User manual

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Table Of Contents

Chapter 1Introduction
- McLane Moored Profiler (MMP)
- Using this Manual
  - Conventions Used in this Manual
- MMP Overview
- Contacting McLane Research Laboratories
- Additional MMP Resources
Chapter 2 Mechanical Description
- Frame, Skin and Front Plate
  - Figure 2-1: MMP Front Plate View
  - Figure 2-2: Removing the Skin from the MMP Left Side
- Serial Number
  - Figure 2-3: MMP Serial Number Label
- Top and Bottom Faired End Caps
  - Figure 2-4: Unscrewing the Nylon Cap Screw
  - Figure 2-5: Removing the End Cap
- Cable Retainers
  - Figure 2-6: Cable Retainer and Guide Wheel
- Glass Spheres
  - Figure 2-7: Glass Spheres
- Pressure Housings and Cables
  - Figure 2-8: Gathering Excess Cable Length
- Controller Housing
  - Figure 2-9: Prying End Cap From Pressure Cylinder
  - Figure 2-10: MMP Controller Housing End Cap
- CTD
  - Figure 2-11: CTD Orientation
- ACM
- Motor Housing and Drive Wheel
  - Figure 2-17: Motor Housing and Drive Wheel
- Other Components of the Drive Train
Chapter 3 Electronic Description
- Controller Electronics Stack (Rev D)
- Controller Electronics Stack (Rev C)
- Battery Connection
  - Figure 3-8: Connecting the Battery
Chapter 4 Maintenance and Storage
- Cleaning and Inspection Procedures
- Glass Spheres
- Battery Maintenance
  - Lithium Battery Pack
- Sensor Maintenance
- Packing and Storage
Chapter 5 Operations
- Ballasting the MMP
- Understanding the Ballast Sheet
Chapter 6 Launch and Recovery
- Attaching to a Mooring
- Launch Overview
Chapter 7 MMP Firmware 4.X User Interface
- Figure 7-1: Electronics Board Configuration Error Message
- Power Up Sequence
  - Figure 7-2: Power Up Sequence
- Re-Booting the System
- Prompts and Key Combinations
- Using the File Capture Utility
- Powering Down the MMP
- The Main Menu - Operating the MMP
  - Figure 7-3: Main Menu (firmware version 4.04)
  - Figure 7-4: See Profiling History from Main Menu
- <1> Set Time
  - Figure 7-5: Set Time
- <2> Diagnostics
  - Figure 7-6: Diagnostics
  - Figure 7-7: Low Battery Voltage
  - Figure 7-8: Replace Battery
- <3> Flash Card Ops
  - Figure 7-9: Flash Card Operations Menu
  - Option <1> Flash Card Size/Free
    - Figure 7-10: Sizing Flash Card
  - Option <2> List Flash Card Files
    - Figure 7-11: List Flash Card Files
  - Option <3> Hex Dump Profile Count
    - Figure 7-12: Profile Count
  - Option <4> Delete All Files
    - Figure 7-13: File Deletion Utility
  - Option <5> Exchange Flash Cards
    - Figure 7-14: Flash Card Hot Swap Utility
  - Option <6> Format Flash Card
    - Figure 7-15: Format Flash Card
  - Option<7> Command Line Interface
    - Figure 7-16: Command Line Interface
- <4> Sleep
  - Figure 7-17: Low Power Sleep
- <5> Bench Test
  - Figure 7-18: Bench Tests Menu
  - Sensor Utilities
  - Option <1> CTD Communication
- FSI CTD
  - Figure 7-19: FSI CTD Pass-Through Communications
  - Verifying FSI CTD Settings
- Sea-Bird CTD
  - Verifying 41CP CTD Settings
    - Figure 7-23: 41CP CTD Settings
    - Figure 7-24: Verifying 41CP CTD Settings
  - Verifying 52MP CTD Settings
    - Figure 7-25: 52MP CTD Settings
    - Figure 7-26: Verifying 52MP CTD Settings
  - Option <2> CTD Pressure
    - Figure 7-27: Testing Pressure Information
  - Option <3> CTD Average Pressure
    - Figure 7-28: CTD Average Pressure
  - Option <4> CTD Temperature Record
    - Figure 7-29: CTD Temperature Record
  - Option <5> ACM Communication
- FSI ACM
  - Figure 7-30: FSI ACM Pass-Through Communications
  - Figure 7-31: ACM in Open Mode
  - Figure 7-32: ACM Settings
  - Figure 7-33: ACM Operational Parameters
  - Figure 7-34: Average Interval Time
  - Figure 7-35: Verifying FSI ACM Settings
- MAVS ACM
  - Figure 7-36: MAVS ACM Pass-Through Communications
  - Option <6> FSI ACM Tilt and Compass
    - Figure 7-37: FSI ACM Tilt and Compass
  - System Evaluation
  - Option <7> Motor Operation
    - Figure 7-38: Motor Operation
  - Option <8> Brake On/Off Change?
    - Figure 7-39: Brake On
    - Figure 7-40: Brake Off
  - Option <9> Independent Watchdog
  - System Options Tests
  - Option Inductive Telemetry
    - Figure 7-46: Inductive Telemetry Session
  - Option
    Acoustic Transponder
    Figure 7-47: Ping Transponder
  - Option Battery Endurance
    Figure 7-48: Estimated Battery Expiration
  - Option ~~SIM/UIM Transactions~~
    ~~Figure 7-49: SIM/UIM Transactions~~
  - ~~Option Inductive Charger Modem~~
  - Option Fluorometer
    Figure 7-50: Set Fluorometer Gain
    Figure 7-51: Fluorometer Data
  - Option CDOM Fluorometer
    Figure 7-52: CDOM Fluorometer
  - Option IR Turbidity
    Figure 7-53: Set Turbidity Gain
    Figure 7-54: Engineering Data File with Turbidity Voltage and Gain
  - Option Power UIM
    Figure 7-55: Power UIM On/Off
  - Option Configure
    Figure 7-56: System Configuration Menu
    Figure 7-57: Change Nominal Battery Endurance
- ~~<6> Deploy Profiler~~
- Initialization
  Figure 7-58: Deployment Initialization (screen 1 of 2)
  Figure 7-59: Deployment Initialization (screen 2 of 2)
  Figure 7-60: Roll Call Detects Different Sensor (screen 1 of
- Programming a Deployment
  Figure 7-62: Deployment Menu (firmware version 4.04)
- ~~MMP Deployment Definition Parameters~~
- Mooring ID
  Mooring ID
- Start Parameters
  Select Start Parameters
- Schedule Parameters
  Profile Start Interval/Pair Start Interval
  Figure 7-63: Profile Start Interval
  Figure 7-64: Profiles Example
  Reference Date/Time
  Burst Interval
  Figure 7-65: Burst Interval
  Profiles Per Burst/ Pairs Per Burst
  Figure 7-66: Profiles per Burst
  Figure 7-67: Burst Example
  Paired Profiles
  Figure 7-68: Pairs Example
  Figure 7-69: Deployment Programming
  Profiles/File Set
- Stops Parameters
  Pressure Rate
  Ramming Action
  Shallow and Deep Pressure Limits
  Shallow Pressure
  ~~Deep Pressure~~
  ~~Shallow Error~~
  ~~Deep Error~~
  Profile Time Limit
  Figure 7-70: Profile Time Limit
  ~~Stop Check Interval~~
  ~~Fluorometer~~
  ~~OBS Turbidity~~
- Endurance Parameters
  Single Profile Current
  Total Profiles/(Ah)
  Est. Battery Expiration
- Deploy
  Verify and Proceed
  Parameter Range Check
  Schedule Check
  Figure 7-71: Profile Consistency Check
  Figure 7-72: Inconsistent Start Interval
  Flash Card File Limit Check
  Figure 7-73: Endurance Check
  Committing to the Deployment
  Profile and Deployment Termination Conditions
  Sample Deployment Display
  Figure 7-74: Sample Deployment
  Figure 7-75: Remove Sea-Bird CTD Flow Path Caps
- <7> Offload Deployment Data
  Figure 7-76: Serial Dump Files From FLASH
  Deployment
  Figure 7-77: Download Deployment Data
  Engineering Data
  Figure 7-78: Engineering Data - Fluorometer, Turbidity and Optode Sensors Installed
  Figure 7-79: Engineering Data – No Fluorometer, T
  ~~Single Profile~~
  ~~Figure 7-80: Download a Single Profile~~
  Range of Profiles
  Figure 7-81: Download a Range of Profiles
  Logging Files
  Figure 7-82: Download Deployment Log Files
  Sample File-Single Profile - All Data Files
  Figure 7-83: Stream Serial Data From Single Profile
  Figure 7-84: Stream Serial Data From Single Profile - CTD
  Figure 7-85: Stream Serial Data From Single Profile - ACM
  Sample File - Log Files
  Figure 7-86: Download Log Files
  Figure 7-87: Profiles.DAT Log File
  Figure 7-88: Deploy.DAT Log File
  Figure 7-89: IRQ/Xcpt. Log File
  Figure 7-90: Profile Termination Log (screen 1 of 2)
  Figure 7-91: Profile Termination Log (screen 2 of 2)
  Figure 7-92: Inductive Charger Communications Log
- <8> Contacting McLane
  Figure 7-93: McLane Contact Information
  Technical Support
- Watchdog Initialization
  Figure 7-94: Re-initialize System Watchdog
- Profiling History
  Figure 7-95: Profiling Odometer
- Exiting to the Monitor
  Figure 7-96: Exit to the Monitor
Chapter 8 Data Offload, Processing, and Interpretation
Overview
Reviewing Deployment Data
Removing the Flash Card
Figure 8-1: Flash Card Removal
Unpacking and Translating the Binary Data Files
Figure 8-2: MMP Unpacker Initial
MMP Unpacker Application
Unpacker – Step 1
Figure 8-3: Step 1 Select Source Directory
Unpacker – Step 2
Figure 8-4: Step 2 Select Destination Directory
Unpacker – Step 3
Figure 8-5: Step 3 Select Files to Unpack (Firmware Ver 3.15)
Figure 8-6: Step 3 Select Files to Unpack (Firmware Ver 3.20)
Unpacker – Step 4
Figure 8-7: Step 4 Define Output File Prefix
Unpacker – Step 5
Figure 8-8: Step 5 Convert Files with Text Headers
Unpacker – Step 6
Figure 8-9: Step 6 Verify Selected Options
Figure 8-10: Unpacking Progress
Unpacked Files
Editing MMPUnpacker.INI
The PDP-N_NN Utility Program
Processing and Interpreting MMP Data
Mapping Velocity Measurements
ACM Compass Calibration Step 1 – Map Horizontal C
Figure 8-11: Plotting Horizontal Compass Measurements
ACM Compass Calibration Step 2 – Plot Raw Measure
Figure 8-12: Vector Average of HX and HY Measurements
ACM Compass Calibration Step 3 – Adjust Parameter
Figure 8-13: Plot One - Vector Averaged Correction
Figure 8-14: Plot Two - Vector Averaged and Scaled
Figure 8-15: Non-Linear Optimization
ACM Compass Calibration Step 4 – Conduct a Spin T
ACM Compass Calibration Step 5 – Removing the Bia
Mapping Velocity Measurements to the Cartesian Earth Frame
Sting and Acoustic Path Geometry
Velocity Transformation
Synchronizing the Data Streams
Figure 8-16: End Stop and Velocity Ramp
Data Processing Shareware
Appendix A Operating Crosscut for Windows and Crosscut
Using Crosscut for Win
First-Time Crosscut for Win Use
Capturing Data Files with Crosscut for Win
Connecting the MMP to a PC
Using Crosscut
First Time Crosscut Use
Editing the Registry to Enable Crosscut
Capturing Data Files Using Crosscut
Connecting the COM Cable
Additional Documentation
Appendix B System Architecture
Starting a Deployment
Ending a Deployment
MMP Components
Tattletale 8v2 Micro-Controller
AT8 Board and Flash Card
MMP Unpacker Program
Files Stored On the Flash Card
MMP Motherboard
PC and Communications Software
Drive Motor
Independent Watchdog
URAO Operation
Standard MMP Sensors
CTD Measurements
ACM Measurements
Other Sensors
Appendix C Bench Top Deployment
Bench Top Deployment Example Settings
Figure C-1: Bench top Deployment Example
Figure C-2: Bench top Deployment Example (continued)
Figure C-3: Bench top Deployment Example (continued)
Figure C-4: Bench top Deployment Example (continued)
Figure C-5:Bench top Deployment Example (continued)
Figure C-6: Bench top Deployment Example (continued)
Figure C-7: Bench top Deployment Example (continued)
Figure C-8: Bench top Deployment Example (continued)
Figure C-9: Bench top Deployment Example (continued)
Figure C-10: Bench top Deployment Example (continued)
Figure C-11: Bench top Deployment Example (continued)
Figure C-12: Bench top Deployment Example (continued)
Figure C-13: Bench top Deployment Example (continued)
Figure C-14: Bench top Deployment Example (continued)
Figure C-15 :Bench top Deployment Example (continued)
Figure C-16: Bench top Deployment Example (continued)
Figure C-17: Bench top Deployment Example (continued)
Figure C-18: Bench top Deployment Example (continued)
Figure C-19: Bench top Deployment Example (continued)
Deployment Parameter Examples
Deep-Water Deployment
Figure C-20: Deep Water Deployment Parameters- First Settings
Figure C-21: Deep Water Deployment Parameters- Second Settings
Figure C-22: Schedule with Six Profiles at 12 Day Intervals
Shallow-Water Deployment
Figure C-23: Shallow Deployment – First Settings
Figure C-24: Shallow Deployment – Second Settings
Figure C-25: Six Month Duration Settings
Figure C-26: Four and ½ Month Duration Settings
Appendix D ACM Compass Calibration
Running acm_corr.m
Running acm_corr.exe
Applying the Compass Correction Parameters
Sensor Calibration
Appendix E Optional Transponder
Transponder Transducer Assembly
Controller Housing
Transponder and Ballasting
Appendix F Unpacking data using PDP-N_NN.EXE
Using PDP-N_NN.EXE
Figure F-1: PDP
Set Options
Figure F-2: Set PDP Options
<1> Set Output File Format
<2> Set Display Mode
<3> Set Partial Display Size
<4> Set Scroll Size
<5> Set PATH for INPUT files
<6> Set PATH for OUTPUT files
<7> Restore Default Options
Offload Options File
Appendix G Rev C Electronics Board User Interface
Power Up Sequence
Figure G-1: Power Up Sequence
Re-Booting the System
System Prompts and Key Combinations
Using the File Capture Utility
Powering Down the MMP
The Main Menu - Operating the MMP
Figure G-2: Main Menu (version 3.12)
<1> Set Time
Figure G-3: Power Up Sequence
<2> Diagnostics
Figure G-4: Diagnostics
Figure G-5: Low Battery Voltage
Figure G-6: Replace Battery
<3> Flash Card Ops
Figure G-7: Sizing the Flash Card
Option <1> Flash Card Size/Free
Option <2> List Flash Card Files
Figure G-8: List Flash Card Files
Option <3> Hex Dump Profile Count
Figure G-9: Profile Count
Option <4> Delete All Files
Figure G-10: File Deletion Utility
Option <5> Exchange Flash Cards
Figure G-11: Flash Card Hot Swap Utility
Option <6> Format Flash Card
Figure G-12: Format Flash Card
Option <7> Command Line Interface
Figure G-13: Command Line Interface
<4> Sleep
Figure G-14: Low Power Sleep
<5> Bench Test
Figure G-15: Bench Test
Option <1> CTD Communication
Figure G-16: Triggering CTD to Send Data Scan
Figure G-17: CTD in Open Mode
Verifying CTD Settings
Figure G-18: CTD Settings
Figure G-19: Verifying CTD Settings
Option <2> CTD Pressure
Figure G-20: Testing Pressure Information
Option <3> CTD Average Pressure
Figure G-21: CTD Average Pressure
Option <4> CTD Temperature Record
Figure G-22: CTD Temperature Record
Option <5> ACM Communication
Figure G-23: ACM Pass-Through Communications
Figure G-24: ACM in Open Mode
Figure G-25: ACM Settings
Figure G-26: ACM Operational Parameters
Figure G-27: Average Interval Time
Figure G-28: Verifying ACM Settings
Figure G-29: ACM Scan Velocities
Option <6> ACM Tilt and Compass
Figure G-30: ACM Tilt and Compass
Option <7> Motor Operation
Figure G-31: Motor Operation
Option <8> Brake Set/Off Change?
Figure G-32: Brake Set On
Figure G-33: Brake Set Off
Option <9> Independent Watchdog
Figure G-34: Test System Watchdog
Figure G-35: Test Watchdog IRQ
Figure G-36: Test Watchdog Reset
Figure G-37: Watchdog Reset URAO
System Options Tests
Option Inductive Telemetry
Figure G-38: Inductive Telemetry
Option
Acoustic Transponder
Figure G-39: Ping Transponder
Option <0> Offload Routines
Figure G-40: Serial Dump Files From FLASH
Option Fluorometer
Figure G-41: Set Fluorometer Gain
Figure G-42: Fluorometer Data
Figure G-43: Engineering Data File with Fluorometer Disabled
Option IR Turbidity
Figure G-44: Set Turbidity Gain
Figure G-45: Engineering Data File with Turbidity Voltage and Gain
Figure G-46: Engineering Data File with Turbidity Disabled
Option Power UIM
<6> Deploy Profiler
Figure G-47: Deployment Initialization
Figure G-48: Deployment Initialization (continued)
Programming a Deployment
Figure G-49: Deployment Initialization (version 3.12)
MMP Deployment Definition Parameters
Figure G-50: Deployment Parameters (Firmware version 3.13)
Mooring ID
Mooring ID
Start Parameters
Select Start Parameters
Schedule Parameters
Profile Start Interval/Pair Start Interval
Reference Date/Time
Burst Interval
Profiles Per Burst/ Pairs Per Burst
Paired Profiles
Profiles/File Set
Stops Parameters
Shallow Pressure
~~Deep Pressure~~
~~Shallow Error~~
~~Deep Error~~
~~Profile Time Limit~~
~~Stop Check Interval~~
Deploy
Verify and Proceed
Parameter Range Check
Schedule Check
Figure G-51: Profile Consistency Check
Figure G-52: Inconsistent Start Interval
Endurance Calculation
Figure G-53: Endurance Check
Figure G-54: Proceed with Deployment
~~Profile and Deployment Termination Conditions~~
<7> Offload Deployment Data
Figure G-55: Serial Dump Files From FLASH
Deployment
Figure G-56: Download Deployment Data
~~Single Profile~~
~~Figure G-57: Download a Single Profile~~
Range of Profiles
Figure G-58: Download a Range of Profiles
Sample File
Figure G-59: Stream Serial Data From Single Profile
Figure G-60: Stream Serial Data From Single Profile - CTD
Figure G-61: Stream Serial Data From Single Profile - ACM
Engineering Data – Seabird Fluorometer and Turbid
Figure G-62: Stream Serial Data Profile 3 with Fluorometer and Turbidity Sensors
Logging Files
Figure G-63: Download Log Files
Figure G-64: Profiles.DAT Log File
Figure G-65: Deploy.DAT Log File
Figure G-66: IRQ/Xcpt. Log File
Figure G-67: Profile Termination Log
Figure G-68: Profile Termination Log (continued)
<8> Contacting McLane
Figure G-69: McLane Contact Information
Technical Support
Watchdog Initialization
Figure G-70: Re-initialize System Watchdog
Profiling Odometer
Figure G-71: Profiling Odometer
Exiting to the Monitor
Figure G-72: Exit to the Monitor
Appendix H Using the MMP Deployment Planner
Creating a Deployment Plan
Figure H-1: Deployment Planner Initial Screen
Figure H-2: Deployment Planner Project Tab
Top and Bottom Stops
Figure H-3: Deployment Planner Patterns Tab
Figure H-4: Profile Editor – Add Mode
Using the Profile Editor
Figure H-5: Deployment Planner Deployment Tab
Write SCHEDULE.DPL
Figure H-6: Write SCHEDULE.DPL
Figure H-7: Reset User Preferences
Changing User Preferences
Modifying Battery Endurance Values
Figure H-8: Change Battery Endurance Calc
Understanding Dive Zero
Figure H-9: Deployment Planner Project Tab
Figure H-10: Dive Zero - 1 Oct 2008, First Pattern 10 Oct 2008
Figure H-11: Dive Zero - 1 Nov 2008, First Pattern 10 Oct 2009
Figure H-12: Dive Zero - 20 Oct 2008, First Pattern Oct, 2008
Figure H-13: Schedule Display in Profiler Firmware
Figure H-14: Deployment Screen
Figure H-15: Dive Zero Changed
Appendix I Seapoint Analog Sensors
Figure I-1: Location and Orientation of Seapoint Sensors
Fluorometer
Turbidity
Figure I-2: MMP End Cap with Sensor Connections
Mechanical Specifications
Bulkhead Connector Color Coding
Electrical Specifications
Figure I-3: Wiring Harness for Seapoint Sensors
Appendix J Underwater Inductive Modem (UIM)
Transmission Communication Sequence – Overview
Transmission Communication Sequence – Tech Description
Command Sequences
Transmission Sequence Scenario
Control of Communication Session
Data Format
File Transmission Protocol
SeaBird Firmware and Settings for 4K Packets
Settings for 4K Packets
SIM Settings
UIM Settings
MMP Firmware Options
Figure J-1: Configuration Menu
Figure J-2: Enabling File Deletion and Profiles to Store
Figure J-3: Deploy.DAT
Profiles/File Set
Figure J-4: Profiles/File Set
Appendix K Turbidity/Fluorometer Inductive Coil Configuration
Figure K-1: MMP with ACM, Fluorometer, FSI CTD, Inductive Coil, & Turbidity Sensor
Figure K-2: Endcap with Cables
Figure K-3: Endcap Connectors
Figure K-4: Modified Cable Routing Location
Appendix L Sea-Bird CTD Sensors
Figure L-1: MMP with Sea-Bird 41CP CTD
Figure L-2: MMP with Sea-Bird 52MP CTD
Configuring the Firmware to Use a Sea-Bird CTD
Figure L-3: System Configuration Menu with Sensor Selections
Verifying 41CP CTD Settings
Figure L-4: 41CP CTD Settings
Figure L-5: Verifying 41CP CTD Settings
Verifying 52MP CTD Settings
Figure L-6: 52MP CTD Settings
Figure L-7: Verifying 52MP CTD Settings
Additional Notes
Installing the 41CP CTD from the MMP
Figure L-8: 41CP CTD Installation
Removing the 52MP CTD from the MMP
Figure L-9: 52MP CTD and Removable Strut
Figure L-10: Strut with Notch Facing Up
Figure L-11: Releasing the Strut
Figure L-12: Removing the Strut
Figure L-13: Loosening the Mounting Plate Screw
Figure L-14: Lifting the CTD from the Sensor Mount
Figure L-15: Unplugging the Bulkhead Connector
Appendix M Aanderaa Oxygen Optode Sensor
Figure M-1: Profiling MMP with Aanderaa Optode
Figure M-2: MMP with Aanderaa Optode – Side View
Configuring the Firmware to Use an Aanderaa Optode
Figure M-3: System Configuration Menu with Sensor Selections
Verifying Aanderaa Optode Settings
Figure M-4: Bench Tests Menu
Figure M-5: Direct Communication with the Optode
Figure M-6: Verifying Optode Settings
Figure M-7: Bench Tests Menu – Option Aandera
Collecting Data with the Aanderaa Optode
Figure M-8: Engineering Data with Aanderaa Optode Oxygen and Temperature Data
Estimating Battery Endurance
Appendix N MMP w/ Battery Housing Glass Sphere Extension
Figure N-1: MMP with Battery Housing Glass Sphere Extension
Figure N-2: MMP Battery Housing Glass Sphere Extension
Figure N-3: Removing Bottom Bolts
Figure N-4: Installed Support Legs
Figure N-5: Removing Top Cap
Figure N-6: Removing Horsehair Padding
Figure N-7: Removing “Top” Sphere
Figure N-8: Removing Panel Cap Screw
Figure N-9: Installing Nylon Studs
Figure N-10: Installing M3100A Extension Plate
Figure N-11: Installing Front Panel Extension
Figure N-12: Installing Spacer Legs with Studs
Figure N-13: Reinstalling “Top” Sphere
Figure N-14: Installing Spacer Legs with Studs
Figure N-15: Frame Plate ‘A’ Reinstalled
Figure N-16: Installing and Tightening Cap Screws on Front Panel
Figure N-17: Tightening Cap Screw on Frame Plate
Figure N-18: Glass Battery Housing Sphere Installed
Figure N-19: Routed and Connected Cable
Figure N-20: Installing Extension Skin
Figure N-21: Reinstalling Horsehair
Figure N-22: Reinstalling Top Cap
Figure N-23: End Cap – Full View
Figure N-24: Color-Coding on End Cap

kit. Two terminal programs, Crosscut and Crosscut for Win, are also provided. Crosscut is DOS-
based 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. A dedicated analog channel
measures motor current during deployments and diagnostic testing. Current is steered through the
DC brush motor with a standard HEXFET H-bridge. A logic network controlled by the DIO lines
drives the switch. Unregulated battery voltage is applied directly to the motor through the H-
switch to minimize losses that would reduce the endurance of the system.
One of the DIO lines sets the motor direction for upward or downward profiling. The
second line enables or disables the motor and applies a dynamic brake. The dynamic brake can
support several pounds of positive or negative buoyancy and is set electronically by grounding
both terminals of the motor through the lower legs of the H-bridge. The third DIO line is
programmable to enable the motor to free wheel or send the motor in a specified direction during
a profile. In free wheel mode, the motor is not driven by the battery and offers no resistance
(other than friction) to external torque. The motor is automatically set to free wheel during
launch to reduce slip related wear of the drive wheel.
IMPORTANT
Do not attempt to accelerate the MMP too rapidly. Any sudden transition in the voltage applied
across the motor can spike motor current and torque causing the drive wheel to slip against the
cable. To gradually increase MMP speed from 0 cm/s to the full profiling speed (nominally
25 cm/s) slowly increase the applied voltage from 0 V to the full battery voltage.
Based on testing at McLane, the applied motor voltage is ramped up linearly over a
30 second period to start each profile. Pulse width modulation (PWM) is used to accomplish this
without sacrificing efficiency in the drive train. The programmable DIO pin is set to produce a
20 KHz pulse train and the drive voltage is varied by changing the duty cycle from 0 % at the
beginning of the ramp to 100 % at its end. It is the reactance of the motor inductance and a
parallel capacitor that filter the pulse train and produce a smooth average drive voltage from the
pulse train. Once the duty cycle reaches 100 %, the pulse train is turned off to reduce processor
overhead and the DIO pin is simply set to the run state.
Appendix B-7