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APEX PROFILER USER MANUAL

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1. The control firmware retracts the piston to the ParkPistonPos in order to descend from the surface to the park pressure The ParkPistonPos should be set so that the float will become neutrally buoyant at the park pressure The valid range is 1 254 counts ParkPressure This is the target pressure for the active ballasting algorithm during the park phase of the mission cycle The valid range is 0 2000 dbar PnPCycleLen A deep profile is initiated when the profile id is an integral multiple of PnPCycleLen All other profiles will be collected from the park pressure to the surface PW negreit The password used to login to the host computer TelemetryRetry This determines the time period between attempts to successfully complete telemetry tasks after each profile The valid range is minute to 6 hours TimeOfDay 44 This allows the user to specify that the down time should expire at a specific time of day ToD The ToD feature allows the user to schedule profiles to happen at night for example The ToD is expressed as the number of minutes after midnight GMT The valid range is 0 1439 minutes Any value outside this range will cause the ToD feature to be disabled Wp imeesetecoekccs This determines the maximum amount time allowed to execute the profile and complete telemetry The valid range is 1 minute to 1 day 50 of 54 The login name on the host compu
2. P 65530 65530 32769 P 65536 10 gt 0 6 dbar Temperature gt 0 Ox3EA6 lt OxEFFF T 16038 16038 lt 61439 T 1000 16 038 C Temperature lt 0 OxF58B gt 0xF001 T 62859 62859 61441 T 65536 1000 gt 2 677 C Salinity gt 0 Ox8FDD lt OxEFFF gt S 36829 36829 lt 61439 S 1000 gt 36 829 psu Salinity lt 0 OxFF9C OxF001 S 65436 y 65436 61441 S 65536 1000 0 100 psu 31 of 54 GPS Fixes Before each telemetry cycle the float attempts to acquire a GPS fix An example of a successful fix as reported in an Iridium message file is shown below The information includes the latitude and longitude of the float time required to obtain the location the date and time the information was acquired and the number of satellites used Longitude is positive in the eastern hemisphere and negative in the western hemisphere Latitude is positive in the northern hemisphere and negative in the southern hemisphere Date and time are presented in the format shown in the example GPS fix obtained in 98 seconds lon lat mm dd yyyy hhmmss nsat Fix 152 945 22 544 09 01 2005 104710 8 If the float is not able to obtain a GPS fix this block of the message file will instead contain the message below Attempt to get GPS fix failed after 600 seconds Biographical and Engineering Data The biographical and engineering data occupy the last block in the Iridium messa
3. 4 TELEDYNE WEBB RESEARCH A Teledyne Instruments Inc Company 82 Technology Park Drive E Falmouth Massachusetts 02536 Phone 508 548 2077 Fax 508 540 1686 Email dwebb webbresearch com APEX PROFILER USER MANUAL Applies to Serial Numbers 4986 4987 Depth Table 83 FLBB Revision Date 01 25 10 Customer name CSIRO Job Number 1674 Firmware Revision APF9I F W 03 04 10 Features APF9I Controller Park and Profile Deep Profile First DPF Air pump energy consumption limit Time of Day profile control Non modal behavior I Alka line B ttery Warning is siscais pnesovincaesainsdy danse cavesdeanseieehasavondsssivstesuundetban cigvensveaveaeasedstivie cates 4 II APF9 Operations Warning for APF8 Operator sscccsssccssssccssssccsssscsssssccessccssssscsssscees 5 II APF9I Operations Warning for APF9A Operators sscccsssscssssscssssccssnccssssccsessccssssceeees 6 IV Maximum Operating Pressure sssessssssesssssoeessssccssssocsessececesssocsessocesesseesessoccesssocesssocesessee 6 V Evaluating the Float and Starting the Mission ccsscccssscccssssssssscssssscssssscsessccssscsessecseees 7 A Manual Deployment with the Reset Tool esssesssocesocesocssocesocesocesocesocesocesocesocssocessosesosesosesoseso 8 B Pressure Activation Deployment sccssssccsssscsssscssssccsssscssssscssscsssassssscscsssssssssssssasssssssssscess 9 C Mission Activation and Operator Float Function Check eeese
4. 0 08 dbar per second For example a 1200 dbar profile requires approximately 4 hours If you wish to have the float reach the surface at approximately 02 00 set TOD so that the Down Time will expire 4 hours earlier Four hours earlier is 22 00 which is 1320 minutes after midnight Therefore set TOD to 1320 minutes If profiles are to be conducted from both the Park Depth and the Profile Depth and the operator wishes the float to reach the surface at a consistent time the Deep profile descent time Parameter Mtj must be set to a reasonable value for the descent from the Park Depth to the Profile Depth See Profile Ascent Timing for additional information XII Using Time of Day TOD for FLBB Floats WetLabs recommends profiling with an FLBB before local sunrise The reason is that by dawn the night time cooling induced vertical mixing has stabilized and the phytoplankton population that will be producing the day s growth can be measured with minimal mixing and grazing effects 1200 dbar 0 08 dbar sec 3600 sec hr 4 16 hours 20 of 54 Iridium Data A Iridium Service and Costs Each float operator must obtain an Iridium SIM card Subscriber Identity Module for each APF9I float SIM cards are obtained from an Iridium provider who you will need to locate and choose Iridium charges can be a significant expense and it is worth shopping for a good rate There are a number of providers and the list is not restricted becaus
5. 875 0 850 0 825 0 800 0 775 0 750 0 725 0 700 0 675 0 650 0 625 0 600 0 575 0 550 0 525 0 500 0 480 0 460 0 440 0 420 0 400 0 390 0 380 0 370 0 360 0 350 0 340 0 330 0 320 0 310 0 300 0 290 0 280 0 270 0 260 0 250 0 240 0 230 0 220 0 210 0 200 0 190 0 180 0 170 0 160 0 150 0 145 0 140 0 135 0 130 0 125 0 120 0 115 0 110 0 105 0 100 0 95 0 90 0 85 0 80 0 75 0 70 0 65 0 60 0 55 0 50 0 45 0 40 0 35 0 30 0 25 0 20 0 15 0 10 0 6 0 0 0 To prevent fouling of the CTD by surface and near surface contaminants the APF9I halts continuous profiling 4 dbar deeper than the most recent surface pressure measurement As an additional safety feature the SBE41cp will stop sampling when the measured pressure reaches 2 dbar if it has not already been halted by the float 33 of 54 G The Remote UNIX Host This iridium implementation uses a modem to modem communications model The float initiates a telephone call to a remote host computer logs into the remote host with a username and password executes a sequence of commands to transfer data and then logs out The communications session is float driven With respect to the remote host there is no difference between the float logging in and a human logging in The communications session is initiated and fully controlled by the float On the other hand the float is not naturally adaptable or interactive like a human would be and so an unusual amount of fault tolerance has been built into both sides of the communi
6. The pressure where the control firmware transitions from subsampling the water column in the deep water to where the CP mode of the SBE4Icp is activated for a high resolution profile to the surface Important note The SBE41CP is not designed for subsampling in the presence of significant temperature gradients The pump period for spot samples is insufficient to drive thermal mass errors own to an acceptable level This time determines the maximum amount of time allowed for the float to descent from the park pressure to the deep profile pressure The deep profile is initiated when the DeepProfileDescentTime expires or else the float reaches the deep profile pressure whichever occurs first The valid range is 0 8 hours The control firmware retracts the piston to the DeepProfilePistonPos in order to descend from the park pressure to the deep profile pressure The DeepProfilePistonPos should be set so that the float can reach the deep profile pressure before the deep profile descent period expires The valid range is 1 254 counts This is the target pressure for deep profiles The valid range is 0 2000 dbar This determines the length of time that the float drifts at the park pressure before initiating a profile The valid range is 1 min to 30 days This command requires no argument and causes the FLASH memory chip to be 48 of 54 reformatted WARNING All contents of the FLASH file system will be destroye
7. coefficients Deactivate CP mode Display SBE41cp firmware revision Enter SBE41cp gateway mode Configure the SBE41cp Measure power consumption by SBE41cp Display SBE41cp serial number Get SBE41cp pressure Get SBE41cp PT S amp O Get SBE41cp P amp T low power Upload CP data System Diagnostics Menu gt I Menu of diagnostics tHNTO RNA hOdDANTAN Print this menu Run air pump for 6 seconds Move piston to the pressure activation position Close air valve Display piston position Extend the piston 4 counts Freeze into inactive mode Goto a specified position 1 254 counts Set maximum engineering log size 5 63 KB Open air valve Retract the piston 4 counts Execute the SelfTfest Calculate ToD down time expiration 44 of 54 Mission Programming Agent The interaction recorded below shows the operator entering the Mission Programming Agent from Command Mode M displaying the available commands and quitting the agent Q to return to Command Mode Note that the system performs sanity checks on the mission parameters when leaving the Mission Programming Agent Warnings will be displayed if problems are detected gt M Entering Mission Programming Agent gt Menu selections are not case sensitive Print this menu B Buoyancy control agent Bh Compensator hyper retraction for park descent 0 254 counts Bi Ascent initiation buoyancy nudge 25 254 counts Bj Deep
8. following figure which shows a float installed 9522A Iridium modem communicating with the ground station Iridium gateway via an Iridium satellite The Iridium gateway is then accessed for data by either phone line using a host server with a modem or over the network using the RUDICS service Tridium Satellite Phone Modem lt lt q_______ gt RUDICS Tridium Ground Station For modem to modem communications without RUDICS you will need independent primary and alternate host servers each with a modem connected to the phone system to receive the calls and data from the float A full description of this equipment and software is beyond the scope of this manual However Teledyne Webb Research makes regular use of U S Robotics external modems Model USR3453C Courier 56K Business Modem A Linux based modem to modem solution has been developed by Dana Swift at the University of Washington The software and documentation are available in a tarball at no charge however it requires some level of Linux expertise on your part to implement If you are experienced with Linux the process is quite straightforward You will need to acquire the servers install and configure Linux and reconcile any differences between the version of Linux on your host servers and the version of Linux under which the distribution was developed RedHat Linux 9 The package automates the reception of data messages from multiple floats and fully supports two
9. format For continuously sampled data 2 decibar bins are used for bin averaging These data are encoded as three 16 bit integers PTS a 16 bit oxygen frequency and then an 8 bit integer that represents the number of samples in the bin Nov 11 2006 08 17 34 Sbe41cpSerNo 1140 NSample 4192 NBin 488 000000000000000000 2 002964D8899629A70C 003C64DA899629A30C 005064DA899629A20C 006464DD899629A 10A 007864DE8996299C0B 008C64E18996299A0B 00A064E28996299A0A 00B464E5899629980B 00C964E3899629940A 00DD64E2899629930A 00F064E48996299009 010564E48996298C0A 011864E68996298A09 012C64E6899629880B snippage 25F80FA486A30FD80E 260COFA286A30FDAO0F The first 4 bytes of the encoded sample represents the pressure in centibars The second 4 bytes represents the temperature in millidegrees The third 4 bytes represent the salinity in parts per million The next 4 bytes represent the oxygen frequency in Hertz The final 2 bytes represent the number of samples collected in the 2dbar pressure bin For example the encoding 260COFA286A30FDAOF represents a bin with OxOF 15 samples where the mean pressure was 0x260C 974 0dbars the mean temperature was OxOFA2 4 002C the mean salinity was Ox86A3 34 467PSU and the mean oxygen frequency was OxOFDA 4058Hz The PTSO values were encoded as 16 bit hex integers according to the functions below Integers in square brackets indicate replicates of the same encoded line For example a line
10. is received to the modem on the host server where you are receiving the call and data from the float These two characteristics of the call from the gateway modem to the server modem are e analog tone vs digital ISDN e serial baud rate The default in many cases is digital A problem can arise if your local phone company has only a limited number of ISDN lines available The likely symptom during pre deployment testing is a report from the float of No carrier detected This may occur either before or after a connection is established The solution is to force the conversation to be analog This can be done by embedding a CBST command in the Primary and or Alternate Dial Commands Parameters Mhp and Mha A standard dial command has the form ATDT0012223334444 ATDT is a command to the modem 00 is the required calling prefix and 12223334444 is the phone number of your modem beginning with the country code To embed the CBST command alter the dial command as follows AT CBST 71 0 1 DT0012223334444 The first argument of the CBST command a 71 in the example above specifies the baud rate according to the table below which applies to modem version V 110 First argument values from the table 0 66 68 70 and 71 also force the conversation to be analog Your server modem should be set to match the commanded baud rate or auto select The second and third CBST arguments are always 0 and I CBST Baud Rate 0 0 1 auto 66
11. operator interface and behavior of the APF8 If you are an experienced APF8 user please observe appropriate cautions and do not assume an expected behavior Several important differences are listed below These points should also be helpful to those without an APF8 background e The serial baud rate for communications is 9600 with 8 data bits no parity and 1 stop bit The APF8 baud rate is 1200 e APF9 floats using this non modal version of firmware are shipped in Pressure Activation mode The Reset Tool can then be used to toggle between Pressure Activation mode and starting a new mission e If the APF9 is performing some task e g self tests it is not listening and cannot be placed in Command Mode with either the Reset Tool or a keystroke at the terminal o There is one exception If the piston is moving the Reset Tool but not a keystroke can be used to terminate the move The APF9 will transition to its next state or task Typically this will be either Command Mode or Sleep so try a keystroke or a second application of the Reset Tool after the piston stops to confirm or trigger the transition to Command Mode e If the APF9 is not responding it is probably busy with some task Be patient and occasionally try to get the attention of the float with either the Reset Tool or a keystroke e The logging verbosity of the APF9 can be adjusted by the operator The level Parameter D Logging verbosity 0 5 adjusts the amount of informatio
12. profile piston position 1 254 counts Bn Ascent maintenance buoyancy nudge 5 254 counts Bp Park piston position 1 254 counts C Continuous profile activation pressure decibars F Float vitals agent Fb Maximum air bladder pressure 1 254 counts Ff Piston full extension 1 254 counts Fs Storage piston position 1 254 counts Fv OK vacuum threshold 1 254 counts H Host configuration agent Ha Dial command for alternate host Hp Dial command for primary host Hr Telemetry retry interval 1 360 minutes Ht Host connect time out 30 300 seconds J Deep profile pressure 0 2000 Cdecibars K Park pressure 0 2000 Cdecibars L List mission parameters N Park and profile cycle length 1 254 Q Quit the mission programming agent S Sample mode for FLBB 0 Disable 1 Enable T Mission timing agent Ta Ascent time out period 120 600 Minutes TC Time of day for expiration of down time 0 1439 Minutes Td Down time 0 336 hours Minutes Tj Deep profile descent time 0 480 Minutes Tk Park descent time 0 480 Minutes Tp Mission prelude 0 360 Minutes Tu Up time 0 1440 Minutes Z Analyze the current mission programming gt Q All constraints and sanity checks passed Quiting Mission Programming Agent gt 45 of 54 Listing Mission Parameters gt L APEX version 120309 sn ENABLE FLBB sample mode Ms INACTV ToD for down time expiration Minutes M
13. that looks like 000000000000000000 2 indicates that there were 2 adjacent lines with the same encoding all zeros in this case 30 of 54 Conversion Notes The pressure range is 3276 7 dbar to 3276 7 dbar Hex values 0x7FFF 0x8000 0x8001 and OxFFFF are used to flag out of range and edge of range measurements or are otherwise reserved Pressures in the range 0 15 dbar to 0 05 dbar are mapped to OXFFFE gt 0 2 dbar The temperature range is 4 095 C to 61 439 C Hex values 0xFO00 OxF001 OXEFFF and OxFFFF are used to flag out of range and edge of range measurements or are otherwise reserved Temperatures in the range 0 0015 C to 0 0005 C are mapped to OXFFFE 0 002 C The salinity range is 4 095 psu to 61 439 psu Hex values 0xF000 OxFO01 OXEFFF and OxFFFF are used to flag out of range and edge of range measurements or are otherwise reserved Salinities in the range 0 0015 psu to 0 0005 psu are mapped to OxFFFE 65 534 psu To convert the hex values in an Iridium message file to physical units proceed as described in the table below The initial conversion from Hexadecimal to Decimal should assume the hex value is an unsigned integer with a range of 0 to 65535 E ERA Hexadecimal Decimal and Physical Decimal comparison Conversion Steps Result Pressure gt 0 0x1D4C lt 0x7FFF P 7500 7500 lt 32767 P 10 gt 750 0 dbar Pressure lt 0 OxFFFA gt 0x8001
14. versions of the self tests differ Verify by ear that the air pump is activated for approximately 1 second DO NOT DEPLOY THE FLOAT IF IT DOES NOT BEHAVE AS DESCRIBED BELOW FLOATS THAT DO NOT PASS THE SELF TESTS SHOULD NOT BE DEPLOYED CONTACT TELEDYNE WEBB RESEARCH FOR ASSISTANCE The float will conduct self tests for approximately 15 seconds Progress and diagnostic messages will be displayed if a terminal is connected to the float see Connecting a Terminal for additional information If the float passes the self tests Manual Deployment If not already fully extended the float will fully extend the piston This process may require up to 25 minutes The oil bladder will expand during this time The float will also fully inflate the air bladder Pressure Activated Deployment If not already fully retracted the float will fully retract the piston This process may require up to 25 minutes The oil bladder will deflate during this time The float will also deflate the air bladder The volume of oil in the bladder is difficult to detect by hand You may be able to hear the pump by placing your ear against the hull Air bladder inflation can be easily verified as described in Step 4 11 of 54 8 9 Manual Deployment Once the piston is fully extended the float enters the Mission Prelude phase During this phase it will telemeter its GPS location and the mission parameters Check for air bladder inflation by sticking you
15. way communication Some user developed documentation of the implementation process is included later in this manual see The Remote Unix Host Additional Linux based packages for data processing are also available with limited support Contact Teledyne Webb Research for further information 25 of 54 An alternative to setting up the modem to modem solution yourself especially if you are not comfortable with Linux or do not wish to set up and maintain host servers is to contract out the reception of the calls and have the data provided to you by email FTP or web server The contractor is then responsible for maintaining the servers and modems This is similar to the long standing ARGOS system There are providers available and you may wish to investigate this possibility Contact Teledyne Webb Research for additional information Another alternative to setting up the modem to modem solution yourself is to use RUDICS the Router based Unrestricted Digital Internetworking Connectivity Solution which is available from several providers including Iridium Satellite LLC and NAL Research Inc RUDICS is Internet rather than phone based which provides additional connection redundancy The float makes calls as before and these are received at the Iridium ground station The data are then made available to you using a browser through a website set up by your RUDICS provider You do not need to maintain a host server and will only need a computer with
16. 0 1 1200 68 0 1 2400 70 0 1 4800 71 0 1 9600 27 of 54 E Iridium Data Iridium message files end with a msg extension Each iridium message file consists of blocks of similar data presented in the order that they were collected during the profile cycle This firmware revision includes five blocks of data 1 Park phase PT samples These are hourly low power PT samples collected during the park phase of the profile cycle 2 Low resolution PTSO samples The deep parts of the profile can be represented using low resolution spot samples collected at predetermined pressures Low resolution spot sampling in the deep water was implemented as an energy savings measure In addition low resolution FLBB samples are collected over the whole water column according to the sample table 3 High resolution PTSO samples The shallower parts of the profile can be represented with high resolution ie 2 decibar bin averaged PTSO samples In continuous profiling mode the CTD samples at 0 83Hz and stores the data for later binning and averaging 4 GPS fixes After the profile is executed and the float reaches the surface the location of the profile is determined via GPS 5 Biographical amp engineering data Various kinds of biographical and engineering data are collected at various times during the profile cycle Usually only one telemetry cycle is required to upload the data to the remote host computer However sometimes the iridium conne
17. C Using Modem to Modem Communications cccsccssssccssscssssssssssscsssccssssscssssssssssssssssssessees 25 Dy Bearer Service Type ssssscosscsscosstsnatecosssccsasssensesonssecansdssnsesesssevoscssencssnscceensesessteseossesnasssssesessseseass 27 EB Tridiurm Data EEE TT E E E E 28 F Pressure Table for PTS Samples sesesesesocesocssocssoeesoessoesesosesocesocesocesocesocesocesocesocssscsssosesosesoe 33 G The Remote UNIX HOt ssssssscssesssscccssessscssssccsesensssssecsscesesssssssssssssesossssssessosssessssossees 34 Appendix A Storage conditions visas casieussvucnsasssdoseindsvcosatsdenvavint cusees Oovecetevasssiouasensei gna teats 39 Appendix B Connecting a Terminal ccccsscccsssscssssccssssccssnsccssnsccssnscssssccesssccesssccessscessssccesaees 40 Appendix C APF 9I Command Summary scccsscccssssccsssscsessscssncccssssccsssccsssscssssccsssacesssacessaees 41 Appendix D Mission Parameters isisscicescsccscsssvaccvancssevessissvessorentsesesssdnavevenusedensssdebacssevedsoateceueess 47 Appendix E Returning APEX floats for factory repair or refurbishment sssccsseseseees 52 Appendix Fe MISSIONS cicesccscsccaudsssatscvinsnssdessetaugnasdecesdivietveissennvebbbicssesuotstaudih detvsdeencsuasseccagenstuvees 53 2 of 54 3 of 54 l Alkaline Battery Warning The profiler contains batteries comprised of alkaline manganese dioxide D cells There is a small but finite possibility that batteries of alka
18. Serial Number Handling The SIM phone book is programmed with the phone number assigned to the SIM MSISDN Mobile System Integrated Services Digital Network and the SIM ID number ICCID Integrated Circuit Card Identification The firmware will be able to query the LBT because it cannot be done through the standard AT commands This protects against SIM cards being swapped between floats If a float fails after deployment there is a record of which SIM card is coupled to a particular float that allows the SIM card to be deactivated This information can be programmed using a terminal emulation program 19200 N 8 1 LBT test fixture and the following commands AT wait 60 seconds AT CPBS SM AT CPBW 101 lt CCID gt 129 lt MSISDN gt AT CPBS AT CPBR 101 to verify OP WDNR where lt CCID gt and lt MSISDN gt are actual values Note If the PIN needs to be set use the following command AT CPIN lt PIN gt GPS LBT Remote Host Testing After connecting to an iridium antenna enter sail commands via a terminal emulation program 9600 8 N 1 Press any key to enter command mode gt prompt gc configure the GPS gp access satellites and set the real time clock gf get a GPS fix he configure the Iridium modem r activate recovery mode where a GPS fix is followed by an Iridium call and once a connection established upload mission cfg and download l
19. The telemetry interval is set by the operator Parameter Mhr Mission Prelude duration is typically 6 hours In this particular version of the APF9I firmware the Mission Prelude will terminate after the first successful telemetry cycle or it will time out after 9 hours 9 of 54 1 2 3 4 Mission Activation and Operator Float Function Check Secure the float in a horizontal position using the foam cradles from the shipping crate The minimum internal temperature of the float is 2 0 C If necessary allow the float to warm up indoors before proceeding Remove the plastic bag and three 3 plugs from the CTD sensor as shown in the two images below Carefully remove the black rubber plug from the bottom center of the yellow cowling as shown in the image below This will allow you to verify air bladder inflation in the steps below Use only your fingers to remove the plug Tools may puncture or otherwise harm the bladder Be sure to replace the plug before deployment Note It can be difficult to replace the plug when the air bladder is fully inflated We suggest that you reinsert the plug before the bladder is fully inflated The plug prevents the entry of silt into the cowling in the event the float contacts the sea floor 10 of 54 5 6 7 Start a Manual or Pressure Activated Deployment This will trigger the Mission Activation self tests Where applicable the description below indicates where the two
20. ause for concern Manual Deployment The float will remain on surface for the duration of the Mission Prelude Pressure Activated Deployment The float will sink immediately It will return to the surface within 3 hours and begin the Mission Prelude after detecting a pressure in excess of 1500 dbar 14 of 54 Vil Park and Profile The APF9I float can be set to profile from a maximum depth Profile Depth after a programmable number N of profiles from a shallower depth Park Depth Special cases are conducting all profiles from either the Profile Depth or the Park Depth The latter is an important special case that can be selected by setting N 254 This will cause all profiles to start at the Park Depth the programmed Profile Depth is ignored Between profiles the float drifts at the Park Depth Terminology e Park Depth Intermediate depth at which the float drifts between profiles and from which the float profiles in cycles not evenly divisible by N e Profile Depth Maximum depth to which the float descends from the Park Depth every Nth cycle and from which each Nth profile is conducted e Down Time Programmed time limit for descending from the surface and drifting at the Park Depth Down Time is commonly set to 10 days or to 10 days less the Up Time e Up Time Programmed time limit for ascending from the Park or the Profile Depth and drifting at the surface while transmitting the data acquired during the profile Up Time is ty
21. bar DownTime 601 min FlashErase FlashCreate FlbbMode 1 23 of 54 FloatId 5233 InitialBuoyanctNudge 22 count MaxLogKb 60 KByte ParkDescentTime 240 min ParkPistonPos 66 count ParkPressure 1000 dbar PnPCycleLen 1 Pwd iridium TelemetryRetry 15 min TimeOfDay DISABLED min UpTime 660 min User iridium Verbosity 2 The chkconfig utility performs parameter sanity checks so it is a good idea to include all of the commands above so that their safe interaction can be verified before the new configuration is downloaded by the float The mission cfg file should not be empty but it is sufficient to include only a comment or just a benign command such as Verbosity 2 if you do not wish to make any changes Several of these commands should only be used if absolutely required and then only with caution For example DO NOT change both the primary and the alternate dial commands at the same time Conversely commands such as CpActivationP Decibars might be used frequently to adjust the range of high resolution sampling in response to observations of the water column returned by previous profiles 24 of 54 C Using Modem to Modem Communications Iridium supports several different modes of operation for data communication although APF9I firmware is currently only compatible with modem to modem communication also referred to as dial up service Modem to modem communication is illustrated in the
22. bar cylinder e 1200 dbar battery payload typically 28 greater than with 2000 dbar cylinder For example if an APEX profiler is specified by the customer for 1400 dbar maximum profile depth then the 1500 dbar cylinder would normally be used CAUTION If you will be e Exposing floats to significant hydrostatic pressure during ballasting or testing e Re ballasting and re programming floats for a depth greater than the original specification Please contact TeledyneWebb Research to confirm the pressure rating of specific floats Do not exceed the rated pressure or the hull may collapse 6 of 54 V Evaluating the Float and Starting the Mission APF9I profilers use either modal or non modal controllers Since the type of controller determines the behavior of the Reset Tool it is extremely important to determine which type of controller is loaded on the profiler The controller described in this manual is non modal meaning that the float will be shipped in Pressure Activation mode and the Reset Tool can be used to toggle the float between Pressure Activation mode and starting a new mission This contrasts with modal floats in which the Reset Tool is always used to start a mission and not to put the float in Pressure Activation mode The motivation for using non modal controllers is to reduce the risk of launching floats that do not start missions For non modal controllers the float will always run a mission when launched either beca
23. broadband Internet access RUDICS does have a large setup cost but subsequent data costs and connection times are typically lower compared to other modem to modem solutions Although APF9I firmware is currently only compatible with modem to modem communication several other Iridium communication modes exist These include the Short Burst Data service SBD and the Short Messaging Service SMS SBD is a simple and efficient bi directional transport capability used to transfer messages with sizes ranging from zero a mailbox check to 1960 bytes for Mobile Originated MO SBD and zero to 1890 bytes for Mobile Terminated MT SBD devices SBD takes advantage of signals within the existing air interface without using the dedicated traffic channels As a result small amounts of data can be transferred more efficiently than those associated with circuit switched data calls SBD messages can be delivered to the end user using a variety of mechanisms including email and FTP Alternatively SMS transfers data messages up to 160 characters in length SMS is a store and forward method of transmitting messages geared towards mobile devices in which the message from the originator is stored in a central Short Message Center before being forwarded to its destination 26 of 54 D Bearer Service Type The bearer service type BST specifies two characteristics of the phone call made from a modem at the Iridium ground station where the signal from the satellite
24. cations session An important fault tolerance measure is redundancy in the form of two similarly configured remote hosts each with its own dedicated telephone line This is optional but recommended Ideally these two remote hosts should be separated far enough from each other that power outages or telephone outages are not likely to simultaneously affect both remote hosts The float firmware is designed to automatically switch to the alternate remote host if with the primary remote host appears to be out of service System Requirements This iridium implementation is strongly tied to the use of a UNIX computer as the remote host ie Microsoft operating systems are not suitable The most important system requirement is a system administrator that is familiar comfortable and competent in a UNIX environment While many different flavors of UNIX could be made to work development was done using RedHat Linux versions 7 9 RedHat Linux version 9 will be assumed for the remainder of this section The mgetty package must be installed and configured to monitor a Hayes compatible external modem attached to one of the serial ports For information on how to install and configure the mgetty package refer to the mgetty documentation supplied with RedHat Linux If you customize the login prompt make sure that it includes the phrase login Similarly make sure that the password prompt includes the phrase Password The float will not succ
25. ck RTC The RTC can be set by the operator to any desired reference time However the float will automatically update the RTC each time a GPS fix is obtained if the RTC and the GPS satellite disagree by more than 30 seconds As a consequence APF9I floats will end up running on GMT eventually so the operator should only set the RTC to GMT to avoid confusion and scheduling problems This is particularly important if the TOD feature is to be used To view or set the RTC enter the Main Menu see Connecting a Terminal and APF9I Command Summary and use the t command as shown in the examples below Viewing the RTC gt t lt entered by operator followed by ENTER Real time clock Fri Sep 25 04 47 05 1970 Setting the RTC gt t 07 24 2007 17 11 00 lt entered by operator as mm dd yyyy hh mm ss Sep 25 1970 04 47 45 393506 sec ParseTime The time string represents the date Tue Jul 24 17 11 00 2007 Real time clock Tue Jul 24 17 11 01 2007 The date and time must be entered in the format shown in the example above The RTC will revert to 1970 if the batteries providing power to the APF9I are disconnected In this case the operator should reset the RTC after restoring power to the float 18 of 54 Xl Time of Day TOD APF 9I floats have the option of scheduling profiles so that the float surfaces at a particular time of day TOD The APF9I real time clock is used to dynamically set the end of the Down Time to some u
26. column For subsampled data the values of pressure temperature and salinity are not encoded but are given in conventional units decibars C PSU This firmware was designed for iridium floats with an SBE43 a k a IDO oxygen sensor The IDO sensor does not report the actual oxygen concentration Instead it reports the oxygen frequency Hertz that requires additional processing to obtain oxygen concentration via calibration equations The calibration equations are expressed in terms of calibration coefficients that are specific to individual IDO sensors The FLBB sample includes three signal channels fluorescence FSig backscatter BbSig and thermistor TSig Each of these channels are derived from a 12 bit A D measurement The FSig and BbSig channels were encoded using the function FlbbEncode12Bit below while the TSig channel is encoded using FlbbEncodeTSig All three of these channels are packed into a 32 bit word using FlbbEncode This 32 bit word can be unpacked and decoded using FlbbDecode For example Discrete samples 173 p t s ofreq Fsig BbSig TSig 778 92 3 5565 34 8550 4025 102 68 549 Park Sample 1045 43 3 3725 34 8454 4025 101 66 548 993 81 3 4185 34 8500 4025 103 66 548 983 74 3 4231 34 8500 4025 99 68 548 975 95 nan nan nan 101 68 548 970 68 nan nan nan 103 65 548 snippage 6 46 nan nan nan 103 68 547 5 45 nan nan nan 101 68 547 4 45 nan nan nan 100 70 547 29 of 54 High Resolution PTS Sample
27. ction is broken or the quality of the connection is so poor that the float will abort the telemetry attempt wait a few minutes and then try again Data blocks 4 and 5 will be repeated for each telemetry cycle of a given profile A description of the format for each of these blocks of data follows Park Phase PT Sample format Hourly low power PT samples are collected during the park phase of the profile cycle The park phase is also when active ballasting is done Each sample includes the date amp time of the sample the unix epoch ie the number of seconds since 00 00 00 on Jan 1 1970 the mission time ie the number of seconds since the start of the current profile cycle the pressure decibars and the temperature C For example date UnixEpoch MTime P T ParkPt Aug 27 2005 13 28 01 1125149281 21615 999 8 4 1024 ParkPt Aug 27 2005 14 27 57 1125152877 25212 1006 8 4 1554 ParkPt Aug 27 2005 15 27 57 1125156477 28812 1004 6 4 1710 ParkPt Aug 27 2005 16 27 57 1125160077 32412 1004 0 4 1775 28 of 54 ParkPt Aug 27 2005 17 27 57 1125163677 36012 1000 2 4 1525 ParkPt Aug 27 2005 18 27 57 1125167277 39612 1001 0 4 1381 ParkPt Aug 27 2005 19 27 57 1125170877 43212 998 6 4 1030 Low Resolution PTS Sample format The SBE41CP that is used on iridium floats has features that enable subsampling of the water column similar to the SBE41 as well as the ability to bin average a continuous sampling of the water
28. d FlashCreate This command requires no argument and causes the FLASH file system to be reinitialized This command is time consuming 30 minutes and energy expensive The process involves writing a test pattern to each 8KB block of the FLASH ram and then re reading the contents to ensure that the test pattern matches what was written If bad blocks are discovered then they are added to a bad block list Blocks identified in the bad block list are not used for storage WARNING All contents of the FLASH file system will be destroyed FlbbMode Controls FLNTU sampling Zero disables sampling and nonzero enables sampling Floatld wo The float identifier InitialBuoyancyNudge The piston extension counts applied in order to initiate the vertical ascent at the beginning of the profile This same nudge is also applied at the end of the profile to make sure the float reaches the surface MaxLogkKb The maximum size of the logfile in Kilobytes Once the log grows beyond this size logging is inhibited and the logfile will be automatically deleted at the start of the next profile The valid range is 5 60KB ParkDescentTime This time determines the maximum amount of time allowed for the float to descent from the surface to the park pressure The active ballasting phase is initiated when the ParkDescentTime expires The valid range is 0 8 hours 49 of 54 ParkPistonPos
29. e the connection is coming from a float in the ocean Teledyne Webb Research uses STRATOS e http www stratosglobal com StratosGlobal cfm e 1 709 748 4233 Sales Support Worldwide e 1 709 748 4280 Billing Worldwide The University of Washington a customer with a large and growing fleet of APEX floats uses NAL Research e http www nalresearch com Airtime html e 1 703 393 1136 x200 Some Iridium providers are data only This is appropriate for a float and is the type of service for which you should ask Like the service the SIM card should also be data only You will need to send the SIM card and the unlocking PIN to Teledyne Webb Research for us to be able to build and test the float If you do not change the PIN from the factory default value you will not need to provide the PIN Please keep a record of the SIM card s serial number ICCID and phone number MSISDN Both numbers are essential and must stay together as a pair The firmware includes a command Parameter Hs to query and display the ICCID and MSISDN of the SIM card Similarly please keep a record of the float s Iridium modem LBT serial number IMEI Parameter Hi will query and display the IMEI of the LBT Billing for Iridium service is monthly Teledyne Webb Research will give you notice 30 days prior to shipment so that you can activate your SIM card The card must be activated for Teledyne Webb Research to test the float The monthly cost for a SIM card is
30. e to the float press lt ENTER gt to wake the float from hibernate and start command mode and press l or L to list the parameters See Connecting a Terminal and APF9I Command Summary for more information INSTRUMENT 4986 APEX version 030410 sn 6957 ENABLE FLBB sample mode Ms INACTV ToD for down time expiration Minutes Mtc 14400 Down time Minutes Mtd 00660 Up time Minutes Mtu 00540 Ascent time out Minutes Mta 00300 Deep profile descent time Minutes Mtj 00300 Park descent time Minutes Mtk 00180 Mission prelude Minutes Mtp 00015 Telemetry retry interval Minutes Mhr 00060 Host connect time out Seconds Mht 2000 Continuous profile activation Decibars Mc 1000 Park pressure Decibars Mk 2000 Deep profile pressure Decibars Mj 066 Park piston position Counts Mbp 000 Compensator hyper retraction Counts Mbh 016 Deep profile piston position Counts Mbj 010 Ascent buoyancy nudge Counts Mbn 022 Initial buoyancy nudge Counts Mbi 001 Park n profile cycle length Mn 124 Maximum air bladder pressure Counts Mfb 096 OK vacuum threshold Counts Mfv 226 Piston full extension Counts Mff 016 P Activation piston position Counts Mfs 2 Logging verbosity 0 5 D 0002 DebugBits D ce5f Mission signature hex 53 of 54 INSTRUMENT 4987 APEX version 030410 sn 6958 ENABLE FLBB sample mode Ms INACTV ToD for down time expiration Minutes Mtc 14400 Down time Minutes Mtd 00660 Up
31. eesecesocesocesocesocesocessosesosesoseso 10 C NOTES ANG CAV Oats icc sisisascsensesessiescssesiescdecedsabsodsendodneadesvsdesiuauansndsisbedeae sodedddssvaseniuacdessieacbudaceseibens 13 VL Deploying he Fl Oat isisiscveasesccusiscaisvonssscnascanesessensivesunsdevunsvenssavunasaveboesesvadsestiveonsavegeonesed 14 Vi POP Profile sce covcetssuincuecsansdsessises saqute caleba Ieee E asea RO what eae 15 A Profile Ascent Timing isicc ccccscsnsesecssoscssscennscsvcescsstessasctsudasesscesenncssececessscssnencsesacssssesssenssenancssoes 15 B Profile and Profile Cycle Schematics esesesesesocssocssocesocesocesocesooeesosesosesosesosesocesocesocsssossossssse 16 VIII Deep Profile First DPE viscere eins E EE S 17 IX Air PUD DAMS css ccseccdescicncandasiecacveusacardesuesteaesancasansssatvenaddasvendestvuesayesdsanasesvveuaieeddasaseaves 17 X Setting the Real Time CLOCK ciicsevecccesesssuurcesieincsnvsssinvnpvoncesvenstavaveistevesseahieseptaveasieaseicreaeceses 18 XI Tinie Of D y TOD cinnara ai iaa a ta yoijasen saved iinan 19 XII Using Time of Day TOD for FLBB F10dtS ccsccccsssccssssccssssccsssscssssccssscessnscessnscees 20 Tridi m Data zennan aneen e ar ere e era oee aiaee aa riialasi 21 A Tridiuum Service and Costs cscssscssssscssssssscscscsscessssscsssssssssccssssssssescssescesossncssssssesscssesensees 21 B The Float s Iridium Modem and Two Way Communications csssccsssssssssscsssccsssscssese 23
32. er data to the host server The float must have a view of the sky to telemeter successfully Starting a manual deployment allowing the float to complete several telemetry cycles and confirming the reception of the telemetered files at the host server and back at the float leave the communications link connected constitutes a valid and easily conducted test of the full communications system 13 of 54 Vi 1 2 3 4 5 Deploying the Float Pass a rope through the hole in the plastic damper plate which is shown in the image at right The rope should fit easily through the hole and be capable of supporting 50 kg 100 Ib Holding both ends of the rope bight carefully lower the float into water The damper plate is amply strong enough to support the weight of the float However do not let rope slide rapidly through the hole as this may cut the plastic disk and release the float prematurely Take care not to damage the CTD or the Iridium antenna against the side of the ship while lowering the float Do not leave the rope with the instrument Once the float is in the water let go of the lower end of the rope and pull on the top end slowly and carefully until the rope clears the hole and the float is released It may take several minutes for the cowling protecting the bladder to fully flood with water and the float may drift at an angle or even rest on its side during this period This is normal behavior and not a c
33. erminate after the first successful telemetry cycle or it will time out after 9 hours Ensure that the white protective end cap has been removed from the FLBB sensor 10 The float is ready to deploy 12 of 54 C Notes and Caveats Self Tests During the self tests the float checks e The internal vacuum e Communication with the CTD e The internal alarm timer settings If any of the self tests fail the float will abort the mission The clearest indication to the operator that this has occurred is the failure of the float to make the initial 6 ARGOS transmissions at 6 second intervals If you do not detect these Mission Activation transmissions with the Cat s Meow DO NOT DEPLOY THE FLOAT Manual Deployment In the case of a Manual deployment if the float is not deployed before the completion of the Mission Prelude phase RESET the float again and wait for it to complete the Mission Activation phase and begin the Mission Prelude before you deploy it Pressure Activated Deployment In the case of a Pressure Activated Deployment the operator is necessarily absent when the float begins the Mission Prelude This means the operator does not have the opportunity to check the air bladder for leaks that a Manual Deployment offers For this reason we strongly recommend that you manually inflate and check the bladder before starting a Pressure Activated Deployment Telemetry Testing During the Mission Prelude the float will telemet
34. essfully log in if these two phrases are not present Once mgetty is installed and configured properly you should be able to log into the remote host via a modem to modem connection from another computer You should test this using the following communications parameters 4800baud no parity 8 bit data 1 stop bit Remote Host Set Up Once each telemetry cycle the float downloads mission cfg from the home directory where the float logs in and this new mission configuration becomes active as the last step before the 34 of 54 telemetry cycle terminates In the context of a UNIX environment this simple mechanism allows for great flexibility for remotely controlling floats individually in groups or fleet wise It is also flexible in that it is possible to switch which model is used even after floats have been deployed Finally a UNIX based remote host facilitates easy speciation of floats as well as for new float developments with no requirement for backward compatibility Finally use emacs to create the following three ascii files cshre rxre and sxre cshre This file configures the t shell at login time You can modify the configuration to suit yourself so long as your customizations do not interfere with the effects that the three commands below have In particular it is important that the float s bin directory be in the path before any 35 of 54 of the system directories This will ensure that the float s version of the u
35. ge file These data have the form key value An example is shown below ActiveBal lastAdjustments 5 AirBladderPressure 119 AirPumpAmps 91 AirPumpVo 1ts 192 BuoyancyPumpOnT1ime 15 39 Interpretation of this information requires detailed knowledge of the firmware A full description is beyond the scope of this manual Contact Teledyne Webb Research for assistance General conversions for voltage current and vacuum are provide below Volts V 8 bits unsigned V Vraw 0 077 0 486 Current MA 8 bits unsigned I law 4 052 3 606 Vacuum InHg 8 bits unsigned V Vaw 0 293 29 767 32 of 54 F Pressure Table for PTS Samples The Pressure Table below with values expressed in decibars dbar defines where discrete PTS measurements are acquired during a profile The change to continuous profiling is controlled by Parameter Mc Continuous profile activation pressure decibars Discrete PTS samples are taken according to the Pressure Table when the measured pressure is greater than the activation pressure PTS sampling is continuous 1 Hz with 2 dbar bin averages reported when the measured pressure is less than the activation pressure Depth Table 83 below with values expressed in decibars dbar defines where PTS measurements are acquired during a profile 2000 0 1950 0 1900 0 1850 0 1800 0 1750 0 1700 0 1650 0 1600 0 1550 0 1500 0 1450 0 1400 0 1350 0 1300 0 1250 0 1200 0 1150 0 1100 0 1050 0 1000 0 975 0 950 0 925 0 900 0
36. hourly interval and detects no CTD data a mission is automatically started This extends the piston but with no piston position sensor attached there is a risk of extending the piston too far The following sections Manual Deployment with the Reset Tool and Pressure Activation Deployment provide operational summaries for the two possible deployment scenarios Both sections refer to self tests conducted by the float and the float function checks performed by the operator Teledyne Webb Research strongly recommends testing all APEX Profilers on receipt by the customer and before deployment to ensure no damage has occurred during shipping 7 of 54 A Manual Deployment with the Reset Tool Since the Reset Tool toggles between Pressure Activation mode and starting a new mission start a new mission by first ensuring that the float is in Pressure Activation mode and then hold the Reset Tool over the marked location on the pressure case for approximately 3 seconds Remove the Reset Tool only after you hear the air pump activate The float will run a brief self test and place itself in a state of maximum buoyancy This is the Mission Activation phase During this time the operator should verify proper function of the float see Mission Activation and Operator Float Function Check The float will telemeter its GPS location and the mission parameters during the Mission Prelude phase Six hours is typical the duration of the Mission Pre
37. ibutions of the Windows Operating System COM Port Settings 9600 8 N 1 9600 baud 8 data bits No parity 1 stop bit no flow control no handshaking full duplex Teledyne Webb Research recommends the practice of capturing and archiving a log file of all communications with each float If in doubt about a test email the log file to your chief scientist and or to Teledyne Webb Research Once you have started the communications program and completed the connections described above press ENTER to wake the float from Hibernate mode The float will respond that it has detected an asynchronous wake up and will enter Command mode Press ENTER in Command mode to display the main menu Menu selections are not case sensitive See APF9I Command Summary for a complete list of available commands 40 of 54 Appendix C APF9I Command Summary Uppercase commands are used here for clarity however APF9I commands are not case sensitive The menus presented below were copied verbatim from a terminal session with an APF9I controller gt is the APF9I prompt for operator input The first menu is displayed in response to either a question mark or the ENTER when no preceding command is entered IMPORTANT Piston full extension set with menu parameter Ff is calibrated and set at the factory Do not alter the value of Ff shown in the Missions appendix Using a value larger than the factory setting may result in severe damage t
38. ission configurations will not be downloaded from the remote host to the float if system version of sx is used Make sure that the LogPath references the default user s logs directory or else potentially valuable logging debugging information will be irretrievably lost This is the configuration file for sx the SwiftWare xmodem send utility 36 of 54 set the default debug level range 0 4 Verbosity 5 specify the name of the log file LogPath home iridium logs sxlog enable AutoLog 0 or disable AutoLog 0 the auto log AutoLog 1 feature specify fixed packet type 128b or 1k PktType 1k Setting up the Remote Host for Fleet Wise Remote Control The flexibility inherent with individualized float control necessarily increases the level of operational management required each float has to be considered and controlled individually However fleet wise management of floats is also made possible by configuring the float to use a fleet wise username This is in contrast to configuring each float with a unique username based 37 of 54 on the float serial number The steps to set up the remote host for fleet wise control are virtually the same as those for setting up the remote host for a default user except that the username and password are fleet wise parameters Be sure to configure each float in the fleet with the fleet wise username and password Iridium
39. line cells will release a combustible gas mixture This gas release generally is not evident when batteries are exposed to the atmosphere as the gases are dispersed and diluted to a safe level When the batteries are confined in a sealed instrument mechanism the gases can accumulate and an explosion is possible Teledyne Webb Research has added a catalyst inside of these instruments to recombine hydrogen and oxygen into H20 and the instrument has been designed to relieve excessive internal pressure buildup by having the upper end cap release Teledyne Webb Research knows of no way to completely eliminate this hazard The user is warned and must accept and deal with this risk in order to use this instrument safely as so provided Personnel with knowledge and training to deal with this risk should seal or operate the instrument Teledyne Webb Research disclaims liability for any consequences of combustion or explosion Acknowledgements Teledyne Webb Research would like to acknowledge the contribution made by the University of Washington School of Oceanography towards the technical content of this User Manual 4 of 54 ll APF9 Operations Warning for APF8 Operators This APEX manual describes floats using a new controller design The new design is designated APF9 The prior design which is still in production and widely used is designated APF8 The operator interface and behavior of the APF9 are similar to but not identical to the
40. lude can be set by the operator The piston will be fully extended and the air bladder will be fully inflated during the Mission Activation phase At the conclusion of the Mission Prelude the float will retract the piston deflate the air bladder and begin its pre programmed mission Manual Deployment Summary e Ensure that the float is in Pressure Activation mode before toggling e Toggle to start anew mission by holding the Reset Tool over the RESET label e Mission Activation o Air pump runs for 1 second o Self tests conducted The self tests can be monitored if a communication cable is connected see Connecting a Terminal o If the float passes the self tests Piston is fully extended Air pump is cycled on and off until the air bladder is fully inflated Air bladder inflation is the only easily verified indication that the float has pass the self tests and is ready to deploy e Mission Prelude o Float telemeters GPS location and mission parameters The telemetry interval is set by the operator Parameter Mhr o Mission Prelude duration is typically 6 hours The float can be deployed after the Mission Activation phase and confirmation of proper float function have been successfully completed We advise waiting until the air bladder is fully inflated before deploying the float If the float fails the self tests the piston will not extend and the air bladder will not inflate The float should not be deployed 8 of 54 B Press
41. n Programming Agent 42 of 54 Command Mode Sub Menus FLBB Menu gt F Menu of SBE41cp functions Print this menu a Configure the FLBB Ff Display FLBB firmware revision Fm Measure power consumption by FLBB Fn Query the FLBB for its serial number Fs Execute FLBB measurement Fw Query the FLBB for its wavelengths GPS Menu gt G Memu of Garmin GPS15L w functions Print this menu a Upload almanac to GPS15L w Gc Configure the GPS15L w Gf Get GPS15L w fix Gl Log NMEA sentences from GPS15L wW Gt Synchronize the Apf9 clock with GPS LBT Menu Iridium Modem gt H Menu of modem functions Print this menu i Configure the modem Hf Query modem s firmware revision Hi Query modem s IMEI number Hm Query modem s model Hr Register the LBT with the Iridium system HS Query SIM card s ICCID amp MSISDN numbers FLASH File System Menu gt J 2 Menu of FLASH file system functions Print this menu Jb Print bad block list Jc Create FLASH file system destructive Jd Print the FLASH chip identifier Je Erase the FLASH file system destructive Jl Print directory listing of FLASH file system Jr Report FLASH errors since file system creation Jz Reset FLASH error counters to zero 43 of 54 Command Mode Sub Menus continued Sensor Menu Seabird SBE 41cp gt S Menu of SBE41cp functions Sb Print this menu Activate CP mode Bin average CP data Display the SBE41cp calibration
42. n provided in diagnostic messages from the float with 5 being the highest level A logging verbosity of 2 is the default Only level 2 has been thoroughly tested in simulation so this parameter should be set to 2 for all deployments Higher levels are suitable during testing as an aid to float assessment 5 of 54 lll APF9I Operations Warning for APF9A Operators The look and feel of the APF9I operator interface is quite similar to the APF9A operator interface However there are some differences of which you should be aware e The APF9I uses minutes not hours for mission parameter timing intervals e Air bladder inflation is the only visible evidence that the float passed the self test and is ready for deployment The APF9I does not make six test transmissions that can be detected with an external RF receiver e The maximum air bladder pressure is and should be higher in the APF9I 6 2 inHg than in the APF9A 5 3 inHg This is to assure robust connectivity for the Iridium antenna IV Maximum Operating Pressure APEX profilers have a maximum operating pressure of 2000 dbar 2900 psi However for shallower applications thinner walled pressure cylinders can be used These cylinders have a reduced pressure rating but less mass which allows them to carry a larger battery payload Three cylinder pressure ratings are available e 2000 dbar maximum pressure rating e 1500 dbar battery payload typically 14 greater than with 2000 d
43. o the pump Main Menu Command Mode gt Menu selections are not case sensitive Print this help menu A Initiate pressure activation of mission C Calibrate battery volts current amp vacuum D Set logging verbosity 0 5 E Execute activate mission F FLBB module agent F FLBB module agent menu G GPS module agent G GPS module menu H LBT module agent H LBT module menu I Diagnostics agent I Diagnostics menu J FLASH file system agent J FLASH file system menu K Kill deactivate mission L List mission parameters M Mission programming agent M Mission programming menu N Display float serial number P Display the pressure table Q Exit command mode R Activate recovery mode S Sensor module agent S Sensor module menu T Get Set RTC time format mm dd yyyy hh mm ss U Attach the logstream to a specified file V Close the log file 41 of 54 The sub menus shown below FLBB F GPS G LBT H File System J CTD S and System Diagnostics I are all accessible from the Main Menu Command Mode using the appropriate letter and question mark combination The float remains in command mode when displaying these sub menus so the Main Menu commands remain active Entering the Mission programming agent M however exits from command mode until you quit Q the Mission Programming Agent List Mission Parameters L is an active command in both Command Mode and the Missio
44. og information to the remote host k when complete kill mission by responding with a y 38 of 54 Appendix A Storage conditions For optimum battery life floats should be stored in a controlled environment in which the temperature is restricted to the range 10 C to 25 C When activated the floats should be equilibrated at a temperature between 2 C and 54 C before proceeding with a deployment If the optional VOS or aircraft deployment containers are used they must be kept dry and should only be stored indoors 39 of 54 Appendix B Connecting a Terminal The float can be programmed and tested by an operator using a 20 mA current loop and a terminal program The current loop has no polarity Connections should be made through the hull ground and a connector or fitting that is electrically isolated from the hull This is shown in the image below In this case one side of the current loop is clipped to the zinc anode and the other is clipped to the pressure port The communications cables and clamps are included in the float shipment An RS 232 to current loop converter is provided with the communications cables This converter requires a 12 VDC supply The RS 232 communications cable should be connected to the COM port of a PC Runa communications program such as ProComm or HyperTerminal on the PC Both programs can be downloaded from various Internet sites HyperTerminal is generally included with distr
45. pically set between 12 hours and 20 hours increasing with the amount of data to be transmitted per profile The latitude of the deployment also matters ARGOS satellites are in polar orbits so the number of satellite passes per day increases with latitude e Ascent Rate The ascent rate of the float is maintained at or above 8 cm s The float extends the piston by a user specified amount to add buoyancy when the ascent rate falls below this threshold A Profile Ascent Timing Profiles from the Park Depth begin when the operator programmed Down Time expires The float extends the piston by an operator programmed initial amount and begins the ascent When a profile is to begin from the Profile Depth the float will retract the piston and descend from the Park Depth an operator programmed interval before the expiration of the Down Time This interval Parameter Mtj Deep profile descent time in hours provides the additional time needed to descend to and profile from the Profile Depth without losing significant surface time the period when data from the profile are transmitted 15 of 54 Profile and Profile Cycle Schematics Down Time Surface Park Depth Profile Depth Time Deep Profile every cycle Deep Profile every third cycle Time gt 16 of 54 Vill Deep Profile First DPF Independent of the Park and Profile cycle length the first profile is always a Deep Profile that begins at the Profile Dep
46. r finger not a tool through the hole in the bottom of the yellow cowling as described in Step 4 above Don t forget to replace the plug before deploying the float The duration of the Mission Prelude is set by the operator 6 hours is typical At the end of the Mission Prelude the float will deflate the air bladder retract the piston and begin the first descent of the programmed mission Pressure Activated Deployment Once the piston is fully retracted the float will enter the Pressure Activation phase During this phase it will check the pressure every two hours hibernating in between The float will not enter the Mission Prelude phase until it detects a pressure in excess of 25 dbar There will be no telemetry nor inflation of the air bladder until the Mission Prelude phase begins and the surface is detected When the trigger pressure is detected the float will extend the piston and begin the Mission Prelude During this phase it will attempt to locate a satellite while ascending Once a satellite is detected surface detection the float will telemeter its GPS location and the mission parameters for the balance of the Mission Prelude The duration of the Mission Prelude is set by the operator 6 hours is typical At the end of the Mission Prelude the float will deflate the air bladder retract the piston and begin the first descent of the programmed mission In this particular version of the APF9I firmware the Mission Prelude will t
47. ry No argument is required and the argument if present is ignored AirBladderMaxP The cut off pressure in A D counts for air bladder inflation The air pump will be deactivated when the air bladder pressure exceeds the cut off The valid range is to 240 counts AscentTimeOut The initial segment of the uptime that is designated for profiling and vertical ascent If the surface has not been detected by the time this timeout expires then the profile will be aborted and the telemetry phase will begin The valid range is minute to 10 hours AtDialCmd The modem AT dialstring used to connect to the primary host computer AltDialCmd The modem AT dialstring used to connect to the alternate host computer BuoyancyNudge The piston extension counts applied each time the ascent rate falls below the user specified minimum This adds buoyancy to the float in order to maintain the ascent rate CompensatorHyperRetraction Floats with N2 compensators require the piston to be hyper retracted in order to descend from the surface to the park level The valid range is 0 254 counts ConnectTimeOut The number of seconds allowed after dialing 47 of 54 CpActivationP DeepProfileDescentTime DeepProfilePistonPos DeepProfilePressure DownTime FlashErase for a connection to be established with the host computer The valid range is 30 300 sec
48. ser specified number of minutes after midnight The operator must take into account any difference between the time zone of the deployment and GMT when setting this parameter Remember that the RTC of the float will be set to GMT whenever the float obtains a GPS fix so you cannot control the time zone of the RTC This is described in more detail below The TOD feature is applied by the float as follows At the start of a descent end of Up Time the APF9I computes a Down Time expiration based on the Down Time programmed by the operator If the TOD feature is disabled the Down Time will expire at that calculated time of the RTC o For example if the Down Time is set to 120 hours 10 days and the Up Time ends at 14 00 on July 10 2007 the next Down Time will expire at 14 00 on July 20 2007 If the TOD feature is enabled the float extends the Down Time expiration to the next occurrence of TOD minutes after midnight on the RTC o For example if the initial calculation placed the Down Time expiration at 14 00 on July 20 2007 as above but the TOD was enabled and set to 1200 minutes 20 hours after midnight the Down Time would be extended from 14 00 and set to expire at the next occurrence of 20 00 which is 20 00 on July 20 2007 Active ballasting and all other Down Time behaviors continue until the Down Time expires This will be until 14 00 in the first example and until 20 00 in the second example Controlling TOD The TOD feature m
49. tc 00810 Down time Minutes Mtd 00630 Up time Minutes Mtu 00510 Ascent time out Minutes Mta 00300 Deep profile descent time Minutes Mtj 00300 Park descent time Minutes Mtk 00360 Mission prelude Minutes Mtp 00015 Telemetry retry interval Minutes Mhr 00060 Host connect time out Seconds Mht 985 Continuous profile activation Decibars Mc 1000 Park pressure Decibars Mk 2000 Deep profile pressure Decibars Mj 066 Park piston position Counts Mbp 000 Compensator hyper retraction Counts Mbh 016 Deep profile piston position Counts Mbj 010 Ascent buoyancy nudge Counts Mbn 022 Initial buoyancy nudge Counts Mbi 254 Park n profile cycle length Mn 124 Maximum air bladder pressure Counts Mfb 110 OK vacuum threshold Counts Mfv 227 Piston full extension Counts Mff 016 P Activation piston position Counts Mfs 5 Logging verbosity 0 5 D 0005 DebugBits D Note that Mission Parameters are changed by entering the Mission Programming Agent M from the Main Menu Command Mode 46 of 54 Appendix D Mission Parameters IMPORTANT Piston full extension set with menu parameter Ff is calibrated and set at the factory Do not alter the value of Ff shown in the Missions appendix Using a value larger than the factory setting may result in severe damage to the pump ActivateRecoveryMode Induce the float into recovery mode and initiate telemetry at regular intervals given by the TelemetryRet
50. ter that the float uses to upload and download data itself An integer in the range 0 4 that determines the logging verbosity with lower values producing more terse logging A verbosity of 2 yields standard logging 51 of 54 Appendix E Returning APEX floats for factory repair or refurbishment Contact Teledyne Webb Research before returning APEX floats for repair or refurbishment All returns from outside USA please specify our import broker Consignee Teledyne Webb Research 82 Technology Park Drive East Falmouth MA 02536 Notify DHL Danzas Freight Forwarding Agents Attn Ellis Hall Import Broker Phone 617 886 6665 FAX 617 242 1470 500 Rutherford Avenue Charlestown MA 02129 Note on shipping documents US MADE GOODS CAUTION If the float was recovered from the ocean it may contain water which presents a safety hazard due to possible chemical reaction of batteries in water The reaction may generate explosive gases see Alkaline Battery Warning at the beginning of this manual In this case be sure to remove the seal plug to ventilate the instrument before shipping Do this is a well ventilated location and do not lean over the seal plug while loosening it Use a 3 16 inch hex wrench or pliers to rotate the plug counter clockwise Seal Plug 52 of 54 Appendix F Missions This section lists the parameters for each float covered by this manual To display the parameter list connect a communications cabl
51. th This means the float returns a CTD profile relatively soon typically less than a day after the float is deployed This feature supports comparison of the initial float profile with a conventional CTD cast from the ship The first descent begins at the end of the Mission Prelude A schematic representation of DPF with a Park and Profile parameter N 2 is shown below N 2 and Deep Profile First DPF Deep Profile on first cycle and every second cycle Time gt Note For maximum battery life in ARGO applications Teledyne Webb Research recommends use of PD gt one with park depth lt 1500 db IX Air Pump Limits At the beginning of each telemetry cycle the float verifies that the air bladder is fully inflated If the pressure does not exceed the threshold Parameter Mfb the float will further inflate the bladder cycling the air pump on for 1 second and off for 1 second until the pressure exceeds the threshold The use of the air pump is limited to 2000 Volt seconds during each profile cycle to prevent excessive battery drain in the event of a problem in the air system that prevents full inflation The maximum air bladder pressure is higher 6 2 inHg in the APF9I than in ARGOS equipped floats 5 3 inHg The higher pressure allows Iridium floats to ride higher at the surface to assure robust connectivity for the Iridium antenna 17 of 54 X Setting the Real Time Clock The APF9I is equipped with a real time clo
52. th the Iridium system This verifies that the float is able to see the sky The float then disconnects from the Iridium system and uses the antenna to acquire a GPS fix The fix is included in the data file returned to the host server see Iridium Data The LBT is then used to re register with the Iridium system upload hydrographic 10 20 Kbytes and engineering 12 25 Kbytes data files and download any changes to the mission parameters lt 1 Kbyte The download file mission cfg is stored on the host server and can be edited there when it is desirable to change the mission parameters Each active line in the configuration file has the form ParameterName argument CRC Inactive lines comments start with a character The CRC can be calculated using a Linux based utility chkconfig which is part of a software package developed at the University of Washington see Modem to Modem vs RUDICS A mission cfg template which includes all of the mission parameters that interact with each other is shown below with example value and units if any displayed in square brackets ActiveRecoveryMode AirBladderMaxP 124 count AscentTimeOut 540 min AtDialCmd ATDT593 12 primary AltDialCmd ATDT63256 alternate BuoyancyNudge 10 count CompensatorHyperRetraction 0 counts ConnectTimeOut 60 sec CpActivationP 985 dbar DeepProfileDescentTime 240 min DeepProfilePistonPos 16 count DeepProfilePressure 2000 d
53. tilities chkconfig rx and sx will be used rather than the system s utilities with these same names set the hostname set hostname hostname add directories for local commands set path bin bin sbin usr sbin usr local bin set the prompt set prompt Shostname Scwd gt rxrc This is the configuration file for the SwiftWare implementation the xmodem receive utility SwiftWare implements the standard xmodem protocol except that a nonstandard 16 bit CRC is used Beware that the float will not be able to transfer any hydrographic or engineering data to the remote host using the system version of rx Make sure that the LogPath references the default user s logs directory or else potentially valuable logging debugging information will be irretrievably lost This is the configuration file for rx the SwiftWare xmodem receive utility set the default debug level range 0 4 Verbosity 5 specify the name of the log file LogPath home iridium logs rxlog enable AutoLog 0 or disable AutoLog 0 the auto log feature AutoLog 1 specify ascii mode BinaryMode 0 or binary mode BinaryMode 0 BinaryMode 0 specify CRC mode 16bit or 8bit CrcMode 16bit sxrc This is the configuration file for the SwiftWare implementation the xmodem send utility SwiftWare sx implements the standard xmodem protocol except that a nonstandard 16 bit CRC is used Beware that new m
54. time Minutes Mtu 00540 Ascent time out Minutes Mta 00300 Deep profile descent time Minutes Mtj 00300 Park descent time Minutes Mtk 00180 Mission prelude Minutes Mtp 00015 Telemetry retry interval Minutes Mhr 00060 Host connect time out Seconds Mht 2000 Continuous profile activation Decibars Mc 1000 Park pressure Decibars Mk 2000 Deep profile pressure Decibars Mj 066 Park piston position Counts Mbp 000 Compensator hyper retraction Counts Mbh 016 Deep profile piston position Counts Mbj 010 Ascent buoyancy nudge Counts Mbn 022 Initial buoyancy nudge Counts Mbi 001 Park n profile cycle length Mn 124 Maximum air bladder pressure Counts Mfb 096 OK vacuum threshold Counts Mfv 226 Piston full extension Counts Mff 016 P Activation piston position Counts Mfs 2 Logging verbosity 0 5 D 0002 DebugBits D bbff Mission signature hex 54 of 54
55. typically 30 00 USD Calls from the float to the host server are charged by the minute or fraction there of at 1 50 minute Average data transfer rates are in the range 6 Kbytes to 10 Kbytes per minute Anticipate 20 Kbytes to 50 Kbytes of data for each profile Typical connection times at the surface are 5 to 10 minutes Please note that these are approximate costs Your actual costs will vary with provider and use 21 of 54 Note that Argos CLS now has a fully operational Iridium Processing Center through which it also provides an Iridium service Contact Bill Woodward at CLS America for further information CLS America Inc Bill Woodward President 1 301 925 4411 bwoodward clsamerica com http www clsamerica com 22 of 54 B The Float s Iridium Modem and Two Way Communications The float s Iridium modem LBT is a Model 9522A L Band Transceiver made by Iridium Satellite LLC Peak RF power during transmission is 7 Watts The LBT is mounted inside the float and is configured for use by Teledyne Webb Research during production No user configuration or adjustment is required Production testing includes full verification of float to host server communications This is the reason for requiring activation of the SIM card 30 days in advance of shipment Your reception capabilities must also be in place at that time see Modem to Modem vs RUDICS When the float surfaces at the end of a profile the LBT is used to register wi
56. ure Activation Deployment Non modal floats are shipped in Pressure Activation mode so no operator action is required to set this mode In this mode the float checks the pressure every two hours If the measured pressure is greater than 25dbar the float starts its mission Otherwise the float moves the piston to the position indicated by mission parameter P Activation piston position if not already there and goes to sleep for another two hours Note that this behavior does present some risk For example if P Activation piston position was set to a value that would make the float bouyant at the surface e g around 100 then a float launched in this mode would never sink and would never activate start its mission For this reason P Activation piston position is typically set to around 16 At this setting the float would sink below 25dbar and consequently start its mission Pressure Activation Deployment Summary e Deploy the float no toggling is required since the float is delivered in Pressure Activation mode e Pressure Activation O O Pressure is measured every 2 hours Pressure in excess of 25 dbar triggers Full piston extension Transition to Mission Prelude e Mission Prelude O During ascent the float looks for a satellite at each telemetry retry interval Parameter Mhr Detection of a satellite surface triggers Full air bladder inflation Float telemeters GPS location and mission parameters
57. use of Pressure Activation or because the float is already running a mission This is not true for modal controllers which could be launched without either Pressure Activation or without a mission running From this point on this manual describes only non modal behavior If physically connected to the float using a communication cable between a PC and the float as described in the section Connecting a Terminal at the end of this manual it is also possible to put the float into an inactive state Once connected the i f freeze command immediately makes the float hibernate powering it down and placing it in an inactive state The i 1 command also places the float in an inactive state although the float will remain awake and communicating Entering a q command or not communicating for minutes will then place the float into Pressure Activation mode Either way the easiest way to determine the state of the connected float is via the 1 s command which gives the state as well as any mission time Another non modal float behavior is that if any corrupted or ill formed data is received from the CTD sensor then the mission is automatically started if not already running This ensures that the user will be notified of the problem However this presents another risk when leaving a float in the lab connected to a power source but with no pressure sensor or piston position sensor attached If the float wakes on the two
58. ust be manually enabled by the operator This is done by entering the Mission Programming Agent m from Main Menu see Connecting a Terminal and APF9I Command Summary and setting Parameter Mtc to an allowed value in minutes Setting Parameter Mtc to no value will disable the TOD feature Enabling TOD gt t c 360 lt entered by operator followed by ENTER The down time will expire at 360 Minutes after midnight Disabling TOD gt tc lt entered by operator followed by ENTER The time of day feature has been disabled 19 of 54 Shifting the Time Zone Because the RTC is necessarily set to GMT the operator must account for the time zone difference between the float and GMT in setting TOD For example assume e The float will be deployed in the eastern Pacific 10 hours behind GMT 12 00 GMT is 02 00 in the eastern Pacific e The operator wishes to use the TOD feature to set Down Time expiration to 20 00 in the local time zone 20 00 in the local time zone is 06 00 GMT 10 hours later Therefore set TOD to 360 minutes 6 hours Down Time will expire at 06 00 GMT which is 20 00 in the local time zone Selecting a TOD Value To select a TOD value you must first decide what time you wish the float to surface Then calculate the approximate duration of the profile which begins with the expiration of the Down Time The calculation is based on the programmed depth from which the float will ascend and assumes an ascent speed of

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