Correction of Teledyne Acoustic Doppler Current Profiler (ADCP)   Bottom-Track Range Measurements for Instrument Pitch and Roll
  The Workhorse Acoustic Doppler Current Profiler (ADCP) manufactured by Teledyne RD Instruments (RDI) uses a "Bottom-Tracking" algorithm to yield data intended to represent distance to the bottom. However, current RDI software processing does not take into account the pitch and roll of the instrument. This technical note outlines post-deployment computations required to correct the reported Bottom-Track Ranges for instrument pitch and roll in the scenario where the ADCP is upward-looking with Bottom-Tracking being used to estimate distance to the surface. 
Rebecca A. Woodgate and Alexander E. Holroyd
physics.ao-ph physics.ins-det