEA format in the terminal window is enabled.
% Upload prepared .deploy file to the instrument via the Terminal Window.
The file is read in line-by-line.
$PNOR,SETDEFAULT,ALL*4B
$PNOR,SETPLAN,MIAVG=60,AVG=1,DIAVG=0,VD=0,MV=10,SA=35,BURST=1,MIBURST=1200,
DIBURST=0,SV=0,FN="Data.ad2cp",SO=0,FREQ=1000,NSTT=0*42
$PNOR,SETAVG,NC=21,CS=1,BD=0.2,CY="ENU",PL=0,AI=10,VR=2.5,DF=3,NPING=13,NB=
4,CH=0,MUX=0,BW="BROAD",ALTI=0,BT=0,ICE=0,ALTISTART=0.1,ALTIEND=30,RAWALTI=
1*0B
$PNOR,SETBURST,NC=13,NB=4,CS=1,BD=9.5,CY="BEAM",PL=0,SR=4,NS=4096,VR=2.5,DF
© 2022 Nortek AS
=3,NPING=1,CH=0,VR5=2.5,ALTI=1,BT=0,DISV=0,ECHO=0,RAWALTI=1,ALTISTART=6.9,A
LTIEND=33.1,HR=0,HR5=0*3C
$PNOR,SETTMAVG,EN=0,CD=1,PD=1,AVG=10,TV=1,TA=1,TC=1,CY="ENU",FO=0,SO=1,DF=1
00,DISTILT=0,TPG=0,MAPBINS=0*6D
$PNOR,SAVE,ALL*43
$PNOR,OK*2B
$PNOR,OK*2B
$PNOR,OK*2B
$PNOR,OK*2B
$PNOR,OK*2B
$PNOR,OK*2B
% Modify SETTMAVG line; enable telemetry, enable file output. Serial output
is already enabled (SO=1).
SETTMAVG,EN=1,FO=1*26
$PNOR,OK*2B
% Save the configuration.

SAVE,ALL*43
$PNOR,OK*2B
% Deploy the instrument and specify a time.

DEPLOY,TIME="2021-06-18 13:00:00"*0C
$PNOR,OK*2B
% The instrument is now measuring, and you will see data start to come
through the connection.
© 2022 Nortek AS
Commands 27
5 Commands
This chapter covers the commands that can be used to control an AD2CP instrument. Not every
command will be appropriate for every instrument.
Some pointers:
· A configuration of the instrument should always start with setting the default configuration,
e.g.:
SETDEFAULT,CONFIG
OK
· All command parameters should be set explicitly, e.g.:

SETAVG,NC=10,BD=0.7
OK
· Sometimes you may get an ERROR response after tying to save the configuration or start/deploy
the instrument. This doesn't necessarily mean that something is wrong with the instrument, but
is most often a sign that the configuration isn't going to work. Any ERROR response can be
interrogated with GETERROR, e.g.:
SAVE,CONFIG
ERROR
GETERROR
GETERROR,NUM=56,STR="Invalid setting: Avg Average Interval too
low for the configured number of pings and profiling
distance",LIM="GETAVG1LIM,AI=([360;1800])"
OK
Here, the instrument is reporting that we have set the average interval to be too short, and it
provides the limits for the AI that are allowed if we are going to keep the same number of pings
and profiling distance. You could increase the average interval, decrease the number of pings,
or decrease the profiling distance (i.e. number/size of cells) to fix the error.
Data Limit Formats

The limits for the various arguments are returned as a list of valid values, and/or ranges, enclosed
in parenthesis (). An empty list, (), is used for arguments that are unused/not yet implemented.
Square brackets [] signify a range of valid values that includes the listed values. String arguments
are encapsulated with “”, like for normal parameter handling. A semicolon, ;, is used as separator
between limits and values.
The argument format can also be inferred from the limits, integer values are shown without a
decimal point, floating point values are shown with a decimal point and strings are either shown
with the string specifier, “”, or as a range of characters using ‘’ for specifying a character.
Examples:
[1;128] – Integer value, valid from 1 to 128
© 2022 Nortek AS
([1300.00;1700.00];0.0) – Floating point value, valid values are 0.0 and the range from 1300.00 to
1700.00.
(['0';'9'];['a';'z'];['A';'Z'];'.') – String argument with valid characters being . and the character ranges
a-z, A-Z, 0-9 .
("BEAM") – String argument with BEAM being the only valid string.
(0;1) – Integer value with two valid values, 0 and 1.
NMEA interface example:

$PNOR,GETAVGLIM*22
$PNOR,GETAVGLIM,NC=([1;128]),CS=([0.25;2.00]),BD=([0.10;45.00]),CY=
("BEAM"),PL=([-40.0;0.0];-
100.0),AI=([1;300]),VP=([0.000;0.100]),VR=([1.25;5.00]),DF=([0;3]),
NPING=([1;4])*46
$PNOR,OK*2B
Regular interface example:

GETPLANLIM
([1;3600]),(0;1),(),([0;2]),(),([0.0;50.0]),(0;1),([10;21600]),(),
([1300.00;1700.00];0.0),(['0';'9'];['a';'z'];['A';'Z'];'.'),(0;1)
OK
© 2022 Nortek AS
Commands 29
5.1 List of Commands
Command Description Mode

BREAK Wakes up the processor when it is in sleep mode ALL
SETINST Set instrument main settings COMMAND
GETINST Get instrument main settings COMMAND
GETINSTLIM Set instrument main setting limits COMMAND
SETCLOCK Set instrument clock COMMAND
RETRIEVAL
GETCLOCK Get instrument clock COMMAND
RETRIEVAL
SETCLOCKSTR Set instrument clock as string COMMAND
RETRIEVAL
GETCLOCKSTR Get instrument clock as string COMMAND
RETRIEVAL
SETPLAN Set deployment plan parameters COMMAND
GETPLAN Get deployment plan parameters COMMAND
GETPLANLIM Get deployment plan parameter limits COMMAND
SETAVG Set instrument average mode settings COMMAND
GETAVG Get instrument average mode settings COMMAND
GETAVGLIM Get instrument average mode limits COMMAND
SETBURST Set burst settings COMMAND
GETBURST Get burst settings COMMAND
GETBURSTLIM Get burst setting limits COMMAND
SETBURSTHR Set high resolution profile burst settings COMMAND
GETBURSTHR Get high resolution profile burst settings COMMAND
GETBURSTHRLIM Get high resolution profile burst setting limits COMMAND
SETECHO Set echosounder settings COMMAND
GETECHO Get echosounder settings COMMAND
GETECHOLIM Get echosounder setting limits COMMAND
SETBT Set bottom track settings COMMAND
GETBT Get bottom track settings COMMAND
GETBTLIM Get bottom track setting limits COMMAND
SETALTERNATE Set instrument alternating plan configuration COMMAND
GETALTERNATE Get instrument alternating plan configuration COMMAND
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GETALTERNATELIM Get instrument alternating plan limits COMMAND

GETMEM Get recorder data memory usage COMMAND
SETTRIG Set trigger settings COMMAND
GETTRIG Get trigger settings COMMAND
GETTRIGLIM Get trigger setting limits COMMAND
SETTRIG1 Set trigger settings for secondary plan COMMAND
GETTRIG1 Get trigger settings for secondary plan COMMAND
GETTRIGLIM1 Get trigger setting limits for secondary plan COMMAND
TRIG Trigger a specified measurement MEASUREMENT
GETPWR Returns the power consumption in mW for the COMMAND
various measurements enabled as well as the
overall value
GETPRECISION Returns the precision for primary plan COMMAND
GETPRECISION1 Returns the precision for secondary plan COMMAND
SETUSER Set instrument user settings COMMAND
GETUSER Get instrument user settings COMMAND
GETUSERLIM Get instrument calibration parameter limits COMMAND
ID Get instrument Id COMMAND
SETDEFAULT Reload default settings COMMAND
SAVE Save settings for next measurement COMMAND
DEPLOY Deploy the instrument COMMAND
START Start the instrument COMMAND
MC Go into command mode CONFIRMATION
RM Go into data retrieval mode CONFIRMATION
CO Go into measurement mode CONFIRMATION
RETRIEVAL
FWRITE Write tag or string to file COMMAND
CONFIRMATION
RETRIEVAL
POWERDOWN Set instrument in sleep mode COMMAND
ERASE Erase all files on the recorder COMMAND
FORMAT Format the recorder COMMAND
SECREBOOT Reboots the SEC COMMAND
LISTFILES Lists the files on instrument COMMAND
RETRIEVAL
DOWNLOAD Read file data COMMAND
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Commands 31
RETRIEVAL
INQ Inquires the instrument state COMMAND
CONFIRMATION
RETRIEVAL
MEASUREMENT
GETSTATE Returns information about the current COMMAND
operational state of the instrument CONFIRMATION
MEASUREMENT
RETRIEVAL
GETERROR Returns a full description of the last error COMMAND
condition to occur CONFIRMATION
MEASUREMENT
RETRIEVAL
GETALL Retrieves all relevant configuration information COMMAND
for the instrument
RECSTAT Return recorder statistics COMMAND
RETRIEVAL
GETMISCLIM This command returns configuration limits that COMMAND
cannot be returned through the relevant
commands
GETXFAVG Returns the "Beam to XYZ" transfer matrix for COMMAND
average measurements
GETXFBURST Returns the "Beam to XYZ" transfer matrix for COMMAND
burst measurements
SETTMAVG Set averaging mode telemetry settings COMMAND
GETTMAVG Get averaging mode telemetry settings COMMAND
GETTMAVGLIM Get instrument averaging mode limits COMMAND
SETTMBURST Set burst mode telemetry settings COMMAND
GETTMBURST Get burst mode telemetry settings COMMAND
GETTMBURSTLIM Get instrument burst mode limits COMMAND
SETTMALTI Set altimeter telemetry settings COMMAND
GETTMALTI Get altimeter telemetry settings COMMAND
GETTMALTILIM Get instrument altimeter limits COMMAND
SETTMBT Set bottom track telemetry settings COMMAND
GETTMBT Get bottom track telemetry settings COMMAND
GETTMBTLIM Get instrument bottom track limits COMMAND
TMSTAT Returns the length of the telemetry file COMMAND
RETRIEVAL
DOWNLOADTM Read telemetry file data COMMAND
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RETRIEVAL
STOREHEADERTM Stores the GETALL to the telemetry file COMMAND
ERASETM Erase the telemetry file COMMAND
RETRIEVAL
TAG Write a Tag to output file and data output COMMAND
CONFIRMATION
MEASUREMENT
RETRIEVAL
SETUSERECHO- Set calibration values for major beam angle COMMAND
MAJORANGLE
GETUSERECHO- Get calibration values for major beam angle COMMAND
MAJORANGLE
GETUSERECHO- Get limits for calibration values for major beam COMMAND
MAJORANGLELIM angle
SETUSERECHO- Set calibration values for major beam angle offset COMMAND
MAJOROFFSET
GETUSERECHO- Get calibration values for major beam angle COMMAND
MAJOROFFSET offset
GETUSERECHO- Get limits for calibration values for major beam COMMAND
MAJOROFFSETLIM angle offset
SETUSERECHO- Set calibration values for minor beam angle COMMAND
MINORANGLE
GETUSERECHO- Get calibration values for minor beam angle COMMAND
MINORANGLE
GETUSERECHO- Get limits for calibration values for minor beam COMMAND
MINORANGLELIM angle
SETUSERECHO- Set calibration values for minor beam angle offset COMMAND
MINOROFFSET
GETUSERECHO- Get calibration values for minor beam angle COMMAND
MINOROFFSET offset
GETUSERECHO- Get limits for calibration values for minor beam COMMAND
MINOROFFSETLIM angle offset
SETUSERECHOGAIN Set calibration values for gain COMMAND
GETUSERECHOGAIN Get calibration values for gain COMMAND
GETUSERECHOGAINLIM Get limits for calibration values for gain COMMAND
SETUSERECHO- Set calibration values for two way beam angle COMMAND
TWOWAYANGLE
GETUSERECHO- Get calibration values for two way beam angle COMMAND
TWOWAYANGLE
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Commands 33
GETUSERECHO- Get limits for calibration values for two way beam COMMAND
TWOWAYANGLELIM angle
PTPSET Set precision time protocol parameters COMMAND
PTPGET Get precision time protocol parameters COMMAND
BBPWAKEUP Wakes up the Doppler processor (ethernet COMMAND
interface only) CONFIRMATION
MEASUREMENT
RETRIEVAL
GETHW Returns hardware specifications COMMAND
CONFIRMATION
MEASUREMENT
RETRIEVAL
ADDLICENSE Add license key COMMAND
DELETELICENSE Delete license key COMMAND
LISTLICENSE Lists all license keys in instrument COMMAND
5.2 Wake processor from sleep mode

Command: BREAK
Command type: ACTION
Mode: ALL
Used to wake up the processor when it is in sleep mode.
The @@@@@@ are used to wake up the processor when it is in sleep mode since the instrument
will only be able to monitor activity on the serial line when it sleeps. The second sequence of the
actual break characters is there to ensure that a break is detected even when the instrument is
waking up due to some other cause (e.g. alarm from the real time clock). This ensures that the
processor will interpret the following command correctly.
See more info on Break
Example:
@@@@@@ <delay 100milliseconds> K1W%!Q <delay 300milliseconds> K1W
%!Q
5.3 Instrument main settings
Commands: SETINST, GETINST, GETINSTLIM
Command type: CONFIGURATION
Mode: COMMAND
Instrument main settings
BR Baud Rate
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300, 600, 1200, 2400, 4800, 9600, 19200, 38400, 57600, 115200, 230400,
460800, 625000, 1250000
Unit: [bit/s]
RS Serial protocol
232, 422
LED Enable/disable LED blink in head.
When set to "ON24H" the LED will illuminate the first 24 hours of the
measurement.
"OFF": Turn LED Off
"ON": Turn LED On
"ON24H": Turn LED On for 24 hours
ORIENT Sets the instrument orientation.
Not used for DVL.
"AUTOXUPDOWN": Auto X up/down
"AUTOYUPDOWN": Auto Y up/down
"AUTOZUPDOWN": Auto Z up/down
"ZUP": Z up
"ZDOWN": Z down
"XUP": X up
"XDOWN": X down
"YUP": Y up
"YDOWN": Y down
"AUTO3D": Auto 3D
"AHRS3D": AHRS 3D
CMTOUT Command mode timeout
Unit: [s]
DMTOUT Data retrieval mode timeout
Unit: [s]
CFMTOUT Confirmation mode timeout
Unit: [s]
SETINST
Set instrument main settings
Example:
SETINST,BR=57600
GETINST
Get instrument main settings
Example:
GETINST,BR=460800,RS=232,LED="ON",ORIENT="AUTOZUPDOWN",CMTOUT=300,D
MTOUT=60,CFMTOUT=60
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Commands 35
GETINSTLIM
Set instrument main setting limits
5.4 Clock settings

Commands: SETCLOCK, GETCLOCK
Mode: COMMAND, RETRIEVAL
Instrument Real Time Clock specified in date parts
YEAR The year, e.g. 2020
Valid Range [0,9999]
MONTH The number of month 1-12 (Jan = 1)
Valid Range [1,12]
DAY The number day of month 1-31
Valid Range [1,31]
HOUR The hour of day 0-23
Valid Range [0,23]
MINUTE The minute of hour 0-59
Valid Range [0,59]
SECOND The second of minute 0-59
Valid Range [0,59]
Note: Note that all parameters must be set when using the set command
SETCLOCK
Set instrument clock
Example:
SETCLOCK,YEAR=2020,MONTH=11,DAY=28,HOUR=13,MINUTE:15,SECOND=45
GETCLOCK
Get instrument clock
Example:
GETCLOCK
© 2022 Nortek AS
5.5 Clock settings as strings

Commands: SETCLOCKSTR, GETCLOCKSTR
Set or retrieve the Real Time Clock using a string. Must use the format as shown: yyyy-MM-dd
HH:mm:ss
TIME Text string with this format yyyy-MM-dd HH:mm:ss (use UTC)
SETCLOCKSTR
Set instrument clock as string
Example:
SETCLOCKSTR,TIME="2020-11-12 14:27:42"
GETCLOCKSTR
Get instrument clock as string
Example:
GETCLOCKSTR
GETCLOCKSTR, TIME = "2014-11-12 14:27:42"
5.6 Deployment plan parameters

Commands: SETPLAN, GETPLAN, GETPLANLIM
Mode: COMMAND
Set and get high-level plan configuration settings.
MIAVG Averaging measurements interval
Unit: [s]
AVG Enable averaging measurements
VD Vertical direction
SA Salinity.
Unit: [ppt]
BURST Enable(1)/disable(0) burst measurements.
MIBURST Burst measurements interval.
Unit: [s]
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Commands 37
SV Sound velocity. SV = 0 will set sensor to use measured sound velocity

Unit: [m/s]
FN Filename of the raw data file where all the measured binary data will
be stored. If FN="", no data is stored on the recorder. FN must be
changed if a file FN with a different configuration already exists on the
recorder.
SO Enable(1)/disable(0) serial output

FREQ Transmit frequency. This is normally the instruments (one) frequency.
In the case of the Signature 55 we may choose between 55Hz or 75Hz.
Unit: [khz]
NSTT Number slot time table. Set to 0 giving the default number of slots
Note: The valid range for the various arguments should be verified using the GETPLANLIM
command, as the values listed here may change with firmware versions and instrument
frequencies.
SETPLAN
Set deployment plan parameters
Example:
SETPLAN,FREQ=75
GETPLAN
Get deployment plan parameters
GETPLANLIM
Get deployment plan parameter limits
5.7 Average mode settings

Commands: SETAVG, GETAVG, GETAVGLIM
Mode: COMMAND
The instrument averaging mode settings and relevant limits.
NC Number of cells
CS Cell size
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Unit: [m]
BD Blanking distance
Unit: [m]
DF Data format
0: AD2CP format 1
1: Legacy AquaPro format
2: AD2CP format 2
3: AD2CP format 3
CY Co-ordinate system
BEAM, XYZ, ENU
PL Power level (range -20.0 dB to 0.0 dB, -100 dB to switch off transmit).
Unit: [dB]
AI Average interval
Unit: [s]
VR Velocity range along beam
Unit: [m/s]
NPING Number of pings
NB Number of beams
CH Beam selection. E.g. CH=123 will enable beams 1, 2 and 3.

MUX Multiplexor Selection (0, 1). Note: multiplexing not available for
Signature1000 and 500.
TODO: VERIFY ENUM LIST BEFORE REMOVING MANUAL LISTED ITEMS
0 – ping all beams in parallel
1 – ping beams in sequence
0: ping all beams in parallel
1: ping beams in sequence
BW Bandwidth selection. E.g. CH=123 will enable beams 1, 2 and 3.
NARROW, BROAD
ALTI Enable(1)/disable(0) altimeter measurements
BT Enable(1)/disable(0) bottom tracking
ICE Enable(1)/disable(0) ice tracking
ALTISTART Altimeter start
Unit: [m]
ALTIEND Altimeter start
Unit: [m]
RAWALTI Raw altimeter recording interval
© 2022 Nortek AS
Commands 39
Note: The actual valid range for the various parameters for the firmware version is used can be
found by using the GETAVGLIM command. This command has the same arguments as the
SETAVG/GETAVG commands shown in the list above. The output format for limits is described in
Data Limit Formats
SETAVG
Set instrument average mode settings
Example:
SETAVG,ALTIEND=20
GETAVG
Get instrument average mode settings
GETAVGLIM
Get instrument average mode limits
5.8 Burst settings

Commands: SETBURST, GETBURST, GETBURSTLIM
Mode: COMMAND
Burst profile settings and relevant limits.
NC Number of cells.
NB Number of beams.
CS Cell size.
Unit: [m]
BD Blanking distance.
Unit: [m]
DF Data format.
0: AD2CP format 1
2: AD2CP format 2
3: AD2CP format 3
CY Co-ordinate System.
BEAM, XYZ, ENU
© 2022 Nortek AS
This parameter is instrument dependent and dependent on the power
consumption of the deployment as a whole.
Unit: [dB]
SR Sampling rate.
Unit: [Hz]
NS Number of samples.
VR Velocity range along beam.

Unit: [m/s]
VR5 Velocity range along beam 5.
Unit: [m/s]
NPING Number of pings.

ALTI Enable(1)/disable(0) altimeter measurements.
BT Enable(1)/disable(0) bottom tracking.
DISV Disable(1)/enable(0) velocity measurements.
ECHO Enable(1)/disable(0) echosounder.
RAWALTI Raw altimeter recording interval.
ALTISTART Altimeter start.
Unit: [m]
ALTIEND Altimeter start.
Unit: [m]
HR Enable(1)/disable(0) high resolution mode.
HR5 Enable(1)/disable(0) high resolution mode for beam 5.
found by using the GETBURSTLIM command. This command has the same arguments as the
SETBURST/GETBURST commands shown in the list above. The output format for limits is described
in Data Limit Formats.
SETBURST
Set burst settings
Example:
SETBURST,HR=1
GETBURST
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Commands 41
Get burst settings
GETBURSTLIM
Get burst setting limits
5.9 High resolution burst settings

Commands: SETBURSTHR, GETBURSTHR, GETBURSTHRLIM
Mode: COMMAND
Burst high resolution profile settings and relevant limits.
PROC Input to processing the HR profile.
0: Pulse Coherent Processing using a single ambiguity.
1: Pulse Coherent Processing with Extended Velocity Range (EVR).
LAG Distance between two transmit pulses on the slanted beams.
Unit: [m]
LAG5 Distance between two transmit pulses on vertical beam.
Unit: [m]
SCORR Number of ambiguities (side correlators) to resolve when using
Extended Velocity Range (EVR).
NC Number of cells.
CS Cell size.
Unit: [m]
BD Blanking distance.
Unit: [m]
Unit: [dB]
SETBURSTHR
Set high resolution profile burst settings
Example:
SETBURSTHR,BD=3
© 2022 Nortek AS
GETBURSTHR
Get high resolution profile burst settings
GETBURSTHRLIM
Get high resolution profile burst setting limits
5.10 echosounder settings

Commands: SETECHO, GETECHO, GETECHOLIM
Mode: COMMAND
Echosounder settings and relevant limits
NC Number of cells
BINSIZE Bin size

Unit: [m]
BD Blanking distance
Unit: [m]
DF Data format
0: AD2CP format 1
2: AD2CP format 2
3: AD2CP format 3
FREQ1 Enable and set frequency 1 of echogram.
Unit: [kHz]
NBINF1 Used only on the Signature100 which supports up to 5 packages pr
frequency index. Processing is then done on the different frequency
bands.
For other instruments it must be set to 1.
1
XMIT1 Transmission length on frequency 1.
Unit: [msec]
PL1 Power level on frequency 1 (range -20.0 dB to 0.0 dB, -100 dB to switch
off transmit). This parameter is instrument dependent and dependent
on the power consumption of the deployment as a whole.
Unit: [dB]
PULSECOMP1 Enable/disable pulse compression on frequency 1.
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Commands 43
CH1 Frequency 1 channel beam selection. E.g. CH=123 will enable beams 1, 2
and 3.
RAW1 Frequency 1 raw echo data recording interval.
Unit: [kHz]
bands.
Unit: [msec]
Unit: [dB]
and 3.
Unit: [kHz]
bands.
Unit: [msec]
Unit: [dB]
and 3.
Note: Note that Pulse Compression may only be enabled for one echogram.
SETECHO
Set echosounder settings
© 2022 Nortek AS
Example:
SETECHO,NC=30,BINSIZE=1
GETECHO
Get echosounder settings
GETECHOLIM
Get echosounder setting limits
5.11 Bottom track settings

Commands: SETBT, GETBT, GETBTLIM
Mode: COMMAND Licence: BottomTrack
The bottom track settings and relevant limits.
RANGE Maximum depth
Unit: [m]
VR Max velocity expected in the water column during deployment.
Velocity range spans from -VR to +VR.
Unit: [m/s]
NB Number of beams used to calculate bottom track.
DF Data format
0: AD2CP format 1
2: AD2CP format 2
3: AD2CP format 3
Unit: [dB]
SETBT
Set bottom track settings
Example:
© 2022 Nortek AS
Commands 45
SETBT,VR=10,CH=1234
GETBT
Get bottom track settings
GETBTLIM
Get bottom track setting limits
5.12 Alternating plan configuration

Commands: SETALTERNATE, GETALTERNATE, GETALTERNATELIM
Mode: COMMAND
The SETALTERNATE/GETALTERNATE command allows two different configurations to be run

consecutively in time. The primary configuration (defined by SETPLAN, SETBURST, SETAVG,
SETTMAVG, SETBT) is run for "PLAN" seconds, after which the unit powers down for a given period
of time ("IDLE" seconds). The alternate configuration (defined by SETPLAN1, SETBURST1, SETAVG1,
SETTMAVG1, SETBT1) is then run for "PLAN1" seconds and the unit powers down for "IDLE1"
seconds. The configuration is then switched back to the primary and the process is repeated.
The valid range for the various arguments should be verified using the GETALTERNATELIM
command. The values listed here may change with firmware versions and instrument frequencies.
EN Enable or disable the alternate configuration mode
PLAN Primary configuration run time
Unit: [s]
IDLE Primary configuration idle time
Unit: [s]
PLAN1 Alternate configuration run time
Unit: [s]
IDLE1 Alternate configuration idle time
Unit: [s]
found by using the GETAVGLIM command. This command has the same arguments as the
SETAVG/GETAVG commands shown in the list above. The output format for limits is described in
Data Limit Formats.
SETALTERNATE
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Set instrument alternating plan configuration
Example:
SETALTERNATE,EN=1,PLAN=60,IDLE=60,PLAN1=60,IDLE1=60
GETALTERNATE
Get instrument alternating plan configuration
GETALTERNATELIM
Get instrument alternating plan limits
5.13 Get memory usage

Command: GETMEM
Command type: INFO
Mode: COMMAND
Returns the amount of memory that will be stored on the recorder per hour for the burst and
average data as well as the combined plan value. Alternate mode values is also supported.
PLAN Combined burst and average memory usage for primary plan
Unit: [MB/h]
BURST Burst memory usage for primary plan
Unit: [MB/h]
AVG Average data memory usage for primary plan
Unit: [MB/h]
PLAN1 Combined burst and average memory usage for secondary plan
Unit: [MB/h]
BURST1 Burst memory usage for secondary plan
Unit: [MB/h]
AVG1 Average data memory usage for secondary plan
Unit: [MB/h]
TOTAL Total memory usage
Unit: [MB/h]
Example:
GETMEM,TOTAL
© 2022 Nortek AS
Commands 47
5.14 Trigger settings

Commands: SETTRIG, GETTRIG, GETTRIGLIM
Mode: COMMAND
The parameters and limits for Trigger. The available trigger types will depend on the
harness/cable used with the instrument.
TTL Trigger. The AD2CP can trig on either Rising Edge, Falling Edge or Both Edges of a TTL Signal.
The requirements for the TTL input is Vlow < 0.7V and Vhigh > 2.5V. The TTL input tolerate voltages
between 0-5.5 V.
A RS-485 signal can be used to trig the AD2CP, either Rising Edge, Falling Edge or Both Edges of a
RS-485 Signal. The following figure shows the polarities of the differential RS-485 signal pair for
the trigger types.
When triggered the instrument will perform a complete ping (Tx and Rx) before it goes back to
monitoring the trigger. Any triggers asserted during an ongoing ping will be ignored. There are no
specific requirements for pulse length. The unit triggers on the edge(s) of the trigger signal and
can be triggered on rising, falling or both edges. The pulse length should be minimum 1 ms.
EN Enable/disable trigger functionality
TRIG Specifies trigger type and are given as counting numbers.
The available trigger types will depend on the harness/cable used with
the instrument.
"INSTR": Internal Sampling is available with rates from 1 to 8 Hz. For
long ranges the maximum sampling rate is reduced.
"TTLEDGES": Trigger on both rising- and falling edge of a TTL signal.
"TTLRISE": Trigger on rising edge of a TTL signal.
"TTLFALL": Trigger on falling edge of a TTL signal.
"RS485EDGES": Trigger on both edges of a RS-485 signal.
"RS485RISE": Trigger on rising edge of a RS-485 signal.
"RS485FALL": Trigger on falling edge of a RS-485 signal.
"COMMAND": Trigger on Command. When the TRIG parameter of the
SETTRIG command is set to "COMMAND" the AD2CP is trigged by
sending a "TRIG[CrLf]" command. The trigger time will be when the end
of the [CrLf] is received
TRIGOUTPUT TRIGOUTPUT=1 enables master trig output. RS485EDGE trigger must be
used with this option.
SETTRIG
Set trigger settings
Example:
SETTRIG,EN=1,TRIG="COMMAND",TRIGOUTPUT=1
© 2022 Nortek AS
GETTRIG
Get trigger settings
GETTRIGLIM
Get trigger setting limits
5.15 Trigger settings for secondary plan

Commands: SETTRIG1, GETTRIG1, GETTRIGLIM1
Mode: COMMAND
The parameters and limits for trigger for secondary plan. The available trigger types will depend
on the harness/cable used with the instrument.
EN Enable/disable trigger functionality
TRIG Specifies trigger type and are given as counting numbers.
The available trigger types will depend on the harness/cable used with
the instrument.
"INSTR": Internal Sampling is available with rates from 1 to 8 Hz. For
long ranges the maximum sampling rate is reduced.
"TTLEDGES": Trigger on both rising- and falling edge of a TTL signal.
"TTLRISE": Trigger on rising edge of a TTL signal.
"TTLFALL": Trigger on falling edge of a TTL signal.
"RS485EDGES": Trigger on both edges of a RS-485 signal.
"RS485RISE": Trigger on rising edge of a RS-485 signal.
"RS485FALL": Trigger on falling edge of a RS-485 signal.
"COMMAND": Trigger on Command. When the TRIG parameter of the
SETTRIG1 command is set to "COMMAND" the AD2CP is trigged by
sending a "TRIG[CrLf]" command. The trigger time will be when the end
of the [CrLf] is received
TRIGOUTPUT TRIGOUTPUT=1 enables master trig output. RS485EDGE trigger must be
used with this option.
SETTRIG1
Set trigger settings for secondary plan
Example:
SETTRIG1,EN=1,TRIG="COMMAND",TRIGOUTPUT=1
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Commands 49
GETTRIG1
Get trigger settings for secondary plan
GETTRIGLIM1
Get trigger setting limits for secondary plan
5.16 Trigger measurement

Command: TRIG
Mode: MEASUREMENT
Command used for trigging measurement when Trigger is enabled and trigger type equals
"COMMAND".
ID Counting number
Example:
TRIG,ID=123
5.17 Get power use
Command: GETPWR
Command type: INFO
Mode: COMMAND
Returns the power consumption in milliWatts for the various measurements enabled as well as
the overall value. The plan values include the sleep mode power consumption in addition to the
sum of average and burst mode values. The reported values are adjusted according to the input
voltage to the system when the command is executed.
PLAN Combined power use on both burst and average sampling for primary
plan
Unit: [mW]
BURST Power use on burst data sampling for primary plan
Unit: [mW]
AVG Power use on average data sampling for primary plan
Unit: [mW]
© 2022 Nortek AS
PLAN Combined power use on both burst and average sampling for secondary
plan
Unit: [mW]
BURST Power use on burst data sampling for secondary plan
Unit: [mW]
AVG Power use on average data sampling for secondary plan
Unit: [mW]
TOTAL Total power use
Unit: [mW]
Example:
GETPWR,TOTAL
5.18 Get measured precision
Commands: GETPRECISION, GETPRECISION1
Command type: INFO
Mode: COMMAND
Returns the precision in the horizontal plane and along the beam in cm/s for the various
measurement modes.
AVGHORZ Precision in the horizontal plane in average mode
Unit: [cm/s]
BURSTHORZ Precision in the horizontal plane in burst mode
Unit: [cm/s]
BEAM5 Precision in the vertical plane (beam 5) in burst mode
Unit: [cm/s]
AVGBEAM Precision along beam in average mode
Unit: [cm/s]
BURSTBEAM Precision along beam in burst mode
Unit: [cm/s]
GETPRECISION
Returns the precision for primary plan
Example:
GETPRECISION,AVGHORZ
GETPRECISION1
Returns the precision for secondary plan
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Commands 51
Example:
GETPRECISION1,AVGHORZ
5.19 Instrument user settings

Commands: SETUSER, GETUSER, GETUSERLIM
Mode: COMMAND
The SAVE,USER command must be sent to save changes in USER parameters.
POFF Set the offset value of the pressure sensor.
Unit: [dbar] | Valid Range: [0,11]
DECL Magnetic declination.
Unit: [degrees]
HX Hard iron x-component.
Unit: [Gauss]
HY Hard iron y-component.
Unit: [Gauss]
HZ Hard iron z-component.
Unit: [Gauss]
SETUSER
Set instrument user settings
Example:
SETUSER,POFF=4.5,DECL=1.4,HX=100,HY=100,HZ=100
OK
SAVEUSER
OK
GETUSER
Get instrument user settings
GETUSERLIM
Get instrument calibration parameter limits
© 2022 Nortek AS
5.20 Get instrument ID

Command: ID
Command type: INFO
Mode: COMMAND
Commands for accessing instrument name and serial number
SN Serial number
Valid Range [0,2147483647]
STR Instrument name
Example:
ID
"Signature1000",900002
ID,STR
"Signature1000"
5.21 Reload default settings
Command: SETDEFAULT
Mode: COMMAND
Reload default settings.
CONFIG Restore all settings below except USER and INST to default values.
Legacy argument ALL acts as CONFIG.
AVG Restore average mode settings to default.
INST Restore instrument main settings to default.
TMAVG Restore telemetry average settings to default.
PLAN Restore plan settings to default.
BURST Restore burst settings to default.
PTP Restore precision time protocol to default.
BT Restore bottom track settings to default.
USER Restore user calibration to default.
TMBURST Restore telemetry burst to default.
TMALTI Restore altimeter telemetry settings to default.
DVL Restore DVL settings to default.
© 2022 Nortek AS
Commands 53
Example:
SETDEFAULT,CONFIG
5.22 Save settings
Command: SAVE
Mode: COMMAND
Save current settings for next measurement. At least one argument must be specified for the
SAVE command.
CONFIG Save all settings except INST and USER settings.
Legacy argument ALL acts as CONFIG.
AVG Save AVG settings.
INST Save INST settings.
TMAVG Save telemetry average settings.
PLAN Save plan settings.
BURST Save burst settings.
PTP Save precision time protocol settings.
TMBT Save telemetry bottom track settings.
USER Save user instrument settings.
TMBURST Save telemetry burst settings.
TMALTI Save altimeter telemetry settings.
DVL Save DVL settings.
Example:
SAVE,CONFIG
5.23 Deploy instrument
Command: DEPLOY
Mode: COMMAND
Deploy the instrument. Start the measurement at the time specified in the string argument. The
format must be exactly as shown. If no time value is passed, the deployment will start
immediately.
The number of seconds to the specified deployment time is returned.
The DEPLOY command will save the configuration as well as deploying the instrument, as if a
SAVE,CONFIG command were sent.
© 2022 Nortek AS
TIME yyyy-MM-dd HH:mm:ss
Note: The difference between DEPLOY and START is that the latter will immediately start a
measurement any time the instrument state returns to Measurement mode such as by applying
power or timeout from Data Retrieval Mode. If DEPLOY is used, be aware that if the deployment
time has passed when the battery is connected, the instrument will resynchronize its data
sampling according to the deployment time and the instrument configuration. This means you
may have to wait for one average measurement interval or one burst measurement interval
before the instrument starts to ping.
Example:
DEPLOY,TIME="2020-12-18 15:30:00"
592
OK
5.24 Start instrument
Command: START
Mode: COMMAND
Start the instrument (go in measurement mode). Specify the order of the alternating plans by
using the PLAN argument.
Note that the START command will save the configuration as well as starting the measurement, as
if a SAVE,CONFIG command were sent.
PLAN Select plan to start
0: Plan
1: Plan1
Example:
START,PLAN=0
5.25 Enter command mode
Command: MC
Mode: CONFIRMATION
Sets instrument in command mode from confirmation mode.
Example:
MC
© 2022 Nortek AS
Commands 55
5.26 Data retrieval mode

Command: RM
Mode: CONFIRMATION
Go into data retrieval mode from confirmation mode and access the instruments recorder.
Example:
RM
5.27 Enter measurement mode
Command: CO
Mode: CONFIRMATION, RETRIEVAL
Continue in measurement mode from confirmation mode or data retrieval mode. Instrument
returns to collecting data according to the current configuration.
Example:
CO
5.28 Write to file
Command: FWRITE
Mode: COMMAND, CONFIRMATION, RETRIEVAL
Write tag or string to file
FNUM File identifier for telling which file the info is written to. Default is 0.
0: File defined in the PLAN command
1: Telemetry file
ID Identifier. Tell the parser how to interpret the string. Default value: 0
0: Comment
1: Dive location
2: Surface location
Default: 0
STR String.
Note: Fwrite STR and B64STR cannot be set together.
Example:
FWRITE,FNUM=1,STR="ABCDEF"
© 2022 Nortek AS
5.29 Power down

Command: POWERDOWN
Mode: COMMAND
Power down the instrument to set it in sleep mode.
Example:
POWERDOWN
5.30 Erase files on recorder
Command: ERASE
Mode: COMMAND
Erase all files on the recorder
CODE Code should be 9999
9999
Example:
ERASE,CODE=9999
5.31 Format recorder
Command: FORMAT
Mode: COMMAND
Format the recorder. Note that this can take minutes depending on the recorder size.
9999
Example:
FORMAT,CODE=9999
5.32 SEC reboot
Command: SECREBOOT
Mode: COMMAND
© 2022 Nortek AS
Commands 57
Reboots the SEC (Interface processor). This command makes it possible to reboot the SEC without
going via the web interface.
9999
Example:
SECREBOOT,CODE=9999
5.33 List files
Command: LISTFILES
Command type: INFO
Lists the files stored on the instrument recorder.
OPT Amount of file information to list.
"normal": Normal file info.
"la": Lists extended information.
Example:
LISTFILES,OPT="NORMAL"
5.34 Download
Command: DOWNLOAD
This command reads a file from the recorder to the terminal window.
FN Filename
SA Start address (offset) of the first byte to be returned
LEN Number of bytes to be downloaded
CRC Use Cyclic redundancy check
CKS Use Checksum
Note: If no parameters other than the file name are sent with the DOWNLOAD command, the
complete file is directly returned, without the number of bytes to follow. The end of the file can
then be detected by parsing the OK<CR><LF>.
© 2022 Nortek AS
The parameters can be used to download the file in several pieces. The number of bytes to follow
will then be returned in ASCII format and terminated with <CR><LF> before the data is output. The
end of the file stream is terminated with OK<CR><LF>. A cyclic redundancy check or a checksum
will then be added to verify data integrity during download. The complete file can also be
downloaded in this way by specifying SA=0 and a large value for LEN. The actual file size is then
returned before the data follows.
Example:
DOWNLOAD,FN="TestFile.ad2cp",SA=0,LEN=4096,CRC=1,CKS=0
4096
<binary or ASCII data>
23432
OK
5.35 Inquire state
Command: INQ
Command type: INFO
Mode: COMMAND, CONFIRMATION, RETRIEVAL, MEASUREMENT
The INQ command queries the instrument state. Note that when operating over RS232 or RS422
serial lines, it should be preceded with @@@@@@ <delay 400ms> and a flush of the input buffer
in case the instrument is in power down or in a low power mode taking measurements.
Consult section "Modes" for a description of the Instrument modes.
Note: Parameters used to represent instrument mode:
0000: Bootloader/Firmware upgrade
0001: Measurement
0002: Command
0004: Data Retrieval
0005: Confirmation
0006: FTP-mode
Example:
(In command mode)
INQ
0002
(In measurement mode)
INQ
0001
(In confirmation mode)
INQ
0005
© 2022 Nortek AS
Commands 59
(In data retrieval mode)

INQ
0004
(In firmware upgrade mode)
INQ
0000
5.36 Get instrument state
Command: GETSTATE
Command type: INFO
Mode: COMMAND, CONFIRMATION, MEASUREMENT, RETRIEVAL
Returns information about the current operational state of the instrument
MODE Current instrument state.
1: Measurement (START command received).
2: In command mode.
3: DEPLOY command received and deployment running.
4: Data retrieval.
5: Confirmation.
6: Network FTP.
8: DEPLOY command received, but deployment has not, yet started.
9: Confirmation in measurement mode.
10: Confirmation in deploy mode.
11: Confirmation in pre-deploy mode.
12: internal processing in progress.
DEPTIME Seconds since deployment:
0 – DEPLOY command has not been received.
< 0 – Number of seconds until deployment starts.
> 0 – Number of seconds that deployment has been running.
Unit: [s]
MEASTIME Seconds with measurements:
0 – START command has not been received.
> 0 – Number of seconds that measurement has been running.
Unit: [s]
CURRTIME The current instrument time.
Time format is "YYYY-MM-DD HH:MM:SS"
Unit: [Time]
WAKEUP Reason for instrument wakeup.
0: Last startup/reboot caused by loss/low voltage.
1: Last startup/reboot caused by power on.
2: Last startup/reboot caused by BREAK command.
3: Last startup/reboot caused by Wakeup by Real time clock.
4: Last startup/reboot caused by WatchDog
INTPROC Internal processing Active
© 2022 Nortek AS
Example:
GETSTATE,WAKEUP,CURRTIME
5.37 Get error
Command: GETERROR
Command type: INFO
GETERROR retrieves a full description of the last error condition to occur. The error number is
returned first followed by a string with the text description of the last error condition. A second
string is also returned which contains information on the valid range of the failing argument.
NUM Integer error value
STR Text description
Example:
SETAVG,CS=2.5
OK
SAVE,CONFIG
ERROR
GETERROR
40,"Invalid setting: Avg Cell Size","GETAVGLIM,CS=([0.20;2.00])"
OK
5.38 Get all
Command: GETALL
Command type: INFO
Mode: COMMAND
GETALL retrieves all relevant configuration information for the instrument. This information can
either be displayed on the command line or saved to a data file on the instrument. For the Nortek
post-processing software to read a valid .ad2cp file it must contain both the Header and Data
Record. The Header information can be obtained by using the command GETALL.
FN Write the output to this file saved on instrument
Example:
GETALL
GETPLAN,600,1,0,0,10,0.0,1,0,0,1500,"",1
GETAVG,20,1.00,0.30,"BEAM",-12.0,1,0.000,1.29,3,1,0,0
GETBURST,50,4,0.400,0.200,"BEAM",0.0,1,1024,4.00,0.000,0,1,0
GETUSER,0.00,0.00,0,0,0
© 2022 Nortek AS
Commands 61
GETINST,9600,232,1
BEAMCFGLIST,1,10.00,20.00,1000,500,1,1
BEAMCFGLIST,2,10.00,20.00,1000,500,1,2
BEAMCFGLIST,3,10.00,20.00,1000,500,1,3
BEAMCFGLIST,4,10.00,20.00,1000,500,1,4
OK
5.39 Get recorder statistics
Command: RECSTAT
Command type: INFO
Returns recorder statistics.
SS Number of bytes in a sector.
Unit: [bytes]
CS Number of bytes in one cluster.
Unit: [bytes]
FC Number of bytes in free clusters.
Unit: [bytes]
TC Total number of bytes in clusters.
Unit: [bytes]
VS Volume Size in bytes.
Unit: [bytes]
Example:
RECSTAT,VS
5.40 Get configuration limits
Command: GETMISCLIM
Command type: INFO
Mode: COMMAND
Returns recorder statistics.
AVGPR Returns the total profiling range for averaged measurements (SETAVG)
Unit: [m]
BURSTPR Returns the total profiling range for burst profile measurements
(SETBURST)
Unit: [m]
BURSTHRPR Returns the total profiling range for burst HR profile measurements
(SETBURSTHR)
Unit: [m]
© 2022 Nortek AS
Note: The output format for limits is described in Data Limit Formats
Example:
GETMISCLIM,BURSTPR
5.41 Get transfer matrices
Commands: GETXFAVG, GETXFBURST
Command type: INFO
Mode: COMMAND
Returns the "Beam to XYZ" transfer matrix for the current setup. If the number of beams is 1 or 2,
only ROWS and COLS are returned.
ROWS Number of rows
COLS Number of rows
M11
M12
M13
M14
M21
M22
M23
M24
M31
M32
M33
M34
Note: Return is ROWS, COLS, M11, M12 ... M43, M44.
Cell indexes are: first number for row and second index for column.
GETXFAVG
Returns the "Beam to XYZ" transfer matrix for average measurements
Example:
GETXFAVG
© 2022 Nortek AS
Commands 63
GETXFBURST
Returns the "Beam to XYZ" transfer matrix for burst measurements
Example:
GETXFBURST
GETXFBURST,ROWS=4,COLS=4,M11=1.183,M12=0.000,M13=-
1.183,M14=0.000,M21=0.000,M22=1.183,M23=0.000,M24=-
1.183,M31=0.552,M32=0.000,M33=0.552,M34=0.000,M41=0.000,M42=0.552,M
43=0.000,M44=0.552
GETXFAVG,ROWS=3,COLS=3,M11=1.183,M12=0.000,M13=-
1.183,M21=1.183,M22=-2.366,M23=1.183,M31=0.552,M32=0.000,M33=0.552
5.42 Average mode telemetry settings

Commands: SETTMAVG, GETTMAVG, GETTMAVGLIM
Mode: COMMAND
The instrument averaging mode telemetry settings and relevant limits.
EN Enable averaging mode telemetry.
CD Cells divisor.
PD Packets divisor.
AVG Average telemetry data.
Unit: [s]
TV Store velocity.
TA Store amplitude.
TC Store correlation.
CY Co-ordinate system.
BEAM, XYZ, ENU
FO Enable file output.
SO Enable serial output.
DF Data format.
0: AD2CP format 1
2: AD2CP format 2
3: AD2CP format 3
DISTILT Disable tilt.
TPG Stores the value of Percentage Good Data in supported data formats.
MAPBINS Enable vertical bin mapping.
© 2022 Nortek AS
Note: It is recommended to enable TPG when averaging (AVG>0) is also enabled.
The actual valid range for the various parameters for the firmware version is used can be found by
using the GETTMAVGLIM command. This command has the same arguments as the
SETTMAVG/GETTMAVG commands shown in the list above. The output format for limits is
described in Data Limit Formats.
SETTMAVG
Set averaging mode telemetry settings
Example:
SETTMAVG,EN=1,AVG=30
GETTMAVG
Get averaging mode telemetry settings
GETTMAVGLIM
Get instrument averaging mode limits
5.43 Burst mode telemetry settings

Commands: SETTMBURST, GETTMBURST, GETTMBURSTLIM
Mode: COMMAND
The instrument burst mode telemetry settings and relevant limits.
EN Enable burst telemetry
NS Number of burst samples to save
0: Save all burst samples
1: BURST.NS
CY Co-ordinate System
BEAM, XYZ, ENU
FO Enable file output
SO Enable serial output
DF Data format
0: AD2CP format 1
2: AD2CP format 2
© 2022 Nortek AS
Commands 65
3: AD2CP format 3
ENAVG Enables averaging over the number of samples (NS) value
MAPBINS Enable vertical bin mapping
found by using the GETTMBURSTLIM command. This command has the same arguments as the
SETTMBURST/GETTMBURST commands shown in the list above. The output format for limits is
described in Data Limit Formats.
SETTMBURST
Set burst mode telemetry settings
Example:
SETTMBURST,EN=1,NS=0
GETTMBURST
Get burst mode telemetry settings
GETTMBURSTLIM
Get instrument burst mode limits
5.44 Altimeter telemetry settings

Commands: SETTMALTI, GETTMALTI, GETTMALTILIM
Mode: COMMAND
The instrument altimeter telemetry settings and relevant limits.
EN Enable altimeter telemetry.
TS Include time stamp.
TQ Include quality parameter.
DF Altimeter telemetry format.
200: NMEA (PNORA) format without tags.
201: NMEA (PNORA) format with tags.
© 2022 Nortek AS
TPR Enable(0) / disable(1) output of pitch and roll (in DF200/201 data
format).
SETTMALTI
Set altimeter telemetry settings
Example:
SETTMALTI,EN=1,TS=1,TQ=1
GETTMALTI
Get altimeter telemetry settings
GETTMALTILIM
Get instrument altimeter limits
5.45 Bottom track telemetry settings

Commands: SETTMBT, GETTMBT, GETTMBTLIM
Mode: COMMAND
The instrument bottom track telemetry settings and relevant limits.
EN Enable burst telemetry.
CY Co-ordinate system.
BEAM, XYZ, ENU
DF Data format.
300: NMEA without tags.
301: NMEA with tags.
302: NMEA without tags and Sensor Data.
303: NMEA with tags and Sensor Data.
NPING Number of pings.
FOMTH Figure of merit threshold.
SETTMBT
Set bottom track telemetry settings
© 2022 Nortek AS
Commands 67
Example:
SETTMBT,EN=1,FO=1,SO=1,DF=301
GETTMBT
Get bottom track telemetry settings
GETTMBTLIM
Get instrument bottom track limits
5.46 Get telemetry file size

Command: TMSTAT
This command returns the length (# of bytes) of the telemetry file.
Example:
TMSTAT
13500
OK
5.47 Download telemetry
Command: DOWNLOADTM
This command enables reading the telemetry file which can be created during measurement by
using the appropriate SETTMxxx commands. The formats are described in the section detailing
Data Formats.
SA Start address (offset) of the first byte to be returned.
LEN Number of bytes to be downloaded.
CRC Use Cyclic redundancy check.
CRC=1 enables CRC. CRC cannot be enabled when CKS=1.
CKS Use Checksum.
CKS=1 enables checksum. CKS cannot be enabled when CRC=1.
© 2022 Nortek AS
Note: If no parameters are sent with the DOWNLOADTM command the complete file is directly
returned, without the number of bytes to follow. The end of the file can then be detected by
parsing the OK<CR><LF>.
The parameters can be used to download the telemetry file in several pieces. The number of
bytes to follow will then be returned in ASCII format and terminated with <CR><LF> before the
data is output. The end of telemetry stream is terminated with OK<CR><LF>. A cyclic redundancy
check or a checksum will then be added to be able to verify data integrity during download. The
complete file can also be downloaded in this way by specifying SA=0 and a large value for LEN. The
actual file size is then returned before the data follows. See also TMSTAT for retrieving file
information.
Example:
DOWNLOADTM,SA=0,LEN=4096,CRC=1,CKS=0
<binary or ASCII data>
23432 (checksum/crc value)
OK
5.48 Save configuration to file
Command: STOREHEADERTM
Mode: COMMAND
This command stores the GETALL (complete configuration) to the telemetry file.
Example:
STOREHEADERTM
5.49 Erase telemetry file
Command: ERASETM
Erase the telemetry file.
9999
Note: The telemetry file can also be erased over FTP.
Example:
ERASETM,CODE=9999
© 2022 Nortek AS
Commands 69
5.50 Write tag output

Command: TAG
Write a Tag to output file and data output.
The TAG command adds a tag to the both the output file and the output data, if enabled. The
output is a String Record as defined in the FWRITE command. The ID of the String Record Data
packet is 19dec.
STR Tag string. Maximum 200 bytes.
CLK Add clock in tag.
Note: Remember to use the BBPWAKEUP command when sending commands to an instrument in
Measurement mode, when using Ethernet.
Example:
TAG,STR="This is a test tag.",CLK=1
a5 0a a0 10 2f 00 42 8c 42 5d 13 32 // Binary header
30 31 37 2d 30 31 2d 32 34 20 30 38 // String Record ID = 19dec
3a 34 32 3a 35 37 2e 34 34 39 20 2d // "2017-01-24 08:42"
20 54 68 69 73 20 69 73 20 61 20 74 // ":57.449 - This i"
65 73 74 20 74 61 67 2e 00 // "s is a test tag."
OK
5.51 Major beam angle calibration
Commands: SETUSERECHOMAJORANGLE, GETUSERECHOMAJORANGLE,
GETUSERECHOMAJORANGLELIM
Mode: COMMAND
Commands that enable storing echosounder calibration values. The Signature echosounder does
not use any of these values in its processing, but they provide users a way to store their
calibration values together with the measure data. So these only serve as an option for storing
calibration data in the instrument which are then output in the data file header.
These commands allow fifth order polynomials with individual enable. The scheme is to calculate
the polynomial over the frequency range of the transducer, using the center frequency from the
beam list as origin.
EN Enable storing calibration values
P0 Constant
© 2022 Nortek AS
P1 First order polynomial

P2 Second order polynomial
P3 Third order polynomial
P4 Forth order polynomial
P5 Fifth order polynomial
Note: Integration manual refers to this as a MajorAxis3dBBeamAngle command.
SETUSERECHOMAJORANGLE
Set calibration values for major beam angle
Example:
SETUSERECHOMAJORANGLE,EN=1,P0=0.123,P1=1.23,P2=12.3
GETUSERECHOMAJORANGLE
Get calibration values for major beam angle
GETUSERECHOMAJORANGLELIM
Get limits for calibration values for major beam angle
5.52 Major beam angle offset calibration

Commands: SETUSERECHOMAJOROFFSET, GETUSERECHOMAJOROFFSET,
GETUSERECHOMAJOROFFSETLIM
Mode: COMMAND
P0 Constant
© 2022 Nortek AS
Commands 71

Note: Integration manual refers to this as a MajorAxis3dBBeamAngleOffset command.
SETUSERECHOMAJOROFFSET
Set calibration values for major beam angle offset
Example:
SETUSERECHOMAJOROFFSET,EN=1,P0=0.123,P1=1.23,P2=12.3
GETUSERECHOMAJOROFFSET
Get calibration values for major beam angle offset
GETUSERECHOMAJOROFFSETLIM
Get limits for calibration values for major beam angle offset
5.53 Minor beam angle calibration

Commands: SETUSERECHOMINORANGLE, GETUSERECHOMINORANGLE,
GETUSERECHOMINORANGLELIM
Mode: COMMAND
P0 Constant
© 2022 Nortek AS

Note: Integration manual refers to this as a MinorAxis3dBBeamAngle command.
SETUSERECHOMINORANGLE
Set calibration values for minor beam angle
Example:
SETUSERECHOMINORANGLE,EN=1,P0=0.123,P1=1.23,P2=12.3
GETUSERECHOMINORANGLE
Get calibration values for minor beam angle
GETUSERECHOMINORANGLELIM
Get limits for calibration values for minor beam angle
5.54 Minor beam angle offset calibration

Commands: SETUSERECHOMINOROFFSET, GETUSERECHOMINOROFFSET,
GETUSERECHOMINOROFFSETLIM
Mode: COMMAND
P0 Constant
© 2022 Nortek AS
Commands 73

Note: Integration manual refers to this as a MinorAxis3dBBeamAngleOffset command.
SETUSERECHOMINOROFFSET
Set calibration values for minor beam angle offset
Example:
SETUSERECHOMINOROFFSET,EN=1,P0=0.123,P1=1.23,P2=12.3
GETUSERECHOMINOROFFSET
Get calibration values for minor beam angle offset
GETUSERECHOMINOROFFSETLIM
Get limits for calibration values for minor beam angle offset
5.55 Echosounder gain calibration

Commands: SETUSERECHOGAIN, GETUSERECHOGAIN, GETUSERECHOGAINLIM
Mode: COMMAND
P0 Constant
© 2022 Nortek AS
FREQA Calibration frequency A

Unit: [Hz]
GAINFA Specify the gain for frequency A
Unit: [dB]
FREQB Calibration frequency B
Unit: [Hz]
GAINFB Specify the gain for frequency B
Unit: [dB]
FREQC Calibration frequency C
Unit: [Hz]
GAINFC Specify the gain for frequency C
Unit: [dB]
Note: Integration manual refers to this as a Gain command.
SETUSERECHOGAIN
Set calibration values for gain
Example:
SETUSERECHOGAIN,EN=1,P0=0.123,P1=1.23,P2=12.3
GETUSERECHOGAIN
Get calibration values for gain
GETUSERECHOGAINLIM
Get limits for calibration values for gain
5.56 Two way beam angle calibration

Commands: SETUSERECHOTWOWAYANGLE, GETUSERECHOTWOWAYANGLE,
GETUSERECHOTWOWAYANGLELIM
Mode: COMMAND
© 2022 Nortek AS
Commands 75
P0 Constant
Note: Integration manual refers to this as a TwoWayBeamAngle command.
SETUSERECHOTWOWAYANGLE
Set calibration values for two way beam angle
Example:
SETUSERECHOTWOWAYANGLE,EN=1,P0=0.123,P1=1.23,P2=12.3
GETUSERECHOTWOWAYANGLE
Get calibration values for two way beam angle
GETUSERECHOTWOWAYANGLELIM
Get limits for calibration values for two way beam angle
5.57 Precision time protocol

Commands: PTPSET, PTPGET
Mode: COMMAND
Configure the precision time protocol parameters.
EN Choose a time protocol.
0: Time protocol disabled.
1: Use precision time protocol (PTP).
2: Use network time protocol (NTP).
© 2022 Nortek AS
OFFSET Offset
Unit: [µs]
CL Time value representing the number of seconds elapsed since 00:00
hours, Jan 1, 1970 UTC
Unit: [s]
IP The numeric IP address of the NTP server to use for syncing
Note: For the case of NTP, the instrument is not capable of DNS name resolution. In order to
retrieve the IP address associated with a name, use the "nslookup" tool from the computer
command line
PTPSET
Set precision time protocol parameters
Example:
PTPSET,EN=0,OFFSET=0,CL=1609193402
OK
PTPSET,EN=2,IP="129.240.3.3"
OK
PTPGET
Get precision time protocol parameters
Example:
PTPGET,EN,OFFSET,CL
5.58 Wake Doppler processor

Command: BBPWAKEUP
Commands available in measurement mode should be preceded by the command BBPWAKEUP.

This ensures that the BBP is ready to process the command when it is received (see Checking
instrument state over Ethernet). In measurement mode, another BBPWAKEUP must be sent when
more than 2 seconds has elapsed since the previous command.
If uncertain of the active mode it is good practice to send BBPWAKEUP before sending GETSTATE
or INQ.
Example:
BBPWAKEUP
© 2022 Nortek AS
Commands 77
5.59 Get hardware specifications

Command: GETHW
Command type: INFO
Returns Firmware versions and Board revisions.
FW Running DSP FW version
FWMINOR Running DSP FW version (minor part)
FPGA Running FPGA FW version
BOOT DSP bootloader FW Version
DIGITAL Board revision. Example: C-0
INTERFACE Board revision. Example: C-0
ANALOG Board revision. Example: C-0
ANALOG2 Board 2 revision. Example: C-0
SENSOR Board revision. Example: C-0
Example:
GETHW,FW,MINOR
5.60 Add license
Command: ADDLICENSE
Command type: PRODUCTION
Access: User
Mode: COMMAND
Reads a license key and checks it against the instrument serial number before adding it to the
license key flash.
KEY The license key to add
Example:
ADDLICENSE,KEY="9H3F5PE47HUUB"
OK
5.61 Delete license
Command: DELETELICENSE
Command type: PRODUCTION
Access: User
© 2022 Nortek AS
Mode: COMMAND
Deletes a license key from the license key flash.
KEY The license key to delete
Example:
DELETELICENSE,KEY="9H3F5PE47HUUB"
OK
5.62 Lists license keys
Command: LISTLICENSE
Command type: INFO
Access: User
Mode: COMMAND
Lists all license keys contained in the license key flash along with a description of the functionality
enabled by the key and the variant number of the license.
Example:
LISTLICENSE
LISTLICENSE,"K28FDJF7RPNUB","All features",0
LISTLICENSE,"4X218TRTRPNUB","High Resolution",4
LISTLICENSE,"JKHHFNH3RPNUB","Wave Mode",6
LISTLICENSE,"WF3CJR6PRPNUB","Current Profiler",1
OK
$PNOR,LISTLICENSE*76
$PNOR,LISTLICENSE,KEY="K28FDJF7RPNUB",DESC="All features",TYPE=0*4C
$PNOR,LISTLICENSE,KEY="4X218TRTRPNUB",DESC="High
Resolution",TYPE=4*73
$PNOR,LISTLICENSE,KEY="JKHHFNH3RPNUB",DESC="Wave Mode",TYPE=6*00
$PNOR,LISTLICENSE,KEY="WF3CJR6PRPNUB",DESC="Current
Profiler",TYPE=1*1C
$PNOR,OK*2B
6 Data Formats
This chapter describes the Nortek AD2CP binary data formats for sensor output. Note that the
binary data formats all use a common header that specifies how the rest of the data block should
be interpreted. A data block is the data from and including one header to the next. Binary data are
always sent as Little Endian.
© 2022 Nortek AS
Data Formats 79
About these chapters

Each sensor's data format is described in the following chapters. To avoid duplicating rows in the
following tables, we have documented header and the common data structures separately. This
way, the chapter on one sensors data format will only contain the fields unique or this sensor.
Take velocity data as an example:
In short: The data format is the sum of header data, a common part, a part that is shared for curent
data and the part that is unique for velocity. Se figure below.
A little longer: The header is the same for all data blocks. It is compact and quick to parse, and it
contains information about the rest of the data (e.g. data type and size). This is documented
separately as _HeaderData. We use the leading underscore to emphasize that this is a not a
complete data format, but it is a part used by two or more data formats.
The same goes for other common data such as data format version number, offset to data and
timestamp etc. This is documented separately in _CommonData. Note that for velocity data there
is another current profile definition that is shared.
Last, there are the unique fields such as beam configuration, velocity data, amplitude data etc.
that is given in the table in VelocityDataV3.
The table below is an illustration on how common data fields (gray for header and blue for other
common's) relate to the sensor specific data fields (green).
Figure: Show ing how com m on data fields (gray for header and blue for other com m on's) the sensor data
relate to the sensor specific data fields (green). Note that w e use a leading underscore (_) to em phasize that
this is not a sensor data form at but is com m on and used by tw o or m ore data form ats.
© 2022 Nortek AS
About the tables

Tables have the columns 'Field', 'Position/Size' and 'Description'. Position and size does need an
explanation:
Position has the location of a field in the header or in the data that follows the header. E.g., the
'data series id' has position 2 (Note that we are counting from 0) in the header. Some positions are
not fixed, but dependent on which fields are before it. In these cases, 'offset of data' (position 1
of the data - see _CommonData) can then be used to give the position of the following fields. In
this case, the position in the table will not be given as a number but as a variable name such as
OFFSET. Another case is that ambiguity velocity at position 52 in _currentProfileData and
_DF20BottomTrack, has sizes 16bit and 32bit respectively. This shifts the fields that follows and in
these cases two positions may be given. Variable descriptions are listed below the tables where
they are used.
Size is the data type of field. In case of 'data series id' it is an unsigned integer of 8 bits (uint8).
Note that not all fields have a specific data type but is an object using a required number of bits.
E.g., the status bit masks often use 32 bits to provide 'ok'/'not ok' on several parts of the data.
These object sizes and their descriptions are listed below the table where they are used.
6.1 _HeaderData
The header definition for binary data formats. Note that the header may be verified without
reading the rest of the data block since it has its own checksum.
Field Position Description

Size
Sync bit 0 Always 0xA5.
uint8
Header size 1 Number of bytes in the headers
uint8
Data series id 2 Defines the type of the following Data Record.
uint8 0x15 - Burst Data Record.
0x16 - Average Data Record.
0x17 - Bottom Track Data Record.
0x18 - Interleaved Burst Data Record (beam 5).
0x1A - Burst Altimeter Raw Record.
0x1B - DVL Bottom Track Record.
0x1C - Echo Sounder Record.
0x1D - DVL Water Track Record.
0x1E - Altimeter Record.
0x1F - Avg Altimeter Raw Record.
0xA0 - String Data Record, eg. GPS NMEA data,
comment from the FWRITE command.
© 2022 Nortek AS
Data Formats 81
Family id 3 Defines the Instrument Family. 0x10 is the AD2CP

uint8 Family.
Data size 4 Number of bytes in the following Data Record.
uint16
Data checksum 6 Checksum of the following Data Record.
uint16
Header checksum 8 Checksum of all fields of the Header except the
uint16 Header Checksum itself..
6.2 _CommonData
Used By: CurrentProfileDataV3, DF20BottomTrack
Common data definitions for parsing AD2CP V3 average- and echosounder data.

Size
Version 0 Version number of the Data Record Definition.
uint8 Should be 3
Offset of data 1 Number of bytes from start of the record to start of
uint8 the actual data.
Unit: [# bytes]
Configuration bit 2 Record Configuration Bit Mask
mask 16 bits Object reference given in table below
Serial number 4 Instrument serial number from factory.
uint32
Date and time 8 The date and time of the data record.
uint8 *8 Year: Is given as years from 1900.
Month: January is 0.
Milli seconds: Are given by the hundreds. That is as
desi seconds.
Micro seconds 12 Remaining micro seconds (Date object has
uint16 milliseconds resolution)
Speed of sound 16 Speed of sound used by the instrument.
uint16 Raw data given as 0.1 m/s
Unit: [m/s]
Temperature 18 Reading from the temperature sensor.
int16 Raw data given as 0.01 °C
Unit: [°C]
Pressure 20 Raw data given as 0.001 dBar
uint32 Unit: [dBar]
Heading 24 Raw data given as 0.01 degrees
uint16 Unit: [deg]
© 2022 Nortek AS
Pitch 26 Raw data given as 0.01 degrees

int16 Unit: [deg]
Roll 28 Raw data given as 0.01 degrees
int16 Unit: [deg]
Cell size 32 Size of each cell (resolution) on the beam.
uint16 Raw data given as mm
Unit: [m]
Nominal 36 The nominal correlation for the configured
correlation uint8 combination of cell size and velocity range
Unit: [%]
Battery voltage 38 Raw value given in 0.1 Volt
uint16 Unit: [V]
Magnetometer.X 40 X axis flux raw value in last measurement interval
int16
Magnetometer.Y 42 Y axis flux raw value in last measurement interval
int16
Magnetometer.Z 44 Z axis flux raw value in last measurement interval
int16
Accelerometer.X 46 raw X axis value in last measurement interval
int16
Accelerometer.Y 48 raw Y axis value in last measurement interval
int16
Accelerometer.Z 50 raw Z axis value in last measurement interval
int16
Data set 54/56 Data set description.
description uint16 0-3 Physical beam used for 1st data set.
4-7 Physical beam used for 2nd data set.
8-11 Physical beam used for 3th data set.
12-16 Physical beam used for 4th data set.
Transmitted 56/58 Transmitted energy.
energy uint16
Velocity scaling 58/60 Velocity scaling used to scale velocity data.
int8
Power level 59/61 Configured power level
int8 Unit: [dB]
Magnetometer 60/62 Magnetometer temperature reading.
temperature int16 Uncalibrated
Raw data in 1/1000 °C
Unit: [°C]
Real time clock 62/64 Real Time Clock temperature reading
temperature int16 Unit: [°C]
© 2022 Nortek AS
Data Formats 83
Error status 64/66 Error bit mask

16 bits Object reference given in table below
Status.Wake up 68/70 Bit 31-28: Wakeup State
state uint32 1111 0000 0000 0000 0000 0000 0000 0000
00 = bad power
01 = power applied
10 = break
11 = RTC alarm
Status.Orientation 68/70 Bit 27-25: Orientation
uint32 0000 1110 0000 0000 0000 0000 0000 0000
0: "XUP" Instrument x-axis defined up, heading
reference axis is Z positive
1: "XDOWN" Instrument x-axis defined down,
heading reference axis is Z positive
2: "YUP" Instrument y-axis defined up, heading
reference axis is Z positive
3: "YDOWN" Instrument y-axis defined down,
heading reference axis is Z positive
4: "ZUP" Instrument z-axis defined up, heading
reference axis is X positive
5: "ZDOWN" Instrument z-axis defined down,
heading reference axis is X positive
7: "AHRS" AHRS reports orientation any way it
points. Example: Z down -> Roll = 180 deg.
Status.Auto 68/70 Bit 24-22: autoOrientation
orientation uint32 0000 0001 1100 0000 0000 0000 0000 0000
0: "Fixed" Fixed orientation
1: "Auto" Auto Up Down
3: "AHRS3D" AHRS3D
Ensemble counter 72/74 Counts the number of ensembles in both averaged
uint32 and burst data
Position and size variables:
Name Description
54/56 The status field is at 54 or 56 depending on wether the ambiguity velocity is
16bit or 32bit long.
© 2022 Nortek AS

Object reference: Configuration bit mask

Record Configuration Bit Mask

Size
Has pressure 0 Pressure sensor value valid
sensor bit
Has temperature 1 Temperature sensor value valid
sensor bit
Has compass 2 Compass sensor value valid
sensor bit
Has tilt sensor 3 Tilt sensor value valid
bit
Object reference: Error status

Error bit mask

Size
Data retrieval FIFO 0 Data retrieval FIFO error
error bit
Data retrieval 1 Data retrieval overflow
overflow bit
Data retrieval 2 Data retrieval Underrun
underrun bit
Data retrieval 3 Data retrieval samples missing
samples missing bit
Measurement not 4 Measurement not finished
finished bit
© 2022 Nortek AS
Data Formats 85
The Measurement and data storage/transmit didn’t

finish before next measurement started.
Sensor read failure 5 Sensor read failure
bit
Tag error beam 1 0 Tag error beam 1 (In-phase)
(In-phase) bit
Tag error beam 1 1 Tag error beam 1 (Quadrature-phase)
(Quadrature- bit
phase)
(In-phase) bit
(Quadrature- bit
phase)
(In-phase) bit
(Quadrature- bit
phase)
(In-Phase) bit
Tag error beam 4 7 Tag Error Beam 4 (Quadrature-phase)
(Quadrature- bit
phase)
6.3 _CurrentProfileDataV3
Extends: CommonData
Used By: EchosounderDataV3, VelocityDataV3, SpectrumDataV3
Data definitions for parsing AD2CP V3 average data.

Size
Temperature 37 Temperature of pressure sensor: T=(Val/5)-4.0
PressureSensor uint8 Raw value given as 0.2 °C
Unit: [°C]
Blanking 34 Distance from instrument to first data point on the
uint16 beam.
Raw data given as cm or mm depending on
status.blankingDistanceScalingInCm
Unit: [m]
© 2022 Nortek AS
Ambiguity Velocity 52 Ambiguity velocity, corrected for sound velocity,

uint16 scaled according to Velocity scaling.
10^(Velocity scaling) m/s
Unit: [m/s]
Extended status 66 Extended status bit mask
Status 68 Status bit mask. Note that bits 0, 2, 3, 4 are unused.
Object reference: Extended status

Extended status bit mask

Size
Processor idles < 0 Indicates that the processor Idles less than 3
3% bit percent
Processor idles < 1 Indicates that the processor idles less than 6
6% bit percent
Processor idles < 1 Indicates that the processor idles less than 12
12% bit percent
Extended status 15 If this bit is set the rest of the word/ extended
should be bit status should be interpreted
interpreted
Object reference: Status

Status bit mask. Note that bits 0, 2, 3, 4 are unused.

Size
Active 16 Bit 16: Active configuration
configuration bit 0: Settings for PLAN,BURST,AVG
1: Settings for PLAN1,BURST1,AVG1
Previous wakeup 21-18 Bit 21-18: Previous wakeup state
state 4 bits 0000 0000 0011 1100 0000 0000 0000 0000
00 = bad power
01 = power applied
10 = break
11 = RTC alarm
Previous 17 Bit 17: Last measurement low voltage skip
measurement bit 0: normal operation
© 2022 Nortek AS
Data Formats 87
skipped due to low 1: last measurement skipped due to low input

voltage voltage
Echosounder index 15-12 Bit 15-12: Echosounder frequency index. Valid
4 bits numbers are 0, 1 and 2 (or 0000, 0001 and 0010)
referring to frequencies 1, 2 or 3 as used in
SET-/GETECHO.
0000 0000 0000 0000 1111 0000 0000 0000
Telemetry data 11 Telemetry data
bit
Boost running 10 Boost running
bit
Echosounder 9-5 Bit 9-5: Echosounder frequency bin.
frequency bin 5 bit Used only on the Signature100 which supports up to
5 packages pr frequency index. Processing is then
done on the different frequency bands.
0000 0000 0000 0000 0000 0011 1110 0000
Blanking distance 1 Bit 1: Scaling of blanking distance
scaling in cm bit 0: mm scaling
1: given in cm
6.4 EchosounderDataV3
Extends: CurrentProfileDataV3
ID: 0x1c
Data definitions for parsing AD2CP V3 echosounder data.

Size
Configuration 2 Record Configuration Bit Mask
Number of cells 30 Number of echosounder cells
uint16
Echosounder 52 Echosounder frequency
frequency uint16 Unit: [Hz]
Echosounder data OFFSET Echosounder amplitude Data
int16 *NC Raw data given as 0.01 dB/count
Unit: [dB/count]
Name Description
NC Number of echosounder cells given at position 30 in this dataset.
© 2022 Nortek AS
OFFSET Offset of data given at position 1 in this dataset. Number of bytes from start
of record to start of data.
Object reference: Configuration


Size
Has echosounder 11 Echosounder data included
data bit
6.5 VelocityDataV3
ID: 0x15
Data definitions for parsing AD2CP V3 average data.

Size
Beams, 30 Bit 11-10 (2 bits): Coordinate system
coordinates and uint16 b00:ENU, b01:XYZ, b10:BEAM
cells.Coordinate
system
Beams, 30 Bit 15–12 (4 bits): Number of Beams (NB)
coordinates and uint16 Active beams represented as a 4 char string of 1s
cells.Number of and 0s.
beams
Beams, 30 Bit 9-0 (10 bits): Number of Cells (NC).
coordinates and uint16
cells.Number of
cells
Velocity data OFFSET This field exists if the Velocity data included bit of
int16 *VEL_NB the Config byte is set.
*VEL_NC 10^(Velocity Scaling)
Unit: [m/s]
Amplitude data AMP_POS This field exists if the amplitude data included bit of
int8 *AMP_NB the Config byte is set
*AMP_NC 0.5 dB/count
Unit: [dB]
Correlation data CORR_POS This field exists if the Correlation data included bit
of the Config byte is set
© 2022 Nortek AS
Data Formats 89
int8 *CORR_NB [0 – 100 %]

*CORR_NC Unit: [%]
Altimeter ALTI_POS Distance to surface from Leading Edge algorithm
data.Altimeter int32 Unit: [m]
distance
Altimeter ALTI_POS + 4 Result of LE algorithm. When quality is deemed too
data.Altimeter uint16 low according to instrument specific limits. Distance
quality and Quality set to 0.
Altimeter ALTI_POS + 6 Altimeter status bit mask
data.Altimeter 16 bits Object reference given in table below
status
AST data.AST AST_POS Distance to surface from Max Peak algorithm
distance int32 Unit: [m]
AST data.AST AST_POS + 4 Amplitude at which surface is detected
quality uint16 Raw data in steps of 0.01 dB, i.e. quality of 8000 = 80
dB
Unit: [dB]
AST data.AST offset AST_POS + 6 Offset in step of measurement to velocity
int16 measurement
Raw data given in 100 µs
Unit: [s]
AST data.AST AST_POS + 8 Pressure value measured during the AST/altimeter
pressure int32 ping
Unit: [dbar]
Altimeter raw ALTIRAW_START + 8 Altimeter Raw Data – Number of Samples
data.Num uint16
RawSamples
Altimeter raw ALTIRAW_START + 10 Distance between samples
data.Samples uint16 Raw data given in 0.1mm
distance Unit: [m]
Altimeter raw ALTIRAW_START + 12 Altimeter Raw Data – Samples
data.Data samples int16 *NRS Raw data given as 16 bits Signed fract
AHRS data.Rotation AHRS_START AHRS Rotation Matrix [3x3]
matrix float *3 *3
AHRS AHRS_START + 36 W quaternion
data.Quaternion W float
AHRS AHRS_START + 40 X quaternion
data.Quaternion X float
AHRS AHRS_START + 44 Y quaternion
data.Quaternion Y float
© 2022 Nortek AS
AHRS AHRS_START + 48 Z quaternion

data.Quaternion Z float
AHRS data.Gyro X AHRS_START + 52 Gyro in X direction in degrees pr second
float Unit: [dps]
AHRS data.Gyro Y AHRS_START + 56 Gyro in Y direction in degrees pr second
float Unit: [dps]
AHRS data.Gyro Z AHRS_START + 60 Gyro in Z direction in degrees pr second
float Unit: [dps]
Percentage good PGD_START Percent Good Estimate per cell
data uint8 *PGD_LEN These fields exist if the Percentage Good data
included
Unit: [%]
Standard deviation SD_START Standard deviation on pitch data
data.Pitch int16 Raw data in 0.01 degrees
Unit: [degrees]
Standard deviation SD_START + 2 Standard deviation on roll data
data.Roll int16 Raw data in 0.01 degrees
Unit: [degrees]
Standard deviation SD_START + 4 Standard deviation on heading data
data.Heading int16 Raw data in 0.01 degrees
Unit: [degrees]
Standard deviation SD_START + 6 Standard deviation on pressure data
data.Pressure int16 Raw data in 0.001 Bar
Unit: [bar]
Name Description
VEL_NB Primary dimension of velocity data is number of beams. Length 0 if
correlation data in configuration bit map is false.
VEL_NC Second dimension of velocity data is number of cells pr beam. Length 0 if
AMP_NB Primary dimension of amplitude data is number of beams. Length 0 if
AMP_NC Second dimension of amplitude data is number of cells pr beam. Length 0 if
AMP_POS Correlation data starts after the amplitude data.
CORR_NB Primary dimension of correlation data is number of beams. Length 0 if
© 2022 Nortek AS
Data Formats 91
CORR_NC Second dimension of correlation data is number of cells pr beam. Length 0 if

CORR_POS Correlation data starts after the amplitude data.
ALTI_POS Altimeter data starts after the correlation data.
AST_POS AST data starts after the altimeter data.
NRS Number of raw samples given as first element of this object.
ALTIRAW_START Altimeter raw data starts after the AST data.
AHRS_START AHRS data follows the altimeter raw data.
PGD_START Percent good data follows the AHRS data.
SD_START The standard deviation data follows percent good data.


Size
Has velocity data 5 Velocity data included
bit
Has amplitude data 6 Amplitude data included
bit
Has correlation 7 Correlation data included
data bit
Has altimeter data 8 Altimeter data included
bit
Has altimeter raw 9 Altimeter raw data included
data bit
Has AST data 10 AST data included
bit
Has AHRS data 12 AHRS data included
bit
Has percentage 13 Percentage data included
good data bit
Has standard 14 Standard deviation data included
deviation data bit
Object reference: Altimeter status

Altimeter status bit mask
© 2022 Nortek AS

Size
Pitch or roll > 5 deg 0 Pitch or roll > 5 deg
bit
Pitch or roll > 10 1 Pitch or roll > 10 deg
deg bit
Has multi beam 2 Multi beam data included
data bit
Number of beams 3-6 Number of altimeter beams
4 bits 0000 0000 0111 1000
Power level index 7-9 Power level index for current ping
3 bits 0000 0011 1000 0000
6.6 SpectrumDataV3
ID: 0x20
Data definitions for parsing AD2CP V3 amplitude spectrum data.

Size
Configuration 2 Record configuration bit mask.
Beams and 30 Bit 15–13 (3 bits) represent number of beams (NB)
bins.Number of uint16 1110 0000 0000 0000
beams Active beams represented as string of 1s and 0s.
Beams and 30 Bit 0-12 (13 bits) represents number of bins (NB)
bins.Number of uint16 0001 1111 1111 1111
bins
Spectrum OFFSET Start frequency value
data.Start float Unit: [Hz]
frequency
Spectrum OFFSET + 4 Step frequency value
data.Step float Unit: [Hz]
frequency
Spectrum OFFSET + 16 Frequency spectrum amplitude data
data.Frequency uint16 *BEAMS *BINS Unit: [dB]
data
Name Description
© 2022 Nortek AS
Data Formats 93
BEAMS Matrix first dimension is number of beams. Eg:

[[f_start, .., f_{start+step*(bins-1)}]_{beam1}
[f_start, .., f_{start+step*(bins-1)}]_{beam2}
..
[f_start, .., f_{start+step*(bins-1)}]_{beams}]
BINS Per beam, frequencies are given as an array of length as number of bins.
First element is the start frequency and frequencies increment by step
frequency per element of the array. Eg:
[[f_start, f_{start+step}, f_{start+step*2}, .., f_{start+step*(bins-1)}]
_{beam1}, .., ..]
16+BEAMSxBINSx2 VERIFY!!! Spectrum data is (number of beams) x (number of bins) x 2.
Additionally there is 16 floats for start and step frequency used in the data.
If configuration.hasSpectrumData is false, spectrum data is length 0.
RAW: !this.configuration.hasSpectrumData ? 0 :
this.beamsAndBins.numberOfBeams*this.beamsAndBins.numberOfBins*2
+ 16*4
OFFSET Number of bytes from start of record to start of data.

Record configuration bit mask.

Size
Has spectrum data 15 Amplitude spectrum data included.
bit
6.7 _DF20BottomTrack
Extends: CommonData
Used By: DF20BottomTrackV1, DF20BottomTrackV9
Data definitions for parsing bottom track

Size
Configuration 2 Record configuration bit mask
Beams, coords and 30 Bit 11-10 (2 bits) describes the coordinate system
cells.Coordinate uint16 used.
system b00:ENU, b01:XYZ, b10:BEAM
Beams, coords and 30 Bit 15–12 (4 bits) represent the number of beams
cells.Number of uint16 (NB)
beams Active beams represented as a 4 char string of 1s
and 0s.
© 2022 Nortek AS
Beams, coords and 30 Bit 9-0 (10 bits) represent the number of cells (NC).
cells.Number of uint16
cells
Blanking 34 Distance from instrument to first data point on the
uint16 beam.
Raw data given as mm
Unit: [m]
Ambiguity velocity 52 Ambiguity velocity, corrected for sound velocity,
uint32 scaled according to Velocity scaling.
10^(Velocity scaling) m/s
Status 68/70 Status bit mask
Velocity data OFFSET This field exists if the Velocity data included bit of
int32 the Config byte is set.
*VELOCITY_LENGTH Data scaled as product of 10^(Velocity Scaling)
Unit: [m/s]
Distance data DISTANCE_START This field exists if the Distance data included bit of
int32 *DIST_LENGTH the Config byte is set.
Unit: [m]
Name Description
VELOCITY_LENGTH If velocity data in the configuration map is true, the velocity data is
numberOfBeams long. Else 0.
DIST_LENGTH If distance data in the configuration map is true, the distance data is
DISTANCE_START AHRS data starts after the velocity data. If there is no velocity data, the
distance data starts at offset to data.

Record configuration bit mask

Size
Has velocity data 5 Velocity data included
bit
© 2022 Nortek AS
Data Formats 95
Has distance data 8 Distance data included

bit
Object reference: Status

Status bit mask

Size
Active config is BT1 21 Bit 21: Active configuration
bit 0: BT Settings
1: BT1 Settings
6.8 DF20BottomTrackV1
Extends: DF20BottomTrack
ID: 0x17
Data definitions for parsing bottom track version 1. In the Signature integrators manual this is
referred to as DF20.

Size
Figure of merit BT_START This field exists if the hasFigureOfMeritData bit of
data uint16 *NB the Config byte is set.
AHRS data.Rotation AHRS_START AHRS Rotation Matrix [3x3]
matrix float *3 *3
AHRS AHRS_START + 36 W quaternion
data.Quaternion W float
AHRS AHRS_START + 40 X quaternion
data.Quaternion X float
AHRS AHRS_START + 44 Y quaternion
data.Quaternion Y float
AHRS AHRS_START + 48 Z quaternion
data.Quaternion Z float
AHRS data.Gyro X AHRS_START + 52 Gyro in X direction in degrees pr second
float Unit: [dps]
AHRS data.Gyro Y AHRS_START + 56 Gyro in Y direction in degrees pr second
float Unit: [dps]
AHRS data.Gyro Z AHRS_START + 60 Gyro in Z direction in degrees pr second
float Unit: [dps]
© 2022 Nortek AS
Name Description
NB Figure of merit is of length numberOfBeams. That is, one figure of merit pr
beam. If the figure merit configuration bit is false, length is 0.
BT_START The start position of bottom track data is calculated from OFFSET, adding
velocityDataLength (if any) and distanceDataLength (if any).
AHRS_LENGTH AHRS data length is 16 floats. That is 64 bytes.
AHRS_START AHRS data starts after the bottom track data and the figure of merit data if
they are included.


Size
Has figure of merit 9 Figure of Merit data included
data bit
Has AHRS data 10 Window data included
bit
6.9 DF20BottomTrackV9
Extends: DF20BottomTrack
ID: 0x17
Data definitions for parsing bottom track version 9.

Size
Configuration 2 Record configuration bit mask
Bottom track BT_START
window.Start uint16
Bottom track BT_START + 2
window.End uint16
window.Window uint16
candidates
window.XMitCm uint16
© 2022 Nortek AS
Data Formats 97

window.Length uint32
score
window.Distance uint32
score
window.Correlatio uint32
n score
window.Total uint32
score
Amplitude data AMPLITUDE_POS This field exists if the Amplitude data included bit
int8 *NB *NC of the Config byte is set
0.5 dB/count
Unit: [dB]
Correlation data CORR_POS This field exists if the Correlation data included bit
int8 *CORR_NB of the Config byte is set
*CORR_NC [0 – 100 %]
Unit: [%]
FOM data FOM_POS This field exists if the Distance data included bit of
int16 *FOM_LENGTH the Config byte is set.
Bottom track BTAUX_POS
AUX.Noise Floor float
Bottom track BTAUX_POS + 4
AUX.Filter Depth float
AUX.VFilt int16
AUX.Detect hist uint16
bits
AUX.Wt vel int16
Name Description
BT_START The start position of bottom track data is calculated from OFFSET, adding
velocityDataLength (if any) and distanceDataLength (if any).
NB Primary dimension of amplitude data is number of beams. Length 0 if
amplitude data in configuration bit map is false.
© 2022 Nortek AS
NC Second dimension of amplitude data is number of cells pr beam. Length 0 if

amplitude data in configuration bit map is false.
AMPLITUDE_POS Amplitude data starts after the bottom track window data.
CORR_NB Primary dimension of correlation data is number of beams. Length 0 if
CORR_NC Second dimension of correlation data is number of cells pr beam. Length 0 if
CORR_POS Correlation data starts after the amplitude data.
FOM_LENGTH If figure of merit in the configuration map is true, the distance data is
FOM_POS Figure of merit data starts after the correlation data.
BTAUX_POS Bottom track AUX object starts after the figure of merit data.

Record configuration bit mask

Size
Has amplitude data 6 Amplitude data included
bit
Has correlation 7 Correlation data included
data bit
Has FOM data 9 Figure of Merit data included
bit
Has window data 10 Window data included
bit
Has aux data 11 Aux data included
bit
7 Telemetry Data Formats

This section describes the Telemetry Data formats. "Telemetering" data means to send data packets
over the communications line while the instrument is measuring. If data is telemetered, the raw data will
be saved on the recorder for later retrieval.
Quality flags: If the instrument flags any velocity data, this will be displayed in the telemetry output as -
32.767 m/s (46.34 m/s speed, 225° direction).
© 2022 Nortek AS
Telemetry Data Formats 99
7.1 Averaging Mode

The telemetry of the AVG mode is controlled by the SET/GETTMAVG command. The DF parameter of
this command sets the data format.
Data format (DF) Description

3 Binary format as described in ‘Data Record Definition (version 3)’.
100 Same format as AWAC NMEA format (note: Signatures produce extra
columns for data from the 4th beam).
(NMEA sentences: PNORI, PNORS and PNORC).
101 NMEA format 1 (without Tags).

(NMEA sentences: PNORI1, PNORS1 and PNORC1).
102 NMEA format 2 (with Tags).
(NMEA sentences: PNORH3, PNORS3 and PNORC3).
(NMEA sentences: PNORH4, PNORS4 and PNORC4).
150 RDI Workhorse PD0 data format.
© 2022 Nortek AS
7.1.1 AWAC NMEA Format (DF=100)

· Data with variants of -9 (-9.00, -999…) or -32.768 are invalid data. Data is determined to be invalid
when Percent Good < 50%.
· Empty fields are unused.
· The checksum calculation is part of the NMEA standard. It is the representation of two hexadecimal
characters of an XOR if all characters in the sentence between – but not including – the $ and the *
character.
· Note that the number of columns of velocity, amplitude and correlation data will be different to NMEA
data from an AWAC. This is because the AWACs have three beams, and the Signatures have four
beams.
Information (configuration): $PNORI
Column Description Data format Example

0 Identifier "$PNORI"
1 Instrument type N, 4
4=Signature
2 Head ID SignatureFFF Signature100
FNNNNNN 0900002
3 Number of beams N 4
4 Number of cells N 20
5 Blanking (m) dd.dd 0.20
6 Cell size (m) dd.dd 1.00
7 Coordinate system N, 0
ENU=0,XYZ=
1,BEAM=2
8 Checksum *hh 2E
Example (DF=100): $PNORI,4,Signature1000900002,4,5,0.20,1.00,0*2E
Sensor data: $PNORS

0 Identifier "$PNORS"
1 Date MMDDYY 102115

2 Time HHMMSS 090715
3 Error Code (hex) hh 00000000
4 Status Code (hex) hh 2A480000
5 Battery Voltage dd.d 14.4
© 2022 Nortek AS
6 Sound Speed dddd.d 1523.0
7 Heading ddd.d 275.9

8 Pitch (deg) dd.d 15.7
9 Roll (deg) dd.d -2.3
10 Pressure (dBar) ddd.ddd 0.000
11 Temperature (deg C) dd.dd 22.45
12 Analog input #1 n/a 0

13 Analog input #2 n/a 0
14 Checksum *hh 1C
Example (DF=100):
$PNORS,102115,090715,00000000,2A480000,14.4,1523.0,275.9,15.7,2.3,0.000,22.
45,0,0*1C
Current velocity data: $PNORC

0 Identifier "$PNORC"
1 Date MMDDYY 102115

2 Time HHMMSS 090715
3 Cell number N 4
4 Velocity 1 (m/s) (Beam1/X/East) dd.dd 0.56
5 Velocity 2 (m/s) (Beam2/Y/North) dd.dd -0.80
6 Velocity 3 (m/s) (Beam3/Z1/Up1) dd.dd -1.99
7 Velocity 4 (m/s) (Beam4/Z2/Up2) dd.dd -1.33

8 Speed (m/s) dd.dd 0.98
9 Direction (deg) ddd.d 305.2
10 Amplitude unit C=Counts C
11 Amplitude (Beam 1) N 80
15 Correlation (%) (Beam1) N 13
© 2022 Nortek AS
19 Checksum *hh 22
Example (DF=100): $PNORC,102115,090715,4,0.56,-0.80,-1.99,-

1.33,0.98,305.2,C,80,88,67,78,13,17,10,18*22
Note that the amplitude can be converted to a dB scale by multiplying by 0.50 dB/count.
7.1.2 NMEA Format 1 and 2 (DF=101/102)

· Data with variants of -9 (-9.00, -999…) or -32.768 are invalid data. Data is determined to be invalid
when Percent Good < 50%.
· Empty fields are unused.
· The checksum calculation is part of the NMEA standard. It is the representation of two hexadecimal
characters of an XOR if all characters in the sentence between – but not including – the $ and the *
character.
Information Data:
Identifier:
PNORI1 for DF = 101 (without tags)
PNORI2 for DF = 102 (with tags)
Column Field Description TAG Data format Example

1 Instrument type 4 = Signature IT N IT=4
2 Head ID SN N SN=123456
3 Number of NB N NB=3
Beams
4 Number of Cells NC N NC=30
5 Blanking [m] BD dd.dd BD=1.00

Distance
6 Cell Size [m] CS dd.dd CS=5.00
7 Coordinate CY N, CY=BEAM
System ENU,BEAM,XY
Z
Example (DF=101):
$PNORI1,4,123456,3,30,1.00,5.00,BEAM*5B
Example (DF=102):
$PNORI2,IT=4,SN=123456,NB=3,NC=30,BD=1.00,CS=5.00,CY=BEAM*68
Sensors Data:
Identifier:
PNORS1 for DF = 101 (without tags)
PNORS2 for DF = 102 (with tags)
© 2022 Nortek AS
1 Date DAT MMDDYY DATE=083013

E
2 Time TIM HHMMSS TIME=132455
E
3 Error Code EC N EC=0
4 Status Code SC hhhhhhhh SC=34000034
5 Battery Voltage [V] BV dd.d BV=23.9

6 Sound Speed [m/s] SS dddd.d SS=1500.0
7 Heading [deg] HSD dd.dd HSD=0.02
Std.Dev.
8 Heading [deg] H ddd.d H=123.4
9 Pitch [deg] PI dd.d PI=45.6
10 Pitch Std.Dev [deg] PIS dd.dd PISD=0.02
D
11 Roll [deg] R dd.d R=23.4
12 Roll Std.Dev. [deg] RSD dd.dd RSD=0.02
13 Pressure [dBar] P ddd.ddd P=123.456
14 Pressure [dBar] PSD dd.dd PSD=0.02
StdDev
15 Temperature [deg C] T dd.dd T=24.56
Example (DF=101):
$PNORS1,083013,132455,0,34000034,23.9,1500.0,0.02,123.4,45.6,0.02,R=23.4,0.
02,123.456,0.02,24.56*39
Example (DF=102):
$PNORS2,DATE=083013,TIME=132455,EC=0,SC=34000034,BV=23.9,SS=1500.0,HSD=0.02
,H=123.4,PI=45.6,PISD=0.02,R=23.4,RSD=0.02,P=123.456,PSD=0.02,T=24.56*3F
Averaged Data:
Identifier:
PNORC1 for DF = 101 (without tags)
PNORC2 for DF = 102 (with tags)
The averaged data is repeated for each measurement cell.

1 Date Date DAT MMDDYY DATE=083013
E
© 2022 Nortek AS
2 Time Time TIM HHMMSS TIME=132455

E
3 Cell Number # CN N CN=3
4 Cell Position [m] CP dd.d CP=11.0
5 Velocity East [m/s] Only if CY=ENU VE dd.ddd VE=0.332
6 Velocity North [m/s] Only if CY=ENU VN dd.ddd VN=0.332
7 Velocity Up [m/s] Only if CY=ENU VU dd.ddd VU=0.332

and #beams >= 3
8 Velocity Up2 [m/s] Only if CY=ENU VU2 dd.ddd VU2=0.332
and #beams = 4
9 Velocity X [m/s] Only if CY=XYZ VX dd.ddd VX=0.332
10 Velocity Y [m/s] Only if CY=XYZ VY dd.ddd VY=0.332
11 Velocity Z [m/s] Only if CY=XYZ VZ dd.ddd VZ=0.332
and #beams >= 3
12 Velocity Z2 [m/s] Only if CY=XYZ VZ2 dd.ddd VZ2=0.332
and #beams = 4
13 Velocity Beam 1 [m/s] Only if CY=BEAM V1 dd.ddd V1=0.332
and #beams >=2
15 Velocity Beam 3 [m/s] Only if CY=BEAM V3 dd.ddd V3=-0.332
and #beams >=3
and #beams =4
17 Amplitude Beam [dB] A1 ddd.d A1=78.9

1
18 Amplitude Beam [dB] Only if #beams >=2 A2 ddd.d A2=78.9
2
3
20 Amplitude Beam [dB] Only if #beams =4 A4 ddd.d A4=78.9
4
21 Correlation [%] C1 N C1=78
Beam 1
22 Correlation [%] Only if #beams >=2 C2 N C2=78
Beam 2
Beam 3
© 2022 Nortek AS
24 Correlation [%] Only if #beams =4 C4 N C4=78

Beam 4
Example (DF=101 (ENU, 3 beams):

$PNORC1,083013,132455,3,11.0,0.332,0.332,0.332,78.9,78.9,78.9,78,78,78*46
Example (DF=102 (ENU, 3 beams):
$PNORC2,DATE=083013,TIME=132455,CN=3,CP=11.0,VE=0.332,VN=0.332,VU=0.332,A1=
78.9,A2=78.9,A3=78.9,C1=78,C2=78,C3=78*6D
Example (DF=102 (BEAM, 4 beams):
$PNORC2,DATE=083013,TIME=132455,CN=3,CP=11.0,V1=0.332,V2=0.332,V3=-
0.332,V4=-0.332,A1=78.9,A2=78.9,A3=78.9,A4=78.9,C1=78,C2=78,C3=78,C4=78*49
© 2022 Nortek AS
7.1.3 NMEA Format 3 and 4 (DF=103/104)

Header Data:
Identifier:
PNORH3 for DF = 103 (with tags)
PNORH4 for DF = 104 (without tags)

1 Date Date DAT YYMMDD DATE=141112
E

E
3 Error Code See DF3 (3.2.3) EC N EC=0
4 Status Code See DF3 (3.2.3) SC hhhhhhhh SC=2A4C0000
Example (DF=103):
$PNORH3,DATE=141112,TIME=081946,EC=0,SC=2A4C0000*5F
Example (DF=104):
$PNORH4,141112,083149,0,2A4C0000*4A68
Sensors Data:
Identifier:

1 Battery [V] BV dd.d BV=23.9

Example (DF=103):
$PNORS3,BV=33.0,SS=1546.1,H=151.1,PI=-12.0,R=-5.2,P=705.669,T=24.96*7A
Example (DF=104):
$PNORS4,33.0,1546.1,151.2,-11.9,-5.3,705.658,24.95*5A
Averaged Data:
Identifier:
© 2022 Nortek AS
The averaged data is repeated for each measurement cell.
Column Field Description TAG Data Example

format
1 Cell position [meter] CP dd.d CP=2.5
2 Speed [m/s] SP dd.ddd SP=0.751
3 Direction [deg] DIR ddd.d DIR=170.1
4 Averaged AC N AC=5
Correlation
5 Averaged AA N AA=28
Amplitude
Example (DF=103):
$PNORC3,CP=4.5,SP=3.519,DIR=110.9,AC=6,AA=28*3B
Example (DF=104):
$PNORC4,27.5,1.815,322.6,4,28*70
7.1.4 RDI Workhorse PD0 data format.

See RDI documentation.
© 2022 Nortek AS
7.2 Burst
The telemetry of the BURST mode is controlled by the SET/GETTMBURST command. The DF
parameter of this command sets the data format.

3 Binary format as described in ‘Data Record Definition (version 3)’.
7.2.1 NMEA format 1 and 2 (DF=101/102)

Information Data:
Identifier:
PNORI1 for DF = 101 (without tags)
PNORI2 for DF = 102 (with tags)

1 Instrument type 4 = Signature IT N IT=4
2 Head ID SN N SN=123456
3 Number of NB N NB=3
Beams
4 Number of Cells NC N NC=30
5 Blanking [m] BD dd.dd BD=1.00

Distance
6 Cell Size [m] CS dd.dd CS=5.00
7 Coordinate CY ENU,BEAM,XY CY=BEAM
System Z
Example (DF=101):
$PNORI1,4,1234,1,54,0.50,1.00,BEAM*58
Example (DF=102):
$PNORI2,IT=4,SN=1234,NB=1,NC=54,BD=0.50,CS=1.00,CY=BEAM*68
Sensors Data:
Identifier:
© 2022 Nortek AS
1 Date DAT MMDDYY DATE=083013

E
2 Time TIM HHMMSS TIME=132455

E
3 Error Code EC N EC=0
4 Status Code SC hhhhhhhh SC=34000034
5 Battery Voltage [V] BV dd.d BV=23.9

7 Heading [deg] HSD dd.dd HSD=0.02
Std.Dev.
10 Pitch Std.Dev [deg] PIS dd.dd PISD=0.02
D
12 Roll Std.Dev. [deg] RSD dd.dd RSD=0.02
14 Pressure [dBar] PSD dd.dd PSD=0.02
StdDev
Example (DF=101):
$PNORS1,083013,132455,0,34000034,23.9,1500.0,0.02,123.4,45.6,0.02,R=23.4,0.
02,123.456,0.02,24.56*39
Example (DF=102):
$PNORS2,DATE=083013,TIME=132455,EC=0,SC=34000034,BV=23.9,SS=1500.0,HSD=0.02
,H=123.4,PI=45.6,PISD=0.02,R=23.4,RSD=0.02,P=123.456,PSD=0.02,T=24.56*3F
Burst Data, 4 slanted beams:

Identifier:
The burst data is repeated for each measurement cell.

E
© 2022 Nortek AS

E
and #beams >=2
and #beams >=3
and #beams =4
9 Amplitude Beam [dB] A1 ddd.d A1=78.9
1
2
3
12 Amplitude Beam [dB] Only if #beams =4 A4 ddd.d A4=78.9
4
13 Correlation [%] C1 N C1=78
Beam 1
Beam 2
Beam 3
16 Correlation [%] Only if #beams =4 C4 N C4=78

Beam 4
Example (DF=101 (ENU, 3 beams)):

$PNORC1,083013,132455,3,11.0,0.332,0.332,0.332,78.9,78.9,78.9,78,78,78*46
Example (DF=102 (ENU, 3 beams)):
$PNORC2,DATE=083013,TIME=132455,CN=3,CP=11.0,VE=0.332,VN=0.332,VU=0.332,A1=
78.9,A2=78.9,A3=78.9,C1=78,C2=78,C3=78*6D
Example (DF=102 (BEAM, 4 beams)):
$PNORC2,DATE=083013,TIME=132455,CN=3,CP=11.0,V1=0.332,V2=0.332,V3=-
0.332,V4=-0.332,A1=78.9,A2=78.9,A3=78.9,A4=78.9,C1=78,C2=78,C3=78,C4=78*49
Burst Data, Vertical beam:

Identifier:
© 2022 Nortek AS

E
E

6 Amplitude Beam [m/s] Only if CY=ENU A1 ddd.d A1=78.9
5
7 Correlation [m/s] Only if CY=ENU C1 N C1=78
Beam 5 and #beams >= 3
Example (DF = 102 (BEAM, 5th beam)):

$PNORC2,DATE=020217,TIME=132553,CN=6,CP=6.5,V1=1.304,A1=37.2,C1=20*35
© 2022 Nortek AS
7.3 Altimeter
The telemetry for the Altimeter is controlled by the SET/GETTMALTI command. The DF parameter of
this command sets the data format. Individually telemetered altimeter data is always derived from the
Leading Edge algorithm.
200 NMEA (PNORA) format without Tags.
201 NMEA (PNORA) format with Tags.
1 Date Date DAT YYMMDD DATE=130830

E
2 Time Time TIM hhmmss TIME=132455
E
4 Altimeter [m] A ddd.ddd A=112.233
Distance (LE)
5 Quality Q N Q=13068
Parameter
6 Status Status ST XX ST=00
7 Pitch [deg] PI d.d PI=2.3
8 Roll [deg] R d.d R=1.3
Example (DF=200):
$PNORA,190902,122341,0.000,24.274,13068,08,-2.6,-0.8*7E
Example (DF=201):
$PNORA,DATE=190902,TIME=122341,P=0.000,A=24.274,Q=13068,ST=08,PI=-2.6,R=-
0.8*72
© 2022 Nortek AS
7.4 Bottom Track

7.4.1 NMEA Bottom Track DF300/301
The telemetry for the Bottom track is controlled by the SET/GETTMBT command. The DF parameter of

300 NMEA (PNORBT) format without Tags.
301 NMEA (PNORBT) format with Tags.
Column Field/TAG Description Data format Example
1 BEAM Beam number N BEAM=3

2 DATE Date MMDDYY DATE=112813
3 TIME Time HHMMSS.SSS TIME=072228.23
S 45
4 DT1 Diff. time 1 d.dddd DT1=0.1234
5 DT2 Diff. time 2 d.dddd DT2=0.1234
6 BV Bottom Velocity [m/s] dd.ddddd BV=1.11111
7 FM Figure of Merit ddd.d FM=122.2
8 DIST Distance [meter] dd.dd DIST=36.66
9 WV Water Velocity [m/s] dd.ddddd WV=2.22222
10 STAT Status hh STAT=0
Example (DF=300):
$PNORBT,3,112813,072228.2345,0.1234,0.1234,1.11111,122.2,36.66,2.22222,0*7A
Example (DF=301):
$PNORBT,BEAM=3,DATE=112813,TIME=072228.2345,DT1=0.1234,DT2=0.1234,BV=1.1111
1,FM=122.2,DIST=36.66,WV=2.22222,STAT=0*75

Data format 302 and 303 combines NMEAS Sentences PNORBT and PNORS. PNORBT is described
above. PNORS is described in data format DF100.
Example (DF=302):
$PNORBT,1,022621,080141.0010,0.0000,0.0000,-3.65949,6553.5,-
0.87,0.00000,00*09
$PNORBT,2,022621,080141.0010,0.0000,0.0000,8.32654,6553.5,-
0.87,0.00000,00*2D
$PNORBT,3,022621,080141.0010,0.0000,0.0000,-0.79181,6553.5,-
0.87,0.00000,00*09
© 2022 Nortek AS
$PNORBT,4,022621,080141.0010,0.0000,0.0000,-0.79390,6553.5,-
0.87,0.00000,00*0C
$PNORS,022621,080141,00000000,28480002,15.5,1300.0,67.4,-13.0,84.9,0.000,-
86.04,0,0*64
Example (DF=303):
0,FM=657.6,DIST=502.81,WV=0.00000,STAT=00*34
8,FM=6553.5,DIST=-0.87,WV=0.00000,STAT=00*2E
$PNORBT,BEAM=3,DATE=022621,TIME=080904.0010,DT1=0.0000,DT2=0.0000,BV=-
2.13519,FM=6553.5,DIST=-0.87,WV=0.00000,STAT=00*04
$PNORBT,BEAM=4,DATE=022621,TIME=080904.0010,DT1=0.0000,DT2=0.0000,BV=-
2.34760,FM=6553.5,DIST=-0.87,WV=0.00000,STAT=00*0A
$PNORS,022621,080904,00000000,28480002,15.5,1300.0,67.7,-13.1,85.1,0.000,-
85.68,0,0*6F

The telemetry for the Bottom track is controlled by the SET/GETTMBT command. The DF parameter of

300 NMEA (PNORBT3) format with Tags.
301 NMEA (PNORBT4) format without Tags.
Column Field/TAG Description Data format Example
1 SP Speed [m/s] dd.ddd SP=3.141

DIR Direction [deg] ddd.d DIR=31.4
2 FOM Mean beam Figure of N FOM=3141

Merit
3 D1 Distance to bottom, Beam dd.d D1=1.1
1 [m]
2 [m]
3 [m]
4 [m]
Example (DF=304):
$PNORBT3,SP=9.094,DIR=336.3,FOM=6553,D1=-0.9,D2=-0.9,D3=-0.9,D4=-0.9*2F
Example (DF=305):
© 2022 Nortek AS
$PNORBT4,1.787,330.1,2071,498.4,483.3,-0.9,501.8*24
© 2022 Nortek AS
8 Appendix
8.1 Echosounder equations
F = frequency in kHz
Fc = center frequency in kHz, given by the FREQ parameter for the last beam, typically
BEAMCFGLIST,BEAM=5,FREQ
MajorAxis3dBBeamAngle:
GETUSERECHOMAJORANGLE values when EN=1:
MajorAxis3dBBeamAngleOffset:
GETUSERECHOMAJOROFFSET values when EN=1:
MinorAxis3dBBeamAngle:
GETUSERECHOMINORANGLE values when EN=1:
MinorAxis3dBBeamAngleOffset:
GETUSERECHOMINOROFFSET values when EN=1:
TwoWayBeamAngle:
GETUSERECHOTWOWAYANGLE values when EN=1:
Gain:
GETUSERECHOGAIN polynomial values when EN=1. When pulse compression is enabled the
polynomial expression shall define the gain over the bandwidth given by:
The bandwidth is given in % by the BW parameter for the last beam, typically
BEAMCFGLIST,BEAM=5,BW
For monochromatic echograms the gains at the monochromatic frequency specified in

GETECHO,FREQ is given directly for up to three frequencies:
© 2022 Nortek AS
Appendix 117
© 2022 Nortek AS

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Contents 3

Ch. 4 Using the Command Interface 16

5.8 Burst settings ...................................................................................................................... 39

5.51 Major beam angle calibration ............................................................................................ 69

Ch. 6 Data Formats 78

Ch. 7 Telemetry Data Formats 98

Ch. 8 Appendix 116

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You can also write us at:

Version/revision Date Comments

Version 2016.3 30.09.2016

2 Basic interface concept

Figure: Instrument modes of operation

@@@@@@ <delay 150 milliseconds> K1W%!Q <delay 400 milliseconds> K1W%!Q

@@@@@@ K1W%!Q K1W%!Q

Symbol Parameter Min. Typical Max. Unit

t1 Time from end of @-sequence to start of first K1W%!Q- 100 150 ms

2.3 Dual Processor

3.1 Command interface

3.3 Ethernet Operation

3.3.1 Telnet Connection

Signature Username: nortek

To terminate the telnet connection, enter Ctrl-X (ASCII 0x18).

3.3.2 Raw Connections

3.4 Serial Operation

Internal Sampling (INTSR)

RS-485 trigger types

4 Using the Command Interface

Parameter Example Description

STR="Signature1000",SN=900002 Instrument name and serial

TF - Max number of recorder

4.2 User Cases

% Waking up the BBP to make sure commands are received

% Inquiring the state the of the instrument

4.2.2 Download telemetry file via FTP

% Configuration for instrument:

% Configuration for telemetry file:

% Erasing telemetry file

% Continuing the configured deployment plan

4.2.3 Download telemetry file over serial port

%Going into Data Retrieval Mode

% Checking the size of the telemetry file. Return in bytes

% Next 4096 byte chunk, etc

% Erasing telemetry file

% Continuing the configured deployment plan

4.2.4 View memory and power requirements, Signature100

% Retrieve power requirements for the default Signature100 plan (mWatts)

% Retrieve memory requirements for the default Signature100 plan

4.2.5 Average velocity data and NMEA, Signature 55

% Setting plan for "Fine" profile

% Setting plan for "Coarse" profile

% Setting the alternating measurement intervals and ratios of "Fine" and

% Finding where the error in the configuration is

% Number of pings too high compared to desired averaging interval with

Enter START or DEPLOY,TIME to begin the deployment.

4.2.6 Disable a beam, Signature500

% Disable averaging and enable burst measurements.

% Save the configuration.

4.2.7 Average telemetry, Signature1000