USER MANUAL - Argo Information Centre
Contents
1. 15 3 3 MAGNET POSITIONS EET 16 3 4 DENSITY CONTROL LO 3 5 SENSORS ES M In T H 18 3 6 IRIDIUM GPS MODEM 4 sanas see se eaten 18 3 1 CPUBOARD cit En entres 18 3 8 BATIER Y e Le 18 3 9 NING 18 4 THE LIFE OF AN ARVOR T BLOAT scscscsscssosssseocssenssssoossssncssnsssnstsscensnseassossenassteessenst sseassseessnetsencsveseestenssoscossnancsssesses 19 4 1 THE MISSION OVERVIEW 19 4 3 GROUNDING AE MM 21 4 4 SUBMERGED 21 4 5 ASCENT EE 21 4 6 TRANSMISSION unido ia um oc Sue ice ud 22 5 ARVOR PARAMETERS 23 5 1 MISSION SENHPENDIPUDNCORRCREEX 24 6 IRIDIUM FORMATS sisscissiscccteecssncsseesssesesscoes sensacseseecescessessasesessesseotssesessueseseessteossevonsdesssseessasdeguessstssassebecsveceeauesussseeseses 25 6 1 NA O A A 25 6 2 TECHNICAL MESSAGE tatoo ore 26 6 3 SUBMERGED DRIFT CTD MESSAGE ccssssccccccecssssseececccecsenssaesesececsessaeaesececeeseaueaeeecececeeuaaeceeececseaaeseeeescsenesneaeeeeeees 28 6 4 ASCENT PROFILE C2. 6 2 4 LAUNCH ai toa EL ce 7 2 4 1 Test the Float and arm the mission ooooomcnnnnnnnnnnnonnnononononononononononono nono no nono nono no nono nono nono nononononononononononononononenenenenenenes 7 2 4 2 Remove protective plugs ANd magnet sese 7 2 4 3 Launchihe Float 7 2 5 CHECKS PRIOR TO DEPLOYMENT iis eees sste ia acia 9 2 2 1 Necessary Equipment eere t Oe e ER IRE esse ue matter sors re E beo EM PEE ioe 9 2 2 Connecting the dm 9 2 5 3 Example of Bluetooth dongle tested by NKE eese eene nennen eene nennen nente rennen 11 25 4 How to Send Commands da osc eee 12 2 5 5 How to Read and change Parameter Values sise 12 2 5 6 How to Check and change the Time 13 237 SCONPIRUPANON BIO NER 14 2 5 0 EE Tests etd e obese genet tee Ep eed Ee ie eos ide 14 3 GENERAL DESCRIPTION OF ARVOR I FLOAT eee esee eee seen seen rest tn setae seta esae s tans esos seen seen assess sena 15 SJ D 1 6558 COP 15 34 2 Embedded software ier ede PUE sae CO ER KU SER NUR De IRE RETIRER FUSE tues re Te tee 15 3 2 puse
3. n ke ARVOR I JAMSTEC INSTRUMENTATION USER MANUAL Z de KERANDRE RUE GUTENBERG 56700 HENNEBONT FRANCE Telephone 33 0 2 97 36 10 12 Fax 33 0 2 97 36 55 17 Web http www nke fr E mail info instrumentationOnke fr USER MANUAL nke This document is the property of nke electronics and contains proprietary and confidential information The document is loaned on the express condition that neither the document itself nor the information contained therein shall be disclosed without the express consent of nke electronics and that the information shall not be used by the recipient without prior written acceptance by nke electronics Furthermore the document shall be returned immediately to nke electronics upon request DOC rev 1 du 18 07 11 nke ARVOR JAMSTEC INSTRUMENTATION USER MANUAL 1 INTRODUCTION 5 2 OPERATING INSTRUCTIONS ornes Se sa SeSe ea eses ONES Eesen 6 2 1 HANDLING PRECAUTIONS Feet Er EE 6 2 2 ACCEPTANCE EES TS aid ete mds ester heres 6 A A 0317 Em 6 2 2 2 Physical Inspection mM Errem 6 2 3 DEFAULT ieri eren A EEEE 6 PSI EE V COPI nen T EE 6 23 2 D 7111 M
4. Drift Depth dbar The depth at which drifts after completion of a descent while awaiting the time scheduled for the beginning of the next ascent Profile Depth dbar Depth at which profiling begins if in an ascending profile If ARVOR I is drifting at some shallower depth it will first descend to the profile depth before starting the ascent profile PM 10 Threshold between zone 1 and 2 Do not modify PM 11 Threshold between zone 2 and 3 Do not modify PM 12 Threshold between zone 2 and 3 Do not modify 25 nke ARVOR JAMSTEC INSTRUMENTATION USER MANUAL PM 13 Thickness zone 1 PM 14 Thickness zone 2 PM 15 Thickness zone 3 PM 16 Thickness zone 3 PM 17 End of life period hours Transmission period in hours once float is in end of life mode all programmed cycles have been reached Float send Technical SBD message PM 18 Inter cycles wait period min At beginning of cycle if this parameter is different of zero 2 SBD sessions will occur This enable to check if a change on mission or technical parameter has been correctly treated by float and if new parameters are effective for next cycle After the 1 transmission float will wait for PM18 minutes before proceeding to 2 transmission 6 IRIDIUM FORMATS 6 1 Overview The data transmission process begins as soon as an ascent profile is completed It starts with reduction of the data ARVOR I then formats and transmits t
5. short circuiting the cells e re charging the cells puncturing the cell enclosure with a sharp object exposing the cell to high temperatures WARNING BOTH ALKALINE AND LITHIUM BATTERIES MAY EXPLODE PYROLIZE OR VENT IF MIS HANDLED DO NOT DISASSEMBLE PUNCTURE CRUSH SHORT CIRCUIT RE CHARGE OR INCINERATE THE CELLS DO NOT EXPOSE CELLS TO HIGH TEMPERATURES The lithium thionyl chloride cells used in ARVOR I floats incorporate sealed steel containers warning labels and venting systems to guard against accidental release of their contents WARNING IF A BATTERY SPILLS ITS CONTENTS DUE TO MISHANDLING THE RELEASED CHEMICALS AND THEIR REACTION PRODUCTS INCLUDE CAUSTIC AND ACIDIC MATERIALS SUCH AS HYDROCHLORIC ACID HCL IN THE CASE OF LITHIUM THIONYL CHLORIDE BATTERIES AND POTASSIUM HYDROXIDE KOH IN THE CASE OF ALKALINE BATTERIES THESE CHEMICALS CAN CAUSE EYE AND NOSE IRRITATION AND BURNS TO EXPOSED FLESH The hazard presented by these chemicals is comparable to that presented by common domestic cleaning materials like bleach muriatic acid or oven cleaner Inevitably the battery contents will eventually be released into the environment regardless of whether the cells are deliberately dismantled or simply disintegrate due to the forces of nature Because of their highly reactive nature battery materials disintegrate rapidly when released into the environment They pose no long term environmental threat There are no heavy me
6. 10 minutes and then activates the pump in order to empty the reservoir and achieve maximum buoyancy CTD measurements begin at the profile start time and stop 10 minutes after the float rises above the 1 bar isobar in its approach to the sea surface 22 nke ARVOR JAMSTEC INSTRUMENTATION USER MANUAL 4 6 Transmission The data transmission process takes into account the limitations of the Iridium data collection system including the uncertainty of the float s antenna emerging in rough seas e radio propagation uncertainties due to weather conditions and the satellites operational status ARVOR I creates transmission messages from the stored data Please refer to section 6 page 25 for a detailed description of the transmitted message formats nke ARVOR JAMSTEC INSTRUMENTATION USER MANUAL 5 PARAMETERS s configuration is determined by the values of its mission parameters defined below Instructions on how to read and change the values of these parameters are provided in sections 2 5 5 page 12 The following table summarizes all parameter names ranges and default values Command no Name Units Mission Parameters PMO Number of Cycles 255 Whole number PM1 Cycle Period 10 Days PM2 Reference Day 2 Number of days PM3 Estimated time at the surface 6 Hours PM4 Delay Before Mission 0 Minutes
7. should look like this 2PM ARVOR I will respond PMO 255 PM1 10 PM2 2 lt PM3 6 gt lt PM4 0 gt lt PM5 0 gt lt PM6 12 gt lt PM7 10 gt lt PM8 1000 gt lt PM9 2000 gt PM10 1000 gt lt PM11 500 gt lt PM12 200 gt lt PM13 50 gt lt PM14 20 gt lt PM15 10 gt lt PM16 5 gt lt PM17 60 gt PM18 O gt As you can see the responses are of the form 13 nke ARVOR JAMSTEC INSTRUMENTATION USER MANUAL PM parameter number value You can also read the values of the parameters individually using the command PMX where X identifies the parameter Each parameter is identified by a parameter number corresponding to a parameter name For example to verify the value of the drift sampling period send the command PM 6 ARVOR will respond PM6 12 gt where 10 is the sampling period in ascent The commands for changing the values of the mission parameters are of the form PM X Y where X identifies the parameter and Y provides its new value For example to change the profile depth to 2020 max value send the command 9 2020 ARVOR will respond PM9 2020 NOTE ARVOR I will always respond by confirming the present value of the parameter This is true even if your attempt to change the parameter s value has been unsuccessful so you should observe carefully how ARVOR responds to your commands 2 5 6 How to Check and change the Time Con
8. to display Internal vacuum V This vacuum is drawn on the float as one of the final steps of assembly It should be between 500 and 700 mbar absolute 600 mbar is recommended Battery voltage B Normal values for a new battery are 10 8 volts see test sheets for limits Send the command VB ARVOR I will respond V 600 B 10400 gt means 600 mBar internal vacuum and 10 4V Battery pack voltage 2 5 8 2 Display Sensor Data This command is used to display External pressure P Temperature T Salinity S Send the command 25 will respond P10cBars T22956mdc SOmPSU gt As this sensor is in open air only the temperature data should be regarded as accurate 2 5 8 8 Test Hydraulic Pump To activate the pump for one second send the command P 100 Listen for the pump running for one second unit centiseconds 15 1n ke ARVOR JAMSTEC INSTRUMENTATION USER MANUAL 2 5 8 4 Test Hydraulic Valve To activate the valve for one second send the command E 100 Listen for the actuation of the valve unit centiseconds 2 5 85 Test lridum GPS Subsystem To test the IRIDIUM transmitter send the command ISE The float will reprogram time with GPS then will send a technical SBD message Put the magnet back in place to stop the transmission This command will cause ARVOR to transmit one technical message The format of which is described in section 6 page
9. 25 Use your email address to check transmission was OK The message content is not meaningful this is a test of the transmission only You have now completed the functional tests Ensure the magnet is in place on the ON OFF position see Figure 1 General view of ARVOR I float 2 page 17 3 GENERAL DESCRIPTION OF FLOAT 3 1 ARVOR The common elements between ARVOR I and PROVOR CTS 3 are the buoyancy engine and the main sensor C T D The main developments of ARVOR I compared to the CTS 3 float are mainly Embedded software Electronics Battery pack Float casing frame MMI link 85555 3 1 1 Electronics A new CPU board has been developed to take in account the obsolescence of components of the CTS 3 PROVOR profiler 3 1 2 Embedded software The CPU board is equipped with a new embedded software taking in account supplementary inputs and possibilities required by the ARVOR I float 3 2 Hull The ARVOR I float is encased in an aluminium cylinder measuring 11 3 cm in diameter and 100 cm in height A surface finish prolongs life by impeding corrosion The float is carefully designed to have a compressibility that is lower than that of seawater essential for stable operation at ocean depths where pressures reach 200 atmospheres The influence of surface swell upon the instrument s heave is attenuated by a syntactic foam pad positioned around the upper part of the hull 16 1n ke ARVOR JAMST
10. EC INSTRUMENTATION USER MANUAL 3 3 Magnet Positions BLUETOOTH Magnet Position Bluetooth Module Power ON if magnet ON OFF Magnet Position installed Do not install at deployment Float is Powered ON if for Programmation Only magnet removed 17 _nke INSTRUMENTATION IRIDIUM BLUETOOTH GPS antennas CTD Sensor Buoyancy foam ae l Flange Magnet position for ON OFF setting marked on hull Battery Hull Lower bladder Figure 1 General view of ARVOR I float ARVOR I JAMSTEC USER MANUAL Magnet position for Bluetooth link marked on hull CPU board Upper bladder Traceability label Bluetooth of float Hydraulic pump and valve Ballast 18 1n ke ARVOR JAMSTEC INSTRUMENTATION USER MANUAL 3 4 Density Control System Descent and ascent depend upon buoyancy ARVOR I is balanced when its density is equal to that of the level of surrounding water The float has a fixed mass A precision hydraulic system is used to adjust its volume This system inflates or deflates an external bladder by exchanging oil with an internal reservoir This exchange is performed by a hydraulic system comprising a high pressure pump and a solenoid valve The interested reader is referred to a more detailed description of the operation of ARVOR I s density control system in section 8 page 31 3 5 Sensors is equipped with precisio
11. PM5 Not used 0 PM6 Drift Sampling Period 12 Hours PM7 Not used 10 PM8 Drift Depth 1000 dbar PM9 Profile Depth 2000 dbar PM10 Threshold 1 2 1000 dbar PM1 1 Threshold 2 3 500 dbar PM12 Threshold 3 4 200 dbar PM13 Thickness 1 50 dbar PM14 Thickness 2 25 dbar PM15 Thickness 3 10 dbar PM16 Thickness 4 5 dbar PM17 End Of life period 60 Minutes PM18 Inter Cycles Wait Period 0 Minutes Table 1 Summary of ARVOR I user programmable parameters 24 nke ARVOR JAMSTEC INSTRUMENTATION USER MANUAL 5 1 Mission Parameters PM 0 Number of Cycles This is the number of cycles of descent submerged drift ascent and transmission that ARVOR I will perform The mission ends and ARVOR I enters Life Expiry mode when this number of cycles has been completed The capacity of s batteries is sufficient for at least 250 cycles If you wish to recover ARVOR I at the end of the mission you must set the number of cycles at less than 250 to ensure there is sufficient battery capacity remaining to allow ARVOR I to return to the sea surface and enter Life Expiry Under favourable conditions the battery capacity may exceed 180 cycles If you do not plan to recover the ARVOR I float you may choose to set the number of cycles to 250 to ensure that ARVOR I completes the maximum number of cycles possible PM 1 Cycle Period days PM 2 PM 3 PM 4 PM 5 PM 6 PM 7 PM 8 PM 9 The duration of one c
12. Pressure at drift depth users 40 bar to 200 bar Depth maintenance accuracy sse ener nnne 3 bar typical adjustable E up to 5 years Maximum number of cycles sise up to 250 cycles Mechanical Length WIL ANGINA d 200 Diameter rrjs 11 cm damplrig disk 2 npn tala dat nie exa square 25 cm ia its 20kg Mata irc iba te anodized aluminum casing Sensors Salinity SX 10 to 42 PSU Initial AC CUP ACY RR 0 005 A O TOS 0 001 PSU Temperature El AAA A 8 C to 32 C inital Decium T 0 002 C ade 0 001 Pressure Cm 0 bar to 2500 dbar Tyne toS 2 4 dbar jo Er 0 1 dbar Offset adjusted when surfacing offset has to be adjusted at each surfacing JAMSTEC USER MANUAL nke ARVOR JAMSTEC INSTRUMENTATION USER MANUAL 8 ARVOR I OPERATING PRINCIPLE Movement of the float through its profile is accomplished by a pump and valve system The pump transfers oil from the inner reservoir to the outer bladder Oil moves back to the reservoir when the valve is opened driven by the difference between the float s internal and external pressures The float s speed of a
13. TAL Packet size Relative day 2 bytes for Day and hour coded in hours 1 byte for minutes 1 byte for seconds Pressure and temperature are coded in two s complement in cBars and m C Salinity is code in mPSU with an offset of 10000 mSPU 6 4 Ascent profile CTD Message Identical to Descent profile CTD message with type 3 29 _nke INSTRUMENTATION 6 4 1 Parameters Data message This message contains float s mission and technical parameters ARVOR JAMSTEC USER MANUAL General informations Float s time hh mm ss 1 byte each Float s date dd mm yy 1 byte each Float s ID Cycle number Mission parameters Next Cycle Nb of cycles PM 0 Cycle Period PM 1 Reference Day PM 2 Estimated time on surface PM 3 Not used PM 5 Drift Sampling Period PM 6 Not used PM 7 Drift Depth PM 8 Profile Depth PM 9 Threshold 1 2 PM 10 Threshold 2 3 PM 11 Threshold 3 4 PM 12 Thickness 1 PM 13 Thickness 2 PM 14 Thickness 3 PM 15 Thickness 4 PM 16 Iridium End Of Life Period PM17 Iridium Inter Cycles Wait Period PM18 Technical Parameter Next Cycle Max eV activation on Surface PT 0 volume transf r par l ev maxi autoris en profondeur PT 1 dur e maxi d activation pompe en profondeur PT 2 dur e maxi d activation pompe en remont e PT 3 dur e nominale d activation pompe en mergence PT 4 tol rance sur l a
14. TD MESSAGE cccccccsssssececececeecuececececsesuaeseecceceesaaeseeececsessaaeseeececeeeaaeaeeececeessaasaesecseeeseneaeseeeens 28 O41 Parameters Data message eii eei e HE Cort Eee D Rer ainia 29 6 5 LIFE EXPIRY MESSAGE cens ere Nene Niere dee Nue NON NV 6 6 TRIDIUM COMMMANDS 5 e nei Ime aa iia 7 KiguelurenWwNLO Nr 8 ARVOR TOPERATING PRINCIPLE 5 o eei sepe Fe se ooa sn Soa So Fa iN eod eb 9 LITHIUM BATTERY AAA M d co ess 10 GE OSSAR Y ui Re dawn ce dover ses lee des sen a de aol tete deu ete DATE REVISION OBJET 01 07 11 Creation 18 07 11 Parameters Data message mission parameters format modification 6 4 1 nke ARVOR JAMSTEC INSTRUMENTATION USER MANUAL WHITE PAGE PAGE BLANCHE nke ARVOR JAMSTEC INSTRUMENTATION USER MANUAL 1 INTRODUCTION ARVORF is a subsurface profiling float developed jointly by IFREMER and MARTEC Group Since January 1st 2009 nke has integrated profiling floats activity and is now in charge of ARVOR I manufacturing and development in industrial partnership with IFREMER is the successor of ARVOR from which it takes up most of the essential sub assemblies The ARVOR float described in this manual is designed for the ARGO Program This international program will be a major component of the Global Ocean Observing Syste
15. VT100 terminal emulation software The Hyper Terminal emulation software can be used 3 A Bluetooth Dongle with drivers installed on the PC BELKIN class 2 model is recommended 2 5 2 Connecting the PC Make sure you check the following points before attempting a connection Bluetooth key connected to the PC with the drivers installed Magnet present at the Bluetooth s power supply ILS see Figure 1 General view of ARVOR I float page 17 Start Hyperterminal after checking on which COM port the Bluetooth key is installed by going to Control Panel gt System gt click on Hardware tab gt Device Manager as shown in the figure below AALA L bester de p sqiv riques Et Aten Midas 7 are DOG atin COME AT Bimbo UT APTI Sara et stres p riph nques de partage Y the PC run the following commands as shown in the figure below Y Right click on the Bluetooth logo in the bottom right corner of the Desktop Y Select Quick Connect Bluetooth Serial Port then click on other devices 10 ARVOR 1 JAMSTEC USER MANUAL A window appears as shown in the figure below EEE S lectionner un p riph rique dera la c decimus Pour mette le is pu chum bs bouton Pene Ut Icone Incoreus Mina t Ineoreu M sour Meeurl ii Ino
16. ancy due to decreasing water density is greater than the increase in buoyancy due to hull expansion This causes ARVOR I 5 speed of ascent to decrease as it rises in the water column Conversely as the float descends the increasing water density increases the buoyancy more than the decreasing buoyancy from hull compression This causes ARVOR I 5 speed of descent to slow as it goes deeper To reduce the probability of contact with ships ARVOR I 5 target speed during the initial stage of descent is high at shallow depths This minimizes the time during which the float is at risk of damage To slow the float s descent its controller is programmed with a series of depths at which the descent speed is halved until it reaches the target depth nke ARVOR JAMSTEC INSTRUMENTATION USER MANUAL 9 LITHIUM BATTERY All batteries both lithium batteries and batteries with other chemical elements contain large quantities of stored energy This is of course what makes them useful but it also makes them potentially hazardous If correctly handled neither alkaline nor lithium batteries present any risk to humans or the environment Improper handling of these batteries presents potential risks to humans but does not present an environmental The energy stored in a battery cell is stored in chemical form Most batteries contain corrosive chemicals These chemicals can be released if the cells are mishandled Mishandling includes
17. arew Meut 01 Meran Of Inconnu M aes M ses Click on Refresh Check that the Bluetooth number is present on the traceability label see Figure 1 General view of ARVOR float 2 page 17 There are two ways of establishing the connection Either select the number shown and press Connect Or come back to the previous step and instead of selecting other devices select the number shown When the connection is made a dialog box appears as shown in the figure above NS E 14 1n ke ARVOR JAMSTEC INSTRUMENTATION USER MANUAL Double click on it and a window appears as shown below ux 9 Non dup siph tique poss Avart de tre connects cet ordinateur et ls p tch nque derent dire coup s Y Le pecca zzur de couplage Bluatccth ure cl cil oda darc Ip des les lemas entre cas deux perpb saues pour leur et codes les donn es ichangie Entrer le code personnel et cigar out OK pour retston de perronral Blusiccih e Y Enter the security code 0000 Y You can now check the connection by double clicking on the Bluetooth logo in bottom right corner of the Desktop v The Bluetooth favourites window appears Use your PC s terminal emulation software to configure the selec
18. communicate with the float upon magnet removal you need to press ENTER within 30 seconds before the pump starts in order to get the prompt 2 4 2 Remove protective plugs and magnet The pump system of the CTD sensor is sealed by 3 protective plugs Remove these plugs from the sensor before launching V Protective plugs e CTD sensor Remove the magnet located near the top of the float see Figure 1 General view of ARVOR I float 2 page 17 Retain the magnet for future use in case the float is recovered ARVOR I is now ready for launch To confirm that the magnet has been removed and that the float is ready for launch 5 seconds after magnet removal ARVOR starts 5 valves actions After 80s the seabird pump is active If you have water in the CTD this water go out by the holes where was the protectives plugs After 100 sec floats starts 5 quick valve activations NOTE Once the magnet has been removed the ARVOR I float performs an initial test Ensure that the pump starts as explained above before placing the float in the water If you do not hear the valve running after 30 seconds and you do not see the water after 90s replace the magnet connect the PC and conduct the tests described in section 2 5 page 10 If these tests fail contact nke technical support 2 4 3 Launch the Float NOTE Keep the float in its protective packaging for as long as possible to guard against any nicks and scratches that could
19. d transmission of all data from the last cycle of the Mission Life Expiry mode continues until the recovery of the float or depletion of the battery These transmissions unlike other transmissions occur at PM15 hours intervals The content of the life expiry message is identical to the technical message 6 6 Iridium commmands Each mission or technical parameter can be modified with Iridium telecommand One parameter can be modified with on telecommand Several telecommands can be send for one cycle PM 16 Inter cycles wait period min User send telecommand that initialize PM16 At each cycle float s wait on surface for PM16 values minutes This parameter can be set to zero Once wait is ended float check if a new telecommand has been sent If yes new mission parameter is set with transmitted value and float wait corresponding time In other case float begin cycle At following cycle if none telecommand is sent float waits programmed value PM16 by last telecommand Telecommand has effect on all cycle Technical and mission parameters new parameters are recovered at each cycle if telecommand has been sent So each new parameter transmitted by telecommand is applied for following cycle _nke INSTRUMENTATION 7 SPECIFICATIONS Storage Temperature rango e 20 C to 50 C Storage time before expiry iii up to 1 year Operational Temperature RR ni id ti ii 2 C to 50 C
20. e drifting profiler developed by nke and IFREMER Triplet Set of three measurements Salinity Temperature and Depth all taken at the same time RS232 Widely recognized standard for the implementation of a serial data communication link VT52 VT100 Video Terminal type 52 or 100 Computer terminals developed by Digital Equipment Corporation DEC They are considered standard in the field nke ARVOR JAMSTEC INSTRUMENTATION USER MANUAL WHITE PAGE PAGE BLANCHE nke ARVOR JAMSTEC WHITE PAGE PAGE Fabriqu par Manufactured 37 nke ARVOR I JAMSTEC USER MANUAL Nke 2 1 de KERANDRE RUE GUTENBERG 56700 HENNEBONT FRANCE Telephone 33 0 2 97 36 10 12 Fax 33 0 2 97 36 55 17 Web http www nke fr E mail info instrumentation nke fr
21. e instructions carefully and follow them closely to ensure your ARVOR float functions as intended 2 1 Handling Precautions is designed to withstand submersion at great depths for long periods of time up to five years This remarkable specification in oceanographic instrumentation is possible thanks to the protection of the casing by an anti corrosion coating This coating is sensitive to impact Damage to the coating can accelerate the corrosion process NOTE Take precautions to preserve the anti corrosion coating during handling Remove the float from its packing only when absolutely necessary NOTE Regulations state that ARVOR I must not be switched on during transport 2 2 Acceptance Tests Immediately upon receipt of the ARVOR I float you should test it to confirm that it is complete correctly configured and has not been damaged in shipment If your ARVOR float fails any of the following tests you should contact nke electronics 2 2 1 Inventory The following items should be supplied with your ARVOR I float The present user manual Atest sheet NOTE Disassembly of the float voids the warranty Check that all of the above items are present If any are missing contact nke 2 2 2 Physical Inspection Upon the opening of the transport casing visually inspect the float s general condition Inspect the transport container for dents damage signs of impact or other signs that the float has been mishandled d
22. h of 2 000m is not necessarily the same as the drift depth During its mission ARVOR I collects measurements of three parameters salinity temperature and depth CTD and saves them in its memory These measurements can be made during the submerged drift period Lagrangian operation and during the ascent ascent profile After each ascent ARVOR I transmits its saved data to the satellites of the Iridium system This manual describes the ARVOR I float how to use it and safety precautions to be observed during handling Please read this manual carefully to ensure that ARVOR functions as intended Overview of the present manual s contents e Chapter 2 contains the instructions necessary for the personnel in charge of the deployment e Chapter describes the components of ARVOR I l it is intended for those who want a more in depth understanding of ARVOR I e Chapter 4 describes the mission of ARVOR I e Chapter 5 describes the various parameters e Chapter 6 describes the various Iridium messages e Chapter 7 presents the technical specifications e Chapter 8 provides explanations about the operation of ARVOR I e Chapter 9 specifies the elements of the constraints limited to the transport of Lithium batteries 1n ke ARVOR 1 JAMSTEC INSTRUMENTATION USER MANUAL 2 OPERATING INSTRUCTIONS The following instructions tell you how to handle configure test and launch the ARVOR float Please read thes
23. he message The reduction of data processing consists in storing the significant points of the CTD triplets arithmetic mean with the layer format SBD message contains one or 2 packet One packet is a 100 bytes message five types of packets are generated according to the content of the data frame Type 0 Technical message Type 2 Submerged drift CTD message Type 3 Ascent profile CTD message Type 4 Float parameters message The three types of CTD messages all contain recorded physical measurements The technical message contains data regarding the configuration and functioning of the float and its buoyancy control mechanism The message type is formed from bits 1 to 4 of the data frame The formatting of the data frame for each message type is described in the pages that follow 26 6 2 _nke INSTRUMENTATION Technical message Dat Type 0 Float serial number Cycle number Cycle start time number of valve actions at the surface rking ce descent start time float stabilisation time end of descent time number of valve actions in descent number of pump actions in descent float stabilisation pressure Max pressure during descent to parking depth number of entrance in drift target range descent number of repositions minimum pressure in drift to parking depth maximum pressure in drift to parking depth number of valve actions in parking number of pum
24. he solenoid valve for a time period that is initially long but decreases as the float approaches its target depth 4 3 Grounding ARVOR I monitors itself for possible grounding on the seabed During descent to drift depth if the pressure remains unchanged for too long ARVOR I enters a correction mode The user selects one of two available modes PT10 during Mission programming before launch e Grounding Mode 0 The pre programmed drift depth is disregarded The pressure at the time of grounding minus an offset 5 bar is taken as the new value for the drift pressure The float adjusts its buoyancy to reach this new drift depth The drift depth reverts to its programmed value for subsequent cycles If the grounded pressure is lower than a programmed threshold 20 bar the float remains on the seabed until the next programmed ascent time e Grounding Mode 1 the float remains where it is until the next scheduled ascent time The pressure measured at grounding becomes the profile start pressure for the cycle in progress The profile start pressure reverts to its programmed value for subsequent cycles 4 4 Submerged Drift While ARVOR I is drifting at drift depth it checks the external pressure every 30 minutes to determine whether there is need either for depth adjustment or for an emergency ascent If the measured pressure differs from the drift depth pressure by more than a specified tolerance and this difference is maintained ARVOR I adjus
25. is phase can take up to one hour and half opening electro valve several times with one minute for pressure monitoring between activations At following cycles float memorized necessary global electro valve opening time precedent cycle and reduce this global duration by reduce time between valve activations to one second instead of 1 minute Descent The float descends at an average speed of 5cm sec During descent which typically lasts a few hours can detect possible grounding a high portion of the seabed and can move away from such places see section 4 3 page 21 for more details on grounding Drifting at Depth During the drift period ARVOR I drifts underwater at a user selected drift depth typically 1 000m to 2 000m below the sea surface The drift period is user selectable and can last from a few days to several weeks but is typically 10 days The float automatically adjusts its buoyancy if it drifts from the selected depth by more than 5 bars over a 60 minute period ARVOR I can collect CTD measurements at user selected intervals during this drift period if the user selects this option Descent to Profile Depth The user may select a starting depth for the ascent profile that is deeper than the drift depth If this is the case ARVOR I must first descend to the profile depth before beginning the ascent profile ARVOR I can detect a possible grounding during this descent and take corrective action as described i
26. m GOOS An array of 3 000 free drifting profiling floats is planned for deployment in 2004 These floats will measure the temperature and salinity of the upper 2 000 meters of the ocean allowing continuous monitoring of the ocean s climate All Argo measurements will be relayed and made publicly available within hours after collection The data will provide a quantitative description of the evolving state of the upper ocean and the patterns of ocean climate variability including heat and freshwater storage and transport It is expected that ARGO data will be used for initialization of ocean and coupled forecast models and for dynamic model testing A primary focus of Argo is seasonal to decadal climate variability and predictability After launch ARVOR I 5 mission consists of a repeating cycle of descent submerged drift ascent and data transmission During these cycles ARVOR I dynamically controls its buoyancy with a hydraulic system This hydraulic system adjusts the density of the float causing it to descend ascend or hover at a constant depth in the ocean The user selects the depth at which the system drifts between descent and ascent profiles ARVOR I continually samples the pressure at this drift depth and maintains that depth within approximately 30m After the submerged drift portion of a cycle the float proceeds to the depth at which the ascending profile is to begin The ascent profile starting depth typically the ARGO selected dept
27. m transmitting and drifting at a predetermined depth ARVOR I can collect data during the submerged drift or ascent portions of the cycle and transmits the collected data during the surface drift period at the end of each cycle One cycle is shown in the figure below Ti me gt amp cyce 1 gt Depth Drift depth 1500 m Profile depth 2000 m u Delay before mission 1h Descent 41 14h Drifting at depth 10 days Descent to profile depth 4 h Wait for ascent time Ascent 1 6h 1 Argos transmission duration 20h nt start time Figure 2 Schematic representation of a ARVOR I 5 depth cycle during the Mission 20 nke ARVOR JAMSTEC INSTRUMENTATION USER MANUAL 1 2 3 4 5 6 7 8 9 Delay Before Mission To prevent ARVOR I from trying to sink before it is in the water the float waits for this time before starting its descent This happens only before the first cycle it is not repeated at each cycle IRIDIUM Preliminary Transmissions To test Iridium transmitter before descent phase float will perform Iridium transmission by sending a technical message A GPS position will be acquire and transmit in technical message Buoyancy reduction Float is deployed with full external bladder to get a maximal buoyancy To reach a neutral buoyancy position before descending float needs to transfer oil inside float For the 2 first cycles th
28. n section 4 3 page 21 Wait for Ascent Time The user can program several floats to conduct profiles simultaneously This makes it possible to use several ARVOR I floats in a network of synoptic measurements even though the instruments are not all deployed at the same time If this is the case it may be necessary for ARVOR I to standby at the profile starting depth while awaiting the scheduled ascent time Ascent Ascent lasts a few hours during which time ARVOR I ascends to the sea surface at an average speed of 10cm sec ARVOR I can collect CTD measurements during ascent Transmission At the end of each cycle the float finds sufficient buoyancy to ensure Iridium transmission quality and GPS positionning ARVOR I remains at the sea surface transmitting the data collected during the preceding descent drift ascent portion of the cycle 21 nke ARVOR JAMSTEC INSTRUMENTATION USER MANUAL 4 2 Descent While the float is still at the sea surface ARVOR I measures and records its pressure sensor offset This offset is used to correct all pressure measurements The cumulated offset of each cycle is transmitted in a technical message see section 6 page 25 for a description of the technical message format Descent takes the float from the sea surface to the drift depth Initially in order to avoid possible collisions with ships ARVOR I s objective is to lose buoyancy in the shortest possible time It does this by opening t
29. n instruments for measuring pressure temperature and salinity with the SEABIRD SBE41CP CTD sensor Specifications of the sensor are provided in section 6 page 25 3 6 IRIDIUM GPS MODEM While the float is at the surface the Iridium Modem sends stored data to the satellites of the Iridium system see sections 6 page 25 and 6 1 page 25 The transmitter has a unique IMEI ID This ID identifies the individual float The antenna is mounted on the top end of the ARVOR I float and must be above the sea surface in order for transmissions to reach the satellites 3 7 CPU Board This board contains a micro controller or CPU that controls ARVOR I Its functions include maintenance of the calendar and internal clock supervision of the depth cycling process data processing and activation and control of the hydraulics This board allows communication with the outside world for the purpose of testing and programming 3 8 Battery A battery of lithium thionyl chloride cells supplies the energy required to operate ARVOR I 3 9 MMI link The User link is made via Bluetooth radiofrequency link nke ARVOR JAMSTEC INSTRUMENTATION USER MANUAL 4 THE LIFE OF AN ARVOR I FLOAT The life of an ARVOR I float is divided into four phases Storage Transport Deployment Mission and Life Expiry 1 Storage Transport During this phase the float packed in its transport case awaits deployment The electronic components are dorman
30. nect the PC to the float using Bluetooth link see section 2 5 2 page 9 Ask ARVOR to display the time stored in its internal clock by sending the command TI Do this by typing the characters TI followed by the Enter key ARVOR I will respond 01 03 11 14 41 00 gt The date and time are in the format DD MM YY hh mm ss You can set the time on the float s internal clock by sending the command ITI DD MM YY hh mm ss For example if you send the command ITI 01 03 11 14 30 00 will respond 01 03 11 14h 30m 00s 14 nke ARVOR JAMSTEC INSTRUMENTATION USER MANUAL 2 5 7 Configuration Check The float has been programmed at the factory The objective of this portion of the acceptance test is to verify the float s configuration parameters Connect the PC to the float see section 2 5 2 page 9 Send the PM command as explained in section 2 5 5 page 12 to verify that ARVOR I s parameters have been set correctly 2 5 8 Functional Tests Connect the PC to the float see section 2 5 2 page 9 NOTE The hydraulic components will function correctly only if the float is in a vertical position with the antenna up Orient the float vertically and support it to prevent it from falling over during the performance of the functional tests ARVOR I has several commands that allow you to test its various functions 2 5 8 1 Display of technological parameters This command is used
31. occur during handling Handle the float carefully using soft non abrasive materials only Do not lay the float on the deployment vessel s unprotected deck Use cardboard or cloth to protect it 2 4 3 1 By hand can be launched by hand from the deck from a height of 3 meters n ke _ ARVOR I JAMSTEC INSTRUMENTATION USER MANUAL 2 4 8 2 Using a The damping disk is already fastened on the tube under the buoyancy foam It is possible to use the holes in the damping disk in order to handle and secure the float during deployment Put the rope in the hole according to the following photo Rope for launch with release system After the launch you may decide to wait alongside the float until it starts its descent but this can take up to 3 hours depending on the float s buoyancy when it is placed in the water 1n ke ARVOR 1 JAMSTEC INSTRUMENTATION USER MANUAL 2 5 Checks prior to deployment 2 5 1 Necessary Equipment The equipment required to check that is functioning correctly and to prepare it for the mission are 1 APC The most convenient way of communicating with ARVOR I is with a PC in terminal emulation mode Among other advantages this allows storage of configuration parameters and commands You can use any standard desktop or laptop computer The PC must be equipped with a serial port usually called COM1 or 2 2 52 or
32. oherence problem counter Grounding phase grounding detected grounding 1 No grounding 0 Grounding pressure Grounding day relative to cycle beginning Hour at grounding Emergency ascent phase Emergency ascent number 1 Emergency ascent time 1 Emergency pressure number of pump actions in emergency ascent 1 Emergency ascent relative day to 1 cycle day Iridium remote control Remote control received Remote control rejected GPS Data GPS latitude in degrees GPS latitude in minutes GPS latitude in minutes fractions 4 GPS latitude orientation 0 North 1 South GPS longitude in degrees GPS longitude in minutes GPS longitude in minutes fractions 4 GPS longitude orientation 0 East 1 West GPS valid fix 1 valid 0 not valid Not used Total mk 1 bar 1 m C 1 mPSU 1h 1min 1sec 1 byte each 1 day 1 month 1 year 1 byte each 1 cbar 5 mbars 0 1 V 1 bar 1 min 1 min 1 bar 1 degree 1 minute 1 minute fraction 4 1 degree 1 minute 1 minute fraction 4 28 Dn ke ARVOR I JAMSTEC INSTRUMENTATION USER MANUAL 6 3 Submerged Drift CTD Message Donn e Format Type 2 1 Relative day 4 Hour hh 2 bytes Minute mm 1 byte Seconds ss 1 byte Pressure 2 temperature 2 Salinity 2 Pressure 2 temperature 2 Salinity 2 Pressure Temperature Salinity NINI Complemen TO
33. p actions in parking descent start time end of descent time number of valve actions in descent number of pump actions in descent max pressure in descent to Pprofile number of entrance in drift target range number of re positioning in profile stand by number of valve actions in drift to Profile number of pump actions in drift to Profile minimum pressure in drift to Pprofile maximum pressure in drift to Pprofile Ascent start time time at end of ascent number of pump actions in ascent Data informatio number of descent CTD messages number of drift CTD messages ARVOR 1 JAMSTEC USER MANUAL 1 min 1 min 1 min 1 min 1 bar 1 bar 1 bar 1 bar 1 min 1 min 1 bar 1 bar 1 bar 1 min 1 min 27 INSTRUMENTATION nke ARVOR JAMSTEC USER MANUAL number of ascent CTD messages number of descent slices in shallow zone number of descent slices in deep zone number of CTD measurements in drift number of ascent slices in shallow zone number of ascent slices in deep zone Subsurface Point Sub Surface pressure Sub Surface temperature Sub Surface salinity General informations Float s time hh mm ss Float s date dd mm yy pressure sensor offset two s complement coded internal pressure batteries voltage drop at Pmax pump ON with regard to Unom 10 0 V in dV RTC state indicator normal 0 failure 1 C
34. scent oscillates This oscillation is due to the way in which the float s controller regulates its speed The controller using depth measurements from the float s pressure sensor calculates the change in depth over a set period of time With this information the controller determines the float s speed When ascending if the calculated speed is lower than desired the pump is activated for about 10 seconds pumping oil into the outer bladder This produces an increase in buoyancy which increases the speed of ascent As the float rises to shallower depths its buoyancy decreases causing the ascent speed to also decrease When the calculated speed is too low the pump is activated again This cycle repeats until the float reaches the surface The same regulating method is used to control the float s descent speed by opening the valve and allowing oil to flow from the external bladder to the internal reservoir Why does ARVOR s speed decrease as it ascends The buoyancy of a float is determined principally by its mass and its volume but another factor hull compressibility also plays an important role As ARVOR I ascends the decrease in water density reduces the float s buoyancy At the same time the decrease in water pressure causes ARVOR I 5 hull to expand which increases the float s buoyancy The two effects tend to counteract each other Because ARVOR I 5 compressibility is actually less than that of sea water the decrease in buoy
35. t and float s buoyancy control functions are completely shut down This is the appropriate status for both transport and storage 2 Deployment The float is removed from its protective packaging configured tested and launched at sea 3 Mission The mission begins with the launching of the float During the Mission ARVOR I conducts a pre programmed number of cycles of descent submerged drift ascent and data transmission During these cycles it collects CTD data and transmits it to the Iridium satellite system 4 Life Expiry Life Expiry begins automatically upon completion of the pre programmed number of cycles During Life Expiry the float drifting on the sea surface periodically transmits messages until the battery is depleted Reception of these messages makes it possible to locate the float to follow its movements and if desired to recover it ARVOR I floats are designed to be expendable so recovery is not part of its normal life cycle but is possible with Iridium telecomands If the battery is depleted before completion of the pre programmed number of cycles ARVOR I will probably remain submerged and cannot be located or recovered 4 1 The Mission Overview We call Mission the period between the moment when the float is launched at the experiment zone and the moment when the data transmission relating to the final depth cycle is completed During the Mission ARVOR I conducts ascent profiles separated by periods of iridiu
36. tals or chronic toxins in ARVOR I s lithium cells Indeed a recommended safe disposal method for thionyl chloride lithium cells is to crush them and dilute them in sufficient quantities of water Discharged batteries pose a greatly reduced threat as the process of discharging them consumes the corrosive chemicals contained in them In summary ARVOR I 5 lithium battery poses no significant or long term environmental threats Any threats that they do present are short term threats to the safety of persons mishandling the cells These safety threats are similar to those of other common household use materials These threats are reduced when the cells are discharged and exist only if the cells are mishandled in extreme ways These threats are the same as those presented by the alkaline cells widely used by consumers nke ARVOR JAMSTEC INSTRUMENTATION USER MANUAL 10 GLOSSARY CPU Central Processing Unit In the context of ARVOR I this term denotes the board that ensures the running and control of the system COM1 COM2 Serial communication ports dbar 1 10 bar 1 decibar Unit of pressure used for ARVOR I It roughly corresponds to a depth of 1m IFREMER Institut Fran ais pour la Recherche et l Exploitation de la MER French Institute for the Research and the Exploitation of the Sea PC Personal Computer IBM PC compatible CTD Celerity for salinity Temperature Depth ARVOR I Name given to th
37. ted serial port for 9 600 baud e 8 data bits 1 stop bit Parity none Full duplex No flow control 2 5 3 Example of Bluetooth dongle tested by NKE USB Bluetooth adaptor 100 meters Part F8TO12 r Made by Belkin 12 ARVOR I JAMSTEC USER MANUAL _nke INSTRUMENTATION 2 5 4 How to Send Commands You must communicate with to verify or change its configuration parameters to read data from the float or to test the float s functions You perform these verifications changes by sending commands and by observing the float s response to those commands Compose commands by typing characters on the keyboard of your PC and send them to ARVOR I by pressing the Enter key In the following descriptions of commands we will use the general syntax Keystrokes entered by the user are written in bold Replies received from the float are in normal font Commands entered by the user end with the Enter key The software version can be viewed using the VL command ARVOR I will respond VL 5606A02 gt VC IRIDIUM gt The float s serial number can be viewed using the 2NS command ARVOR I will respond NS 00001 identification 1 2 5 5 How to Read and change Parameter Values Read the values of parameters by sending the PM command Do this by typing the characters in response to ARVOR I s prompt character then confirm the command by pressing the Enter key It
38. ts its buoyancy to return to the drift depth If the pressure increases by an amount that exceeds a factory set danger threshold ARVOR I immediately ascends to the sea surface If the user chooses ARVOR will collect CTD measurements at user selected intervals during submerged drift 4 5 Ascent If the chosen ascent profile starting pressure is higher than the drift pressure the float must first descend to reach the profile starting pressure If grounding is detected while ARVOR I is descending to the profile starting pressure the present pressure is substituted for the profile starting pressure This substitution is only for the cycle in progress the profile starting pressure reverts to its pre programmed value for subsequent cycles Once the profile starting pressure has been reached the float waits for the programmed time to begin the ascent If this time is reached before the float has arrived at the profile starting pressure the ascent starts immediately ARVOR I ascends by repeated use of the pump When the pressure change between two successive measurements is less than 1 bar the pump is activated for a pre set time period In this way the pump performs minimum work at high pressure which ensures minimum electrical energy consumption The average speed of ascent is approximately 10cm sec For a 2 000m profile the ascent would therefore last 6 hours When the pressure drops below 1 bar signifying completion of ascent ARVOR I waits
39. tteinte de la pression de consigne PT 5 Pression maxi ne pas d passer PT 6 Pression de d but de r duction de la dur e d activation ev en surface PT 7 crit re de pression de d but de plong e PT 8 Nbre de positions hors tol rance autoris en d rive conduisant repositionnement PT 9 mode de gestion de l chouage en descente pression de d rive PT 10 crit re d chouage volume cumul PT 11 Format bytes dBars dBars dBars Minutes 10 cs 1000 cs 10 dbar 1 dbar 30 1n ke ARVOR JAMSTEC INSTRUMENTATION USER MANUAL pression en dessous de laquelle le flotteur reste pos en attente profil remont e PT 12 1 10 dbar diminution de la pression vis e en cas d chouage Pcourante decal PT 13 10 dbar tol rance sur maintien de la pression de consigne PT 14 Mode d acquisition de la mesure PT 15 P riode d alternance profil j si 1 alors pas d alternance PT 16 Pog Profondeur de profil altern PT 17 vitesse moyenne descente mm s PT 18 Incr ment de profondeur de consigne chaque cycle PT 19 Pression arret pompe CTD PT 20 Timeout modem iridium PT 21 Coefficient de calibrage pression Coeff A PT 22 Coefficient de calibrage pression Coeff B PT 23 1 compl ment EE TOTAL ESE Message pers gt 6 5 Life Expiry Message Life expiry messages are transmitted when the float is drifting on the surface and has complete
40. uring shipping Inspect the CTD sensor antenna hull housing around the lower bladder for dents or any other signs of damage NOTE Ensure the magnet is in place against the hull installed on ON OFF Position 2 3 Default Parameters Notwithstanding special instructions given to NKE during the ARVOR I preparation stage the following set of parameters is applied section 5 page 23 If these parameters are not appropriate the user can change them himself by following the instructions 2 3 1 ARGO Identification The user is responsible for contacting the AIC in order to obtain the WMO number which will identify the 5 mission 2 3 2 Decoding The CORIOLIS project team IFREMER is able to assist the teams that use ARVOR I for data processing nke ARVOR JAMSTEC INSTRUMENTATION USER MANUAL 2 4 Launching Following is what you should do to launch the ARVOR I float 2 4 1 Test the Float and arm the mission Before you take on deck for deployment we recommend that you repeat all of the tests described in section 2 5 page 10 This will ensure that the float is functioning and configured correctly and maximize the probability of success of your experiment IMPORTANT Before launching the float you must arm the mission by issuing the AR command IAR ARVOR I will respond lt AR ON gt Put the magnet on the float NOTE Once the mission is armed the next time you will attempt to
41. ycle of descent submerged drift ascent and transmission ARVOR waits submerged at the drift depth for as long as necessary to make the cycle the selected duration Reference Day number of days Allows you to configure a group of floats so that they all conduct their profiles at the same time The parameter defines a particular day on which the first profile is to be made When the float s internal clock s day number equals the reference day it will conduct its first profile The float s internal clock day number is set to zero when the mission starts When setting the reference day it is recommended to allow enough time between the deployment and reach of profiling depth Using a reference day of at least 2 will ensure the first profile is complete Estimated Time on Surface hours Estimated time float must reach surface Delay Before Mission minutes To prevent ARVOR I from trying to sink while still on deck the float waits for this time before commanding the buoyancy engine to start the descent After disconnection of the PC followed by removal of the magnet ARVOR I will wait for this delay before beginning the descent The delay is measured after the first start of the pump which confirms the removal of the magnet see section 2 4 1 page 7 and before the start of the descent Not used Drift Sampling Period hours The time interval between successive CTD measurements during ARVOR I 5 stay at the drift depth Do not modify
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