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APEX PROFILER USER MANUAL - CSIRO Marine and Atmospheric

1. 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 log information to the remote host k when complete kill mission by responding with a y 41 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 42 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 i
2. 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 must 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 Minu
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 4577 4581 Depth Table 26 Ice Detection and Evasion Revision Date 07 22 09 Customer name CSIRO Job Number 1617 Firmware Revision APF9I F W 07 02 07 Features APF9I Controller Park and Profile Deep Profile First DPF Pressure Activation optional Air pump energy consumption limit Time of Day profile control I Alka line B ttery Warning oi swsuisicyiscisnervsctacsansicvenseysanaeasieasscuatestvie saeateteeesanas cigvea vohehelomserweiss 4 II APF9 Operations Warning for APF8 Operator ccsccccsssccssrscsssscssssscsessccsssccsssscsessceees 5 II APF9I Operations Warning for APF9A Operators sessesssesssessseeessessoesssesssoessoesssesssesssee 6 IV Maximum Operating Pressure essssssssssesesssesssssoessssecsessecsessocesssocessssocsesscesessoesessoesssseesse 6 V Evaluating the Float and Starting the Mission cscccssscsssssssssssccssscssssccssssscssnscsssssceessees 7 A Manual Deployment with the Reset Tool csscssssccsssscsssscsssscssssscssccsssssssssscsssscsssssssssssess 8 B Pressure Activation Deployment seesseesocesocesocesocesosesosesosesoseoosesocescesocesocesocssocesocssocssoessoessoess 9 C Mission Activation and Operator Float Funct
4. 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 19 of 54 X Setting the Real Time Clock The APF9I is equipped with a real time clock 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 particula
5. 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 Pressure Activation Deployment To use the Pressure Activation feature you must first connect the provided communication cable between your PC and the float see Connecting a Terminal at the end of this manual for additional information The normal port settings for an APF9I are 9600 8 N 1 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 commands Press a or A to activate the Pressure Activation feature and start the deployment The float will run a brief self test Mission Activation During this time the operator should verify proper function of the float see Mission Activation and Operator Float Function Check The float will then fully retract the piston and deflate the air bladder so that it can sink when deployed Once the piston is fully retracted the float ent
6. 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 1500 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 terminate after the first successful telemetry cycle or it will time out after 9 hours The float is ready to deploy 14 of 54 D 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 t
7. 5 specify the name of the log file LogPath home test 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 mission 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 39 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 feature AutoLog 1 specify fixed packet type 128b or 1k PktType 1k Setting up the Remote Host for Individualized Remote Control The ability to individualize each float is implemented by each float having its own account on the remote host The steps to set up the remote host are analagous to those for setting up the default user For example
8. 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 cause 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 16 of 54 Vil Park and Profile The APF9I float can be set to profile from a maximum depth P
9. Deep profile descent time Minutes M 00360 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 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 1 80 Ice detection Mixed layer Tcritical C Mit Oxffd Ice detection Winter months DNOSAJJMAMFJ Mib 124 Maximum air bladder pressure Counts Mfb 096 OK vacuum threshold Counts Mfv 227 Piston full extension Counts Mff 022 Piston storage position Counts Mfs 2 Logging verbosity 0 5 D 0002 DebugBits D 118f Mission signature hex gt q Mission not active hibernating 51 of 54 INSTRUMENT 4579 APEX version 070207 sn 6898 Rafos 0 Minutes Mtw INACTV ToD for down time expiration Minutes Mtc 13800 Down time Minutes Mtd 00600 Up time Minutes Mtu 00540 Ascent time out Minutes Mta 00360 Deep profile descent time Minutes M 00360 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 20
10. 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 because 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
11. Mit Oxffd Ice detection Winter months DNOSAJJMAMFJ Mib 124 Maximum air bladder pressure Counts Mfb 096 OK vacuum threshold Counts Mfv 227 Piston full extension Counts Mff 022 Piston storage position Counts Mfs 2 Logging verbosity 0 5 D 0002 DebugBits D cceb Mission signature hex gt q Mission not active hibernating 53 of 54 INSTRUMENT 4581 APEX version 070207 sn 6900 Rafos 0 Minutes Mtw INACTV ToD for down time expiration Minutes Mtc 13800 Down time Minutes Mtd 00600 Up time Minutes Mtu 00540 Ascent time out Minutes Mta 00360 Deep profile descent time Minutes M 00360 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 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 1 80 Ice detection Mixed layer Tcritical C Mit Oxffd Ice detection Winter months DNOSAJJMAMFJ Mib 124 Maximum air bladder pressure Counts Mfb 096 OK vacuum threshold Counts Mfv 226 Piston full extension Counts Mff 022 Piston storage position Counts Mfs 2 Logging verbosity 0 5 D 0002 DebugBits D fOe2 Mission
12. 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 36 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 communications 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 comput
13. 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 ATDT001222 3334444 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 7 0 1 DT0012223334444 The first argument of the CBST command a 7 in the example above specifies the baud rate according to the table below First argument values from the table 0 1 2 4 6 and 7 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 1 CBST Baud Rate 0 0 1 auto 1 0 1 300 2 0 1 1200 4 0 1 2400 6 0 1 4800 7 0 1 9600 30 of 54 E Iridium Data Iridium message files are easily read and displayed ASCII text files and are named with a msg extension Each message file contains five blocks of data on
14. 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 dbar 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 Profilers are
15. 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 with 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 AscentTimeout Minutes DeepProfi leDescentTime Minutes DeepProfi lePistonPos Counts DeepProfi lePressure Decibars DownTime Minutes ParkDescentTime Minutes ParkPistonPos Counts ParkPressure Decibars PnPcycleLen UpTime Minutes The chkconfig utilit
16. signature hex 54 of 54
17. 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 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 100
18. 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 1200 dbar 0 08 dbar sec 3600 sec hr 4 16 hours 22 of 54 XII Ice Detection and Evasion This float has an ice detection and evasion feature to enhance float survivability in regions prone to ice cover When hydrographic features associated with surface ice are detected the float will descend to avoid damage For Apf9 floats with iridium there are three possible detection features ice cover ice cap and ice break up e Ice cover detection attempts to detect hydrographic features associated with surface ice before reaching the surface e In the event that ice cover was not detected ice cap detection will verify that the float reaches open water and that it is not under free floating ice blocks e If no ice cover is detected an additional check is implemented to detects leads and periods when the ice is breaking up Ice detection and evasion is controlled seasonally on a monthly basis The user can specify which months to enable ice detection based upon winter conditions for the deployment location If ice is detected ice evasion is initiated The float will abort the profile and descend remaining at the park piston position for the duration of the current
19. up if either of the following occurs e Ice was detected on the previous profile e Ice was detected on the oldest 5 profiles plus any of the most recent 3 profiles 23 of 54 D Ice Detection Mission Parameters It is important to understand the intended hydrography If the critical temperature is set too high the feature will always evade If the critical temperature is too low evasion may not occur during actual ice conditions The seasonal aspect of this feature can help ensure floats will always profile during desired months The default values for the winter months and critical temperature used in ice detection missions as shown in the mission status list are 1 80 Ice Detection Mixed Layer Tcritical C Mit OxTBD Ice Detection Winter months DNOSAJJMAMFJ Mib The temperature default is based on the value used in other float applications The winter months designate which months to enable ice detection processing Note that if ice detection processing is enabled for a winter month and no ice is detected the float will still surface and transmit as usual It is only when ice detection is enabled and ice is detected that the mission is aborted With knowing the specific region the safest approach for defaults is to enable ice detection processing for all months except one summer month to ensure surfacing for at least that one month The bit mask is input as a 3 digit hexadecimal value with each bit representing a month in the ord
20. 0 0 100 psu 34 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 message file These data have the form key value An example is shown below ActiveBal lastAdjustments 5 AirBladderPressure 119 AirPumpAmps 91 AirPumpVo l ts 192 BuoyancyPumpOnTime 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
21. 00 Deep profile pressure Decibars Mj 066 Park piston position Counts Mbp 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 1 80 Ice detection Mixed layer Tcritical C Mit Oxffd Ice detection Winter months DNOSAJJMAMFJ Mib 124 Maximum air bladder pressure Counts Mfb 096 OK vacuum threshold Counts Mfv 227 Piston full extension Counts Mff 022 Piston storage position Counts Mfs 2 Logging verbosity 0 5 D 0002 DebugBits D a259 Mission signature hex gt q Mission not active hibernating 52 of 54 INSTRUMENT 4580 APEX version 070207 sn 6899 Rafos 0 Minutes Mtw INACTV ToD for down time expiration Minutes Mtc 13800 Down time Minutes Mtd 00600 Up time Minutes Mtu 00540 Ascent time out Minutes Mta 00360 Deep profile descent time Minutes M 00360 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 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 1 80 Ice detection Mixed layer Tcritical C
22. 41cp functions Print this menu Activate CP mode Bin average CP data Display the SBE41cp calibration coefficients Deactivate CP mode Display SBE41cp firmware revision Configure the SBE41cp Measure power consumption by SBE41cp Display SBE41cp serial number Get SBE41cp pressure Get SBE41cp P T amp S Get SBE41cp P amp T low power Upload CP data System Diagnostics Menu gt I l l Menu of diagnostics WOONDUMIRtHNDTOAHOMDANTD Print this menu Run air pump for 6 seconds Move piston to the piston storage position Close air valve Display piston position Extend the piston 4 counts 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 SelfTestQ Calculate ToD down time expiration Run air pump for 6 seconds deprecated Retract the piston 4 counts deprecated Extend the piston 4 counts deprecated Display piston position deprecated Open air valve deprecated Close air valve deprecated 46 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 de
23. 5 2006 23 38 59 Sbe41cpSerNo 1520 NSample 11134 NBin 495 00000000000000 2 002B5CE0885115 003C5CE188511F 2684144D874814 2698145C874D14 The first set of four hex characters represents the pressure in centibars The second of four hex characters represents the temperature in millidegrees The third set of four hex characters represents the salinity in parts per million ppm The final set of two hex characters represents the number of samples in the average Integers in square brackets after the data e g 2 indicate repeated instances of the same encoded line In the example above there were two all zero messages in sequence To unpack the data consider for example the final sample in the data above 2698145C874D14 e Pressure 2698 hex 9880 decimal centibars 988 0 dbar e Temperature 145C hex 5212 decimal millidegrees 5 212 C e Salinity 874D hex 34637 decimal ppm 34 637 PSU e Measurements 14 hex 20 decimal 20 samples averaged A complete specification for unpacking the high resolution hydrographic data including negative values can be found in the Conversion Notes below 33 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
24. F9I Command Summary sssssssssssssssssessesssessessesseessessesscescescsessesscesceesessesscessesse 44 Appendix D Returning APEX floats for factory repair or refurbishment ssssssessessssssessesses 49 Appendix E Missions sasin oisin ae teas aN EAEn a A EEE a Eesi 50 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 alkaline 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 c
25. Volts V 8 bits unsigned V Vaw 0 077 0 486 Current MA 8 bits unsigned I Iaw 4 052 3 606 Vacuum InHg 8 bits unsigned V Vaw 0 293 29 767 35 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 26 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 0 950 0 900 0 850 0 800 0 750 0 700 0 650 0 600 0 550 0 500 0 450 0 400 0 380 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 0 140 0 130 0 120 0 110 0 100 0 90 0 80 0 70 0 60 0 50 0 40 0 30 0 20 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
26. eep profile descent time 0 480 Minutes Tk Park descent time 0 480 Minutes Tp Mission prelude 0 360 Minutes Tr Telemetry retry interval 1 360 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 47 of 54 Listing Mission Parameters gt L APEX version 062907 sn 1215 INACTV ToD for down time expiration Minutes Mtc 14400 Down time Minutes Mtd 00660 Up time Minutes Mtu 00540 Ascent time out Minutes Mta 00360 Deep profile descent time Minutes Mtj 00360 Park descent time Minutes Mtk 00480 Mission prelude Minutes Mtp 00015 Telemetry retry interval Minutes Mhr 00060 Host connect time out Seconds Mht 1200 Mission activation pressure Decibars Ma 985 Continuous profile activation Decibars Mc 1000 Park pressure Decibars Mk 2000 Deep profile pressure Decibars Mj 066 Park piston position Counts Mbp 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 227 Piston full extension Counts Mff 016 Piston storage position Counts Mfs 2 Logging verbosity 0 5 D 0002 DebugBits D 413e Mission signature hex Note that Mission Parameters are changed by enter
27. ening 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 information 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
28. er 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 successfully 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 37 of 54 telemetry cycle terminates In the context of a UNIX environment this sim
29. er designated The southern and northern hemisphere defaults are shown below DSNOSAJJMAMFJ Mib Region 111111111101 FFD Southern Hemisphere all months except February 111101111111 F7F Northern Hemisphere all months except August These settings should be carefully reviewed for the target hydrography The values can be modified to better suit application needs if required For example if the region is known to be ice free for 6 months we can close the winter window to ensure transmission for those summer months E Ice Evasion Telemetry Telemetry data for an aborted profile is saved and will be transmitted in the next successful telemetry cycle The ice median temperature and number of samples is provided as well as an Ice Evasion Record which indicates the ice cover and ice cap detection status for the last 8 profiles Note that ice break up does not affect this record but is indicated in the telemetry status word F Special Mission Prelude Note for under ice operation Although the mission prelude for these floats are not disabled there is a capability to bypass mission prelude and immediately sink if the float is to be deployed in ice conditions that may pose a threat to the float 24 of 54 XIII 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
30. ers the Pressure Activation phase During this phase the float makes a pressure measurement every two hours hibernating between measurements If the pressure is less than 25 dbar the float returns to hibernation If the pressure exceeds 25 dbar the float fully extends the piston and begins the Mission Prelude THE FLOAT MUST BE BALLASTED SO THAT IT WILL SINK BELOW 1500 DBAR WHEN THE PISTON IS FULLY RETRACTED OR THE FLOAT WILL NOT BE ABLE TO PRESSURE ACTIVATE IT WILL NOT SURFACE AGAIN During the Pressure Activation phase the operator can communicate with the float This does NOT NORMALLY deactivate Pressure Activation However a k or K kill command during this phase will deactivate Pressure Activation and stop the mission DO NOT DEPLOY THE FLOAT AFTER A KILL K COMMAND UNLESS YOU HAVE STARTED A MANUAL DEPLOYMENT OR RESTARTED A PRESSURE ACTIVATION DEPLOYMENT IF YOU FAIL TO OBSERVE THIS CAUTION AND LAUNCH THE FLOAT IT WILL SINK TO A NEUTRAL DEPTH AND STAY THERE IT WILL NOT SURFACE AGAIN In the absence of a kill command the float will automatically resume the Pressure Activation phase after several minutes without operator input Placing the Reset Tool over the RESET mark during the Pressure Activation phase will start a deployment 9 of 54 Pressure Activation Deployment Scenario Using the Pressure Activation feature minimizes operator float interaction while at sea A skilled operator can fully test the float while still in t
31. ests 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 telemeter 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 15 of
32. f test 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 Air bladder is deflated Piston is fully retracted e Deploy the float e Pressure Activation o Pressure is measured every 2 hours o 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 o Detection of a satellite surface triggers Full air bladder inflation 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 o 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 The float can be deployed after the Mission Activation phase and confirmation of proper functioning of the float have been successfully completed If the float fails the self tests the piston will not retract and the air bladder will not deflate This may be difficult to detect unless a terminal is connected to the float The float should not be deployed if it fails the self tests 11 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
33. g ARGOS system There are providers available see below and you may wish to investigate this possibility Contact Teledyne Webb Research for additional information Another option is RUDICS which is available from several providers These include Iridium Satellite LLC and NAL Research Inc RUDICS is Internet rather than phone system 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 and 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 broadband Internet access RUDICS has a large setup cost but subsequent data costs and connection times are lower compared to modem to modem systems The most cost effective solution will depend on your level of expertise the number of floats you are using and their pattern of use For a large fleet a combination of RUDICS and modem to modem may be needed to provide adequate redundancy 29 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 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
34. g a Terminal and APF9I Command Summary for more information INSTRUMENT 4577 APEX version 070207 sn 6896 Rafos 0 Minutes Mtw INACTV ToD for down time expiration Minutes Mtc 13800 Down time Minutes Mtd 00600 Up time Minutes Mtu 00540 Ascent time out Minutes Mta 00360 Deep profile descent time Minutes M 00360 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 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 1 80 Ice detection Mixed layer Tcritical C Mit Oxffd Ice detection Winter months DNOSAJJMAMFJ Mib 124 Maximum air bladder pressure Counts Mfb 096 OK vacuum threshold Counts Mfv 226 Piston full extension Counts Mff 022 Piston storage position Counts Mfs 2 Logging verbosity 0 5 D 0002 DebugBits D 5a0b Mission signature hex gt q Mission not active hibernating 50 of 54 INSTRUMENT 4578 APEX version 070207 sn 6897 Rafos 0 Minutes Mtw INACTV ToD for down time expiration Minutes Mtc 13800 Down time Minutes Mtd 00600 Up time Minutes Mtu 00540 Ascent time out Minutes Mta 00360
35. he laboratory environment or while the vessel is still at the dock At the conclusion of testing the Pressure Activation feature can be activated and the float can be left to await deployment When the vessel is on station it only remains to launch the float see Deploying the Float No further communication with the float is required and the float can be reliably deployed by relatively inexperienced personnel One caution is in order The air bladder is not automatically inflated until the beginning of the Mission Prelude phase of a deployment This means it cannot be checked by the operator during the normal course of a Pressure Activation deployment Therefore we strongly recommend that you either e Manually inflate and check the air bladder before starting a Pressure Activation deployment Be sure to manually close the air valve before trying to inflate the air bladder Starting a Pressure Activation deployment will automatically deflate the bladder or e Start a Manual Deployment with the Reset Tool or an operator command and reassert operator control after the Mission Activation and initial portion of the Mission Prelude phases with attendant operator float function check has successfully completed 10 of 54 Pressure Activation Deployment Summary e Establish communication with the float see Connecting a Terminal e Press a or A to initiate Pressure Activation e Mission Activation o Air pump runs for 1 second o Sel
36. ing the Mission Programming Agent M from the Main Menu Command Mode 48 of 54 Appendix D 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 49 of 54 Appendix E Missions This section lists the parameters for each float covered by this manual To display the parameter list connect a communications cable 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 Connectin
37. ion Check sesssesssessocesoccssoesocesoossocesocssoessoee 12 D Notes and Caveat cssccsssssssscssssssssscscssssssssscsscssssssssscsssssssssessossssssessessscssesssssscssssosesessesooss 15 VI Deploying the FOE eccsccsescessceuinsenvasievcdsseanccinvevedensweusyaowsassiseesveiaseantasiaveoseredess obiataveucstives 16 WEL PORN Profle nnen E aaa A ano E E RE 17 A Profile Ascent Timing icsccccccsssessscssnsececsscesessncssesscsssoscssecasssseossesesensosstsecessesesosessvasssnsdsenecesaessons 17 B Profile and Profile Cycle Schematics ccssccsssscsssscsssssssssccsssscssscsssssssssscsssasssssssssssssssssees 18 VIII Deep Profile First DPE irienna a aoai 19 TX 2 AUP 11 DAMS hock EE NAE E E E E ER 19 X Setting the Real Time Clock csscccssscsssssccsssccssssccsssccssssccsssscesssscsssscesssscsssacesssscesesscesseees 20 XI Time of Day TOD riceverai annans e E E R aie 21 XII Ice Detection and Evasion sscascscsiansscesacienadescwsdsawasenahacsascedesssunsuveasbosiuessietesvecuussavsavavsntens 23 A Ice Cover Detectioi sssi sissie essees usneseni oas spee es oaos oue E Ea issos 23 B Ice Cap Detectidirsccissesccsscsssessssescssvscoesscesosessonssescdesoocesaaessesvesssnssasdessasssesacssesaseveassesstsesnesoacssss 23 Cy Ice Br ak Up Detection wicisscciscccccsecdciscssissscetessssesesodasdetesesetessseasedeccesscdsenceiesssceseuscsnnsededestunesssses 23 D Ice Detection Mission Parameters sccccssscscsscss
38. ld the Reset Tool in position 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 Prelude 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 Hold 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
39. ly one of which requires unpacking The other blocks are sent in human readable form The five blocks are e Park Phase PT samples hourly low power Pressure Temperature measurements acquired while the float drifts at Park Depth e Low resolution PTS samples Pressure Temperature Salinity measurements collected according to the Depth Table see Pressure Table for PTS Samples These samples are acquired while the float is deeper than the Continuous profile activation pressure Parameter Mc e High resolution PTS samples 2 dbar bin averages of continuous 1 Hz Pressure Temperature Salinity measurements These samples are acquired while the float is shallower than the Continuous profile activation pressure Parameter Mc e GPS fixes location fix acquired when the float surfaces e Biographical and engineering data float information acquired at various times during the profile cycle Generally only one telemetry cycle is required to successfully upload the message file to the server If additional telemetry cycles are required the float will first acquire an additional GPS fix and then append updated versions of blocks 4 and 5 to the original message for each additional cycle More detailed descriptions of each data block with examples are provided below 31 of 54 Park Phase PT Samples An example of Park Phase PT samples collected at hourly intervals is shown below The pressure and temperature data are presented in phy
40. n the support directory of your distribution 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 38 of 54 of the system directories This will ensure that the float s version of the utilities 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 rxre 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
41. om command mode until you quit Q the Mission Programming Agent List Mission Parameters L is an active command in both Command Mode and the Mission Programming Agent 44 of 54 Command Mode Sub Menus GPS Menu gt G Menu of Garmin GPS15L w functions Print this menu Ga Upload almanac to GPS15L w Gc Configure the GPS15L w Gf Get GPSI5L wW 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 fe 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 menu of FLASH file system functions Print this menu 5b 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 Ice Evastion Control Menu Menu of ice evasion control parameters Print this menu Ib Winter months bitmask CDNOSAJJMAMFIJ 0x000 0xfff Id Display ice avoidance parameters It Under ice mixed layer critical temperature 3 35 C 45 of 54 Command Mode Sub Menus continued Sensor Menu Seabird SBE 41cp gt S Menu of SBE
42. ontribution 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 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 To reset an APF9 for a deployment you should hold the Reset Tool stationary against the RESET label until you hear the air pump run Typically the air pump will run 2 to 3 seconds after you position the Reset Tool over the RESET label For the APF8 it was necessary to hold the Reset Tool in place and then remove it to trigger the float 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 If not already in Command Mode an APF9 can only enter Command Mode from Sleep Either the Reset Tool or a keystroke at the terminal will trigger the transition from Sleep to Command Mode e If the APF9 is performing some task e g self tests it is not list
43. ossible by configuring the float to use a fleet wise username This is in contrast to configuring each float with a unique username based 40 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 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
44. ple 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 Setting up the Default User on the Remote Host Another fault tolerance measure requires creation of a default user on the remote host Begin by creating a new fest group to which the default user and all floats will belong As root execute the command groupadd g1000 test Next create an account for the default user using test as the username adduser s bin tcsh c Tridium Apex Drifter g test u1000 d home test test Then give the new user a password by executing as root passwd test For the convenience of the float manager you might also want to change the permissions on the float s home directory chmod 750 test The file etc passwd will contain the following entry test x 1000 1000 Iridium Apex Drifter home test bin tcsh The remainder of the set up for this float should be done while logged into the remote host as the default user ie test Create two directories mkdir bin logs and populate the bin directory with the SwiftWare xmodem utilities rx and sx as well as the chkconfig utility These three files are i
45. profile period For Inidium the data for the aborted profile is available and will be transmitted in the next successful telemetry cycle A Ice Cover Detection Ice cover detection is based on temperature measurements starting at 50 decibars The temperature samples are collected every 2 5 decibars The sorted median value of the samples is computed at each sample point to characterize the mixed layer temperature hydrography If at any pressure less than 20 decibars the median of the temperature measurements is less than a user specified critical temperature the surface is assumed to be ice covered and ice evasion occurs B Ice Cap Detection The following conditions together indicate an ice cap is detected and will initiate ice evasion e There is no Iridium communication indicating the float does not have a sky view and that sufficient time is given for the opportunity to connect to the satellites and register with the Iridium service e Pressure is less than 20 decibars ensuring the float is near the surface e Temperature is less than the user specified critical temperature to determine if the float is within the cold water halo underneath the ice C Ice Break Up Detection The criterion for determining ice break up is based on the previous 8 profiles ice evasion history as determined by ice cover and ice cap detection Ice break up is not recorded as part of the definitive ice detection and evasion history Assume possibility of break
46. rly 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 20 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 user 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
47. rofile 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 typically 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 buoyanc
48. s 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 distributions 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 43 of 54 Appendix C APF9I Command Summary Uppercase commands are used here for clarity however APF9I commands are not case sensitive The menus presented belo
49. s 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 way communication Some user developed documentation of the implementation process is included in the appendices of this manual see Host Server and Modem Setup Additional Linux based packages for data processing are also available with limited support Contact Teledyne Webb Research for further information An alternative modem to modem solution particularly 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 standin
50. 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 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 25 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 26 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
51. shipped to the customer in Hibernate mode The Pressure Activation feature is NOT ACTIVE With the Pressure Activation feature included in this version of the APF9I firmware there are two possible deployment procedures The procedures are described below IMPORTANT Pressure Activation is NOT automatic for this firmware version of the APF9I The Pressure Activation feature MUST be MANUALLY ACTIVATED by the OPERATOR using a PC to communicate with the float The following sections Manual Deployment with the Reset Tool and Pressure Activation Deployment provide operational summaries for these two possible deployment scenarios Both sections refer to self tests conducted by the float and float function checks performed by the operator A detailed description of proper float behavior self tests and the associated operator actions and observations needed to evaluate the float for deployment is provided in Mission Activation and Operator Float Function Check IMPORTANT The float should not be deployed if it does not behave as described in Mission Activation and Operator Float Function Check 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 Shortly before deployment reset the profiler by holding the Reset Tool over the marked location on the pressure case Ho
52. 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 12 of 54 5 6 7 Start a Manual or Pressure Activated Deployment as described above in the Manual Deployment with the Reset Tool and Pressure Activation Deployment sections This will trigger the Mission Activation self tests Where applicable the description below indicates where the two 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 tes
53. sical units decibars C No unpacking step is required Active ballasting is conducted during the Park Phase and these measurements show the float hunting up to a programmed Park Depth The Unix Epoch is seconds since 00 00 00 on January 1 1970 MTime is seconds since the start of the current profile date Uni xEpoch MTime P T ParkPt Sep 26 2006 20 50 07 1159303807 21614 1030 97 5 0535 ParkPt Sep 26 2006 21 50 04 1159307404 25211 1030 45 5 0817 ParkPt Sep 26 2006 22 50 04 1159311004 28811 1031 25 5 0639 ParkPt Sep 26 2006 23 50 04 1159314604 32411 1025 51 5 0477 ParkPt Sep 27 2006 00 50 04 1159318204 36011 1026 95 5 0784 ParkPt Sep 27 2006 01 50 04 1159321804 39611 1026 81 5 0511 ParkPt Sep 27 2006 02 50 04 1159325404 43211 1014 43 5 1526 ParkPt Sep 27 2006 03 50 04 1159329004 46811 1013 95 5 1673 ParkPt Sep 27 2006 04 50 04 1159332604 50411 1011 40 5 1861 ParkPt Sep 27 2006 05 50 04 1159336204 54011 993 80 5 2302 Low Resolution PTS Samples The SBE 41cp can operate in either of two modes low resolution spot sampling or high resolution continuous sampling Spot samples are single PTS measurements taken according to the programmed Depth Table see Pressure Table for PTS Samples During continuous sampling the CTD makes measurements at 1 Hz and then calculates and provides 2 dbar bin averaged measurements to the float Both modes are typically used during a float profile Spot sampling is performed when the floa
54. sssesssesssssessssscsscssssssssscssessssssessesssssseesess 24 Ex Tee Evasion Telemetry vicesccccsccsvessceconcevsssssscavsonssevecsstenscsestesnnsvesasesebcessessssetseoscesesassdusesessssscesestee 24 F Special Mission Prelude Note for under ice Operation sccscccssscssccsscssscsescsssssseseseseees 24 XIII iridi m Data n nonane eeann erasi aa aarre eN ee iLE Re IEKSA EEEE eSa 25 A Iridium Service and Costs ssccsscsssscsssssesssssssscssssccssscsssscssessssssessesssssscssosssessesssssseesessoseees 25 B The Float s Iridium Modem and Two Way Communications csccsssscssssscssscssssccsesees 27 C Modem to Modem vs RUDICS 0 sscsssssssscsccesssscscscessesssssssscssessessscsscssessssssssssssssesesesseneres 29 D Bearer Service Ty Pe cssccicersisessssssescecscsvsscesvssesoascevanesoatesessedvonsessoncessasssoensvesssseasosecsssdceesenssessessede 30 EB Tridiuam Data EE EAEE E A EEA 31 F Pressure Table for PTS Samples ssocsoocsooesocesocecosecocecocecoscooescoescoosooessoessoossocsssossossssesssesssssss 36 G The Remote UNIX Host ssssssssssssscssscsccscssscesescsssssesencssssssssscsssssssssessessssssessessssssceseeseees 37 2 of 54 Appendix A Storage conditions ssisicccices case Roca ein sla ita Wisgidessivesstlasvidoccaa ace saeveni cede cs 42 Appendix B Connecting a Terminal cccsscsssssssscsssssssssssscsscssssscesccsscssssscssccssssssssesssessssensees 43 Appendix C AP
55. t is deeper than the Continuous profile activation pressure Parameter Mc decibars and continuous sampling used when the float is shallower than this operator programmed threshold An example of the low resolution Depth Table based measurements is shown below The data are delivered in human readable form in physical units of decibars C and PSU No unpacking step is required Discrete samples 6 p t S 1021 60 5 1719 34 6362 Park sample 1994 88 2 4792 34 7165 1947 50 2 5454 34 7142 1898 08 2 6260 34 7115 1847 83 2 7133 34 7076 1797 26 2 8271 34 7017 1746 87 2 8982 34 6964 32 of 54 High Resolution PTS Samples The 2 dbar bin averaged data are delivered in mildly compressed form to reduce bandwidth requirements These are the only data in an Iridium message file that are not delivered in human readable form and physical units These measurements are encoded as hexadecimal characters with one full ASCII byte for each character ASCII encoded hex Four characters thus represent a single 16 bit integer Each measurement is comprised of a PTS triplet three 16 bit integers and an 8 bit integer that records the number of 1 Hz measurements that were averaged in that 2 dbar bin The resolution of the encoded data is summarized in the table below Sensor Measurement Resolution SBE 4lcp Temperature 0 001 C 1 millidegree C Salinity 0 001 psu Pressure 0 1 dbar An example from an Iridium message file is shown below Nov 0
56. tected gt M Entering Mission Programming Agent gt Menu selections are not case sensitive Print this menu A Self activation pressure 25 1500 Cdbars B Buoyancy control agent Bi Ascent initiation buoyancy nudge 25 254 counts BJ Deep 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 60 minutes lt typographical error Ht Host connect time out 30 300 seconds in the firmware I Ice avoidance agent Ib Winter months bitmask CDNOSAJJMAMFIJ 0x000 0xfff Id Display ice avoidance parameters It Under ice mixed layer critical temperature 3 35 Deep profile pressure 0 2000 decibars range is 1 360 J K Park pressure 0 2000 decibars L List mission parameters N Park and profile cycle length 1 254 Q Quit the mission programming agent 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 D
57. tes after midnight Disabling TOD gt tc lt entered by operator followed by ENTER The time of day feature has been disabled 21 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 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
58. to create an account for float 5047 make sure the iridium group exists and then execute the following command as root adduser s bin tcsh c Tridium Apex Drifter g test ul15047 d home f5047 5047 Then give the new user a password and change the permissions of the float s home directory as shown for the default user Be sure to configure the float to use this username and password The file etc passwd will contain the following entry 5047 x 15047 1000 Iridium Apex Drifter home 5047 bin tcsh The remainder of the set up for this float follows very closely that of the default user and should be done while logged into the remote host as the float ie 5047 Create bin and logs directories in the float s home directory and populate the bin directory with the SwiftWare xmodem utilities rx and sx as well as the chkconfig utility Finally copy the three ascii files cshre rxrc and sxre from the default user s home directory to the float s home directory Be sure to edit these files so that the LogPath points to the float s logs directory or else potentially valuable logging debugging information will be irretrievably lost 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 p
59. ts 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 13 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 your 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
60. w 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 Main Menu Command Mode gt Menu selections are not case sensitive Print this help menu Initiate pressure activation of mission Calibrate battery volts current amp vacuum Set logging verbosity 0 5 Execute activate mission GPS module agent GPS module menu LBT module agent LBT module menu Diagnostics agent Diagnostics menu FLASH file system agent FLASH file system menu Kill deactivate mission List mission parameters Mission programming agent Mission programming menu Display float serial number Display the pressure table Exit command mode Activate recovery mode Sensor module agent Sensor module menu Get Set RTC time format mm dd yyyy hh mm ss Attach the logstream to a specified file Close the log file N N N N N SEANTANS EERE a ee Oe A The sub menus shown below GPS G LBT H File System J CTD S and System Diagnostics 1 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 fr
61. y 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 17 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 18 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 Depth 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
62. y 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 27 of 54 Other available configuration commands which do not have interactive dependencies are ActivateRecoveryMode AirBladderMaxP Counts AtDialcmd Q AltDialcmd ConnectTimeOut Seconds CpActivationP Decibars FlashErase Flashcreate FloatId MaxLogKb K7i lobytes Pwd TelemetryRetry Minutes TimeOfDay Minutes UpTime Minutes User Verbosity 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 CpPActivationP 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 28 of 54 C Modem to Modem vs RUDICS For modem to modem communications 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 thi

APEX PROFILER USER MANUAL - CSIRO Marine and Atmospheric

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