McLane Moored Profiler User Manual
McLane Moored Profiler How to contact us: • E-mail: • Fax: • Phone: • Internet: mclane@mclanelabs.com 508-495-3333 508-495-4000 http://www.mclanelabs.
Barotropic tides scatter into baroclinic motions above the southern flank of the Hawaiian Ridge. The site is west of Kaena Point in the Kauai Channel between the islands of Kauai and Oahu. The data were collected by a McLane Moored Profiler during a short field trial, January 9 - 13, 2001.
MMP User Manual Table of Contents Chapter 1 Introduction.................................................................................................. 1-1 McLane Moored Profiler (MMP) ................................................................................ 1-1 Using this Manual........................................................................................................ 1-1 Conventions Used in this Manual ............................................................................
Packing and Storage..................................................................................................... 4-5 Packing the Sting in the Crate.................................................................................. 4-6 Stabilizing the Motor in the Crate............................................................................ 4-7 Storing the Battery ................................................................................................... 4-7 Chapter 5 Operations ..........
Option <5> ACM Communication ........................................................................ 7-20 FSI ACM.................................................................................................................... 7-20 MAVS ACM.............................................................................................................. 7-24 Option <6> FSI ACM Tilt and Compass............................................................... 7-25 System Evaluation ..............................
Endurance Parameters................................................................................................ 7-57 Single Profile Current ............................................................................................ 7-57 Total Profiles/(Ah) ................................................................................................. 7-57 Est. Battery Expiration........................................................................................... 7-57 Deploy....................
ACM Compass Calibration Step 5 – Removing the Bias Angle ........................... 8-27 Mapping Velocity Measurements to the Cartesian Earth Frame ........................... 8-29 Sting and Acoustic Path Geometry ........................................................................ 8-29 Velocity Transformation........................................................................................ 8-30 Synchronizing the Data Streams........................................................................
Appendix E Optional Transponder............................................................................. E-1 Transponder Transducer Assembly .........................................................................E-2 Controller Housing ......................................................................................................E-2 Transponder and Ballasting .....................................................................................E-3 Appendix F Unpacking data using PDP-N_NN.EXE ....
Option
Acoustic Transponder ....................................................................... G-31 Option <0> Offload Routines ............................................................................... G-32 Option Fluorometer....................................................................................... G-32 Option IR Turbidity ...................................................................................... G-33 Option Power UIM ......................................
Appendix H Using the MMP Deployment Planner ...................................................H-1 Creating a Deployment Plan ....................................................................................... H-1 Using the Profile Editor .......................................................................................... H-4 Write SCHEDULE.DPL ......................................................................................... H-6 Changing User Preferences....................................
MMP User Manual List of Figures Figure 1-1: MMP Toolkit ............................................................................................ 1-2 Figure 1-1: MMP Line Drawing – Overall View ........................................................ 1-3 Figure 1-2: MMP Schematic........................................................................................ 1-8 Figure 2-1: MMP Front Plate View.............................................................................
Figure 7-4: See Profiling History from Main Menu ................................................... 7-5 Figure 7-5: Set Time .................................................................................................... 7-6 Figure 7-6: Diagnostics................................................................................................ 7-7 Figure 7-7: Low Battery Voltage................................................................................. 7-7 Figure 7-8: Replace Battery.............
Figure 7-50: Set Fluorometer Gain............................................................................ 7-33 Figure 7-51: Fluorometer Data .................................................................................. 7-33 Figure 7-52: CDOM Fluorometer.............................................................................. 7-34 Figure 7-53: Set Turbidity Gain.................................................................................
Figure 8-2: MMP Unpacker Initial .............................................................................. 8-4 Figure 8-3: Step 1 Select Source Directory ................................................................ 8-5 Figure 8-4: Step 2 Select Destination Directory......................................................... 8-6 Figure 8-5: Step 3 Select Files to Unpack (Firmware Ver 3.15) ................................ 8-7 Figure 8-6: Step 3 Select Files to Unpack (Firmware Ver 3.20) ..............
Figure G-4: Diagnostics.............................................................................................. G-7 Figure G-5: Low Battery Voltage............................................................................... G-7 Figure G-6: Replace Battery ....................................................................................... G-8 Figure G-7: Sizing the Flash Card .............................................................................. G-8 Figure G-8: List Flash Card Files ....
Figure G-50: Deployment Parameters (Firmware version 3.13) .............................. G-43 Figure G-51: Profile Consistency Check .................................................................. G-54 Figure G-52: Inconsistent Start Interval ................................................................... G-55 Figure G-53: Endurance Check ................................................................................ G-56 Figure G-54: Proceed with Deployment.........................................
Figure K-2: Endcap with Cables................................................................................. K-1 Figure K-3: Endcap Connectors ................................................................................. K-1 Figure K-4: Modified Cable Routing Location ......................................................... K-2 Figure L-1: MMP with Sea-Bird 41CP CTD...............................................................L-1 Figure L-2: MMP with Sea-Bird 52MP CTD...............................
LOF-8
Chapter 1 Introduction McLane Moored Profiler (MMP) This manual describes the operation and maintenance of the McLane Moored Profiler (MMP) an autonomous, instrumented platform designed to collect a long time-series of in situ oceanographic profiles.
interface, you can easily and flexibly define the trajectory and sampling schedules. Profile patterns can include the full depth of the water column down to 6,000 meters and yearlong deployments are possible.
ACM Sting CTD Glass Spheres Guide Wheel and Cable Retainer ACM Sting Drive Motor CTD Guide Wheel and Cable Retainer Mooring Cable ACM Electronics Controller Housing Figure 1-2: MMP Line Drawing – Overall View 1-3
Specifications Dimensions Height 130.5 cm (51.4”) Width 33.3 cm (13.1”) Length (body) 50.5 cm (19.9”) ACM Sting (including hinged protrudes forward an additional 45.2cm (17.8”) mount) Weight Depth Rating Other w/Sensors (air) 70.5 Kg w/out Sensors (air) 64.
MMP Components A standard MMP consists of the following: • Tattletale 8 version 2 Micro-Controller (the ‘brains’ of the MMP) • MMP Motherboard • Flash Card and AT8 Board • Independent Watchdog Circuit • Communication Link (Crosscut) • Drive Motor • Conductivity-Temperature-Depth Sensor (CTD) • Acoustic Current Meter (ACM) NOTE The early version of the MMP, (the MMP-MK6) included a transponder option to monitor profiling action.
Component Description Flash Card and AT8 Board The flash card and AT8 board are the physical components of the MMP file system. The flash card plugs into a PCMCIA connector on the AT8 board. By moving the flash card from the MMP to a PC, you can transfer the logged data files at a much faster rate. Any PC equipped with a PCMCIA port and running DOS or Windows can read from and write to the flash card. Note: Remove or install the flash card only when the MMP is powered off.
Component Description Drive Motor The drive motor control interface is composed of three DIO lines. One of the DIO lines sets the motor direction for upward or downward profiling. The second line enables the motor or disables it and sets the brake. The third DIO line is programmable (free wheel or profile). During free wheel, the motor is not driven by the battery and offers no resistance (other than friction) to external torque.
1-8 Computer (Crosscut) RS232 CTD Flash Memory RS232 MMP Board Digital, Analog, Frequency: RS232, RS485, Sensors TT8v2 RS232 ACM Watchdog Lithium Battery Drive Motor = Core of the MMP Figure 1-3: MMP Schematic
Contacting McLane Research Laboratories McLane Research Laboratories can be accessed via the Web at http://www.mclanelabs.com or reached by email at mclane@mclanelabs.com. The MMP user interface software also displays McLane’s contact information. McLane Research Laboratories, Inc. Falmouth Technology Park 121 Bernard E. Saint Jean Drive East Falmouth, MA 02536, USA Tel: Fax: Email: WWW: (508) 495-4000 (508) 495-3333 mcLane@mcLanelabs.com http://www.mcLanelabs.
Notes 1-10
Chapter 2 Mechanical Description This chapter describes and illustrates the mechanical components of the MMP. Frame, Skin and Front Plate All components of the frame are machined from white, ultra high molecular weight polyethylene (UHMW). UHMW provides strength without a buoyancy penalty. The primary structural member of the frame is the front plate. Oval ribs are mounted on the inner side of the plate and extend to the back of the profiler.
The leading edge of the skin is recessed in a groove machined in the edge of the front plate. Installing or removing the drive motor, CTD, or ACM requires removing the skin from the left side of the MMP. Remove the bolts and lift the skin off the ribs to access the interior. Figure 2-2: Removing the Skin from the MMP Left Side Serial Number The MMP serial number is printed on a silver label attached to the controller housing.
Top and Bottom Faired End Caps To access the electronics housing, remove the bottom end cap. First, lay the profiler on its right side. Then unscrew and remove the socket head nylon cap screw that secures the end cap. The screw is located in the opening at the bottom of the seam where the two halves of the skin meet. The cap screw is finger-tight.
Figure 2-5: Removing the End Cap Cable Retainers The cable retainers secure the MMP to the mooring cable and are machined from blocks of ultra high molecular weight polyethylene (UHMW). Each retainer is secured to the front plate with four socket head nylon cap screws. The retainers are strong enough to support the weight of the MMP during recovery when it is suspended in air and the free flooding skin is filled with water.
Glass Spheres The two glass spheres mounted in the frame together provide 20 kg (44lbs) of buoyancy to balance the weight of the pressure housings and their contents. The spheres are borosilicate glass (highly durable, low expansion glass) with a 30.5cm (12”) outside diameter and are tested at McLane to 10360 psi (7000 meters). IMPORTANT After each deployment, inspect the spheres for signs of fatigue caused by repeated pressure cycling.
Pressure Housings and Cables Replace corroded pressure housing hardware as necessary (spare hardware is in the Toolkit). Gather excess cable length in the open space above the bottom MMP rib. Figure 2-8: Gathering Excess Cable Length Controller Housing The controller housing contains the MMP electronics and the main lithium battery. These components are mounted to the lower end cap as a single assembly.
All connections between the controller and the other components of the system pass through the lower end cap. Cable for the serial communications port is provided in the Toolkit, and a dummy plug is in place.
IMPORTANT The relief valve will open automatically if dangerously high internal pressure is created by battery out-gassing. Take appropriate precautions when opening the housing after recovery. CTD The Current Temperature Depth Sensor (CTD) is connected to and powered from the controller housing. Figure 2-11 shows the FSI CTD, which slides in and out through a fitted hole in the front plate and is secured by a pinch bracket.
ACM The ACM electronics housing contains compass and tilt sensors. Figure 2-12 shows the FSI Acoustic Current Meter (ACM). The ACM communications and power cable connects to the controller housing end cap through the central hole in the bottom rib of the frame. The CTD and ACM connectors are physically (and electrically) identical, so the cables and connectors are color coded to avoid confusion (deploying with incorrectly connected cables could prevent data collection).
The sting mounts on a hinged bracket to allow the mooring cable to pass beneath. The bracket also allows the ACM sensor to be located on the center line. Two socket head nylon cap screws secure the bracket. Release the screws and swing the sting out of the way when the MMP is being connected to or disconnected from the mooring cable.
IMPORTANT When positioning the ACM, place the MMP right side down (with the McLane label visible on the drive motor as in Figure 2-13). Laying the MMP on the right side prevents the ACM sting from pivoting down when the cap screws securing the hinged mounting bracket are removed. Be sure to re-secure the screws for the deployment. The hinge is attached so that the sting will rest in position when the MMP is lying on its right side.
Figure 2-15: Mounting the ACM Sting Removing the ACM Electronics Housing To remove the ACM housing first remove the left side of the MMP skin, then release the CTD and move it out of the way. Unscrew the two socket head nylon cap screws securing the ACM clamp to the angle brace and remove the clamp and ACM housing together. Loosen the four, recessed, socket head nylon cap screws to release the ACM housing from the clamp.
Reinstalling the ACM Electronics Housing To reinstall the ACM electronics housing first locate the milled depression in the top face of the end cap. The depression may be hidden under a label or there may be a label with an arrow indicating its location or direction. The ACM electronics housing should be mounted so that the depression points towards the front of the profiler.
Motor Housing and Drive Wheel The motor is also connected to and powered from the controller housing. The DC brush motor and 46:1 gearbox operate in air within the titanium housing. A high energy magnet attached to the output shaft of the gearbox is magnetically coupled to a high energy magnet outside the housing. The latter is jacketed in Hasteeloy, a corrosion resistant steel alloy (nickelchromium-molybdenum), to protect it from the seawater.
The drive motor assembly is suspended from the frame in a bracket. The pivoting bracket has two rotational degrees of freedom and allows the drive wheel to pass over small obstructions on the mooring cable. The drive wheel is pulled against the cable by a spring. Frictional coupling to the cable is sufficient to propel the MMP against a static load of several pounds (several thousand grams). The actual load limit depends on local environmental conditions and can be variable.
Notes 2-16
Chapter 3 Electronic Description Controller Electronics Stack (Rev D) The Rev D controller is a three board stack mounted on the chassis plate between the controller housing end cap and the main battery cage. Figure 3-1: Rev D Controller Stack IMPORTANT MMP v4.01 (and higher) operate only on the Rev D board. The firmware displays an error if installed onto a Rev A, B, or C controller board. Use standard electrostatic discharge (ESD) precautions when handling MMP electronics.
As shown in the schematic in Figure 3-2, the CTD, ACM, INDUCTIVE MODEM, FLUOROMETER and TURBIDITY sensors each have dedicated switched power connectors. The CTD CONNECTOR is hardware configured to support either the FSI or the SeaBird CTD. The SPARE CONNECTOR has an RS-232 Electronic Industries Alliance (EIA) or a 5v Complementary Metal Oxide Semiconductor (CMOS), a dedicated switched power output, three analog inputs, two digital outputs and a user interrupt input.
Flash card Figure 3-3: MMP Rev D Flashcard The middle circuit board is a TattleTale 8 (TT8v2) microcontroller manufactured by Onset Computer Corporation (www.onsetcomp.com). The TT8v2 controls power and communications for the MMP hardware. The bottom circuit board is the motherboard of the MMP controller. As illustrated in Figure 3-2, peripheral components like the motor and sensors connect to the controller through the black edge connectors.
Battery Connection Connecting and disconnecting the main battery is the only way to switch the MMP on and off. The Rev D board has two battery connectors. The firmware will start when the battery is connected. To connect the main battery, complete the following steps: 1. Boot the operator PC. 2. Start the Crosscut communications software. 3. Connect the COM cable. 4. Insert the connector from the main battery into the BATTERY 1 or BATTERY 2 port on the motherboard.
Controller Electronics Stack (Rev C) The Rev C controller is a three board stack mounted on the chassis plate between the controller housing end cap and the main battery cage. If a transponder is installed, the transponder electronics are mounted on the opposite chassis plate. The transponder batteries are mounted on the outside surfaces of the two plates. Figure 3-5: Rev C Controller Stack IMPORTANT McLane recommends using standard electrostatic discharge (ESD) precautions when handling MMP electronics.
MMP Controller Electronics (Rev C) Watchdog BATTERY Tattletale 8 Board (TT8) AT8 Board MOT R ATA Flash Card ~0.5 Gbyte XPONDER COM1 CTD ACM ANALOG FREQUENCY Figure 3-6: Rev C MMP Controller Electronics Drawing The top circuit board in the Rev C controller stack is an AT8 (PERAT8V2I), a product of Persistor Instruments, Inc. (www.persistor.com). The AT8 is configured to support a full size flash card (PCMCIA ATA) and communicates via PicoDOS software on the TT8v2 microcontroller.
Flash card Figure 3-7: Rev C Flash Card IMPORTANT For reliability, McLane strongly recommends using only type SDP3B SanDisk FlashDisk PCMCIA ATA flash cards. The middle circuit board in the controller stack is a TattleTale 8 (TT8v2) microcontroller manufactured by Onset Computer Corporation (www.onsetcomp.com). The TT8v2 is a single board computer with large and varied I/O capacity that supervises the operation of the MMP hardware.
The wiring harness can be traced back by hand from the CTD, ACM, COM1, and MOTOR edge connectors to the corresponding bulkhead connectors on the end cap. If you have a transponder installed, the XPONDER (transponder) connector can be traced to the transponder electronics stack. The BATTERY connector can be traced to the main battery when it is connected. The ANALOG and FREQUENCY connectors can be traced to additional instruments if the sensor suite has been expanded.
Battery Connection Connecting and disconnecting the main battery is the only way to switch the MMP on and off. To connect the main battery, complete the following steps: 1. Boot the operator PC. 2. Start the communications software. 3. Connect the COM cable. 4. Insert the connector from the main battery into the BATTERY port on the motherboard. When prompted, interrupt the power up sequence to execute the watchdog initialization.
Notes 3-10
Chapter 4 Maintenance and Storage Cleaning and Inspection Procedures Several maintenance procedures are recommended for the MMP. Before deployment, after recovery, and before and after storage, inspect the following: • O-rings • Bulkhead and cable connectors • Nylon and stainless steel hardware • Glass spheres If you can immerse the MMP in fresh water, use warm water with soap or mild detergent added to remove salt and other substances. Common soaps and detergents will not damage the MMP.
Apply a thin, even coating of lubricant to the o-rings when they are installed and inspected. McLane recommends Parker O-Lube, a barium-based grease made by Parker Seals, for use with pressure housing o-rings. O-Lube is environmentally safe and can be cleaned up with soap or mild detergent. The motor housing has two o-rings on the end cap. There are no user serviceable parts inside the motor housing.
Connector Alignment All of the cables and connectors are keyed to indicate the correct orientation. The “thumb bump” on the outside of the cable connector cowl should always be aligned with the thick pin (or socket) on the bulkhead connector. If the connectors are not properly aligned and are forced together, you can permanently damage the sockets resulting in damage to the electronics, peripheral component or both.
tightened. A thin coating of non-metal, anti-seize, thread compound should be applied to the screws before they are threaded into the titanium pressure housing. NOTE McLane recommends Lub-O-Seal’s NM-91 non-metal anti-seize thread compound for the MMP controller and motor housings. Replacement cap screws used with the titanium housings should be 316 stainless steel. Contact McLane for additional spares if necessary. Tighten the controller housing end cap screws evenly and carefully.
IMPORTANT The lithium in the battery pack qualifies as Class 9 hazardous goods. U.S. and international regulations require shipping the main lithium battery via an approved hazardous goods shipper. Sensor Maintenance Sensors should be fully calibrated at a properly equipped facility before and after deployments. The calibration results allow investigators to account for sensor drift during data post-processing. Calibration can be performed by the sensor manufacturer.
Packing the Sting in the Crate The sting fits in the crate next to the top section of the MMP. Slide a short length of the oil filled cable out from the interior of the MMP and surround the sting with ample padding to prevent movement. Ensure that the fingers are protected on all sides and are clear of the crate cover. Handle the oil filled tube with care. Do not pinch or pull the oil filled tube during packing.
Stabilizing the Motor in the Crate To prevent the MMP motor from moving and becoming damaged during shipment, the crate contains additional inside supports. If shipping the MMP in a crate without this added motor stabilization, use foam or other padding to support the motor in a manner similar to Figure 4-3.
Notes 4-8
Chapter 5 Operations Ballasting the MMP Ballast sheet calculations must be performed for each new deployment. Accurate ballasting is absolutely essential, as the lift capacity of the MMP is limited by the strength of the coupling between the drive wheel and the mooring cable. Ballasting errors of a few pounds will trap the profiler against one of the stops for the duration of the deployment. Data will be returned by the system, but it will all be from a single depth.
Understanding the Ballast Sheet A detailed description of ballast calculations and a sample ballast sheet are included in the section that follows. Deployment Parameters The deployment parameters on the ballast sheet are the in situ pressure, temperature, salinity, and density of water at the planned neutral depth for the deployment.
McLane Moored Profiler Ballast Sheet Project: Test Institute Date Ballasted: 8-31-2003 MMP S/N: 1000-02 MMP Electronics S/N: 0444 CTD S/N: 1300 ACM S/N: 1600 Glass Sphere #1 S/N: 104000 Glass Sphere #2 S/N: 104200 MMP Software Version: mmp-3_00.
Notes: Item 15 is calculated as Average Down Profile Motor Current less Average Up Profile Motor Current If ballast is added to pressure housing item 19 is ballast air weight. If ballast is added. outside the pressure housing item 19 is ballast water weight Detail of Calculations The section that follows describes the calculations that are used in the Ballast Spreadsheet (Excel). NOTE The calculation is described here in full so that the process and the potential problems will be clear.
4 - MMP Volume (in cc) The formula for volume calculation is: (Item A + Item D) − 1 / , or, MMP Air Weight − MMP Water Weight / Water Density. Physically, this is the mass of the water displaced by the profiler divided by the fluid density. 5 - MMP Compressibility Constant (in cc/db) This is experimentally a constant of 0.3.
16 – Effective Motor Current Change for Neutrally Bouyant MMP (in mA) Item 16 = Item 15 / 2. 17 – Ballast Air Weight Correction based on 4 g/mA Effective Motor Current (in g) Item 16 × (4 g / mA) 18 – Ballast Water Weight Correction based on density of lead (in g) Item 17 × (.
To allow for complete temperature equilibration McLane leaves MMPs suspended at the bottom of the test well for a minimum of ten hours before recording their water weight.
Notes 5-8
Chapter 6 Launch and Recovery This chapter describes a basic MMP launch and recovery operation and provides sample steps that you can refer to and modify for your specific launch and recovery scenarios. An illustration of a simple mooring setup is shown in Figure 6-1. Use this schematic as an example as you review the information provided in this chapter. Attaching to a Mooring Physical stoppers can be secured to the mooring cable above and below the range defined by the pressure stops.
475 dbar stopper 500 dbar shallow pressure 600 dbar if (δP / δt) < 0.045 dbar/sec STOP shallow error if (δP / δt) < 0.045 dbar/sec OBSTACLE 2450 dbar 2500 dbar 2525 dbar deep error if (δP / δt) < 0.
Launch Preparation To launch the MMP, program the deployment as described in Chapter 7 “MMP User Interface” and continue with the following steps: 1. Disconnect the communications cable and attach the dummy plug. Secure the bottom faired end cap. Figure 6-2: Connecting the Battery 2. Loosen the hinged bracket of the ACM sting. Figure 6-3: Loosening the ACM Hinged Bracket 3. Remove the cable retainers so that the MMP can be attached to the mooring cable.
Figure 6-4: Removing the Cable Retainers 4. Launch the subsurface float using the crane and begin streaming the mooring cable behind the ship using the winch and a block suspended from the A-frame. 5. Pull cable that has passed through the block onto the deck and attach the top bumper at the intended depth. 6. Stream additional cable and again pull cable that has passed through the block onto the deck. 7.
12. Use the crane to slide the profiler down the cable and into the water. When the MMP is sufficiently immersed to avoid unnecessary snap loads, release it and recover the crane and tag lines. 13. Continue to stream cable, attaching the lower bumper at the planned location. Secure the end of the cable to the acoustic release and anchor. 14. Deploy the anchor when the station is reached. Recovery Procedure To recover the MMP, complete the following steps: 1.
Figure 6-5: Recovering an MMP 5. Once the MMP has been lifted clear, pull it onto the deck and release it from the tether. The drive motor may be running while you work and it can be safely ignored until you can connect a communications cable to the system and terminate the deployment. IMPORTANT Always boot the PC and start the communications software before connecting the communications cable. Connect the COM cable first to the PC and then to the MMP. 6.
Chapter 7 MMP Firmware 4.X User Interface This chapter describes menu options and screens in MMP 4.X firmware versions. MMP 4.X firmware supports the Rev D electronics board. Menu options and screens for MMP firmware versions below 4.X are documented in Appendix N of this User Manual. IMPORTANT MMP 4.X firmware operates only on the Rev D board. The message in Figure 7-1 is displayed during firmware initialization if the firmware is installed on an incompatible electronics board.
2. Activating the Watchdog circuit: • The watchdog circuit is activated. A warning displays if a problem is detected. Typing ‘w’ or ‘W’ at the Main Menu manually triggers watchdog activation. 3. Sizing the flash card: • The storage capacity of the flash card and the number of data files that can be accommodated are displayed. 4. Setting the real time clock (RTC): • Set the real time clock (RTC) by entering the date and time (MM:DD:YY:MM:SS) and pressing Enter.
MMP-4_04 McLane Moored Profiler operator interface. The MMP operating system is initialized and running. Type - within 30 seconds to assert operator control and complete system initialization. Step ì System initialization countdown Step í Watchdog activation Step î Flash card sizing 30 29 28 27 26 seconds seconds seconds seconds seconds Independent system watchdog successfully initialized. Watchdog alarm IRQ has been activated. Sizing flash card (~2 seconds / 100 Mbytes) . . . done. 521.
Prompts and Key Combinations The following information describes prompts and frequently used key combinations: • Upper and lower case alphabetic characters are used for most prompts, however, the password prompt to exit to the monitor is case sensitive. • Select the default choice for many prompts by pressing [ENTER]. If a default is available, the value is displayed at the end of the prompt in square brackets. • Prompts for numerical values accept only numbers that fall within a displayed range.
The Main Menu - Operating the MMP The MMP Main Menu displays after firmware initialization. This menu controls all firmware operations. This section of the manual describes the menus and options. To select an option, type the appropriate key and press [ENTER].
IMPORTANT McLane recommends setting the RTC during the power-up sequence. When the MMP is powered on, the clock defaults to January 1,1970, 00:00:00. Set the clock to any date and time in the allowed range and the count will continue from the new value.
Selection ? 2 Press any key to pause/continue display, to exit. RTC: 11/02/2006 11:53:59 RTC: 11/02/2006 11:54:00 RTC: 11/02/2006 11:54:01 WDC: 11/02/2006 11:53:58 WDC: 11/02/2006 11:53:59 WDC: 11/02/2006 11:54:00 10.8 Vb 10.8 Vb 10.8 Vb 0 mA 1 mA 1 mA Figure 7-6: Diagnostics The battery voltage provides information about the battery. A reading above 11 V indicates a new battery. After the initial high readings, the battery voltage will remain near 10.
Main battery is extremely low and should be replaced before running diagnostics. RTC: 01/28/2006 16:35:46 WDC: 01/28/2006 16:35:46 6.8 Vb 0 mA Battery voltage is abnormally low. Check/replace main battery pack before deploying system. Press any key to continue. Figure 7-8: Replace Battery <3> Flash Card Ops Flash Card Ops accesses the files on the flash card through a DOS-like interface called PicoDOS.
Option <1> Flash Card Size/Free This option measures the total capacity and remaining free space on the flash card and calculates the number of files that can be stored. The firmware reserves space for 16 data files. This number is subtracted from the flash card to obtain the file system accommodation number. Selection ? 1 Sizing flash card (~2 seconds / 100 Mbytes) . . . done. 439.329 Mbyte flash card installed 438.
Selection Directory of A: AUTOEXEC.BAT MMP-4_01.RUN DEPLOY.DAT PROFILES.DAT IRQ_XCPT.LOG LASTSENT.DAT E0000000.DAT C0000000.DAT A0000000.DAT E0000001.DAT C0000001.DAT A0000001.DAT E0000002.DAT C0000002.DAT A0000002.DAT E0000003.
Option <5> Exchange Flash Cards This option allows a “hot swap” to remove or install a flash card with the firmware powered on. When the swap is complete, the firmware checks for a card, and runs the card capacity routine, or locks out all flash card operations (except flash card exchange) if no card is detected. Exchange card after ellipsis displays. System pauses. Press [ENTER] twice when card exchange is complete. This utility permits a flash card exchange without disconnecting the battery.
Option<7> Command Line Interface This option provides a command line for full access to PicoDOS. Before using this option, make a copy of the firmware and AUTOEXEC.BAT. IMPORTANT Knowledge of the TT8v2 and PicoDOS are essential to use this option. Incorrectly using the command line interface can corrupt or delete data and program files or alter the firmware and compromise proper operation. As a precaution, backup the firmware and AUTOEXEC.BAT. Selection ? 7 ===== PicoDOS Intrinsic Commands (plus .
enough for the cumulative effect of a small drain (a few milliamps), to be a significant factor in the energy budget of a deployment. The firmware enters LPS whenever more than 20 minutes elapse without operator input. Prior to LPS the current time displays. During LPS, the firmware wakes every 20 minutes to check status, display the time, and returns to LPS. To wake the firmware from LPS press [CTRL]-[C] three times.
FSI CTD The screens and descriptions shown next refer to the Falmouth Scientific, Inc. (FSI) CTD. Screens for pass-through communications to the Sea-Bird CTD are also provided in this section. The following FSI CTD commands are necessary for normal use with the MMP: Command Response [ENTER] or Triggers the FSI CTD to send a single scan of data when it is in [RETURN] run mode, the state in which it powers-up and logs data. ***O[ENTER] Places the FSI CTD in “open mode”.
IMPORTANT To terminate the communication session and power down the sensor, press [CTRL]-[C] at anytime, regardless of the current operational mode of the CTD. Verifying FSI CTD Settings To use the CTD pass-through utility, complete the following steps: 1. From the Bench Test option on the Main Menu, select <1> CTD Communications. 2. Type ***O [ENTER] to place the CTD in open mode as shown in Figure 7-20. Type ‘O’ [ENTER] to place CTD in open mode ***O Open Mode Figure 7-20: FSI CTD in Open Mode 3.
8. Press [ENTER] to return the CTD to Open Mode. 9. Press [CTRL]-[C] to terminate the session and shut down the CTD. 10. Re-establish communications and verify that the settings are now correct on power-up. A sample screen for verifying standard CTD settings is shown next. Applying power and enabling COMMs to CTD . . . ready. Initializing TT8 communication channels . . . TX channel open. RX channel open. Communications Channel open. - to terminate session.
Sea-Bird CTD The screens and descriptions shown next refer to the Sea-Bird 41CP and 52MP CTD (the 52MP CTD may have an optional Dissolved Oxygen Sensor). NOTE More information about Sea-Bird CTD sensors is provided in this User Manual in the “Optional Sea-Bird CTD Sensors” chapter. Verifying 41CP CTD Settings To use the CTD pass-through utility complete the following steps: 1. From the Bench Test option on the Main Menu, select <1> CTD Communications.. SBE 41CP McLane V 1.
3. At the next S>prompt, type [CTRL]-[C] to power off the CTD. 4. Type to return to the Bench Test Menu. Verifying 52MP CTD Settings To use the CTD pass-through utility and verify the 52MP CTD settings complete the following steps: 1. From the Bench Test option on the Main Menu, select <1> CTD Communications. The system shows the following and a prompt (S>). SBE 52 MP 1.0 S> Figure 7-25: 52MP CTD Settings 2. Type ‘ds’ at the prompt to display and verify CTD settings as shown in Figure 7-26.
3. At the next S>prompt, type [CTRL]-[C] to power off the CTD. 4. Type to return to the Bench Test Menu. Option <2> CTD Pressure Option <2> and Option <3> sample pressure data from the CTD. The CTD pressure measurements are primary inputs to the firmware routines that control each profile. Option <2> starts the CTD, queries for a scan of data, parses the response, displays the result, and shuts down the CTD. An example is shown in Figure 7-27. Applying power to CTD . . . ready. Pressure = -0.
Option <4> CTD Temperature Record This option sets the number and frequency of recording CTD temperature. Enter number of measurements to record (1 to 1000) ? 3 Enter measurement interval [sec] (1 to 600) ? 8 Temperature record duration: 00:00:16 Applying power to CTD . . . ready. 06/15/2006 15:03:56 06/15/2006 15:04:04 06/15/2006 15:04:12 +22.2104 +22.2239 +22.
IMPORTANT To terminate the communication session and power down the sensor, type [CTRL]-[C] at anytime, regardless of the current operational mode. The FSI ACM has standard settings for use with the MMP. These settings can be confirmed before beginning a deployment, while in direct communication with the ACM. The firmware will not automatically program the standard settings. To verify and program FSI ACM settings, complete the following steps: 1.
If the response to Read Operational Parameters (ROP), varies from the expected one, enter commands from the list below to correct the settings: Command Result CCOP[ENTER] Clears continuous CAOP[ENTER] Clears address operation SLOG[ENTER] Sets logging ops (the operator cannot control the checksum output) TILT[ENTER] TILT= on COMP[ENTER] COMP = on (Enables compass) NRML[ENTER] NRML = on (Sets compass normalization) (Enables tilt) 6.
Applying power and enabling COMMs to ACM . . . ready. Initializing TT8 communication channels . . . TX channel open. RX channel open. Hailing frequencies open. - to terminate session.
MAVS ACM Direct communication is made with the MAVS ACM, if installed. Pressing [CTRL]-[C] in 5 seconds is required to control the MAVS firmware or autonomous MAVS operations begins. Applying power and enabling COMMs to MAVS . . . ready. Initializing TT8 communication channels . . . TX channel open. RX channel open. [CTRL]-[X] will return to the MMP firmware MAVS firmware Communications Channel open. - to terminate session. done. 521.347 Mbyte flash card installed 521.
Option <6> FSI ACM Tilt and Compass This option provides a scrolling display of FSI ACM tilt and compass information. The scrolling display provides the operator with a hands free data steam during a spin test. The firmware parses the response to extract tilt and compass measurements, displays the result, and repeats the cycle until interrupted by the operator. This option displays the ACM tilt (TX and TY) and compass (HX, HY, and HZ) outputs for use while mounting the ACM pressure housing.
A scrolling display of date and time, motor current, and battery voltage is provided once the motor reaches full speed. The motor can be abruptly stopped or a velocity down ramp can be applied. The motor is automatically disabled and the dynamic brake set once the motor is stopped. An example is shown next. Default is up Motor in air, no load Ramp completed, Stop cmds Scrolling display begins Motor direction (Up/Down) [U] ? Enter ramp duration [sec] (2 to 60) ? 5 Beginning start ramp. Full speed reached.
╔═════════════════════════════════╗ ║ Bench Tests ║ ╚═════════════════════════════════╝ Mon Jan 22 16:46:55 2007 Sensor Utilities: <1> CTD Communication <2> CTD Pressure <3> CTD Average Pressure Default sets brake ‘on’ System Evaluation: <7> Motor Operation <8> Brake on.
Option <9> Independent Watchdog This option tests the watchdog circuit. The watchdog circuit is composed of the DS1306 chip, which sends periodic interrupt requests to the TT8v2, and a hardware counter, which can restart the TT8v2 if the IRQ from the DS1306 is not acknowledged.
This test verifies operation of the watchdog system RESET. If successful, the system will be RESET and operation will proceed as it does when power is first applied to the system. The RESET will not occur until an interval of 68 minutes and 16 seconds (4096 seconds) has passed. The test will time out after 70 minutes if the RESET hardware fails. The operator can cancel the test at any time by entering three or more -s.
Watchdog resets TT8 and restarts system. Powerup sequence begins 03/21/2007 16:13:20 Sleeping until 03/21/2007 16:23:18 . . . MMP-4_04 Counter expires McLane Moored Profiler operator interface. The MMP operating system is initialized and running. Type - within 30 seconds to assert operator control and complete system initialization. Autonomous recovery begins 0 seconds Steps in the recovery display as they occur Sizing flash card (~2 seconds / 100 Mbytes) . . . done.
Option Inductive Telemetry This option starts an inductive telemetry session and makes three attempts to communicate inductively by sending a tone. For more information, see the appendix “Optional Underwater Inductive Modem (UIM)” in this User Manual. Selection ? i The inductive telemetry bench test sets up a SIM/UIM session. A single CTRL-C will end the session.
NOTE The firmware also displays the estimated battery expiration when , Deploy Profiler is selected. Selection Endurance ? e | Power for single profile = | Total profiles/(240 Ah) = | Estimated date = 32.7 [mAh] 7269 03/17/2007 17:03:11 Figure 7-48: Estimated Battery Expiration Option SIM/UIM Transactions This option creates PROFILES.DAT and LASTSENT.DAT with specified starting values and attempts to send the transactions at the specified wake interval.
Option Fluorometer This option reads data from the Seapoint Fluorometer if installed (see the appendix “Optional Seapoint Analog Sensors” in this User Manual for more information). The Seapoint Fluorometer analog sensor (0-5 VDC) has adjustable gain levels. NOTE The analog channels on the TT8v2 are limited to a maximum of 4.096 VDC which means that the maximum Fluorometer signal is limited to 135 µg/l (4.096 V, 1x gain).
Option CDOM Fluorometer This option reads the signal for the Wetlabs CDOM fluorometer if installed. Selection ? c Enter number of measurements to average (1 to 100) ? 10 Press any key to pause/continue display to change settings, - to exit.
The sensor data scrolls until [CTRL]-[C] is selected. Enter number of measurements to average (1 to 100) ? 20 Press any key to pause/continue display to change settings, - to exit. 01/07/2006 01/07/2006 01/07/2006 01/07/2006 01/07/2006 01/07/2006 13:49:04 13:49:05 13:49:06 13:49:07 13:49:08 13:49:09 Turbidity: Turbidity: Turbidity: Turbidity: Turbidity: Turbidity: 1669.97 1833.25 1774.18 1774.75 1117.62 839.
Option Configure The System Configuration menu contains system parameters and sensor selections. This menu prevents sensor selections that are mutually exclusive. Confirm that the correct sensor and parameters are configured.
<6> Deploy Profiler This option provides the interface for programming the deployment. The deployment parameters are stored in EEPROM (and on the flash card in non-volatile storage) and loaded at firmware startup. The parameters also reside in RAM and will be unchanged if the battery remains connected. When ‘Deploy Profiler’ is selected, the firmware completes a firmware initialization and then displays settings that define the MMP profiling behavior.
An example of the initialization sequence is shown in Figures 7-58 and 7-59 with automated CTD and ACM verification, and a Sea-Bird 52MP CTD.
Applying power to ACM . . . Starting verification . . . Sending command ***O OPEN MODE Expected response received. Proceeding to next command. Sending command ROP continuous clear address op clear Logging Ops Set RLD checksum output cleared Expected response received. Proceeding to next command. Sending command RDM TX = ON, TY = ON, HX = ON, HY = ON, HZ = ON, VPATH = ON, 18 Expected response received. Proceeding to next command. Sending command TILT TILT = on Expected response received.
Figures 7-60 and 7-61 show a sensor roll call where the firmware is configured for the FSI CTD and ACM but the MAVS ACM is installed. The number of MAVS startup messages can make differentiating between MMP and MAVS text difficult. To make following the example easier, MMP messages are shown in standard text. MAVS messages are in bold, italic text. Selection ? 6 Clock reads 01/10/2007 13:57:24 Change time & date (Yes/No) [N] ? Setting watchdog clock . . . done.
Type - within 5 seconds to assert operator control. 5 4 3 2 1 seconds seconds seconds seconds seconds Unexpected response received. Trying again. Sending command 0 seconds ***O Sizing flash card (~2 seconds / 100 Mbytes) . . . Unexpected response received. Trying again. Sending command done. ***O 521.347 Mbyte flash card installed 521.331 Mbyte currently free File system can accommodate 4091 data files Storing deployment definition information . . . Unexpected response received.
Programming a Deployment When deployment initialization is complete, the Deployment Menu displays. The menu re-displays after each change.
MMP Version 4.04 MMP Deployment Definition Parameters Quick Reference Mooring ID: Three position numeric identifier (001 to 999) sent with UIM metadata (stored with deployment data in the URAO). Differentiates data if more than one MMP is deployed. Countdown delay: The MMP wakes from ‘sleep’ when the countdown alarm reaches zero.
Deep pressure: “Bottom” of the profiling range. The MMP stops profiling on a downward profile when the ambient pressure exceeds this limit. Range: Shallow pressure to 6000.0 dbar. Shallow error: A relative pressure below (deeper than) the shallow pressure stop. If a zero pressure rate is detected while inside the shallow error window on an upward profile, profiling stops. This value is relative to the shallow pressure. Range: 0.0 dbar to 6000.0 dbar.
Detailed Descriptions of MMP Deployment Parameters A more detailed description of deployment parameter settings follows. Refer to Figure 7-62 to view the Deployment Menu display. Mooring ID Mooring ID Mooring ID is a three position mooring identifier (001 to 999) that is stored in the URAO to differentiate deployment data when multiple profilers are deployed. The firmware displays the entry with leading zeros.
Profile Start Interval/Pair Start Interval Profile start interval is the time between profiles (or pairs). If the interval is less than the time required to complete a profile (or pairs), the next profile (or pair) will be skipped to prevent asynchronous profiling. Enter a Profile Start Interval greater than the Profile Time Limit.
Continuous profiling is set by entering 0 for the Profile Start Interval. This profiling is asynchronous and provides the most dense MMP sampling possible. During continuous profiling there is no delay between profiles (each profile begins as soon as the data from the previous profile is saved). Reference Date/Time Reference date/time is a calculation that takes place throughout the deployment to keep the schedule in sync.
Burst Interval The burst interval is the time between bursts of profiles or pairs. Sampling with profile bursts or profile pairs strikes a balance between the need for relatively high frequency profiling given the need for long time series and the finite battery endurance. When Profiles per Burst is enabled (set to a number greater than 1), the firmware displays a default Burst Interval. Change this default to the desired Burst Interval. Range is 0 seconds to 366 days in 1 second increments.
The MMP continues a burst until it has completed all of the profiles or pairs in the burst. If this requires longer than the burst interval, the next burst (or bursts) will be skipped. Range is 1 − 1000 profiles or pairs of profiles. Figure 7-67 shows a deployment with bursts.
Deployment Programming Profiles Top 0 1 Dive 0 3 2 4 Profile Interval Bottom Start Time Time Reference Time Pairs Top 0 1 2 3 4 5 6 7 8 Dive 0 Pair Interval Bottom Reference Time Start Time Time Profile Interval Bursts Burst 1 Burst 2 Burst 3 Top 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 Dive 0 Bottom Burst Interval Start Time Appendix 7-50 Reference Time Figure 7-69: Deployment Programming Time
Profiles/File Set A deployment with many short profiles may exceed the flash card file limit before the battery expires. For deployments that include more than 1,300 profiles, use Profiles per File Set to multiplex an operator-defined number of profiles into a single data file and maximize flash card file storage capacity. For example, setting Profiles/File Set to 10 places profiles 0 through 9 into a single data file on the flash card.
Pressure Rate The pressure rate is also used to detect obstacles on the mooring cable that hinder profiling motion. MMP nominal profiling speed is 25cm/s. When the pressure rate, averaged over at least 3 minutes, falls below a threshold of 0.045 dbar/s ~ (4.5 cm/s), the firmware detects a zero pressure rate. NOTE Wave induced mooring motions that modulate steady MMP progress could lead to false detection of a zero pressure rate.
stops. The sensor data acquisition continues for two minutes before the firmware stops logging and transfers the sensor data to the flash card. NOTE The pressure stops are pressures (dbar). Normally, physical locations on the mooring are commonly referenced in meters. The MMP does not integrate state variables over the depth of the water column to construct a mapping between decibars and meters. Shallow Pressure Shallow pressure is the intended “top” of the profiling range.
The mid-water obstacle ramming behavior can be disabled during upward profiles by setting the shallow error below (deeper than) the deep pressure. Range is 0.0 dbar to 6000.0 dbar. Deep Error Deep error defines a pressure above (more shallow than) the deep pressure stop. If the firmware detects a zero pressure rate while inside the deep error window on a downward profile, the MMP stops profiling. The mid-water obstacle ramming behavior is not triggered. The deep error is ignored on upward profiles.
transfers the sensor data to the flash card. The time limit applies only to the period of profiler motion during a single profile. It does not include the sensor logging intervals that occur before and after profile motion or the time required to move data from the sensors to the flash card. Changes to shallow or deep pressure settings trigger the firmware to calculate the time that will be required to cover that distance: profile time limit = 1.
NOTE During a profile, the firmware periodically sends a data request to the CTD while the CTD is logging internally. The CTD responds with the most recent scan of data which is parsed to extract the pressure used in the stop check internal algorithm. Infrequent checks (30 to 60 second intervals) save a small amount of power and are appropriate for relatively long profiles (>500m).
Fluorometer The optional Seapoint Fluorometer analog sensor can be set to automatic gain or one of 4 fixed gain levels. The average number of samples can also be operator-defined. If the Fluorometer is enabled, these settings can be changed (the Fluorometer sensor can be enabled only from the Configuration menu). For more information, see the ‘Optional Seapoint Analog Sensors’ appendix in this User Manual.
If the consistency checks pass, the operator is prompted to store the parameters in nonvolatile EEPROM. A ‘No’ response returns to the Deployment menu for further parameter entry. A ‘Yes’ response stores the parameters and runs the Diagnostics routine, including the 10 V and 7.5 V battery warning checks. The final prompt is ‘Proceed with the deployment (Yes/No) [N]?’ This option starts the deployment.
NOTE If continuous profiling is selected, the profile consistency check is not performed. The MPD is compared to the profile start interval. If the programmed start interval is shorter than the MPD the operator will be prompted to change the selections. The operator may choose to disregard the warning and proceed, thus accepting the risk of skipped profiles (or bursts) during the deployment.
An inconsistent (but operator approved) start interval can also be detected. If the programmed burst interval is shorter than the calculated time to conduct the burst the user is prompted to change the selections. Checking entries . . . done. All entries are within allowed ranges. Calculated pair duration Calculated burst duration System alerts operator Checking profile schedule . . . done. Calculated minimum profile pair duration: Profile schedule selections are consistent. Checking burst schedule . . .
A ‘No’ response returns to the deployment menu for further parameter entry. This feature can be used to quickly loop through the range and consistency checks and the endurance calculation while making iterative adjustments to the deployment parameters. This loop can be a useful tool when developing profiling schedules for a deployment.
Profile and Deployment Termination Conditions A deployment can be manually terminated after MMP recovery.
Sample Deployment Display Accept and store schedule selections (Yes/No) [Y] ? Stores deployment parameters One line of diagnostics Commit to deployment (default is No) Storing deployment definition parameters . . . done. CAUTION: Deployment will erase all data files stored on the flash card. System status: RTC: 07/27/2006 03:55:44 WDC: 07/27/2006 03:55:44 11.
NOTE After the confirmation that deployment definition parameters are stored, if the Sea-Bird CTD is installed, a reminder is displayed to remove the CTD flow path caps. WARNING: If you have not already done so, REMOVE the flow path CAPS from the CTD NOW. Failure to remove the caps will prevent proper CTD operation during the deployment and may cause permanent damage to the sensor. After removing the caps, press any key to continue.
╔═════════════════════════════════╗ ║ Serial Dump Files From FLASH ║ ╚═════════════════════════════════╝ Fri Jan 7 12:48:42 2006 Stream serial data from: Deployment Single profile Range of profiles Logging files Exit to: Main menu Figure 7-76: Serial Dump Files From FLASH NOTE Once the flash card is removed from the MMP, the MMP Unpacker, a step by step Windows application can be used to automatically unpack the binary files with several options.
Engineering Data Figures 7-78 and 7-79 show how the Engineering data differs based on the installed sensors. Each sensor occupies a consistent order in the Engineering data. The order in which data displays is: Fluorometer data first, followed by Turbidity data, followed by Optode data. When a sensor is not installed, data bytes (such as placeholders) do not occupy space in the data file and the column does not exist, resulting in a smaller Engineering data file.
Single Profile This option selects Engineering, CTD, ACM, or all files from within a specific profile. Selection ? s Select data files to download: <1> All data files <2> Engineering data files only <3> CTD data files only <4> ACM data files only Exit to: Main menu Selection ? 2 Enter ID# of profile to be read: (0 to 1088) ? 5 Figure 7-80: Download a Single Profile Range of Profiles This option selects Engineering, CTD, ACM, or all files for a range of profiles.
Sample File-Single Profile - All Data Files The sample shown next illustrates a display for a single profile (Profile 3) when ‘Single Profile’ and ‘All data files’ are selected. This example shows the Profile data with the FSI CTD and ACM installed.
CTD data CTD DATA ________ Opening file C0000003.dat, CTD data from profile 3 of 560. Profile 3 mmho/cm Celsius dbars +01.3386 +01.3384 +01.3389 +01.3389 +01.3386 +01.3381 +01.3379 +01.3377 +01.3381 +01.3381 +01.3380 +01.3379 +01.3385 ... +01.3384 +01.3385 +01.3388 +01.3391 +01.3387 +01.3387 +01.3386 +01.3385 +17.0477 +17.0473 +17.0467 +17.0471 +17.0473 +17.0480 +17.0480 +17.0486 +17.0484 +17.0476 +17.0478 +17.0474 +17.0473 +0001.663 +0001.765 +0001.824 +0002.124 +0002.306 +0002.285 +0002.220 +0002.
ACM data ACM DATA ________ Opening file A0000070.dat, ACM data from profile 3 of 560. Profile 3 TX TY -00.69 -00.73 -00.74 -00.75 -00.74 -00.80 -00.76 -00.76 -00.82 -00.88 -00.90 -00.97 -00.90 -00.97 -00.77 -00.81 -00.76 -00.72 -00.79 -00.52 -00.38 -00.61 +00.16 -00.23 -01.80 -02.12 -00.01 -00.03 +00.05 +00.06 +00.08 +00.09 +00.05 -00.05 -00.03 -00.01 -00.06 -00.05 -00.01 -00.04 -00.18 -00.04 -00.09 -00.13 +00.01 +00.06 +00.20 -00.04 +00.28 +00.33 -00.11 -00.56 HX +0.2341 +0.2329 +0.2322 +0.2314 +0.
Sample File - Log Files Examples of each log file are shown next. Selection ? l Select log file to download: <1> Profiles.dat <2> Deploy.dat <3> IRQ/Xcpt Log <4> Profile Termination Log <5> Inductive Charger Communications Log <6> Last sent Exit to: Main menu Selection ? Figure 7-86: Download Log Files <1> Profiles.DAT displays the profile count (the number of the last profile of the deployment).
<2> Deploy.DAT displays the conditions under which the deployment data was collected categorized as Deployment Parameters, System Configuration, and Internal Parameters. Selection ? l Select log file to download: <1> Profiles.dat <2> Deploy.
<3> IRQ/Xcpt Log displays the time tagged log of interrupt requests (IRQ) and exceptions. The first entry is the creation time of the file and subsequent entries include regular watchdog IRQs at one minute after each hour and transponder IRQs (if the transponder is used). Select log file to download: <1> Profiles.dat <2> Deploy.dat <3> IRQ/Xcpt Log <4> Profile Termination Log <5> Inductive Charger Communications Log <6> Last sent Exit to: Main menu Selection ? 3 Opening file IRQ_XCPT.
<4> Profile Termination Log displays the last 10 profiles prior to termination. The Profile Termination Log is recorded only in EEPROM. Select log file to download: <1> Profiles.dat <2> Deploy.dat <3> IRQ/Xcpt Log <4> Profile Termination Log <5> Inductive Charger Communications Log <6> Last sent Exit to: Main menu Selection ? 4 The profile termination log consists of data from the last 10 profiles stored in a non-volatile rolling buffer. The display below is not date sorted.
Profile: Motion start: Motion stop: Start pressure: Stop pressure: Ramp exit: Profile exit: Log time: 554 11/25/2006 10:51:13 11/25/2006 10:52:13 1.9 [dbar] 12.1 [dbar] SMOOTH RUNNING BOTTOM PRESSURE 11/25/2006 10:55:15 Profile: Motion start: Motion stop: Start pressure: Stop pressure: Ramp exit: Profile exit: Log time: 555 11/25/2006 11:00:01 11/25/2006 11:01:05 13.1 [dbar] 3.
<5> Inductive Charger Communications Log displays each message or response between the MMP and an optional inductive charging controller. Selection ? l Select log file to download: <1> Profiles.dat <2> Deploy.dat <3> IRQ/Xcpt Log <4> Profile Termination Log <5> Inductive Charger Communications Log <6> Last sent Exit to: Main menu Selection ? 5 Opening file ICM_CLOG.LOG, the inductive charger modem communications log file.
Watchdog Initialization If the automatic watchdog initialization fails during the power-up sequence, select this hidden option from the Main Menu. Typing ‘W’ or ‘w’ commands the firmware to re-initialize the watchdog, provides a prompt to reset the RTC, and synchronizes the WDC. The MMP cannot be deployed if the watchdog is not functioning properly and communicating cleanly with the firmware.
halt the firmware and exit to the TOM8 monitor (Tiny Onset Monitor, TT8v2). This command removes the running copy of the firmware in RAM, however, it remains on the flash card. Selection ? q Password: McLane Tattletale Model 8 Onset Computer, Pocasset MA USA TOM8 V1.09, PIC V1.00, Copyright 1994 TOM8> Figure 7-96: Exit to the Monitor To re-start the firmware type ‘g’ or ‘go’ (no quotes), followed by [ENTER] at the TOM8 prompt. This will start the normal power-up initialization sequence.
Chapter 8 Data Offload, Processing, and Interpretation Overview Once the MMP has been recovered, disconnected from the mooring cable (see Chapter 6 “Launch and Recovery”), and rinsed (see Chapter 4 “Maintenance and Storage”), preview some of the data such as examining the profile count and viewing the list of the data files while the flashcard is still in the instrument (see “<7> Offload Deployment Data” in Chapter 7).
Reviewing Deployment Data To review deployment data while the flash card is in the electronics housing, complete the following steps: 1. Boot the PC and start Crosscut (with capture ‘On’). 2. Connect the COM cable provided in the Toolkit to the PC. 3. Remove the dummy plug from the MMP connector and connect the COM cable to the MMP COM port (on the pressure housing end cap). 4. Press [CTRL]-[C] to terminate the deployment, if it is still in progress.
4. Disconnect the battery. 5. Slide the flash card out of its socket and remove it. Figure 8-1: Flash Card Removal 6. Insert the flash card into a PCMCIA slot on a PC. 7.
Unpacking and Translating the Binary Data Files Once the flash card is removed from the MMP and the binary data is copied to a directory on the PC, the Unpacker application (for firmware versions 3.01 and higher) can be used to unpack the binary deployment data files to ASCII text. See the “MMP Unpacker Application” section that follows, for detailed information about the Unpacker. Optionally, advanced users can directly edit settings in the MMP Unpacker initialization file (MMPUnpacker.
MMP Unpacker Application The Unpacker is a Windows application for MMP firmware versions 3.01 and higher that automatically unpacks MMP binary data files. To use this application, copy Unpacker.exe from the CD in the toolkit onto a PC directory or download the most current Unpacker.zip file from www.mclanelabs.com. An overview of each MMP Unpacker screen is included below. IMPORTANT Before unpacking, backup deployment data files on the PC directory where the binary data is copied from the flash card.
Unpacker – Step 2 In Step 2, select a destination for the unpacked data, either in the default folder that displays or in a new folder. If the destination directory does not exist, the Unpacker prompts to create the directory. NOTE The Contents window in the lower right displays files that exist in the selected directory. If data is unpacked to a folder that contains files, the existing files will be overwritten.
Unpacker – Step 3 Step 3 selects the data files to convert. Deselecting ‘All Files for Entire Deployment’ unlocks the other checkboxes to select specific log files and data files to unpack. NOTE If the selected firmware is version 3.15, an Inductive Charging checkbox displays to unpack Profile.DAT files and an ‘Inductive Charger Modem Communications Log’ checkbox displays to unpack the log of communications between the MMP and an inductive charger.
NOTE If the selected firmware is version 3.20, a checkbox displays for Step 3 to unpack the Deployment Log (Deploy.DAT). Figure 8-6: Step 3 Select Files to Unpack (Firmware Ver 3.
Unpacker – Step 4 Step 4 optionally attaches a user-defined prefix to the unpacked data files so that the unpacked files from multiple deployments can be stored in the same directory and identified. In the following example, the first engineering file would be KN144_E0000000.TXT. Figure 8-7: Step 4 Define Output File Prefix Unpacker – Step 5 Step 5 optionally adds text headers to the converted files.
NOTE Adding text headers may complicate post processing by programs such as Excel and Matlab. Unpacker – Step 6 Step 6 displays the unpacking options selected for verification. If the ‘Show Details’ box is checked, additional information is displayed.
Unpacking progress displays in the status bar and any errors are reported in the Activity Log. Details of the unpacking process are saved in UNPACKER.LOG in the destination directory. Figure 8-10: Unpacking Progress NOTE When the Unpacker encounters a missing data file, the file is skipped and unpacking continues. After unpacking is complete, any missing files are itemized in both the Unpacker Acitivity Log window and in the file UNPACKER.LOG. NOTE Converted DEPLOY.
SNSRTIME.TXT (a log of sensor power up and power down times), and TIMETAGS.TXT (contains each profile start and stop time). Each line in TIMETAGS.TXT contains the profile number, sensor turn on date and time, motion start date and time, motion stop date and time, sensor turn off date and time and termination condition. Deployment termination conditions are also specified as listed below.
The unpacked files are assigned names with the form ENNNNNNN.DAT, CNNNNNNN.DAT, ANNNNNNN.DAT, identifying the files as engineering (E), CTD (C), or ACM (A), with the profile number padded with leading zeros (0000000, 0000001, 0000002, …, etc.). The converted DEPLOY.DAT file is written to a DEPLOY.TXT file and saved in a destination directory. The profile count stored in PROFILES.DAT is the number of the last profile of the deployment.
Editing MMPUnpacker.INI MMPUNPACKER.INI is a standard Windows INI file located in the Windows directory. This file is automatically created when the MMP Unpacker executes. To edit MMPUNPACKER.INI, open the file in a text editor and use the table shown next as a guide to change default program values. IMPORTANT Editing the .INI file can affect the appearence and operation of the Unpacker and should be performed only by advanced users. MMPUnpacker.
MMPUnpacker.INI Configuration Options Key Options Description Default Value Specifies the files to unpack. This number can 0 be a combination of the following bitmask values: 1 = ENG files 2 = CTD files 4 = ACM files 8 = Deployment files 16 = Exception log For example, a value of 7 unpacks ENG, CTD and ACM files (2 + 4 + 1). A value of 31 (1 + 2 + 4 + 8 + 16) unpacks all files. If the default 0 remains in this Key, no files are unpacked.
MMPUnpacker.INI Configuration Options LogLevel Level of logging detail supported. This is a 15 (log everything) combination of any of the following bitmask values: This key is never 1 = log information written back to the 2 = log activity Unpacker code and will not permanently 4 = log warnings change the Unpacker 8 = log errors Wizard. 15 = log everything LogSize Size of log. 32M This key is never written back to the Unpacker code and will not permanently change the Unpacker Wizard.
MMPUnpacker.INI Configuration Options SkipToPreview Set to 1 (TRUE) if NEXT button on initial 0 (FALSE) screen goes directly to preview step and skips This key is never all the intermediate steps. written back to the Unpacker code and will not permanently change the Unpacker Wizard. The PDP-N_NN Utility Program To unpack data and translate binary files to ASCII text for MMP Firmware versions below 3.01, the utility program PDP-N_NN is included with the firmware.
ACM Compass Calibration Step 1 – Map Horizontal Compass Measurements NOTE Recalibrate the compass and verify mooring tilt before and after each deployment. Physical shifts, the rotations of components during maintenance, the magnetic field from a new battery pack, and drift in the compass electronics can all affect compass calibration. Compass calibration is undertaken in stages. First, the horizontal compass measurements are mapped to the unit circle.
Sting Direction HX HY HZ φ θH N 90° 0.3645 0.0008 -0.9312 -68.6° 82.8° NE 45° 0.2383 0.2321 -0.9430 -70.6° 37.7° E 0° -0.0246 0.2914 -0.9563 -73.0° -7.4° SE -45° -0.2508 0.1515 -0.9561 -73.0° -53.7° S -90° -0.3212 -0.1064 -0.9410 -70.2° -101.2° SW -135° -0.1979 -0.3218 -0.9259 -67.8° -143.1° W 180° 0.0511 -0.3652 -0.9295 -68.4° 174.7° NW 135° 0.2817 -0.2563 -0.9246 -67.6° 130.
Figure 8-12: Vector Average of HX and HY Measurements ACM Compass Calibration Step 3 – Adjust Parameters Manually To correct for the biases and gains, determine offset and scale parameters that map the measurements to the unit circle using the equation shown next. 2 2 HX − X O HY − YO + = 1 X Y S S HX and HY are the raw measurements, XO and YO are the offsets, and XS and YS are the scale factors. The expressions in the parentheses will be the corrected HX and HY values.
The two steps of the vector averaging method are shown next in Figures 8-12 and 8-13. In the first plot, Figure 8-12, “Plot One - Vector Averaged Correction”, the components of the vector average have been subtracted from the components of each measurement, shifting the ellipse so that it is centered at the origin.
Figure 8-14: Plot Two - Vector Averaged and Scaled The vector averaging approach produces an acceptably accurate result and is easily implemented with either field or spin test data. The vector can be hand calculated if necessary. The numerical results in this example, which can be applied to other portions of the data from that compass, are: XO = +0.018 YO = -0.047 XS = +0.347 YS = +0.
The final method is fully non-linear optimization. In this approach the Nelder-Mead simplex algorithm is used to adjust the four parameters to achieve an optimal result. First, define MX and MY, the corrected measurements: MX = HX CORRECTED = MY = HYCORRECTED = HX − X O XS HY − YO YS 1 2 2 EN = ∑ MX 2j + MYj2 − 1 j ( ) Then define a measure, EN, of the collective deviation of the corrected measurements from the unit circle.
Figure 8-15: Non-Linear Optimization XO = +0.020 YO = -0.041 XS = +0.348 YS = +0.336 The advantage of the simplex algorithm is that measurements with regular angular spacing and some elements near the principal north-south and east-west axes are not required. Nelder-Mead can be applied to MMP field data without manual pre-processing. You can obtain two programs from McLane that process ACM data using non-linear Nelder-Mead optimization. The first program must be run under Matlab, the MathWorks.
quadrants of an HX vs. HY compass plot and can be used to calculate offsets and scale factors. An example is shown above. The offsets and scale factors calculated for this data set, using the simplex algorithm, are: XO = +0.019 YO = -0.009 XS = +0.703 YS = +0.675 In a vertically uniform flow field, however, the heading will stay relatively constant and measurements on a compass plot will fall into a single quadrant.
If field data is unavailable for the spin test, use a hand compass to sight bearings and calculate the offsets and scale factors with the pre- or post-deployment spin test measurements that you used when correcting the compass measurements for angular bias. NOTE If possible, conduct the spin test away from the magnetic fields of buildings, docks, and ships. Spin Test To perform a spin test, complete the following steps: 1.
6. Turn the profiler and accurately align the sting with northeast. Make sure the profiler is vertical and record the compass measurements for an additional ten seconds or more. 7. Continue in this manner through the remaining six cardinal points of the compass. Compass calibration quality depends directly on the accuracy with which the sting is aligned to these eight headings. This portion of the spin test data will be used to calculate the bias angle. 8.
The bias angles are simple additive errors to the sting heading angle, θH (it is the total bias that is of concern, so it is unnecessary to differentiate between the two sources). To measure the total, measure the difference between the heading calculated using MX and MY, the offset and scale corrected measurements, and the true heading, as measured using the hand compass.
The BT values for the eight element data that illustrates the compass correction process are: N NE E SE S SW W NW +7.2° +7.3° +7.4° +8.7° +11.2° +8.1° +5.3° +4.6° Average angular bias: +7.5° The bias angle varies with bearing over a range of 6.6°. The operator may choose to use a constant correction, the average angular bias calculated by the programs, for example, or may interpolate through each octant using the eight measurements of BT.
Velocity Transformation The velocity transformation is geometric. First, transform the four path velocities into a velocity vector, (u, v, w), in the frame of the MMP. Recall that the Cartesian co-ordinate frame of the MMP is defined to have the +x-axis pointing forward, the direction in which the sting of the ACM points. The +y-axis points to port and the +z-axis points up.
All three quantities are expressed in mathematical compass coordinates. It may be necessary to wrap θT into the range -180° < θT ≤ +180° by adding or subtracting 360°.
Calculate dP/dt and run the result through some form of low pass filtering to smooth it. Again, verify that the result is consistent with the recorded start and stop times. Pass the vertical velocity measurements of the ACM through the same low pass filter. Two features, the velocity ramp near the beginning and the stop near the end, will be readily identifiable in both filtered records. An example using field data is shown Figure 8-9, “End Stop and Velocity Ramp”.
Extrapolate the beginning and end of the series by extrapolating at the sample rate measured by your interpolation. Other clear features in the records may permit you to fine tune the alignment at various interior points. Verify that the two time series are consistent with each other and with the recorded start and stop times. Data Processing Shareware A suite of Matlab programs designed to process MMP data has been developed at the Woods Hole Oceanographic Institution.
Appendix A Operating Crosscut for Windows and Crosscut McLane recommends using the file capture for all deployments. File Capture creates a log of operations, deployment settings, and recovery procedures. McLane recommends two standard file capture programs freely distributed by Onset Computer (www.onsetcomp.com) for TT8v2 communication. Crosscut for Win is Windows-based and Crosscut is a DOS-based program that runs on a PC.
5. Click ‘OK’. The system stores these values and they will be used whenever Crosscut for Win is started in the future. 6. Connect the COM cable to the PC, then connect to the controller. Capturing Data Files with Crosscut for Win 1. Start Crosscut for Win. 2. To capture a data file after a deployment select ‘Terminal’ from the menu bar and ‘Capture Setup’ from the submenu. 3. Enter a Capture file name in the box and select Overwrite or Append. Overwrite replaces any information in an existing log file.
remove the connector and then restore power to recover control of the MMP. The crash is caused by signals or apparent signals on the receive pin of the communications port if they arrive when the TT8v2 is in low power sleep and if the ground connection between the TT8v2 and the PC is intermittent. McLane recommends that you boot the PC, start Crosscut, connect the cable to the PC, connect the cable to the MMP, and connect power to the MMP (in that order).
2. Type crosscut at the DOS prompt or click on the Crosscut icon to run the program (a short cut can also be created from the desktop). Do not connect the PC to the TT8v2 yet. 3. Select ‘CommPort’ from the menu bar at the top of the Crosscut window and then ‘Port setup’ from the submenu (use a mouse or the keyboard combination [ALT]-[P]). 4. Use the mouse or [TAB] and arrow keys to set the COM port being used to 9600 baud, 8 data bits, 1 stop bit, no handshaking, and no parity (9600, 8, N, 1).
Capturing Data Files Using Crosscut Once steps are completed for first-time Crosscut use, follow the steps below to capture data files: 1. To start Crosscut type crosscut at a DOS prompt or click on the Crosscut icon (the Crosscut directory must be in the directory path when for this step). 2. To capture a data file after a deployment select ‘CommPort’ from the menu bar and ‘Capture to File’ from the submenu. 3. Select a directory and a name for the file. 4.
Connecting the COM Cable Connecting a DB-9 or DB-25 connector to a PC serial port by rocking the connector back and forth can cause a Com Port Crash in the TT8v2. If a crash occurs, remove the connector and then cycle power to reset the TT8v2. The crash is caused by signals or apparent signals on the receive pin of the communications port if they arrive when the TT8v2 is in low power sleep and if the ground connection between the TT8v2 and the PC is intermittent.
Appendix B System Architecture The MMP system architecture is explained in detail in this Appendix. The architecture overview begins with the steps in the deployment process. Starting a Deployment 1. An operator programs the MMP and initiates the autonomous portion of a deployment. 2. The firmware places the TT8v2 into Low Power Sleep (LPS) for a user-specified interval, while the operator sets the mooring and launches of the profiler. 3.
Ending a Deployment 1. The system terminates a deployment if the operator selects the termination menu option, the battery falls below 7.5 V, or the flash card is full. 2. After terminating a deployment the firmware places the TT8v2 in low power sleep (LPS). MMP Components See Chapter 1, “MMP Schematic”, Figure 1-3, and Chapter 1, “MMP Components” for an illustration of the MMP and a summary of standard MMP components. Each component is further detailed in this section.
the flash card and loaded into the RAM whenever power is applied or the system is otherwise rebooted). The code executes in RAM, and accesses information stored in the flash memory, in the serial EEPROM, and on the flash card. The serial EEPROM stores: • The serial number of each unit. • The current odometer and trip meter readings.
Files Stored On the Flash Card For the standard MMP configuration (with a CTD and an ACM installed), during each profile, the system creates and stores three data files on the flash card (two of these are sensor files, one each for the CTD and the ACM) and the third file is the engineering data which includes all of a profile’s time tags. The data is stored as scaled integers to minimize storage requirements. Each of the three values in a CTD record requires 3 bytes (9 bytes/record).
IMPORTANT Archive AUTOEXEC.BAT and MMP-N_NN.RUN onto a PC hard drive and bring copies to every deployment. If either of these files is inadvertently removed from the flash card the MMP will be inoperable. A backup of each program is provided with the MMP. To install AUTOEXEC.BAT and the MMP-N_NN.RUN backup programs that are included with the MMP, insert the flash card to a PC and copy the files from the flash card to the PC using standard DOS or Windows commands.
MMP Motherboard The motherboard contains the interface circuits that translate the signals and commands passing between the TT8v2, the peripheral components of the system, the system watchdog circuit and its independent power supply. The interface circuits protect the system from electrical damage. The eight independent voltage taps of the main lithium battery pack are diode isolated on the motherboard. Each cell in the battery pack is internally fused for 3 A.
kit. Two terminal programs, Crosscut and Crosscut for Win, are also provided. Crosscut is DOSbased and Crosscut for Win is a Windows program. Instructions for installing and operating these emulators are provided in Appendix A, “Operating Crosscut for Windows and Crosscut”. Drive Motor The drive motor control interface is composed of three DIO lines. One of the lines can be programmed to output a pulse train with a variable duty cycle.
Independent Watchdog The system watchdog circuit is mounted on the motherboard and is composed of a DS1306 real-time clock chip, which sends periodic interrupt requests to the TT8v2, and a hardware counter, which can restart the TT8v2 if the IRQ from the DS1306 is not acknowledged. The watchdog circuit receives power from the main lithium battery.
during every hour of operation. When the TT8v2 receives this interrupt, the TT8v2 acknowledges and clears the request by communicating with the DS1306. Then the TT8v2 resets the 68 minute counter to zero, logs the IRQ if a deployment is in progress, and goes on with whatever operation was being conducted when the interrupt was received. These actions indicate the TT8v2 is smoothly running the firmware.
moving data onto the flash card. The duration of the data transfer is 10% - 15% of the elapsed profile time. ACM Measurements The ACM logs a 2-axis tilt measurement, a 3-axis compass measurement, and a 4-axis velocity measurement in each record. Each datum is stored as a scaled integer in two bytes with eighteen bytes in a record. ACM records are also acquired at a nominal rate of 1.85 Hz and can be logged internally for approximately 8.75 hours before filling the ACM's 1 Mbyte data memory.
The on-board offload utility and the high-speed MMP Unpacker application cannot support non-standard sensor settings. Processing binary data files collected with non-standard sensor settings is the responsibility of the operator. The firmware can automatically verify standard sensor settings at the beginning of a deployment or allow the operator to manually program the sensors. Contact McLane if programming non-standard sensor settings is required for a deployment.
Three types of interfaces are available to support sensors equipped for serial communications: one 3-wire, full duplex, RS-232 port, one 3-wire, half duplex, RS-485 serial bus port, and one Serial Peripheral Interface (SPI) port. Finally, two independently switched sources of power are available from the main lithium battery pack. The supply voltage is nominally 10.8 V. An unswitched source of battery power, for sensors that must be continuously powered, is also available. .
Appendix C Bench Top Deployment This Appendix contains a transcript of a simple bench top deployment. In addition to the bench top deployment transcript, sample deployment parameters are also provided. Bench Top Deployment Example Settings The ambient pressure is near zero on the bench and does not vary appreciably. For this reason the profile time limit, set to 1 minute, was used in this bench test to end downward profiles.
McLane Research Laboratories, USA McLane Moored Profiler Version: mmp-3_12.c S/N: ML00414-42 ╔═════════════════════════════════╗ ║ Main Menu ║ ╚═════════════════════════════════╝ Wed Mar 13 15:19:28 2002 <1> <2> <3> <4> Deployment begins Set Time Diagnostics Flash Card Ops Sleep Selection <5> <6> <7> <8> Bench Test Deploy Profiler Offload Deployment Data Contacting McLane ? 6 Clock reads 03/13/2002 15:19:31 Change time & date (Yes/No) [N] ? Setting watchdog clock . . . done.
Sending command ***O OPEN MODE Expected response received. Proceeding to next command. Sending command ROP continuous clear address op clear Logging Ops Set RLD checksum output cleared Expected response received. Proceeding to next command. Sending command RDM TX = ON, TY = ON, HX = ON, HY = ON, HZ = ON, VPATH = ON, 18 Expected response received. Proceeding to next command. Sending command TILT TILT = on Expected response received. Proceeding to next command.
Expected response received. Standard ACM settings verified. Sensors initialized and ready for deployment. Press any key to continue.
Note this instruction >>> Initializing autonomous operation <<< Do NOT remove the communication cable until initialization is complete. Setting motor to Free Wheel during launch . . . done. Initializing data pointers and status flags . . . done. These steps take approx. 1 minute. The flash card is reformatted during this process and the files are not recoverable using commercial disk recovery software Remove the cable when launching the MMP Waiting for the ping Initializing flash card . . .
Expected response received. Proceeding to next command. Sending command START [CTRL]-[C] gains control Expected response received. CTD logging pointers initialized. Initializing ACM logging pointers . . . Sending command ***O OPEN MODE Expected response received. Proceeding to next command. Sending command ACM logging started CLOG Logging Ops Cleared Expected response received. Proceeding to next command. Sending command LGPTR=65536 Expected response received. Proceeding to next command.
Expected response received. Proceeding to next command. Sending command ZMEM Execution requires ~8 seconds Each '.' = 65536 bytes. Type 'S' to Stop. . . . . . . . . . . . . . . . Logging Pointer Reset Logging Memory Zeroed Expected response received. Proceeding to next command. Sending command SLOG Logging Ops Set Expected response received. Proceeding to next command.
03/13/2002 15:22:55 Wakes up to start Profile 0 Motion begins Motion start time logged Velocity ramp complete Check for stop Opening file E0000000.dat for storage of profile 0 engineering data. Beginning profile 0 Full speed reached. Setting low power run mode. 28 mA 10.5 V Checking for stop . . . steady as we go. Current pressure 1.193 dbar <03/13/2002 15:23:28> Sleeping . . . Check for stop 26 mA 10.5 V Checking for stop . . . steady as we go. Current pressure 1.258 dbar Current speed 0.
Check for stop 28 mA 10.5 V Checking for stop . . . steady as we go. Current pressure 1.321 dbar Current speed 0.004 dbar/s <03/13/2002 15:23:58> Sleeping . . . Stop found Based on time Motion end time logged 28 mA 10.5 V Checking for stop . . . found stop.
Sending command LOG log=0 Expected response received. Proceeding to next command. Sending command DLEN=455 Expected response received. Proceeding to next command. Sending command DLEN Dlen=455 Expected response received. Proceeding to next command. Opening file C0000000.dat for storage of profile 0 CTD data. Sending command BDMP Receiving block 0 of 1 . . . Writing block 0 of 1 . . . Sending command CTD data transfer ends Resetting CTD for next profile BDMP Receiving block 1 of 1 . . .
ACM data transfer begins Dumping ACM data to flash card . . . Sending command CLOG Logging Ops Cleared Expected response received. Proceeding to next command. Sending command RDM TX = ON, TY = ON, HX = ON, HY = ON, HZ = ON, VPATH = ON, 18 Sending command LGPTR 75814 Sending command LGPTR=65536 Expected response received. Proceeding to next command. Sending command LGPTR 65536 Expected response received. Proceeding to next command. Sending command READP=65536 Expected response received.
Sending command DLEN 227 Expected response received. Proceeding to next command. Opening file A0000000.dat for storage of profile 0 ACM data. Sending command BDMP Receiving block 0 of 2 . . . Writing block 0 of 2 . . . Sending command BDMP Receiving block 1 of 2 . . . Writing block 1 of 2 . . . Sending command ACM data transfer ends Resetting ACM for next profile BDMP Receiving block 2 of 2 . . . Writing block 2 of 2 . . . Sending command LGPTR=65536 Expected response received.
Sending command ZMEM Execution requires ~8 seconds Each '.' = 65536 bytes. Type 'S' to Stop. . . . . . . . . . . . . . . . Logging Pointer Reset Logging Memory Zeroed Expected response received. ACM data secured Profile 0 is complete Waiting for Profile 1 CTD logging started ACM profile data written to flash card. Closing engineering data file . . . done. <03/13/2002 15:27:02> Sleeping . . . 03/13/2002 15:28:00 Initializing CTD logging pointers . . .
ACM logging started Initializing ACM logging pointers . . . Sending command ***O OPEN MODE Expected response received. Proceeding to next command. Sending command CLOG Logging Ops Cleared Expected response received. Proceeding to next command. Sending command LGPTR=65536 Expected response received. Proceeding to next command. Sending command LGPTR 65536 Expected response received. Proceeding to next command. Sending command READP=65536 Expected response received. Proceeding to next command.
Sending command ZMEM Execution requires ~8 seconds Each '.' = 65536 bytes. Type 'S' to Stop. . . . . . . . . . . . . . . . Logging Pointer Reset Logging Memory Zeroed Expected response received. Proceeding to next command. Sending command SLOG Logging Ops Set Expected response received. Proceeding to next command. Sending command ***R WARNING, NO AVERAGING PARAMETER(s) SELECTED, NORMAL RUN Running, Fingers UP Tilt Function is ON Compass Function is ON Expected response received.
Programmed pause to provide sensor data for a post deployment sensor bias check, 120 seconds <03/13/2002 15:30:34> Sleeping . . . Data transfer process begins Halting ACM data logging . . . Sending command ***O OPEN MODE Expected response received. ACM data logging halted. Halting CTD data logging . . . Sending command ***O Open Mode Expected response received. CTD data logging halted. Dumping CTD data to flash card . . .
Sending command DLEN Dlen=455 Expected response received. Proceeding to next command. Opening file C0000001.dat for storage of profile 1 CTD data. Sending command BDMP Receiving block 0 of 1 . . . Writing block 0 of 1 . . . Sending command BDMP Receiving block 1 of 1 . . . Writing block 1 of 1 . . . Sending command LOG=0 Expected response received. Proceeding to next command. Sending command LOG log=0 Expected response received. CTD profile data written to flash card.
Sending command LGPTR=65536 Expected response received. Proceeding to next command. Sending command LGPTR 65536 Expected response received. Proceeding to next command. Sending command READP=65536 Expected response received. Proceeding to next command. Sending command READP 65536 Expected response received. Proceeding to next command. Sending command DLEN=227 Expected response received. Proceeding to next command. Sending command DLEN 227 Expected response received. Proceeding to next command.
Sending command BDMP Receiving block 2 of 2 . . . Writing block 2 of 2 . . . Sending command LGPTR=65536 Expected response received. Proceeding to next command. Sending command LGPTR 65536 Expected response received. Proceeding to next command. Sending command READP=65536 Expected response received. Proceeding to next command. Sending command READP 65536 Expected response received. Proceeding to next command. Sending command ZMEM Execution requires ~8 seconds Each '.' = 65536 bytes.
McLane Research Laboratories, USA McLane Moored Profiler Version: mmp-2_08.
sampling will prevent the profiler from spending a significant period of time parked at the top of the range. Deployment parameters for the first iteration, meeting all of the proposed requirements, are shown below.
The consistency checks and the calculated profile time limit indicate that no more than three single profiles can be completed in a 24 hour period over the proposed profiling distance. The profiling distance must not be shortened to sample the full extent of the water column. One parameter change that could be made without significant impact is to change the requirement for paired profiles. Deployment parameters for the second iteration are shown next.
• a 1 week burst every 6 week • a 1 day burst every 6 days. Any schedule with a duty cycle of 1 part in 6 will extend the deployment duration to 12 months. To determine the time scales of interest, you look at each schedule. The 1 month burst every 6 months will not resolve seasonal variations, which are considered important. The 1 week burst every 6 weeks is not quite adequate for tidal and diurnal events, though it comes close.
each assigned to a different portion of the mooring or to a different portion of the water column on separate moorings. Another approach would be multiple deployments of a single profiler, each of 3 to 6 months duration. In either case, cost becomes an additional constraint. The third iteration is a reasonable solution. Further refinement of the original requirements might point to a longer burst or some other variation.
An initial set of deployment definition parameters is shown below. Start 1| Countdown delay = 12:00:00 [HH:MM:SS] Schedule 2| 3| 4| 5| 6| Profile start interval Reference date/time Burst interval Profiles per burst Paired profiles = 000 00:00:00 [DDD HH:MM:SS] = 04/10/2002 00:00:00 = 000 00:00:00 [DDD HH:MM:SS] = Disabled Disabled Stops Shallow pressure Deep pressure Shallow error Deep error Profile time limit Stop check interval = = = = = = 7| 8| 9| A| B| C| 25.0 200.0 50.0 25.
The initial iteration used continuous profiling through out the deployment. This is the highest possible sampling rate and provides a quick indication of the degree to which the profile start interval must be lengthened. A 4 month minimum deployment duration is needed if both turn-around cruises are used. The deployment parameters are constrained by the file system.
offers high frequency sampling for 14 hours (slightly more than a tidal period) once each week for about 6 months. The coverage is less complete, but a very high sampling rate is possible and only one turn-around cruise is necessary. This reduces costs and may have other benefits. For example, it may be easier to schedule the deployment, turn-around, and recovery cruises around winter storms with a 6 month window.
The third alternative schedules bursts of 24 pairs at 1 hour intervals every 5 days (48 single profiles at 30 minute intervals would provide almost the same coverage). The duration to the file system limit is 4.5 months. This approach provides regular coverage at a relatively high sample rate, almost certainly high enough to resolve the target processes. The 4.5 month duration offers some flexibility for turn-around and recovery scheduling and provides protection from weather and ship delays.
The additional current drain of the enhanced sensor suite should not present a problem. The file system constraint is typical for deployments with a short profiling range. Two points are worth noting. First, the deployment requirements, as described, can be met. Second, a set of workable, specific scenarios was generated with relative ease using the deployment planning tools built into the MMP firmware.
Notes Appendix C-30
Appendix D ACM Compass Calibration This appendix provides a detailed description of ACM compass calibration. Two programs that calculate compass offsets, scale factors, and angular bias are included with the software in the MMP tool kit. These corrections to the raw compass measurements are discussed at length in Chapter 8, “Data Offload, Processing, and Interpretation”. The first program, acm_corr.m, runs under Matlab Version 5 and higher.
one of the cardinal points. Be sure the rows are in the proper order. Alternatively, you can create the text file manually. Fill the first, second, and fifth columns with zeros. Then scroll tilt and compass or use the pass-through ACM communications utility to make a compass measurement at each of the eight cardinal points. Enter these values in the third (HX) and fourth (HY) columns of the file. Again, be sure the rows are in the proper order. Running acm_corr.
new folders and files. The files you will need are acm_corr.exe, mglinstaller.exe, and a folder named bin that contains two files, FigureMenuBar.fig and FigureToolBar.fig. 1. Copy the provided executable, mglinstaller.exe, to C:\, the root directory of your C: drive. 2. Run mglinstaller.exe by double clicking on it or calling it from DOS. 3. Specify C:\MLMGRTL when prompted for a directory into which the Matlab math and graphics run-time libraries are to be installed. 4.
4. Offset and scale factors will be displayed in the ‘Offset’ and ‘Scale’ text boxes. The plot window will display the corrected and uncorrected data. If the data were in an eight element file named spintest, the eight angular biases and the average angular bias will also be displayed. 5. Repeat steps 3 to 5 to process additional data files. Click ‘Quit’ to exit the program. 6.
hand indicated the positive direction of rotation.) Similarly, TY measures rotation about the xaxis and is positive when the profiler tips to starboard. (Note that this rotation is consistent with the "right-hand rule".) The units of tilt are degrees. Full scale for both pitch and roll is ±45°. Tilt values near zero indicate that the profiler is vertical. The next three numbers in each ACM scan are HX, HY, and HZ, the three components of the local magnetic field as measured by the compass.
and where θH is the angle of the horizontal component of the magnetic field vector measured clockwise from the positive y-axis. Defined in this way, θH is also the heading of the sting in "mathematical" compass coordinates: When the sting is pointing: θH is: HX Horizontal = tan θ H HYHorizontal North +90° East 0° South -90° West 180° Consider an example.
To collect the measurements in the table, the housing was aligned to magnetic north using a hand compass. Alignment to the other cardinal points was done by eye with reference to marks on the bench. Variations in φ are caused by the small tilt of the bench surface and compass calibration errors. Similarly, the variations in θH from the expected heading are caused by imperfect manual alignment and by compass calibration errors.
Notes Appendix D-8
Appendix E Optional Transponder The transponder is an optional component of the MMP. When installed, it allows personnel on a research vessel to verify that the system is profiling as scheduled. This is accomplished with a transponder deck unit that can measure the range to the MMP as it changes over time. The transponder is driven by its own electronics and powered by eight 9 V alkaline batteries.
8.0 KHz, …, 1111 selects 15.0 KHz. To meet the power output specification of the transponder the transmit frequency should only be changed within one of three frequency bands: 7.5 KHz 8.5 KHz, 9.0 KHz - 11.0 KHz, or 11.5 KHz - 15.0 KHz. Switch 6 has no function in the transponder's MMP implementation and should be left OPEN.
NOTE Transponder electronics and batteries may be absent. The transponder is an optional component that allows personnel on a research vessel to verify that the system is profiling as scheduled. The six 9-volt alkaline batteries that independently power the transponder can be disconnected from their sockets or the two in-line connectors in the wiring harness can be opened. Disconnect these batteries during shipping.
Notes Appendix E-4
Appendix F Unpacking data using PDP-N_NN.EXE For MMP versions 3.01 or below, the stand-alone program PDP-N_NN (delivered on the CD in the Toolkit for MMP versions below 3.01) can be used to unpack deployment data and translate binary files to ASCII text. The program version should match the firmware version (N_NN is the data processor version number, for example, PDP-2_01).
3. Type PDP-3_01 (or other version) at the DOS prompt. 4. The screens that display and available selections are shown next.
Set Options The Profiler Data Processor options format the ASCII text files allowing them to be read immediately by numerical analysis programs. To set the unpacker options, type 'o' [ENTER].
Partial - Displays the first few unpacked records from each binary file as unpacking proceeds. The number of records displayed is set in Option ‘3’. This option provides a quick overview of the data while it is unpacked and slows the processing less than the Full Display. None - Does not display data on the screen as unpacking proceeds (displays only the name of the binary file currently being unpacked). This is the fastest option for unpacking data.
IMPORTANT To reduce the risk of data loss, copy the binary data files for the flash card to a hard drive, then, unpack the binary files from the hard drive. Unpacked data will requires more disk space than binary data. Offload Options File The Profiler Data Processor reads OFFLOAD.OPT, in the default PDP directory (C:\MMP) each time the program starts. The current PDP options settings are written to OFFLOAD.OPT when ‘Q’ (Quit) is selected.
Notes Appendix F-6
Appendix G Rev C Electronics Board User Interface This chapter illustrates the firmware menus, commands, and screens used with the Rev C electronics board.
→ Setting the real time clock (RTC): • The operator sets the real time clock (RTC) by entering the date and time (MM:DD:YY:MM:SS) and pressing Enter. The watchdog clock (WDC) is automatically synchronized to the RTC. Limits: 1970 to 2038. Alternate separators: colon (:), space, slash (/) → Displaying trip meter and profiling odometer values: • The trip meter can be used to estimate the remaining battery capacity (Low battery voltage during a deployment triggers a shut down).
MMP-3_12 Welcome to the McLane Moored Profiler operator interface. The MMP operating system is initialized and running. Type - within 30 seconds to assert operator control and complete system initialization. Step ì System initialization countdown 30 seconds 29 seconds 28 seconds Step í Watchdog activation Independent system watchdog successfully initialized. Watchdog alarm IRQ has been activated. Step î Flash card sizing Sizing flash card (~2 seconds / 100 Mbytes) . . . done. 512.
Re-Booting the System The power-up sequence does not repeat unless the system is re-booted. Execute a “cold” re-boot by disconnecting the power and then reconnecting it after 5 to 10 seconds. The delay allows capacitors in the system to fully discharge. Execute a “warm” re-boot , which will not reset the RTC, by exiting the firmware to the TT8v2 monitor (TOM8) and then manually restarting the program.
Powering Down the MMP To power off the MMP, complete the following steps: 4. Return to the Main Menu. 5. Select ‘Sleep’ from the menu. 6. Disconnect the main lithium battery pack. IMPORTANT Do not disconnect power to stop a deployment. Powering down during deployment may corrupt open data files. The Main Menu - Operating the MMP The MMP Main Menu (shown below) controls all system operations. This section of the manual describes each of the visible (and hidden) Main Menu options.
IMPORTANT McLane recommends that the RTC be set during the power-up sequence. When the MMP is powered on, the clock defaults to January 1,1970, 00:00:00. The operator can set the clock to any date and time in the allowed range and the count will continue from the new value.
A sample Diagnostics display is shown below. Typing ‘X’, ‘x’, or [CTRL]-[C] will exit from Diagnostics and return to the Main Menu. The display can be toggled on and off without leaving Diagnostics by pressing any other alphanumeric key. Selection ? 2 Press any key to pause/continue display, to exit. RTC: 01/28/2002 15:52:54 RTC: 01/28/2002 15:52:55 RTC: 01/28/2002 15:52:56 WDC: 01/28/2002 15:52:53 WDC: 01/28/2002 15:52:54 WDC: 01/28/2002 15:52:55 10.9 Vb 10.9 Vb 10.
If the output of the lithium battery is below 7.5 V, a warning message and a single system status line displays. Diagnostics automatically terminates and returns you to the Main Menu. Main battery is extremely low and should be replaced before running diagnostics. RTC: 01/28/2002 16:35:46 WDC: 01/28/2002 16:35:46 6.8 Vb 0 mA Battery voltage is abnormally low. Check/replace main battery pack before deploying system. Press any key to continue. Figure G-6: Replace Battery A battery voltage near 10.
IMPORTANT Use the Flash Card Operations menu carefully. It is possible to delete files, including the firmware via this menu. Option <1> Flash Card Size/Free This option measures the total capacity and remaining free space on the flash card and calculates the number of files permitted by the file system. NOTE The DOS file system limits the number of files that can be stored in the root directory of the flash card to 4096.
Option <3> Hex Dump Profile Count This option displays the profile count in hexadecimal notation. In the example below, the profile count is 019Ehex (414dec), indicating that 415 profiles, numbered 0 through 414, have been conducted and are stored on the flash card. Selection LOCATION 00000000 ? 3 CONTENTS 0000 0003 Press any key to continue. Figure G-9: Profile Count Option <4> Delete All Files This option works like the ‘del *.*’ (delete all) command in DOS. If the firmware and/or the AUTOEXEC.
Option <6> Format Flash Card This option formats the flash card. This utility can be used to insure that new cards are compatible with PicoDOS. To do this, boot the MMP with a system card containing the firmware and AUTOEXEC.BAT. Run the card exchange option and insert the card to be formatted. Run format. Then remount the system card using hot swap a second time. As with the delete option, if the firmware and/or the AUTOEXEC.BAT file are deleted, the MMP cannot be deployed.
=====PicoDOS Intrinsic Commands COPY DEL ERASE TIME REN G MD XS YS BAUD DUMP BOOT RESET Note the CAUTION ‘?’ redisplays the cmd list Returns to Flash Card Ops menu (plus .RUN and .BAT Files) source dest filename filename (prompts) oldname newname or GO[address] [address] [/Q][/X][/C]file [/Q][/G]file[,file...
2 keystrokes begins wake-up [CTRL]-[C] completes wake-up <01/07/2005 15:58:51> Sleeping . . . Enter now to wake up? Figure G-14: Low Power Sleep <5> Bench Test The MMP Bench Tests are a suite of utilities that allow the operator to assess the operability and performance of each of the peripheral components. McLane recommends a full system assessment using the Bench Tests options, before every deployment.
Selection ? 1 Applying power and enabling COMMs to CTD . . . ready. Initializing TT8 communication channels . . . TX channel open. RX channel open. Press [ENTER] and CTD responds with scan Continue to press [ENTER] for additional scans Hailing frequencies open. - to terminate session. 13.7847, 21.7239, 0.2079 13.7841, 21.7325, 0.4280 13.7845, 21.7330, 0.4481 Type [CTRL][C] and system puts CTD in open mode, shuts down communication channels, and shuts down CTD TX channel closed.
Verifying CTD Settings To use the CTD pass-through utility, complete the following steps: 11. From the Bench Test option on the Main Menu, select <1> CTD Communications. 12. Type ***O [ENTER] to place the CTD in open mode. 13. Type ROP [ENTER]. The system should display the following: serial number 1335 Scale is OFF Address Operation is OFF Auto is ON Figure G-18: CTD Settings 14.
Applying power and enabling COMMs to CTD . . . ready. Initializing TT8 communication channels . . . TX channel open. RX channel open. Hailing frequencies open. - to terminate session. Step í Step ***O Open Mode ROP 1335 Scale is OFF Address Operation is OFF Auto is ON ***E î Step ñ TX channel closed. RX channel closed. Step ô Shutting down power to CTD. Press any key to continue.
Applying power to CTD . . . ready. Pressure = -0.712 dbar Press any key to continue. Figure G-20: Testing Pressure Information Option <3> CTD Average Pressure This option can be used to acquire a time series of the power-up response of the CTD pressure transducer. NOTE (Firmware Version 2.07) If you are operating a system with a version prior to 2.08, upgrade before using this option. Versions prior to 2.08 shut down the CTD in run mode, which is not optimal.
Option <4> CTD Temperature Record This option sets how many and how frequently CTD temperature readings are recorded. Enter number of measurements to record (1 to 1000) ? 3 Enter measurement interval [sec] (1 to 600) ? 8 Temperature record duration: 00:00:16 Applying power to CTD . . . ready. 06/15/2005 15:03:56 06/15/2005 15:04:04 06/15/2005 15:04:12 +22.2104 +22.2239 +22.
In addition to run mode, the ACM can be placed in “open mode”. It is in open mode that most ACM commands are active. To place the ACM in open mode type ***O[ENTER] (the system response to [ENTER] is “OPEN MODE”). Open mode cmd followed by [ENTER] ***O OPEN MODE Figure G-24: ACM in Open Mode IMPORTANT To terminate the communication session and power down the sensor, type [CTRL]-[C] at anytime, regardless of the current operational mode of the ACM.
number of bytes per scan in the compressed binary format. NAME[ENTER] displays the status of that particular feature. 19. Type ROP [ENTER].
24. Once all of the settings are correct, type ***E[ENTER] to save settings in the ACM EEPROM. 25. Wait a few seconds for the ACM to add a carriage return, indicating that the storage operation is complete. 26. Press [ENTER] to return the ACM to Open Mode. 27. Press [CTRL]-[C] to terminate the session and power down the ACM. 28. Re-establish communications and check that the settings are now correct on power-up. A sample screen for verifying standard ACM settings is shown next.
IMPORTANT Non-standard ACM settings will affect system operation during a deployment and are not recommended. Spin Test A spin test is conducted to generate compass calibration corrections for post-processing use. The spin test data is collected by rotating the profiler on its base and aligning the sting to the eight cardinal points of the compass in sequence.
order in which the measurements appear in the scan. Translating the tilt, compass, and path velocity measurements into velocities in a Cartesian earth frame will be described during the discussion of Data Offload, Processing, and Interpretation. Flow Field -X(3) -Y(4) +X(1) +Y(2) Top View Left View Figure G-29: ACM Scan Velocities Note that it is necessary to store the four path velocities and the compass and tilt information, not a Cartesian earth or MMP frame velocity vector.
The program parses the response to extract tilt and compass measurements, displays the result, and repeats the cycle until interrupted by the operator. This option displays the ACM tilt (TX and TY) and compass (HX, HY, and HZ) outputs for use while mounting the ACM pressure housing. - to terminate display. Applying power to ACM . . . ready. Scrolling display [CTRL]-[C] stops scrolling TX TY +00.51 +00.45 +00.47 +00.45 +00.40 +00.45 +00.39 +00.44 +00.47 +00.45 +00.43 +01.12 +01.31 +01.16 +01.
Default is up Motor in air, no load Ramp completed, Stop cmds Scrolling display begins Motor direction (Up/Down) [U] ? Enter ramp duration [sec] (2 to 60) ? 5 Beginning start ramp. Full speed reached. Setting low power run mode. Monitoring motor current and battery voltage. to begin stop ramp. - to stop and exit.
╔═════════════════════════════════╗ ║ Bench Tests ║ ╚═════════════════════════════════╝ Fri Jan Default sets brake ‘on’ 7 12:48:42 2005 Sensor Utilities: <1> CTD Communication <2> CTD Pressure <3> CTD Average Pressure <4> CTD Temperature Record <5> ACM Communication <6> ACM Tilt and Compass System Evaluation: <7> Motor Operation <8> Brake on.
Option <9> Independent Watchdog This option allows the operator to test the watchdog circuit. The system watchdog circuit is composed of the DS1306 chip, which sends periodic interrupt requests to the TT8v2, and a hardware counter, which can restart the TT8v2 if the IRQ from the DS1306 is not acknowledged.
This test verifies operation of the watchdog system RESET. If successful, the system will be RESET and operation will proceed as it does when power is first applied to the system. The RESET will not occur until an interval of 68 minutes and 16 seconds (4096 seconds) has passed. The test will time out after 70 minutes if the RESET hardware fails. The operator can cancel the test at any time by entering three or more -s.
<02/10/2002 16:18:38> Sleeping . . . <02/10/2002 16:38:38> Sleeping . . . Watchdog resets TT8 and restarts system. Powerup sequence begins MMP-2_08 Welcome to the McLane Moored Profiler operator interface. The MMP operating system is initialized and running. Type - within 30 seconds to assert operator control and complete system initialization.
File is initialized with reconstructed value of the profile count (no profiles had been conducted, so 0 is the correct value) Profile begins with PWM velocity ramp, note that the system correctly reconstructed the profile count author terminates the example with several CTRL][C]s before ramp is completed Can't open file PROFILES.DAT Attempting to create file PROFILES.DAT Opening file E0000000.dat for storage of profile 0 engineering data. Beginning profile 0 Terminated by operator. Motor disabled.
IMPORTANT Do not use the URAO feature to pre-program the MMP and then, at a later date, connect the battery and launch the profiler without further operator interaction. When URAO is triggered, it assumes that the MMP is in the water and that the mooring is fully deployed. Profiling typically starts less than 3 minutes after the battery is connected.
For more information about the transponder, refer to the “Optional Transponder” appendix in this User Manual. Option <0> Offload Routines This display provides options to select the deployment files for transferring from the flashcard. For more information about each selection, see “Option <7> Offload Deployment Data” in this chapter.
Selection ? F Set Fluorometer Gain: Automatic <1> Fixed 1X <2> Fixed 3X <3> Fixed 10X <4> Fixed 30X Selection [A] ? a Figure G-41: Set Fluorometer Gain The sensor data scrolls until the operator selects [CTRL]-[C]. Enter number of measurements to average (1 to 100) ? 2 Press any key to pause/continue display to change settings, - to exit.
The Auto setting will continuously monitor the voltage output and adjust the gain to match the signal level. The gain will increase one level when the signal falls below a threshold of 0.5 V and decrease one level when the signal rises above 4 V. Selection ? T Set Turbidity Sensor Gain: Automatic <1> Fixed 1X <2> Fixed 3X <3> Fixed 10X <4> Fixed 30X Selection [A] ? a Figure G-44: Set Turbidity Gain The sensor data scrolls until the operator selects [CTRL]-[C].
The voltage and gain data is recorded in the Engineering data file at the period of the Check Stop Interval. If the Turbidity sensor is disabled, the engineering data file displays ‘99’ as a place holder. Date Time 01/07/2005 01/07/2005 01/07/2005 01/07/2005 01/07/2005 01/07/2005 01/07/2005 01/07/2005 01/07/2005 01/07/2005 00:14:00 00:14:30 00:14:30 00:15:00 00:15:30 00:16:00 00:16:30 00:17:00 00:17:30 00:18:00 [mA] -5 -7 -1 -0 -0 -0 -0 -0 -0 -0 [V] [dbar] Fluor[mV] Gain Turb[mV] Gain 10.6 10.
The system turns on the sensors two minutes before the scheduled start time of each profile. Profiler motion begins at the scheduled start time. During the profile, the sensors log data autonomously and the MMP records engineering and status information. Motion stops when the end of the programmed profiling range is detected. The sensors continue to log internally for two minutes. The system then stops the sensors and transfers their data to the flash card.
non-standard settings are programmed, the operator must process the binary data in the sensor files. The MMP offload utility and the unpacker program will work only with binary files created using the standard sensor settings. Refer to the section “<5> Bench Test” in this chapter for information about CTD and ACM programming. Some combinations of non-standard settings can make data collection during a deployment impossible. If you must use non-standard settings, contact McLane.
McLane Research Laboratories, USA McLane Moored Profiler Version: mmp-3_12.c S/N: ML00414-42 ╔═════════════════════════════════╗ ║ Main Menu ║ ╚═════════════════════════════════╝ Wed Feb 13 18:12:02 2002 <1> <2> <3> <4> Set Time Diagnostics Flash Card Ops Sleep Selection Step í <5> <6> <7> <8> Bench Test Deploy Profiler Offload Deployment Data Contacting McLane ? 6 Clock reads 02/13/2002 18:12:04 Change time & date (Yes/No) [N] ? Setting watchdog clock . . . done.
Expected response received. Proceeding to next command. Sending command ROP continuous clear address op clear Logging Ops Set RLD checksum output cleared Expected response received. Proceeding to next command. Sending command RDM TX = ON, TY = ON, HX = ON, HY = ON, HZ = ON, VPATH = ON, 18 Expected response received. Proceeding to next command. Sending command TILT TILT = on Expected response received. Proceeding to next command. Sending command COMP COMP = on Expected response received.
Programming a Deployment When deployment initialization is complete, the Deployment Menu displays. The menu re-displays after each change. IMPORTANT Dedicate the time to thoroughly understand the deployment parameters. These settings guide and control the operation of the MMP.
MMP Version 3.13 MMP Deployment Definition Parameters Quick Reference Mooring ID: Displays as a three position numeric identifier (001 to 999) to differentiate data if more than one MMP is deployed. Mooring ID is stored with deployment data in the URAO. OR Countdown delay: Countdown (hours, minutes, and seconds) during which the system sleeps. When the countdown alarm reaches zero MMP “wake up” is triggered.
Shallow pressure: The intended “top” of the profiling range. The system stops profiling on an upward profile when the ambient pressure becomes less than the shallow pressure limit. Allowed range: 0.0 dbar to Deep pressure. Deep pressure: The intended “bottom” of the profiling range. The system stops profiling on a downward profile when the ambient pressure becomes greater than the deep pressure limit. Allowed range: Shallow pressure to 6000.0 dbar.
Detailed Descriptions of MMP Deployment Parameters A more detailed description of deployment parameter settings follows.
a deployment and the countdown begins 1 to 2 minutes after the operator commits to a deployment. Profile 0 begins when the countdown reaches zero. Scheduled start - A scheduled start is specified as an absolute date and time. Profile 0 begins when the RTC reaches the specified time. A scheduled start time must be at least 10 minutes in the future when ‘V’ Verify and Proceed is selected, indicating that deployment programming is complete.
Profile 1 00.00 Profile 2 0600 Profile 3 1200 1800 Actual Profile Time Reference Time Calculation The actual time required for Profile 1 is less than the start interval for the deployment, so the reference time calculation yields 0600 – the expected start time for Profile 2. In Profile 2, the actual time required exceeds the start interval, therefore the reference time calculation yields 1800 and the profile scheduled at 1200 is skipped.
(longer) burst interval, to establish a new reference. Profile 1 and the first burst will begin at the new reference time. However, subsequent bursts are referenced by burst interval increments to the originally programmed reference time. Allowed range: 0 seconds to 366 days in 1 second increments. Profiles Per Burst/ Pairs Per Burst This option sets the number of profiles or pairs of profiles in a burst. Setting this parameter to 1 disables burst profiling.
this setting, the MMP Unpacker produces one file per profile when the raw data from the flash card is processed. NOTE The default value for Profiles / file set is ‘1’ in MMP firmware version 3.10 (and higher) to support the optional Underwater Inductive Modem (UIM) interface. For more information about the UIM interface, see Appendix in this User Manual. Stops Parameters The Stops parameters define the limits of each profile and guide the system in their detection.
NOTE It is important to note that for shallow and deep pressure, the pressure stops are pressures, not depths. The measurements available to the MMP during a profile are of in situ pressure, not depth in meters. Normally, physical locations on the mooring are commonly referenced in meters. The profiler does not integrate state variables over the depth of the water column to construct a mapping between decibars and meters. Deep Pressure Deep pressure is the intended “bottom” of the profiling range.
The action taken after a zero pressure rate detection depends on the MMP depth, the current profiling direction, and the shallow or deep error programmed by the operator. In the mid-water region away from the shallow and deep error windows, a zero pressure rate is interpreted as an obstacle on the mooring cable. The mid-water obstacle ramming behavior is triggered in an effort to clear the cable and get past the obstruction.
Allowed range: 0.0 dbar to 6000.0 dbar. Deep Error Deep error defines a pressure above (more shallow than) the deep pressure stop. If the system detects a zero pressure rate while inside the deep error window on a downward profile, the system stops profiling. The mid-water obstacle ramming behavior is not triggered. The deep error is ignored on upward profiles. The deep error allows the operator to compensate for current forced mooring dynamics and for uncertainty in the actual depth of the bottom.
estimate to the nearest hour or quarter hour. Note that any subsequent changes to the shallow or deep pressures will automatically update the profile time limit, overwriting the manual change. The time limit has an absolute maximum value of 8 hours. The internal memory capacity and the data rate of the CTD and the ACM limit logging to approximately 8.5 hours (the CTD produces 9 byte records at ~1.85 Hz and has ~0.5 Mbyte of available internal storage. The ACM produces 18 byte records at ~1.85 Hz and has ~1.
NOTE During a profile, while the CTD is logging autonomously, the TT8v2 periodically sends a carriage return to the CTD over the serial communications link. The CTD responds with the most recent scan of data. The firmware parses the response string to extract the pressure and uses that information to determine when a profile is complete. Infrequent checks (30 to 60 second intervals) save a small amount of power because the TT8v2 spends a larger portion of the profile in low power sleep.
Deploy Verify and Proceed This option indicates to the MMP that parameter selection is complete (in previous versions of the firmware, this option was ‘D’ for Done or ‘G’ for Go). Selecting this parameter instructs the system to conduct parameter range and consistency checks and estimate endurance. This option does not start the deployment.
DPL = Deep Pressure Limit [dbar] SPL = Shallow Pressure Limit [dbar] NPS = Nominal Profiling Speed [dbar/sec] SLBP = Sensor Logging Before Profiling [sec] SLAP = Sensor Logging After Profiling [sec] DGR = Data Generation Rate [byte/sec] DTR = Data Transfer Rate [byte/sec] NOTE If continuous profiling is selected, no profile consistency check is performed.
NOTE If burst mode is disabled (profiles/pairs per burst set to 1) or if continuous bursts are selected (burst interval set to 00 00:00:00), no burst consistency check is performed.
required to reach this distance and the start time of Profile 1 are also calculated. The endurance calculation involves some approximations and assumptions, but the date is a reasonable estimate. Checking entries . . . done. All entries are within allowed ranges. Calculated pair duration Calculated burst duration Reference time is in the future after Profile 0 Endurance calculation for the deployment parameters of the ongoing example Checking profile schedule . . . done.
accidental launch is less likely (the operator can also terminate the deployment by pressing [CTRL]-[C]). IMPORTANT Before you begin a deployment, ensure that you have an archived copy of the data files stored on the flash card. Once you begin the deployment, the system will immediately be initialized for use, which includes reformatting the flash card and erasing any stored data files. After reformatting is complete, the data files cannot be recovered with disk recovery software.
• zero pressure rate in mid-water more than five times • high motor current more than five times (a combination of mid-water zero pressure rates and high motor currents totaling six, also terminates a profile). • too many open files (failure of file system hardware) <7> Offload Deployment Data This option is used to read binary data from the flash card while the flash card is still in the MMP. Using this option with Crosscut’s file capture utility displays the data on the PC screen as ASCII text.
NOTE Once the flash card is removed from the MMP, the MMP Unpacker, a step by step Windows application that automatically unpacks the binary files with several options can be used. For more information about the MMP Unpacker, see Chapter 8 in this User Manual. Deployment This option selects Engineering, CTD, ACM, or all files from within the entire deployment data file.
Range of Profiles This option selects Engineering, CTD, ACM, or all files for a range of profiles.
Sample File The sample shown next illustrates a display for a single profile (Profile 3) when ‘Single Profile’ and ‘All data files’ are selected. This example shows the Profile data with the FSI CTD and ACM installed.
CTD data CTD DATA ________ Opening file C0000003.dat, CTD data from profile 3 of 560. Profile 3 mmho/cm Celsius dbars +01.3386 +01.3384 +01.3389 +01.3389 +01.3386 +01.3381 +01.3379 +01.3377 +01.3381 +01.3381 +01.3380 +01.3379 +01.3385 ... +01.3384 +01.3385 +01.3388 +01.3391 +01.3387 +01.3387 +01.3386 +01.3385 +17.0477 +17.0473 +17.0467 +17.0471 +17.0473 +17.0480 +17.0480 +17.0486 +17.0484 +17.0476 +17.0478 +17.0474 +17.0473 +0001.663 +0001.765 +0001.824 +0002.124 +0002.306 +0002.285 +0002.220 +0002.
ACM data ACM DATA ________ Opening file A0000070.dat, ACM data from profile 3 of 560. Profile 3 TX TY -00.69 -00.73 -00.74 -00.75 -00.74 -00.80 -00.76 -00.76 -00.82 -00.88 -00.90 -00.97 -00.90 -00.97 -00.77 -00.81 -00.76 -00.72 -00.79 -00.52 -00.38 -00.61 +00.16 -00.23 -01.80 -02.12 -00.01 -00.03 +00.05 +00.06 +00.08 +00.09 +00.05 -00.05 -00.03 -00.01 -00.06 -00.05 -00.01 -00.04 -00.18 -00.04 -00.09 -00.13 +00.01 +00.06 +00.20 -00.04 +00.28 +00.33 -00.11 -00.56 HX +0.2341 +0.2329 +0.2322 +0.2314 +0.
Engineering Data – Seabird Fluorometer and Turbidity The next example shows the Engineering Data display for Profile 3 when the Seapoint Fluorometer and Turbidity sensors are installed. The voltage and gain data is recorded in the Engineering data file at the period of the Check Stop Interval. If the Fluorometer and/or Turbidity sensors are disabled, the engineering data file displays ‘99’ as a place holder as shown in Figure G-59.
<1> Profiles.DAT displays the profile count (the number of the last profile of the deployment). If the profile count is unavailable, the system uses the maximum number of files that the file system can accommodate. Select log file to download: <1> Profiles.dat <2> Deploy.dat <3> IRQ/Xcpt Log <4> Profile Termination Log Exit to: Main menu Selection ? 1 Profile count: 560 Figure G-64: Profiles.
<2> Deploy.DAT displays the conditions under which the deployment data was collected categorized as Deployment Parameters, System Configuration, and Internal Parameters. Select log file to download: <1> Profiles.dat <2> Deploy.
<3> IRQ/Xcpt Log displays the time tagged log of interrupt requests (IRQ) and exceptions. The first entry is the creation time of the file and subsequent entries include regular watchdog IRQs at one minute after each hour and irregular transponder IRQs (if the transponder is used). Select log file to download: <1> Profiles.dat <2> Deploy.dat <3> IRQ/Xcpt Log <4> Profile Termination Log Exit to: Main menu Selection ? 3 Opening file IRQ_XCPT.LOG, the processor interrupt and exception processing log file.
<4> Profile Termination Log displays the last 10 profiles prior to termination. The Profile Termination Log is recorded only in EEPROM. Select log file to download: <1> Profiles.dat <2> Deploy.dat <3> IRQ/Xcpt Log <4> Profile Termination Log Exit to: Main menu Selection ? 4 The profile termination log consists of data from the last 10 profiles stored in a non-volatile rolling buffer. The display below is not date sorted.
Profile: Motion start: Motion stop: Start pressure: Stop pressure: Ramp exit: Profile exit: Log time: 554 11/25/2004 10:51:13 11/25/2004 10:52:13 1.9 [dbar] 12.1 [dbar] SMOOTH RUNNING BOTTOM PRESSURE 11/25/2004 10:55:15 Profile: Motion start: Motion stop: Start pressure: Stop pressure: Ramp exit: Profile exit: Log time: 555 11/25/2004 11:00:01 11/25/2004 11:01:05 13.1 [dbar] 3.
<8> Contacting McLane This option displays McLane contact information and includes the software version and serial number of your MMP. McLane Research Laboratories, Inc. Falmouth Technology Park 121 Bernard E. Saint Jean Drive East Falmouth, MA 02536, USA Tel: Fax: Email: WWW: (508) 495-4000 (508) 495-3333 mcLane@mcLanelabs.com http://www.mcLanelabs.com Software version: Compiled: Profiler S/N: mmp-3_12.
Selection ? w Independent system watchdog successfully initialized. Watchdog alarm IRQ has been activated. Clock reads 01/30/2002 12:04:16 Change time & date (Yes/No) [N] ? y Enter date as MM DD YY HH MM SS Enter year 2001 as 1, 01, 101, or 2001 Enter correct time [01/30/2002 12:04:19] ? 1 30 2002 12 4 35 Clock reads 01/30/102 12:04:35 Change time & date (Yes/No) [N] ? Setting watchdog clock . . . done.
Exiting to the Monitor To exit to the monitor, at the Main Menu type ‘q’ or ‘Q’ followed by [ENTER]. A password prompt will display. Type mclane (no quotes, all lower case), and press [ENTER] to halt the system and exit to the TOM8 monitor (Tiny Onset Monitor, TT8v2). This command removes the running copy of the firmware in RAM, however, it remains on the flash card. Selection ? q Password: McLane Tattletale Model 8 Onset Computer, Pocasset MA USA TOM8 V1.09, PIC V1.
Appendix H Using the MMP Deployment Planner The MMP Deployment Planner Windows application creates deployment schedules with profile patterns. Dive 0 time, profiles, patterns, and shallow/deep errors are all entered in the Deployment Planner. The final step in the Deployment Planner saves the schedule in a file called SCHEDULE.DPL, which must be on the flashcard to run the deployment. NOTE Up to 25 individual profiles can be defined in a project.
1. On the Project Tab (see Figure H-2), enter Dive 0 (the start of the initial MMP dive to the bottom). Use the calendar icon or type the date and time directly. NOTE Project Settings show the project name and description, number of profiles and patterns, and when SCHEDULE.DPL was initially created and last created. Project Information Instrument Configuration for battery endurance estimate Dive 0 Time Figure H-2: Deployment Planner Project Tab 2. Select the Instrument Configuration.
Top and Bottom Stops The top and bottom stops (in dBars) are the allowed range for each profile in the pattern. The bottom stop cannot be below 6000 dBars. 3. Click the Patterns tab to continue. 4. On the Patterns tab (see Figure H-3), clicking the down arrow lists the patterns in the project (clicking ‘New’ creates a new pattern). When a pattern is selected, the Profiles are listed in the Pattern Contents window.
• EditÆCopy, EditÆPaste (or CTRL C, CTRL V) adds another instance of a profile. All profile settings are copied. • ‘Quick Add’ allows profiles to be added to the pattern by typing (A,B,A,D). • Clicking ‘Add Profile’ or ‘Edit Profile’ displays the Profile Editor. 7. If using the Profile Editor, refer to the section that follows for additional information, otherwise, skip to Step 8. NOTE The Profile Editor is for adding new profiles or changing existing profiles.
Ignore Profile Errors checkbox If ‘Ignore Profile Errors’ is checked, the pop-up error box will not display when the Deployment Planner detects a profile with errors. McLane recommends that ‘Ignore Profile Errors’ remains unchecked. Total Dive Time The Preview pane shows the Total Dive Time, which is automatically calculated based on profile settings. 8.
Write SCHEDULE.DPL Write SCHEDULE.DPL saves the deployment schedule. Since the Deployment Planner can use the same profiles in other deployment schedules, the PIN is generated to uniquely identify a deployment schedule. Figure H-6: Write SCHEDULE.DPL NOTE PIN is automatically generated but can be changed.
Figure H-7: Reset User Preferences • A log file is also generated and saved by default in the project directory (click Browse to choose a different directory for the log file). • Optionally, click ‘Export to ASCII’ to create a text file with project, pattern, and profile data. • Copy the SCHEDULE.DPL file onto a flashcard and load into the MMP firmware for the deployment.
Modifying Battery Endurance Values The Battery Endurance Calculation dialog displays the default current draw (in mAh) for each sensor selected on the Project Tab.
Understanding Dive Zero Dive Zero time is a critical setting that controls the deployment schedule. Understanding this setting is key to successful profiler deployment. In patterned profiling, the Dive Zero date determines the start year of the first pattern in the list. If Dive Zero is set for the month following the first pattern of the month, a long sleep time (approximately one year) will be inserted before the deployment begins.
In Figure H-10 Dive Zero is October 1, 2008. The firmware calculates the start of the first pattern as Oct 10, 2008. Dive 0 1st Pattern in List 1 Oct 2008 Time Today Dive 0 10 Oct 2008 1st Pattern in List begins Oct 10, 2008 Figure H-10: Dive Zero - 1 Oct 2008, First Pattern 10 Oct 2008 In figure H-11, Dive Zero is November 1, 2008. The firmware calculates the start of the first pattern as Oct 10, 2009 and sleeps until that date.
In figure H-12, Dive Zero is October 20, 2008. The firmware calculates the first pattern in the list to begin on 10 October 2008 as scheduled after Dive Zero (20 October 2008). The firmware will advance to the next scheduled profile based on the real time and execute that profile. The deployment will continue normally from there. NOTE This behavoir would also occur if the Profiler reset itself.
If Dive Zero needs to be changed, there is an opportunity to make adjustments in the firmware as shown in Figures H-13 and H-14 below. Figure H-13 shows the schedule that results in the firmware. Note Dive Zero is on November 1, 2008 and the first pattern begins on October 10, 2009.
Figure H-14 shows the Deployment Screen. Select ‘D’ to set a new Dive Zero.
Figure H-15 shows how changing Dive Zero to October 1, 2008 changed the Profile Schedule.
Appendix I Seapoint Analog Sensors MMP v3.03 firmware (or later) supports Seapoint Fluorometer and Turbidity optical sensors. This Appendix provides information about integrating these optional sensors with the profiler. MMP firmware changes to support Seapoint Sensor integration are documented in the MMP v3.03 firmware release note. For more sensor information, refer to Seapoint User Manuals.
Turbidity The Turbidity sensor is mounted in the black Delrin bracket adjacent to the fluorometer and shipped in a rotated position to protect the optical surface. A single screw holds the sensor in the bracket by squeezing the slotted clamp. Before deployment, rotate the sensor within the bracket to the desired sampling orientation (do not remove the bracket itself). The clamp will firmly hold the turbidity sensor when the screw is hand tight; do not over-tighten.
Bulkhead Connector Color Coding ACM – Black CTD – Yellow FLUOR – Red TURB – White Electrical Specifications The bulkhead connectors for the Seapoint sensors are connected to the MMP board via custom wiring harnesses described next (see Figure F-3). • MTE 9 connects to the Analog port (P8) • MTE 8 connects to the CTD port (P5) • MTE 6 connects to the Frequency port (P7) • Signal GND lines (bulkhead connector, pin 5 - Green) are wired to MTE 9, pin 2. .
Pin 1 2 3 4 5 6 Fluorometer Function Power GND Signal OUT Signal GND Power IN Gain Control A Gain Control B Bulkhead (Red) Pin Color 1 Brown 6 Blue 5 Green 4 Yellow 3 Orange 2 Red Pin 1 8 2 9 2 3 MTE Type MTE-9 MTE-9 MTE-9 MTE-9 MTE-6 MTE-6 Pin 1 2 3 4 5 6 Turbidity Function Power GND Signal OUT Signal GND Power IN Gain Control A Gain Control B Bulkhead (White) Pin Color 1 Brown 6 Blue 5 Green 4 Yellow 3 Orange 2 Red Pin 1 6 2 6 4 5 MTE Type MTE-6 MTE-9 MTE-9 MTE-6 MTE-8 MTE-8 Appendix I-4
Appendix J Underwater Inductive Modem (UIM) Version 3.10 (and higher) of the MMP firmware supports real-time communication between the MMP and a surface buoy, currently via a SeaBird inductive modem link (this configuration option also requires a SeaBird inductive coupler). For the inductive modem interface, the MMP electronics stack contains a SeaBird UIM (Underwater Inductive Modem) board (SBE44 V1.
IMPORTANT When data transmission is complete, the SIM must be powered off before the next tone detect is sent; otherwise, both the surface modem and the inductive modem will be in ‘listening mode’ simultaneously and cannot perform the communication sequence. Transmission Communication Sequence – Technical Details The next section describes technical details of the communication sequence including command and transmission sequences, data formats and file transmission protocols.
Commands sent through the SIM/UIM system always take one of two forms: #nnCOMMAND or bnnCOMMAND. The nn is the UIM identification and is used by the UIM to identify whether a command is directed toward it. If the command is meant to be handled by the UIM, the COMMAND portion is relayed to the serial instrument (in this case the MMP). • The ‘#’, indicates that the SIM and UIM are awaiting ascii data terminated with a pre-defined termination character.
NOTE The MMP sends tones twice spaced 40 seconds apart, as a backup. The UIM should automatically generate a 4800 Hz tone for 2.5 seconds detectable by the Tone Detect board on the SIM. In some instances the UIM tone is not sent (this occurs because the the SBE44 was not specifically designed for the MMP inductive modem interface). The MMP initiates the wake-up tone to ensure that the SIM detect line is properly set. 2. The surface controller (SC) monitors the ‘Tone detect’ board tone detect line.
6. After the MMP sends the entire data file, a CRC packet is sent that contains only a packet header (no data content). NOTE If required, the SC can request transmission of a particular file by sending #nnREQFIL filename.ext (where filename.ext conforms to the 8.3 format). The MMP will send the requested file (DOS) with the same protocol used to answer REQNEW. 7.
Data Format When a file or combination of files is requested, the MMP first sends the metadata for the next file to be transmitted. NOTE Mooring ID (a three position numeric identifier) is defined from the Deployment Menu and embedded in the metadata to identify files from multiple profilers on the same mooring line. The metadata structure is as follows: typedef struct { char fileName[13]; // filename.
File Transmission Protocol REQNEW MMP transmits next data file(s) in list of those collected since the last successful transmission and the following occurs: REQDIR • MMP answers with acknowledgement. • SC acknowledges receipt with bnnREQACK. • MMP answers with first data packet. • MMP packet/SC acknowledgement (positive or negative) continues until MMP reaches end of file. If three consecutive negative acknowledgements are received the MMP returns to listening mode and waits for a command.
SeaBird Firmware and Settings for 4K Packets SIM V2.8 (or later) and the UIM, SBE44 V1.9 (or later) support binary relay commands. The binary relay command works like the standard relay command except that all characters received by the SBE44 are relayed to the SIM and the relay termination character is ignored. Settings for 4K Packets The SIM and UIM settings in the transmission sequence scenario described in this Appendix are shown next.
include gdata reply delay in datann reply do not enable control line on power up disable control line logic for relayed commands disable control line logic for GDATA command do not switch power to sensor on power up disable switch power logic for relayed commands disable switch power logic for GDATA command send tone on powerup !01PONTONE=Y MMP Firmware Options Through the MMP firmware, the operator can select to keep a limited number of deployment data files on the flash card.
2. Select ‘File Deletion’. ╔═════════════════════════════════╗ ║ System Configuration ║ ╚═════════════════════════════════╝ System Parameters: Nominal Endurance Inductive Telemetry Acoustic Transponder File Deletion Sensor Suite: <1> FSI EM <2> SeaBird 41CP <3> SeaBird 52MP <4> FSI 2D <5> Nobska MAVS3 <6> SeaPoint <7> SeaPoint CTD CTD CTD ACM ACM Fluorometer Turbidity 1.
Deployment settings including file deletion and number of stored profiles can be viewed in DEPLOY.DAT . For more information, see the section “<7> Offload Deployment Data” in Chapter 7 of this User Manual.
Profiles/File Set To support the UIM interface (in MMP firmware version 3.10 and higher), the maximum allowed value for Profiles / file set is predefined as ‘1’. If using the UIM interface, multiple profiles per file set are not allowed as each profile file must be completely closed at the end of a profile for real time transmission.
Appendix K Turbidity/Fluorometer Inductive Coil Configuration This appendix provides photos and information about the MMP with Turbidity and Fluorometer sensors sharing a single bulkhead connector. This configuration allows addition of one bulkhead connector.
To accommodate the Inductive Coil, the Fluorometer was moved closer to the ACM. As a result, the oil-filled cable connecting the ACM sting to the ACM electronics housing is routed to the left of the hinged bracket. See the MMP User Manual for instructions on installing or removing the ACM sting, and use Figure K-4 for reference.
Appendix L Sea-Bird CTD Sensors The Sea-Bird 41CP and 52MP CTD are optional MMP sensors (the 52MP CTD may have an optional Dissolved Oxygen Sensor). This appendix provides steps for configuring the MMP firmware for these sensors, sensor settings, and sensor installation/removal photos and steps. Notes specific to using the sensors with the MMP are also included. NOTE For additional information about these sensors, refer to the Sea-Bird Electronics website (www.seabird.com) or contact Sea-Bird.
Configuring the Firmware to Use a Sea-Bird CTD The MMP System Configuration menu specifies which sensors are enabled. To enable a Sea-Bird 41CP or 52MP CTD, complete the following steps: 1. From the Main Menu type ‘c’ and enter the password ‘configure’. 2. Select <2> for the 41CP CTD or <3> for the 52MP CTD and then select ‘Y’ to enable the sensor. 3. Select [X] to exit and save the entry. c Password: configure Synchronizing system configuration files . . . done.
Verifying 41CP CTD Settings The 41CP CTD settings can be verified from the Bench Test menu in the MMP firmware. To display and verify settings, complete the following steps: 21. From the Bench Test option on the Main Menu, select <1> CTD Communications. The system shows the following display and prompt (S>). SBE 41CP McLane V 1.0 S> Figure L-4: 41CP CTD Settings 22. Type ‘ds’ at the prompt to display and verify the CTD settings as shown in Figure L-5. S>ds SBE 41CP McLane V 1.0 SERIAL NO.
Verifying 52MP CTD Settings The 52MP CTD settings can be verified from the Bench Test menu in the MMP firmware. To display and verify settings, complete the following steps: 5. From the Bench Test option on the Main Menu, select <1> CTD Communications. The system shows the following display and a prompt (S>). SBE 52 MP 1.0 S> Figure L-6: 52MP CTD Settings 6. Type ‘ds’ at the prompt to display and verify CTD settings as shown in Figure L-7. Sending command SBE 52 MP 1.0 ds SERIAL NO.
Additional Notes This section provides some additional notes that apply to both the Sea-Bird 41CP and 52MP CTD sensors. NOTE For more in-depth information about these sensors, refer to the Sea-Bird Electronics website (www.seabird.com) or contact Sea-Bird. IMPORTANT Consult Sea-Bird before disassembling any of the CTD electrical or mechanical components.
Installing the 41CP CTD from the MMP Before first-time use, the Sea-Bird 41CP CTD must be installed on the MMP. A block and a clamp are added to the MMP body to hold the Sea-Bird 41CP CTD in place. The connector end of the CTD rests on the block. The connector cable fits through the hole in the frame plate.
Removing the 52MP CTD from the MMP A releasable polyethylene support strut was added to the MMP body for easier removal of the Sea-Bird 52MP CTD. When removing the 52MP CTD from the MMP, use the photos and steps that follow as a guide.
7. Remove the MMP skin. 8. Turn the strut so that the notch faces up as shown in Figure L-10. Figure L-10: Strut with Notch Facing Up 9. Using a 3/8” Hex Driver, remove the socket cap screw from the bottom of the strut.
10. Lift the strut up to remove the CTD. Figure L-12: Removing the Strut 11. Using an Allen wrench, remove the mounting screws (ensure that the sensor is supported).
12. Carefully lift the 52MP CTD from the sensor mount as shown in Figure L-14. Figure L-14: Lifting the CTD from the Sensor Mount 13. Unplug the bulkhead connector and remove the cable. Figure L-15: Unplugging the Bulkhead Connector 14. Reverse steps 1-13 to install the 52MP CTD.
Appendix M Aanderaa Oxygen Optode Sensor MMP firmware release version 3.16 (and above) supports the Aanderaa 3830 Oxygen Optode, an optional sensor that measures dissolved oxygen. This appendix provides information about using the Aanderaa Optode with the MMP. For more information about the Optode refer to the Aanderaa website (www.aanderaa.com) or contact Aanderaa directly.
Configuring the Firmware to Use an Aanderaa Optode The MMP System Configuration menu specifies which sensors are enabled. To enable an Aanderaa Optode sensor, complete the following steps: 4. From the Main Menu type ‘c’ and enter the password ‘configure’. 5. Select <9> for the Aanderaa Optode and then select ‘Y’ to enable the sensor. c Password: configure Synchronizing system configuration files . . . done.
Verifying Aanderaa Optode Settings Use the Bench Tests menu in the MMP firmware to view and verify Aanderaa Optode settings. To display and verify settings, complete the following steps: 25. From the Bench Tests menu, select Optode Communication.
27. Type ‘Get_All’ to display Optode settings as shown in Figure M-6. Verify the following settings: Interval = 30 and Output = 100. Interval Output Get_All Protect 3830 688 0 PhaseCoef 3830 688 -8.323242E+00 1.183118E+00 0.000000E+00 0.000000E+00 TempCoef 3830 688 2.609516E+01 -3.167202E-02 2.981936E-06 -4.364193E-09 FoilNo 3830 688 4804 C0Coef 3830 688 3.172420E+03 -1.072609E+02 2.133159E+00 -1.792340E-02 C1Coef 3830 688 -1.739810E+02 5.102620E+00 -9.857580E-02 8.022400E-04 C2Coef 3830 688 3.
30. Select Aanderaa Optode in the Bench Tests menu. A sample data point displays as shown in Figure M-7. ╔═════════════════════════╗ ║ Bench Tests ║ ╚═════════════════════════╝ Fri Mar 17 13:08:42 2006 Sensor Utilities: <1> CTD Communication <2> CTD Pressure <3> CTD Average Pressure <4> CTD Temperature Record <5> FSI ACM Communication <6> FSI ACM Tilt and Compass System Evaluation: <7> Motor Operation <8> Brake on.
Collecting Data with the Aanderaa Optode Optode data is logged in the Engineering File as shown in Figure M-8. When the Optode is disabled or switched off (as during ramp up), the columns contain ‘99.90’.
Estimating Battery Endurance At each MMP ‘stop check interval’ the Optode is powered on, data is collected and the Optode is powered off. As a result, the ‘stop check interval’ setting affects overall battery endurance. The examples below show how the ‘stop check interval’ impacts battery endurance (based on a 1000m profile). The Optode uses .0205 mAh per data point (average). The MMP battery endurance is approximately 240,000 mAh (240 Ahr).
Notes Appendix M-8
Appendix N MMP w/ Battery Housing Glass Sphere Extension This appendix provides photos and information about assembling the MMP with Battery Housing Glass Sphere Extension. This MMP model contains three glass spheres - a bottom and top sphere for flotation and a third sphere to house the battery. Figure N-1: MMP with Battery Housing Glass Sphere Extension Before assembling the MMP with Battery Housing Glass Sphere Extension, review the schematic in Figure N-2.
Battery Housing Glass Sphere D-2647-A Frame Plate ‘A’ 1/2-13 x 3L Nylon Socket Cap Screw (4) B-1518-B Cable Guide 3/8-16 x 1.5L Nylon Socket Cap Screw (6) 3/8-16 x 0.75L Nylon Socket Cap Screw (6) 6” Spacer Leg (4) C-2649 Frame Plate ‘F’ 4-3/8” Spacer Leg (4) M3100A 3rd Sphere Extension Plate C-2649 Frame Plate ‘F’ 1/2-13 x 2.
1. Remove bottom end cap. 2. Remove bolts and install temporary support legs (Figure N-3 and N-4). Figure N-3: Removing Bottom Bolts Figure N-4: Installed Support Legs 3. Remove top end cap and horsehair padding as shown in Figures N-5 and N-6.
4. Remove “top” sphere as shown in Figure N-7. Figure N-7: Removing “Top” Sphere 5. Remove front panel cap screws, loosen nylon bolts and remove Top Frame Plate ‘A’ as shown in Figure N-8.
6. Install 2.5” Nylon Studs as shown in Figure N-9. Figure N-9: Installing Nylon Studs 7. Install M3100A 3rd Sphere Extension Plate as shown in Figure N-10.
8. Install Front Panel Extension as shown in Figure N-11. Figure N-11: Installing Front Panel Extension 9. Install 4 3/8” Spacer Legs with Studs as shown in Figure N-12.
10. Re-install “Top” Sphere as shown in Figure N-13. Figure N-13: Reinstalling “Top” Sphere 11. Install Frame Plate ‘F’ and 6” Spacer Legs as shown in Figure N-14.
12. Re-install Frame Plate ‘A’ as shown in Figure N-15. Figure N-15: Frame Plate ‘A’ Reinstalled 13. Install and tighten cap screws on Front Panel Extension as shown in Figure N-16.
14. Tighten cap screws on Frame Plate ‘A’ as shown in Figure N-17. Figure N-17: Tightening Cap Screw on Frame Plate ‘A’ 15. Install Glass Battery Housing Sphere as shown in Figure N-18.
16. Route and connect cables from battery housing sphere to controller housing as shown in Figure N-19. Figure N-19: Routed and Connected Cable 17. Install extension skin as shown in Figure N-20.
18. Reinstall top end cap with horsehair padding as shown in Figure N-21 and N-22. Figure N-21: Reinstalling Horsehair Figure N-22: Reinstalling Top Cap 19. Re-install primary skin 20. Remove temporary support legs and re-installl bottom cap. Note: Figures N-23 and N-24 show the color-coded end cap.
Notes Appendix N-12
