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TELEDYNE WEBB RESEARCH APEX PROFILER USER MANUAL
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1. 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 Discrete samples 22 p t s ofreq 1000 99 3 8633 34 4704 4073 Park Sample 1998 44 2 1449 34 6194 4699 1949 02 2 2140 34 6145 4685 1899 05 2 2602 34 6102 4661 1849 34 2 3056 34 6082 4638 1799 28 2 3576 34 6041 4616 1748 29 2 4284 34 5999 4604 1698 73 2 4919 34 5946 4573 High Resolution PTSO 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 a 16 bit oxygen frequency 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 31 of 53 Sensor Measurement Resolution SBE 4lcp Temperature
2. chown f float iridium home f float bin sxrc chown f float iridium home f float bin rxrc chown f float iridium home f float bin chkconfig chown f float iridium home f float bin sx chown f float iridium home f float bin rx ls Al bin logs cd Apex_setup_fi les pwd 51 of 53 After all this I executed a command to set the permissions for these directories to 750 as Dana suggested chmod 750 home f home f bin home f logs and chmod 750 home iridium home iridium bin home iridium logs FOURTH SCRIPT Before Teledyne Webb Research could make meaningful tests it was necessary to create a minimal mission cfg in each floats home directory make mission x bin csh set float 1 cp Apex_setup_files mission cfg home f float chown f float iridium home f float mission cfg ls al home f float mission cfg home f float bin chkconfig cfg home f float mission cfg to run make mission x XXXX HHHHHHHAHHHHARHHHAHHHAAHHHAAHHHAAHHHAAHHHAAHHHHAAHHAHHHHAA Aug 7 2007 added security installed tcp wrapper apt get install netkit inetd gedit hosts allow and hosts deny sudo etc init d inetd restart 52 of 53 Appendix F CTD Calibration and Ballasting records included in hard copy only 53 of 53
3. Integers in square brackets indicate replicates of the same encoded line For example a line that looks like 000000000000000000 2 indicates that there were 2 adjacent lines with the same encoding all zeros in this case A complete specification for unpacking the high resolution hydrographic data including negative values can be found in the Conversion Notes below 32 of 53 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 0xF000 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 OxF000 OxF001 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 The O2 frequency range is 4095 to 61439 Hex values 0xF000 nonfinite OxF001 lt 4095 OXEFFF 61439 and OxFFFF missing data are used to flag out of range measurements or are otherwise reserved Temperatures i
4. 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 11 2006 08 17 34 Sbe41cpSerNo 1140 NSample 4192 NBin 488 000000000000000000 2 002964D8899629A70C 003C64DA899629A30C 005064DA899629A20C 006464DD899629A10A 007864DE8996299C0B 008C64E18996299A0B 00A064E28996299A0A 00B464E5899629980B 00C964E3899629940A 00DD64E2899629930A 00F064E48996299009 010564E48996298C0A 011864E68996298A09 012C64E6899629880B snippage 25 F80FA486A30FD80E 260COFA286A30FDAOF 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 next 4 bytes represent the oxygen frequency in Hertz 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 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 0Ox86A3 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
5. 00120 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 300 Park pressure Decibars Mk 300 Deep profile pressure Decibars Mj 070 Park piston position Counts Mbp 070 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 096 OK vacuum threshold Counts Mfv 225 Piston full extension Counts Mff 016 Piston storage position Counts Mfs 2 Logging verbosity 0 5 D 0002 DebugBits D d9f4 Mission signature hex 38 of 53 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 53 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 comnector or fitting that is electri
6. 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 53 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 the 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 Deploymen
7. 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 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
8. Print this menu A self activation pressure 25 1500 dbars 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 J Deep profile pressure 0 2000 decibars range is 1 360 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 Deep 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 sanit
9. 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 17 of 53 Vill 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 typically set between 12 hours and 20 h
10. as servers Attempted to install RedHat Enterprise Linux 4 but it would not install since it lacks SATA drivers which control the CDrom and the hard drive on the Optiplex external CDrom would not aid installation since disk drives could not be recognized either Changed course and installed UBUNTU 6 10 using an iso CD Retained Windows XP shrank it to about 30 gb added a 20gb vfat and left the remaining space 180 gb for linux with 2gb swap space Executed all package upgrades Basic installation did not include mgetty found on http packages ubuntu com edgy packages minicom installed using System Administration Synaptic Package Manager Communications tcsh csh installed using System Administration Synaptic Package Manager Shells Downloaded Apex Software from runt ocean washington edu swift RemoteHost zip unzip sx rx chkconfig sxrc rxrc Foolen around with minicom to make sure I could talk to the modem 47 of 53 Found some directions on the net for how to start up mgetty properly Ubuntub 1 deprecated etc inittab where mgetty used to be started lt http ubuntuforums org archive index php t 2260 h 3C t 150339 htmI gt whe nla nla ale ale ale ale ale ale ale ale ale ale ale ale ale Che ess XXX KOY KS T noe a file named ttys0 instead of mgetty to etc event d with start on runlevel 2 start on runlevel 3 start on runlevel 4 start on runlevel 5 stop on shutdown
11. deployments Higher levels are suitable during testing as an aid to float assessment 5 of 53 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 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
12. 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 standing 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
13. respawn exec sbin mgetty ttys0 note the slight syntax changes vs nerdcentric s ubuntu 6 10 ala nla nla nla ala ala ala ala ale ale ale ala ale ala ale ala XXX XXX SX XO KK and got these lines from Dana swift port ttys0 speed 19200 data only y port owner root port group uucp port mode 0660 debug 4 This did the trick Installed sshd using the Synaptic package manager found under Networking so I could communicate remotely A search of Ubuntu help gave me the information that I needed to edit etc ssh sshd_config and uncomment Banner etc issue net and restart the ssh daemon 48 of 53 Apex Iridium specific Setup Requirements are user iridium and one for each individual float I created home iridium manually according to Dana s directions Discovered that ubuntu adduser commands are slightly different created the cshrc bin logs directories copied sx rx chkconfig sxrc rxrc to bin and used scripts to create the directories for the 12 floats oo are in Apex_setup_files and must be executed as root sudo s FIRST SCRIPT NOTE ubuntu specific syntax add_Apex sh bin csh echo sample adduser xxxx adduser shell bin tcsh ingroup iridium uid 1 1 home home f 1 f 1 sample run add Apex sh xxxx Adding user fxxxx Adding new user fxxxx 1xxxx with group iridium Creating home directory home fxxxx Copying files from etc skel Enter new UNIX password Retype n
14. 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 53 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 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 Telemet
15. 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 53 V Evaluating the Float and Starting the Mission Profilers are 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
16. 303807 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 30 of 53 Low Resolution PTSO Samples The SBE 41cp can operate in either of two modes low resolution spot sampling or high resolution continuous sampling Spot samples are single PITSO measurements taken according to the programmed Depth Table see Pressure Table for PTSO Samples During continuous sampling the CTD makes measurements 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 float 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
17. TELEDYNE WEBB RESEARCH 82 Technology Park Drive e E Falmouth Massachusetts 02536 4441 e Telephone 508 548 2077 FAX 508 540 1686 e dwebb webbresearch com APEX PROFILER USER MANUAL Applies to Serial Numbers 4394 4395 Optional Sensors Seabird SBE 43 IDO Oxygen Sensor Revision Date Customer name TWR Job Number Firmware Revision Features 01 20 09 University Tasmania 1479 APF9I F W 05 17 07 APF9I Controller Park and Profile Deep Profile First DPF Pressure Activation optional Air pump energy consumption limit Time of Day profile control GN NA PAY LABIS AK mk I Alkaline Battery Warning is siscais pnesovincaesainsdy danse cavesdeanseieehasavondsssivstesuundetban cigvensveaveaeasedstivie cates 4 II APF9 Operations Warning for APF8 Operator sscccsssccssssccssssccsssscsssssccessccssssscsssscees 5 III APF9I Operations Warning for APF9A Operators sscccsssscssssscssssccssnccssssccsessccssssceeees 6 IV Maximum Operating Pressure La AIRA NAN NANG AAN 6 V Evaluating the Float and Starting the Mission 0000000oesac0ossecosssacosnass0sass0ssna 7 A Manual Deployment with the Reset Tool essseessocesocesocssocesocesocesocesocesocesocesocesocessosesosesosesoseso 8 B Pressure Activation Deployment sseesseesscsssocesocesocesocesocesocssocesocssocesocesocesocesoesssosesosesosesosesoseso 9 C Mission Activation and Operator Float Function Check es
18. 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 1200 dbar 0 08 dbar sec 3600 sec hr 4 16 hours 23 of 53 XIII Iridium Data A Iridium Service and Costs Fach 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 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 co
19. are acquired during a profile The change to continuous profiling is controlled by Parameter Mc Continuous profile activation pressure decibars Discrete PTSO samples are taken according to the Pressure Table when the measured pressure is greater than the activation pressure PTSO 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 PTSO 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 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 53 XIV Missions This section lists the parameters for each float covered by this manual To display the parameter list connect a communications ca
20. 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 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 Verbosi ty 2 if you do not wish to make any changes 25 of 53 Other available configuration commands which do not have interactive dependencies are ActivateRecoveryMode AirBladderMaxP Counts AtDialCmd AltDialcmd ConnectTimeOut Seconds CpActivationP Decibars FlashErase FlashCreate FloatId MaxLogkb Ki lobytes Pwd TelemetryRetry Minutes TimeofDay Minutes UpTime Minutes User Verbosity Several of these commands should only be used if absolutely required an
21. ator 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 21 of 53 XII Time of Day TOD APF9I 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 midnig
22. 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 53 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 Hold 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 m The self tests can be monitored if a c
23. ble 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 4394 APEX version 051707 sn 6412 INACTV ToD for down time expiration Minutes Mtc 07200 Down time Minutes Mtd 00420 Up time Minutes Mtu 00300 Ascent time out Minutes Mta 00060 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 1000 Deep profile pressure Decibars Mj 016 Park piston position Counts Mbp 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 096 OK vacuum threshold Counts Mfv 226 Piston full extension Counts Mff 016 Piston storage position Counts Mfs 2 Logging verbosity 0 5 D 0002 DebugBits D 540 Mission signature hex 37 of 53 INSTRUMENT 4395 APEX version 051707 sn 6413 INACTV ToD for down time expiration Minutes Mtc 00360 Down time Minutes Mtd 00240 Up time Minutes Mtu 00120 Ascent time out Minutes Mta 00120 Deep profile descent time Minutes Mtj
24. cally 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 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 40 of 53 Appe
25. 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 Mission Programming Agent 41 of 53 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 GPS15L w fix Gl Log NMEA sentences from GPSI15L W Gt Synchronize the Apf9 clock with GPS LBT Menu Iridium Modem gt H Menu of modem functions Print this menu a 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 ib Print bad block list Jc Create FLASH file system destructive Jd Print the FLASH chip identifier Je Erase the FLASH file system destructive J1 Print directory listing of FLASH file system Jr Report FLASH errors since file system creation Jz Reset FLASH error counters to zero 42 of 53 Command Mode Sub Menus continued Sensor Menu Seabird SBE 41cp gt S Menu of SBE41cp functions Print this menu Activate CP mode Bin average CP data Display the SBE41cp ca
26. d 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 Fither 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 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 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
27. d 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 26 of 53 GC 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 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 way communication Some user developed
28. 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 27 of 53 CLS America Inc formerly Service Argos Inc is currently building an Iridium data processing capability that will provide SBD and RUDICS data services CLS America expects this service to be available at or near the beginning of calendar year 2008 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 28 of 53 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 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
29. esosesocesocesocesocesocesocessosssosesosese 12 D Not es and CaVEA Sna NG GG BA 15 VI Optional SCOTS OPS naa KANAN GARBAGE 16 A SeaBird IDO Integrated Dissolved Oxygeti ccssccsssscssssscsssscssscscsssscsssscsssssssssssssssssssssssses 16 Testing the optional Sensors ccccsoccssssssssssissonssessnsssssossnscssnesestetesonsessnssesbotesensssvensestosessessseensesteeeosensacs 16 VI Deploying the Eakip ia GAGANA 17 VIII Parkand Profile paaa NAE GEEKKEKANIEKNEEKEER 18 A Profile Ascent TIMINE 330p KANA sitost rosu sssri se sass vises ses 18 B Profile and Profile Cycle Schematics eseeesesesocssocesocesocesocesocesooseoossoocesocesoessosesocesocssocesocsssee 19 IX Deep Profile First DPE iceriisisasrisreiveiiiritetiicerrsrcsricinsseaoiisae oeii ieri ABRA 20 X Air P mp LIMITS BREAK 20 XI Se tting the Real Time Cl chur aisia e iein 21 XI Tma Day TOD inisieer tas estenose AN ANNA SANA AA 22 XIII ADAN aa NANA GANAN T 24 A Tridium Service and Costs scsccsscssssscsscsssscscscssssssssscssssssssscsscssssssscssssccsossscssossssssessesssees 24 B The Float s Iridium Modem and Two Way Communications ccssccsssscssssscsssccssssssseee 25 C Modem to Modem vs RUDICS 0 sscsscsssscsssssssccscsscsscssscesessssescesessssssecsessnssssssseesesssssseesese 27 D gt Bearer Service Type NILA GANA AN BEA RT 29 E Iridium DET PE A E E A S 30 F Pressure Table for PTSO SampleS sesssesesosssocesocssoce
30. ew UNIX password passwd password updated successfully Changing the user information for fxxxx Enter the new value or press ENTER for the default Full Name Iridium Apex Drifter Room Number work Phone Home Phone Other Is the information correct y N y After all are created check etc passwd 49 of 53 SECOND SCRIPT make cshrc x copies and sets ownership of the cshrc file suggested by Dana bin csh set float 1 cp Apex setup files cshrc home f float chown f float iridium home fSfloat cshrc ls Al home fSfloat cshrc to run make cshrc x xxxx etc 50 of 53 THIRD SCRIPT creates float specific sxrc and rxrc files from base files i e substitutes the float id into the path creates the bin and logs directories under each home float then copies and sets ownerships of the files To run make rcfiles x xxxx etc where xxxx float id make rcfiles x bin csh set float 1 sed s xxxx float lt sxrc gt sxrc float sed s xxxx float lt rxrce gt rxrc float cd home f float pwd mkdir bin mkdir logs chown f float iridium home f float bin chown F float iridium home f float logs Ss cp Apex_setup_files sxrc float home f float bin sxrc cp Apex_setup_files rxrc float home f float bin rxrc cp Apex_setup_files sx home f float bin sx cp Apex_setup_files rx home f float bin rx cp Apex_setup_files chkconfig home f float bin chkconfig
31. 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 53 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 12 of 53 5 6 7 Start a Manual or Pressure Activated Deployment as described above in the Manual Deployment with the Reset Tool and Pressure Activat
32. fy 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 46 of 53 Appendix E Host Server and Modem Setup This material was very kindly provided by Terry McKee of the Woods Hole Oceanographic Institution The material documents her work setting up primary and secondary host servers with modems using the software developed at the University of Washington by Dan Swift Shell scripts for setting up user accounts among other things for each of 12 floats are included This material is provided as an example Not all installations will be the same July 2007 Received 2 Dell Optiplex 745 desktop computers and 2 Hayes Accura modems H08 03328 CF to set up
33. ht 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 must be manually enabled by the operator Thi
34. imate costs Your actual costs will vary with provider and use 24 of 53 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 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
35. ion 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 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 13 of 53 8 9 Manual Deployment Once the piston is fully extended the float enters the Mission
36. isplay SBE41cp firmware revision Sg Enter the SBE41cp gateway mode Sk Configure SBE4Icp Sm Measure the power consumption by SBE4Icp Sn Display SBE4Icp serial number Sp Get SBE4Icp pressure Ss Get SBE4Icp PTS amp O Ss Get SBE4Icp P amp T low power Su Upload CP data gt s s SBE41cp P T S O 1 69 decibars 24 0569C 34 9227PSU 8026 16 of 53 VII 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
37. libration 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 S84 O Get SBE41cp P amp T low power Upload CP data System Diagnostics Menu gt I l l Menu of diagnostics DONMUIH rt NM TO amano 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 SelfTest 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 43 of 53 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 s M Entering Mission Programming Agent gt Menu selections are not case sensitive
38. m 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 typically 530 00 USD Calls from the float to the host server are charged by the minute or fraction there of at S1 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 approx
39. n the range 0 0015 C to 0 0005 C are mapped to OXFFFE 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 AA Hexadecimal Decimal and Physical Decimal comparison Conversion Steps Result Pressure gt 0 Ox1D4C lt Ox7FFF P 7500 7500 lt 32767 P 10 5 750 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 gt 16 038 C Temperature x0 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 36 829 psu Salinity lt 0 OxFF9C gt 0xF001 gt S 65436 y 65436 61441 S 65536 1000 0 100 psu 33 of 53 0220 0x3EA6 x0xEFFF O2jaw 16038 02 O2aw gt 16038 02 lt 0 OxF58B gt OxF001 gt O2raw 62859 O22sCcomplement O2raw 2677 LEEDL 34 of 53 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 a
40. nd 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 Ai rPumpVo 1 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 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 53 F Pressure Table for PTSO Samples The Pressure Table below with values expressed in decibars dbar defines where discrete PTSO measurements
41. ndix 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 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 SANTO BESE a ee NAMEN The sub menus shown below 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
42. ommunication 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 53 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 li
43. ours 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 18 of 53 B Profile and Profile Cycle Schematics Down Time Surface Park Depth Profile Depth TIME Deep Profile every cycle Deep Profile every third cycle Time gt 19 of 53 IX 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 return
44. ples These samples are acquired while the float is deeper than the Continuous profile activation pressure Parameter Mc e High resolution PTSO samples 2 dbar bin averages of continuous 1 Hz Pressure Temperature Salinity Oxygen 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 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 physical 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 UnixEpoch MTime P T ParkPt Sep 26 2006 20 50 07 1159
45. ry 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 53 VI Optional sensors A SeaBird IDO Integrated Dissolved Oxygen In addition to SeaBird model 41 CTD sensor these APEX carry the optional Seabird Model 43 IDO oxygen sensor The IDO sensor is integrated to the CTD on the upper end cap of the float The SBE 43 oxygen sensor does not report 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 Testing the optional sensor Sensors can be tested by connecting a terminal with the provided interface cable as described in the APEX Final Test Procedure Below is an example of output from the Seabird sensor menu Ss Menu of SBE41cp functions 2 Print this menu Sa Activate CP mode Sb Bin average CP data Sc Display the SBE41cp calibration coefficients Sd Deactivate CP mode Sf D
46. s 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 5 Note For maximum battery life in ARGO applications Teledyne Webb Research recommends use of PD gt one with park depth lt 1500 db X 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 20 of 53 XI Setting the Real Time Clock The APF9I is equipped with a real time clock RTC The RTC can be set by the oper
47. s 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 T C lt entered by operator followed by ENTER The time of day feature has been disabled 22 of 53 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
48. socesocesocesoosesocssosesocesocesocesosssocesocesocsssse 36 XIV MISSIONS naDL BANNA NAAN AABANG a 37 Appendix A Storage conditions esssessssesssesssoesssoessoesssesssoeesoeessesssoessseessoessoeesseesseessseessoeesseses 39 Appendix B Connecting a Terminal 7 00000000esec0oenec0senecossnasosssasossasc0nass0sssssssn0no 40 Appendix C APF9I Command Summary scccsscccsssscssssscssssscssnccssnccsssscesssscsssccsssssesssscessaees 41 Appendix D Returning APEX floats for factory repair or refurbishment 46 2 of 53 Appendix E Host Server and Modem Setup 022aaosasosnanasasasasassssassasssasasasasssssssssssa Appendix E Host Server and Modem Setup 002a0osaoossnossasossasasasasaasssssssassssasasans Appendix F CTD Calibration and Ballasting records 002 00saooosaoosasosaasosasusaas 3 of 53 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 catal
49. st 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 enters 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 1500 dbar the float returns to hibernation If the pressure exceeds 1500 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
50. t 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 53 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 Self 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 1500 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
51. 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 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 29 of 53 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 only 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 PTSO samples Pressure Temperature Salinity Oxygen measurements collected according to the Depth Table see Pressure Table for PTOS Sam
52. y checks passed Quiting Mission Programming Agent gt 44 of 53 Listing Mission Parameters 5 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 entering the Mission Programming Agent M from the Main Menu Command Mode 45 of 53 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 speci
53. yst 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 4 of 53 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 hol
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del manuale in formato PDF LQ (15/04 研究用 研究用 Type UTCG, UCCG, UCDG INSTRUCTIONS Philips 8718291752738 energy-saving lamp Abreuvoir n°66 Janvier 2015 - Fédération des Foyers Ruraux de User Manual DIGITAL STERILIZER ESTERILIZADOR DIGITAL cïa 2330 - pradel j., billard f., mirjbel j., gangijdfp a Copyright © All rights reserved.
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