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M-270-26 Rev D ATM-900 Series Users Manual

1. 1 18 SR 50 SMART Release 1 18 SR 100 SMART Release 1 19 SM 975 SMART Modem 1 19 ATM 903 and ATM 900 Modem Board Sets 1 20 Optional Features uc xor eurer E ERE 1 20 Compact Modems eR E RET ERE ENS 1 21 Remote Transducers 1 22 Remote Omnidirectional Transducer 1 22 Remote Directional Transducer 1 22 Acoustic Baffles 55 liew eww ed e wax RUE 1 26 2 Specifications 2 1 General te eed ew Aus E 2 1 Real Time Clock eR a km DERE ERE Ead 2 3 ATM 914 Subsea Modem 2 4 ATM 915 Subsea Modem 2 4 ATM 916 Subsea Modem 2 5 ATM 924 Subsea Modem 2 6 ATM 925 Subsea Modem 2 6 ATM 926 Subsea Modem 2 7 ATM 964 Subsea Modem 2 7 ATM 965 Subsea Modem 2 8 ATM 966 Subsea Modem 2 9 ATM 900 Modem Board 5 1 2 9 ATM 903 Modem Board 5 1 2 10 Remote Omnidirec
2. 8 64 ORG es a fct DA 8 65 ry 8 66 aa eee eee Cic tede 8 67 DSS Ree a eye iu Sene 8 68 8 69 e od e CR n Ra 8 70 deron oh ues eta ce are ae a 8 71 deed ai eter LM eS m S 8 72 2 due o e RR pac E adde e atau af 8 73 RxFreq ENSEM RENE sa 8 74 HXThIeSli 22 Baza 8 75 AX TONG DUP uu uud woe vous dc sac SS exe vx ERATES 8 76 uem was rcu sa wo os a SAC 8 77 dese EU oe rtr AME SEE aer a 8 78 TAT urere pru aai e EP PD ari 8 79 LBLInOUG Owes b Du ware EE 8 80 ee Oya ERN V ERN EAS 8 81 Latitudes soos a ae 8 82 Lonagditilde gate stele 8 83 GPSA UT 8 84 8 85 CUTEM 8 86 Compass rueda hw E E RM eau 8 87 de is die Rte 8 88 Holl 8 89
3. 1 4 AUV Command and Control 1 6 Underwater Local Area Networks 1 7 Release of Moored Instrument Arrays 1 7 Modem Performance Factors 1 8 Barriers to Underwater Communications 1 8 Sound Speed in Seawater 1 8 Signal Fading vias a ons us ek 1 9 Multipath Interference and Reflections 1 9 Methods for Increasing Reliability 1 9 Convolutional Coding 1 10 Multipath Guard Period 1 10 Data Redundancy 1 10 Modem and Remote Transducer Types 1 11 Surface Modems vicus le DR ete 1 12 UDB 9400 Universal Deck Box 1 12 ATM 980 ATM 980RF Buoy Boxes 1 13 viii TELEDYNE BENTHOS Subsea Modems 1 14 ATM 915 and ATM 914 Acoustic Telemetry Modems 1 15 ATM 916 Acoustic Telemetry Modem 1 15 ATM 925 and ATM 924 Acoustic Telemetry Modems 1 16 ATM 926 Acoustic Telemetry Modem 1 16 ATM 965 and ATM 964 Acoustic Telemetry Modems 1 17 ATM 966 Acoustic Telemetry Modem 1 17 SMART Releases
4. 7 82 C 7 84 xviii TELEDYNE BENTHOS 8 Modem Configuration Parameters 8 1 1 Mee 8 8 eee 8 9 DP rre its 8 10 aee ede 8 11 redes DUE ERES ERATES 8 13 cvi RERO V E RU EDU RACINE RD ES 8 14 2 Ioas desee os d s E xir eL x Vo s eet ate 8 16 P2EIOWCII Lucii kes ERI ee 8 17 2 cee cs EE a d aud fo COR ERR 8 18 P2SIUIDB entia eh tA Cee Meee Va dic E 8 20 a ors iorum AE pax ARE qu 8 21 Idle te REA Eae S Padus 8 22 5 5 8 24 Prompt P 8 26 CMWakeHIDb EE Eau EN xac A 8 27 CMFasIWak6 vedere ei Rx Dd FCR 8 28 MINODV Olt gies ceu E 8 29 2105 ees 8 30 25 ca eine 8 32 do E Qut 8 33 A6Dald uui iu win ue seed aM um enc NU 8 34 TNC SUAS od autrui EN dene LEE EE M EI 8 35
5. 4 9 UDB 9400 COM1 Connector RS 485 Connections 4 10 Subsea Modem POWER SERIAL Connector Face VIG i le a eta E i 4 11 Subsea Modem POWER SERIAL Connector Serial Port 1 RS 485 Connections 4 13 ATM 900 and ATM 903 DSP Board Serial Connector J7 Face VIEW x ee RE hole oe eda Ja Rn 4 14 ATM 900 and ATM 903 DSP Board Serial Connector J8 Face VIOeW ius bu Le ek Pheer e Eu eee s ERE RES 4 14 ATM 900 and ATM 903 DSP Board Serial Port 1 Connector J7 RS 485 Connections 4 18 ATM 903 Transducer Cable Wiring Diagram 4 18 ATM 900 and ATM 903 Connector J3 Face View 4 19 8 Pin and 4 Pin Connectors 4 20 Default Transport Addressing Topside and Subsea ATM 900 Series Acoustic Telemetry Modems 5 33 Default Transport Addressing Topside ATM 900 Series and Subsea ATM 900 Series Acoustic Telemetry Modems 5 34 List of Configuration Parameters for the Modem Section of the Standard ini File 5 55 Example List of Receive Threshold Adjustments 5 70 Spectral Plot S F of Waveform s t 5 72 Spectral Plot X F of Baseband Waveform x t 5 73 P N M 270 26 Rev D Acoustic Telemetry Modems Figure 5 7 Figure 5 8 Figure 5 9 Figure 7 1 Figure 7 2 Figure 7 3 Figure 7 4 Figure 7 5 Figure 11
6. 6 16 FH 6 16 6 17 Hc battery eov PX Ree RS 6 17 6 17 jp 6 17 RUE Veer SCR 6 18 GEAR ROSE PR B RUE RR ERR RUSO 6 18 SD ud tot ter ot ane ta te e feb Eh ede ett etes oras 6 18 SBl nocet vuoi a uoc DD Ard PIE IO DEC 6 19 Mieco A 6 19 5 2 3 55425 5 224 5 5 8 E RE RR ERE EXE XE MS 6 19 Sl e Pee ins bets ru EXE Ca aes eae E EN 6 19 SDOCILUITE o douce ele me acea Rd dod ae a a a n ind 6 20 strictat Rec ers aec E ac eget Rr 6 20 SVNG ace d SU Race ICE AC ar E Mee UR ame a oer 6 20 c P EM RU 6 20 6 21 tembd sop 6 21 oC a ea a E 6 21 nallds E 6 21 update X Ce E ER REEF EFE 6 22 Poi Wr ERR 6 22 Ver My ied dos MR key Sa CERE NC KT AS e RS 6 22 6 22 JR CANA we CRUCE ORE MOL Quan A I BC ACIE Wine 6 23 ai siue ace eee xo o pt baie wo o ai a b 6 23 7 Modem AT Command Set 7 1 O
7. ius vex ees els qae ue 8 90 HeplyDalta RP LE tr 8 91 TELEDYNE 5 9 Maintenance and Troubleshooting 9 1 General Cleaning and Inspection 9 1 Changing the Modem Battery Packs 9 2 Checking the Modem Battery 9 3 Changing the ATM 914 ATM 915 ATM 924 or ATM 925 Modem Ballery 9 3 Changing the ATM 964 or ATM 965 Modem Battery Pack 9 5 Changing the Real Time Clock Battery 9 7 Changing the ATM 914 ATM 915 ATM 924 or ATM 925 Real Time Clock Battery 9 7 Changing the ATM 916 or ATM 926 Real Time Clock Battery 9 9 Changing the ATM 964 ATM 965 or ATM 966 Real Time Clock Battery 45 dere elena ERE Vache d 9 10 Changing the SDHC Card 9 11 Changing the ATM 914 ATM 915 ATM 924 or ATM 925 SDHC Card U 9 11 Changing the ATM 964 or ATM 965 SDHC Card 9 12 Cleaning or Replacing an O ring 9 14 Froubleshooting 55 2 v ees 9 15 10 Drawings 10 1 Surface 10 1 Subsea 10 1 Modem Board Sets
8. 16 MCBH3F ATM 925 Subsea Modem The ATM 925 Acoustic Telemetry Modem is a completely self contained 2000 meter 6560 ft depth rated subsea modem with a built in omnidirectional or directional transducer and an internal modem battery pack The modem can operate on its battery pack or on external DC power User s Manual Housing construction Dimensions Mounting Hard coat anodized aluminum Reference Drawing D 270 053 on page 10 8 316 stainless steel sidebar P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems Weight in air Weight in water Operating depth POWER SERIAL connector 2 7 10 9 kg 24 Ib LF omni 10 4 kg 23 Ib MF omni 13 2 kg 29 Ib MF dir 10 4 kg 23 Ib Band C 5 0 kg 11 Ib LF omni 4 5 kg 10 Ib MF omni 5 9 kg 13 Ib MF dir 4 5 kg 10 Ib Band C 2000 m 6560 ft MCBH16M ATM 926 Subsea Modem The ATM 926 Acoustic Telemetry Modem is a 2000 meter 6560 ft depth rated subsea modem with a built in omnidirectional or directional transducer The modem operates on external DC power only Housing construction Dimensions Weight in air Weight in water Operating depth POWER SERIAL Connector Hard coat anodized aluminum Reference Drawing D 270 060 on page 10 9 4 1 kg 9 Ib LF omni 3 6 kg 8 Ib MF omni 6 4 kg 14 Ib MF dir 3 6 kg 8 Ib Band C 1 8 kg 4 Ib LF omni 1 4 kg 3 Ib MF omni 3 2 kg 7 Ib MF dir 1
9. For an extra margin use a higher power level Use a higher power level if multipath is not the cause lower the power level if it is Use a lower acoustic bit rate at all power levels Table 7 3 Guide for Obtaining the Optimum AGC AGC VALUE RECEIVED SIGNAL RECOMMENDED ACTION 00 15 Extremely strong Can lower the power level or increase the acoustic bit rate 16 25 Strong May be able to use a lower power level or a higher acoustic bit rate 26 31 Average Some noise exists in the channel Use a higher power level or lower acoustic bit rate 32 40 Low Use a higher power level or lower acoustic bit rate 41 49 Weak Use a higher power level or lower acoustic bit rate Greater than 50 User s Manual Extremely weak Use a higher power level or lower acoustic bit rate P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 7 25 NOTE For the local modem to execute entered commands the modem must be in Command mode with the command prompt displayed If the modem is not in Command mode refer to page 5 6 for instructions on how to place the modem into Command mode How to Use To use the Acoustic Link Test command type ATX followed by the address of the remote modem and then press Enter The remote modem will transmit the preset test message selected by the setting of the local modem s PktSize configuration parameter at the a
10. 10 1 Remote Transducers 10 1 11 Modem Spares Accessories and Part Number Designator 11 1 Modem Spares and Accessories 11 1 Modem Part Number Designation 11 3 User s Manual P N M 270 26 Rev D Acoustic Telemetry Modems Figure 1 1 Figure 1 2 Figure 1 3 Figure 1 4 Figure 1 5 Figure 1 6 Figure 1 7 Figure 1 8 Figure 1 9 Figure 1 10 Figure 1 11 Figure 1 12 Figure 1 13 Figure 1 14 Figure 1 15 Figure 1 16 Figure 1 17 Figure 1 18 Figure 1 19 List of Figures Wireless Underwater Communications System Block DIagral vs cR RENE 1 2 Wireless Underwater Communications Multiple Remote Modems Block Diagram 1 2 Data Acquisition and RF Link to Remote Station 1 4 Periodic Acquisition of Stored Data 1 5 Command and Control of an AUV 1 6 Wellhead Command and Control and Data ACQUISHIOD d 1 7 UDB 9400 Universal Deck Box Portable and Rack Mount Configurations 1 12 ATM 980RF Buoy 1 13 The ATM 915 Acoustic Telemetry Modem Shown with Omnidirectional LF Transducer 1 15 The ATM 916 Acoustic Telemetry Modem Shown with Omnidirectional LF Transducer 1 15 The ATM 925 Acousti
11. vun m xc inde ax ue oe ec 8 36 55525555 2545852455548 65 Loge teehee 8 37 Sentinel 2 22 8 38 ChrGount 425522542 Os CE UR ce C aa UE tee o 8 39 Suecia sie ele aut aa i at ae eee nt 8 40 DataRetry ooo xd prete Eee x tue aie 8 41 ACHSpImOULb bu name ueste ipaa a 8 42 ODMOUJS Iu Ix ER P qe eate bue xS 8 44 De yErnabl amp ere aie ERE Peg E UE EP as 8 45 PLE X eres LEE I 8 46 aO 8 47 Y E ate ads 8 48 ShowBadData 8 49 Stant 255218 aee eu UI ep ad erre 8 50 Rn eS e E wks Rar eee 8 51 nig oie a ih Vrai a Era Id 8 53 MX 8 55 User s Manual P N M 270 26 Rev D Acoustic Telemetry Modems xix PHHIFIGN Mrd 8 56 StrictAT Los Avast S 8 57 InputMode cuoc eer Extr RAE NE ERA 8 58 RE see D 8 59 TimedhHelease uox xe S ao ROS ox ECC SY RC e 8 61 TPOrtMOdG sic x E LEEREN SERE EY Prou 8 62
12. 92 022 IN m l NOTE DIMENSIONS ARE IN INCHES mm RELEASED nev POT ok TOR E TELEDYNE BENTHOS his document and the information A Teladyne Technologies Company Deren is proprietary and confident to Teledyne Benthos Inc and may not be used reproduced or disclosed without the express written consent of Teledyne Benthos Inc 49 OUTLINE UNIVERSAL DECK BOX paw ey RS bee a 270 108 ole Locas Edgerton Dr North Falmouth MA 02556 2826 PAL ETT 01 3NAQ3 13 1 OL NOTES 1 DIMENSIONS ARE IN INCHES mm DA e B eras koreo PROPRIETARY TELEDYNE BENTHOS A Teledyne Technologies Company OUTLINE ATM 980 BUOY BOX A swapoy 2nsnooy seues 006 IN1V 6 01 jenue y sasn 92 022 IN NOTES 1 DIMENSIONS ARE IN INCHES mm 2 WEIGHT IN AIR 20 LBS 9 1 kg 3 WEIGHT IN WATER 6 LBS 2 7 kg 560 4X 1422 THRU SIDE BAR DETAIL AT m B 270 437 01 SOHLNAd ANAGATSL OL DIMENSIONS ARE IN INCHES mm 2 LF OMNI TRANSDUCER SHOWN A B LF OMNI 32 7 831 3 8 97 2 6 66 22 LBS 10 0 kg MF OMNI 32 7 831 3 8 97 2 0 51 21 LBS 9 5 kg MF DIRECTIONAL 34 6 879
13. MCIL16F to serial port 1 DB9 RS 232 serial port 2 DB9 RS 232 and DC power connection MCDC16F dummy connector ATM 900 Series Acoustic Telemetry Modems User s Manual ATM 926 Components The ATM 926 Acoustic Telemetry Modem includes the following components ATM 926 Series Acoustic Telemetry Modem MCIL16F to serial port 1 DB9 RS 232 serial port 2 DB9 RS 232 and DC power connection MCDC16F dummy connector ATM 900 Series Acoustic Telemetry Modems User s Manual 4 Setup and Test Unpacking and Inspection 4 4 TELEDYNE BENTHOS ATM 964 Components The ATM 964 Acoustic Telemetry Modem includes the following components ATM 964 Series Acoustic Telemetry Modem with internal alkaline battery pack and stainless steel mounting sidebar MCIL16F to serial port 1 DB9 RS 232 serial port 2 DB9 RS 232 and DC power connection MCIL3M to MCILSF transducer cable Remote transducer MCDC16F dummy connector MCDC3M dummy connector ATM 900 Series Acoustic Telemetry Modems User s Manual ATM 965 Components The ATM 965 Acoustic Telemetry Modem includes the following components ATM 965 Series Acoustic Telemetry Modem with internal alkaline battery pack and stainless steel mounting sidebar MCIL16F to serial port 1 DB9 RS 232 serial port 2 DB9 RS 232 and DC power connection MCDC16F dummy connector ATM 900 Series Acoustic Telemetry Modems User s Manual ATM 966 Components The ATM 966 Ac
14. 5 Modem Operation LBL Multi Receive Option 5 70 User s Manual TELEDYNE BENTHOS user l1 rxadj Receive sensitivity adjustments by frequency 07 00 kHz 0 00 07 25 kHz 0 00 07 50 kHz 0 00 07 75 kHz 0 00 08 00 kHz 0 00 08 25 kHz 0 00 08 50 kHz 0 20 08 75 kHz 0 00 09 00 kHz 0 00 09 25 kHz 0 00 09 50 kHz 0 00 09 75 kHz 0 00 10 00 kHz 0 20 10 25 kHz 0 00 10 50 kHz 0 10 10 75 kHz 0 00 11 00 kHz 0 00 11 25 kHz 0 00 11 50 kHz 0 20 11 75 kHz 0 00 12 00 kHz 0 00 12 25 kHz 0 10 12 50 kHz 0 00 12 75 kHz 0 00 13 00 kHz 0 00 13 25 kHz 0 00 13 50 kHz 0 00 13 75 kHz 0 00 14 00 kHz 0 00 14 25 kHz 0 00 14 50 kHz 0 00 14 75 kHz 0 00 15 00 kHz 0 00 15 25 kHz 0 00 15 50 kHz 0 00 15 75 kHz 0 00 16 00 kHz 0 00 Ok Figure 5 4 Example List of Receive Threshold Adjustments All Tonal Based LBL Configuration In an all tonal based LBL configuration a local modem is used to interrogate an array of transponders with a tonal interrogation pulse The local modem can be either an ATM 900 Series Acoustic Telemetry Modem with the LBL Multi Receive option installed or a UDB 9400 M Acoustic Telemetry Modem In this configuration the modem functions similar to that described in Transponder Operation on page 5 61 However the modem can receive more than one reply The modem also requires that the same configuration parameters be correctly set Any Teledyne Benthos manufactured acoustic transponders or releases can be used in the transponder array So c
15. range m speed relative speed m s Output format Verbose 3 TX time hh mm ss nnnn RX time hh mm ss nnnn Tilt pitch lt roll gt Range local address to remote address range m Round trip range ms speed relative speed m s For Verbose 3 hh is hours mm is minutes ss is seconds and nnnn is tenths of milliseconds How to Use To use the Pitch and Roll command type ATRT followed by the address of the remote modem and then press Enter The modem will respond by displaying the pitch and roll in degrees of the remote modem and the range in meters to the remote modem The information is transmitted to the local modem from the remote modem P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 7 81 over the acoustic link The displayed information will be in accordance with the Verbose configuration parameter Special Considerations When using the Pitch and Roll command take note of the following The displayed range is the one way range to the remote transponder or modem and is determined acoustically based on the setting of the SpeedOfSound configuration parameter To acquire the range the local transponder or modem transmits an interrogation signal to the remote modem or transponder When this signal is received a reply is transmitted The local transponder or modem must receive the reply within the acoustic response timeout which is determined by the setting of the
16. Definition The Remote Power command sets the transmit power level of the remote modem at address n to level m The range of settings for m is from 1 to 8 for a range of 0 dB to 21 dB of attenuation in 3 dB steps where 0 dB is the maximum transmit power level and 21 dB is the minimum transmit power level as follows 1 21dB minimum power level 2 18dB 3 15dB 4 12dB 5 09 dB 6 06 dB 7 03dB 8 00dB maximum power level NOTE For the local modem to execute entered commands the modem must be in Command mode with the command prompt displayed If the modem is not in Command mode refer to page 5 6 for instructions on how to place the modem into Command mode WARNING Exceeding the recommended power level and continuous transmission time limits for an ATM 914 ATM 915 or ATM 916 Acoustic Telemetry Modems may cause the transmitter to overheat and to automatically shut down Should this condition occur a message will be output on the serial interface indicating such Once the modem cools down it will be able to transmit again To display the internal temperature of the local modem use the ATV command P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 7 31 How to Use To use the Remote Power command type AT P followed by the address of the remote modem the comma character and the value of m as determined by the required transmit power level and then press Enter The remote modem will set its trans
17. Factory Name Description Default S Register Roll of modem mounting platform 9 Roll SpeedOfSound Speed of sound in water 1500 Enables display of location ReplyData and depth or altitude of 1 LatLong remote modem Factory default setting applies to an ATM 900 Series Acoustic Telemetry Modem only For a UDB 9400 Universal Deck Box P2Baud 115 200 b Factory default setting applies to an ATM 900 Series Acoustic Telemetry Modem only For a UDB 9400 Universal Deck Box IdleTimer 0 S Register 10 does not correspond with the full range of the IdleTimer configuration parameter Available only if the Dual Serial Port feature key is installed If not installed the configuration parameter name is not visible when listing parameters using configuration system commands such as cfg all Factory default setting applies to an ATM 900 Series Acoustic Telemetry Modem only For a UDB 9400 Universal Deck Box Dst2 P1 P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 8 7 Table 8 2 ATM 900 Series Acoustic Telemetry Modem and UDB 9400 Universal Deck Box Factory Default Configuration Parameters Factory Default S Register SERIAL P1Mode 0 Cooked P2Mode 0 Cooked P1NoSleep Dis P2NoSleep Dis SYSTEM CarrFreq Model specific HalfBW 1 FHThresh 100 RisType Model specific WakeThresh 524 Auxinp Dis AuxOut 0 SyncOut 0 Off PullupO Dis Pullup1 Dis COPROC FdFwdTaps 20 FdBckTa
18. ATM 900 Series Acoustic Telemetry Modems Table 7 1 ATM 900 Series Acoustic Telemetry Modem and UDB 9400 Universal Deck Box AT Command Set Continued Command Syntax Command Name Result ATT1 Enter AGC Diagnostic Disable Disables the display of the minimum and maximum outputs of the local modem AT Tn Enter Release Status Displays the status of the SMART Release or the SMART Modem at address n AT Rn m Enter Release Activates the release mechanism of the SMART Release at address n with release code m AT Nn m Enter Burn Wire Release Activates the burn wire release of the SMART Modem at address n with release code m ATWn m Enter Compact Modem Wakeup Wakes up a Compact Modem at address n and sets the idle time to m ATNm Enter Transpond Causes the local modem to display the two way travel time from the modem to a transponder of receive frequency m ATNL Enter Broadband Chirp Interrogate Causes the local modem to display the two way travel times from the modem to all remote modem transponders from which it receives replies Compass and Tilt Displays the range and the compass heading and tilt of the remote modem at address n Pitch and Roll Displays the range and the pitch and roll of the remote modem at address n ATRCHn Compass Displays the range and the high resolution compass heading of the remo
19. Ena Enables echoing of characters entered from the keyboard for serial port 2 Dis Disables echoing of characters entered from the keyboard for serial port 2 If a PC is being used as the host processor and it is desired to display all of the characters entered from the keyboard select Ena Special Considerations When setting the P2EchoCar configuration parameter take note of the following In Command mode using the keyboard arrow keys for command history and line editing are best viewed when P2EchoChar Ena In Online mode having P2EchoChar Ena may affect the connected instrument If P2EchoChar Dis then use the terminal program s echo capability If double characters are displayed then either turn off the terminal program s echo set P2EchoChar Dis P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 8 17 P2Flow Ctl Default Setting 0 None There is no handshaking for serial port 2 Definition The setting of the P2FlowCtl configuration parameter determines whether XON XOFF handshaking is used for flow control or if no handshaking is used The setting also determines whether the RS 232 driver for serial port 2 is turned off or left on when a modem is in the lowpower state Turning off the driver conserves battery power Available Settings There available settings for the P2FlowCtl configuration parameter are listed below 0 None Selects no handshaking and turns off the R
20. fD 1 37 fA 37 000000 eD 1 0 000000 eA 0 000000 Qualifying Ok Real Time Clock 5 94 TELEDYNE BENTHOS Device Enable Device Enable is an open collector output provided with each serial port of a modem Refer to Setting Up the Modems on page 4 9 for connection information Device Enable can be used to switch on a modem s host processor or connected instrument when the modem is ready to send data to it that were received over the acoustic link and to switch off the host processor when the modem is in the lowpower state such as when it receives the Hangup command ATH the Lowpower State command ATL or the idle time expires When the Device Enable output is set it will switch up to 20 mA to ground Whenever it is cleared it is a high impedance Refer to Section 2 Specifications for additional electrical specifications Automatic Device Enable Output Setting The Device Enable output can be set automatically or with a command by setting the DevEnable configuration parameter to Auto When DevEnable is set to 1 Auto the Device Enable output will set automatically when the modem receives data over the acoustic link 80 ms prior to sending the data to the host processor or if it receives the Dial command ATD Manual Device Enable Output Settings The Device Enable output can be set only with a command by setting the DevEnable configuration parameter to 2 Manual LP or 3 Manual When set to 2 Manual LP the settin
21. 3 8 UDB 9400 Universal Deck Box Transducer Deployment 3 8 Subsea Modem 3 9 Corrosion Protection 3 9 O Ring Inspection 3 9 Setup and Test 4 1 Unpacking and Inspection 4 1 UDB 9400 Universal Deck Box Components 4 1 ATM 914 Components 4 2 ATM 915 Components 4 2 ATM 916 Components 4 2 ATM 924 Components 4 3 ATM 925 Components 5 4 3 ATM 926 Components 4 3 ATM 964 Components 4 4 ATM 965 Components 4 4 ATM 966 Components 4 4 ATM 900 Components 4 5 ATM 903 Components 4 5 ATM 980 Components 4 5 Modem Connections 4 6 UDB 9400 Universal Deck Box Connections 4 6 Subsea Modem Connections 4 6 x TELEDYNE BENTHOS Modem Operator 4 7 UDB 9400 Universal Deck Box Operat
22. 4 6 TELEDYNE BENTHOS Modem Connections User s Manual Although some cables are included with the modems special installations might require customer supplied cables and connectors For this purpose complete connector and pinout descriptions for the subsea modems are provided in the following pages For detailed wiring information on the UDB 9400 refer to its user s manual UDB 9400 Universal Deck Box Connections All the connections to the UDB 9400 Universal Deck Box are made using front panel mounted connectors These connectors are shown in Figure 4 1 and are described below PWR 5 pin bulkhead connector connects to the AC power source XDCR 12 pin bulkhead connector connects to the transducer AUX 15 pin bulkhead connector available for connection to headphones and to external 10 30 VDC power optional Also provides spare outputs and inputs and a transmit sync output 1 DB 9S connector female serial port connector that connects to the host processor and is used for sending and receiving acoustic telemetry modem commands and data is connected to serial port 1 of the DSP board COM2 DB 9S connector female serial port connector that connects to a PC and is used for inputting commands and outputting round trip travel times and status information in a manner that emulates the DS 7000 Acoustic Deck Set Subsea Modem Connections All the subsea modems include a POWER SERIAL connector on the
23. ATM 915 Components The ATM 915 Acoustic Telemetry Modem includes the following components ATM 915 Series Acoustic Telemetry Modem with internal alkaline battery pack and stainless steel mounting sidebar MCIL16F to serial port 1 DB9 RS 232 serial port 2 DB9 RS 232 and DC power connection MCDC16F dummy connector ATM 900 Series Acoustic Telemetry Modems User s Manual ATM 916 Components The ATM 916 Acoustic Telemetry Modem includes the following components ATM 916 Series Acoustic Telemetry Modem MCIL16F to serial port 1 DB9 RS 232 serial port 2 DB9 RS 232 and DC power connection MCDC16F dummy connector ATM 900 Series Acoustic Telemetry Modems User s Manual User s Manual P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 4 3 924 Components The 924 Acoustic Telemetry Modem includes the following components ATM 924 Series Acoustic Telemetry Modem with internal alkaline battery pack and stainless steel mounting sidebar MCIL16F to serial port 1 DB9 RS 232 serial port 2 DB9 RS 232 and DC power connection MCIL3M to transducer cable Remote transducer MCDC16F dummy connector MCDC3M dummy connector ATM 900 Series Acoustic Telemetry Modems User s Manual ATM 925 Components The ATM 925 Acoustic Telemetry Modem includes the following components ATM 925 Series Acoustic Telemetry Modem with internal alkaline battery pack and stainless steel mounting sidebar
24. Enter Definition The Transpond command causes the local modem to display the two way travel time in milliseconds from the modem to a transponder The interrogation frequency m of the modem should be set to an integer value in hertz in 250 Hz increments that is within the frequency band of the modem This frequency must be the same as the receive frequency of the transponder If m is set for a frequency outside of this band the modem will still transmit at the set frequency but at a reduced source level If the LBL Multi Receive feature key is not installed the RxFreq configuration parameter must be set to the reply frequency of the transponder This frequency should also be within the frequency band of the modem NOTE For the local modem to execute entered commands the modem must be in Command mode with the command prompt displayed If the modem is not in Command mode refer to page 5 6 for instructions on how to place the modem into Command mode l NOTE Refer to Transponder Operation on page 5 61 for information on acquiring and displaying the two way sound travel time to any Teledyne Benthos manufactured acoustic transponder or release l How to Use To use the Transpond command type ATN followed by the receive frequency of the transponder in hertz and then press Enter The two way travel time in milliseconds from the modem to the transponder is displayed User s Manual P N M 270 26 Rev D
25. J3 POWER IN J4 ON OFF SWITCH ICUSTOMER SUPPLIEDI RTC BATTERY THIS SURFACE MUST BE MOUNTED TO THERMALLY CONDUCTIVE SURFACE FOR PROPER HEAT SINKING 190 294 DRILL THRU S NOTES DIMENSIONS GIVEN IN INCHES fmm DSP PC BOARD J3 ADDITIONAL 1 0 J5 COPROCESSOR SD CARD SERIAL INTERFACE PORT J8 SERIAL INTERFACE PORT 2 CONFIDENTIAL t T ne OUTLINE ATM 900 3 8 270 156 swapoy 2nsnooy seues 006 IN1V 6 0 jenuey sasn 92 0Z2 IN T R PC BOARD 22 TRANSDUCER CONNECTION J4 ON OFF SWITCH CUSTOMER SUPPLIED DSP PC BOARD J3 ADDITIONAL IO J5 COPROCESSOR SD CARD J7 SERIAL INTERFACE PART 1 J8 SERIAL INTERFACE PART 2 SD PC BOARD JI DSP PC BOARD CONNECTION 2X 177 THRU 23 5 5 DIMENSIONS GIVEN IN INCHES mm THIS SURFACE MUST BE MOUNTED THERMALLY CONDUCTIVE SURFACE FOR PROPER HEAT SINKING SD CARD PC BOARD 2X 188 THRU ANCES ECR ASOT PROPRIETARY TELEDYNE BENTHOS A Teledyne Technologies Company TRE 1 64 HOLE se 26858 OUTLINE 900 OEM MODEM 102 rr WITH SD CARD ANGULAR ECT DAME 270 504 RELEASED E T3 ATE ae B270 504RA SHEET 1 SOHLNAd ANAGATSL OL 4X Q 12 THRU NOTES l DIMENSIONS ARE IN INCHES mm 2 WEIGHT IN AI
26. P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems Weight in air Weight in water Operating depth 2 11 2 2 kg 4 8 Ib L 2 9 kg 6 4 Ib M 2 8 kg 6 1 Ib E C 1 4 kg 3 0 Ib WE 2 4 kg 5 2 Ib M 5 1 kg 2 3 Ib Dm C 6000 m 19 680 ft Remote Directional Transducer The remote directional transducer is used with the ATM 914 ATM 924 and ATM 964 Acoustic Telemetry Modems and the ATM 903 Modem Board Set It is also optionally available with the ATM 900 Modem Board set The remote directional transducer is available in two frequency bands low frequency LF and medium frequency MF Low frequency LF Medium frequency MF Housing construction Dimensions Weight in air Weight in water Operating depth 2 Specifications Frequency band 9 14 kHz Source level 190 dB re 1 uPa 1 m typ Beam pattern conical X20 12 khz typ Frequency band 16 21 kHz Source level 190 dB re 1 uPa 1 m typ Beam pattern conical X30 9 18 khz typ PVC and 316 stainless steel MF Hard coat anodized aluminum LF Reference Drawing B 270 337 on page 10 18 for LF Reference Drawing B 270 371 on page 10 19 for MF 11 8 kg 26 Ib LF 3 2 kg 7 1 Ib MF 5 4 kg 12 Ib LF 1 4 kg 3 1 Ib MF 6000 m 19 680 ft Remote Directional Transducer 2 12 TELEDYNE BENTHOS Modem Battery Pack Capacities User s Manual Two modem battery packs are available One
27. Syntax AT Rn m Privilege user Example To activate the release mechanism of the SMART Release at address 5 with release code 188 enter ATSR5 188 The message Valid release code waiting for confirmation should be displayed followed by the message RELEASED and CONFIRMED when released P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 83 AT Nn m The Burn Wire Release command AT Nn m activates the burn wire release of the SMART Modem at address n with release code m where the release code is the serial number of the modem When activated the burn wire dissolves and the modem releases itself from its mooring Syntax Privilege Example AT Nn m user To activate the burn wire release of the SMART Modem at address 5 with release code 198 enter 5 5 198 The message Valid Release Code Waiting for Burn should be displayed and the dissolving wire module will be activated Once the burn wire has fully burned the message Burn wire RELEASED should be displayed when released Zn getcurrent When an SM 975 SMART Modem is in the process of being released the burn wire current is sampled and stored once per minute The getcurrent command displays the sampled currents in amperes of a remote SM 975 SMART modem at address n Syntax Privilege Example 5 Modem Operation getcurrent user To display the burn wire current samples of a remote SM 975 SMART modem at addr
28. TELEDYNE BENTHOS audio outputs including a beep when a touch screen display control is touched or an error Occurs Speaker Provides an audio verification of transmitted and received data pings and replies Vent ports Allow pressure relief from battery outgassing during charging without ingressing water Subsea Modem Operator Functions The only operator function on the subsea modems is the on off switch which is located on the side of the transducer end cap To turn on the modem push the switch all the way in To turn off the modem pull the switch all the way out This configuration causes the modem to turn on automatically when deployed due to ambient pressure ON OFF SWITCH Figure 4 2 Subsea Modem On Off Switch NOTE The on off switch on a subsea modem is protected with a red rubber cap This cap must be removed before the switch can be operated and must be left off when deploying the modem P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 4 9 Setting Up the Modems To check and operate the modems they must be connected to their host processors and transducers A host processor can be either a PC or an instrument The information presented in the following pages encompasses connecting the modems to PCs so that their operation can be verified and the acoustic link can be checked in air If an instrument is to be used as a host processor refer also to the documentation provided with the instru
29. Telemetry Modem Shown with power serial connector which is Omnidirectional LF Transducer used to input external power instead of using the internal battery pack and to connect to either an RS 232 or an RS 422 serial interface ATM 926 Acoustic Telemetry Modem The ATM 926 Acoustic Telemetry Modem which is shown in Figure 1 12 is externally powered only It is contained in a hard coat anodized aluminum housing and includes a built in omnidirectional or directional transducer The ATM 926 also includes a power serial connector The connector is used to input external power and to connect to either an RS 232 or an RS 422 serial interface Figure 1 12 The ATM 926 Acoustic Telemetry Modem Shown with Omnidirectional LF Transducer P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 1 17 1 Overview ATM 965 and ATM 964 Acoustic Telemetry Modems The ATM 965 Acoustic Telemetry Modem is shown in Figure 1 13 The ATM 965 is completely self contained and includes a modem battery pack and a built in omnidirectional or directional transducer The ATM 965 modem functions the same as all the other modems However the housing which is constructed of thick walled hard coat anodized aluminum is designed for deployment to full ocean depth The ATM 964 is similar to the ATM 965 but does Figure 1 13 The ATM 965 Acoustic not include a built in transducer Telemetry Modem Shown with Instead a 2 meter cable is Omnidirec
30. Transducer 3 No Connection Shield 1 MCDLSF LOCKING SLEEVE MCIL3F FACE VIEW ER 2 RED SHLD CUSTOMER SUPPLIED CONNECTIONS MCIL3F 2 COND W SHLD 3 3 DRAIN 5 NOTE COLORS ARE FOR REFERENCE ONLY BY PIN NUMBERS Figure 4 10 ATM 903 Transducer Cable Wiring Diagram User s Manual P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 4 19 DSP Board Connector The 900 ATM 903 Board Sets include an I O connector provides a CMOS interface that becomes serial port 2 when the P2Protocol configuration parameter is set to 1 CMOS When set to 0 RS 232 serial port 2 is an RS 232 interface and is available on J8 For information on how to connector J3 on the DSP board This mr o gt 10 91 8 I 6 5 4 set configuration parameters refer to N Wy Configuration System on page 5 53 For information on the P2Protocol configuration parameter and its available Figure 4 11 ATM 900 and settings refer to P2Protocol on ATM 903 l O Connector J3 page 8 18 The I O connector is also used Face View to input a one pulse per second 1PPS signal for driving the modem s real time clock Refer to Real Time Clock
31. Without this modifier the delay is 25 ms and is only relevant if the amount of data to be transmitted need to be broken into multiple 4 kbyte acoustic packets Optional w and w modifiers include or exclude respectively the lowpower wakeup signal Without these modifiers transmission of a lowpower wakeup signal is determined by the setting of the WakeTones configuration parameter The time is displayed in hours minutes seconds and thousandths of seconds Syntax xmittime m modspec w i interpacket delay ms bytes Privilege user Example 1 To calculate the time it will take to transmit 16 kbytes of data at an acoustic bit rate of 7 1200 bigts sec with an interpacket delay of 50 ms including the lowpower wakeup signal enter xmittime m7 w i50 16000 ATTNn The AGC Diagnostic command ATTNn enables or disables the display of the automatic gain control AGC output of the local modem where n 0 disables the display and n 1 enables the display The displayed values indicate the relative amount of background signal or noise present Low values indicate a strong received signal and high values a weak received signal The values are averages and range from 0 dB to 91 dB updated once a second Syntax ATTNn Privilege user Example To enable the display of the AGC output once per second of the local modem enter 1 5 Modem Operation Acoustic Test 5 100 User s Manual TELEDYNE BENTH
32. and for unalias refer to unalias on page 5 12 Command Syntax CLAM shell command descriptions use the Wirth Syntax Notation as follows command Plain text is literal option Optional file Optional repetition of zero or more value Text or numerical content A choice of a or b Grouping P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 11 Parser Commands The following parser commands are available alias unalias help hist setpriv strictat nostrictat alias The alias command creates an alias for a single command or for multiple commands in a command string One or more aliases can be created for any command They are typically used for the more frequently entered commands to reduce the number of entered characters Syntax Privilege Example 1 Example 2 5 Modem Operation alias lt alias gt lt cmd gt or alias lt alias gt lt cmd gt user To create the alias sf to set the privilege level to safe enter alias sf setpriv safe The alias sf can now be used instead of or in addition to the setpriv safe command To create an alias userat for the two concatenated commands setpriv user and strictat enter alias userat setpriv user strictat The alias userat can now be used instead of or in addition to the concatenated setpriv user and strictat commands The quotes are used to create an alias for the entire line and prevent the command c
33. clearkeys Privilege update Reference none compass The compass command enables characters entered on serial port 1 to be sent directly to a compass or other navigation device that is attached to serial port 2 In addition characters input on serial port 2 from the device are displayed To end either process enter Ctrl D or rapidly enter Syntax compass Privilege user Reference Navigation on page 5 84 6 Modem CLAM Shell Command Set 6 6 User s Manual TELEDYNE BENTHOS cp The cp copy command copies the contents of a specified source file to a destination file If the destination file does not exist it is automatically created Syntax cp src path dst path Privilege user Reference File System on page 5 39 date The date command sets or displays the current time and date It also provides sec and sec modifiers which can be used to add or to subtract one second from the current time to aid in synchronizing the real time clock Optional 12 and 24 modifiers are available for 12 hour and 24 hour time displays and a store modifier will store the time and date from a connected GPS to the real time clock chip Syntax date t hh mm ss d lt mm dd yyyy gt 12 24 store sec Privilege user Reference Real Time Clock on page 5 88 delkey The delkey command clears a feature key from the modem This command can only be used when running the diagnostic so
34. connector end cap for the external power and RS 232 422 connections The ATM 914 ATM 924 and ATM 964 Acoustic Telemetry Modems also include a TRANSDUCER connector on the top end cap for connecting to the supplied remote transducer A 2 meter cable is also supplied with the modem for this purpose P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 4 7 VENT PORTS N TOUCH SCREEN DISPLAY UNIVERSAL DECK BOX XDCR PWR AUX BREE m TELEDYNE BENTHOS COM 1 COM 2 ON OFF SWITCH 1 COM2 Figure 4 1 UDB 9400 Front Panel Operator Functions and Connectors Modem Operator Functions All the modems be controlled directly from the connected host processor including the keyboard of a PC if a PC is used as the host processor In addition for the UDB 9400 Universal Deck Box only operator functions are provided on a touch screen display that is mounted to the front panel The subsea modems have only one operator function an on off switch that powers up and powers down the modem UDB 9400 Universal Deck Box Operator Functions The operator functions for the UDB 9400 Universal Deck Box are shown in Figure 4 1 They include the following OFF ON switch Rocker switch turns the UDB 9400 on or off Touch screen display Displays data and enables operator input and control includes a built in speaker that provides 4 Setup and Test Modem Operator Functions 4 8 User s Manual
35. levels are available safe user update 5 Modem Operation Command Mode 5 10 User s Manual TELEDYNE BENTHOS The safe privilege level only allows the execution of AT commands as well as a very restricted set of CLAM shell commands such as setpriv help and hist It should be used to avoid unintentional entries The user privilege level is the default It allows entry of most commands and grants access to the file system commands The update privilege level should only be used when replacing or updating the modem boot loader The privilege level is set using the setpriv command For example entering setpriv safe assigns the safe privilege level The setpriv command can also be used to list the available privileges For more information on the setpriv command refer to setpriv on page 5 13 Command Aliases One or more aliases can be created for any command They are typically used for the more frequently entered commands to reduce the number of entered characters For example an alias of sf can be created for the setpriv command as follows alias sf setpriv safe The command from which the alias is created can still be used To remove the alias the unalias command can be used as in the following example unalias sf The alias command can also be used to display the current list of aliases and to display the command assigned to an alias For more information on the alias command refer to alias on page 5 11
36. m modspec w i interpacket delay ms bytes Privilege user Reference Acoustic Test on page 5 96 6 Modem CLAM Shell Command Set ATM 900 Series Acoustic Telemetry Modems 7 1 7 Modem AT Command Set This section provides descriptions of each of the available Teledyne Benthos ATM 900 Series Acoustic Telemetry Modem and UDB 9400 Universal Deck Box AT commands supported by the CLAM shell user interface and how to enter and use them The modem AT commands which are input to a modem from its host processor over the serial interface control the operation of the modem An understanding of the AT commands is important when integrating and operating the modems with other subsea instrument packages The modem AT commands are listed in Table 7 1 on page 7 2 Also listed in the table are the page references to where detailed descriptions of the commands are provided Some of the descriptions of the modem AT commands call out configuration parameters For a detailed description of the configuration parameters and how to set them refer to Section 8 Modem Configuration Parameters NOTE To enter commands the modem must be connected to a computer that is set up to run a terminal program such as ProComm Plus or Tera Term Refer to Setting Up the Modems on page 4 9 for instructions on how to connect the modem to a PC and to Setting up the Host Processor on page 4 21 for instructions on how to set up the PC as the local host
37. ree Se RC NUR CROP Qe 6 9 jj A PETERET 6 9 geteurt nt RM RE 6 9 DSO otio 6 10 6455 6 10 e pe wie 6 10 jre 6 10 PES Eus Sar Sos eura dri sar t ded 6 11 mdm battely oec EFE SEE 6 11 MKA I IET 6 11 ee ADR RE i e dig tou iua ee 6 11 eee es 6 12 In dr a Mire ech 6 12 NOSWClal swiss ese tae ess 6 12 Sar SERIE HH cso P ERE UE ERU RE 6 12 play Ee a de Ide lo ie 6 13 bee ee UP Qe Bra d e 6 13 WEN 6 13 FOIDIK usua tee ne CR a xL 6 13 usus aix etae E eA ca 6 14 rdidumpae cive Pe ee EP IDE A YE 6 14 ox RERUM Et a eat 6 14 FOUIS 6 15 eee eae awe a RR 6 15 i onc Uu e Eoex eR Rete Ra debate fe 6 15 FECONG eee owner e Ware MER exe gares 6 16 xvi TELEDYNE BENTHOS recordor ben 8 Slam Scott
38. sd path Syntax mount path 0 1 Privilege user Reference File System on page 5 39 mv The mv move command moves the specified file to one of a new name Syntax mv src path dst path Privilege user Reference File System on page 5 39 nostrictat The nostrictat command places the modem into a state that enables processing of both AT and CLAM shell commands Syntax nostrictat Privilege user Reference Command Mode on page 5 5 pinger The pinger command transmits a sine wave burst at a specified frequency pulse duration and repetition rate The frequency is in hertz and must be within the operating frequency band of the modem The pulse width range is 1 25 ms and the repetition range is 250 30000 ms Entering off turns off the pinger if it is on Syntax pinger lt freq gt width 1 25 ms rate 250 30000 5 off Privilege user Reference none P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 6 13 play The play command plays the contents of the specified file or files of the local modem by transmitting the passband signals on its transducer This command can only be used with the Waveform Play option Syntax play path lt path gt lt file gt Privilege user Reference Waveform Play Option on page 5 79 post The post command executes the Power On Self Test POST and displays the test pass or fail results This command can only be used w
39. 1 20 on page 1 24 Whenever possible this transducer should be selected Its transmit and receive beam patterns are that of a narrow cone hence it is a good choice when the depth and direction of the receiving modem is known and is stable and the transducer can be pointed at the receiving modem This transducer requires the least amount of power to produce the equivalent source level of an omnidirectional transducer and it provides the best protection against the effects of multipath 3 Deployment Considerations Remote Transducer Selection 3 2 TELEDYNE BENTHOS Modem Battery Pack AN User s Manual For the subsea modems that use a modem battery pack the capacity of the battery pack determines both the amount of data a modem can transmit and the modem s useful deployment life WARNING The installation of a battery pack that is not inspected or approved by Teledyne Benthos may cause destruction of the modem housing or electronics should the battery pack rupture leak outgas or improperly discharge Any of these conditions can cause a buildup of gas inside the housing which may result in an explosion and personal injury or death If it is suspected that a battery pack has discharged inside a housing move the modem to a safe location as quickly as possible Battery Pack Power Usage In the lowpower state where the modem is switched on but is inactive a very small amount of power a maximum of 16 8 mw is drawn from the modem ba
40. 16 Pin Pigtail Cable 2 Meter B 270 415 3 16 Pin Pigtail Cable 3 Meter B 270 415 5 16 Pin Pigtail Cable 5 Meter B 270 415 10 16 pin pigtail cable 10 Meter B 270 415 25 16 pin pigtail cable 25 Meter B 270 415 50 16 pin pigtail cable 50 Meter B 270 415 100 16 pin pigtail cable 100 Meter B 270 415 200 16 pin pigtail cable 200 Meter 7 Table 11 7 Upgrade Kits and Feature Keys PART NUMBER DESCRIPTION QTY PER UNIT B 270 503 SD Datalogger Upgrade Kit B 270 511 PSK Coprocessor Upgrade Kit K 270 B Dual Serial Port Feature Key K 270 M LBL Multi Receive Feature Key K 270 I Acoustic Recorder Feature Key K 270 W Waveform Play Feature Key Modem Part Number Designation The ATM 900 Series Acoustic Telemetry Modems use an identification number scheme that allows the model number to be used as the part number This method simplifies the ordering and support processes To designate the part number for a modem specification follow the legend shown in Figure 11 1 11 Modem Spares Accessories and Part Number Designator Modem Part Number Designation 11 4 TELEDYNE BENTHOS ATM A B C D E See NOTE below L B Dual Serial Port enabled D SD Data Logger added P PSK Coprocessor added M LBL Multi Receive I Acoustic Recorder W Waveform Play LF1 Low frequency 9 14 kHz omnidirectional transducer LF2 Low frequency 9 14 kHz direct
41. 4 kg 3 Ib Band C 2000 m 6560 ft MCBH16M ATM 964 Subsea Modem The ATM 964 Acoustic Telemetry Modem is a 6000 meter 19 680 ft depth rated subsea modem that includes an internal modem battery pack and connects to any of the remote transducers with a supplied 2 meter cable The modem can operate on its battery pack or on external DC power 2 Specifications ATM 926 Subsea Modem 2 8 Housing construction Dimensions Mounting Weight in air Weight in water Operating depth POWER SERIAL connector TRANSDUCER connector TELEDYNE BENTHOS Hard coat anodized aluminum Reference Drawing D 270 089 on page 10 10 316 stainless steel sidebar 16 8 kg 37 Ib 8 6 kg 19 Ib 6000 m 19 680 ft 16 MCBH3F ATM 965 Subsea Modem The ATM 965 Acoustic Telemetry Modem is a completely self contained 6000 meter 19 680 ft depth rated subsea modem with a built in omnidirectional or directional transducer and an internal modem battery pack The modem can operate on its battery pack or on external DC power User s Manual Housing construction Dimensions Mounting Weight in air Weight in water Operating depth POWER SERIAL Connector Hard coat anodized aluminum Reference Drawing D 270 056 on page 10 11 316 stainless steel sidebar 17 2 kg 38 Ib 16 8 kg 37 Ib 19 5 kg 43 Ib MF dir 16 8 kg 37 Ib Band C 9 1 kg 20 Ib LF omni 8 6 kg 19 Ib MF omni 10 0 kg 22 Ib
42. 64 Allen wrench remove the three socket head screws that attach the remote transducer connector end cap for an ATM 914 or ATM 924 Acoustic Telemetry Modem or the transducer end cap for an ATM 915 or ATM 925 Acoustic Telemetry Modem Carefully pull the end cap straight out from the housing If required rotate the end cap slightly while pulling When clear of the housing continue to pull the end cap out while pushing on the battery pack from the other end of the housing Pull the end cap out far enough to access the 5 pin power connector on the top of the circuit board 7T Disconnect the 5 pin power connector 8 Cut the wire tie with wire cutters and remove the 10 pin serial cable 11 12 User s Manual connector by first pressing down on the locking sleeve tab to unlock it then slide the locking sleeve along the wire harness out of the way grab the cable connector and gently pull to disconnect it Place the end cap assembly on a clean flat surface 10 Remove the battery pack by first pushing it out from the POWER SERIAL connector end cap end and then removing it from the opposite end Refer to Cleaning or Replacing an O ring on page 9 14 and clean or replace the O rings on both end caps Insert the new battery pack into the housing from the remote transducer connector end cap end for an ATM 924 Acoustic Telemetry Modem or from the transducer end cap end for an ATM 925 Acoustic Telemetry Modem P N M 270
43. 7 Command Line Shortcuts 5 7 Tab Completion oce qux toe eae RE E Ie a 5 8 Command Prompis 5 8 SIEGE AT Solo ae aaa Bx rue E nC 5 9 Command Numbers and 5 9 Privilege Levels 5 9 Command Aliases vesica CR e Rn 5 10 Command Syntax sos sr 5 10 Parser 6 5 5 22 55 4 d 5 11 ieu 5 11 qe m 5 12 jw Gia ee Bie oe ee Sioa 5 12 ve sea le eee em ee aoe See 5 13 s ae Lure RU E tee p E anata 5 13 Strictat eib 5 14 s gane tne ee Gs oe ERIS ERR qa pou 5 14 User s Manual P N M 270 26 Rev D Acoustic Telemetry Modems xi Datalogger Mode 5 15 6 MB Internal Memory 5 16 SDHC Card Memory and Formatting 5 16 Record ev esa ch puro RR EUR EUR ees 5 17 Search and Retrieval 5 17 Data Logger Commands 5 18 uq uS eU etia whe Seu OOD
44. 70 seconds While the contents of the local modem s data logger are being cleared the local modem will not accept any input over the serial interface or over the acoustic link f the ATBC command is used to clear a large amount of data stored to the optional SDHC card the card should be removed and reformatted on a PC after clearing For instructions on how to change the SDHC card refer to Changing the SDHC Card on page 9 11 7 Modem AT Command Set 7 58 TELEDYNE BENTHOS Local Bytes Stored ATBN User s Manual Syntax ATBN Enter Definition The Local Bytes Stored command causes the local modem to display the number of bytes of data stored in its data logger NOTE For the local modem to execute entered commands the modem must be in Command mode with the command prompt displayed If the modem is not in Command mode refer to page 5 6 for instructions on how to place the modem into Command mode Use of the d11ist command instead of the Local Bytes Stored command is recommended as the number of records and a time stamp of the first and last record is included How to Use To use the Local Bytes Stored command type ATBN and then press Enter The local modem will display the number of bytes of data stored in its data logger P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 7 59 Output Local Data Logger ATBT Syntax ATBT Enter Definition The Output Local Data Logger command cause
45. 81 77 81 77 82 77 81 77 81 77 82 77 81 77 81 77 81 77 81 77 81 77 81 77 81 77 81 77 81 77 82 78 81 77 81 77 81 77 81 77 81 77 81 78 81 77 81 77 81 78 81 77 81 78 81 76 81 77 81 77 81 77 81 77 81 77 81 78 81 77 81 77 81 78 81 77 81 77 81 77 81 77 81 77 81 78 81 77 81 77 81 77 81 77 81 78 81 78 81 77 81 78 81 77 81 78 81 78 81 77 81 77 81 78 81 77 81 77 81 77 81 7 69 78 78 77 77 77 77 77 77 77 Figure 7 5 Output Diagnostic Command and Resulting Display for an ATM 900 Series Acoustic Telemetry Modem 7 Modem AT Command Set 7 70 TELEDYNE 5 Diagnostic Disable ATT1 User s Manual Syntax ATT1 Enter Definition The AGC Diagnostic Disable command disables the display of the minimum and maximum automatic gain control AGC outputs of the local modem NOTE For the local modem to execute entered commands the modem must be in Command mode with the command prompt displayed If the modem is not in Command mode refer to page 5 6 for instructions on how to place the modem into Command mode How to Use To use the AGC Diagnostic disable command type ATT1 and then press Enter The local modem will disable the display of its output P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 7 71 Release Status Syntax AT Tn Enter Definition AT Tn The Release Status command causes a SMART R
46. A 5 18 ui eet do xod sm E 5 21 OCS Per CP 5 22 TONG co I N 5 22 antic EUER DES MAE 5 23 llo 5 23 IIdulliD ue erar RECS ES 5 24 deam xm RERO RR SORTANT 5 25 CURE S RENE Te RR 5 25 RS EE LV ONS ES OUR Se 5 26 ek ond RO CR 5 26 ATBG x nemen ada Meee s ele eng EL 5 26 BTS BCR Sea weer uae Pade eee ee 5 27 ATSBEH sse es 5 27 BISBDA ens es teed wed 5 27 Dual Serial Port Option 5 28 InputMode Configuration Parameter 5 29 Dual Serial Port Data Logging 5 29 Dual Online Mode 2l eI rr rex 5 30 TPortMode Configuration Parameter 5 31 TportModezlnpMode 5 31 5 32 SrcP1 and SrcP2 Configuration Parameters 5 32 Dst1 Dst2 Dst3 and Dst4 Configuration Parameters 5 32 Flow CORIFOL mae ete e eL noce esas 5 32 Default Transport Addressing 5 33 Default T
47. ATM 900 Series Acoustic Telemetry Modems 7 77 Broadband Chirp Interrogate ATNL Syntax ATNL Enter Definition The Broadband Chirp Interrogate command causes the local modem to display the two way travel times from the modem to all remote modem transponders from which it receives replies The local modem transmits a broadband chirp interrogation pulse and then begins listening for tonal replies It will listen for the replies for the period set by the AcRspTmOut configuration parameter and display the two way travel times with the 600 ms turn around time removed to each transponder from which it receives a reply along with the detect values and signal to noise ratios of the received signals After this period the modem will go back into Command mode NOTE For the local modem to execute entered commands the modem must be in Command mode with the command prompt displayed If the modem is not in Command mode refer to page 5 6 for instructions on how to place the modem into Command mode How to Use To use the Broadband Chirp Interrogate command type ATNL and then press Enter The two way travel times in milliseconds from the modem to the remote modem transponders are displayed along with the detect values and signal to noise ratios of the received signals 7 Modem AT Command Set 7 78 TELEDYNE 5 Compass and Tilt ATRCn User s Manual Syntax ATRCn Enter Definition The Compass and Ti
48. AcRspTmOut configuration parameter If a reply is not received Response Not Received will be displayed 7 Modem AT Command Set 7 82 TELEDYNE BENTHOS Compass ATRCHn User s Manual Syntax ATRCHnh Enter Definition The Compass command displays the range and the high resolution compass heading of the remote modem at address n The displayed range is in meters with a resolution of 0 1 meters The compass heading is in degrees with a resolution of 0 1 degree All data are displayed in accordance with the Verbose configuration parameter as listed below Output format Verbose 0 and 1 Compass heading Range local address to remote address range m Output format Verbose 2 Compass heading Range local address to remote address range m speed relative speed m s Output format Verbose 3 TX time hh mm ss nnnn RX time hh mm ss nnnn Compass heading Range local address gt to remote address range m Round trip range ms speed relative speed m s For Verbose 3 hh is hours mm is minutes ss is seconds and nnnn is tenths of milliseconds How to Use To use the Compass command type ATRCH followed by the address of the remote modem and then press Enter The modem will respond by displaying the high resolution compass heading and tilt in degrees of the remote modem and the range in meters to the remote modem The information is transmitted to the lo
49. BUOY INSTRUMENT 1 a ATM 925 or ATM 965 7 1 IIO XE Figure 1 3 Data Acquisition and RF Link to Remote Station User s Manual P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 1 5 instruments over their RS 232 or RS 422 serial interfaces and either immediately transmit the data to a receiving modem or store the data for transmission at a later time The data are transmitted to a single ATM 926 Acoustic Telemetry Modem that is connected to an ATM 980 Buoy Box installed on a surface buoy The ATM 926 outputs the received data over its RS 422 serial interface to the buoy box and the buoy box can optionally transmit the data over an HF link such as a cellular phone or satellite or output the data to an onboard processor Use of modems in this application eliminates the need to install expensive electrical cable between a deployed instrument and a surface buoy and is especially useful when multiple instruments that are deployed within the same area must communicate by way of the same RF channel In a similar application a UDB 9400 Universal Deck Box can be used to retrieve data that have been collected by multiple deployed instruments over a period of time and stored by the modems This setup is illustrated in Figure 1 5 The data stored by the modems are periodically retrieved UDB 9400 _ INSTRUMENT 1 925 965 al Figure 1 4 Periodic Acquisition of Stor
50. Board Set Shown with A number of factory installed Omnidirectional LF Transducer optional features are available for most of the ATM 900 Series Acoustic Telemetry Modems and UDB 9400 Universal Deck Boxes One or more of these features can be ordered Dual Serial Port The Dual Serial Port option is a firmware only feature that is available for ATM 900 Series Acoustic Telemetry Modems and is already included in all UDB 9400 Universal Deck Boxes This feature allows two instruments to be connected to the modem for the purpose of transmitting the data to a remote modem or storing the data in the modem s data logger memory Although all the modems include two serial ports the Dual Serial Port feature requires the purchase and installation of a feature key to enable it To order the Dual Serial Port feature add a B at the end of the modem part number SD Datalogger The SD Datalogger option expands the available datalogger storage by adding a 4 GB secure digital high capacity SDHC card and its carrier board to the modem This feature is available only with modems with internal battery packs and with the modem board sets When ordered with a modem board set a longer chassis is used To order the SD datalogger feature add a D at the end of the modem part number PSK Coprocessor The PSK Coprocessor option adds a coprocessor to the modem enabling it to receive PSK modulated data over the acoustic P N M 270 26 Rev D ATM 900 Series
51. D ATM 900 Series Acoustic Telemetry Modems 5 47 mkdir The mkdir make directory command creates a directory of a specified name Syntax Privilege Example 1 Example 2 mv mkdir lt path gt lt dir gt user To make the directory named datafiles in the root directory enter mkdir datafiles To make the directory named logfiles in the flash file system enter mkdir ffs logfiles The mv move command moves the specified file to one of a new name Syntax Privilege Example 1 Example 2 rm mv src path dst path user To move the file named mydatafile2 in the root directory to a file named mydatafile3 enter mv mydatafile2 mydatafile3 To move the file named mylogfile1 in the flash file system to a file named mylogfile2 enter mv ffs mylogfilel ffs mylogfile2 The rm remove file command removes the specified file Syntax Privilege Example 1 Example 2 5 Modem Operation rm lt path gt lt file gt user To remove the file named mydatafile1 in the root directory enter rm mydatafilel To remove the file named mylogfile2 from the flash file system enter rm ffs mylogfile2 File System 5 48 rmdir TELEDYNE BENTHOS The rmdir remove directory command removes the specified directory The directory cannot have any files devices or subdirectories If it does they must be removed first Syntax Privilege Example 1
52. Example 2 chown rmdir lt path gt lt dir gt user To remove the directory named datafiles in the root directory enter rmdir datafiles To remove the directory named logfiles from the flash file system enter rmdir ffs logfiles The chown command changes the privilege level of a file Syntax Privilege Example chmod chown safe user update factory diag sys path user To change the privilege level of the file named mydatafile1 in the root directory to safe enter chown safe mydatafilel The chmod command changes the permission properties of a file The file must be at or below the command privilege level For a list of permission properties and their definitions refer to File Attributes on page 5 40 Syntax Privilege Example User s Manual chmod rwx path user To change the permission properties of the file named mydatafile1 in the root directory such that it can be read from but not written to or deleted enter chmod r w mydatafilel P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 49 echo The echo command echos back entered text following the command To preserve case enclose entered text in quotes An optional n modifier will cause the carriage return and line feed to be supressed The text can also be redirected to a file and saved to the file by using gt followed by a space and a file name The contents of the file wi
53. Figure 5 3 on page 5 55 are the available settings for the TxPower configuration parameter Syntax parameter name gt lt value gt Privilege user Example 1 set the TxPower configuration parameter to 15 db using the enumerated value 3 enter txpower 3 Example 2 set the TxPower configuration parameter 15 db without using the enumerated value enter txpower 15db cfg load The cfg load command imports a specified configuration file or if no file is specified it loads the configuration parameters from the standard ini file This command can be used to configure the modem from any number of previously saved configuration files or from the standard ini file Syntax cfg load lt file gt Privilege user Example 1 To load the configuration file named newstandard1 from the flash file system enter cfg load ffs newstandard1 Example 2 To load the standard ini file enter cfg load To save the modem configuration to the standard ini file enter cfg store P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 59 cfg store The store command exports the current modem configuration to a specified configuration file or if no file is specified it saves the current modem configuration to the standard ini file This command can be used to create any number of configuration files that can be used to configure the modem or to export to a computer for configuring other modems The cu
54. For information on how to contact Teledyne Benthos refer to Customer Service on page vi Remote Transducers The remote transducers consist of two types Remote Omnidirectional Transducer An omnidirectional transducer that is available in either the low frequency LF the medium frequency MF or the Band C band Remote Directional Transducer A directional transducer that is available in either the low frequency LF or medium frequency MF band Remote Omnidirectional Transducer The remote omnidirectional transducer is available in three frequency bands 9 14 kHz LF 16 21 kHz MF and 22 27 kHz Band C The omnidirectional transducer provides toroidal transmit and receive beam patterns It is best used in both deep and shallow water applications where the direction of the receiving transducer is not known or is not fixed However because of its toroidal beam pattern the directivity index is relatively small and the multipath is more severe than a directional transducer with the same input power level as the energy is more widely distributed The remote omnidirectional transducer s typical vertical beam pattern for both the LF and MF versions are shown in Figure 1 19 and for Band C in Figure 1 20 Remote Directional Transducer The remote directional transducer is available in two frequency bands 9 14 kHz LF and 16 21 kHz MF Whenever possible the remote directional transducer should be used as it provides conica
55. FwdDelay configuration parameter is from 0 05 to 5 seconds in 50 millisecond increments Special Considerations When setting FwdDelay configuration parameter take note of the following The transmission efficiency is improved if the 4 kbyte transmit data buffer is allowed to fill before transmitting the data P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 8 47 LocalAddr Default Setting 0 The address of the modem is O Definition The setting of the LocalAddr configuration parameter determines the address of the modem Available Settings The range of settings for the LocalAddr configuration parameter is from 010 249 This provides a total of 250 unique addresses Special Considerations When setting the LocalAddr configuration parameter take note of the following The LocalAddr configuration parameter cannot be changed remotely over the acoustic link therefore it is important that the correct address be set prior to deploying the modem The same address be used for more than one modem however this may not be desirable in some situations 8 Modem Configuration Parameters 8 48 User s Manual TELEDYNE BENTHOS RemoteAddr Default Setting 0 The address of the remote modem that the local modem is online with is 0 Definition The setting of the RemoteAddr configuration parameter is the address of the remote modem that the local modem is online with when the local modem is pow
56. LogMode Therefore a record might be generated before the specified forwarding delay character count or sentinel character is received Dual Online Mode When the modem is in Online mode with InputMode Dual data can be input to either serial port 1 or serial port 2 or both for transmission over the acoustic link to a remote modem The data packets generated from data that are input to either serial port are kept separate and are transmitted in turn When the modem goes into Online mode with 2InputMode Dual the message CONNECT nnnnn bits sec will be displayed on both serial ports where is the acoustic bit rate For this message to be displayed the Verbose configuration parameter must be set to 1 or higher At this point data can be input to either serial port When characters cease to be input for the amount of time configured by the setting of the FwdDelay configuration parameter the packet containing the characters entered up to that point will be transmitted The packets for each serial port are kept separate so there is no interleaving of characters even if data are input to both serial ports simultaneously The packets will be transmitted in the order in which they are received NOTE Messages requiring a high Verbose configuration parameter setting such as Forwarding delay up and full packet will be output on serial port 1 regardless of which serial port the data triggering the message was input to Entering t
57. Multi Receive option installed can be configured as a remote modem transponder However the TAT configuration parameter is not used for broadband triggered LBL responses and is set to a fixed delay of 600 ms from the start of the broadcast chirp to the start of the reply Configuring the modem as a remote modem transponder requires the following configuration parameters to be correctly set RespFreq The RespFreq configuration parameter sets the reply frequency of the modem The frequency should be set to an integer value in hertz in 250 Hz increments that is within the frequency band of the modem The default setting is modem model specific TxToneDur The TxToneDur configuration parameter sets the transmit pulse width of the modem The available settings are 0 for 12 5 ms 1 for 6 25 ms and from 5 to 15 in integer increments for a transmit pulse width of 5 msto 15 ms in 1 ms increments The TxToneDur setting should be the same as the interrogating modem s receive pulse width The default setting is 10 for 10 ms LBLmode The LBLmode configuration parameter setting enables or disables the modem as a remote modem transponder A setting of Tone causes the modem to reply to a broadband chirp transmission after a fixed 600 ms turn around time A setting of Listen causes the modem to passively listen for the broadband chirp transmissions from an interrogating modem and the replies from the remote modem transponders A setting of Off disables the mod
58. OpMode Online which ensures the modem will remain online if the modem is awakened from the lowpower state Setting OpMode Online From Command mode only setting OpMode Online will cause the modem to go into Online mode and to go online with the remote modem whose address is the setting of its RemoteAddr configuration parameter Setting OpMode Online also ensures the modem will remain online if power is cycled or the modem is awakened from the lowpower state Cycling power OpMode Online If OpMode Online and cfg store is used to save the configuration parameter settings powering down the modem and then powering up the modem will place it into Online mode and the modem will be online with the remote modem whose address is the setting of its RemoteAddr configuration parameter P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 8 AN Receiving a Dial command ATDn from a remote modem If the modem receives a Dial command from a remote modem the modem will go into Online mode and go online with the remote modem Transmit Data Buffers Each modem includes eight internal 4 kbyte transmit data buffers for a total buffer size of 32 kbytes This allows data that are input to the modem over the serial interface to be organized into eight 4 kbytes packets After a transmit data buffer has filled the modem will immediately transmit the entire data packet If data are input to the modem but the transmit data buffer does not
59. Prompt setting 7 CMWakeHib Compact modem wakeup period CMFastWake Fast compact modem wakeup scheme enable disable MinOpVolt The voltage below which the modem brown out function will activate COPROC CPBoard User s Manual Coprocessor board presence P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems Table 8 1 ATM 900 Series Acoustic Telemetry Modem and UDB 9400 Universal Deck Box Configuration Parameters Description Factory Default S Register RECORDER RecMode Acoustic Recorder start and stop Manual NameFormat File name format for the files containing the data recorded by the Acoustic Recorder DDHHMMSS DATALOG AcData Output or store received data 0 UART AcStats Store received data and time stamps 0 Off RingBuf Data storage mode Dis LogMode Data storage method 0 FwaDelay Sentinel Character for data partitioning 0 ChrCount Character count for data partitioning 1024 LogStore Data logger memory 0 Internal MODEM DataRetry Number of times a data packet is retransmitted AcRspTmOut Modem acoustic response timeout 7 5 OpMode Modem operating mode 1 Online DevEnable Device enable performance 0 Auto FwdDelay Modem forwarding delay 3 0 LocalAddr Local modem a
60. Read Register command causes the local modem to display the setting of its S Register n or if the S Register number is not specified the settings of all its S Registers NOTE S Registers are available for backward compatibility as they perform many of the same functions as those of the configuration parameters Changing the setting of a configuration parameter will automatically change the setting of its equivalent S Register if there is one The reverse is also true However only a limited set of configuration parameters can be accessed with S Registers Therefore using the configuration parameters instead of the S Registers is highly recommended NOTE For the local modem to execute entered commands the modem must be in Command mode with the command prompt displayed If the modem is not in Command mode refer to page 5 6 for instructions on how to place the modem into Command mode How to Use To use the Read Register command type ATS and the number of the S Register that is to be read followed by a question mark Or type ATS to read the first 21 S Registers and then press Enter The local modem will display its S Register setting or settings An example that uses the Read Register command is shown in Figure 7 2 where all the S Register settings were displayed by entering ATS Special Considerations The S Register settings can be interpreted from Table 8 1 on page 8 2 which includes page references to where detailed descr
61. Reserved User s Manual P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 8 5 Table 8 1 ATM 900 Series Acoustic Telemetry Modem and UDB 9400 Universal Deck Box Configuration Parameters Description Factory Default S Register TEST SimAcDly Simulated acoustic delay PktEcho Test message display enable disable PktSize Test message size RcvAII Receive all data enable disable XPND RxFreq Modem receive frequency RxThresh Detected signal standard deviation 10 RxToneDur Modem receive pulse width 10 RxLockout Modem lockout time 15 TxToneDur Modem transmit pulse width 10 TAT Transponder turn around time 0 LBLmode Modem transponder enable Off RspFreq Modem reply frequency Model specific NAV Latitude Latitude of modem location 41 638246 Longitude Longitude of modem location 70 6090376 GPSAIt Altitude of modem with respect to sea level 0 Altitude Altitude of modem above the sea floor Depth Depth of modem Compass Heading of modem mounting platform Pitch 8 Modem Configuration Parameters Pitch of modem mounting platform 8 6 User s Manual TELEDYNE BENTHOS Table 8 1 ATM 900 Series Acoustic Telemetry Modem and UDB 9400 Universal Deck Box Configuration Parameters
62. StartTones configuration parameter determines whether the modem transducer will beep when the modem is powered up or rebooted Available Settings There are two available settings for the StartTones configuration parameter as listed below Ena On power up or when rebooted the modem transducer will beep four times in rapid secession Dis The modem transducer will not beep when the modem is powered up or rebooted P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 8 51 TxRate Default Setting 5 800 The transmitting acoustic bit rate of the modem is 800 bits second with rate 1 2 convolutional coding and 12 5 ms multipath guard period Definition The setting of the TxRate configuration parameter determines the transmitting acoustic bit rate the modulation technique MFSK or PSK and whether any one or more of the three methods for increased reliability are used which are data redundancy convolutional coding and multipath guard period NOTE The setting of the TxRate configuration parameter determines the transmitting acoustic bit rate only The receiving modem will receive data and commands from the transmitting modem regardless of the bit rate of the transmitting modem Therefore the bit rates can be different in each direction for an asymmetrical acoustic link Only a UDB 9400 Universal Deck Box however can receive the bit rates of settings 9 13 below Available Settings The range of settings for the Tx
63. TELEDYNE BENTHOS The local modem be awakened by input either from its host processor over the serial interface or from a remote modem over the acoustic link When awakened the modem will go into the operating mode determined by the setting of the OpMode configuration parameter When the modem is in the lowpower state the Device Enable output is turned off Refer to Device Enable on page 5 94 for information on the Device Enable output P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 7 43 Local Device Enable ATTDm p ATTDm p Enter Definition Sets or clears the Device Enable output of serial port p of the local modem If p is left out serial port 1 is assumed The Device Enable output can also be set or cleared both as described in Acoustic Recorder Option on page 5 71 and with the Local Device Enable command by setting DevEnable Auto which is its default setting To set or clear the Device Enable output only with the Local Device Enable command the DevEnable configuration parameter must be set to 3 Manual The settings for m are 0 and 1 as follows 0 Clear Device Enable output high impedance 1 Set Device Enable output low impedance The settings for p are 1 and 2 as follows 1 Serial port 1 2 Serial port 2 NOTE For the local modem to execute entered commands the modem must be in Command mode with the command prompt displayed If the modem is not in Command mode refer
64. TELEDYNE BENTHOS CMFastWake Default Setting Ena The fast wakeup scheme for waking up a compact modem is enabled Definition The setting of the CMFastWake configuration parameter determines whether the slow wakeup scheme is used to wake up a compact modem or the fast wakeup scheme The slow wakeup scheme is implemented in all UDB 9400 Universal Deck Boxes in standard modems of all firmware versions and in Compact Modems with firmware versions prior to 1 2 7 only The fast wakeup scheme is implemented in UDB 9400 Universal Deck Boxes with firmware versions 1 9 9 and higher in standard modems with firmware versions 6 9 4 and higher and in Compact Modems with firmware versions 1 2 7 and higher This provides backwards compatibility with those compact modems that use the slow wakeup scheme Table 8 3 summarizes which firmware versions provide which wakeup scheme for the deck box and modems Table 8 3 UDB 9400 Universal Deck Box Standard Modem and Compact Modem Firmware Versions Versus Slow and Fast Wakeup Schemes PRODUCT AND FIRMWARE VERSION UDB 9400 Universal Deck Box prior to 1 9 9 UDB 9400 Universal Deck Box 1 9 9 and higher Standard modem prior to 6 9 4 Standard modem 6 9 4 and higher Compact Modem prior to 1 2 7 Compact Modem 1 2 7 and higher Available Settings The available settings for CMFastWake configuration parameter are listed below Ena Enables the fast wakeup sch
65. Transponder reply detections di Internally generated diagnostic information mmp Data received as an MMP message dev Data entered using the dev log device Multiple flag types may be joined with amp Not specifying a flag will include all flags In addition an optional i modifier will cause metadata to be displayed for each record along with the record itself The metadata is composed of the record number the time stamp the file size in bytes and the flags for each record An optional x modifier specifies that the data are to be displayed as ASCII hexadecimal values otherwise as ASCII text Each record in the data logger has a record number associated with it where the first record is record number 0 Therefore for example the fifth record is record number 4 the sixth record number 5 and so on Negative record numbers are also used Negative record numbers specify records from the last record in the data logger For example record number 1 is the last record record number 2 is the second from the last record number 5 is the fifth record from the last and so on The CLAM shell command parameters determine which search criteria are to be applied and whether metadata is to be provided for each record displayed The command parameters are the following i Metadata X Display data as ASCII hexadecimal values recno Record number time Timestamp numrec Record number step Record step flags Flags All Extracts and
66. a mounting system made from rubber plastic composite or a non metallic material Also if at all possible mount the modem using the attached sidebar which is made of stainless steel Mounting the modem directly to a metallic surface especially if it is made of a dissimilar metal will cause premature corrosion and failure of the housing For information on the housing and sidebar material contact Teledyne Benthos For information on how to contact Teledyne Benthos refer to Customer Service on page vi O Ring Inspection When deploying a subsea modem that has not been opened since being sealed at the factory no O ring maintenance is required However if a subsea modem has been opened the O ring should be carefully inspected and if necessary replaced Refer to Cleaning or Replacing an O ring on page 9 14 for instructions on how to clean or replace an O ring 3 Deployment Considerations Typical Deployment Configurations ATM 900 Series Acoustic Telemetry Modems 4 1 4 Setup and Test This section provides instructions on how to unpack and set up the Teledyne Benthos ATM 900 Series Acoustic Telemetry Modems and the UDB 9400 Universal Deck Box NOTE For instructions on how to set up the SR 50 and SR 100 SMART Releases and the SM 975 SMART Modem refer to their respective user s manual Unpacking and Inspection The acoustic telemetry modems their associated components and this manual are carefully packed in sealed bo
67. and the UDB 9400 Universal Deck Box include a temperature compensated real time clock for the time and date When the modem is powered on the clock uses the modem batteries or external power to keep time and when powered off the modem uses a backup lithium coin cell Clock accuracy 1 minute year or 2 PPM 0 to 40 C 4 minute year or 7 5 PPM 40 85 C Coin cell life 1 4 years min 2 years typ 2 Specifications Real Time Clock 2 4 TELEDYNE BENTHOS ATM 914 Subsea Modem The ATM 914 Acoustic Telemetry Modem is a 500 meter 1640 ft depth rated subsea modem that includes an internal modem battery pack and connects to any of the remote transducers with a supplied 2 meter cable The modem can operate on its battery pack or on external DC power NOTE The default power level setting for the ATM 914 Acoustic Telemetry Modems is 6 These modems can be operated at that level indefinitely However due to excessive heat that can quickly build up in the PVC housing during continuous transmissions operation at higher power levels should be limited Refer to TxPower on page 8 53 for more information Housing construction PVC Dimensions Reference Drawing B 270 437 on page 10 4 Mounting 316 stainless steel sidebar Weight in air 9 1 kg 20 Ib Weight in water 2 7 kg 6 Ib Operating depth 500 m 1640 ft POWER SERIAL connector 16 TRANSDUCER connector ATM 915 Subsea Modem The ATM
68. as a guide for adjusting the power level and acoustic bit rates based on the AGC value CCERR Corrected Channel Error Metric 0 14 NOTE For the local modem to execute entered commands the modem must be in Command mode with the command prompt displayed If the modem is not in Command mode refer to page 5 6 for instructions on how to place the modem into Command mode How to Use To use the Multiple Bit Rate Test command type ATY followed by the address of the remote modem and then press Enter The remote modem will transmit the 256 byte preset test message at each of the different acoustic bit rates and the local modem will display the received data statistics described above In addition depending on the setting of the PktSize and PktEcho configuration parameters the local modem will display the preset test message which consists of the alphanumeric ASCII character set WARNING The ATYn command sets the RemoteAddr configuration parameter of the remote modem to the address of the local modem If the remote modem will later be used in Online mode then its RemoteAddr configuration parameter may need to be set back to the setting it was before the ATYn command was sent to it To display the setting of the RemoteAddr configuration parameter of the remote modem before using the ATYn command enter n ORemoteAddr where n is the address of the remote modem To return the setting to its original value after using the ATYn command ente
69. can be saved to the standard ini file by entering c g store When saving changes to the standard ini file a backup file standard bak is automatically created of the old standard ini file 5 Modem Operation Configuration System 5 54 User s Manual TELEDYNE BENTHOS Factcfg ini File The factcfg ini file stores the factory configuration parameter settings The configuration parameters in this file cannot be deleted or changed except by factory trained personnel The configuration parameters can be set to the factory settings at any time by entering factory reset Then they be saved to the standard ini file by entering c g store If requested the factcfg ini file can be used to configure a modem to a user s specific requirements before shipping it Configuration Parameter Sections There are 10 configuration parameter sections in the standard ini and factcfg ini files each containing a group of related configuration parameters Version Serial System Coproc Recorder Datalog Modem Release Transport Test Xpnd Nav Entering will display the list of these sections To display a list of the configuration parameters in a specific section enter followed by the section name For example to display a list of the configuration parameters in the Modem section enter emodem The parameters are displayed as shown in Figure 5 3 P N M 270 26 Rev D ATM 900 Series Acoustic Telemet
70. command ATL causes the local modem to go into the lowpower state Syntax ATL Privilege user Example To cause the local modem to go into the lowpower state enter ATL 5 Modem Operation Lowpower State 5 38 User s Manual TELEDYNE BENTHOS ATH The Hang Up command ATH causes all the remote modems to go into the lowpower state This command is a global command Syntax ATH Privilege user Example To cause all the remote modems to go into the lowpower state enter ATH P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 39 File System A modem includes a file system for the storage of files and the mounting of devices All file references are from the root directory which is denoted with a single forward slash on the command line The root directory is RAM based therefore the directories and files in it are not saved when the modem is powered down Additional devices and files are attached to the file system by mounting them so that they appear as subdirectories under the root directory There are several mount points available some by default and some depending on the presence of other devices Three of them are described below Flash File System The flash file system ffs mount point is the flash file system It provides non volatile storage in the internal flash memory of the modem Files stored in this area will be preserved following a system reset External SDHC Card The external S
71. configuration parameter which sets the threshold for all the frequencies The adjustment range is from 1 00 to 1 00 in 0 01 increments for each frequency where a negative value decreases the sensitivity anda positive value increases it A value of 1 00 effectively sets an infinite threshold filtering the frequency out and a value of 1 00 sets the threshold to 10 standard deviations the highest sensitivity A setting of 0 00 leaves the threshold unchanged from that of the RxThresh configuration parameter setting Every value between 1 00 and 1 00 sets the threshold for that frequency along a curve from 256 sigmas minimum sensitivity down to 10 sigmas maximum sensitivity passing through the RxThresh value at 0 0 Thresholds for all frequencies within the frequency band of the modem can be adjusted Syntax rxadj lt freq_kHz gt adjustment reset save Privilege user Example 1 list the receive threshold adjustments for all the frequencies enter rxadj The receive threshold adjustments are listed as shown in Figure 5 4 Example 2 To adjust the receive threshold for the 10 5 kHz frequency to 0 2 enter rxadj 10 5 2 Example 3 reset all the receive threshold adjustments to 0 00 enter rxadj reset Example 4 save all the receive thresholds rxadj save The thresholds are save to file named in the flash file system and they remain in effect even after cycling power to the modem
72. current user level 5 Modem Operation Configuration System 5 56 TELEDYNE BENTHOS Tab Completion for Configuration System Tab completion is available for configuration system commands section names and configuration parameter settings To use tab completion enter the character followed by the first character of the entry and then press Tab Tab completion will complete the entry or provide a list of possible matches as a guide for entering additional characters To complete the setting after entering the character enter the first character of the setting and then press Tab Again tab completion will complete the entry or provide a list of possible matches as a guide for entering additional characters Configuration System Commands The following configuration system commands are available 0 cfg all lt section gt lt parameter name gt lt parameter gt lt value gt cfg load lt file gt cfg store lt file gt factory reset lt address gt parameter name gt lt value gt lt address gt cfg store The command lists all of the configuration parameter sections Syntax Privilege user Example To list all of the configuration parameter sections enter User s Manual P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 57 cfg all The 11 command lists all of the configuration parameter sections along with the configuration p
73. file Syntax lt address gt cfg store Privilege user Example To save the current modem configuration of the remote modem at address 5 to its standard ini file enter 5 cfg store P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 61 Transponder Operation A modem can be used to acquire and display the two way sound travel time to any Teledyne Benthos manufactured acoustic transponder or release or to any transponder or release that replies within the frequency band of the modem This time is acquired by using the Transpond ATNm command which causes the modem to transmit an interrogation pulse of frequency m After a specified lockout time the modem will listen for a reply from the transponder The time from the start of the interrogation pulse to that of detecting the reply less the turn around time of the transponder is the two way travel time Required Configuration Parameter Settings The Transpond ATNm command requires that the following configuration parameters be correctly set for an accurate two way travel time measurement TxToneDur The TxToneDur configuration parameter sets the transmit pulse width of the modem The available settings are 0 for 12 5 ms 1 for 6 25 ms and from 5 to 15 in integer increments for a transmit pulse width of 5 msto 15 ms in 1 ms increments The TxToneDur setting should be the same as the transponder s receive pulse width The default setting is 10 for 10 ms RxTon
74. file system enter cat 2 10 ffs mylogfilel To display only the 20th line of the contents of the file named mylogfile1 in the flash file system enter cat 120 ffs mylogfilel To display the 20th line through the last line of the contents of the file named mylogfile1 in the flash file system enter cat 120 ffs mylogfilel To display only the 50th through the 100th character of the contents of the file named mylogfile1 in the flash file system enter cat 50 100 ffs mylogfilel To write the text My modem data and save it to the file named mydatafile2 in the root directory enter cat mydatafile2 Next enter My modem data Then enter Ctrl D The cp copy command copies the contents of a specified source file to a destination file If the destination file does not exist it is automatically created 5 Modem Operation Syntax Privilege Example 1 Example 2 cp lt src path gt lt dst path gt user To copy the contents of the file named mydatafile1 in the root directory to the file named mydatafile2 in the root directory enter cp mydatafilel mydatafile2 To copy the contents of the file named mydatafile1 in the root directory to the file named mylogfile1 in the flash file system enter cp mydatafilel ffs mylogfilel File System 5 46 User s Manual TELEDYNE BENTHOS df disk free command displays the file system usage in bytes for the spec
75. fill the modem will transmit the partial data packet after a preset time called the forwarding delay The forwarding delay is determined by the setting of the FwdDelay configuration parameter and ranges from 50 milliseconds to 5 seconds in 50 millisecond intervals WARNING If the Online Interrupt command is entered to place the modem into Command mode while data remains in a partially filled 4 kbyte transmit data buffer the data will not be transmitted and the buffer will be cleared Refer to Online Interrupt on page 7 6 for information on the Online Interrupt command While data are being transmitted from a 4 kbyte transmit data buffer data can continue to be input to the modem over the serial interface filling the additional 4 kbyte transmit data buffers Since the serial interface baud rate is typically faster than the acoustic bit rate having the eight 4 kbyte transmit data buffers allows a faster serial interface baud rate for up to 32 kbytes of data If an instrument is expected to output a continuous stream of data to the modem that exceeds 32 kbytes flow control must be used to prevent loss of data For information how to set the flow control refer to P1FlowCtl on page 8 10 for serial port 1 and to P2FlowCtl on page 8 17 for serial port 2 WARNING f flow control is not used and data are input to the modem when all eight of the 4 kbyte transmit data buffers are full the data will be ignored hence lost If data re
76. four flags There are three privilege levels safe user and update They are described in Privilege Levels on page 5 9 Of the four flags one denotes the file type and the other three indicate permissions The flags are the following d mor The file is a directory d a mount point m or a regular file ror The file can be read at all privilege levels r or cannot be read W or The file can be written to or deleted at all privilege levels w or cannot be written to or deleted or The file is executable at all privilege levels x or is not executable The flags can be displayed for each file when listing them They are followed on the same line with the privilege level for the file The file attributes can be changed at this privilege level or higher but not at a lower privilege level For example the following file attributes indicate the file is a directory that can be read from written to or deleted is executable and is associated with the user privilege level drwx user Therefore at the user level or higher the file attributes can be changed Directories Directories may be created and deleted in the root directory or the flash file system ffs only The directories are created using the mkdir command and deleted using the rmdir command 8 Bit Versus 16 bit Wide Files By default files are read and written to as 8 bit words even though the file storage is actually 16 b
77. history and the final output Reading WAV Files as a Batch The Matlab logread m utility reads a series of one minute files from the time period covered by the LOG file They are realigned to the start of the minutes based on the real time clock and placed in a directory named for the log file The utility may be run with a file hydrophone sensitivity value or with a list of LOG files to process or both In the absence of a file a dialog box will open enabling the selection of the file 5 Modem Operation Acoustic Recorder Option 5 78 TELEDYNE BENTHOS LOG read i nse s Name Date modified i n 12124744 LOG 9 12 2012 12 54 Text Document 12141343 LOG 9 12 2012 14 15 Text Document Recent Places Desktop Libraries iY Computer a Network JET M gt name 12141343106 a Files of type Clog Optional functions which can be switched on or off in the pcmread txt file are the following TIME CORRECTION Enables time correction PASSBAND OUTPUT Adjusts the output to the original frequency OUTPUT AS WAV Controls the generation of separate wave files for transmit and receive as TX WAV and RX WAV Fc Allows setting of the center frequency FSout Allows setting of the sample rate In addition the hydrophone sensitivity in dBV uPa may also be specified so that the final output is in terms of dB re 1 uPa 1 m in water rather
78. idle time of the local modem to expire which in turn causes the modem to go into the lowpower state ATTDm p Enter Local Device Enable Sets or clears the Device Enable output of serial port p of the local modem AT Xn m p Enter Remote Device Enable Sets or clears the Device Enable output of serial port p of the remote modem at address n ATRn Enter Range Displays the range from the local modem to the remote modem at address n ATRXn Enter Range and Location Displays the range from the local modem to the remote modem and the location of the remote modem at address n ATV Enter Local Battery Voltage Displays the input power supply voltage and internal temperature of the local modem AT Vn Enter 7 Modem AT Command Set Remote Battery Voltage Displays the input power supply and real time clock battery voltages of the remote modem at address n User s Manual Table 7 1 ATM 900 Series Acoustic Telemetry Modem and UDB 9400 TELEDYNE BENTHOS Universal Deck Box AT Command Set Continued Command Syntax Command Name Result AT BEn Enter Remote Data Logger Enable Causes the remote modem at address n to go into Datalogger mode AT BDn Enter Remote Data Logger Disable Causes the remote modem at address n to go into Online mode if it is in Datalogger mode AT BTn Enter Read Remote Data Logger This co
79. instructions on how to place the modem into Command mode How to Use To use the Burn Wire Release command type AT N followed by the address of the release comma character and the release code and then press Enter The message Valid Release Code Waiting for Burn should be displayed If the release code is incorrect the message Invalid Release Code will be displayed instead If the correct release code was received the dissolving wire module will be activated during which the SMART Modem will continue to respond to acoustic commands if they are sent For example sending the Release Status command AT Tn during this time should display the message Burn Wire Activated which acknowledges that the dissolving wire module is currently activated Once the burn wire has fully burned the SMART Modem will tilt which will cause it to transmit an acknowledgement If the acknowledgement is received the message Burn wire RELEASED will be displayed Typically it takes 10 minutes for the burn wire to dissolve but it could take up to 30 minutes After 30 minutes the burn wire will be shut down If not released the command can be resent P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 7 75 Compact Modem Wakeup AT Wn m Syntax ATWn m Enter Definition The Compact Modem Wakeup command causes the local modem to transmit a wakeup signal of duration m followed immediately by the compact modem address n A com
80. into discrete records in accordance with the setting of the LogMode configuration parameter for which three settings are available FwdDelay When LogMode FwdDelay a data record is generated once data input begins and no additional characters are received for the amount of time configured by the setting of the FwdDelay configuration parameter The timing for each serial port is separate allowing records to be generated asynchronously from each Sentinel When LogMode Sentinel a data record is generated when the ASCII code of a character received on a serial port matches the setting of the Sentinel configuration parameter Monitoring for the ASCII code for each serial port is separate allowing records to be generated asynchronously from each ChrCount When LogMode ChrCount a data record is generated when the number of characters specified by the setting of the ChrCount configuration parameter is received The character count is monitored separately for each serial port allowing records to be generated asynchronously from each 5 Modem Operation Dual Serial Port Option 5 30 User s Manual TELEDYNE BENTHOS Entering the Online Interrupt command on either serial port while in Online or Datalogger mode will cause the modem to go into Command mode and will display the command prompt Any data that have been stored in the data logger since the last record will be made a new record This is the case regardless of the setting of
81. is connected or it can be set manually A positive values is bow down a negative value bow up Available Settings The range of available settings for the Pitch configuration parameter is from 90 0 to 90 0 in 0 1 increments P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 8 89 Roll Default Setting 0 The roll is 0 degrees horizontal Definition The Roll configuration parameter stores the roll angle in degrees of the platform to which the modem is mounted This value is provided from a compass or attitude sensor and is updated automatically when a compass or sensor is connected or it can be set manually A positive values is port up a negative value port down Available Settings The range of available settings for the Roll configuration parameter is from 90 0 to 90 0 in 0 1 increments 8 Modem Configuration Parameters 8 90 User s Manual TELEDYNE BENTHOS SpeedOfSound Default Setting 1500 The speed of sound in water is 1500 meters sec Definition The SpeedOfSound configuration parameter stores the speed in meters of sound in water This value is used in all range calculations where a time difference measurement is converted to distance Available Settings The range of available settings for the SpeedOfSound configuration parameter is from O to 10000 in 0 1 increments P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 8 91 ReplyData Default Setting 1 LatLong
82. is specifically used for the ATM 914 ATM 915 ATM 924 and ATM 925 Acoustic Telemetry Modems and the other for the ATM 964 and ATM 965 Acoustic Telemetry Modems They differ only in their size and watt hour capacity Both packs use alkaline batteries Modem Battery Pack Capacity for ATM 914 915 924 925 Acoustic Telemetry Modems Capacity at power level 08 250 watt hours when transmit power is consistently at the max power level 08 Capacity at power level 07 300 watt hours when transmit power is limited to power level 07 NOTE Stated capacities are at an ambient temperature of 21 C When operating at 0 C the battery capacity needs to be derated by 25 Modem Battery Pack Capacity for ATM 964 965 Acoustic Telemetry Modems The battery packs for the ATM 964 and the ATM 965 Acoustic Telemetry Modems are actually composed of two separate battery packs each purchased individually The capacities stated below are for the combination of the two packs Capacity at power level 08 400 watt hours when transmit power is consistently at the max power level 08 Capacity at power level 07 450 watt hours when transmit power is limited to power level 07 NOTE Stated capacities are at an ambient temperature of 21 C When operating at 0 C the battery capacity needs to be derated by 25 P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 3 1 3 Deployment Considerations A number of factors must be considered
83. modem are output on serial port 1 of the deck box is the following SrcP1 2 SrcP2 2 Dst1 P1 Dst2 P1 Backward Compatibility Data packets generated by ATM 900 Series Acoustic Telemetry Modems that carry a transport address cannot be received by older series modems However they can be received if the packets have no transport address attached To generate data packets without transport addresses attached set TPortMode InpMode and InputMode Single Data packets will still be received from older series modems but the data will always be output on serial port 1 5 Modem Operation Dual Serial Port Option 5 36 TELEDYNE BENTHOS Low power State When there is no input to a modem either from its host processor over the serial interface or from a remote modem over the acoustic link the modem will go from its receive active state into the lowpower state after a preset time The lowpower state conserves battery power For the power consumption in the lowpower state and the receive active state refer to Section 2 Specifications The preset time is the idle time and is determined by the setting of the IdleTimer configuration parameter The idle time is reset to zero when the modem receives input either from its host processor or from a remote modem In addition when the modem goes into the lowpower state the message Lowpower is displayed if Verbose 1 or greater When a modem is not being powered by batteries the
84. on page 5 88 for information on the real time clock Table 4 11 lists the connector pinout information and Figure 4 11 shows the connector pin orientation J3 requires a Hirose DF11 12DS 2C mating connector with Hirose DF11 22SCA pins Table 4 11 DSP Board Connector J3 Pinouts DSP BOARD I O CONNECTOR J3 SIGNAL LABEL FUNCTION DIRECTION 1 RXD Port 2 CMOS Receive Host to Modem GND Ground TXD Port 2 CMOS Transmit Modem to Host GND Ground RE Release Enable Modem to Host BIN_OUTO Reserved Output Modem to Host GND Ground BIN_OUT1 Reserved Output Modem to Host 2 3 4 5 6 7 8 9 BIN_INO 1PPS In Host to Modem GND Ground BIN IN1 Reserved Input Host to Modem 4 Setup and Test RELEASE SENSE Release Sense Host to Modem Setting Up the Modems 4 20 User s Manual TELEDYNE BENTHOS Setting up the ATM 980 and ATM 980RF Buoy Boxes Setting up the ATM 980 and ATM 980RF Buoy Boxes requires making the power and serial interface connections to a power supply and a host processor and connecting to a subsea modem typically an ATM 926 Acoustic Telemetry Modem For the ATM 980RF Buoy Box only an RF connector Figure 4 12 8 Pin and 4 Pin is also included for connection to an RF antenna Power and Serial Interface Connections The power and serial interface connections to the power supply and a host processor are made with
85. on the cable for this purpose To strain relieve the cable tie a nylon line from the loop in the Kellums grip to one of the holes in the connector guard When securing the line ensure that there is sufficient slack in the section of cable between the Kellums grip and the transducer connection to relieve any strain P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 3 9 Subsea Modem Deployment A subsea modem is typically moored on the sea floor attached to a subsea structure or installed on an AUV In all cases the modem s built in transducer or its remote transducer should be mounted such that it is oriented correctly Refer to Transducer Orientation on page 3 7 for more specific requirements and to Section 10 Drawings for detailed dimensional information on the subsea modems and remote transducers When a subsea modem is moored it should be securely anchored using a clump weight And if itis moored or attached to a subsea structure it should be pulled up vertically using flotation The sidebar that is attached to the modem housing is used both to attach the flotation and to anchor the modem to a clump weight or to a structure Corrosion Protection When mounting a subsea modem it is very important to configure the mounting arrangement such that corrosion of the modem housing is prevented or minimized It is best to avoid mounting the modem housing or sidebar directly to a metallic surface Instead it is best to use
86. place the modem into Command mode How to Use To use the Remote Break command type AT K followed by the address of the remote modem the comma character and the serial port number and then press Enter The remote modem will send a break on the specified serial port and then the local modem will go online with the remote modem and display the message CONNECT followed by the transmitting acoustic bit rate of the local modem When the local and remote modems are online the local modem will transmit all the data received from its host processor to the remote modem which will in turn output the data to its host processor Similarly the remote modem will transmit all the data received from its host processor to the local modem which will in turn output the data to its host processor Special Considerations When using the Remote Break command take note of the following 7 Modem AT Command Set 7 22 User s Manual TELEDYNE BENTHOS To display the message CONNECT followed by the transmitting acoustic bit rate and many other messages the Verbose configuration parameter must be set to 1 or higher where 1 is the factory default setting The local modem must receive an acknowledgment from the remote modem within the acoustic response timeout which is determined by the setting of the AcRspTmOut configuration parameter If an acknowledgment is not received Response Not Received will be displayed The Remote Brea
87. processor NOTE AT commands can only be entered on serial port 1 of ATM 900 Series Acoustic Telemetry Modems 7 Modem AT Command Set User s Manual Table 7 1 ATM 900 Series Acoustic Telemetry Modem and UDB 9400 Command Syntax TELEDYNE BENTHOS Universal Deck Box AT Command Set Command Name Result Online Interrupt Causes the local modem to go into Command mode AT Enter Attention Resets the local modem idle time timer and verifies communications between the host processor and the modem ATC Enter Check Mode Checks the operating mode of the local modem ATI Enter Version Displays the modem type the firmware version number the firmware version build date the PLD Programmable Logic Device version numbers and the serial number of the local modem ATES Enter Reboot Reboots the firmware of the local modem AT ESn Enter Remote Acoustic Reset Resets the remote modem at address n ATEU Enter Update Firmware Initiates the local modem firmware update procedure ATDn Enter Dial Causes the local modem to go into Online mode and to go online with the remote modem at address n AT amp F Enter Factory Reset Resets the local modem s configuration parameter settings to their factory default settings ATH Enter Hang Up Causes all the remote modems to go into the lowpower state ATO Enter Onli
88. received replies from the remote modem transponders The range of available settings is from O to 1000 in integer increments for a lockout time of 0 ms to 1000 ms in 1 ms increments The RxLockout setting prevents interrogation pulse transmission echoes from nearby objects from being detected as replies The default setting is 75 for 75 ms RxThresh The RxThresh configuration parameter sets the number of standard deviations that a detected signal must rise above the background noise level at that frequency before it is marked as a received transponder reply The lower this setting the more sensitive is the receiver and the more likely a detected signal will be marked as a received reply However with a low setting there is also a greater likelihood of false positives where a detected signal is incorrectly marked as a received reply The higher the setting the less sensitive is the receiver and the less likely a detected signal will be marked as a received reply Therefore a high setting increases the likelihood of missing valid detections The receive threshold should be adjusted in accordance with the background noise such as to minimize false positives and negatives The range of available settings is from 10 to 256 in integer increments The default setting is 10 P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 67 Configuring a Modem as a Remote Modem Transponder Any ATM 900 Series Acoustic Telemetry Modem with the LBL
89. some background noise is present 40 50 dB Noisy conditions Communication is possible but the range is reduced When tapping or rubbing the modem transducer the AGC should be at least this low Less than 40 dB Extremely noisy conditions where only some communication is possible These conditions could be caused from interference or radiated electrical noise 7 Modem AT Command Set 7 64 TELEDYNE BENTHOS NOTE For the local modem to execute entered commands the modem must be in Command mode with the command prompt displayed If the modem is not in Command mode refer to page 5 6 for instructions on how to place the modem into Command mode How to Use To use the AGC Diagnostic command type ATTN followed by the value of n as determined by the required setting and then press Enter The local modem will enable or disable the display of its AGC output If enabled the local modem will respond with the message AGC test ON If disabled the local modem will respond with the message AGC test OFF User s Manual P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 7 65 Output Remote AGC AT Gn Syntax AT Gn Enter Definition The Output Remote AGC command causes the remote modem at address n to output ten seconds of automatic gain control history over the acoustic link in chronological order beginning ten seconds prior to receipt of the command and ending at the receipt of the comm
90. ss nnnn Range local address gt to remote address range m Round trip range ms speed relative speed m s For Verbose 3 hh is hours mm is minutes ss is seconds and nnnn is tenths of milliseconds gt NOTE For the local modem to execute entered commands the modem must be in Command mode with the command prompt displayed If the modem is not in Command mode refer to page 5 6 for instructions on how to place the modem into Command mode User s Manual P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 7 47 How to Use To use the Range command type ATR followed by the address of the remote modem and then press Enter The local modem will respond by displaying the range in meters to the remote modem The displayed information will be in accordance with the Verbose configuration parameter Special Considerations When using the Range command take note of the following The displayed range is the one way range to the remote modem and is determined acoustically based on a sound speed in seawater of 1500 meters second To acquire the range to a remote modem the local modem transmits an interrogation signal to the remote modem and when the remote modem receives the signal it responds with a reply The local modem must receive the reply from the remote modem within the acoustic response timeout which is determined by the setting of the AcRspTmOut configuration parameter If a
91. static load of 4540 kg 10 000 Ib and operate as a transponder SM 975 SMART Modem The SM 975 SMART Modem is shown in Figure 1 17 The SM 975 combines the same reliable electrolytic dissolving wire burn wire type release mechanism used in the Benthos Model TR 6000 Series Recoverable Acoustic Transponder with the same modem technology provided by the ATM 900 Series Acoustic Telemetry Modems It is self buoyant and completely self contained in a 13 or 17 inch glass sphere housing that is Figure 1 17 The SM 975 SMART encapsulated in a yellow ribbed Modem hard hat It also includes an internal battery pack and a built in omnidirectional transducer The SM 975 is designed for long range deep or shallow water applications and can release loads as heavy as 227 kg 500 Ib It can also operate as a transponder 1 Overview Modem and Remote Transducer Types 1 20 User s Manual TELEDYNE BENTHOS ATM 903 and ATM 900 Modem Board Sets The ATM 903 Modem Board Set is shown in Figure 1 18 The ATM 903 includes a circuit board set mounted to a chassis and an omnidirectional or directional transducer The modem is externally powered and is designed for original equipment manufacture OEM applications where the modem is integrated into a housing or chassis of another manufacturer s design The ATM 900 Board Set includes the board set only No transducer is supplied 8 Figure 1 18 The ATM 903 Modem Optional Features
92. switch all the way out Refer to Figure 4 2 on page 4 8 for the location of the modem on off switch 2 With the modem on its side and resting on a flat surface use a 9 64 Allen wrench to remove the three socket head screws that attach the POWER SERIAL connector end cap to the housing 3 Carefully pull the end cap straight out from the housing If required rotate the end cap slightly while pulling 9 Maintenance and Troubleshooting Changing the Real Time Clock Battery 9 8 User s Manual TELEDYNE BENTHOS Disconnect the in line connector that connects the battery pack to the connector on the POWER SERIAL connector end cap Using a 9 64 Allen wrench remove the three socket head screws that attach the remote transducer connector end cap for an ATM 914 or ATM 924 Acoustic Telemetry Modem or the transducer end cap for an ATM 915and ATM 925 Acoustic Telemetry Modem Carefully pull the end cap straight out from the housing If required rotate the end cap slightly while pulling When clear of the housing continue to pull the end cap out while pushing on the battery pack from the other end of the housing Pull the end cap out far enough to access the 5 pin power connector on the top of the circuit board 7T Disconnect the 5 pin power connector 8 Remove the old real time clock battery and dispose of it in accordance 10 11 12 13 14 15 with local regulations The battery is located on the edge of th
93. the lowpower state the device enable output will be cleared and remain cleared upon exiting from the lowpower state 8 46 User s Manual TELEDYNE BENTHOS FwdDelay Default Setting 3 0 The modem will transmit any buffered data if it is in Online mode or store the data in the data logger memory if it is in Datalogger mode when the corresponding buffer is full or 3 0 seconds after the last data are input whichever occurs first Definition The setting of the FwdDelay configuration parameter determines the forwarding delay of a modem When a local modem is online with a remote modem the local modem accumulates data in its 4 kbyte transmit data buffers These data are input from its host processor over the serial interface Immediately after the first transmit data buffer has filled the 4 kbyte data packet is transmitted However if the transmit data buffer does not fill the data are transmitted anyway a preset time after the last data are input This time is the forwarding delay Similarly when a modem is in Datalogger mode the data in the transmit data buffer are transferred to the data logger memory immediately after the buffer has filled or after the forwarding delay NOTE While data are being transmitted from a 4 kbyte transmit data buffer data can continue to be input to the modem over the serial interface filling the additional 4 kbyte transmit data buffers Available Settings The range of settings for the
94. the Remote Device Enable command type AT X followed by the address of the remote modem the comma character the value of m as determined by the required setting another comma character and the serial port number and then press Enter The remote modem will clear or set the Device Enable output of the specified serial port Special Considerations When using the Remote Device Enable command take note of the following P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 7 45 The local modem must receive an acknowledgment from the remote modem within the acoustic response timeout which is determined by the setting of the AcRspTmOut configuration parameter If an acknowledgment is not received Response Not Received will be displayed 7 Modem AT Command Set 7 46 TELEDYNE BENTHOS Range ATRn Syntax ATRn Enter Definition The Range command causes the local modem to display the range from the local modem to the remote modem at address n The displayed range is in meters with a resolution of 0 1 meters The information displayed and the format are dependent on the setting of the Verbose configuration parameter as listed below Output format Verbose 0 and 1 Range local address to remote address range m Output format 2 Verbose 2 Range local address to remote address range m speed relative speed m s Output format Verbose 3 TX time hh mm ss nnnn RX time hh mm
95. the data received from its host processor to the remote modem which will in turn output the data to its host processor Similarly the remote modem will transmit all the data received from its host processor to the local modem which will in turn output the data to its host processor Special Considerations When using the Dial command take note of the following To display the message CONNECT followed by the transmitting acoustic bit rate and many other messages the Verbose configuration parameter must be set to 1 or higher where 1 is the factory default setting The local modem must receive acknowledgment from the remote modem within the acoustic response timeout which is determined by the setting of AcRspTmOut configuration parameter If an 7 Modem AT Command Set 7 16 User s Manual TELEDYNE BENTHOS acknowledgment is not received Response Not Received will be displayed he Dial command sets the RemoteAddr configuration parameter of the remote modem to the address of the local modem NOTE The Dial command sets the RemoteAddr configuration parameter of the remote modem to the address of the local modem Dial command sets the RemoteAddr configuration parameter of the local modem to the address of the remote modem If itis desired to enter commands after going online with the remote modem type in rapid succession to cause the local modem to go into Command mode Then enter the d
96. the modem is not in the water and is in relatively quiet in air acoustic conditions 60 70 dB Extremely quiet acoustic conditions which is ideal for long range acoustic communications 50 60 dB Typical acoustic conditions where some background noise is present 40 50 dB Noisy conditions Communication is possible but the range is reduced When tapping or rubbing the modem transducer the AGC should be at least this low Less than 40 dB Extremely noisy conditions where only some communication is possible These conditions could be caused from interference or radiated electrical noise P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 97 Acoustic Test Commands The following acoustic test commands are available spectrum autobaud xmittime ATTNn ATT2 ATT1 AT G spectrum The spectrum command starts the graphical spectral analyzer which displays the Spectral Frequency Graph a dynamically updated plot of the amount of received energy across the entire receive bandwidth of the modem The graph be zoomed in to zoomed out of and scaled It can also display either a single line plot or a bar plot For the graph to display properly the terminal program must be configured to emulate ANSI BBS or VT 100 Syntax spectrum Privilege user Example To start the graphical spectral analyzer enter Spectrum An example Spectral Frequency Graph is shown in Figure 5 9 To stop the gr
97. the same functions as those of the configuration parameters Changing the setting of a configuration parameter will automatically change the setting of its equivalent S Register if there is one The reverse is also true However only a limited set of configuration parameters can be accessed with S Registers Therefore using the configuration parameters instead of the S Registers is highly recommended NOTE For the local modem to execute entered commands the modem must be in Command mode with the command prompt displayed If the modem is not in Command mode refer to page 5 6 for instructions on how to place the modem into Command mode How to Use To use the Set Register command type ATS and the S Register number to be set followed by the equal character and the setting desired and then press Enter The local modem will set the S Register setting and respond with the message OK Special Considerations When using the Set Register command take note of the following Entering cfg store after using the Set Register command will save the S Register setting as part of the startup configuration which is the S Register settings when the modem is powered up User s Manual P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 7 39 If at any time it is desired to return the S Register settings to the values they were when the modem was first powered up and cfg store was not used to save the S Register setti
98. total time to transmit a packet Packet transmit time 6 72 0 8 0 4 7 92 seconds Calculate the number of packets transmitted per day Packets day 24 hours day 60 minutes hour 30 minutes packet 48 packets day Then calculate the number of hours transmitting per day Transmission hours day 48 packets day 7 92 seconds packet 1 hour 3600 seconds 0 106 hours day With the number of hours transmitting per day known calculate the watt hours used to transmit per day Watt hours day 0 106 hours day 20 watts 2 12 watt hours day P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 3 5 Calculate the time spent in the lowpower state per day Lowpower state time day 24 hours day 0 106 hours day 23 89 hours day Calculate the power per day consumed in the lowpower state Lowpower state power day 23 89 hours 16 8 mw 1 watt 1000 mw 0 4 watt hours day Calculate the total power consumed per day Total power day 0 4 2 12 2 52 watt hours day Since the modem is transmitting at power level 8 which is the maximum power the total capacity of the battery is 250 Watt hours Given that the deployment is at O C the battery must be derated for temperature Reducing the capacity by 25 provides a total available capacity of 250 0 75 or 187 5 watt hours Therefore the total number of days the modem can be deployed and continue to transmit at full power is Deployment da
99. transducer P N M 270 26 Rev D 159 pue Table 4 4 Subsea Modem POWER SERIAL Connector to DB 9 Pin to Pin Connections SUBSEA MODEM HOST PC DB 9 CONNECTOR HOST PC DB 9 CONNECTOR POWER SERIAL CONNECTOR SIGNAL DIRECTION PIN LABEL PORT FUNCTION LABEL FUNCTION CTS Clear to Send Figure 4 6 Subsea Modem POWER SERIAL Connector Serial Port 1 RS 485 Connections onsnooy seues 006 IN LV L 4 14 User s Manual TELEDYNE BENTHOS Setting up the ATM 900 and ATM 903 Board Sets The ATM 900 and ATM 903 Board Sets are set up with all of the connections made directly to the boards The locations of the connectors are shown in Drawing B 270 156 The drawing is included in Section 10 Drawings Power and Serial Interface Connections The power and serial interface connections RS 232 or RS 422 are made with separate connectors on the ATM 900 and ATM 903 Board Sets When connecting an ATM 900 or ATM 903 to a PC or to an instrument power is connected to J3 of the Transmit Receiver Board and one of two serial interface connections is made to J7 of the DSP Board Refer to Figure 4 7 for the DSP Board serial connector J7 pin orientation and to Table 4 5 on page 4 15 for the pinout information Refer to Table 4 7 on page 4 16 for the power connector J3 pinouts J3 requires a Figure 4 7 ATM 900 and Molex 09 50 3051 mating connector with ATM 903 DSP Board Se
100. when TportMode InpMode and InputMode Single In this case data packets with transport addresses attached will be output on serial port 1 For a UDB 9400 Universal Deck Box Dst2 P1 is the default setting 8 Modem Configuration Parameters 8 68 User s Manual Dst3 Reserved TELEDYNE BENTHOS P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 8 Modem Configuration Parameters Dst4 Reserved 8 69 8 70 User s Manual TELEDYNE BENTHOS SimAcDly Default Setting 0 The simulated acoustic delay is 0 ms Definition The setting of the SimAcDly configuration parameter simulates the acoustic delay that would occur when sending and receiving data or commands over the acoustic link in water It applies only to the transmitting modem and is useful when testing the modems in air Available Settings The range of settings for the SimAcDly configuration parameter is from 0 to 30000 ms in 1 ms increments P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 8 71 PktEcho Default Setting 0 When the local modem transmits the Acoustic Link Test command ATXn to a remote modem the preset test message transmitted by the remote modem will not be displayed when the message is received by the local modem Definition The setting of the PktEcho configuration parameter determines whether the local modem will display the preset test message received from a remote modem The remote modem
101. which memory internal or the SDHC containing the stored data is indicated The Local Bytes Stored command ATBN can also be used to display only the total number of bytes stored Syntax dllist Privilege user Reference Datalogger Mode page 5 15 direcs The dlrecs command displays in accordance with specified search parameters the number of bytes and the number of records in the data logger of the local modem along with the approximate time in seconds that it will take to transmit them to a remote modem at the current acoustic bit rate of the local modem The acoustic bit rate is determined by the setting of the TxRate configuration parameter in the local modem and the search parameters are the same as that for the 1 1 command Syntax dlrecs i recno Q time lt recno gt lt time gt lt numrecs gt lt step gt lt flags gt Privilege user Reference Datalogger Mode page 5 15 echo The echo command echoes back entered text following the command To preserve case enclose entered text in quotes An optional n modifier will cause the carriage return and line feed to be suppressed The text can P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 6 9 also be redirected to a file and saved to the file by using gt followed by a space and a file name The contents of the file will be replaced with the new text If the file does not exist it will be crea
102. with complex exponentials as i2nf t i2nf t xa t x e 2 s t 1 2 The Fourier transform of s t is S F which can be visualized as shown in Figure 5 5 f W f w 7 da po th Figure 5 5 Spectral Plot S F of Waveform s t To shift s t to its baseband equivalent it is mixed with an in phase and quadrature mixer The I Q mixer multiplies both an in phase sinusoid at a frequency of f and a quadrature sinusoid which also has a frequency of fo but itis phased shifted by 90 with s t Since a sine shifted by 90 is a cosine the mixing signal can be expressed as cos 2rf t isin 27f t Again using Euler s identity these terms can be rewritten as Therefore to perform the mixing or heterodyning process s t is multiplied by this expression to obtain i2nfet x t s t xe 3 where x t is the desired output Substituting for s t from Equation 2 leaves P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 73 i2nf t i2nf t i2nf t x t x 4 which simplifies to 2 2104 x t a t a t xe 5 The Fourier transform of x t is X F which can be visualized as shown in Figure 5 6 This plot shows that s t has been shifted such that f is now at 0 Hz However an extra frequency component is now included with center frequency 2f X F 0 w w w w 24 2 26 2643 2 p 2 Figure 5 6 S
103. 00 Series Acoustic Telemetry Modems 7 41 Low power State ATL Syntax ATL Enter Definition The Lowpower State command forces the idle time of the local modem to expire which in turn causes the modem to go into the lowpower state NOTE For the local modem to execute entered commands the modem must be in Command mode with the command prompt displayed If the modem is not in Command mode refer to page 5 6 for instructions on how to place the modem into Command mode How to Use To use the Lowpower State command type ATL and then press Enter The local modem will immediately go into the lowpower state and respond with the message Lowpower WARNING Depending on the setting of the P1FlowCtl configuration parameter the RS 232 driver may be set to turn off whenever the modem is in the lowpower state Refer to P1FlowCtl on page 8 10 for information on the P1FlowCtl configuration parameter Therefore hardware RTS CTS handshaking must be disabled at the host processor when sending the first byte of data to the modem over the serial interface After the first byte is sent handshaking can be turned on again or left disabled Special Considerations When using the Lowpower State command take note of the following To display the message Lowpower and many other messages the Verbose configuration parameter must be set to 1 or higher where 1 is the factory default setting 7 Modem AT Command Set 7 42 User s Manual
104. 0000 in 0 0001 increments 8 Modem Configuration Parameters 8 86 User s Manual TELEDYNE BENTHOS Depth Default Setting 0 The modem is at a depth of 0 meters at the surface Definition The Depth configuration parameter stores the depth of the modem in meters This value is typically provided from a pressure transducer and is updated automatically when a transducer is connected or it can be set manually Available Settings The range of available settings for the Depth configuration parameter is from 0 to 20000 0000 in 0 0001 increments P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 8 87 Compass Default Setting 0 The heading is O degrees north Definition The Compass configuration parameter stores the heading in degrees of the platform to which the modem is mounted This value is provided from a compass and is updated automatically when a compass is connected or it can be set manually Available Settings The range of available settings for the Compass configuration parameter is from 0 to 359 9 in 0 1 increments 8 Modem Configuration Parameters 8 88 User s Manual TELEDYNE BENTHOS Pitch Default Setting 0 The pitch is O degrees horizontal Definition The Pitch configuration parameter stores the pitch angle in degrees of the platform to which the modem is mounted This value is provided from a compass or attitude sensor and is updated automatically when a compass or sensor
105. 1 xxiii Low Pass Filtered Spectral Plot X F of Baseband Waveform aed dt sux 5 73 TIPPS Input Signals ie 5 89 Example of Spectral Frequency Graph 5 98 Conditions for Recognizing an Online Interrupt Commando suae his eR TX E ORE 7 7 Read Register Command and Resulting Display 7 35 Read Remote Registers Command and Resulting DISDIAY sem OE AAG 7 37 Output Remote AGC Command and Resulting Display E aie See ee EDS E 7 66 Output AGC Diagnostic Command and Resulting Display for an ATM 900 Series Acoustic Telemetry jefe 1 REIECTA 7 69 ATM 900 Series Part Number Designator Legend 11 4 xxiv TELEDYNE BENTHOS List of Tables Table 4 1 Table 4 2 Table 4 3 Table 4 4 Table 4 5 Table 4 6 Table 4 7 Table 4 8 Table 4 9 Table 4 10 Table 4 11 Table 4 12 Table 4 13 Table 7 1 Table 7 2 Table 7 3 Table 8 1 Table 8 2 User s Manual UDB 9400 COM1 Connector Pinouts 4 9 UDB 9400 COM1 Connector to DB 9 Pin to Pin Connections ee eicit eo he NC ad eae eee 4 10 Subsea Modem POWER SERIAL Connector Pinouts 4 11 Subsea Modem POWER SERIAL Connector to DB 9 Pin to Pin Connections 4 13 ATM 900 and ATM 903 DSP Board Serial Port 1 Connector J7 Pinouts 4 15 ATM 900 and ATM 903 DSP Board S
106. 1 remote modem transponders can be used if an ATM 900 5 Modem Operation LBL Multi Receive Option 5 66 User s Manual TELEDYNE BENTHOS Series Acoustic Telemetry Modem operating in the LF MF or Band C frequency band is used as the interrogator The same is true for a UDB 9400 M Acoustic Telemetry Modem operating in the MF or Band C frequency band Up to 37 remote modem transponders can be used in an LF system with a WLF wide low frequency UDB 9000 M Acoustic Telemetry Modem as the interrogator as this modem operates in the wider 7 16 kHz band versus the LF band s 9 14 kHz However any remote modem transponder reply frequencies set to between 7 kHz and 9 kHz and between 14 kHz and 16 kHz will be transmitted at a lower source level For an all modem based LBL configuration the following configuration parameters must be correctly set for the local modem RxToneDur The RxToneDur configuration parameter sets the receive pulse width of the modem The available settings are 0 for 12 5 ms 1 for 6 25 ms and from 5 to 15 in integer increments for a receive pulse width of 5 ms to 15 ms in 1 ms increments The RxToneDur setting should be the same as the remote modem transponder s transmit pulse width The default setting is 10 for 10 ms RxLockout The RxLockout configuration parameter sets the lockout time of the modem The lockout time is a period that begins at the start of the interrogation pulse during which the modem will ignore any
107. 101 1 7 1 W 3C Heading data as from this NMEA string will be read to set the Compass parameter as 101 1 degrees For an input string of R23 4 The output from a PSA 916 altimeter will set the Altitude parameter to 23 4 meters To cause the 51 time string from a TM 4 unit by Spectrum Instruments Inc to set the system time and date enter 51 12052011 171236 To cause the 52 position string from a TM 4 unit by Spectrum Instruments Inc to set the Latitude and Q Longitude parameters enter 52 4138 41 N 07036 59 W 1 9 To cause the 53 altitude string from a TM 4 unit by Spectrum Instruments Inc to set the GpaAlt parameter enter 53 0016 M P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 87 tcm5d The tem5d command starts a parser process that polls a TCM5 compass in its native binary format for latitude and longitude data Syntax Privilege Example Compass tcm5d user To start the parser process enter tecm5d To terminate the command enter Ctrl D or rapidly enter The compass command enables characters entered on serial port 1 to be sent directly to a compass or other navigation device that is attached to serial port 2 In addition characters input on serial port 2 from the device are displayed Syntax Privilege Example 5 Modem Operation compass user To enable all characters entered on serial port 1 to be output on serial port 2 and char
108. 12500 by entering rxfreq 12500 Set the TAT configuration parameter to 30 by entering TAT 30 Set the RxToneDur configuration parameter to 10 by entering rxtonedur 10 Set the TxToneDur configuration parameter to 10 by entering txtonedur 10 Set the RxThresh configuration parameter to 10 by entering rxthresh 10 Set the RxLockout configuration parameter to 100 by entering rxlockout 100 Set the AcRspTmOut configuration parameter to 13 by entering acrsptmout 13 Then enter ATN10000 P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 65 LBL Multi Receive Option The LBL Multi Receive option is enabled with the purchase and installation of a feature key This feature is already included in the UDB 9400 M Series Acoustic Telemetry Modems It is not included and is not optionally available for the UDB 9400 E Universal Deck Box The LBL Multi Receive option enables a modem to be operated with other modems in an all modem long baseline LBL acoustic positioning system that uses broadband triggered chirp transmissions and tonal responses or as a single modem with multiple transponders in an all tonal based configuration The all modem based configuration provides more reliable operation than the all tonal as the reception of broadband chirp transmissions are more reliable than that of tones Long Baseline Acoustic Positioning Concept A typical long baseline acoustic positioning system uses an acoustic transduc
109. 26 Rev D ATM 900 Series Acoustic Telemetry Modems 9 5 13 14 15 16 17 18 Connect the 10 pin serial connector to the circuit board and secure it with the locking sleeve Connect the 5 pin serial connector to the circuit board Slide the chassis and the battery pack together into the housing and then press the end cap into the housing being careful not to pinch the wires Line up the three holes in the end cap with the three holes in the housing and secure the end cap to the housing with the three hex head Screws Connect the in line connector that connects the battery pack to the connector on the POWER SERIAL connector end cap and then press the end cap into the housing being careful not to pinch the wires Line up the three holes in the end cap with the three holes in the housing and secure the end cap to the housing with the three hex head Screws Changing the ATM 964 or ATM 965 Modem Battery Pack For the ATM 964 and ATM 965 Acoustic Telemetry Modems both end caps require removal when changing the modem battery pack First the top end cap for an ATM 964 or the transducer end cap for an ATM 965 must be removed and then the POWER SERIAL connector end cap To change the modem battery pack for an ATM 964 or ATM 965 1 2 Turn the modem off by pulling the on off switch all the way out Refer to Figure 4 2 on page 4 8 for the location of the modem on off switch Using a flat head screwdriver l
110. 4 9 for instructions on how to connect the modem to a PC and to Setting up the Host Processor on page 4 21 for instructions on how to set up the PC as the local host processor mm NOTE Most CLAM shell commands can be entered on either serial port 1 or serial port 2 of ATM 900 Series Acoustic Telemetry Modems CLAM shell commands that can only be entered on serial port 1 Autobaud and any remote modem command those commands whose name begin with the letters rd The command lists all of the configuration parameter sections lists all of the configuration parameters in a configuration parameter section displays the setting for a configuration parameter or sets a configuration parameter to a particular value Syntax lt section name parameter name parameter name gt lt value gt Privilege user Reference none 6 Modem CLAM Shell Command Set 6 2 User s Manual TELEDYNE BENTHOS The command executes most commands on a remote modem The command is acoustically transmitted to the remote modem from the local modem and is run on the remote modem Depending on the command the response from the remote modem will be acoustically transmitted to the local modem Syntax lt address gt lt command gt Privilege user Reference Troubleshooting on page 9 15 addkey The addkey command adds a feature key to the modem This command can only be used when running the diagnostic soft
111. 40 50 60 70 80 90 100 110 120 130 140 LOW FREQUENCY LF 40 50 60 70 80 90 100 110 120 130 140 MEDIUM FREQUENCY MF 30 150 30 20 340 195 0 EE m 190 0 ANSA 185 0 TEE 310 180 0 TFF 5 175 0 300 290 165 0 160 0 280 155 0 150 0 260 250 240 220 210 160 200 20 349 195 0 330 190 0 320 185 0 310 180 0 175 0 w o o 170 0 TL gt NS x v 165 0 160 0 280 155 0 150 0 260 250 240 230 220 210 1 25 Figure 1 21 Directional Transducer and MF Vertical Beam 1 Overview Patterns Modem and Remote Transducer Types 1 26 User s Manual TELEDYNE BENTHOS Acoustic Baffles An acoustic baffle when installed on a remote transducer effectively reduces the effects of noise or multipath signals that arrive from the back of the transducer Teledyne Benthos can custom design and build acoustic baffles for any of the remote transducers or they can be obtained from other sources if required Refer to Customer Service on page vi for information on how to contact Teledyne Benthos for detailed specifications P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 2 1 2 Specifications This section provides the specifications for the Teledyne Benthos ATM 900 Series Acoustic Telemetry Modems including the remote transducers and the modem battery packs All specifications are subject to change
112. 5 7 145 5 5 140 27 LBS 12 2 kg BANDC 32 7 831 3 8 97 2 3 58 21 LBS 9 5 kg WEIGHT IN AIR WEIGHT IN WATER 6185 2 7 kg 5 LBS 2 3 kg 8 LBS 3 6 kg 5 LBS 2 3 kg SIDE BAR DETAIL CLA TRE OUTLINE ATM 915 AW NORIS ______ 270 432 swapoy 2nsnooy seues 006 IN1V 9 01 jenue y sasn 92 022 IN NOTES DIMENSIONS ARE IN INCHES mm 2 LF OMNI TRANSDUCER SHOWN A B WEIGHTINAIR WEIGHT IN WATER EIE LF OMNI 16 2 411 38 91 2 6 66 12 LBS 5 4kg 4185 1 8 i MF OMNI 16 2 411 3 81977 2 015 11 LBS 5 0kg 4185 1 8 kg ATM 916 PVC pen 1 MF DIRECTIONAL 18 1 460 5 7 145 5 5 140 16 LBS 7 3 k 7 LBS 3 2 TUR 527145 o 234 2 2 ka 820433 8 tS BANDC 16 2 411 3 8 97 2 3 58 10 LBS 4 5 4185 1 8 pup 23059 kel eme v 9 01 SOHLNAd ANAGATSL OL 388 9842 T gt 560 1422 THRU swapoy 2nsnooy seues 006 IN1V NOTES DIMENSIONS ARE IN INCHES mm 2 WEIGHT IN AIR 21 LBS 95 kg 3 WEIGHT IN WATER 9 LBS 4 1 kg 2 01 jenuey sasn 92 0Z2 IN 8 01 2675 6794 388 1400 984 35561 7 9 9 SIDE BAR DETAIL 560 1422 THRU Dee TELEDYNE BENTHOS A Teledyne
113. 6 Rev D ATM 900 Series Acoustic Telemetry Modems 5 27 Example AT BCn To clear the contents of the data logger memory of the local modem enter ATBC The Clear Remote Data Logger command AT BCn clears the contents of the data logger memory of the remote modem at address n Syntax Privilege Example AT BEn AT BCn user To clear the contents of the data logger memory of the remote modem at address 5 enter ATSBC5 The Remote Data Logger Enable command AT BEn causes the remote modem at address n to go into Datalogger mode Syntax Privilege Example AT BDn AT BEn user To cause the remote modem at address 5 to go into Datalogger mode enter ATSBE5 The Remote Data Logger Disable command AT BDn causes the remote modem at address n to go into Online mode and to go online with the local modem if the remote modem is in Datalogger mode Syntax Privilege Example 5 Modem Operation AT BDn user To cause the remote modem at address 5 to go into Online mode and to go online with the local modem if the remote modem is in Datalogger mode enter ATSBD5 Datalogger Mode 5 28 TELEDYNE BENTHOS Dual Serial Port Option In its standard configuration a modem allows input of data from a single instrument for the purpose of transmitting the data to a remote modem or storing the data in the modem s data logger However an optional Dual Serial Port feature is available which allows tw
114. 6 Acoustic Telemetry Modems is 6 These modems can be operated at that level indefinitely However due to excessive heat that can quickly build up in the PVC housing during continuous transmissions operation at higher power levels should be limited Refer to on page 8 53 for more information Housing construction Dimensions Mounting Weight in air 2 Specifications PVC Reference Drawing B 270 433 on page 10 6 316 stainless steel sidebar 5 4 kg 12 Ib 5 0 kg 11 Ib 7 3 kg 16 Ib 4 5 kg 10 Ib LF omni MF omni MF dir Band C lt ATM 916 Subsea Modem 2 6 Weight in water Operating depth POWER SERIAL connector TELEDYNE BENTHOS 4 Ib LF omni 4 Ib MF omni 3 2 kg 7 Ib MF dir 1 8 kg 4 Ib Band C 500 m 1640 ft 16 1 8 kg 1 8 kg Nom ATM 924 Subsea Modem The ATM 924 Acoustic Telemetry Modem is a 2000 meter 6560 ft depth rated subsea modem that includes an internal modem battery pack and connects to any of the remote transducers with a supplied 2 meter cable The modem can operate on its battery pack or on external DC power Housing construction Dimensions Mounting Weight in air Weight in water Operating depth POWER SERIAL connector TRANSDUCER connector Hard coat anodized aluminum Reference Drawing D 270 088 on page 10 7 316 stainless steel sidebar 9 5 kg 21 Ib 4 1 kg 9 Ib 2000 m 6560 ft
115. 74 70 B 270 408 16 Pin Programming Cable 008336 Connector Dummy Plug 005855 Connector Locking Sleeve B 270 171 Transducer Protective Cage 4 1 1 1 1 Table 11 3 ATM 920 Series Acoustic Telemetry Modem Spares PART NUMBER DESCRIPTION QTY PER UNIT D 270 102 378 Watt hour Alkaline Battery Pack 1 000683 O Ring Radial Parker 2 233 N0674 70 2 1 B 270 408 16 Pin Programming Cable 008336 Connector Dummy Plug 1 005855 B 270 171 Connector Locking Sleeve Transducer Protective Cage 1 1 Table 11 4 ATM 960 Series Acoustic Telemetry Modem Spares PART NUMBER DESCRIPTION QTY PER UNIT 001402 294 Watt hour Alkaline Battery Pack 2 000679 000677 O Ring Radial Parker 2 241 0674 70 O Ring Face Parker 2 245 N0674 70 B 270 408 16 Pin Programming Cable 008336 Connector Dummy Plug 005855 Connector Locking Sleeve Table 11 5 ATM 900 Series Acoustic Telemetry Modem Spares PART NUMBER DESCRIPTION QTY PER UNIT 012619 007984 Transducer Pigtail 1 Cable Power 12 36 VDC 007986 Cable Serial Interface Serial Port 1 A 270 115 Cable Serial Interface Serial Port 2 B 270 171 Transducer Protective Cage P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 11 3 Table 11 6 Cables PART NUMBER DESCRIPTION QTY PER UNIT B 270 408 16 Pin Programming Cable 1 B 270 415 2
116. 8 25 The received data statistics shown above are composed of the following Source Destination CRC MPD SNR SPD AGC CCERR The address of the modem that transmitted the data The address of the modem that received the data Checksum pass or fail where a pass condition signifies no errors were detected and a fail condition signifies one or more bit errors were detected Multipath Delay in milliseconds where the higher the number the greater the multipath The range is from 0 to 50 Signal to Noise Ratio A metric that provides information on the quality of the processed signal The value is not related to the input SNR but instead takes into account all the processing and the effects of multipath Speed the relative speed in knots between the local and remote modems where a negative number indicates the modems are moving farther apart and a positive number indicates the modems are moving closer together Automatic Gain Control a decimal number where the lower the number the less gain which means a strong input signal was received Similarly the higher the number the more gain which means a weak input signal was received The lowest gain indication is 00 and the highest is 95 Corrected Channel Error Metric 0 14 Special Considerations When setting the Verbose configuration parameter take note of the following When a PC is used as the host processor the Verbose configuration
117. 915 Acoustic Telemetry Modem is a completely self contained 500 meter 1640 ft depth rated subsea modem with a built in omnidirectional or directional transducer and an internal modem battery pack The modem can operate on its battery pack or on external DC power gt NOTE The default power level setting for the ATM 915 Acoustic Telemetry Modems is 6 These modems can be operated at that level indefinitely However due to excessive heat that can quickly build up in the PVC housing during continuous transmissions operation at higher power levels should be limited Refer to TxPower on page 8 53 for more information User s Manual P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems Housing construction Dimensions Mounting Weight in air Weight in water Operating depth POWER SERIAL connector 2 5 PVC Reference Drawing B 270 432 on page 10 5 316 stainless steel sidebar 10 0 kg 22 Ib LF omni 9 5 kg 21 Ib MF omni 12 2 kg 27 Ib MF dir 9 5 kg 21 Ib Band C 2 7 kg 6 Ib LF omni 2 3 kg 5 Ib MF omni 3 6 kg 8 Ib MF dir 2 3 kg 5 Ib Band 500 m 1640 ft 16 ATM 916 Subsea Modem The ATM 916 Acoustic Telemetry Modem is a 500 meter 1640 ft depth rated subsea modem with a built in omnidirectional or directional transducer The modem operates on external DC power only gt NOTE The default power level setting for the ATM 91
118. ATM 900 Series Acoustic Telemetry Modems User s Manual P N M 270 26 Rev D TELEDYNE BENTHOS A Teledyne Technologies Company Teledyne Benthos Inc 49 Edgerton Drive North Falmouth MA 02556 U S A Tel 1 508 563 1000 Fax 1 508 563 6444 www benthos com TELEDYNE BENTHOS Notices User s Manual Proprietary Information The information descriptions photos and illustrations in this manual are the property of Teledyne Benthos Inc Materials may not be reproduced or disseminated without the prior written consent of Teledyne Benthos Warranty and Intellectual Property Rights Statement This Statement applies to Teledyne Benthos Inc products including Teledyne TapTone products Approved 3 27 06 LIMITED WARRANTY Teledyne Benthos Inc warrants that the products sold hereunder shall be free from defects in materials and workmanship under normal use and service when correctly installed used and maintained for a period of one 1 year from date of shipment from Teledyne Benthos Inc Purchaser s receipt of any product delivered hereunder shall be an unqualified acceptance of and a waiver by Purchaser of the right of Purchaser to make a claim with respect to such product unless Purchaser gives Teledyne Benthos Inc notice of any claim within one 1 year after shipment from Teledyne Benthos Inc of such product This warranty is limited to repair or replacement of the said product in the sole discretion of T
119. Acoustic Telemetry Modems 1 21 1 Overview link at bit rates as high as 15 360 bits sec This feature is available only with the modem board sets and is already included in all UDB 9400 Universal Deck Boxes To order the PSK Coprocessor feature add a P at the end of the modem part number LBL Multi Receive The LBL Multi Receive option is a firmware only feature that enables multiple modems to be operated as a long baseline LBL acoustic positioning system Two system configurations are possible One is a broadband triggered LBL based system which uses broadband chirp transmissions to trigger other modems which in turn provide tonal responses The other allows a modem to function as the interrogator in an all tonal LBL system where the modem transmits a tone to multiple transponders and receives the multiple tonal replies This feature requires the purchase and installation of a feature key to enable it However it is already included in the UDB 9400 M Universal Deck Box It is not included and is not optionally available for the UDB 9400 E Universal Deck Box To order the LBL Multi Receive feature add a M at the end of the modem part number Acoustic Recorder The Acoustic Recorder option enables the storage of received signals that are within the modem s operating frequency band The signals are base banded and stored as WAV files on two 32 GB SDHC cards This feature which requires the installation of a feature key to enable it is
120. Capacity vs Voltage 9 3 UDB 9400 Universal Deck 11 1 ATM 910 Series Acoustic Telemetry Modem Spares 11 2 ATM 920 Series Acoustic Telemetry Modem Spares 11 2 ATM 960 Series Acoustic Telemetry Modem Spares 11 2 ATM 900 Series Acoustic Telemetry Modem Spares 11 2 Upgrade Kits and Feature Keys 11 3 Cables suia eek bns cgi d 11 3 ATM 900 Series Acoustic Telemetry Modems 1 1 1 Overview The Teledyne Benthos acoustic telemetry modems make up the Communications product line and include the ATM 900 Series Acoustic Telemetry Modems the UDB 9400 Universal Deck Box and the Smart Modem Acoustic Release Technology SMART releases which combine all of the functions of the ATM 900 Series Acoustic Telemetry Modems with a release mechanism NOTE ATM 900 designates any of the Teledyne Benthos ATM acoustic telemetry modems such as the ATM 926 the ATM 925 the ATM 965 and others Teledyne Benthos acoustic modem technology is based on a core set of highly efficient digital signal processing DSP electronics This architecture allows for interoperability and acoustic communications of all the equipment While this manual illustrates a number of typical applications and operational setups it is important to remember that all of the modems are interchangeable For example the typical use of an ATM 925 or ATM 965 Acoustic Telemetry Modem is in subs
121. D ATM 900 Series Acoustic Telemetry Modems 1 13 1 Overview ATM 980 and ATM 980RF Buoy Boxes The ATM 980 Buoy Box is for installation on a surface buoy It is housed in a waterproof enclosure and includes a connector for Y connecting to an ATM 926 Acoustic Telemetry Modem and a connector for both DC power and RS 232 serial communications with a host processor For an ATM 980RF which is shown in Figure 1 8 an RF connector is also included for RF wireless data communications When installed on a surface buo and connected to an ATM 926 Figure 1 8 The ATM 980RF Buoy Acoustic Telemetry Modem over its Box RS 422 serial interface the buoy box can communicate with other modems Data received from those modems are output to the host processor and can be transmitted over an RF link to a remote station Similarly the modems can receive commands or data from the remote station x Modem and Remote Transducer Types 1 14 TELEDYNE BENTHOS Subsea Modems The subsea modems are the ATM 900 Series Acoustic Telemetry Modems and consist of the following configurations ATM 914 Acoustic Telemetry Modem Connects to a remote omnidirectional or directional transducer and operates to a depth of 500 m 1640 ft ATM 915 Acoustic Telemetry Modem Includes a built in omnidirectional or directional transducer and operates to a depth of 500 m 1640 ft ATM 916 Acoustic Telemetry Modem Includes a built in omnidirectional or d
122. D card SD mount point maps to a FAT32 file system on an external secure digital SD or secure digital high capacity SDHC card This mount is present only when the SD Datalogger option D is installed which includes a formatted SDHC card and its carrier board The use of the 2 file system allows the card to be removed from the modem and read directly on a PC An SD or SDHC card must be formatted either on the PC before being reinstalled into the modem or with the format command after it is reinstalled The format must be FAT32 with 4096 byte cluster sizes The modem should always be deployed with a newly formatted SDHC card If formatting on a PC then the format must be FAT32 The card will be mounted automatically when the modem is powered up and the following line will be added to the banner message SD V1 4 on slot 0 In addition the umount command must be executed on a powered up modem before removing the card and if a new card is inserted in a modem that is powered up the mount command must be run for the card to be recognized System Devices The system devices dev mount holds a list of the active devices in the system These devices include the serial ports and the sonar devices 5 Modem Operation File System 5 40 User s Manual TELEDYNE BENTHOS File Attributes Each file in the file system has two sets of attributes One set determines the privilege level of the file and the other consists of a group of
123. DUCER T B JOSEPH L WRB B 270 509 SCALE B 270 509RA 12 21 2011 SHEET 1 OF 1 swapoy 2nsnooy seues 006 IN1V 21 01 jenuey sasn 92 022 IN NOTES 1 DIMENSIONS GIVEN IN INCHES mm 2 WEIGHT IN AIR 26 LBS 11 8 KG 5 WEIGHT WATER 12 LBS 5 4 KG 4X 0 398 DRILL THRU 5 5 910 12 SUBCONN CONNECTOR OR EQUIV _ P manso e oare wo DESCRIPTION or CHK APPR TOLERANCES EXCEPT AS NOTED 9 CHECKED 7 5 80 191 203 TELEDYNE BENTHOS A Teledyne Technologles Company 65 FRE wat 8270337 775 9 10 09 He s pei 81 01 SOHLNAd ANAGATSL OL MOUNTING HOLES 0 265 6 73 THRU HOLES 4 PLACES EVENLY SPACED ON A 250 BC 1271 CONNECTOR MCBH3MNM PVC BASE 316 SS GUARD NOTES PROPRIETARY _ pue Tae Tectmotoghes Company DIMENSIONS GIVEN IN INCHES mm lop 2 WEIGHT IN AIR 7 1 LBS 3 2 KG SS 3 WEIGHT IN WATER 3 1 LBS 14 pem EEN nus 210 1102 swapoy 2nsnooy seues 006 IN1V 61 01 ATM 900 Series Acoustic Telemetry Modems 11 1 11 Modem Spares Accessories and Part Number Designator This section comprises lists of the Teledyne Benthos ATM 900 Series Acoustic Telemetry Modems and UDB 9400 Universal De
124. Data configuration parameter determines whether data received over the acoustic link are output over the serial interface stored in the data logger or both Available Settings The available settings for the AcData configuration parameter are listed below 0 UART Data received over the acoustic link are output over the serial interface 1 Datalog Data received over the acoustic link are stored in the data logger 2 UART Datalog Data received over the acoustic link are both output over the serial interface and stored in the data logger P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 8 35 AcStats Default Setting 0 Off Statistics and time stamps for data received over the acoustic link are not stored in the data logger memory Definition The setting of the AcStats configuration parameter determines whether statistics and time stamps for data received over the acoustic link are stored in the data logger memory Available Settings The available settings for the AcStats configuration parameter are listed below 0 Off Statistics and time stamps for data received over the acoustic link are not stored in the data logger memory 1 Stats Statistics for data received over the acoustic link are stored in the data logger memory 4 TimeStamp Time stamps for data received over the acoustic link are stored in the data logger memory 5 Stats Time Statistics and time stamps for data received over
125. E As each packet of data contains sixteen 256 byte cells for a total of 4 kbytes only the 256 byte cells containing errors are retransmitted Available Settings The range of settings for the DataRetry configuration parameter is from 0 to 6 where 0 is disabled Special Considerations When setting the DataRetry configuration parameter take note of the following For data retry to function properly the setting of the DataRetry configuration parameter must be the same for both the local and remote modems If the DataRetry configuration parameter is enabled and if more than 28 kbytes of data are to be transmitted then hardware RTS CTS handshaking should be used If the DataRetry configuration parameter is disabled and if more than 32 kbytes of data are to be transmitted then hardware RTS CTS handshaking should be used 8 Modem Configuration Parameters 8 42 User s Manual TELEDYNE BENTHOS AcRspTmOut Default Setting 7 5 The local modem will wait 7 5 seconds after sending an acoustic command to a remote modem for the remote modem to acknowledge receipt of the command Definition The setting of the AcRspTmOut configuration parameter determines the acoustic response timeout which is the time during which a local modem will wait for an acknowledgment to an acoustic command sent to a remote modem If no acknowledgment is received the local modem will output the results message Response Not Received Wh
126. E BENTHOS When transmitting at power level 7 for an ATM 914 ATM 915 or ATM 916 Acoustic Telemetry Modem a 239 environment at 21 VDC limit continuous transmissions to 45 minutes and then allow the modem to cool for 10 minutes before retransmitting When using power level 8 limit any continuous transmissions to 15 minutes and then allow the modem to cool for 10 minutes before retransmitting WARNING Exceeding the recommended power level and continuous transmission time limits for an ATM 914 ATM 915 or ATM 916 Acoustic Telemetry Modems may cause the transmitter to overheat and to automatically shut down Should this condition occur a message will be output on the serial interface indicating such Once the modem cools down it will be able to transmit again To display the internal temperature of the local modem use the ATV command P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 8 55 WakeTones Default Setting Ena The lowpower wakeup signal is transmitted at the beginning of every data packet Definition The setting of the WakeTones configuration parameter enables or disables transmission of the lowpower wakeup signal at the beginning of every data packet The lowpower wakeup signal is a 375 ms long signal that wakes up all the remote modems that are in the lowpower state Available Settings There are two available settings for the WakeTones configuration parameter as listed below Ena Enables the lowpow
127. EM MODEM RS 232 LINK RS 232 LINK LOCAL HOST REMOTE HOST Instrument PC Figure 1 1 Wireless Underwater Communications System Block Diagram ATM 900 SERIES REMOTE MODEM 1 REMOTE HOST 1 Instrument UDB 9400 or ATM 900 SERIES ATM 900 SERIES REMOTE HOST 2 Instrument REMOTE MODEM 2 ACOUSTIC LINK ATM 900 SERIES LOCAL HOST REMOTE RS 232 REMOTE HOST 3 PC MODEM 43 Instrument Figure 1 2 Wireless Underwater Communications Multiple Remote Modems Block Diagram User s Manual P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 1 3 1 Overview Commands and Data Communications between modems are of two general types commands and data Commands are output by the local host processor to the local modem over the RS 232 or RS 422 serial interface and they are executed either by this modem or transmitted over the acoustic link to be executed by the remote modem Data are output either by the local host processor to the local modem or by the remote host processor to the remote modem or both to be exchanged freely and bi directionally between the two hosts over the acoustic link as if the they were connected directly over an RS 232 or RS 422 serial interface Which communications type is determined by the operating mode of the modem For information about the modem operating modes refer to Section 5 Modem Operation Acoustic Bit Rates The ATM 900 and Acoustic Telemetry Mo
128. Either an RS 232 or an RS 422 serial interface connection can be Figure 4 5 Subsea Modem made When connecting the subsea modem POWER SERIAL to a PC or to an instrument refer to Connector Face View Table 4 3 Subsea Modem POWER SERIAL Connector Pinouts SIGNAL DIRECTION Power External Power Input 21 28 VDC To Modem Spare Reserved GND Ground TX RS 422 Transmit Modem to Host DE Device Enable See NOTE below Modem to Host Modem to Host Host to Modem LABEL FUNCTION RTS RX Request to Send RS 422 Receive TX RS 422 Transmit Modem to Host RXD RS 232 Receive Host to Modem Modem to Host Host to Modem TXD RX RS 232 Transmit RS 422 Receive GND Ground RXD RS 232 Receive Host to Modem TXD RS 232 Transmit Modem to Host RTS Request to Send Host to Modem DE Device Enable See NOTE below Modem to Host GND Ground Reserved 4 Setup and Test Setting Up the Modems 4 12 1 1 User s Manual TELEDYNE BENTHOS Figure 4 5 for the POWER SERIAL connector pin orientation and to Table 4 3 for the pinout information The POWER SERIAL connector is a 16 pin Impulse 16 bulkhead connector that requires an Impulse MCIL16F mating connector pigtail NOTE The Device Enable output is on when the modem is sending data to the host or if the modem receives the Dial com
129. Enter Definition User s Manual The Attention command resets the local modem s idle time timer and verifies that the communications link between the host processor and the modem is functioning properly NOTE For the local modem to execute entered commands the modem must be in Command mode with the command prompt displayed If the modem is not in Command mode refer to page 5 6 for instructions on how to place the modem into Command mode How to Use To use the Attention command type AT and then press Enter The local modem will indicate that it has verified communications with its host processor by responding with the message OK and displaying the command prompt P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 7 9 Check Mode ATC Syntax ATC Enter Definition The Check Mode command checks the operating mode of the local modem and the modem displays one of the following Acquisition mode Listening for an incoming data packet Receiving packet Receiving a data packet Transmitting Transmitting a data packet gt NOTE For the local modem to execute entered commands the modem must be in Command mode with the command prompt displayed If the modem is not in Command mode refer to page 5 6 for instructions on how to place the modem into Command mode How to Use To use the Check Mode command type ATC and then press Enter The local modem will display its operating mode as d
130. GC command and therefore are lower indicating a relatively strong input signal The AGC history is transmitted at the bit rate set by the TxRate configuration parameter of the remote modem While the AGC history is being transmitted communications with or between other remote modems is not possible While the AGC history of the remote modem is being transmitted any input received over the serial link will not be transmitted until after the history is transmitted 7 Modem AT Command Set 7 68 TELEDYNE BENTHOS AGC Diagnostic Enable ATT2 User s Manual Syntax ATT2 Enter Definition The AGC Diagnostic Enable command enables the display of the minimum and maximum automatic gain control AGC outputs of the local modem once per second The displayed values are an indication of the relative amount of background noise present when there are no modems transmitting Low values indicate a strong received signal and high values a weak received signal The AGC ranges are 0 91 dB for the ATM 900 Series Acoustic Telemetry Modems and 0 77 dB for the UDB 9400 Universal Deck Boxes NOTE For the local modem to execute entered commands the modem must be in Command mode with the command prompt displayed If the modem is not in Command mode refer to page 5 6 for instructions on how to place the modem into Command mode For ATM 900 Series Acoustic Telemetry Modems only the following is a rough guide for interpreting the r
131. IME CHARGES FOR PURCHASER S TIME AND EFFORT THE CLAIMS OF THIRD PARTIES INJURY TO PROPERTY OR ANY OTHER DIRECT INDIRECT SPECIAL RELIANCE INCIDENTAL OR CONSEQUENTIAL OR ADMINISTRATIVE DAMAGES REGARDLESS OF THE NATURE OF THE CLAIM AND WHETHER OR NOT FORESEEABLE AND WHETHER OR NOT BASED ON THE LEGAL THEORIES OF BREACH OF WARRANTY CONTRACT TORT INCLUDING NEGLIGENCE OR STRICT LIABILITY EVEN IF TELEDYNE BENTHOS INC HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES OR FOR ANY CLAIM BY ANY THIRD PARTY EXCEPT AS EXPRESSLY PROVIDED HEREIN THIS LIMITATION OF LIABILITY APPLIES BOTH TO PRODUCTS AND SERVICES AND SUPPORT PROVIDED PURCHASER UNDER THIS AGREEMENT NO ORAL OR WRITTEN INFORMATION OR ADVICE GIVEN BY TELEDYNE BENTHOS INC ITS AGENTS OR EMPLOYEES SHALL CREATE A WARRANTY OR IN ANY WAY INCREASE THE SCOPE OF THIS LIMITED WARRANTY ANY AND ALL LIABILITY OF TELEDYNE BENTHOS INC IS EXPRESSLY LIMITED TO THE PRICE PURCHASER HAS PAID FOR THE PRODUCT PURCHASER S SOLE REMEDY AGAINST TELEDYNE BENTHOS INC IN ANY DISPUTE UNDER THIS AGREEMENT SHALL BE TO SEEK RECOVERY OF THE AMOUNTS PURCHASER PAID PURSUANT TO THE LIMITED WARRANTY PROVIDED ABOVE UPON THE PAYMENT OF WHICH TELEDYNE BENTHOS INC ITS AGENTS OFFICERS DIRECTORS EMPLOYEES AND AFFILIATES WILL BE RELEASED FROM AND DISCHARGED OF ALL FURTHER OBLIGATIONS AND LIABILITY TO PURCHASER THE LIMITED WARRANTY OF TELEDYNE BENTHOS INC GIVES PURCHASER SPECIFIC LEGAL RIGHTS AND PURCHA
132. IO SIGE ou LL 5 59 factory reset voccs ERE 5 59 Z address 2 parameter name z value 5 60 Z address cfg 5 60 Transponder Operation 5 61 Required Configuration Parameter Settings 5 61 Transponder Operation Commands 5 63 ATNIHE 4 sue rau Ex eae ees NN b rRNA S 5 63 LBL Multi Receive Option 5 65 Long Baseline Acoustic Positioning Concept 5 65 Broadband Triggered LBL Configuration 5 65 Configuring a Modem as a Remote Modem Transponder 5 67 Broadband Triggered LBL Configuration Commands 5 68 AINE wi a Satara E Qu a UE GM M ERE dece ipis 5 68 THAD RU ads ngs T 5 69 All Tonal Based LBL Configuration 5 70 All Tonal Based LBL Configuration Commands 5 70 Acoustic Recorder Option 5 71 Generating Basebanded Signals 5 71 Acoustic Recorder Commands 5 74 Record vss gk x UNUS rA SU 5 74 Record On SA SHE ER d SM 5 74 Record off REPORT 5 75 Setting up for Data Recording 5 75 Removing an SDHC Card with Recorded Acoustic Recorder Data oso D
133. LEDYNE 5 A Teledyne Technologies Company 16 407 4x 12 THRU A B c WEIGHT IN AIR WEIGHT IN WATER LFOMNI 290 737 26 66 4O 10 38185 172kg 20185 9 1kg 290 737 205 29 74 37L8S 168kg 19185 86 NOTES MF DIRECTIONAL 302 767 5 51140 46 117 43501956 22185100 1 5 ARE IN INCHES mm 290 737 2 358 2 0 74 37 LBS 16 8kg 19 LBS 8 6 kg mo swapoy 5 seues 006 IN1V LL OL jenuey sasn 92 0Z2 IN DIMENSIONS ARE IN INCHES mm 2 LF OMNI TRANSDUCER SHOWN LF OMNI MF OMNI MF DIRECTIONAL BANDC A 14 8 376 14 2 361 17 7 450 14 5 368 8 2 6 66 2 0 51 5 5 140 2 3 58 4 0 102 2 9 74 4 6 117 2 0 51 WEIGHT IN AIR 16 LBS 7 3 kg 15 LBS 6 8 kg 20 LBS 9 1 kg 14 LBS 6 4 kg WEIGHT IN WATER 718 3 2 kg 6185 2 7 kg 10 LBS 4 5 kg 6185 2 7 kg js ECOL SS a eee emn 99 mew OUTLINE 966 ATM 886D cooe 55 R STRUNG CHECKED BY LAT T T zom A UPDATED woms wes nos 52 C 270 259 3 SCALE 91 gt MUT ed eee eT SOHLNAd ANAGATSL OL PC BOARD JI TRANSDUCER CONNECTION
134. LEDYNE BENTHOS Data Logger Commands The following data logger commands are available difind dllist e direcs rdifind e 5 rdirecs didump rdidump diclear The difind command extracts and displays data logger records from the local modem in accordance with specified search parameters These search parameters contain one or more of the following Starting point Ending point Step interval Flags The starting and ending point parameters can be in the form of a time stamp in years months days hours minutes and seconds a record number referenced to the start or the end of the data logger s data set or the number of records from the starting point The step interval specifies how many records should be skipped when displaying data For example an interval of 15 would display the first and then every 15th record from the starting point P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 19 to the ending point If no step interval is specified then every record from the starting point to the ending point would be displayed The flags parameter specifies the source of the data Valid flags are the following p1 Data received on serial port 1 p2 Data received on serial port 2 ac Data received as an acoustic packet and the related statistics xp
135. M 5 47 wee P nep rS eee pt 5 47 NE EROR DUNS 5 47 MAI cse Lo es Edd D va a AE EE ddr bii NIE ce Ewe 5 48 CHOWN sve deis Bare vui EDU SEIS PE 5 48 iint MP 5 48 CCN o a predios uaa ibo que wee p RE 5 49 ID ia uei ewe ais 5 49 FX ue Weis ace ee 5 50 EZ dust Eee sor ebd e e BRE cie Wu s ate tates ew 5 50 Sl crise xau a er 5 51 dera 5 51 SZ 5 52 Configuration System 5 53 Configuration Files 5 53 Standard i i File dex 5 53 eir eR 5 54 Configuration Parameter Sections 5 54 Tab Completion for Configuration System 5 56 Configuration System Commands 5 56 5 56 cfg all i vos peered EREUS RUE ERE 5 57 Qesection NAME gt i usua aec RR UR OR QT D e 5 57 Q parameter name 5 57 Q parameter gt lt gt 5 58 cfg load 55 vb Res a o au uie 5 58 P N M 270 26 Rev D Acoustic Telemetry Modems xiii G
136. MF dir 8 6 kg 19 Ib Band C 6000 m 19 680 ft 16 LF omni MF omni wa was a P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 2 9 ATM 966 Subsea Modem The ATM 966 Acoustic Telemetry Modem is a 6000 meter 19 680 ft depth rated subsea modem with a built in omnidirectional or directional transducer The modem operates on external DC power only Housing construction Dimensions Weight in air Weight in water Operating depth POWER SERIAL Connector Hard coat anodized aluminum Reference Drawing C 270 259 on page 10 12 7 3 kg 16 Ib 6 8 kg 15 Ib MF omni 9 1 kg 20 Ib MF dir 6 4 kg 14 Ib Band LF omni wa a 3 2 kg 7 Ib LF omni 2 7 kg 6 Ib MF omni 4 5 kg 10 Ib MF dir 2 7 kg 6 Ib Band C 6000 m 19 680 ft MCBH16M ATM 900 Modem Board Set The ATM 900 Modem Board Set includes a circuit board set mounted to a chassis It is externally powered does not include a transducer and is 2 Specifications typically sold as spares Chassis Dimensions Mounting Weight Reference Drawing B 270 156 on page page 10 13 When ordered with the SD Datalogger option D the chassis is longer as shown in drawing B 270 504 on page 10 14 Chassis mounting holes 0 27 kg 0 6 Ib 0 32 kg 0 7 Ib SD Datalogger D option ATM 966 Subsea Modem 2 10 TELEDYNE BENTHOS ATM 903 Modem Board Set The ATM 903 Mod
137. Modems 5 15 Datalogger Mode When a modem is in Datalogger mode input from its host processor over the serial interface is treated as data which are stored in the internal flash memory or optionally in an external SDHC card of the modem s data logger Up to 6 MB of data can be stored in internal memory However with the SD Datalogger option D which adds an SDHC card and its carrier board 4 GB are available With the SD Datalogger option setting LogStore SDHC enables the 4 GB of memory With LogStore internal only the internal 6 MB of memory can be used The actual available memory for data storage however depends primarily on the record sizes and the metadata which is information about the data For example if the average record size is 1 KB the metadata will consume only about 396 of memory If the average record size is only 32 bytes then the metadata will consume 5096 of memory The available memory also depends on the file system formatting A 4 GB SDHC card after formatting will have 3 91 GB of available memory The file system formatting memory requirements do not apply to the 6 MB of internal memory available for data storage however NOTE When the SDHC card is enabled by setting LogStore SDHC all the datalogger commands will apply only to the datalogger on the SDHC card In addition the RingBuf configuration parameter cannot be set to Ena to enable the ring buffer For information on the RingBuf configuration p
138. OS ATT2 The AGC Diagnostic Enable command ATT2 enables the display of the minimum and maximum automatic gain control outputs of the local modem once per second The displayed values are an indication of the relative amount of background noise present when there are no modems transmitting Low values indicate a strong received signal and high values a weak received signal The ranges are 0 91 dB for the ATM 900 Series Acoustic Telemetry Modems and 0 77 dB for the UDB 9400 Universal Deck Box Syntax ATT2 Privilege user Example To enable the display of the minimum and maximum values once per second of the local modem enter ATT2 The values are displayed as dashed pairs where the first value of each pair is the minimum gain and the second the maximum To stop the display enter ATT1 ATT1 The AGC Diagnostic Disable command ATT1 disables the display of the minimum and maximum automatic gain control AGC outputs of the local modem Syntax ATT1 Privilege user Example To disable the display of the minimum and maximum values of the local modem enter 1 AT G The Output Remote AGC command AT G outputs ten seconds of AGC history from the remote modem at address n The history begins ten seconds prior to receipt of the command and ends at the receipt of the command For every sample two numbers are output one is the highest AGC measurement during a one second interval and
139. Only location will be displayed along with range when using the ATRX command Definition The ReplyData configuration parameter enables the local modem to display the location in latitude and longitude and the depth or altitude of a remote modem along with the range to the remote modem from the local modem when using the ATRX command Latitude is in decimal degrees where a positive value represents north and a negative value represents south Similarly longitude is in decimal degrees where a positive value represents east and a negative value represents west Depth and altitude units are in meters Available Settings The available settings for the ReplyData configuration parameter are listed below 0 Off Only range will be displayed when using the ATRX command The ATRX command performs the same as an ATR command 1 LatLong Only location will be displayed along with range when using the ATRX command 2 Depth Location and depth will be displayed along with range when using the ATRX command SeaFloor Location and altitude as provided by an altimeter will be displayed along with range when using the ATRX command 4 GpsAIt Location and height above mean sea level as provided by a GPS will be displayed along with range when using the ATRX command 8 Modem Configuration Parameters ATM 900 Series Acoustic Telemetry Modems 9 1 9 Maintenance and Troubleshooting This section encompasses the recommended care and
140. Output format Verbose 2 Pitch pitch Range local address to remote address range m speed relative speed m s Output format Verbose 3 TX time hh mm ss nnnn RX time hh mm ss nnnn Pitch pitch Range local address to remote address range m Round trip range ms speed relative speed m s For Verbose 3 hh is hours mm is minutes ss is seconds and nnnn is tenths of milliseconds How to Use To use the Pitch command type ATRCP followed by the address of the remote modem and then press Enter The modem will respond by displaying the high resolution pitch in degrees of the remote modem and the range in meters to the remote modem The information is transmitted to the local modem from the remote modem P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 7 85 over the acoustic link The displayed information will be in accordance with the Verbose configuration parameter Special Considerations When using the Pitch command take note of the following The displayed range is the one way range to the remote transponder or modem and is determined acoustically based on the setting of the SpeedOfSound configuration parameter To acquire the range the local transponder or modem transmits an interrogation signal to the remote modem or transponder When this signal is received a reply is transmitted The local transponder or modem must receive the reply within the
141. R 0 2 LBS 0 1 kg 0000000000000000000000 0000000000000000000000 4 20 BENTHOS A Teledyne Technologies Company 1 64 HOLE SZE 21 64 HOLE LOCATION 2 1 32 GENERAL CAGE CODE 26858 vaio B JOSEPH DRAWING NUMBER WRB B 270 498 OUTLINE CO PROCESSOR BOARD PAIR NAME DATE SCALE B 270 498RA 9 23 2011 SHEET 1 OF 1 swapoy 2nsnooy seues 006 IN1V 91 01 jenue y sasn 92 022 IN 316 STAINLESS STEEL MCBH3M MNM NOTES DIMENSIONS GIVEN IN INCHES mm 2 LF WEIGHT IN AIR 4 8 LBS 2 2 KG 3 LF WEIGHT IN WATER 3 0 LBS 1 4 KG MOUNTING BOLT PATTERN 265 THRU 6 73 4 PLACES EVENLY SPACED ON A 250 BC 127 01 TC OUTLINE LF REMOTE TRANSDUCERS r 270 267 267 B EET LET 91 01 SOHLNAd ANAGATSL OL 2 MFOMNI 6 8 173 2 0 BANDC 7 180 2 3 BAND C TRANSDUCER SHO 51 58 2 9 74 2 0 51 WEIGHT IN WATER 5 2 LBS 2 4 kg 5 1185 2 3 kg WEIGHT IN AIR 6 4 LBS 2 9 kg 6 1185 2 8 kg NOTES 1 DIMENSIONS ARE IN ECHES mm MCBH3M SS 316 STAINLESS STEEL 4X 1 4 20 UNC 38 9 5 EVENLY SPACED ON A D 2 06 52 4 B C TOURANCES ICEPT AS NOTED PROPRIETARY TELEDYNE BENTHOS XX 010 XXX 005 FRACTIONA 1 64 HOLE SIZE OUTLINE REMOTE MF O AND E A GENERAL RICH BUSER BAND C TRANS
142. RE EE d S cats ed 5 87 Heal Time xo eR noh 5 68 SyncPPS Configuration Parameter 5 88 Synchronizing a Modem to an External 1PPS Signal 5 89 Inputting Time and Date from an External Time Source 5 90 Real Time Clock Commands 5 91 dal ee ERR RV ME We IO we DIE LEE 5 91 2 Re EIER E RR EE A ES EE 5 92 Hc battery suos e Ero PAGE EE 5 92 SVIID cd d bcati elc Gly wee ca ap COR OMA SC RV DE EA 5 93 DEVICE Enable Eg ESSE HUE SERM 5 94 Automatic Device Enable Output Setting 5 94 Manual Device Enable Output Settings 5 94 Device Enable Commands 5 94 ALTON P xe X Rea ER YN 5 95 oss douane b od Sq d pes it 5 95 ACOUSTIC TGS a coc RN RM 5 96 Background Noise Interpretations 5 96 Acoustic Test Commands 5 97 SPO CIC cc cues CRDI 5 97 AUS RENE E ps e 5 97 5 99 ATTN iit NAER RE anced SPEO ER 5 99 5 100 eee Paes ee 5 100 sted Feud rem 5 100 6 Modem CLAM Shell Co
143. Rate configuration parameter is from 2 to 13 as follows 2 140 140 bits sec MFSK repeated four times with rate 1 2 convolutional coding and 25 ms multipath guard period 3 300 300 bits sec MFSK repeated twice with rate 1 2 convolutional coding and 25 ms multipath guard period 4 600 600 bits sec MFSK with rate 1 2 convolutional coding and 25 ms multipath guard period 5 800 800 bits sec MFSK with rate 1 2 convolutional coding and 12 5 ms multipath guard period 6 1066 1066 bits sec MFSK with rate 1 2 convolutional coding and 3 125 ms multipath guard period 7 1200 1200 bits sec MFSK with rate 1 2 convolutional coding 8 Modem Configuration Parameters 8 52 TELEDYNE BENTHOS 2400 2400 bits sec MFSK 2560 2560 bits sec PSK with rate 1 2 convolutional coding 0 5120 5120 bits sec PSK with rate 1 2 convolutional coding 1 7680 7680 bits sec PSK with rate 1 2 convolutional coding 2 10240 10 240 bits sec PSK 3 15360 15 360 bits sec PSK 8 9 1 Special Considerations When setting the TxRate configuration parameter take note of the following maximize the modem battery pack life for the amount of data transmitted use the highest acoustic bit rate that yields good results When selecting a bit rate that includes a multipath guard period the selection should include the multipath guard period that is longer than the multipath delay The multipath delay is measured and displayed as a part of th
144. S 232 Transmit RS 422 Receive Buoy Box to Modem DE Device Enable Modem to Buoy Box RXD RS 232 Receive Buoy Box to Modem FUNCTION 1 2 3 4 5 6 7 8 Setting up the Host Processor If a PC is to be used as the host processor it must be set up to run a terminal program such as ProComm Plus which is available from DataStorm Technologies or Tera Term which can be downloaded from http logmett com index php products teraterm html The serial port used to connect to the modem must be selected and correctly configured using the terminal program If an instrument is to be used as the host processor refer to the documentation provided with the instrument for the setup information After connecting the modem to the PC as described in Setting Up the Modems on page 4 9 perform the steps listed below to prepare the PC 1 Install the terminal program communications software on the PC 2 Start the terminal program select the serial port that is connected to the modem and configure the port as follows Baud Rate 9600 baud Parity None Data Bits 8 Stop Bits 1 In addition the terminal emulation type should be set to the VT 100 or if VT 100 is not available ANSI 4 Setup and Test Setting up the Host Processor 4 22 TELEDYNE BENTHOS Checking the Modems and Host Processors User s Manual Once the modems and host processors are set up several simple preliminary checks can b
145. S 232 driver for serial port 2 when the modem is in the lowpower state 1 SW Selects software XON XOFF handshaking and turns off the RS 232 driver for serial port 2 when the modem is in the lowpower state 8 Modem Configuration Parameters 8 18 User s Manual TELEDYNE BENTHOS P2Protocol Default Setting 0 RS 232 Serial port 2 is configured as an RS 232 serial interface Definition The setting of the P2Protocol configuration parameter determines whether serial port 2 is configured as an RS 232 or CMOS serial interface NOTE A setting of 1 RS 422 or 2 RS 485 on serial port 1 will disable the use of the RS 232 protocol on serial port 2 Available Settings There are two available settings for the P2Protocol configuration parameter as listed below 0 RS 232 Configures serial port 2 as an RS 232 serial interface 1 CMOS Configures serial port 2 as a CMOS serial interface Special Considerations When setting the P2Protocol configuration parameter take note of the following f the P1Protocol configuration parameter is set to 1 RS 422 or 2 RS 485 the RS 232 protocol will be disabled on serial port 2 but the CMOS serial interface will still function f the P2Protocol configuration parameter is set to 0 RS 232 serial port 2 is available on J8 of the DSP board for the ATM 900 and ATM 903 Board Sets and on the POWER SERIAL connector of all other modems Refer to Table 4 6 on page 4 15 f
146. S signal The 1PPS signal is input to the modem pin 9 of the DSP board I O connector J3 and the RX and TX time stamps shown at verbose level 3 are at 0 1 ms accuracy with respect to the rising edge of the 1PPS signal as shown in Figure 5 8 ExtFall With SyncPPS ExtFall the modem synchronizes to the falling edge of an external 1PPS signal The 1PPS signal is input to the modem pin 9 of the DSP board connector J3 and the RX and TX time stamps shown at verbose level 3 are at 0 1 ms accuracy with respect to the falling edge of the 1PPS signal as shown in Figure 5 8 Refer to Table 4 11 on page 4 19 for the connector pinout information for the DSP board connector J3 and to Figure 4 11 on page 4 19 for the connector pin orientation User s Manual P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 89 Rising edge 1PPS Falling edge 1PPS Time M M 1 000 sec 1 000 sec Figure 5 8 1PPS Input Signals Synchronizing a Modem to an External 1PPS Signal An ATM 903 or ATM 900 Modem Board Set can be synchronized to an external 1PPS signal such as from a GPS as a modem can input NMEA messages from most GPS units If it is desired to access the 1PPS input for this purpose in one of the other ATM 900 Series Acoustic Telemetry Modems or the UDB 9400 Universal Deck Box contact Teledyne Benthos For information on how to contact Teledyne Benthos refer to Customer Servic
147. SER MAY ALSO HAVE OTHER RIGHTS THAT VARY FROM STATE TO STATE SOME STATES DO NOT ALLOW LIMITATIONS ON HOW LONG AN IMPLIED WARRANTY LASTS OR THE EXCLUSION OR LIMITATION OF INCIDENTAL OR CONSEQUENTIAL DAMAGES SO THE ABOVE LIMITATIONS OR EXCLUSIONS MAY NOT APPLY TO PURCHASER User s Manual TELEDYNE BENTHOS INTELLECTUAL PROPERTY RIGHTS No rights in Intellectual property including but not limited to license or other rights under any patent copyrights trade secrets or trademarks owned or controlled by Teledyne Benthos Inc or under which Teledyne Benthos Inc is licensed are granted to Purchaser or implied by the sale of products or services hereunder Purchaser shall not identify as genuine products of Teledyne Benthos Inc any Teledyne Benthos Inc products purchased hereunder which Purchaser has treated modified or altered in any way Purchaser shall not use the trademarks of Teledyne Benthos Inc to identify such products provided however that Purchaser may identify such products as utilizing containing or having been manufactured from genuine products of Teledyne Benthos Inc as treated modified or altered by Purchaser or a representative of Purchaser If products or services sold hereunder are manufactured according to the specifications of Purchaser Purchaser shall indemnify Teledyne Benthos Inc against any liability for patent copyright or trademark infringement on account of such manufacture or performance Liabili
148. Technologies Company NOTES DIMENSIONS ARE IN INCHES mm 2 MF DIRECTIONAL SHOWN A B C WEIGHT IN WATER LF OMNI 319 810 3 8 97 2 6 66 24L8S 10 9kg 11 LBS 5 0 kg MF OMNI 319 810 3 8 97 2 0151 23LBS 10 4kg 10 LBS 4 5 kg DIRECTIONAL 33 8 859 5 7 145 5 5 140 29185 13 2 kg 13 LBS 5 9 kg BAND 31 9 810 3 8 97 2 3 5 23LBS 10 4kg 10 LBS 4 5 kg WEIGHT IN AIR TELEDYNE BENTHOS Mente eyes C OUTLINE ATM 925 885 401 T LL ee 212 A e D 270 053 ed 222222243 SOHIN38 ANAGATSL OL NOTES 1 ALL DIMENSIONS ARE IN INCHES mm 2 LF OMNI SHOWN A B WEIGHT IN AIR LF OMNI 15 5 394 3 8 97 2 6 66 9 LBS 4 1 kg MF OMNI 15 5 394 3 8 97 20151 8 LBS 3 6 kg MF DIRECTIONAL 17 4 442 5 7 145 5 5 140 14185 6 4 BANDC 15 5 394 3 8 97 2 3 58 8 LBS 3 6 kg WEIGHT IN WATER 4185 1 8 kg 3 LBS 1 4 kg 7 LBS 3 2 kg 3 LBS 1 4 kg swapoy 2nsnooy seues 006 IN1V 6 01 jenue y sasn 92 0Z2 IN f TELEDYNE BENTHOS A Teledyne Technologies Company 160 14071 TYP 560 4X 1422 THRU NOTES 1 DIMENSIONS ARE IN INCHES mm 2 WEIGHT IN AIR 37 LBS 16 8 kg 3 WEIGHT IN WATER 19 LBS 8 6 kg 01 01 SOHLNAd ANAGATSL OL TE
149. The Reboot command reboots the firmware of the local modem causing the modem to reset in the same manner as it would when the power is cycled off and then on Instead of ATES the reboot command can also be used This process takes about five seconds NOTE For the local modem to execute entered commands the modem must be in Command mode with the command prompt displayed If the modem is not in Command mode refer to page 5 6 for instructions on how to place the modem into Command mode How to Use To use the Reboot command type ATES or Reboot and then press Enter The local modem will reboot its firmware and automatically enter the mode determined by the setting of the OpMode configuration parameter 7 Modem AT Command Set 7 12 TELEDYNE BENTHOS Remote Acoustic Reset ATSESn User s Manual Syntax AT ESn Enter Definition The Remote Acoustic Reset command resets the remote modem at address n NOTE For the local modem to execute entered commands the modem must be in Command mode with the command prompt displayed If the modem is not in Command mode refer to page 5 6 for instructions on how to place the modem into Command mode How to Use To use the Remote Acoustic Reset command type AT ES followed by the address of the remote modem and then press Enter The remote modem will reset Special Considerations If all attempts to communicate with the remote modem fail the Remote Acoustic Reset command
150. The newdatafile1 file on the host PC will be transferred to the root directory of the modem file system P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 51 sb The sb Y modem send command causes the modem to use the transmit Y Modem protocol to transmit one or more files from the modem file system to a host PC Syntax Privilege Example SX sb lt path gt lt file gt User To transfer the files named datafile1 and datafile2 on the root directory of the modem file system to a host PC first enter sb datafilel datafile2 Next set the communications program on the PC to receive using the Y Modem protocol The datafile1 and datafile2 files on the root directory of the modem file system will be transferred to the root directory of the host PC The sx X modem send command causes the modem to use the transmit X Modem protocol to transmit the contents of a file from the modem file system Syntax Privilege Example 5 Modem Operation sx lt path gt lt file gt user To transfer the contents of the file named datafile1 on the root directory of the modem file system to a file named newdatafile1 on the host PC first enter sx datafilel Next set the communications program on the PC to receive using the X Modem protocol Select the directory to save the file and then open a file named newdatafile1 The contents of datafile1 on the root directory of the modem file system
151. V 5 76 Reading Recorded Files Using Matlab Utilities 5 76 Reading Individual WAV Files 5 76 Reading WAV Files as a Batch 5 77 Waveform Play Option 5 79 Creating Basebanded Waveform 5 79 Uploading a Basebanded Waveform 5 80 Waveform Play 5 80 EU RE ERR NS e USE 5 80 SMART Releases and Modems 5 81 SR 50 and SR 100 SMART Releases 5 81 SM 975 SMART Modem 5 81 SMART Release and Modem Commands 5 81 OOICUITOnTD e s shes esu eR cox x unt RR 5 82 ATSIN i Nau Pu RE IUE 5 82 A REM 5 82 ATSNA M ous Luo oe Deo a Ae Gee eek ot uide S dica e dira de 5 83 Zn gel cultrenb vai d te BE c Was 5 83 xiv TELEDYNE BENTHOS Navigation 5 84 Speed OF Sound gosir pirre 5 84 Navigation Commands 5 84 UN DER ITE VEN S ds 5 85 m PR 5 87 COMPASS VERNA NU
152. a Logger Enable command take note of the following The local modem must receive an acknowledgment from the remote modem within the acoustic response timeout which is determined by the setting of the AcRspTmOut configuration parameter If an acknowledgment is not received Response Not Received will be displayed The Remote Data Logger Enable command sets OpMode Datalog of the remote modem 7 Modem AT Command Set 7 54 TELEDYNE BENTHOS Remote Data Logger Disable AT BDn Syntax AT BDn Enter Definition The Remote Data Logger Disable command causes the remote modem at address n to go into Online mode and to go online with the local modem if the remote modem is in Datalogger mode NOTE For the local modem to execute entered commands the modem must be in Command mode with the command prompt displayed If the modem is not in Command mode refer to page 5 6 for instructions on how to place the modem into Command mode How to Use To use the Remote Data Logger Disable command type AT BD followed by the address of the remote modem and then press Enter The local modem will go online with the remote modem if the remote modem is in Datalogger mode and then respond with the message OK Special Considerations When using the Remote Data Logger Disable command take note of the following The local modem must receive an acknowledgment from the remote modem within the acoustic response timeout
153. a received over the acoustic link in the data logger memory the AcData configuration parameter must be set to 1 Datalog or 2 UART Datalog To store data received over the serial interface in the data logger memory the OpMode configuration parameter must be set to 2 Datalog f the LogStore configuration parameter is set to 1 SDHC the RingBuf configuration parameter cannot be set to Ena P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 8 37 LogMode Default Setting 0 FwaDelay Once characters are received on the serial interface if no more characters are received for the amount of time configured by the FwdDelay configuration parameter a discrete record is created and the characters are stored in the data logger memory Definition The setting of the LogMode configuration parameter determines how records are indexed in the data logger memory The setting applies to both serial port 1 and serial port 2 when InputMode Dual Available Settings The available settings for the LogMode configuration parameter are listed below 0 FwdDelay Once characters are received on the serial interface if no more characters are received for the amount of time configured by the FwaDelay configuration parameter a discrete record is created and the characters are stored in the data logger memory 1 Sentinel When the ASCII code of a character received on the serial interface matches the setting of the Sentine
154. acoustic response timeout which is determined by the setting of the AcRspTmOut configuration parameter If a reply is not received Response Not Received will be displayed 7 Modem AT Command Set 7 86 Roll User s Manual TELEDYNE BENTHOS ATRCRn Syntax ATRCRn Enter Definition The Roll command displays the range and the high resolution roll of the remote modem at address n The displayed range is in meters with a resolution of 0 1 meters The displayed range is in meters with a resolution of 0 1 meters The roll is in degrees with a resolution of 0 1 degree All data are displayed in accordance with the Verbose configuration parameter as listed below Output format Verbose 0 and 1 Roll lt roll gt Range local address to remote address range m Output format Verbose 2 Roll roll Range local address to remote address range m speed relative speed m s Output format Verbose 3 TX time hh mm ss nnnn RX time hh mm ss nnnn Roll roll Range local address gt to remote address range m Round trip range ms speed relative speed m s For Verbose 3 hh is hours mm is minutes ss is seconds and nnnn is tenths of milliseconds How to Use To use the Roll command type ATRCR followed by the address of the remote modem and then press Enter The modem will respond by displaying the high resolution roll in degrees of the remote modem and the range i
155. acters input on serial port 2 to be displayed enter Compass To terminate the command enter Ctrl D or rapidly enter Navigation 5 88 TELEDYNE BENTHOS Real Time Clock A modem includes a battery backed real time clock and is shipped with the UTC time setting Refer to Real Time Clock on page 2 3 for the real time clock specifications The time and date are read from the real time clock when the modem is powered up The clock uses an internal one pulse per second 1PPS signal to keep time but it is possible to switch to an external 1PPS signal source such as a GPS for a more accurate time If this configuration is desired refer to Synchronizing a Modem to an External 1PPS Signal on page 5 89 In addition setting Verbose 3 enables time stamping of all received and transmitted acoustic messages with a resolution of 0 1 ms as in the following example user 3 at s1 TX time 13 12 44 9812 Rx Time 13 12 46 8740 For additional specifications on the real time clock refer to Section 2 Specifications SyncPPS Configuration Parameter The SyncPPS configuration parameter has three options for driving the real time clock one internal and two external RTC With SyncPPS RTC the time and date are driven from the internal real time clock and the RX and TX time stamps shown at verbose level 3 will be at a 0 1 ms time accuracy ExtRise With SyncPPS ExtRise the modem synchronizes to the rising edge of an external 1PP
156. addressing is in accordance with the setting of the InputMode configuration parameter When QlInputMode Single transport addressing is disabled and data that are input to serial port 1 of the local modem and transmitted to a remote modem will include no transport address attached to the data packets Data packets that are received over the acoustic link from a remote modem with or without a transport address attached will be routed to serial port 1 When InputMode Dual transport addressing is enabled and data that are input to serial port 1 of the local modem and transmitted to a remote modem will include a transport address attached to the data packets in accordance with the setting of the SrcP1 configuration parameter indicating to the remote modem which port on the local modem the data were input The same is true for serial port 2 and the setting of the SrcP2 configuration parameter Data packets that are received over the acoustic link from a remote modem with a transport address attached will be routed in accordance with the setting of the Dst1 and Dst2 configuration parameters to serial port 1 or to serial port 2 User s Manual P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 8 63 1 AlwaysOn 8 Modem Configuration Parameters Transport addressing is always enabled regardless of the setting of the InputMode configuration parameter Data that are input to serial port 1 of the local modem and transmitted to a
157. aking 12 36 VDC 20 watts at power level 8 14 watts at power level 7 10 watts at power level 6 7 watts at power level 5 5 watts at power level 4 3 5 watts at power level 3 2 5 watts at power level 2 gt 2 watts at power level 1 depending on transducer 3 A 50 ms 21 VDC 720 mw max 24VDC 650 mw typ 9 24 VDC 12 0 mw max 24 VDC 10 2 mw typ 24 VDC Frequency band 9 14 kHz Source level 185 dB re 1 uPa 1 m typ Beam pattern toroidal x30 2 12 khz typ Frequency band 16 21 kHz Source level 183 dB re 1 uPa 1 m typ Beam pattern toroidal x30 2 18 khz typ Frequency band 22 27 kHz Source level 178 dB re 1 uPa 1 m typ Beam pattern toroidal x30 25 khz typ P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 2 3 Low frequency LF directional transducer Frequency band 9 14 kHz Source level 190 dB re 1 uPa 1 m typ Beam pattern conical 20 12 khz typ ATM 914 ATM 924 ATM 964 and ATM 903 only Medium frequency MF directional transducer Frequency band 16 21 kHz Source level 190 dB re 1 uPa 1 m typ Beam pattern conical X30 18 khz typ Operator controls Plunger type on off switch not included on ATM 900 and 903 modems Device enable Active low open collector output Maximum sink current is 20 mA maximum applied voltage is 40 VDC and maximum power is 150 mw Real Time Clock All the Teledyne Benthos ATM 900 Series Acoustic Telemetry Modems
158. al TELEDYNE BENTHOS While the contents of the local modem s data logger page are being output the local modem will not accept any input over the serial interface or over the acoustic link P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 7 63 AGC Diagnostic ATTNn Syntax ATTNn Enter Definition The AGC Diagnostic command enables or disables the display of the automatic gain control output of the local modem When enabled the display is updated once a second The displayed values are averages and range from 0 dB to 91 dB for the ATM 900 Series Acoustic Telemetry Modems and 0 to 77 dB for the UDB 9400 Universal Deck Box Low values indicate a strong signal is being received and high values indicate a weak signal is being received The displayed values are also an indication of the relative amount of background noise present when there are no modems transmitting The settings for n are 0 and 1 as follows 0 Disable display of AGC output 1 Enable display of AGC output For ATM 900 Series Acoustic Telemetry Modems only the following is a rough guide for interpreting the relative amount of background noise when there are no modems transmitting Greater than 70 dB When the modem is not in the water and is in relatively quiet in air acoustic conditions 60 70 dB Extremely quiet acoustic conditions which is ideal for long range acoustic communications 50 60 dB Typical acoustic conditions where
159. al TELEDYNE BENTHOS Convolutional Coding Convolutional coding is the most effective of the thee methods provided for increasing reliability The the ATM 900 Series Acoustic Telemetry Modems and the UDB 9400 Universal Deck Box use constraint length 9 rate 1 2 convolutional coding for forward error correction Therefore every bit of information input into the encoder affects 16 output channel symbols enabling the recovery of the information even when a few symbols are lost at the receiver The effective bit rate or throughput however is reduced by half Multipath Guard Period To further increase reliability especially in high multipath situations where signal overlap can occur a selectable delay can be inserted between data frames The delay is selected based on the length of time the multipath is present in the communications channel Again the bit rate is affected Multipath guard period is not used with the PSK modulation technique For example a multipath guard period of 25 milliseconds adds 25 milliseconds to the duration of each data frame which is also 25 milliseconds hence the bit rate is reduced to half of what it is without the multipath guard period For a multipath guard period of 12 5 milliseconds the bit rate is reduced to two thirds Data Redundancy Data redundancy which is also referred to as frequency diversity is a method whereby the same data bits are transmitted two or more times in the same data fra
160. al modem will display the number of bytes of data stored in the remote modem s data logger Special Considerations When using the Remote Bytes Stored command take note of the following The local modem must receive an acknowledgment from the remote modem within the acoustic response timeout which is determined by the setting of the AcRspTmOut configuration parameter If an acknowledgment is not received Response Not Received will be displayed P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 7 57 Clear Local Data Logger ATBC Syntax ATBC Enter Definition The Clear Local Data Logger command causes the local modem to clear the contents of its data logger memory must be in Command mode with the command prompt displayed If the modem is not in Command mode refer to page 5 6 for instructions on how to place the modem into Command mode NOTE For the local modem to execute entered commands the modem How to Use To use the Clear Local Data Logger command type ATBC and then press Enter The local modem will clear the contents of its data logger memory While clearing the memory the message 70 Seconds to clear is displayed followed by Buffer Cleared when the memory is cleared Special Considerations When using the Clear Local Data Logger command take note of the following The time required to clear the local modem s data logger depends on the amount of data stored and can take up to
161. ameter setting must be greater than 0 P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 8 61 TimedRelease Default Setting 0 The timed release is disabled Definition The setting of the TimedRelease configuration parameter is the elapsed time in hours after power up before activation of the release of a SMART Release or SMART Modem Available Settings The range of settings for the TimedRelease configuration parameter is from 0 to 999 where 0 disables the timed release function and each increment represents one hour for a range of 1 to 999 hours of delay before the release is activated Special Considerations When setting the TimedRelease configuration parameter take note of the following The setting of the TimedRelease configuration parameter must be saved by entering c g store The timer starts when the modem is powered up when a Remote Acoustic Reset command 5 is sent or with any other type of reset 8 Modem Configuration Parameters 8 62 TELEDYNE BENTHOS T PortMode Default Setting 0 InpMode Transport addressing is in accordance with the setting of the InputMode configuration parameter Definition The setting of the TPortMode configuration parameter determines whether transport addresses are attached to transmitted data packets Available Settings There are two available settings for the TPortMode configuration parameter as listed below 0 Transport
162. an transponders made by manufacturers other than Teledyne Benthos All Tonal Based LBL Configuration Commands The following all tonal based LBL configuration commands are available ATNm rxadj The Transpond ATNm command is the same command available for the transponder commands as described in Transponder Operation Commands on page 5 63 The rxadj command is the same command available for the all modem based configuration and is described in Broadband Triggered LBL Configuration Commands on page 5 68 P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 71 Acoustic Recorder Option The Acoustic Recorder option is enabled with the installation of a feature key This feature which includes the SD Datalogger option and is available for ATM 900 Series Acoustic Telemetry Modems only enables the recording of received signals that are within the modem s operating frequency band as basebanded complex data The data are recorded on up to two 32 GB SDHC cards at a 10240 Hz sampling rate as stereo WAV files in 16 bit format with the left channel as the real part and the right channel as the imaginary part Up to two weeks of data can be continuously recorded Automatic gain control AGC is also recorded in the least significant bits of the left channel as a serial bit stream with the most significant bits sent first with two start bits Each value is an 8 bit number representing a gain between 0 and 90 that applies to the b
163. an ATM 924 Acoustic Telemetry Modem will be used during a short deployment in a 21 C environment to transmit 3 Mbytes of data at 1200 bits sec at power level 8 Since at this power level the transmitter power is 20 watts the capacity requirement of the modem battery pack is Watt hours 3 Mbytes 20 watts 1200 bits sec x 450 11 watt hours Referring to Modem Battery Pack Capacities on page 2 12 it can be seen that a modem battery pack for an ATM 914 ATM 915 ATM 924 ATM 925 ATM 964 and ATM 965 Acoustic Telemetry Modem is more than adequate 3 Deployment Considerations Modem Battery Pack 3 4 User s Manual TELEDYNE BENTHOS An Example Deployment Calculation The example below shows how to calculate the number of deployment days an ATM 925 Acoustic Telemetry Modem can operate when transmitting 500 bytes of data every 30 minutes and the modem is powered from its internal battery pack The deployment conditions are the following Bit rate 600 bits sec Temperature 0 C Transmit power 20 watts power level 8 Start by calculating the amount of time to transmit the bytes in a packet First add the CRC to the packet Since the packet is 500 bytes there are two 256 byte subpackets so 4 bytes must be added for a total of 504 bytes Byte transmit time 504 bytes 8 bits byte 600 bits sec 6 72 seconds Now add the 0 8 seconds for the acquisition and header and 0 4 seconds for the lowpower wakeup to calculate the
164. and For every sample two numbers are output one is the highest AGC measurement during a one second interval and the other the lowest Low values indicate a strong received signal and high values a weak received signal The AGC ranges are 0 91 dB for the ATM 900 Series Acoustic Telemetry Modems and 0 77 dB for the UDB 9400 Universal Deck Boxes For ATM 900 Series Acoustic Telemetry Modems only the following is a rough guide for interpreting the relative amount of background noise when there are no modems transmitting Greater than 70 dB When the modem is not in the water and is in relatively quiet in air acoustic conditions 60 70 dB Extremely quiet acoustic conditions which is ideal for long range acoustic communications 50 60 dB Typical acoustic conditions where some background noise is present 40 50 dB Noisy conditions Communication is possible but the range is reduced When tapping or rubbing the modem transducer the AGC should be at least this low Less than 40 dB Extremely noisy conditions where only some communication is possible These conditions could be caused from interference or radiated electrical noise 7 Modem AT Command Set 7 66 User s Manual TELEDYNE BENTHOS NOTE For the local modem to execute entered commands the modem must be in Command mode with the command prompt displayed If the modem is not in Command mode refer to page 5 6 for instructions on how to place the mo
165. and causes a remote modem to extract and to transmit over the acoustic link a selectable number of contiguous bytes from its data logger records that were input from a specific data source or all the sources beginning with a specific byte This command can only be entered on serial port 1 Except for the additional command parameter addr which is the remote modem address the search parameters are the same as that for the dldump command Syntax rdidump lt addr gt x byte index byte count lt flags gt Privilege user Reference Datalogger Mode page 5 15 rdifind The rdlfind command causes a remote modem to extract and to transmit over the acoustic link its data logger records up to 16 kbytes at a time in accordance with specified search parameters This command can only be entered on serial port 1 Except for the additional command parameter which is the remote modem address these search parameters are the same as that for the d1 ind command Syntax rdifind lt addr gt i lt recno gt lt time gt lt recno gt lt time gt lt numrecs gt lt step gt lt flags gt Privilege user Reference Datalogger Mode page 5 15 P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 6 15 rdilist The rdllist command causes a remote modem to transmit over the acoustic link the number of bytes and the number of records in its data logger along with the time stamps f
166. and from another modem the modem will go into Datalogger mode and the OpMode configuration parameter will be set to Datalog Cycling power OpMode Datalog If OpMode Datalog and cfg store is used to save the configuration parameter settings powering down the modem and then powering up the modem will place the modem into Datalogger mode 6 MB Internal Memory For the 6 MB internal memory only the data logger can hold up to 6 MB of data in either one of two storage modes flat mode where data accumulates up to the 6 MB limit at which recording stops or ring buffer mode where the data are accumulated until the 6 MB limit is reached at which point the oldest 384 388 kbyte files are erased and new incoming data continues to be recorded These modes are selected with the RingBuf configuration parameter Files stored in the flash file system will also reduce the amount of memory available For information on the flash file system refer to Flash File System on page 5 39 SDHC Card Memory and Formatting The SDHC card can be removed and read directly on a PC For instructions on how to change the SDHC card refer to Changing the SDHC Card on page 9 11 The file formats for the data files are in the form nnnnnnnn log where nnnnnnn is a 0 padded number that increases from 0 to 99999999 until the data logger is cleared In addition a set of index files in the form nnnnnnn idx is also included following the same conventions as the log file
167. ansducer Types 1 12 User s Manual Surface Modems TELEDYNE BENTHOS The surface modems consist of the following configurations UDB 9400 Universal Deck Box Connects to a surface host processor and can transmit and receive data at bit rates as high as 15 360 bits sec ATM 980 Buoy Box Designed to be connected to a subsea modem and installed on a surface buoy UDB 9400 Universal Deck Box The UDB 9400 Universal Deck Box which is shown with its transducer in Figure 1 7 is used to communicate with any of the subsea modems the SMART releases or other deck boxes and it can activate the release mechanism of a SMART release The UDB 9400 Universal Deck Box is powered with 85 264 47 63 Hz or 21 28 VDC and includes the transducer a transducer cable an AC power cable and an accessories case The deck box can be connected to a host processor through its RS 232 422 serial port and includes a speaker and volume control for audio verification of transmitted data The deck box is configured to operate in the wide low frequency 7 16 kHz WLF medium frequency 16 21 kHz MF or 22 27 kHz Band C band and is available in both portable and rack mount configurations UDB 9400 RACK MOUNT Figure 1 7 The UDB 9400 Universal Deck Box Portable and Rack Mount Configurations NOTE For detailed information on the Teledyne Benthos UDB 9400 Universal Deck Box refer to its user s manual P N M 270 26 Rev
168. aphical spectral analyzer display enter X autobaud The autobaud command initiates a communication sequence with a remote modem that cycles through test packets at different acoustic bit rates to determine the fastest bit rate the acoustic channel will support This command can only be entered on serial port 1 An optional a modifier automatically sets the TxRate configuration parameter upon completion of the sequence on the local modem the remote modem or both 5 Modem Operation Acoustic Test 5 98 TELEDYNE BENTHOS Spectral Frequency Graph L 112 e v 84 e 1 56 d 28 kkkkkkkkkkkkkkk kkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk B kkkkk kkkkkkkk 6 50 7 75 9 00 10 25 11 50 12 75 14 00 15 25 16 50 Frequency kHz AGC 78 AUTO a toggle AGC mode q w manual down up u d arrow move Y axis window l r arrow change Y axis scale x exit t graph type r R repaint reset graph Figure 5 9 Example of Spectral Frequency Graph An optional e modifier sets the maximum allowable number of bit errors for a given rate to be considered acceptable And an optional m modifier specifies the maximum acoustic bit rate at which to begin testing and optionally the minimum bit rate at which to end testing Without this modifier the fastest bit rate is 8 2400 bits sec and the minimum 2 140 bits sec Syntax autobaud a lt local remote both gt m lt max_modspec gt lt min_mo
169. arameter refer to RingBuf on page 8 36 The stored data are partitioned into discrete searchable records with metadata tags that allow them to be searched and filtered Local and remote data and metadata retrieval functions are supported on both memory configurations A modem will go into Datalogger mode when it is powered up only if OpMode Datalog Data stored in the data logger are notlost when the modem is powered down The contents of the data logger memory of a remote modem can be read or cleared at any time over the acoustic link The number of bytes of data stored can also be read The same is true for a local modem over the serial interface WARNING With firmware version 8 6 0 installed some Datalogger mode functions will not be compatible with earlier versions Therefore before upgrading to 8 6 0 the contents of the data logger memory should be output and then cleared For instructions on how to output the contents of the data logger memory refer to Output Local Data Logger ATBT on page 7 59 and to clear it Clear Local Data Logger ATBC on page 7 57 5 Modem Operation Datalogger Mode 5 16 User s Manual TELEDYNE BENTHOS A modem can be placed into Datalogger mode in any of the following ways Setting OpMode Datalog From Command mode only setting OpMode Datalog will place the modem into Datalogger mode Receiving a Remote Datalogger Enable command AT BEn If the modem receives a Remote Datalogger Enable comm
170. arameter is set to 01 02 or 03 Refer to Verbose on page 8 24 for information on the Verbose configuration parameter D If the modem has an internal battery pack verify that it has not been depleted E Verify that the RS 232 serial cable is configured correctly and that it is connected to the correct serial port on the host PC Refer to Setting Up the Modems on page 4 9 9 Maintenance and Troubleshooting Troubleshooting 9 16 User s Manual TELEDYNE BENTHOS F Change the baud rate of the host PC serial port to 115 200 Turn off the modem and while holding down Escape turn it back on The Boot Loader banner and prompt should appear as shown in Reloading Software Applications on page 4 26 If the banner and prompt do not appear contact Teledyne Benthos If they do appear enter reboot If the modem software application still does not boot up then go to step G From the boot loader prompt enter Verify The message Image ffs modem rom verifies OK should appear If this message does not appear then releoad the application as decribed in Reloading Software Applications on page 4 26 The monitor of the host PC connected to a subsea modem displays the banner message when the modem is switched on but there is no displayed response to commands entered from the keyboard of the host PC A Verify that the terminal program communications software echo feature if it has one is turned on B If the terminal program
171. arameters in each For each parameter the S Register equivalent if applicable is displayed along with the parameter name its current setting and the available settings or range of settings Syntax cfg all Privilege user Example To list all of the configuration parameter sections along with the configuration parameters in each enter cfg all Q section name The lt section name gt command lists all of the configuration parameters in the named section For each parameter the S Register equivalent if applicable is displayed along with the parameter name its current setting and the available settings or range of settings Syntax lt section name gt Privilege user Example To list all of the configuration parameters in the modem section enter modem lt parameter name gt The lt parameter name gt command displays the setting for the named parameter Syntax lt parameter name gt Privilege user Example To display the setting for the TxPower configuration parameter enter txpower 5 Modem Operation Configuration System 5 58 User s Manual TELEDYNE BENTHOS Q parameter name z value The lt parameter name gt lt value gt command sets the named parameter to the desired setting Many configuration parameters have enumerations which allow entry of a number for the setting For example the TxPower configuration parameter can be set to 3 for 15 db or to 15db for 15 db Shown in
172. ata are stored in the 6 MB internal flash memory of the modem 1 SDHO Data are stored to an SDHC Special Considerations When setting the LogStore configuration parameter take note of the following f the RingBuf configuration parameter is set to Ena the LogStore configuration parameter cannot be set to 1 SDHC All the datalogger commands apply only to the memory selected with the LogStore command The LogStore configuration parameter is only available with the SD Datalogger option f the Acoustic Recorder is on the LogStore configuration parameter cannot be set to 1 SDHC If an attempt is made to set it to 1 SDHC the message SDHC is in use for logger will be displayed P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 8 41 DataRetry Default Setting 0 A data packet will not be retransmitted if the data were received with errors or if no acknowledgement was received Definition The setting of the DataRetry configuration parameter determines whether an acoustic data packet that is received with errors is retransmitted and how many times A setting greater than O requires that the transmitting modem receive an acknowledgement from the receiving modem after transmitting each data packet If errors are detected or if no acknowledgement is received the data are retransmitted up to the number of times determined by the DataRetry setting For a setting of 0 data are not retransmitted gt NOT
173. ate 1200 will change the transmitting acoustic bit rate to 1200 bits per second P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 4 23 Verifying the Acoustic Operation of a Modem s Receiver It is best to check the acoustic receive capability of the modem before deploying it in the water While in Command mode a simple procedure can determine if the modem s receiver is functioning properly However this method should not be used to determine the receive sensitivity of modem For more information refer to Acoustic Test on page 5 96 Perform the steps listed below to verify the acoustic operation of the modem s receiver 1 At the command prompt enter 1 Values for the automatic gain control AGC should be displayed updating once per second 2 Lightly rub and tap the transducer The AGC values should change decreasing the more vigorously the transducer is rubbed and tapped 3 To stop the display of the AGC values enter ATTNO Checking the Acoustic Link between a Pair of Modems in Air The acoustic link between a pair of modems in air can be checked with no risk of damaging them when used at power levels at or below 6dB However it is preferable to operate the modems at the lowest possible power setting of 21 dB which usually results in a better acoustic connection The modem transducers should also be placed about 6 inches 15 cm apart in open air with no obstacles between them Should the conne
174. ate after receiving the packet 2 AlwaysOn Enables the Coprocessor board keeping it fully powered at all times 3 Program Enables the Coprocessor board but does not establish communications with it This setting is used only for updating the firmware on the board Special Considerations When setting the CPBoard configuration parameter take note of the following The ATM 903 and ATM 900 Modem Board Sets can optionally include a coprocessor by adding P at the end of the modem part number when ordering The Coprocessor board must be enabled for the modem to receive at the high bit rates of 2560 15 360 bits sec P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 8 31 Enabling the Coprocessor board when the board is not present forces the CPBoard configuration parameter setting to O When setting the CPBoard configuration parameter to 1 or 2 the modem will respond with the message coprocessor ver x x if the Coprocessor board is installed and fully operational When setting the CPBoard configuration parameter to 1 or 2 the modem will respond with the message coprocessor not responding if the Coprocessor board is not installed or is installed and not fully operational 8 Modem Configuration Parameters 8 32 User s Manual TELEDYNE BENTHOS RecMode Default Setting 0 Manual The Acoustic Recorder starts and stops when manually commanded to do so Definition The RecMode conf
175. ath gt lt file gt Privilege user Reference File System on page 5 39 tcm5d The tem5d command starts a parser process that polls a TCM5 compass in its native binary format for latitude and longitude data Syntax tcm5d Privilege user Reference Navigation on page 5 84 umount The umount command tells the modem to make the SDHC ready to remove from the modem The SD mount point is the only mount point that can be removed Syntax umount lt path gt Privilege user Reference File System on page 5 39 unalias The unalias command removes the alias created with the alias command Syntax unalias lt alias gt Privilege user Reference Command Mode on page 5 5 6 Modem CLAM Shell Command Set 6 22 TELEDYNE BENTHOS update The update command updates the software stored in the modem Syntax unalias alias Privilege user Reference Reloading Software Applications on page 4 26 uptime The uptime command displays the time at which the modem was last rebooted as read from the real time clock chip Syntax uptime Privilege user Reference Real Time Clock on page 5 88 verify The verify command performs a checksum on an image in the file system This command can only be used when running the boot loader software application Syntax verify d lt file gt Privilege user Reference Reloading Software Applications on page 4 26 version The version command display
176. available for ATM 900 Series Acoustic Telemetry Modems only and includes the SD Datalogger option To order the Acoustic Recorder feature add a I at the end of the modem part number Waveform Play The Waveform Play option is a firmware only feature that is available for ATM 900 Series Acoustic Telemetry Modems SM 975 SMART Modems and UDB 9400 Universal Deck Boxes This feature which requires the installation of a feature key to enable it enables transmission of waveforms using the modem s transmitter and transducer It requires that base banded waveforms be built using an external program and loaded into the modem s memory A feature key is required To order the Waveform Play feature add a W at the end of the modem part number Compact Modems The Teledyne Benthos Compact Modems are similar to the ATM 900 Series Acoustic Telemetry Modems but are smaller and sold in quantities as OEM board sets only A Compact Modem is capable of performing most of the commands and has most of the same features as an ATM 900 Series Acoustic Telemetry Modem However it transmits at a lower power level and Modem and Remote Transducer Types 1 22 User s Manual TELEDYNE BENTHOS is designed to remain in a low power state during most of its deployment In addition a Compact Modem requires that it first be awakened from its low power state before it will respond to any commands For more information on the Compact Modems contact Teledyne Benthos
177. before deploying a Teledyne Benthos ATM 900 Series Acoustic Telemetry Modem or UDB 9400 Universal Deck Box These include the choice of a remote transducer the required operating depth the required communications range the multipath and noise conditions and the physical protection of the modems This section reviews these factors and also presents some typical installation configurations for the modems Remote Transducer Selection When an ATM 914 ATM 924 ATM 964 or ATM 903 Acoustic Telemetry Modem each of which use a remote transducer is to be installed the type of remote transducer to use should be carefully selected to best suit the application Refer to Remote Transducers on page 1 22 for general information on the available remote transducers and to Section 2 Specifications for detailed specifications Also refer to Section 10 Drawings for dimensioned outline drawings The remote omnidirectional transducer LF and MF beam patterns are shown in Figure 1 19 on page 1 23 Its beam patterns show that it transmits and receives signals in a toroidal pattern This transducer should be selected when the horizontal direction or the depth of the receiving modem is not known or is not always the same However more power is required compared to a directional transducer to produce an equivalent source level and the effects of multipath are usually greater The remote directional transducer LF and MF beam patterns are shown in Figure
178. below 1 P1 Data received over the acoustic link with transport address 1 will be output on serial port 1 2 P2 Data received over the acoustic link with transport address 1 will be output on serial port 2 Special Considerations When setting the Dst1 configuration parameter take note of the following The Dst1 configuration parameter does not apply when TportMode InpMode and InputMode Single In this case data packets with transport addresses attached will be output on serial port 1 P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 8 67 Dst2 Default Setting 2 P2 Data received over the acoustic link with transport address 2 will be output on serial port 2 Definition The setting of the Dst2 configuration parameter determines to which serial port serial port 1 or serial port 2 that data packets received over the acoustic link with transport address 2 will be output when TPortMode AlwaysOn or when TPortMode InpMode and InputMode Dual Available Settings There are two available settings for the Dst2 configuration parameter as listed below 1 P1 Data received over the acoustic link with transport address 2 will be output on serial port 1 2 P2 Data received over the acoustic link with transport address 2 will be output on serial port 2 Special Considerations When setting the Dst2 configuration parameter take note of the following Dst2 configuration parameter does not apply
179. c Telemetry Modem Shown with Omnidirectional LF Transducer 1 16 The ATM 926 Acoustic Telemetry Modem Shown with Omnidirectional LF Transducer 1 16 The ATM 965 Acoustic Telemetry Modem Shown with Omnidirectional LF Transducer 1 17 The ATM 966 Acoustic Telemetry Modem Shown with Omnidirectional LF Transducer 1 17 The SR 50 SMART Release 1 18 The SR 100 SMART Release 1 19 SM 975 SMART Modem 1 19 The ATM 903 Modem Board Set Shown with Omnidirectional LF Transducer 1 20 Remote Omnidirectional Transducer LF and MF Vertical Beam Patterns 1 23 xxii Figure 1 20 Figure 1 21 Figure 4 1 Figure 4 2 Figure 4 3 Figure 4 4 Figure 4 5 Figure 4 6 Figure 4 7 Figure 4 8 Figure 4 9 Figure 4 10 Figure 4 11 Figure 4 12 Figure 5 1 Figure 5 2 Figure 5 3 Figure 5 4 Figure 5 5 Figure 5 6 User s Manual TELEDYNE BENTHOS Remote Omnidirectional Transducer Band C Vertical Beam Pattern 1 24 Remote Directional Transducer LF and MF Vertical Beam Patterns 1 25 UDB 9400 Front Panel Operator Functions and CONNCCIONS ot uie re eaa on ER WU REIR 4 7 Subsea Modem On Off Switch 4 8 UDB 9400 COM 1 Connector Face View
180. cal modem P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 7 83 from the remote modem over the acoustic link The displayed information will be in accordance with the Verbose configuration parameter Special Considerations When using the Compass command take note of the following The displayed range is the one way range to the remote transponder or modem and is determined acoustically based on the setting of the SpeedOfSound configuration parameter To acquire the range the local transponder or modem transmits an interrogation signal to the remote modem or transponder When this signal is received a reply is transmitted The local transponder or modem must receive the reply within the acoustic response timeout which is determined by the setting of the AcRspTmOut configuration parameter If a reply is not received Response Not Received will be displayed 7 Modem AT Command Set 7 84 Pitch User s Manual TELEDYNE BENTHOS ATRCPn Syntax ATRCPn Enter Definition The Pitch command displays the range and the high resolution pitch of the remote modem at address n The displayed range is in meters with a resolution of 0 1 meters The pitch is in degrees with a resolution of 0 1 degree All data are displayed in accordance with the Verbose configuration parameter as listed below Output format Verbose 0 and 1 Pitch pitch Range local address to remote address range m
181. ch connects from the modem to a remote transducer Both modems also Figure 1 9 The ATM 915 Acoustic include a power serial connector Telemetry Modem Shown with which is used to input external Omnidirectional LF Transducer power instead of using the internal battery pack and to connect to either an RS 232 or an RS 422 serial interface ATM 916 Acoustic Telemetry Modem The ATM 916 Acoustic Telemetry Modem which is shown in Figure 1 10 is externally powered only It is contained in a PVC housing and includes a built in omnidirectional or directional transducer The ATM 916 also includes a power serial connector The connector is used to input external power and to connect to either an RS 232 or an RS 422 serial interface Figure 1 10 The ATM 916 Acoustic Telemetry Modem Shown with Omnidirectional LF Transducer 1 Overview Modem and Remote Transducer Types 1 16 User s Manual TELEDYNE BENTHOS ATM 925 and ATM 924 Acoustic Telemetry Modems The ATM 925 Acoustic Telemetry Modem is shown in Figure 1 11 The ATM 925 is completely self contained in a hard coat anodized aluminum housing and includes a modem battery pack and a built in omnidirectional or directional transducer The ATM 924 is similar to the ATM 925 but does not include a built in transducer Instead a 2 meter cable is provided which connects from the modem to a remote transducer Figure 1 11 The ATM 925 Acoustic Both modems also include a
182. ck Box spares and accessories Also included is a modem part number designator which provides an easy method for designating the specific part number for a modem when placing an order Modem Spares and Accessories Table 11 1 through Table 11 6 in the following pages provide part number descriptions and required quantities for spares and accessories for the ATM 9400 ATM 900 ATM 910 ATM 920 and ATM 960 Series Acoustic Telemetry Modems Table 11 1 UDB 9400 Universal Deck Box PART NUMBER DESCRIPTION QTY PER UNIT B 270 197 1 Deck Cable 25 Meter 1 B 270 197 2 Deck Cable 50 Meter 1 B 270 197 3 Deck Cable 75 Meter 1 B 270 197 4 Deck Cable 100 Meter 1 B 270 197 5 Deck Cable 200 Meter 1 B 270 167 1 Transducer LF Omnidirectional 1 B 270 167 2 Transducer MF Omnidirectional 1 B 270 167 3 Transducer Band C Omnidirectional 1 1 1 1 1 1 1 014337 Hull Mount Transducer Interface Box B 270 171 Transducer Protective Cage 000683 O ring Radial Parker 2 233 N0674 70 012620 Connector Dummy 002017 Connector Locking Sleeve B 875 4 Cable AC Power 11 Modem Spares Accessories and Part Number Designator Modem Spares and Accessories User s Manual TELEDYNE BENTHOS Table 11 2 ATM 910 Series Acoustic Telemetry Modem Spares PART NUMBER DESCRIPTION QTY PER UNIT D 270 102 378 watt hour alkaline battery pack 1 000683 O ring Radial Parker 2 233 06
183. communications software does not have echo feature enter OP 1 EchoChar If the response is dis then echo is disabled Enter P1EchoChar ena to enable it There is serial communications with the local modem but no transmissions can be heard from the local modem after entering a command that requires the modem to transmit an acoustic command A If the UDB 9400 Universal Deck Box is the local modem increase the volume setting B If the local modem is an UDB 9400 Universal Deck Box or an ATM 914 ATM 924 or ATM 964 Acoustic Telemetry Modem check the transducer connections C Verify that the verbose level as determined from the Verbose configuration parameter is set to 01 02 or 03 Refer to Verbose on page 8 24 for information on the Verbose configuration parameter With the verbose level set to 01 or higher errors if any will be displayed which will help in isolating the problem D Verify that the command is being sent correctly Refer to Table 7 1 on page 7 2 for a list of the available commands and their syntax E If the modem is a subsea modem verify that the modem battery pack has not been depleted P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 9 17 There are errors or warning messages displayed prior to the banner message being displayed A Enter rundiag to run the diagnostic software application The prompt DIAG user 1 gt should be displayed B At the prompt enter post to run th
184. configuration parameter which sets the threshold for all the frequencies The adjustment range is from 1 00 to 1 00 in 0 01 increments for each frequency where a negative value decreases the sensitivity and a positive value increases it A value of 1 00 effectively sets an infinite threshold filtering the frequency out and a value of 1 00 sets the threshold to 10 standard deviations the highest sensitivity A setting of 0 00 leaves the threshold unchanged from that of the RxThresh configuration parameter setting Every value between 1 00 and 1 00 sets the threshold for that frequency along a curve from 256 sigmas minimum sensitivity down to 10 sigmas maximum sensitivity passing through the RxThresh value at 0 0 Thresholds for all frequencies within the frequency band of the modem can be adjusted Syntax rxadj kHz adjustment reset save Privilege user Reference File System on page 5 39 rz The rz Z modem receive command causes the modem to use the receive Z Modem protocol to receive a file from a host PC to the root directory of the modem file system An optional f modifier will save the file to ffs instead of the root directory Syntax rz f Privilege user Reference File System on page 5 39 sb The sb Y modem send command causes the modem to use the transmit Y Modem protocol to transmit one or more files from the modem file system to a host PC Syntax sb lt path gt lt fi
185. contact Teledyne Benthos first For information on how to contact Teledyne Benthos refer to Customer Service on page vi Refer to Cleaning or Replacing an O ring on page 9 14 and clean or replace the O rings on both end caps Connect the 5 pin power and 10 pin serial cable connectors to the circuit board Slide the chassis into the housing until the gland seal O ring on the end cap is against the housing being careful not to scrape the O ring surface on the inside wall of the housing When the gland seal O ring is against the housing apply equal pressure against the end cap and press it into the housing until the face seal O ring is firmly seated against the housing If required rotate the end cap slightly when pressing it into the housing Slide the stainless steel band clamp back into position between the end cap and the housing and tighten the clamp 9 Maintenance and Troubleshooting Changing the SDHC Card 9 14 TELEDYNE BENTHOS Cleaning or Replacing an O ring When cleaning or replacing an O ring be aware of the following User s Manual Isopropyl alcohol should be used when cleaning an O ring Once an O ring is cleaned and inspected it should be immediately lubricated with silicone lubricant and installed O rings not installed immediately must be relubricated Do not leave a lubricated O ring sitting on a bench as it will pick up contaminants The purpose of the silicone lubricant is to allow t
186. coustic bit rate determined by the setting of the remote modem s TxRate configuration parameter and the local modem will display the received data statistics described above In addition if PktEcho Ena the local modem will display the preset test message which consists of the alphanumeric ASCII character set WARNING The ATXn command sets the RemoteAddr configuration parameter of the remote modem to the address of the local modem If the remote modem will later be used in Online mode then its RemoteAddr configuration parameter may need to be set back to the setting it was before the ATXn command was sent to it To display the setting of the RemoteAddr configuration parameter of the remote modem before using the ATXn command enter n RemoteAddr where n is the address of the remote modem To return the setting to its original value after using the ATXn command enter n RemoteAddr lt value gt where value is the original setting If the original setting is not known use the Remote Reset command AT ESn to reboot the modem and set all of its configuration parameters back to their previously saved values Special Considerations When using the Acoustic Link Test command take note of the following The local modem must receive an acknowledgment from the remote modem within the acoustic response timeout which is determined by the setting of AcRspTmOut configuration parameter If an acknowledgment is not received Response Not Receiv
187. ction be poor it may be necessary to add acoustic baffling material such as bubble wrap around the transducers to reduce ambient noise and multipath interference Perform the steps listed below to check the acoustic link between a pair of modems in air 1 Place the modems approximately 6 inches 15 cm apart in open air with the transducers facing each other and with no obstacles between them 2 Turn on the PC and run the terminal program 4 Setup and Test Checking the Modems and Host Processors 4 24 User s Manual TELEDYNE BENTHOS 3 Turn on the modem The banner message should be displayed followed by the command prompt If the command prompt is not displayed enter rapidly The modem should go into Command mode and display the command prompt 4 Enter ATXn where n is the address of the remote modem If the modems are being checked for the first time their addresses are both 00 Both modems can have the same address for this test 5 Verify that the displayed output is similar to the following example 00800 bits sec MOD 05 ERR 000 SNR 27 1 AGC 07 SPD 00 0 CCERR 014 Preparing a Pair of Modems for Real Time Data Transfer One of the operating modes of a modem is Online mode In Online mode any input received over the serial interface from its host processor is automatically transferred in real time to another modem with which it is online by transmitting the data over the acoustic link And any data received
188. d LBL configuration commands are available ATNL rxadj ATNL The Broadband Chirp Interrogate ATNL command causes the local modem to display the two way travel times from the modem to all remote modem transponders from which it receives replies The local modem transmits a broadband chirp interrogation pulse and then begins listening for tonal replies It will listen for the replies for the period set by the AcRspTmOut configuration parameter and display the two way travel times with the 600 ms turn around time removed to each transponder from which it receives a reply along with the detect values and signal to noise ratios of the received signals After this period the modem will go back into Command mode Syntax ATNL Privilege user Example 1 To transmit a broadband chirp interrogation pulse and display the two way travel times to each transponder along with the detect value and signal to noise levels of the received signals enter ATNL As an example where two reply frequencies are received one at 11 00 kHz and one at 12 00 kHz the modem will respond with Start Transponder Mode 11 00 kHz 100 7 ms Detect 020 SNR 13 01 12 00 kHz 131 4 ms Detect 023 SNR 13 61 End Transponder Mode P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 69 rxadj The rxadj command allows adjustment of the transpond receive threshold on a per frequency basis varying it from the threshold setting provided by the RxThresh
189. d privilege level This process takes about five seconds Syntax reboot safe Privilege user Reference Reboot ATES on page 7 11 6 Modem CLAM Shell Command Set 6 16 User s Manual TELEDYNE BENTHOS record The Record command displays the on or off status of the acoustic recorder If on the time and date at which it was started is also displayed This command can only be used with the Acoustic Recorder option Syntax record Privilege user Reference Acoustic Recorder Option on page 5 71 record off The Record off command stops the acoustic recorder and indicates the time and date at which it was stopped The acoustic recorder can also be stopped when the idle time expires as determined by the RecMode configuration parameter This command can only be used with the Acoustic Recorder option Syntax record on Privilege user Reference Acoustic Recorder Option on page 5 71 record on The Record on command starts the acoustic recorder and indicates the time and date at which it was started Data will be recorded in contiguous files containing 60 seconds of data each and named in accordance with the setting of the NameFormat configuration parameter The acoustic recorder can also be started when an SDHC card is mounted as determined by the setting of the RecMode configuration parameter This command can only be used with the Acoustic Recorder option Syntax record on Privilege user Reference Acoust
190. d the transducer are supplied with the deck box 2 Connect the AC power cable from the PWR connector on the deck box to the AC power source 3 Connect an RS 232 serial cable from the COM1 connector on the deck box to an available serial RS 232 port on the PC Refer to Table 4 1 on page 4 9 for the connector pinout information A straight wire pin for pin connection to the PC s serial RS 232 port is what is required as shown in Table 4 2 The table shows the connections for a DB 9 serial port connector typically used on laptop computers Table 4 2 UDB 9400 COM 1 Connector to DB 9 Pin to Pin Connections UDB 9400 COM1 HOST PC DB 9 CONNECTOR SIGNAL CONNECTOR DIRECTION LABEL FUNCTION LABEL FUNCTION TXD Transmit Modem to Host RXD Receive RXD Receive Host to Modem TXD Transmit Requestto Modem to Host Clear to Send Send Ground Ground RS 485 Figure 4 4 UDB 9400 COM1 Connector RS 485 Connections User s Manual P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 4 11 Setting up the Subsea Modems Setting up any of the subsea modems requires making the power and serial interface connections and for an ATM 914 ATM 924 or ATM 964 Acoustic Telemetry Modem the transducer connections Power and Serial Interface Connections The power and serial interface connections are made with the POWER SERIAL connector located on the connector end cap of the subsea modem
191. d wait for the command prompt Insert the SDHC card or cards into the slots on the SDHC board At the command prompt enter setpriv update o d A N Enter mount sd 0 and wait for the message SD card mount complete to be displayed Enter format sd and then confirm by entering y 8 second SDHC card is to be formatted enter umount sd and continue with Step 9 otherwise go to Step 11 9 Enter mount sd 1 and wait for the message SD card mount complete to be displayed 10 Enter format sd and then confirm by entering y 11 Enter reboot to restart the modem and wait for the command prompt to be displayed 12 Enter sd to confirm the capacity of the card or cards and that there is 096 capacity used 5 Modem Operation Acoustic Recorder Option 5 76 User s Manual TELEDYNE BENTHOS Removing an SDHC Card with Recorded Acoustic Recorder Data If an SDHC card is to be removed and it contains acoustic recorder data the acoustic recorder should first be stopped To remove an SDHC card with recorded acoustic recorder data 1 Enter record off 2 Enter umount sd 3 Remove the SDHC card Reading Recorded Files Using Matlab Utilities Two Matlab utilities are included with all ATM 900 Series Acoustic Telemetry Modems and the UDB 9400 Universal Deck Box logread m pcmread m A third utility lin resample m is also provided to support the other two It cannot be run directly The pcmr
192. dat 16 myfile The following simulates what the modem does to transmit the waveform 11520 center frequency for the LF band decim 4 the interpolation ratio fs fsdat decim This is the passband sample rate B interp A decim lB length B e exp i 2 pi Fc 0 1B 1 fs C real B e dti1 1 fsdat dt2 1 fs t1 0 dt1 N 1 dt1 t2 0 dt2 1B 1 dt2 1 1 1000 convert to milliseconds t2 t2 1000 5 Modem Operation Waveform Play Option 5 80 User s Manual TELEDYNE BENTHOS subplot 2 1 1 plot t1 real A title Real part of baseband tonal subplot 2 1 2 plot t2 C title Passband Tonal xlabel Time ms Uploading a Basebanded Waveform To upload a basebanded waveform file first connect the PC containing the file to the modem as described in Setting Up the Modems on page 4 9 Next use the rz command with the f option to upload the file to the modem s flash file system For information on the rz command refer to rz on page 5 50 To confirm that the file has been received use the 1s command Waveform Play Commands The following waveform play commands are available play play The play command plays the contents of the specified file of the local modem by transmitting the passband signals on its transducer Syntax play lt path gt lt file gt Privilege user Example 1 play the contents of the file mydatafile1 in the 5 flash file system e
193. datafilel Tab Completion for File System Names Tab completion is available for file system names To use tab completion for file system names enter a forward slash followed by the first character of the file system name and then press the Tab key Tab completion will complete the file name entry or provide a list of possible matches as a guide for entering additional characters 5 Modem Operation File System 5 42 User s Manual File System Commands The following file system commands are available format mount umount cat els e mkdir e 3 2 5 SZ format TELEDYNE BENTHOS The format command clears all data and reinitilizes the directory structure of the specified path If the path is SD then the external SD or SDHC card is cleared If the path is FFS then the entire modem file system is cleared including the factcfg ini diag rom standard ini and modem rom files The feature keys will not be lost To reload these files refer to Reloading Software Applications on page 4 26 Syntax format path Privilege update Example 1 To format the SDHC card enter format sd If the card is mounted then the modem will respond with P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 43 Are you sure y to proceed If you are sure enter Y WARNING Formatting the flash file system will will erase the en
194. ddress 0 RemoteAddr Online remote modem address 0 ShowBadData Display packet errors enable disable StartTones 8 Modem Configuration Parameters Play start tones enable disable TELEDYNE BENTHOS Table 8 1 ATM 900 Series Acoustic Telemetry Modem and UDB 9400 Universal Deck Box Configuration Parameters Name Description Factory Default S Register TxRate Transmitting acoustic bit rate 5 800 S4 TxPower Transmit power level 8 Max S6 WakeTones Wakeup signal enable disable Ena PrintHex Display data in hex enable disable Dis StrictAT AT commands enable disable Dis InputMode Single Dual serial port selection 1 Single SmartRetry Retransmit at successively slower acoustic bit rates Dis RELEASE TimedRelease Elapsed time to release activation TRANSPORT TPortMode Routing of data input on serial port 1 and serial port 2 0 InpMode SrcP1 Transport address that will be attached to transmitted data that are input to serial port 1 Transport address that will be attached to transmitted data that are input to serial port 2 Serial port on which data received over the acoustic link with transport address 1 will be output Serial port on which data received over the acoustic link with transport address 2 will be output Reserved
195. de P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 8 45 Default Setting 0 Auto Definition DevEnable The Device Enable output is set automatically and can also be set with the Local Device Enable ATTDm and Remote Device Enable AT Xn m commands The setting of the DevEnable configuration parameter determines whether the Device Enable output is set automatically or with a command or set only with a command The Device Enable output operates as described in Device Enable on page 5 94 Available Settings The available settings for the DevEnable configuration parameter are listed below 0 Auto 1 MBARI 2 Manual LP 3 Manual 8 Modem Configuration Parameters The Device Enable output is set automatically and can also be set with the Local Device Enable ATTDm and Remote Device Enable AT Xn m commands Should the modem enter the lowpower state the device enable output will be cleared Upon exiting from the lowpower state when the modem receives data over the acoustic link the device enable output will be set Reserved and should not be used The Device Enable output is set only with the Local Device Enable ATTDm and Remote Device Enable AT Xn m commands The setting will be preserved upon entering and exiting from the lowpower state The Device Enable output is set only with the Local Device Enable ATTDm and Remote Device Enable AT Xn m commands Should the modem enter
196. de with the command prompt displayed If the modem is not in Command mode refer to page 5 6 for instructions on how to place the modem into Command mode P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 7 49 How to Use To use the Range and Location command type ATRX followed by the address of the remote modem and then press Enter The local modem will respond by displaying the range in meters to the remote modem The displayed information will be in accordance with the Verbose configuration parameter In addition to the range the location of the remote modem will be displayed in latitude and longitude along with its depth or altitude in accordance with the setting of the ReplyData configuration parameter Special Considerations When using the Range and Location command take note of the following The displayed range is the one way range to the remote modem and is determined acoustically based on a sound speed in seawater of 1500 meters second To acquire the range to a remote modem the local modem transmits an interrogation signal to the remote modem and when the remote modem receives the signal it responds with a reply The local modem must receive the reply from the remote modem within the acoustic response timeout which is determined by the setting of the AcRspTmOut configuration parameter If a reply is not received Response Not Received will be displayed The output format is for ATM 900 Series Aco
197. dem Battery Pack Capacity Calculations The modem battery pack which uses alkaline batteries provides an output of 21 V and a capacity of either 300 watt hours for an ATM 914 ATM 915 ATM 924 or ATM 925 or 450 watt hours for an ATM 964 or ATM 965 Acoustic Telemetry Modem NOTE The capacity of stored alkaline batteries decreases by approximately 596 per year at 21 C When supplying power to a load in a 0 C environment the capacity of alkaline batteries decreases by 25 Therefore do not use a modem battery pack that is greater than two years old and replace any modem battery pack that measures less than 90 of its rated capacity unless a very short deployment is planned Verifying the Modem Battery Pack Capacity for a Short Deployment To verify that the modem battery pack has adequate capacity for the amount of data to be transmitted during a short deployment of 30 days or less first determine the bit rate that is to be used Then referring to Section 2 Specifications determine the transmitter power For a short deployment the lowpower state power can be neglected The required capacity in watt hours can be calculated by using the following equation Watt hours D P R 450 Where D the amount of data to be transmitted in bytes P the transmitter power in watts R the bit rate in bits second The constant 450 is derived from 8 bits byte and 3 600 seconds hour converting bits sec to bytes hour For example
198. dem into Command mode How to Use To use the Output Remote AGC command type AT G followed by the address of the remote modem and then press Enter The remote modem will output ten seconds of AGC history over the acoustic link An example of an actual measurement is shown in Figure 7 4 where the leftmost pair of numbers are the earliest The rightmost most recent pair occur during receipt of the command where the AGC is lowest indicating a relatively strong input signal Special Considerations When using the Output Remote AGC command take note of the following The local modem must receive an acknowledgment from the remote modem within the acoustic response timeout which is determined by the setting of the AcRspTmOut configuration parameter If an acknowledgment is not received Response Not Received will be displayed user l at gl remote AGC history 69 87 79 87 83 88 78 88 73 86 79 86 78 87 80 86 gt 34 87 29 45 Note Lower values indicate lower applied during receipt of the Output Remote AGC command as the input signal is relatively strong Figure 7 4 Output Remote AGC Command and Resulting Display The AGC history is the last 10 samples at one sample per second that occur at and prior to the receipt of the Output Remote AGC command P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 7 67 The last one or two AGC samples occur while receiving the Output Remote A
199. dem will ignore any received replies from the transponder The range of available settings is from 0 to 1000 in integer increments for a lockout time of 0 ms to 1000 ms in 1 ms increments The RxLockout setting prevents interrogation pulse transmission echoes from nearby objects from being detected as replies The default setting is 75 for 75 ms AcRspTmOut The AcRspTmOut configuration parameter sets the acoustic response timeout of the modem It is the period during which the modem will listen for the reply from the transponder At the end of this period if no reply is received the modem displays the message Response Not Received The range of available settings is from 2 0 to 99 5 sec in 0 5 sec increments The default setting is 7 5 for 7 5 sec NOTE AcRspTmOut configuration parameter setting applies to all of the acoustic commands that require an acknowledgement be received RxThresh The RxThresh configuration parameter sets the number of standard deviations that a detected signal must rise above the background noise level at that frequency before it is marked as a received transponder reply The lower this setting the more sensitive is the receiver and the more likely a detected signal will be marked as a received reply However with a low setting there is also a greater likelihood of false positives where a detected signal is incorrectly marked as a received reply The higher the setting the less sensitive is the receiver and
200. dems and the UDB 9400 Universal Deck Box can transmit data over the acoustic link at bit rates as high as 15 360 bits sec and receive data at bit rates as high as 2400 bits sec The deck box can both transmit and receive at bit rates as high as 15 360 bits sec and with the optional Coprocessor board installed some of the ATM 900 Series can also transmit and receive at these higher bit rates Modulation Techniques The ATM 900 Series Acoustic Telemetry Modems and the UDB 9400 Universal Deck Box are the most advanced the most multipath and noise tolerant and the most cost efficient ever available They are designed to meet both the high data rate requirements of commercial users and the higher reliability lower data rate requirements of the military Hence the modems employ two modulation techniques phase shift keying PSK which provides the highest bit rate and multiple frequency shift keying MFSK which provides good reliability in a multipath environment or when the modems are required to operate in a low signal to noise SNR environment PSK modulation allows the modems to operate at up to 15 360 bits sec It also has high bandwidth efficiency and is primarily used when multipath interference is generally minimal such as in the vertical channel The UDB 9400 Series uses PSK modulation to both transmit and receive data The ATM 900 Series can transmit data using PSK modulation but receives data using MFSK modulation only However with
201. displays all of the data logger records 5 Modem Operation Datalogger Mode 5 20 User s Manual TELEDYNE BENTHOS The time stamp is in YYYYMMDDhhmmss format where YYYY is required and can be followed in order by one or more of the rest of the parts Syntax Privilege Example 1 Example 2 Example 3 Example 4 Example 5 Example 6 Example 7 Example 8 i x lt recno gt lt time gt lt recno gt lt time gt lt numrecs gt lt step gt lt flags gt user To extract and display the data logger records from the local modem for the year 2011 enter dlfind 92011 To extract and display the data logger records from the local modem for the year 2011 along with the metadata for each enter dlfind i 92011 To extract and display the data logger records from the local modem for the period January 3 2011 to February 7 2011 enter dlfind 920110103 920110207 To extract and display the data logger records from the local modem for the period January 3 2011 to February 7 2011 along with the metadata for each enter dlfind i 920110103 920110207 To extract and display as ASCII hexadecimal values the first and then every 10th record from the data logger of the local modem for the period January 3 2011 to February 7 2011 along with the metadata for each enter dlfind i 920110103 920110207 10 extract and display the first 100 records from the data lo
202. dress 5 enter 5 5 0 1 Or 5 5 0 Device Enable 5 96 TELEDYNE BENTHOS Acoustic Test User s Manual Several diagnostic commands are available to measure the level of in band background noise or signals being received by the modem This measurement is determined by monitoring the automatic gain control AGC output which continuously adjusts the gain of the modem receiver to maintain a fixed output amplitude The ranges from 0 dB to 91 dB for the ATM 900 Series Acoustic Telemetry Modems and 0 to 77 dB for the UDB 9400 Universal Deck Box A low value indicates a strong signal or background noise is being received and relatively little gain is required and a high value indicates a weak signal or background noise is being received and a relatively high gain is required In addition although the AGC operates on in band signals only very high out of band noise or signals will affect the gain The AGC output is also useful as a quick check of the performance of the modem receiver This check is called a tap test and is performed by tapping the transducer while monitoring the gain If the receiver is functioning properly tapping the transducer decreases the gain Transmissions from other modems will also result in a low AGC output Background Noise Interpretations The AGC output as measured for the purpose of determining the level of in band noise or signals can be interpreted as follows Greater than 70 dB When
203. dspec gt e lt max_bit_errs 0 999 gt lt addr gt Privilege user Example 1 To initiate a communications sequence with the remote modem at address 5 and display the highest acoustic bit rate found with 0 errors enter autobaud 5 Example 2 To initiate a communications sequence with the remote modem at address 5 to automatically set the TxRate configuration parameter in both the local and remote modems upon completion of the sequence to the highest acoustic bit rate found with O errors and to display this bit rate enter autobaud aboth 5 Example 3 To initiate a communications sequence with the remote modem at address 5 with a maximum acoustic bit rate of 7 1200 bits sec and a minimum acoustic bit rate of 3 300 bits sec to automatically set the TxRate configuration parameter in both the local and remote modems upon completion of the sequence to the highest acoustic bit rate found with 3 errors or less and to display this bit rate enter autobaud aboth m7 3 e3 5 User s Manual P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 99 xmittime The xmittime command calculates the time it will take to transmit a fixed number of bytes at a given acoustic bit rate An optional m modifier specifies an acoustic bit rate Without this modifier the acoustic bit rate is determined by the setting of the TxRate configuration parameter An optional i modifier specifies in milliseconds an interpacket delay
204. e on page vi Once synchronized a modem is able to output time stamps of received and transmitted acoustic packets with the accuracy of the external time reference The following are required of the time reference for a modem to synchronize with it A logic level 0 3 3 or 0 5 volts rising or falling 1PPS signal output An RS 232 serial port Output of a GPGGA GPGLL or GPZDA NMEA version 1 30 format message RS 232 null modem Perform the steps listed below to synchronize a modem to an external 1PPS signal 1 Determine whether the 1PPS signal is a rising or falling edge 2 Connect the 1PPS signal to pin 9 of the DSP board I O connector J3 5 Modem Operation Real Time Clock 5 90 User s Manual TELEDYNE BENTHOS and ground to pin 10 of the same connector Refer to Table 4 11 on page 4 19 for the DSP board connector J3 pinouts 3 Enter rapidly to place the modem into Command mode 4 Set SyncPPS 1 ExtRise or 4 ExtFall based on whether the 1PPS signal is a rising or falling edge signal respectively 5 Wait for 20 25 seconds and then enter sync 6 Check that the fourth line displays Synchronized as in the following example 10 1638385 st 1 20 0 1 fD 3 15 fA 15 392448 eD 3 0 392449 eA 0 015065 Synchronized Ok If Not in Sync is displayed then wait another 20 seconds and enter sync again If the modem is not synchronizing th
205. e transport addressing is disabled Data that are input on serial port 1 of the local modem will be transmitted with no transport address attached to the data packets Any data packets received from a remote modem with or without a transport address attached will be output on serial port 1 Inputmode Dual When InputMode Dual transport addressing is enabled Data that are input on either serial port 1 or serial port 2 of the local modem will have a transport address attached when the data packets are transmitted The transport address will be in accordance with the settings of the SrcP1 and SrcP2 configuration parameters for serial port 1 and serial port 2 respectively Any data packets received from a remote modem with a transport address attached will be routed in accordance with the settings of the Dst1 and Dst2 configuration parameters 5 Modem Operation Dual Serial Port Option 5 32 User s Manual TELEDYNE BENTHOS TportMode AlwaysOn With TPortMode AlwaysOn transport addressing is always enabled regardless of the setting of the InputMode configuration parameter Data that are input on either serial port 1 or serial port 2 of the local modem will have a transport address attached when the data packets are transmitted The transport address will be in accordance with the settings of the SrcP1 and SrcP2 configuration parameters for serial port 1 and serial port 2 respectively Any data packets received from a remote modem with a tra
206. e DSP board Refer to Drawing B 270 156 in Section 10 Drawings for its exact location Install the new real time clock battery in the holder with the positive side of the battery facing up Refer to Cleaning or Replacing an O ring on page 9 14 and clean or replace the O rings on both end caps Connect the 5 pin serial connector to the circuit board Slide the chassis and the battery pack together into the housing and then press the end cap into the housing being careful not to pinch the wires Line up the three holes in the end cap with the three holes in the housing and secure the end cap to the housing with the three hex head screws Connect the in line connector that connects the battery pack to the connector on the POWER SERIAL connector end cap and then press the end cap into the housing being careful not to pinch the wires Line up the three holes in the end cap with the three holes in the housing and secure the end cap to the housing with the three hex head screws P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 9 9 Changing the ATM 916 or ATM 926 Real Time Clock Battery For the ATM 916 and ATM 926 Acoustic Telemetry Modems only the transducer end cap requires removal when changing the real time clock battery To change the real time clock battery for an ATM 916 or ATM 926 1 Turn the modem off by pulling the on off switch all the way out Refer to Figure 4 2 on page 4 8 for the l
207. e Power On Self Test POST C Verify that the response is PASS is displayed for all the tests If not contact Teledyne Benthos After entering a command that requires the modem to transmit an acoustic command transmissions can be heard from the local modem but there are no responses heard from the remote modem A Verify that the correct address for the remote modem is being entered when entering the command B Verify that the correct modem transducers have been selected and that they are oriented correctly Refer to Remote Transducer Selection on page 3 1 for information on making the optimum selection C Verify that the remote modem is switched on For a subsea modem deployed in deep water water pressure will push the on off switch in turning on the modem If deployed in shallow water it may be necessary to retrieve the modem to verify that it is turned on D If the remote modem is a subsea modem verify that the modem battery pack has not been depleted A feature key was purchased and factory installed but is now missing A Obtain the feature key from the Feature Authorization Key Record which is provided as an XML file with the modem There is a unique key associated with every modem serial number If the feature key is not available contact Teledyne Benthos B Enter rundiag to run the diagnostic software application The prompt DIAG user 1 gt should be displayed C Enter setpriv update to change p
208. e and date are driven from the internal real time clock Definition The setting of the SyncPPS configuration parameter determines whether the internal real time clock provides the one pulse per second 1PPS signal to keep time or an external 1PPS such as a GPS is used Available Settings The available settings for the SyncPPS configuration parameter are listed below 2 RTO The time and date are driven from the internal real time clock and the RX and TX time stamps shown at verbose level 3 will be at a 0 1 ms time accuracy 1 ExtRise The modem synchronizes to the rising edge of an external 1PPS signal The 1PPS signal is input to the modem on pin 9 of the DSP board connector J3 and the RX and TX time stamps shown at verbose level 3 are at 0 1 ms accuracy with respect to the rising edge of the 1PPS signal 4 ExtFall The modem synchronizes to the falling edge of an external 1PPS signal The 1PPS signal is input to the modem on pin 9 of the DSP board connector J3 and the RX and TX time stamps shown at verbose level 3 are at 0 1 ms accuracy with respect to the falling edge of the 1PPS signal 8 Modem Configuration Parameters 8 22 User s Manual TELEDYNE BENTHOS IdleTimer Default Setting 00 03 00 If the local modem does not receive input from its host processor over the serial interface or from a remote modem over the acoustic link in 3 minutes it will go into the lowpower state Definition T
209. e detailed descriptions of the configuration parameters are provided In addition Table 8 2 on page 8 7 lists all of the factory set configuration parameters These parameters can be viewed but not changed at the User privilege level The configuration parameters are organized into 10 separate sections as described in Configuration Parameter Sections on page 5 54 Each section is composed of related configuration parameters To display the sections and the configuration parameters in them enter cfg all 8 Modem Configuration Parameters 8 2 Table 8 1 ATM 900 Series Acoustic Telemetry Modem and UDB 9400 TELEDYNE BENTHOS Universal Deck Box Configuration Parameters Description Factory Default S Register SERIAL P1Baud Serial port 1 baud rate 9600 P1EchoChar Serial port 1 echo enable disable Dis P1FlowCtl Serial port 1 flow control 0 None P1Protocol Serial port 1 protocol 0 RS 232 P1StripB7 Serial port 1 strip bit 7 Dis P2Baud Serial port 2 baud rate 96002 P2EchoChar Serial port 2 echo enable disable Dis P2FlowCtl Serial port 2 flow control 0 None P2Protocol Serial port 2 protocol 0 RS 232 P2StripB7 Serial port 2 strip bit 7 Dis SYSTEM SyncPPS 1 PPS clock source 2 RTC IdleTimer Low power idle timer 00 03 00 Verbose Display verbosity 1 Prompt
210. e load resistor with a digital multimeter and then refer to Table 9 1 to determine the battery pack capacity Table 9 1 Modem Battery Pack Capacity vs Voltage Voltage Under 150 Ohm Load volts Capacity Remaining 96 90 100 70 90 50 70 40 60 10 30 Changing the ATM 914 ATM 915 924 or ATM 925 Modem Battery Pack For the ATM 914 ATM 915 ATM 924 and ATM 925 Acoustic Telemetry Modems both end caps require removal when changing the modem battery pack First the POWER SERIAL connector end cap must be removed and then the transducer end cap for the ATM 915 and ATM 925 or the remote transducer connector end cap for an ATM 914 and ATM 924 9 Maintenance and Troubleshooting Changing the Modem Battery Packs 9 4 TELEDYNE BENTHOS To change the modem battery pack for an ATM 914 ATM 915 ATM 924 or ATM 925 1 Turn the modem off by pulling the on off switch all the way out Refer to Figure 4 2 on page 4 8 for the location of the modem on off switch With the modem on its side and resting on a flat surface use a 9 64 Allen wrench to remove the three socket head screws that attach the POWER SERIAL connector end cap to the housing Carefully pull the end cap straight out from the housing If required rotate the end cap slightly while pulling Disconnect the in line connector that connects the battery pack to the connector on the POWER SERIAL connector end cap Using a 9
211. e made to verify that the modems are operating properly and that all of the connections are correct In addition the modems can be prepared for online or datalogger operation before deployment Turning on a Modem and Entering Command Mode Perform the steps listed below to turn on a modem enter Command mode and execute a few simple commands When entering a command always follow it by pressing Enter In addition be sure the PC is connected to serial port 1 of the modem Serial port 1 should always be used when in Command mode 1 Turn on the PC and run the terminal program 2 If an ATM 900 Series Acoustic Telemetry Modem is being used as the modem switch on the modem by pushing in the switch on the side of the end cap If a UDB 9400 Universal Deck Box is being used as the modem switch the OFF ON switch on the front panel to ON The banner message should be displayed and if the modem is set to power up in Command mode the command prompt gt will also be displayed as in the following example Teledyne Benthos ATM 900 Series LF Frequency Band Standard Modem Version 8 6 0 Jan 6 2012 18 16 52 gt If the command prompt is not displayed enter rapidly The modem should go into Command mode and display the command prompt 3 At the command prompt enter the command cfg all for example to view all of the modem settings 4 To change any setting at the command prompt enter parameter value For example entering TxR
212. e received data statistics when using the Acoustic Link Test command ATXn The transmitting acoustic bit rates of settings 9 13 can be received by a UDB 9400 Universal Deck Box only User s Manual P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 8 53 TxPower Default Setting 8 Max The transmit power level of the modem is set to 0 dB which is the highest power level Definition The setting of the TxPower configuration parameter determines the transmit power level of a modem Available Settings The range of settings for the TxPower configuration parameter is from 1 to 8 for a range of 0 dB to 21 dB of attenuation in 3 dB steps where 0 dB is the maximum transmit power level and 21 dB is the minimum transmit power level as follows 1 21dB 21 dB minimum transmit power 2 18dB 18dB 3 15 15dB 4 12 12dB 5 09 09 6 06 06 dB 7 03 03 8 00 dB maximum transmit power Special Considerations When setting the TxPower configuration parameter take note of the following The transmit power of the modem can be changed remotely with the Remote Power command AT Pn m maximize the modem battery pack life use the lowest power setting that yields good communications he minimum power may be less than 21 dB depending on the input voltage and the transducer 8 Modem Configuration Parameters 8 54 User s Manual TELEDYN
213. e transducer end cap for an ATM 965 To 1 User s Manual change the SDHC card for an ATM 964 or ATM 965 Turn the modem off by pulling the on off switch all the way out Refer to Figure 4 2 on page 4 8 for the location of the modem on off switch P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 9 13 10 11 Using a flat head screwdriver loosen the remote transducer connector end cap for an ATM 964 Acoustic Telemetry Modem or the stainless steel band clamp on the transducer end cap for an ATM 965 Acoustic Telemetry Modem Slide the band clamp down along the housing out of the way With the modem on its side and resting on a flat surface carefully pull the end cap straight out from the housing far enough to access the connectors on the circuit board If required rotate the end cap slightly while pulling Disconnect the 5 pin power and 10 pin serial cable connectors that connect to the circuit board and set the end cap assembly aside Remove the SDHC card The card is located on the SDHC board next to the DSP board Refer to Drawing B 270 504 in Section 10 Drawings for its exact location Install a newly reformatted SDHC card The modem should always be deployed with a newly formatted SDHC card When installing a new card a Sandisk 4 GB SDHC card is recommended NOTE If planning to use an SDHC card other than a Sandisk 4 GB or a card with a memory capacity other than 4 GB
214. eDur The RxToneDur configuration parameter sets the receive pulse width of the modem The available settings are 0 for 12 5 ms 1 for 6 25 ms and from 5 to 15 in integer increments for a receive pulse width of 5 ms to 15 ms in 1 ms increments The RxToneDur setting should be the same as the transponder s transmit pulse width The default setting is 10 for 10 ms RxFreq The RxFreq configuration parameter sets the receive frequency of the modem It is set in 250 Hz increments within the frequency band of the modem The RxFreq setting should be the same as the transponder transmit frequency unless the LBL Multi Receive feature key is installed in which case it does not apply The default setting is 11000 for 11 000 Hz 5 Modem Operation Transponder Operation 5 62 User s Manual TELEDYNE BENTHOS TAT The TAT configuration parameter should be set to the turn around time of the transponder The turn around time is the time in milliseconds from when the transponder receives an interrogation pulse to when it transmits the reply It is subtracted from the measured two way travel time The range of available settings is from 0 to 1000 in integer increments for a turn around time of 0 ms to 100 ms in 0 1 ms increments The default setting is O for 0 ms RxLockout The RxLockout configuration parameter sets the lockout time of the modem The lockout time is a period that begins at the start of the interrogation pulse during which the mo
215. ea applications but these modems could easily be used in surface applications as well such as over the side of a boat or installed on a buoy Wireless Underwater Communications The ATM 900 Series Acoustic Telemetry Modems and the UDB 9400 Universal Deck Box provide wireless bi directional underwater communications between a local host and a remote host as illustrated in the system block diagram in Figure 1 1 The local host is typically a PC and the remote host an instrument The local host connects to a local modem over an RS 232 or RS 422 serial interface and the remote host connects to a remote modem also over an RS 232 or RS 422 serial interface The local and remote modems can be a UDB 9400 Universal Deck Box and an ATM 900 Series Acoustic Telemetry Modem respectively or their roles can be reversed They can also both be ATM 900 Series Acoustic Telemetry Modems or UDB 9400 Universal Deck Boxes The local and remote hosts can also both be PCs or instruments In all cases the two modems and hence the two hosts are acoustically linked enabling bi directional half duplex communications between them A single local modem can also communicate over the acoustic link with multiple remote modems and hence multiple instruments as illustrated in the system block diagram in Figure 1 2 1 Overview Wireless Underwater Communications 1 2 TELEDYNE BENTHOS UDB 9400 or ATM 900 SERIES ATM 900 SERIES ACOUSTIC LOCAL LINK REMOTE MOD
216. ead m utility enables the reading of WAV files individually The logread m utility creates a series of one minute files using the LOG file created during a recording session to read all of the WAV files as a batch Reading Individual WAV Files The Matlab pcmread m utility reads individual WAV files and provides an array of complex values representing the signals at the modem s transducer The utility may be run with a file hydrophone sensitivity value or with a list of WAV files to process or both In the absence of a file a dialog box will open enabling the selection of the file P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 77 xi Lookin B sn 44582 Name 7 Date modifed 12124744 9 12 2012 12 48 WAV File 12124844 WAV 9 12 2012 12 49 WAV File E 12124944 WAV 9 12 2012 12 49 WAV File 12141343 WAV 9 12 2012 14 14 WAV File E 12141543 WAV 9 12 2012 14 15 WAV File H File name 12141443 wav gt Files of type wav Optional functions which can be switched on or off in the pcmread txt file are the following RETURN PASCALS Controls whether the sensitivity value is used to convert the voltage to pascals UNWIND AGC Controls whether the AGC data is reapplied SAVE WAV FILES Controls the generation of separate wave files for transmit and receive as TX WAV and RX WAV PLOT OUTPUT Generates plots of the AGC
217. ed They include the serial interface baud rate the acoustic bit rate the modem address the idle time the transmit power level the forwarding delay and many others The configuration parameters are the same as the S Registers used in modems prior to the ATM 900 Series and these S Register settings can still be changed using commands in the AT command set For a detailed description of the available AT commands and how to use them refer to Section 7 Modem AT Command Set gt NOTE S Registers are available for backward compatibility as they perform many of the functions of the configuration parameters They can be set interchangeably with the configuration parameters and changing the setting of a configuration parameter will automatically change the setting of its equivalent S Register if there is one The reverse is also true However using only the S Registers to control the functions of the modems limits the functions that can be performed Therefore setting the configuration parameters instead of setting the S Registers is highly recommended The configuration parameters are displayed imported exported and stored using the configuration commands provided by the configuration system as described in Configuration System on page 5 53 The available configuration parameters are listed in Table 8 1 on page 8 2 Also listed in the table are short descriptions the equivalent S Registers if any and the page references to wher
218. ed will be displayed 7 Modem AT Command Set 7 26 User s Manual TELEDYNE BENTHOS To optimize the performance and efficiency of the modems consider reducing the transmit power level of the remote modem with the Remote Power command AT Pn m and use the Acoustic Link Test command to verify a low error rate 8 or less Also consider increasing the remote modem s transmitting acoustic bit rate by changing the setting of the TxRate configuration parameter with the Remote Bit Rate command Again use the Acoustic Link Test command to verify a low error rate Similarly if a high error rate is observed consider increasing the transmit power level or decreasing the transmitting acoustic bit rate or both The RemoteAddr configuration parameter on the remote modem will be set to address of the local modem P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 7 27 Multiple Bit Rate Test AT Yn Syntax ATYn Enter Definition The Multiple Bit Rate Test command tests the acoustic link between the local modem and the remote modem at address n by causing the remote modem to transmit a 256 byte preset test message multiple times one time for each of the acoustic bit rates listed below If PktEcho Ena the preset test message is displayed when received by the local modem If the local modem is an ATM 900 Series Acoustic Telemetry Modem six different acoustic bit rates are used to transmit the preset test mes
219. ed Data 1 Overview Typical Applications 1 6 User s Manual TELEDYNE BENTHOS AUV Command and Control AUVs can only be controlled by an acoustic link The 900 and UDB 9400 Series Acoustic Telemetry Modems provide this capability by allowing commands to be transmitted to an AUV Furthermore since the modems provide two way communications AUV position and status information as well as other data can be received from the AUV An example of this application is illustrated in Figure 1 5 In this setup the modems provide the communications link between an AUV and a surface station A UDB 9400 Universal Deck Box connected to a host processor is used in the surface station and an ATM 903 Modem Board Set is used aboard the AUV In a similar command and control application in the offshore oil and gas industry a UDB 9400 Universal Deck Box can be used to retrieve sensor data from remote underwater instrumentation and communicate with and control wellheads and pipeline valves as illustrated in Figure 1 6 UDB 9400 TRANSDUCER AUV REMOTE TRANSDUCER ATM 903 Figure 1 5 Command and Control of an AUV P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 1 7 1 Overview Figure 1 6 Wellhead Command and Control and Data Acquisition Underwater Local Area Networks The SM 975 SMART Modem is ideally suited as a network repeater in underwater local area networks The SMART Modem can also be commanded to o
220. ed information on the Teledyne Benthos SMART releases refer to their respective user s manual SR 50 SMART Release The SR 50 SMART Release is shown in Figure 1 15 The SR 50 combines the same reliable motorized release mechanism used in the Teledyne Benthos 867 A Shallow Water Acoustic Transponding Release with the same modem technology provided by the ATM 900 Series Acoustic Telemetry Modems It is completely self contained in a PVC housing and includes a modem battery pack and a built in or remote omnidirectional transducer The Figure 1 15 The SR 50 SMART SR 50 is designed for short range Release light load shallow water release of moored instrument arrays It can support a static or dynamic load of 455 kg 1000 Ib and can be operate as a transponder P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 1 19 SR 100 SMART Release The SR 100 SMART Release is shown in Figure 1 16 The SR 100 combines the same reliable high torque motorized release mechanism used in the Benthos 865 A Deep Sea Acoustic Release with the same modem technology provided by the ATM 900 Series Acoustic Telemetry Modems It is completely self contained in a stainless steel housing and includes a modem battery pack and a built in omnidirectional transducer The SR 100 is designed for long range Figure 1 16 The SR 100 SMART heavy duty full ocean depth or Release shallow water release of moored instrument arrays It can support a
221. ed on again or left disabled P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 8 11 P1Protocol Default Setting 0 RS 232 Serial port 1 is configured as an RS 232 serial interface Definition The setting of the P1Protocol configuration parameter determines whether serial port 1 is configured as an RS 232 RS 422 or RS 485 serial interface NOTE A setting of 1 RS 422 or 2 RS 485 will disable the use of the RS 232 protocol on serial port 2 Available Settings There are three available settings for the Protocol configuration parameter as listed below 0 RS 232 Configures serial port 1 as an RS 232 serial interface 1 RS 422 Configures serial port 1 as an RS 422 serial interface 2 RS 485 Configures serial port 1 as an RS 485 serial interface Special Considerations When setting the P1Protocol configuration parameter take note of the following After changing from RS 232 to RS 422 an RS 422 connection is required to switch back to RS 232 The opposite is true after changing from RS 422 to RS 232 The setting for RS 485 does not internally make the bus connections between the RX and TX lines This must be done externally by connecting 5422 RX to 5422 RS422 RX to 5422 TX Refer to the serial port connection information provided in Setting Up the Modems on page 4 9 Also refer to Figure 4 4 on page 4 10 for a UDB 9400 Universal Deck Box to Figure 4 6 on pa
222. efer to Changing the Real Time Clock Battery on page 9 7 P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 93 sync Th e sync command displays the status of the modem s synchronization state and includes a number of factory use statistics with the last line being the synchronization status as follows 5 Modem Operation Synchronized Properly synchronized to either the internal RTC or external 1PPS source Not in Sync Not synchronized If set for external synchronization then there may not be a 1PPS signal present If set for the internal real time clock synchronization then there could be an internal fault However during power up and when coming out of the lowpower state there is a short time when the modem will not be synchronized Qualifying The modem is in the process of synchronizing which takes about 10 seconds and occurs when an external 1PPS signal is first connected the modem has just been powered up or the modem is coming out of its lowpower state Syntax sync Privilege user Example To display the synchronization statistics enter Sync The modem responds with ppsx10 1638359 st 1 vld 10 0 ts 1 fD 10 41 fA 39 900002 eD 10 1 099998 eA 1 499127 Synchronized Ok or ppsx10 1638362 st 0 0 0 ts 0 fD 0 39 fA 39 264385 eD 0 0 264385 eA 0 188572 Not in Sync Ok or 10 1638363 st 0 vld 1 1 ts 1
223. effective alternative to many underwater communications systems This manual provides information on setting up testing and operating the ATM 900 Series Acoustic Telemetry Modems and the UDB 9400 Universal Deck Box It is divided into the following eleven sections Section 1 Overview reviews wireless underwater communications systems the available acoustic telemetry modem types typical applications and the advanced modulation techniques used Section 2 Specifications lists the specifications for the acoustic telemetry modems the remote transducers and the battery packs Section 3 Deployment Considerations reviews important installation considerations to ensure the best possible modem performance Section 4 Setup and Test provides instructions for unpacking and setting up the acoustic telemetry modems Section 5 Modem Operation provides an overall description of the acoustic telemetry modems operation including the different operating modes their associated Command Line for Acoustic Modem CLAM shell user interface commands and how to enter them Section 6 Modem CLAM Shell Command Set provides descriptions of each of the acoustic telemetry modem CLAM shell commands and how to enter and use them Section 7 Modem AT Command Set provides descriptions of each of the acoustic telemetry modem AT commands supported by the CLAM shell user interface and how to enter and use them Section 8 Modem Configuration Parameters
224. elative amount of background noise when there are no modems transmitting Greater than 70 dB When the modem is not in the water and is in relatively quiet in air acoustic conditions 60 70 dB Extremely quiet acoustic conditions which is ideal for long range acoustic communications 50 60 dB Typical acoustic conditions where some background noise is present 40 50 dB Noisy conditions Communication is possible but the range is reduced When tapping or rubbing the modem transducer the AGC should be at least this low Less than 40 dB Extremely noisy conditions where only some communication is possible These conditions could be caused from interference or radiated electrical noise P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems How to Use To use the AGC Diagnostic command type ATT2 and then press Enter 81 81 81 81 81 81 81 81 81 The local modem will output minimum and maximum AGC once per second An example of actual measurements is shown in Figure 7 5 77 81 78 81 77 81 77 81 77 81 78 81 77 81 76 81 78 81 user l1 att2 AGC Test user 2 gt 77 81 78 81 78 81 78 82 78 81 77 82 77 81 78 81 77 82 77 81 78 81 78 78 81 78 81 77 81 76 81 77 81 78 81 78 81 77 81 78 81 78 81 78 81 78 81 77 81 77 81 77 82 77 81 77 81 77 81 78 82 77 82 77 81 77 81 78 81 77 81 77 82 78 81 77 81 77 81 77 81 77 82 78 81 78 81 77 81 77 81 77 81 78 81 77 81 77 81 77
225. elease SR 50 or SR 100 a SMART Modem SM 975 or an ATM 900 Series Acoustic Telemetry Modem or UDB 9400 Universal Deck Box at address n to transmit its status the type of status information being different for each modem configuration The status information is displayed by the local modem For a SMART Release the local modem displays the following status information ARMED RELEASED and CONFIRMED RELEASED and NOT CONFIRMED Tilt Sensor Tilted Tilt Sensor OK Battery OK Battery Reduced Battery Low 7 Modem AT Command Set Displayed when no Release command has been received Displayed when the release mechanism has been activated and the release has released from its mooring Displayed when the release mechanism has been activated but the release has not released from its mooring Displayed when the release is tilted at a angle of greater than 25 from vertical Displayed when the release is not tilted or is tilted at an angle is less than 25 from vertical Displayed when the battery is good and does not need to be replaced Displayed when the battery capacity is reduced The transmit power level is capped at 7 03 dB Displayed when the battery capacity is low The transmit power level is capped at 6 06 dB 7 72 TELEDYNE 5 For a SMART the local modem displays the following status information ARMED Displayed when no Release command has been recei
226. eledyne Benthos Inc when at the Teledyne Benthos Inc plant in North Falmouth Massachusetts all freight and insurance prepaid providing the product was not abused or operated other than in accordance with the Teledyne Benthos Inc instruction manuals With respect to the sale of Teledyne Benthos Inc oceanographic instruments which are pressure tested to rated depth prior to shipment Teledyne Benthos Inc does not assume responsibility for any damage due to leakage or implosion Teledyne Benthos Inc reserves the right to modify its warranty at any time in its sole discretion THIS LIMITED WARRANTY IS NOT TRANSFERABLE FROM THE ORIGINAL PURCHASER LIMITATION OF LIABILITY TELEDYNE BENTHOS INC MAKES NO OTHER WARRANTY REGARDING ITS PRODUCTS OR THE PRODUCTS OF OTHERS EITHER EXPRESS OR IMPLIED AND ANY IMPLIED WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE WHICH EXCEEDS THE FORGOING WARRANTIES IS HEREBY DISCLAIMED BY TELEDYNE BENTHOS INC AND EXCLUDED FROM ANY AGREEMENT MADE BY ACCEPTANCE OF ANY ORDER P N M 270 26 Rev D Acoustic Telemetry Modems iii TELEDYNE BENTHOS INC DOES NOT ACCEPT LIABILITY BEYOND THE REMEDIES SET FORTH HEREIN AND DOES NOT ACCEPT ANY LIABILITY FOR PRODUCTS NOT BEING AVAILABLE FOR USE LOST OR CORRUPTED DATA LOSS OF BUSINESS LOSS OF PROFITS LOSS OF USE OF THE PRODUCT OR ANY ASSOCIATED EQUIPMENT COST OF CAPITAL COST OF SUBSTITUTE OR REPLACEMENT PRODUCT FACILITIES OR SERVICES DOWN T
227. em Board Set includes both a circuit board set mounted to a chassis and a remote directional or omnidirectional transducer It is externally powered and is designed for OEM applications Chassis Dimensions Mounting Weight Reference Drawing B 270 156 on page page 10 13 When ordered with the SD Datalogger option D the chassis is longer as shown in drawing B 270 504 on page 10 14 Chassis mounting holes 0 27 kg 0 6 Ib 0 32 kg 0 7 Ib SD Datalogger D option Remote Omnidirectional Transducer The remote omnidirectional transducer is used with the ATM 914 ATM 924 and ATM 964 Acoustic Telemetry Modems and the ATM 903 Modem Board Set It is also optionally available with the ATM 900 Modem Board set The remote omnidirectional transducer is available in three frequency bands low frequency LF medium frequency MF and Band C User s Manual Low frequency LF Medium frequency MF Band C Housing construction Dimensions Frequency band 9 14 kHz Source level 185 dB re 1 uPa 1 m typ Beam pattern toroidal x30 12 khz typ Frequency band 16 21 kHz Source level 183 dB re 1 uPa 1 m typ Beam pattern toroidal x30 2 18 khz typ Frequency band 22 6 27 7 kHz Source level 178 dB 1 uPa 1 m typ Beam pattern toroidal x30 25 khz typ PVC and 316 stainless steel Reference Drawing B 270 267 on page 10 16 for LF Reference Drawing B 270 509 on page page 10 17 for MF and Band C
228. em as a remote transponder The Listen setting for the LBLmode configuration parameter enables an ATM 900 Series Acoustic Telemetry Modem with the LBL Multi Receive option installed or an UDB 900 M Acoustic Telemetry Modem to passively listen for both the broadband chirp transmission of an interrogating modem and the replies from the remote modem transponders When a broadcast chirp transmission is received the modem displays the time of day at which the transmission was received followed by the elapsed time to when each reply was received less the 600 ms turn around time For example a broadcast chirp transmission below was received at 11 37 03 5333 Broadcast RX time 11 37 03 5333 Start Transponder Mode 09 00 kHz 430 3 ms Detect 034 SNR 15 31 11 00 kHz 438 3 ms Detect 031 SNR 14 91 10 00 kHz 788 3 ms Detect 021 SNR 13 22 End Transponder Mode 5 Modem Operation LBL Multi Receive Option 5 68 User s Manual TELEDYNE BENTHOS In addition to the elapsed time the signal detect and the signal to noise ratio is displayed Detect is the actual number of standard deviations that the detected signal has risen above the background noise The minimum number of standard deviations that the signal must rise above the noise for it to be marked as a received reply is set by the RxThresh configuration parameter The signal to noise level is defined to be 10log detect Broadband Triggered LBL Configuration Commands The following all modem base
229. em can be as long as 10 500 meters If the range to the modem exceeds that accounted for by the setting of the AcRspTmOut configuration parameter the local modem will output the results message Response Not Received This message may also be followed by the message ACK if Verbose 2 and the acknowledgement is received after the acoustic response timeout For a UDB 9400 Universal Deck Box changing the Timeout setting in the Transpond Parameters pop up will change the setting of the AcRspTmOut configuration parameter As this setting could as low as 2 seconds it may have to be changed for an acknowledgement to be received 8 Modem Configuration Parameters 8 44 User s Manual TELEDYNE BENTHOS OpMode Default Setting 1 Online When the modem is powered up or awakened from the lowpower state the modem will go into Online mode Definition The setting of the OpMode configuration parameter determines the operating mode that a modem will go into when it is powered up or when the modem is awakened from the lowpower state Available Settings The available settings for the OpMode configuration parameter are listed below 0 Command Command mode Refer to Command Mode on page 5 5 for information on Command mode 1 Online Online mode Refer to Online Mode on page 5 2 for information on Online mode 2 Datalog Datalog mode Refer to Datalogger Mode on page 5 15 for information on Datalogger mo
230. eme for waking up a compact modem Dis Disables the fast wakeup scheme for waking up a compact modem and instead uses the slow wakeup scheme P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 8 29 MinOpVolt Default Setting 9 6 The voltage below which the modem brown out function will activate is 9 6 Definition The setting of the MinOpVolt configuration parameter is the voltage below which the modem brown out function will activate When the modem brown out function is activated the transmit power is dropped to reduce the current demand on the modem battery Available Settings The range of settings for the MinOpVolt configuration parameter is from 0 0 to 24 0 8 Modem Configuration Parameters 8 30 User s Manual TELEDYNE BENTHOS CPBoard Default Setting 0 Off The Coprocessor board is disabled Definition The setting of the CPBoard configuration parameter determines whether the Coprocessor board is enabled and if enabled whether it is enabled only when receiving data or at all times or if it is enabled for firmware updating only Available Settings The available settings for the CPBoard configuration parameter are listed below 0 Off Disables the Coprocessor board 1 Pwrsave Enables the Coprocessor board but places it in a low power state in between receiving data packets The board will be powered up in full when a new data packet is received and put back into its low power st
231. ems 8 9 P1EchoChar Default Setting Dis Echoing of characters entered from the keyboard is disabled for serial port 1 Definition The setting of the P1EchoChar configuration parameter determines whether characters entered from the keyboard for serial port 1 are echoed back to the host computer Available Settings There are two available settings for the P1EchoChar configuration parameter as listed below Ena Enables echoing of characters entered from the keyboard for serial port 1 Dis Disables echoing of characters entered from the keyboard for serial port 1 If a PC is being used as the host processor and it is desired to display all of the characters entered from the keyboard select Ena Special Considerations When setting the P1EchoCar configuration parameter take note of the following In Command mode using the keyboard arrow keys for command history and line editing are best viewed when P1EchoChar Ena In Online mode having P1EchoChar Ena may affect the connected instrument If P1EchoChar Dis then use the terminal program s echo capability If double characters are displayed then either turn off the terminal program s echo or set P1EchoChar Dis 8 Modem Configuration Parameters 8 10 AN User s Manual TELEDYNE BENTHOS P1Flow Default Setting 0 None There is no handshaking for serial port 1 Definition The setting of the P1FlowCtl configuration parameter determ
232. en it is likely that the 1PPS signal is not stable or the connection is bad Once the modem is synchronized it will remain synchronized as long as the 1PPS signals are accurate A loss of synchronization can indicate a loss of the 1PPS signal If the modem loses synchronization the modem will attempt to regain synchronization on its own A modem that enters the lowpower state will lose synchronization with an external 1PPS signal In the lowpower state the 1PPS input will be ignored and the modem will use the internal RTC When the modem re enters active receive mode it will require approximately 20 seconds to re synchronize with the external 1PPS signal If entering the lowpower state is not desired then set 0 Inputting Time and Date from an External Time Source 1 Select a modem serial port either serial port 1 or serial port 2 that will be connected to the external time source such as a GPS and set the baud rate to that of the time source For a GPS it is typically 9600 The baud rate of serial port 1 is set with the P1Baud configuration parameter and serial port 2 with the P2Baud configuration parameter 2 Enter on the selected serial port 3 Disconnect the host processor from the modem P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 91 4 Connect the serial port of the external time source to the null modem and the null modem to the selected serial port of the acoustic modem a
233. en setting the AcRspTmOut configuration parameter the total two way sound travel time to the remote modem must be taken into account along with approximately 3 5 seconds for the remote modem to transmit an acknowledgement to the command Available Settings The range of settings for the AcRspTmOut configuration parameter is from 2 0 to 99 5 seconds in 0 5 second increments Special Considerations When setting the AcRspTmOut configuration parameter take note of the following The acoustic response timeout should be increased as the range between a local and remote modem increases As sound travels at about 1500 meters sec in seawater the total time for the sound to travel a distance of 6000 meters for example is about 4 seconds Considering also the 3 5 seconds it takes for the remote modem to transmit an acknowledgement the AcRspTmOut configuration parameter setting of 7 5 seconds is sufficient for modem ranges equal to or less than 3000 meters which is equivalent to a two way distance of 6000 meters P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 8 43 As another example for an AcRspTmOut configuration parameter setting of 17 5 seconds subtracting 3 5 seconds for the time it takes for the remote modem to transmit an acknowledgement leaves 14 seconds for the two way travel time which is equivalent to 7 seconds of one way travel time With sound traveling at 1500 meters sec in seawater the range to the mod
234. eout which is determined by the setting of the AcRspTmOut configuration parameter If an acknowledgment is not received Response Not Received will be displayed The accuracy of the input power supply voltage measurement is 1 0 volts The real time clock battery voltage is displayed following DSP Bat If the real time clock battery is installed and has sufficient capacity its voltage will be 2 7 VDC or higher 7 Modem AT Command Set 7 52 User s Manual TELEDYNE BENTHOS f the real time clock battery voltage is less than 2 7 VDC the battery is either not installed or has little remaining capacity and should be replaced P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 7 53 Remote Data Logger Enable AT BEn Syntax AT BEn Enter Definition The Remote Data Logger Enable command causes the remote modem at address n to go into Datalogger mode must be in Command mode with the command prompt displayed If the modem is not in Command mode refer to page 5 6 for instructions on how to place the modem into Command mode NOTE For the local modem to execute entered commands the modem How to Use To use the Remote Data Logger Enable command type AT BE followed by the address of the remote modem and then press Enter The remote modem will go into Datalogger mode and then the local modem will respond with the message OK Special Considerations When using the Remote Dat
235. er determines whether the local modem will receive all data transmitted from other modems or only the data addressed to itself Available Settings There are two available settings for the RcvAII configuration parameter as listed below Ena Enables the local modem to receive data from all transmitting modems Dis Disables the local modem from receiving data from all transmitting modems Only the data addressed to itself is received 8 Modem Configuration Parameters 8 74 User s Manual TELEDYNE BENTHOS RxFreq Default Setting 11000 The local modem s receive frequency is 11000 Hz Definition The setting of the RxFreq configuration parameter is the receive frequency of the modem in hertz and must be correctly set when using the Transpond ATNm command to acquire the two way sound travel time to a transponder The RxFreq setting should be the same as the transponder transmit frequency unless the Multi Receive feature key is installed in which case it does not apply Available Settings The range of available settings for the RxFreq configuration parameter is from 0 to 35000 in integer increments for a receive frequency of 7000 Hz to 16 000 Hz in 250 Hz increments P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 8 75 RxThresh Default Setting 10 The number of standard deviations that a detected signal must rise above the background noise level before it is marked as a received transponder reply by t
236. er that transmits an interrogation pulse to an array of three or more transponders which upon receiving the interrogation pulse transmit a reply The replies are received by the interrogation transducer and the two way travel times between the transmitted interrogation pulse and the received replies are measured The times are used to calculate the ranges to each of the transponders based on the known speed of sound in water If the transponder baselines which are the distances between them and their depths along with the interrogating transducer s depth are known the location of the interrogating transducer with respect to the transponder array can be calculated Although only three transponders are required to determine the location of the interrogating transducer a fourth is often used to improve accuracy and to provide some redundancy in case one of the replies is not received or does not occur Broadband Triggered LBL Configuration In an all modem based LBL configuration a local modem is used to interrogate an array of remote modems with a broadband chirp interrogation and receive their replies The local modem can be either an ATM 900 Series Acoustic Telemetry Modem with the LBL Multi Receive option installed or a UDB 9400 M Acoustic Telemetry Modem The remote modems must be configured as transponders each with a different reply frequency which should be set within the frequency band of the modem in 250 Hz increments Therefore up to 2
237. er wakeup signal Dis Disables the lowpower wakeup signal Special Considerations When setting the WakeTones configuration parameter take note of the following lowpower wakeup signal should be disabled only for the transmitting modem and only if it is known that the receiving modem will never go into the lowpower state To prevent the receiving modem from going into the lowpower state set its IdleTimer configuration parameter to O Disabling the lowpower wakeup signal lengthens the modem battery pack life for the transmitting modem 8 Modem Configuration Parameters TELEDYNE BENTHOS PrintHex Default Setting Dis When displaying data bytes received acoustically from a remote modem the data are displayed in ASCII format Definition The setting of the PrintHex configuration parameter determines whether data bytes received from a remote modem are displayed in ASCII or hexidecimal format Available Settings There are two available settings for the PrintHex configuration parameter as listed below Ena Displays hexidecimal values of the data bytes received acoustically from a remote modem Dis Displays the ASCII values of the data bytes received acoustically from a remote modem Special Considerations When setting the PrintHex configuration parameter take note of the following The PrintHex configuration parameter when enabled allows comparison of a binary file sent from a remote modem to the outp
238. ered up or awakened from the lowpower state This occurs only if 1 Available Settings The range of settings for the RemoteAddr configuration parameter is from 0 to 249 and 255 This provides total of 250 addresses plus the global address 255 Special Considerations When setting the RemoteAddr configuration parameter take note of the following The Dial command ATDn sets the RemoteAdadr configuration parameter of the remote modem to the address of the local modem The Dial command ATDn sets the RemoteAdadr configuration parameter of the local modem to the address of the remote modem If RemoteAddr 255 data sent from the address will be received by all modems P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 8 49 Show BadData Default Setting Ena Data packets containing errors are displayed Definition The setting of the ShowBadData configuration parameter determines whether data packets that contain errors are displayed Available Settings There are two available settings for the ShowBadData configuration parameter as listed below Ena Data packets containing errors are displayed Dis Data packets containing errors are not displayed 8 Modem Configuration Parameters 8 50 User s Manual TELEDYNE BENTHOS StartTones Default Setting Ena On power up or when rebooted the modem transducer will beep four times in rapid secession Definition The setting of the
239. erial Port 2 Connector J8 Pinouts 4 15 ATM 900 and ATM 903 Transmit Receive Board Power Connector J3 PinoutS 4 16 ATM 900 and ATM 903 DSP Board Serial Port 1 Connector J7 to DB 9 Pin to Pin Connections 4 17 ATM 900 and ATM 903 DSP Board Serial Port 2 Connector J8 to DB 9 Pin to Pin Connections 4 17 ATM 903 Transducer Cable Wiring 4 18 DSP Board Connector J3 4 19 ATM 980 4 Pin Connector Pinouts 4 20 ATM 980 8 Pin Connector Pinouts 4 21 ATM 900 Series Acoustic Telemetry Modem and UDB 9400 Universal Deck Box AT Command Set 7 2 Guide for Obtaining the Optimum SNR 7 24 Guide for Obtaining the Optimum AGC 7 24 ATM 900 Series Acoustic Telemetry Modem and UDB 9400 Universal Deck Box Configuration 8 2 900 Series Acoustic Telemetry Modem UDB 9400 Universal Deck Box Factory Default Configuration Parameters 8 7 P N M 270 26 Rev D Acoustic Telemetry Modems Table 8 3 Table 9 1 Table 11 1 Table 11 2 Table 11 3 Table 11 4 Table 11 5 Table 11 7 Table 11 6 UDB 9400 Universal Deck Box Standard Modem and Compact Modem Firmware Versions Versus Slow and Fast Wakeup Schemes 8 28 Modem Battery Pack
240. escribed above 7 Modem AT Command Set 7 10 TELEDYNE BENTHOS Version ATI Syntax ATI Enter or Version Enter Definition The Version command displays the modem type the firmware version number the firmware version build date the PLD Programmable Logic Device version numbers and the serial number of the local modem for the following modem types Standard Modem The modem is an ATM 900 Series Acoustic Telemetry Modem a SMART Release SR 50 or SR 100 ora SMART Modem SM 975 Universal Deck Box The modem is a UDB 9400 Universal Deck Box Compact Modem The modem is a Compact Modem Instead of ATI the version command can be used This information along with the firmware version numbers of the programmable logic devices in the modem is displayed by the local modem NOTE For the local modem to execute entered commands the modem must be in Command mode with the command prompt displayed If the modem is not in Command mode refer to page 5 6 for instructions on how to place the modem into Command mode How to Use To use the Version command type ATI or Version and then press Enter The local modem will display the modem type the firmware version number the firmware version build date the PLD version numbers and the modem serial number User s Manual P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 7 11 Reboot ATES Syntax ATES Enter or Reboot Enter Definition
241. esired commands To go back online with the same remote modem use the Dial command If the remote modem goes into the lowpower state and then the modem will go into Command mode To go back online with the same remote modem use the Dial command P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 7 17 Factory Reset AT amp F gt Syntax AT amp F Enter or factory_reset Enter Definition The Factory Reset command resets the local modem s configuration parameter settings to their factory default settings NOTE For the local modem to execute entered commands the modem must be in Command mode with the command prompt displayed If the modem is not in Command mode refer to page 5 6 for instructions on how to place the modem into Command mode WARNING The Factory Reset command will set the serial port baud rates and protocol to the factory defaults which may prevent communication with the host computer if the current settings are different than the default ones How to Use To use the Factory Reset command type AT amp F and then press Enter The local modem will reset its configuration parameters to their factory default settings and respond with the message Factory Reset Special Considerations When using the Factory Reset command take note of the following Using the Write command AT amp W or entering c g store after using the Factory Reset command will save
242. ess 5 in the process of being released enter 5 getcurrent SMART Releases and Modems 5 84 TELEDYNE BENTHOS Navigation User s Manual A modem can store navigation and position information such as latitude longitude and depth as configuration parameters in the Nav section of the configuration system This information can be entered manually or input from an attached instrument For example if the location of a modem can be determined from a bottom survey the modem s latitude and longitude could be acoustically transmitted to it Or a modem installed in a buoy could be connected to a GPS which could be configured to continuously output the latitude and longitude to the modem for access over the acoustic link A typical system might have a radio transmitter connected to serial port 1 of the modem and a GPS connected to serial port 2 In this configuration the modem can be set up to continuously read NMEA data from the GPS and update the Nav configuration parameters by installing a startup script as in the following example user l echo gpsd ffs clamshrc2 user 1 gt reboot Updated information can now be remotely read from the configuration parameters as in the following example user 12 gt 0 cfg latitude cfg longitude 41 725556 49 946944 Speed of Sound The NAV configuration section also holds a value for the speed of sound in water which is used in all range calculations where a time difference measurement is conver
243. ff by pulling the on off switch all the way out Refer to Figure 4 2 on page 4 8 for the location of the modem on off switch 2 With the modem on its side and resting on a flat surface use a 9 64 Allen wrench to remove the three socket head screws that attach the POWER SERIAL connector end cap to the housing 3 Carefully pull the end cap straight out from the housing If required rotate the end cap slightly while pulling 4 Disconnect the in line connector that connects the battery pack to the connector on the POWER SERIAL connector end cap 5 Using a 9 64 Allen wrench remove the three socket head screws that attach the remote transducer connector end cap for an ATM 914 or ATM 924 Acoustic Telemetry Modem or the transducer end cap for an ATM 915 and ATM 925 Acoustic Telemetry Modem 6 Carefully pull the end cap straight out from the housing If required rotate the end cap slightly while pulling When clear of the housing continue to pull the end cap out while pushing on the battery pack from the other end of the housing Pull the end cap out far enough to access the 5 pin power connector on the top of the circuit board 7T Disconnect the 5 pin power connector 9 Maintenance and Troubleshooting Changing the SDHC Card 9 12 8 10 11 12 13 14 15 TELEDYNE BENTHOS Remove the SDHC card The card is located on the SDHC board next to the DSP board Refer to Drawing B 270 504 in Section 10 Draw
244. find 30 To extract and display the 30th record from the end of the data logger of the local modem enter dlfind 30 To extract and display 7 records starting from record number 30 of the data logger of the local modem enter dlfind 30 7 To extract and display 7 records starting from the 30th record from the end of the data logger of the local modem enter dlfind 30 7 To extract and display all records starting from the 30th record from the end of the data logger of the local modem enter dlfind 30 1 The dilist command displays the number of bytes and the number of records in the data logger of the local modem along with the time stamps for the first and last record Each time stamp comprises the year month day hour minute and second the record was created The total number of bytes and records from all the data sources together are displayed as well as those from the individual data sources In addition which memory internal or the SDHC containing the stored data is indicated The Local Bytes Stored command ATBN can also be used to display only the total number of bytes stored 5 Modem Operation Datalogger Mode 5 22 TELEDYNE BENTHOS Syntax dllist Privilege user Example To display the number of bytes the number of records and the first and last record time stamps in the data logger of the local modem enter dllist Or ATBN direcs The dlrecs command displays in accordance with specif
245. from that modem over the acoustic link is automatically output on the serial interface to the host processor To be in Online mode two modems are required In addition all modems are shipped with a default address of 0 and are set to go into Online mode automatically when they are switched on However it is bestto prepare the modems for real time data transfer by using a unique address for each Perform the steps listed below to prepare a modem pair for real time data transfer using 3 for the subsea modem address and 2 for the surface modem address 1 Connect the modem to be used as the subsea modem to the serial port of the PC as described in Setting Up the Modems on page 4 9 2 Turn on the PC and run the terminal program 3 Turn on the modem The banner message should be displayed followed by the command prompt If the command prompt is not displayed enter rapidly The modem should go into Command mode and display the command prompt P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 4 25 At the command prompt enter LocalAddr 3 At the command prompt enter RemoteAdadr 2 6 At the command prompt enter OpMode Online This setting causes the modem to go into Online mode when it is powered up Enter rapidly to place the modem back into Command mode 8 At the command prompt enter store This command will store 10 11 12 13 14 15 16 the new configuration Connect
246. ftware application The rundiag command is used to start the diagnostic software application Syntax delkey feature gt Privilege update Reference none df The d disk free command displays the file system usage in bytes for the specified mount point or if no mount point is specified the file system usage for all the files in the root directory The displayed usage comprises the file system size the amount of storage used the amount of storage available and the percentage of available storage used In addition the number of P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 6 7 bytes shown will include some unusable overhead bytes Therefore a completely full file system will still Show some space free even though no more data can be stored Syntax df lt mount gt Privilege user Reference File System on page 5 39 diclear The diclear command clears the contents of the data logger memory of the local modem Syntax diclear Privilege user Reference Datalogger Mode page 5 15 didump The didump command causes the local modem to extract and to display a selectable number of contiguous bytes from its data logger records that were input from a specific data source or all the sources beginning with a specific byte An optional x modifier specifies that the data are to be displayed as ASCII hexadecimal values otherwise the data are displayed as ASCII text Syntax didump
247. g will be preserved upon entering and exiting from the lowpower state When set to 3 Manual the device enable output will be cleared when entering the lowpower state and remain cleared upon exiting from the lowpower state Device Enable Commands The following device enable commands are available ATTDm p AT Xn m p User s Manual P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 95 ATTDm p The Local Device Enable command ATTDm p sets or clears the Device Enable output of serial port p of the local modem where m 0 clears high impedance and m 1 sets low impedance the output If p is left out serial port 1 is assumed Syntax Privilege Example 1 Example 2 AT Xn m p ATTDm p user To set the Device Enable output of serial port 2 of the local modem enter ATTD1 2 To clear the Device Enable output of serial port 1 of the local modem enter ATTDO 1 or ATTDO The Remote Device Enable command AT Xn m p sets or clears the Device Enable output of serial port p of the remote modem at address n where m 0 clears high impedance and m 1 sets low impedance the output If p is left out serial port 1 is assumed Syntax Privilege Example 1 Example 2 5 Modem Operation AT Xn m p user To set the Device Enable output of serial port 2 of the remote modem at address 5 enter 5 5 1 2 To clear the Device Enable output of serial port 1 of the remote modem at ad
248. ge 4 13 for a subsea modem and to Figure 4 9 on page 4 18 for an ATM 900 or ATM 903 Board Set for the connector wiring information for these external connections 8 Modem Configuration Parameters 8 12 User s Manual TELEDYNE BENTHOS RS 485 is a half duplex protocol and as such does not support the X modem protocol required for firmware updates P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 8 13 P1StripB7 Default Setting Dis Serial port 1 is configured to use all 8 bits for data and 1 stop bit Definition The setting of the P1StripB7 configuration parameter determines whether serial port 1 will use 8 bits or strip the last bit and allow only 7 bits Available Settings There are two available settings for the P1StripB7configuration parameter as listed below Ena Configures serial port 1 to strip and ignore the parity bit and allow data bits and 1 stop bit This allows 7 E 1 or 7 0 1 formats Dis Configures serial port 1 to use all 8 bits for data and 1 stop bit gt NOTE In most cases P1StripB7 Dis unless receiving serial data with a format of 7 E 1 or 7 0 1 8 Modem Configuration Parameters 8 14 AN User s Manual TELEDYNE BENTHOS P2Baud Default Setting 9600 Serial port 2 is configured for 9600 baud Definition The setting of the P2Baud configuration parameter is the baud rate of serial port 2 Available Settings The available settings for the P2Baud configura
249. ge includes the frequency band such as LF or MF the firmware version and the current time and date as shown in the following example Teledyne Benthos ATM 900 Series LF Frequency Band Standard Modem Version 8 6 0 Jan 6 2012 18 16 52 CONNECT 00800 bits sec The banner message is suppressed when Verbose 0 NOTE When there are a lot of data stored in the data logger of the modem the boot up time is longer delaying the banner message on power up by 10 seconds or more There are two basic types of commands provided by the CLAM shell and the AT command set that it supports commands that are executed by the local modem the modem where the commands are entered over the serial interface and commands that are sent by the local modem over the acoustic link to be executed by a remote modem The commands perform a number of different functions setting of the local modem s configuration parameters going online with a remote modem reading a remote modem s configuration parameter settings testing the acoustic link between the local and remote modems and many others When a command is entered the modem will indicate the execution of the command with a message and then display the command prompt 5 Modem Operation Command Mode 5 6 TELEDYNE BENTHOS A modem can be placed into Command mode in any of the following ways Using the Online Interrupt command Entering the Online Interrupt command will place the modem into C
250. gger of the local modem from noon on January 3 2011 along with the metadata for each enter dlfind i 20110103120000 100 To extract and display the first 100 records from the data logger of the local modem from noon on January 3 2011 that were received on serial port 1 along with the metadata for each enter dlfind i 20110103120000 100 pl To extract and display the first 100 records from the data logger of the local modem from noon on January 3 2011 that were received on serial port 1 or were received acoustically along with the metadata for each enter dlfind i 20110103120000 100 pi amp ac P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 21 Example 9 Example 10 Example 11 Example 12 Example 13 Example 14 Example 15 Example 16 dilist To extract and display the first and then every 5th record of the first 100 records from the data logger of the local modem from noon on January 3 2011 that were received on serial port 1 or were received acoustically along with the metadata for each enter dlfind i 20110103120000 100 5 pl amp ac To extract and display every record from the data logger of the local modem enter dlfind 0 10rdlfind all To extract and display the third through the second to the last record from the data logger of the local modem enter dlfind 2 2 To extract and display record number 30 of the data logger of the local modem enter dl
251. ght Arrows can be used if needed For CLAM shell commands only multiple commands can be entered on a single line by separating them with a semicolon However this command concatenation feature should be used carefully as it can sometimes produce undesirable results depending on the commands selected and the number of them Command Line Shortcuts To make inputting and editing of command lines easier the following command line shortcuts are available Ctrl A Returns the cursor to the start of the command line without deleting any characters Ctrl D Terminates certain commands In particular it will terminate any command that is expecting an input stream Ctrl K Deletes all the characters on the command line from the cursor position to the end of the line Ctrl U Deletes the entire command line 5 Modem Operation Command Mode 5 8 User s Manual TELEDYNE BENTHOS Left and Right Arrow keys Moves the cursor left and right on the command line Up and Down Arrow keys Scrolls up and down through the command line history buffer Tab Completion Tab completion which applies to CLAM shell commands saves typing by automatically completing partially entered commands file names and configuration parameters based on available matches If a single match is found the command file name or configuration parameter entry is completed If two or more possible matches are found a partial completion is attempted up to the firs
252. guration section Syntax gpsd s lt NMEA gt Privilege user Reference Navigation on page 5 84 grep The grep command searches for and displays lines containing a specified pattern of characters in a file and optionally a specified number of lines following these lines An optional c modifier displays just a count of the lines including the specified number of optional ones An optional n modifier adds a line number to each displayed line And an optional v modifier inverts the match so that only those lines that do not contain the specified pattern are displayed Syntax grep c n v lt lines gt lt pattern gt lt lt file gt Privilege user Reference none help The help command displays the syntax for all the available commands or a specific command under the current privilege level Syntax help sectlist lt sect_name gt lt command gt Privilege safe Reference Command Mode on page 5 5 hist The hist command displays the last 10 commands entered along with their sequential number which begins at power up Syntax hist Privilege safe Reference Command Mode on page 5 5 P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 6 11 Is The 1s list command displays a list of files and devices in the specified path or if no path is specified a list of all files and devices in the root directory An optional w modifier will cause the files and devices to be d
253. he O ring to move into its natural location which is in the O ring groove The lubricant does not create the seal Minimize any stretching when cleaning an O ring Do not force an O ring over sharp corners or edges Ensure that the O ring its groove and the O ring surface of the housing are clean When reassembling a housing use a straight longitudinal movement Rotating the housing may cause the O ring to pinch To clean or replace an O ring 1 Remove the O ring using an O ring removal tool or other suitable device Be careful not to damage the O ring Using isopropyl alcohol and a lint free cloth or paper towel thoroughly clean the O ring groove and the O ring surface inside the housing Carefully Inspect the O ring groove and the O ring surface for any scratches nicks or dirt and clean them again if necessary Allow the surfaces of the O ring groove and the housing to thoroughly dry Clean the O ring with a lint free cloth or paper towel and a small amount of isopropyl alcohol Do not use cotton or other materials that leave fibers behind Avoid stretching the O ring Inspect the O ring for any scratches cracks or nicks Discard the O ring if any of these conditions are present P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 9 15 7 Using clean fingers apply a ight even coat of silicone lubricant to the O ring Spread the lubricant evenly over the entire surface If necessa
254. he Online Interrupt command on either serial port will cause the modem to go into Command mode and display the command prompt Any untransmitted data that were input to the modem on a serial port while it was in Online mode will be lost and not be transmitted regardless which serial port the Online Interrupt command was input to P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 31 TPortMode Configuration Parameter When transport addressing is enabled a transport address is attached to each transmitted data packet based on which serial port the data was input to There are four valid transport addresses 1 2 3 and 4 When a packet with a transport address is received by a modem that also has transport addressing enabled the packet will be output in accordance with the transport address NOTE Transport address 3 and 4 are reserved and are not currently used The TPortMode configuration parameter has two available settings InpMode and AlwaysOn When TPortMode InpMode transport addressing is in accordance with the setting of the InpMode configuration parameter When TPortMode AlwaysOn transport addressing is always enabled regardless of the setting of the InputMode configuration parameter TportMode InpMode With TPortMode InpMode transport addressing is in accordance with the setting of the InpMode configuration parameter for which two settings are available InputMode Single When InputMode Singl
255. he local modem is 10 Definition The setting of the RxThresh configuration parameter is the number of standard deviations that a detected signal must rise above the background noise level at that frequency before it is marked as a received transponder reply It must be correctly set when using the Transpond ATNm command to acquire the two way sound travel time to a transponder The lower this setting the more sensitive is the receiver and the more likely a detected signal will be marked as a received reply However with a low setting there is also a greater likelihood of false positives where a detected signal is incorrectly marked as a received reply The higher the setting the less sensitive is the receiver and the less likely a detected signal will be marked as a received reply Therefore a high setting increases the likelihood of missing valid detections The receive threshold should be adjusted in accordance with the background noise such as to minimize false positives and negatives Available Settings The range of available settings for the RxThresh configuration parameter is from 10 to 256 in integer increments The default setting is 10 8 Modem Configuration Parameters 8 76 User s Manual TELEDYNE BENTHOS RxToneDur Default Setting 10 The local modem s receive pulse width is 10 ms Definition The setting of the RxToneDur configuration parameter determines the receive pulse width of the modem and must be correctly set
256. he lowpower state its receiver is still active Therefore it can be awakened by input either from its host processor over the serial interface or from a remote modem over the acoustic link For the modem to be awakened acoustically a lowpower wakeup signal must be transmitted by the transmitting modem To enable the transmission of the lowpower wakeup signal set 9 WakeTones Ena In addition if Verbose 3 a modem will display the message UART Wakeup if it was awakened by input from its host processor over the serial interface or Acoustic Wakeup if it was awakened by input over the acoustic link If a modem is awakened by the host processor it goes into the receive active state and into the operating mode determined by the setting of the OpMode configuration parameter If the modem receives a signal over the acoustic link from a remote modem it goes into the receive active state and checks the signal to see if it is being addressed either with its unique address or with the global address that is the same for all the modems If the modem does not recognize its address or the global address it returns to the lowpower state If it recognizes the signal as containing a valid address it will remain in the receive active state and go into the operating mode determined by the setting of the OpMode configuration parameter Low power State Commands The following lowpower state commands are available ATL ATH ATL The Lowpower State
257. he result of sea surface and sea floor reflections reflections from objects that are near the receiving modem and refractions from thermal gradients and water turbulence Using directional remote transducers reduces the effects of multipath when the transducers are aimed at each other yet reflections from objects such as piers or boats that are near the receiving transducer cause overlapping of the received signals resulting in decreased reliability In addition multipath is usually not stationary hence even techniques used to track and reduce the effects of multipath do not significantly improve modem performance in increasingly dynamic multipath situations As a result multipath forces continual trade offs in the speed the reliability and the cost of acoustic modem Methods for Increasing Reliability 1 Overview Three methods are provided by the ATM 900 Series Acoustic Telemetry Modems and the UDB 9400 Universal Deck Box to increase communications reliability convolutional coding multipath guard period and data redundancy Convolutional coding uses error correcting algorithms that are determined from the data that are to be transmitted Multipath guard period which is used only with MFSK modulation provides a short delay between data frames to allow for the dispersion of the multipath signals And data redundancy essentially repeats the transmission of a series of data bits Methods for Increasing Reliability 1 10 User s Manu
258. he setting of the IdleTimer configuration parameter determines the time after which a modem will go into the lowpower state if there is no input either from the serial interface or from a remote modem over the acoustic link For a Compact Modem the modem goes into its hibernate state Available Settings The range of settings for the IdleTimer configuration parameter is from 1 second to 23 hours 59 minutes and 59 seconds in the following format hh mm ss where hh is hours mm is minutes and ss is seconds A setting of 0 disables the IdleTimer Special Considerations When setting the IdleTimer configuration parameter take note of the following The default IdleTimer configuration parameter setting for a UDB 9400 Universal Deck Box is 0 If a remote modem will be accessed periodically to retrieve a small amount of data the idle time should be set relatively short If there will be more frequent and more interactive sessions the idle time should be set relatively long to avoid the need to frequently reawaken the modem from its lowpower state Setting the IdleTimer configuration parameter will automatically set S Register 10 to the setting that corresponds to the same time or the time that is within the 5 second increment allowed by S Register 10 up to a maximum of 1270 seconds 21 minutes and 10 seconds P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 8 23 Setting S Register 10 will automatically
259. he sources beginning with a specific byte The byte index is zero based meaning that the first byte is byte 0 the second is byte 1 the third is byte 2 and so on An optional x modifier specifies that the data are to be displayed as ASCII hexadecimal values otherwise the data are displayed as ASCII text The data source is selected with the flags parameter which is described in dlfind on page 5 18 However only one flag can be selected If no flag is specified data from all the data sources are included Syntax didump x byte index byte count lt flags gt Privilege user Example 1 extract and display 1000 bytes beginning with the 500th byte from the data logger of the local modem enter dldump 499 1000 Example 2 extract and display 1000 bytes beginning with the 500th byte from the data logger of the local modem and display their ASCII hexadecimal values enter dldump x 499 1000 Example 3 extract and display 1000 bytes beginning with the 500th byte from the data logger of the local modem that were received on serial port 1 and display their ASCII hexadecimal values enter dldump x 499 1000 pl P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 25 The 1 dump command causes a remote modem to extract and to transmit over the acoustic link a selectable number of contiguous bytes from its data logger records that were input from a specific data source or a
260. hen clean the connector with an alcohol wipe 9 Maintenance and Troubleshooting General Cleaning and Inspection 9 2 TELEDYNE BENTHOS 4 Lubricate the POWER SERIAL connector pins with a light coat of silicone lubricant and install the dummy connector supplied with the modem NOTE Be especially careful not to get any lubricant on the face of the transducer as this will severely degrade its performance For the ATM 914 ATM 924 and ATM 964 Acoustic Telemetry Modems perform all the steps listed below For the ATM 915 ATM 916 ATM 925 ATM 926 ATM 965 and ATM 966 modems go to Step 7 5 Unplug the remote transducer cable from both the remote transducer connector on the modem and the connector on the remote transducer inspect and clean the cable and then clean the connectors with an alcohol wipe 6 Lubricate the connector pins on both the remote transducer connector on the modem and the connector on the remote transducer with a light coat of silicone lubricant and install the dummy connectors supplied 7 Wash down the modem with clean fresh water and remove any debris that may have become attached to the housing 8 Clean the transducer with a mild non abrasive detergent being careful to remove any buildup After cleaning spray the transducer again with fresh water gt NOTE Do not use an ammonia based cleaner such as a glass cleaner to clean the transducer 9 Carefully inspect the transduce
261. hen running the diagnostic software application The xundiag command is used to start the diagnostic software application Syntax post Privilege user Reference none rb The rb Y modem receive command causes the modem to use the receive Y Modem protocol to receive one or more files from a host PC to the root directory of the modem file system An optional f modifier will save the file to ffs instead of the root directory Syntax rb f Privilege user Reference File System on page 5 39 rdibik The rdlblk command provides the same results and is used in the same way as the rdldump command but the data are transmitted more efficiently as less data overhead is required and the amount of data is limited to 4096 bytes This command can only be entered on serial port 1 The optional x modifier however is not available and therefore the data are displayed only as ASCII text Syntax rdibik lt addr gt byte index byte count lt flags gt Privilege user Reference Datalogger Mode page 5 15 6 Modem CLAM Shell Command Set 6 14 User s Manual TELEDYNE BENTHOS rdiclear The rdlclear command clears the contents of the data logger memory of a remote modem and can only be entered on serial port 1 The only command parameter is addr which is the remote modem address Syntax rdiclear lt addr gt Privilege user Reference Datalogger Mode page 5 15 rdidump The rdldump comm
262. ic Recorder Option on page 5 71 rm The rm remove file command removes the specified file Syntax rm lt path gt lt file gt Privilege user Reference File System on page 5 39 P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 6 17 rmdir The rmdir remove directory command removes the specified directory The directory cannot have any files devices or subdirectories If it does they must be removed first Syntax rmdir lt path gt lt dir gt Privilege user Reference File System on page 5 39 rtc_battery The rtc_battery command displays the real time clock battery voltage Syntax rtc_battery Privilege user Reference Real Time Clock on page 5 88 rundiag The rundiag command starts the diagnostic software application Syntax rundiag Privilege user Reference none rx The rx X modem receive command causes the modem to use the receive X Modem protocol to receive the contents of a file from a host PC to the root directory of the modem file system An optional f modifier will save the file to ffs instead of the root directory Syntax rx f lt path gt lt file gt Privilege user Reference File System on page 5 39 6 Modem CLAM Shell Command Set 6 18 User s Manual TELEDYNE BENTHOS rxadj The rxadj command allows adjustment of the transpond receive threshold on a per frequency basis varying it from the threshold setting provided by the RxThresh
263. idle time should be disabled to prevent the modem from ever going into the lowpower state This improves operating efficiency as the modem never has to be reawakened from the lowpower state To disable the idle time enter ldleTimer 0 WARNING Although the idle time can be set to prevent the modem from ever going into the lowpower state this setting will rapidly deplete the capacity of the modem battery pack Hence if batteries are being used to power the modem the idle time should be set as short as possible A modem can be placed into the lowpower state in any of the following ways Using the Lowpower State command ATL Entering the Lowpower State command will cause the modem to go into the lowpower state When awakened the modem will go into the operating mode determined by the setting of the OpMode configuration parameter Entering the Hang Up command ATH Entering the Hang Up command will cause all the remote modems to go into the lowpower state When awakened a modem will go into the operating mode determined by the setting of the OpMode configuration parameter Allowing the idle time to expire Allowing the idle time to expire will cause the modem to go into the lowpower state When awakened the modem will go into the operating mode determined by the setting of the OpMode configuration parameter User s Manual P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 37 Waking up a Modem When a modem is in t
264. ied search parameters the number of bytes and the number of records in the data logger of the local modem along with the approximate time in seconds that it will take to transmit them to a remote modem at the current acoustic bit rate of the local modem The acoustic bit rate is determined by the setting of the TxRate configuration parameter in the local modem and the search parameters are the same as that for the d1 ind command as described in difind on page 5 18 Syntax dlrecs i recno Q time lt recno gt lt time gt lt numrecs gt step lt flags gt Privilege user Example To display the number of bytes and the number of records in the data logger of the local modem and the approximate time to transmit them at the current acoustic bit rate setting for the year 2011 enter dlrecs 02011 As in the example above all of the examples provided for the dlfind command as described in dlfind on page 5 18 apply in exactly the same way for the 1 recs command rdifind The rdlfind command causes a remote modem to extract and to transmit over the acoustic link its data logger records up to 16 kbytes at a time in accordance with specified search parameters This command can only be entered on serial port 1 Except for the additional command parameter addr which is the remote modem address these search parameters are the same as that for the d1 ind command as described in dlfind on page 5 18 U
265. ies Acoustic Telemetry Modems 8 65 SrcP2 Default Setting 2 The transport address for data input on serial port 2 is 2 Definition The setting of the SrcP2 configuration parameter is the transport address that will be attached to transmitted data packets that are generated from data that are input to serial port 2 when TPortMode AlwaysOn or when TPortMode InpMode and InputMode Dual Available Settings The available settings for the SrcP2 configuration parameter are listed below 1 The transport address for data input on serial port 2 is 1 2 The transport address for data input on serial port 2 is 2 3 Reserved 4 Reserved Special Considerations When setting the SrcP2 configuration parameter take note of the following If TPortMode InpMode and InputMode Single no transport addresses will be attached to transmitted data packets 8 Modem Configuration Parameters 8 66 User s Manual TELEDYNE BENTHOS 0511 Default Setting 1 P1 Data received over the acoustic link with transport address 1 will be output on serial port 1 Definition The setting of the Dst1 configuration parameter determines to which serial port serial port 1 or serial port 2 that data packets received over the acoustic link with transport address 1 will be output when TPortMode AlwaysOn or when TPortMode InpMode and InputMode Dual Available Settings There are two available settings for the Dst1 configuration parameter as listed
266. ified mount point or if no mount point is specified the file system usage for all the files in the root directory The displayed usage comprises the file system size the amount of storage used the amount of storage available and the percentage of available storage used In addition the number of bytes shown will include some unusable overhead bytes Therefore a completely full file system will still Show some space free even though no more data can be stored Syntax df lt mount gt Privilege user Example 1 To display the file system usage for the root directory and all the files in it enter df Example 2 To display the file system usage for the flash file system enter ffs Is The 1s list command displays a list of files and devices in the specified path or if no path is specified a list of all files and devices in the root directory An optional w modifier will cause the files and devices to be displayed in wide format and an optional I modifier will cause the file attributes to be displayed along with the files and devices A listed file that is followed by a forward slash is a directory If no slash is present it is a regular file Syntax Is I w lt path gt Privilege user Example 1 To list the files and devices in the root directory enter ls Example 2 list the files and devices along with the file attributes in the flash file system enter ls 1 ffs P N M 270 26 Rev
267. iguration parameter determines how the Acoustic Recorder is started and stopped Available Settings The available settings for the RecMode configuration parameter are listed below 0 Manual The Acoustic Recorder starts and stops when manually commanded to do so 1 Auto The Acoustic Recorder starts when an SDHC is mounted 2 Auto LP The Acoustic Recorder starts when an SDHC is mounted but stops when the idle time expires The modem also enters the lowpower state P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 8 33 NameFormat Default Setting 1 DDHHMMSS The file name format for the files containing the data recorded by the Acoustic Recorder is DDHHMMSS for day hour minute and second Definition The NameFormat configuration parameter establishes the file name format for the files containing the data recorded by the Acoustic Recorder Available Settings The available settings for the RecMode configuration parameter are listed below 0 The file name format is month day hour and minute 1 DDHHMMSS The file name format is day of current month hour minute and second 3 55 The file name format is hour minute and second separated by hyphens 8 Modem Configuration Parameters 8 34 User s Manual TELEDYNE BENTHOS AcData Default Setting 0 UART Data received over the acoustic link are output over the serial interface Definition The setting of the Ac
268. ilege user Example 1 To start the parser process enter gpsd To terminate the command enter Ctrl D or rapidly enter For an input string of GPGLL 4138 8119 N 07038 2037 W A 31 Latitude will be set to 41 646865 and Longitude will be set to 70 636728 having been converted to decimal degrees from the NMEA format of degrees and decimal minutes For an input string of GPGGA 171235 00 4138 8119 N 07038 2037 W 1 05 1 2 5 0 M 22 3 M 55 Latitude will be set to 41 646865 and Longitude will be set to 70 636728 having been converted to decimal degrees from the NMEA format of degrees and decimal minutes GpsAlt will be set to 5 0 meters above mean sea level and the modem s system time will be set to 17 12 35 5 Modem Operation Navigation 5 86 User s Manual Example 2 Example 3 Example 4 TELEDYNE BENTHOS For an input string of GPZDA 171235 00 05 12 2011 5 0 49 The NMEA time and date string will set the system time and date to 17 12 35 on December 5th 2011 For an input string of C90 4P0 1R 1 3 7C Compass pitch and roll data as output from the Ocean Server compass will be read to set the Compass Pitch and Roll parameters to 90 4 0 1 and 1 3 degrees respectively For an input string of SPHTRO 0 1 P 1 3 T 7B Pitch and roll data as from this NMEA string will be read to set the Pitch and QRoll parameters as 0 1 and 1 3 degrees respectively For an input string of SHCHDG
269. in its data logger along with the approximate time in seconds that it will take to transmit them to the local modem at the current acoustic bit rate of the remote modem This command can only be entered on serial port 1 The acoustic bit rate is determined by the setting of the TxRate configuration parameter in the remote modem and except for the additional command parameter addr which is the remote modem address the search parameters are the same as that for the d1 ind command as described in dlfind on page 5 18 5 Modem Operation Datalogger Mode 5 24 User s Manual TELEDYNE BENTHOS Syntax rdirecs lt addr gt i lt recno gt lt time gt lt recno gt lt time gt lt numrecs gt lt step gt lt flags gt Privilege user Example To search for and display the number of bytes and the number of records in the data logger of the remote modem at address 5 and the approximate time to transmit them at the current acoustic bit rate setting for the year 2011 enter dlrecs 2011 As in the example above with the exception of the additional command parameter addr all of the examples provided for the 41 command as described in dlfind on page 5 18 apply in exactly the same way for the rdlrecs command didump The didump command causes the local modem to extract and to display a selectable number of contiguous bytes from its data logger records that were input from a specific data source or all t
270. ines whether hardware RTS CTS handshaking or software XON XOFF handshaking is used for flow control or if no handshaking is used The setting also determines whether the RS 232 driver for serial port 1 is turned off or left on when a modem is in the lowpower state Turning off the driver conserves battery power Available Settings There available settings for the P1FlowCtl configuration parameter are listed below 0 None Selects no handshaking and turns off the RS 232 driver for serial port 1 when the modem is in the lowpower state 1 SW Selects software XON XOFF handshaking and turns off the RS 232 driver for serial port 1 when the modem is in the lowpower state 2 HW Selects hardware RTS CTS handshaking and leaves the RS 232 driver for serial port 1 turned on when the modem is in the lowpower state However the modem draws an additional 2 mA of current which shortens the modem battery pack life 3 HW LP Selects hardware RTS CTS handshaking and turns off the RS 232 driver for serial port 1 when the modem is in the lowpower state Therefore when the modem is in the lowpower state there is no handshaking WARNING A setting of P1FlowCtl HW LP will turn off the RS 232 driver whenever the modem is in the lowpower state Therefore hardware RTS CTS handshaking must be disabled at the host processor when sending the first byte of data to the modem over the serial interface After the first byte is sent handshaking can be turn
271. ings for its exact location Install a newly reformatted SDHC card The modem should always be deployed with a newly formatted SDHC card When installing a new card a Sandisk 4 GB SDHC card is recommended NOTE If planning to use an SDHC card other than a Sandisk 4 GB or a card with a memory capacity other than 4 GB contact Teledyne Benthos first For information on how to contact Teledyne Benthos refer to Customer Service on page vi Refer to Cleaning or Replacing an O ring on page 9 14 and clean or replace the O rings on both end caps Connect the 5 pin serial connector to the circuit board Slide the chassis and the battery pack together into the housing and then press the end cap into the housing being careful not to pinch the wires Line up the three holes in the end cap with the three holes in the housing and secure the end cap to the housing with the three hex head Screws Connect the in line connector that connects the battery pack to the connector on the POWER SERIAL connector end cap and then press the end cap into the housing being careful not to pinch the wires Line up the three holes in the end cap with the three holes in the housing and secure the end cap to the housing with the three hex head Screws Changing the ATM 964 or ATM 965 SDHC Card For the ATM 964 and ATM 965 Acoustic Telemetry Modems only one end cap requires removal when changing the SDHC card the top end cap for an ATM 964 or th
272. interrupted the modem will no longer respond to commands as the original firmware will have been erased Should this situation occur the modem will automatically enter the boot loader and display the boot loader prompt Boot At this prompt type update and then press Enter The modem will again 7 Modem AT Command Set 7 14 User s Manual TELEDYNE BENTHOS respond with similar instructions as that provided by the Update Firmware command on how to update the firmware Once the file is transferred type reboot and then press enter or cycle the power off and then on P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 7 15 Dial ATDn Syntax ATDn Enter Definition The Dial command causes the local modem to go into Online mode from Command mode and to go online with the remote modem at address n NOTE For the local modem to execute entered commands the modem must be in Command mode with the command prompt displayed If the modem is not in Command mode refer to page 5 6 for instructions on how to place the modem into Command mode How to Use To use the Dial command type ATD followed by the address of the remote modem and then press Enter The local modem will go online with the remote modem and then the local modem will display the message CONNECT followed by the transmitting acoustic bit rate of the local modem When the local and remote modems are online the local modem will transmit all
273. ional transducer MF1 Medium frequency 16 21 kHz omnidirectional transducer MF2 Medium frequency 16 21 kHz directional transducer MF3 Medium frequency 16 21 kHz remote omnidirectional transducer BC1 Interoperability Band C 22 27 kHz omnidirectional transducer 0 Transducer not included 3 Remote transducer with no internal battery 4 Remote transducer with internal battery 5 Integrated transducer with internal battery 6 Integrated transducer with no internal battery 0 Original equipment manufacturer printed circuit board OEM PCB electronics 1 Polyvinyl chloride PVC housing material depth rated to 500 meters 1640 feet 2 Aluminum housing material depth rated to 2000 meters 6560 feet 6 Aluminum housing material depth rated to 6000 meters 19 680 feet 9 ATM 900 Series 4th Generation Acoustic Telemetry Modem Software Version 8 x NOTE Specification designators A through D are required whereas specification designator E is for selected options Multiple options can be ordered but not all option combinations are valid Figure 11 1 ATM 900 Series Part Number Designator Legend User s Manual P N M 270 26 Rev D
274. ions but usually at the expense of a reduced bit rate Refer to Modulation Techniques on page 1 3 for an explanation of the modulation User s Manual P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 3 7 techniques However paying particular attention to the modems remote transducer orientations their height above the bottom or their depth below the surface can reduce the effects of multipath and ambient noise In some instances the use of acoustic baffles can further improve performance In addition the operating frequencies of other acoustic equipment in the area are an important consideration when attempting to achieve optimum performance from the modems Transducer Orientation If possible when using a remote directional transducer orient the transducer such that it is pointing toward the receiving modem When using an omnidirectional transducer which has a toroidal beam pattern the strongest response is in the horizontal plane which is off to the side Refer to Modem and Remote Transducer Types on page 1 11 for more information on the omnidirectional and directional transducers Use of an Acoustic Baffle For installations with relatively high multipath and ambient noise conditions such as surface and bottom multipath reflections ship noise sea state noise and other nearby acoustical noise sources an acoustic baffle can be installed on the transducer The acoustic baffle minimizes the effects of multipath
275. iptions are provided P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 7 35 user l ats Local Sregisters 500 080 501 000 502 000 503 130 504 005 505 000 506 008 507 015 508 060 509 000 510 036 511 000 512 000 513 001 514 000 515 001 516 001 517 001 518 000 519 000 520 000 Figure 7 2 Read Register Command and Resulting Display 7 Modem AT Command Set 7 36 TELEDYNE BENTHOS Read Remote Registers AT Sn User s Manual Syntax AT Sn Enter Definition The Read Remote Registers command causes the local modem to display the S Register settings of the remote modem at address n NOTE S Registers are available for backward compatibility as they perform many of the same functions as those of the configuration parameters Changing the setting of a configuration parameter will automatically change the setting of its equivalent S Register if there is one The reverse is also true However only a limited set of configuration parameters can be accessed with S Registers Therefore using the configuration parameters instead of the S Registers is highly recommended NOTE For the local modem to execute entered commands the modem must be in Command mode with the command prompt displayed If the modem is not in Command mode refer to page 5 6 for instructions on how to place the modem into Command mode How to Use To use the Read Remote Registers command type AT S followed by the address of the remote m
276. ircuit board Slide the chassis into the housing until the gland seal O ring on the end cap is against the housing being careful not to scrape the O ring surface on the inside wall of the housing When the gland seal O ring is against the housing apply equal pressure against the end cap and press it into the housing until the face seal O ring is firmly seated against the housing If required rotate the end cap slightly when pressing it into the housing Slide the stainless steel band clamp back into position between the end cap and the housing and tighten the clamp P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 9 11 Changing the SDHC Card If the SD Datalogger option D option was ordered the modem includes an SDHC card and its carrier board which is the SDHC board To change the SDHC card the modem requires disassembly and the procedures for disassembling the ATM 914 ATM 915 ATM 924 and ATM 925 and the AM 964 and ATM 965 are different Changing the ATM 914 ATM 915 ATM 924 or ATM 925 SDHC Card For the ATM 914 ATM 915 ATM924 and ATM 925 Acoustic Telemetry Modems both end caps require removal when changing the SDHC card First the POWER SERIAL connector end cap must be removed and then the transducer end cap for an ATM 915 and ATM 925 or the remote transducer connector end cap for an ATM 914 and ATM 924 To change the SDHC card for an ATM 914 ATM 915 ATM924 or ATM 925 1 Turn the modem o
277. irectional transducer is externally powered only and operates to a depth of 500 m 1640 ft ATM 924 Acoustic Telemetry Modem Connects to a remote omnidirectional or directional transducer and operates to a depth of 2000 m 6560 ft ATM 925 Acoustic Telemetry Modem Includes a built in omnidirectional or directional transducer and operates to a depth of 2000 m 6560 ft ATM 926 Acoustic Telemetry Modem Includes a built in omnidirectional or directional transducer is externally powered only and operates to a depth of 2000 m 6560 ft ATM 964 Acoustic Telemetry Modem Connects to a remote omnidirectional or directional transducer and operates to a depth of 6000 m 19 680 ft ATM 965 Acoustic Telemetry Modem Includes a built in directional transducer and operates to a depth of 6000 m 19 680 ft ATM 966 Acoustic Telemetry Modem Includes a built in omnidirectional or directional transducer is externally powered only and operates to a depth of 6000 m 19 680 ft User s Manual P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 1 15 ATM 915 and ATM 914 Acoustic Telemetry Modems The ATM 915 Acoustic Telemetry Modem is shown in Figure 1 9 The ATM 915 is completely self contained in a PVC housing and includes a modem battery pack and a built in omnidirectional or directional transducer The ATM 914 is similar to the ATM 915 but does not include a built in transducer Instead a 2 meter cable is provided whi
278. isplay the prompt shown above Refer to File System Commands on page 5 42 for information on the format command Should this prompt appear for any of these reasons the diagnostic software or modem software or both may need to be reloaded P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 4 27 gt NOTE Should the prompt not appear verify that the baud rate is 115 200 as instructed during the update Also verify that the parity is none the number of data bits is eight and the number of stop bits is one Be sure to use any standard terminal program that features the Xmodem or 1K Xmodem transfer protocol such as ProComm Plus or Tera Term Turn on the modem and within a second or two press Escape several times until the Boot Loader banner and prompt appear Repeat the process if they don t If repeating the process does not work contact Teledyne Benthos For information on how to contact Teledyne Benthos refer to Customer Service on page vi Follow the steps listed below to reload the diagnostic and modem software 4 Setup and Test 1 Save the 5 270 67 Diag Utility vx x rom and S 270 68 Standard Modem vx x x rom files on the PC that is connected to the modem At the Boot Loader prompt enter update diag Follow the on screen instructions to transfer the file S 270 67 Diag Utility vx x rom from the PC to the modem using the Xmodem or 1K Xmodem protocol At the Boot Loader prompt enter update Foll
279. isplayed in wide format and an optional modifier will cause the file attributes to be displayed along with the files and devices A listed file that is followed by a forward slash is a directory If no slash is present it is a regular file Syntax Is I w lt path gt Privilege user Reference File System on page 5 39 mdm_battery The mdm_battery command displays the voltage of the modem battery Syntax mdm_battery Privilege user Reference none mkdir The mkdir make directory command creates a directory of a specified name Syntax mkdir lt path gt lt dir gt Privilege user Reference File System on page 5 39 more The more command displays the contents of a file as ASCII text eight lines at a time with a pause between groups of eight lines To continue after a pause press Enter An optional I modifier specifies a different number of lines to display before pausing An optional d modifier specifies that the data are to be displayed as ASCII decimal values And an optional x modifier specifies that the data are to be displayed as ASCII hexadecimal values Syntax more d x I lt lines gt lt path gt lt file gt Privilege user Reference none 6 Modem CLAM Shell Command Set 6 12 User s Manual TELEDYNE BENTHOS mount The mount command tells the modem to make the files and directories on an SD or SDHC card available to the modem s file system by way of the
280. its wide However for more efficient use of memory the files can be read from and written to as 16 bit words by appending the characters w or 16 to the file name P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 41 Redirection By default any output generated by a command is output to the device that sent the command such as a computer or terminal However this output can be redirected elsewhere such as to a file or a device Redirecting the output is performed by entering one of the following gt Redirects the output to write to the named device gt gt Hedirects the output to write to the named file in append mode Similarly to redirect the input resulting from a command from a device the following is entered Redirects the input from the named device Examples are the following To read the contents of the file named textfile and redirect it to transmit the contents acoustically instead of being displayed enter cat textfile dev modem To transmit a Range command to a remote modem at address 1 and store the output in a file named ranges txt in the flash file system enter atri gt ffs ranges txt To transmit a Range command to a remote modem at address 1 and append the output to a file named ranges txt in the flash file system enter atrl gt gt ffs ranges txt To write the text My modem data and save it to the file named mydatafile1 enter echo My modem data my
281. ivate its release mechanism NOTE For the local modem to execute entered commands the modem must be in Command mode with the command prompt displayed If the modem is not in Command mode refer to page 5 6 for instructions on how to place the modem into Command mode How to Use To use the Release Status command type AT R followed by the address of the release the comma character and the release code and then press Enter The message Valid release code waiting for confirmation should be displayed If the release code is incorrect the message Invalid release code will be displayed instead If the correct release code was received the next message displayed should be RELEASED and CONFIRMED which acknowledges that the release mechanism has been activated and that the release has released itself from its mooring If instead the message RELEASED and NOT CONFIRMED is displayed the release mechanism has been activated but the release has not released itself from its mooring 7 Modem AT Command Set 7 74 TELEDYNE 5 Burn Wire Release AT Nn m User s Manual Syntax AT Nn m Enter Definition The Burn Wire Release command causes the SMART Modem at address n with release code m to activate its burn wire release NOTE For the local modem to execute entered commands the modem must be in Command mode with the command prompt displayed If the modem is not in Command mode refer to page 5 6 for
282. ived that did not match the test message CRC Checksum pass or fail where a pass condition signifies no errors were detected and a fail condition signifies one or more bit errors were detected MPD Multipath Delay in milliseconds where the higher the number the greater the multipath The range is from 0 to 50 SNR Signal to Noise Ratio a measurement that provides information on the quality of the processed signal The value takes into account all the processing and the effects of multipath Use Table 7 2 as a guide for adjusting the power level and acoustic bit rates to obtain the optimum SNR SPD Speed the relative speed in knots between the local and remote modems where a negative number indicates the modems are moving farther apart and a positive number indicates the modems are moving closer together 7 Modem AT Command Set 7 24 AGC CCERR TELEDYNE BENTHOS Automatic Gain Control a value that indicates how much gain is being applied to the received signals The higher the AGC value the higher the gain Use Table 7 3 as a guide for adjusting the power level and acoustic bit rates based on the AGC value Corrected Channel Error Metric 0 14 Table 7 2 Guide for Obtaining the Optimum SNR SNR VALUE SIGNAL QUALITY RECOMMENDED ACTION 20 and higher High Can lower the power level 19 15 Good May be able to lower the power level 14 12 Less than 12 Acceptable
283. k command sets the RemotAdar configuration parameter of the remote modem to the address of the local modem The Remote Break command sets RemotAddr configuration parameter of the local modem to the address of the remote modem If itis desired to enter commands after going online with the remote modem type in rapid succession to cause the local modem to go into Command mode Then enter the desired commands To go back online with the same remote modem use the Dial command If the remote modem goes into the lowpower state and then the modem will go into Command mode To go back online with the same remote modem use the Dial command P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 7 23 Acoustic Link Test AT Xn Syntax ATXn Enter Definition The Acoustic Link Test command tests the acoustic link between the local modem and the remote modem at address n by causing the remote modem to transmit one of 8 different length preset test messages at the acoustic bit rate determined by the setting of the TxRate configuration parameter of the remote modem The preset test message length and whether the message is displayed when received by the local modem is determined by the settings of the PktSize and PktEcho configuration parameters respectively In addition the local modem measures and displays the following which are the received data statistics ERR Errors the number of bits rece
284. knowledgment is not received Response Not Received will be displayed The time required to clear a remote modem s data logger is up to 20 seconds depending on how much data are stored plus the one way sound travel time for the acoustic command to reach the remote modem Since sound travels at about 1500 meters second in seawater it will take approximately 22 seconds to clear the data logger of a remote modem that is 3000 meters away from the local modem 7 Modem AT Command Set 7 56 TELEDYNE BENTHOS Remote Bytes Stored AT BNn User s Manual Syntax Enter Definition The Remote Bytes Stored command causes the local modem to display the number of bytes of data stored in the data logger of the remote modem at address n If the number of bytes stored is greater than 1 MB the number is shown in MB if less then in bytes NOTE For the local modem to execute entered commands the modem must be in Command mode with the command prompt displayed If the modem is not in Command mode refer to page 5 6 for instructions on how to place the modem into Command mode Use of the xdllist command instead of the Remote Bytes Stored command is recommended unless it is expected that 4 MB or less of data are stored in which case the Remote Bytes Stored command can be used How to Use To use the Remote Bytes Stored command type AT BN followed by the address of the remote modem and then press Enter The loc
285. l n modifier adds a line number to each line and an optional c or modifier enables a range of characters or lines respectively to be specified This command can also be used as an easy way to create a text file or to add to an existing one To do this enter the command name followed by a space the gt or the gt gt character the path and the file name Using gt will replace the contents of the named file with all subsequent text entered after the prompt If the file does not exist it will be created automatically Using gt gt will add all subsequent text entered after the prompt to the existing named file To end either process enter Ctrl D Syntax cat n c l anum from to2 lt path gt lt file gt gt lt file gt Privilege user Example 1 display the contents of the file named mydatafile1 in the root directory enter cat mydatafilel Example 2 To display the contents of the file named mylogfile1 in the flash file system enter cat ffs mylogfilel User s Manual P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 45 cp Example 3 Example 4 Example 5 Example 6 Example 7 Example 8 To display the contents of the file named mylogfile1 in the flash file system and include line numbers enter cat n ffs mylogfilel To display only the 2nd through the 10th line of the contents of the file named mylogfile1 in the flash
286. l configuration parameter a discrete record is created and subsequently received characters are stored in the data logger memory 2 ChrCount When the number of characters received on the serial interface matches the number configured by the setting of the ChrCount configuration parameter a discrete record is created and the characters are stored in the data logger memory 8 Modem Configuration Parameters 8 38 User s Manual TELEDYNE BENTHOS Sentinel Default Setting 0 The ASCII code for the character 0 will be used as a sentinel Definition The setting of the Sentinel configuration parameter which applies only when the 9L ogMode Sentinel is the character for the ASCII code that is to be used as a sentinel for partitioning data received on a the serial interface into discrete records Monitoring for the ASCII code is performed separately for serial port 1 and serial port 2 when InputMode Dual Available Settings The range of available settings for the Sentinel configuration parameter is 0 to 255 Special Considerations When setting the Sentinel configuration parameter take note of the following The sentinel character should be the last character in a data string and therefore is typically 13 for a carriage return or 10 for a line feed The sentinel character is included in the record and is the last character in the record WARNING If data are input without the sentinel character the modem will not go int
287. l transmit and receive beam patterns And because the energy is focused into a narrow beam it provides a higher directivity index than the remote omnidirectional transducer with the same input power level The remote directional transducer is most effective when used in the vertical channel or when the transducer can be pointed toward the receiving transducer in the horizontal channel In the latter case multipath due to sea surface and sea floor reflections is minimized as most of the energy is directed horizontally The remote directional transducer s typical vertical beam pattern for both the LF and MF versions are shown in Figure 1 21 on page 1 25 P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 40 50 60 80 90 110 120 140 LOW FREQUENCY LF 40 50 60 80 90 100 110 120 140 MEDIUM FREQUENCY MF 30 150 160 20 30 150 170 180 350 340 200 350 340 200 190 330 320 300 290 280 250 240 220 330 320 310 290 280 250 240 230 220 210 195 0 190 0 185 0 180 0 175 0 165 0 160 0 155 0 150 0 Figure 1 19 Remote Omnidirectional Transducer LF and MF Vertical Beam Patterns 1 Overview Modem and Remote Transducer Types 1 24 TELEDYNE BENTHOS Figure 1 20 Remote Omnidirectional Transducer Band C Vertical Beam Pattern User s Manual P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems
288. le gt Privilege user Reference File System on page 5 39 P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 6 19 set The set command sets an environment variable to the specified value This command is used for scripts Syntax set name value Privilege user Reference none setpriv The setpriv command sets the current privilege level Three privilege levels are available without requiring a password safe user and update Three additional available privilege levels require passwords factory diag and sys Syntax setpriv safe user update factory diag sys Privilege safe Reference Command Mode on page 5 5 showkeys The showkeys command displays all of the feature keys installed on the modem This command can only be used when running the diagnostic software application The rundiag command is used to start the diagnostic software application Syntax showkeys Privilege update Reference none sleep The sleep command creates a delay for a specified time However the during the delay the modem functions normally and can still respond to messages received over the acoustic link This command is used for scripts Syntax sleep seconds Privilege user Reference none 6 Modem CLAM Shell Command Set 6 20 User s Manual TELEDYNE BENTHOS spectrum The spectrum command starts the graphical spectral analyzer which displays the Spectral Frequency Graph a dynamically
289. ledgment to the local modem Instead it will cease transmissions and go into the lowpower state Because a remote modem goes into the lowpower state when it receives the Hang Up command its Device Enable output will turn off Refer to Device Enable on page 5 94 for information on the Device Enable output User s Manual P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 7 19 Online ATO Syntax ATO Enter Definition The Online command causes the local modem to go into Online mode from Command mode and to go online with the remote modem whose address is the setting of the local modem s RemoteAddr configuration parameter The command also sets OpMode Online of the local modem This setting ensures the modem will remain online after the local modem is powered down and then powered up again or is awakened from the lowpower state NOTE For the local modem to execute entered commands the modem must be in Command mode with the command prompt displayed If the modem is not in Command mode refer to page 5 6 for instructions on how to place the modem into Command mode How to Use To use the Online command type ATO and then press Enter The local modem will go online with the remote modem and then the local modem will display the message CONNECT followed by the transmitting acoustic bit rate of the local modem When the local and remote modems are online the local modem will transmit all the data recei
290. lemetry Modems 5 29 InputMode Configuration Parameter The InputMode configuration parameter has two available settings Single and Dual When InputMode Single the modem allows one instrument to be connected and it must be connected to serial port 1 This serial port will receive data from the instrument when the modem is in Online or Datalogger mode and will receive and process commands when the modem is in Command mode When InputMode Dual serial port 2 is also available for the connection of an instrument and will receive data from the instrument when the modem is in Online or Datalogger mode Serial port 2 will not process any acoustic communications commands Therefore serial port 1 should always be used when in Command mode Dual Serial Port Data Logging When a modem is Datalogger mode with InputMode Dual data can be input to either serial port 1 or serial port 2 or both The data will be stored in the data logger of the modem and data records will be generated in accordance with the setting of the LogMode configuration parameter which is described below Each record will be tagged with metadata which includes among other information a flag that indicates which serial port the data were input to This flag can be used when retrieving the data to separate the data from the two serial ports For more information about the metadata flags refer to Data Logger Commands on page 5 18 Data stored in the data logger are partitioned
291. ll be replaced with the new text If the file does not exist it will be created automatically Using gt gt will append the text to the contents of an existing file Syntax echo n text file Privilege user Example write the text My modem data and save it to the file named mydatafile1 enter echo My modem data mydatafilel The use of the quotes preserves the case rb The rb Y modem receive command causes the modem to use the receive Y Modem protocol to receive one or more files from a host PC to the root directory of the modem file system An optional f modifier will save the file to ffs instead of the root directory Syntax rb f Privilege user Example To transfer the files named newdatafile1 and newdatafile2 on the host PC to the root directory of the modem file system first enter rb The modem responds with rb ready To begin transfer type sb file to your modem program Next set the communications program on the PC to send using the Y Modem protocol Select the directory that contains the newdatafile1 and newdatafile2 files and then open the files The newdatafile1 and newdatafile2 files on the host PC will be transferred to the root directory of the modem file system 5 Modem Operation File System 5 50 User s Manual rx TELEDYNE BENTHOS The rx X modem receive command causes the modem to use the receive X Modem protocol to receive the c
292. ll of the configuration parameters can be displayed and set using CLAM shell commands and command line shortcuts A help feature also is provided that displays the configuration parameters their corresponding S Register numbers where applicable the current setting and the available settings or range of settings Configuration Files The configuration parameters are stored in configuration files in the flash file system of the modem There are two pre installed configuration files standard ini and factcfg ini Any number of additional configuration files containing the configuration parameters can also be created each for a different modem configuration These new files can be saved on the modem and used to easily reconfigure the modem or exported to a computer where they can be used to configure other modems The contents of any configuration file can be displayed by using the cat command The syntax of the displayed contents conforms to the INI format from Microsoft Corporation for its brevity and simplicity where the section header is listed in square brackets and the section ends at the beginning of a new section or at the end of the file Standard ini File When a modem is powered up the configuration parameter settings are automatically loaded from the standard ini file Any changes made to the configuration parameter settings whether from a saved configuration file or by changing some of the configuration parameter settings directly
293. ll the sources beginning with a specific byte This command can only be entered on serial port 1 The byte index is zero based meaning that the first byte is byte 0 the second is byte 1 the third is byte 2 and so on Except for the additional command parameter addr which is the remote modem address the search parameters the same as that for the d1dump command as described in didump on page 5 24 Syntax rdidump lt addr gt x byte index byte count lt flags gt Privilege user Example 1 extract and display 1000 bytes beginning with the 500th byte from the data logger records of the remote modem at address 5 enter rdidump 5 499 1000 Example 2 extract and display 1000 bytes beginning with the 500th byte from the data logger records of the remote modem at address 5 and display their ASCII hexadecimal values enter rdldump 5 x 499 1000 Example 3 extract and display 1000 bytes beginning with the 500th byte from the data logger records of the remote modem at address 5 that were received on serial port 1 and display their ASCII hexadecimal values enter rdldump 5 x 499 1000 1 rdibik The rdlblk command provides the same results and is used in the same way as the rdldump command but the data are transmitted more efficiently as less data overhead is required and the amount of data is limited to 4096 bytes This command can only be entered on serial port 1 The optional x modifier h
294. lock of 16 samples containing it Similar coding is used on the right channel to identify the data as transmitted or received Generating Basebanded Signals The Acoustic Recorder option employs a heterodyning scheme to shift the passband signals received by the modem to basebanded signals where the passband center frequency is converted to 0 Hz or DC and the bandwidth is 5120 Hz The basebanded signals enable the use of a relatively low 10240 Hz complex sampling frequency to fully reconstruct the original signal components and amplitude without aliasing and make the most efficient use of the available memory when recording The heterodyning process mixes the received signals with the modem s passband center frequency and applies a lowpass filter to extract only the basebanded signals Mathematically describing the heterodyning scheme first requires that a time varying waveform s t received by the modem be expressed as s t a t cos 2nf t 1 The variables for this equation are defined as follows fc The passband center frequency of the modem or 11 520 Hz for a modem operating in the LF frequency band 18 560 Hz for the MF frequency band and 25 120 Hz for Band C a t Narrow band waveform with bandwidth w where w must be much less than f In this case w is 5120 Hz t Time in seconds 5 Modem Operation Acoustic Recorder Option 5 72 User s Manual TELEDYNE BENTHOS Using Euler s identity the equation can be rewritten
295. lt command displays the range and the compass heading and tilt of the remote modem at address n The displayed range is in meters with a resolution of 0 1 meters The displayed compass heading and tilt are in degrees with a resolution of 1 0 degree All data are displayed in accordance with the Verbose configuration parameter as listed below Output format Verbose 0 and 1 Compass lt heading gt lt tilt gt Range lt local address gt to lt remote address gt lt range gt m Output format Verbose 2 Compass lt heading gt lt tilt gt Range lt local address gt to lt remote address gt lt range gt m speed lt relative speed gt m s Output format Verbose 3 TX time hh mm ss nnnn RX time hh mm ss nnnn Compass lt heading gt lt tilt gt Range lt local address gt to lt remote address gt lt range gt m Round trip lt range gt ms speed lt relative soeed gt m s For Verbose 3 hh is hours mm is minutes ss is seconds and nnnn is tenths of milliseconds How to Use To use the Compass and Tilt command type ATRC followed by the address of the remote modem and then press Enter The modem will respond by displaying the compass heading and tilt in degrees of the remote modem and the range in meters to the remote modem The information is transmitted to the local modem from the P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 7 79 remote modem over the acoustic link The displayed i
296. lution timing information about the start and stop times of each WAV file When recording ends this file is copied to the SDHC card If power is lost before the recording session stops the LOG file will be left in the flash file system The acoustic recorder can also be started when an SDHC card is mounted as determined by the setting of the RecMode configuration parameter If the Acoustic Recorder is on the LogStore configuration parameter cannot be set to 1 SDHC If an attempt is made to set it to 1 SDHC the message SD card is in use for logger will be displayed Syntax record on Privilege user Example To start the acoustic recorder enter record on P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 75 Record off The Record off command stops the acoustic recorder and indicates the time and date at which it was stopped The acoustic recorder can also be stopped when the idle time expires as determined by the RecMode configuration parameter Syntax record on Privilege user Example To stop the acoustic recorder enter record off Setting up for Data Recording Setting up for data recording requires that the SDHC card or cards be formatted To set up for data recording 1 Connect the PC to the POWER SERIAL connector of the modem if the modem is a subsea modem or to J7 of the DSP board if the modem is a modem board set Set the terminal program baud rate to 9600 Turn on the modem an
297. m 0 to 1000 in integer increments for a turn around time of 0 ms to 100 0 ms in 0 1 ms increments 8 Modem Configuration Parameters 8 80 User s Manual TELEDYNE BENTHOS LBLmode Default Setting Off The modem is disabled as a remote modem transponder Definition The setting of the LBLmode configuration parameter enables or disables the modem as a remote modem transponder and if enabled whether it will listen for and reply to the broadband chirp transmissions from an interrogating modem or passively listen both for the broadband chirp transmissions and the replies from other remote modem transponders Available Settings There are two available settings for the LBLmode configuration parameter as listed below Off Disables the modem as a remote modem transponder Tone Enables the modem as a remote modem transponder The modem will reply to the broadband chirp transmissions from an interrogating modem after a fixed 600 ms turn around time at the frequency set by the RespFreq configuration parameter and the transmit pulse width set by the TxToneDur configuration parameter Listen Causes the modem to passively listen for the broadband chirp transmissions from an interrogating modem and the replies from the remote modem transponders The modem displays the time at which each reply is received after the broadcast chirp P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 8 81 RespFreq Default Setting M
298. m p 7 44 Range esu era e us ATRN v 7 46 Range and Location y eR 7 48 Local Battery Voltage oe UR n 7 50 Remote Battery Voltage AT VN 7 51 Remote Data Logger Enable ATSBEn 7 53 Remote Data Logger Disable AT BDn 7 54 Clear Remote Data Logger 7 55 Remote Bytes Stored ATSBNn 7 56 Clear Local Data Logger AIBG ES 7 57 Local Bytes Stored 7 58 Output Local Data Logger ATBP 7 59 Output Local Page 7 61 Diagnostic 7 63 Output Remote 7 65 Diagnostic Enable V cies 7 68 AGC Diagnostic Disable ATTI 7 70 Release Status 7 71 Release AT Rn m 7 73 Burn Wire Release AT Nn m 7 74 Compact Modem Wakeup ATWn m 7 75 Transponder kr Ee RE ATNIW 7 76 Broadband Chirp Interrogate EET EVER 7 77 Compass and Tilt ATRCHI x see 7 78 Pitch and ATRTN 7 80 5
299. maintenance procedures for the subsea modem components of the Teledyne Benthos ATM 900 Series Acoustic Telemetry Modems Adherence to these procedures will help to ensure many years of continuous reliable performance from the modems In addition a troubleshooting guide is provided which will assist in isolating and correcting a few of the basic operational problems that could occur during setup or deployment NOTE For maintenance and troubleshooting of the UDB 9400 Universal Deck Box the SR 50 and SR 100 SMART Releases and the SM 975 SMART Modem refer to their respective user s manual The care and maintenance of the modems involve three areas general cleaning and inspection changing the modem battery packs and cleaning or replacing the O rings The tools required for these tasks include the following 9 64 Allen wrench Silicone O ring lubricant 5 32 Allen wrench Isopropyl alcohol Phillips head screwdriver Alcohol wipes Flat head screwdriver Lint free cloths or paper towels Wire cutters Electrical tape General Cleaning and Inspection After retrieving a subsea modem clean and inspect the modem as follows 1 Turn the modem off by pulling the on off switch all the way out Refer to Figure 4 2 on page 4 8 for the location of the modem on off switch 2 Using a cloth or paper towel dry the modem thoroughly 3 Unplug the cable from the POWER SERIAL connector on the modem inspect and clean the cable and t
300. mand ATD Refer to Device Enable on page 5 94 for more information Refer also to Section 2 Specifications for the electrical specifications NOTE When the modem is switched on the internal batteries automatically power the modem when there is no external power or if the external power drops below 22 VDC To connect the modem to a power supply and to an instrument using the RS 232 or RS 422 interface refer to the pinout information provided in Table 4 3 on page 4 11 for the POWER SERIAL connector and to the connector information provided with the instrument A mating connector pigtail is provided for this purpose To connect a subsea modem to an instrument using the RS 485 serial interface refer to Figure 4 6 To connect a subsea modem to a power supply and to a PC perform the steps listed below 1 Connect the connector pigtail to the POWER SERIAL connector 2 Refer to Table 4 4 and connect the pins listed to an available serial RS 232 port on the PC The table shows the connections for a DB 9 serial port connector typically used on laptop computers NOTE Only serial port 1 will accept all the commands 3 Refer to Table 4 3 on page 4 11 and connect the DC power and ground pins to the DC power supply if one is used Transducer Connections For an ATM 914 ATM 924 or ATM 964 Acoustic Telemetry Modem connect the supplied transducer cable to the TRANSDUCER connector on the modem and to the bulkhead connector on the remote
301. me For example if the bit rate is 600 bits sec a data redundancy of two reduces the effective bit rate to half this rate or 300 bits sec P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 1 11 Modem and Remote Transducer Types The ATM 900 Series Acoustic Telemetry Modems and the UDB 9400 Universal Deck Box are composed of five different types each with available optional features Surface modems Subsea modems SMART releases Modem board set Optional features Compact modems The surface modems consist of two modem configurations a deck box and a buoy box the subsea modems are modems with either a built in transducer or provisions for the use of a remote transducer the SMART releases are subsea modems that include a built in transducer and a release mechanism the modem board set is for original equipment manufacturer OEM applications and includes a circuit board set and a remote transducer and the Compact Modems are modems designed for long term deployment Along with the different types of modems four types of remote transducers are available Omnidirectional LF Omnidirectional MF Directional LF Directional MF Omnidirectional Band C The LF designation is for low frequency and the medium frequency The remote transducers are used with some types of subsea modems and the modem board set connecting to them with a supplied cable 1 Overview Modem and Remote Tr
302. ment Setting up the UDB 9400 Universal Deck Box Setting up the UDB 9400 Universal Deck Box requires making the power and serial interface connections and connecting the transducer When connecting the deck box to a PC refer to Figure 4 3 for the COM1 connector pin orientation and to Table 4 1 for the pinout information Figure 4 3 UDB 9400 COM 1 Connector Face View Table 4 1 UDB 9400 COM 1 Connector Pinouts SIGNAL LABEL FUNCTION DIRECTION Modem to Host TXD RX RS 232 Transmit RS 422 Receive Host to Modem RXD RS 232 Receive Host to Modem TX RS 422 Transmit Modem to Host GND Ground TX RS 422 Transmit Modem to Host CTS Clear to Send Host to Modem 4 Setup and Test Modem to Host Host to Modem RTS RX Request to Send RS 422 Receive Setting Up the Modems 4 10 TELEDYNE BENTHOS Perform the steps listed below to connect a transducer to a UDB 9400 Universal Deck Box and to connect the deck box to a serial RS 232 port of a PC Refer to UDB 9400 Universal Deck Box Connections on page 4 6 for information on the deck box connectors and their locations To connect the deck box to an instrument or PC using the RS 485 serial interface refer to Figure 4 4 Table 4 2 is for connecting to the serial RS 232 port of a PC 1 Connect the transducer cable from the XDCR connector on the deck box to the bulkhead connector on the transducer Both the cable an
303. ments are expected to output a continuous stream of data that altogether exceeds 28k kbytes or 24 kbytes if DataRetry Ena P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 33 Default Transport Addressing Their are two cases where the default setting for transport addressing will meet most communication requirements The first is communications between a topside and subsea ATM 900 Series Acoustic Telemetry Modem and the second communications between a UDB 9400 Universal Deck Box and a subsea ATM 900 Series Acoustic Telemetry Modem Default Transport Addressing Topside and Subsea Modems A configuration that shows the default transport addressing for a topside ATM 900 Series Acoustic Telemetry Modem communicating with a subsea ATM 900 Series Acoustic Telemetry Modem that has two instruments connected to it is shown in Figure 5 1 In this setup both modems have the Dual Serial Port feature installed with transport addressing enabled by setting InputMode Dual The default configuration for the transmitting modem is such that data packets generated from data that are input on serial port 1 and serial port 2 have transport addresses 1 and 2 attached respectively For the receiving modem the default configuration is such that data packets that are received with transport addresses 1 and 2 attached are output on serial port 1 and serial port 2 respectively This setup causes data that are input to serial port 1 of the transmi
304. mit power level and then the local modem will respond with the message OK Special Considerations When using the Remote Power command take note of the following The local modem must receive an acknowledgment from the remote modem within the acoustic response timeout which is determined by the setting of the AcRspTmOut configuration parameter If an acknowledgment is not received Response Not Received will be displayed 7 Modem AT Command Set 7 32 TELEDYNE BENTHOS Remote Bit Rate AT An m Syntax AT An m Enter Definition The Remote Bit Rate command sets the transmitting acoustic bit rate of the remote modem at address n to m The range of settings for m is from 2 to 13 as follows 2 7 8 9 10 11 12 13 140 bits sec MFSK repeated four times with rate 1 2 convolutional coding and 25 ms multipath guard period 300 bits sec MFSK repeated twice with rate 1 2 convolutional coding and 25 ms multipath guard period 600 bits sec MFSK with rate 1 2 convolutional coding and 25 ms multipath guard period 800 bits sec MFSK with rate 1 2 convolutional coding and 12 5 ms multipath guard period 1066 bits sec MFSK with rate 1 2 convolutional coding and 3 125 ms multipath guard period 1200 bits sec MFSK with rate 1 2 convolutional coding 2400 bits sec MFSK 2560 bits sec PSK with rate 1 2 convolutional coding 5120 bits sec PSK with rate 1 2 convolutional coding 7680 bits sec PSK with rate 1 2 convol
305. mmand Set 6 1 OQ eit d otov ee ades 6 1 6 2 uud sues 6 2 alias REIS ERR GN nS 6 2 AULODGUG EVE E KE SO de oa Rb Duce 6 3 i 6 3 EN ere Dari E t te ede ane MA e e MN 6 3 pe m 6 4 Cfg load t 6 4 User s Manual P N M 270 26 Rev D Acoustic Telemetry Modems XV CIO a trea oe eee lC pt ab o Swe ea 6 4 Chale sine E ae 6 4 jjgli PPP 6 5 CHOWN c4 sheet EVEN EY DENEN EE EM bares 6 5 cleatKeys esses RR CSR HORA EGER EU NUS ROTE S RR 6 5 COMPASS ics veau ace ates 6 5 neve wa eT bec Ite du doe AE a i Ded 6 6 M 6 6 tos e ois Du tA 6 6 EXEC PNE EN WWE cipe dE 6 6 aha Se eto atte anata aah 6 7 255455255555 ee EE 6 7 difindi CERE ER ERE PERSE EE RES 6 7 rer 6 8 oer 6 8 ECNO car urs ve eui equ een ed needs quema 6 8 factory reset
306. mmand has been deleted in firmware version 8 6 0 AT BBn m Enter Output Data Logger Block This command has been deleted in firmware version 8 6 0 AT BSn m Enter Output Data Logger Sub Block This command has been deleted in firmware version 8 6 0 AT BCn Enter Clear Remote Data Logger Clears the contents of the data logger memory of the remote modem at address n AT BNn Enter Remote Bytes Stored Displays the number of bytes of data stored in the data logger of the remote modem at address n ATBC Enter Clear Local Data Logger Clears the contents of the data logger memory of the local modem ATBN Enter Local Bytes Stored Displays the number of bytes of data stored in the data logger of the local modem ATBT Enter Output Local Data Logger Outputs the contents of the data logger memory of the local modem over the serial interface ATBPn Enter Output Local Page Outputs the contents of page n of the data logger of the local modem over the serial interface ATTNn Enter Diagnostic Enables or disables the display of the AGC output of the local modem AT Gn Enter Output Remote AGC Outputs ten seconds of AGC history from the remote modem at address n ATT2 Enter AGC Diagnostic Enable Enables the display of the minimum and maximum AGC outputs of the local modem P N M 270 26 Rev D
307. mote modem input from its host processor over the serial interface is treated as data which are freely exchanged between the local and remote host processors A modem will go into Online mode when it is powered up only if OpMode Online which is the factory default setting In this case any input to the modem over the serial interface is transmitted to the remote modem whose address is the setting of its RemoteAddr configuration parameter Therefore OpMode Online allows the modem to go online automatically with that remote modem after being powered up or awakened from its lowpower state The remote modem can be in any mode A modem can be placed into Online mode and go online with a remote modem regardless which mode the remote modem is in and in any of the following ways Using the Dial command ATDn From Command mode only entering the Dial command will cause the modem to go into Online mode and to go online with the remote modem at address n The Dial command also sets the RemoteAddr configuration parameter setting of the remote modem to the address of the local modem and the RemoteAddr configuration parameter setting of the local modem to the address of the remote modem Using the Online command ATO From Command mode only entering the Online command will cause the modem to go into Online mode and to go online with the remote modem whose address is the setting of its RemoteAddr configuration parameter The Online command also sets
308. n ATM 965 or ATM 966 To change the real time clock battery for an ATM 964 ATM 965 or ATM 966 1 10 11 User s Manual Turn the modem off by pulling the on off switch all the way out Refer to Figure 4 2 on page 4 8 for the location of the modem on off switch Using a flat head screwdriver loosen the remote transducer connector end cap for an ATM 964 Acoustic Telemetry Modem or the stainless steel band clamp on the transducer end cap for an ATM 965 or ATM 966 Acoustic Telemetry Modem Slide the band clamp down along the housing out of the way With the modem on its side and resting on a flat surface carefully pull the end cap straight out from the housing far enough to access the connectors on the circuit board If required rotate the end cap slightly while pulling Disconnect the 5 pin power and 10 pin serial cable connectors that connect to the circuit board and set the end cap assembly aside Remove the old real time clock battery and dispose of it in accordance with local regulations The battery is located on the edge of the DSP board Refer to Drawing B 270 156 in Section 10 Drawings for its exact location Install the new real time clock battery in the holder with the positive side of the battery facing up Refer to Cleaning or Replacing an O ring on page 9 14 and clean or replace the O rings on both end caps Connect the 5 pin power and 10 pin serial cable connectors to the c
309. n meters to the remote modem The information is transmitted to the local modem from the remote modem P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 7 87 over the acoustic link The displayed information will be in accordance with the Verbose configuration parameter Special Considerations When using the Roll command take note of the following The displayed range is the one way range to the remote transponder or modem and is determined acoustically based on the setting of the SpeedOfSound configuration parameter To acquire the range the local transponder or modem transmits an interrogation signal to the remote modem or transponder When this signal is received a reply is transmitted The local transponder or modem must receive the reply within the acoustic response timeout which is determined by the setting of the AcRspTmOut configuration parameter If a reply is not received Response Not Received will be displayed 7 Modem AT Command Set ATM 900 Series Acoustic Telemetry Modems 8 1 Modem Configuration Parameters This section provides descriptions of each of the available Teledyne Benthos ATM 900 Series Acoustic Telemetry Modem and UDB 9400 Universal Deck Box configuration parameters and how to set them The configuration parameters which are provided by the configuration system for the modem determine how the modem operates in all of its operating modes and how some of the commands are execut
310. nd mode and display the command prompt 4 At the command prompt enter OpMode Datalog This setting causes the modem to go into Datalogger mode when it is powered up 5 Enter rapidly to place the modem back into Command mode 6 If desired enable the ring buffer by entering RingBuf Ena at the command prompt For information on the ring buffer refer to RingBuf on page 8 36 7 At the command prompt enter cfg store This command will store the new configuration 8 Turn the modem off and then on again It will go into Datalogger mode automatically when powered up Reloading Software Applications User s Manual A modem runs the following software applications bootloader diagnostic and modem The bootloader is used for loading the diagnostic and modem software The diagnostic software contains the Power On Self Test POST and is in the S 270 67 Diag Utility vx x rom file The modem software is in the 5 270 68 Standard Modem vx x x rom file Both files are included with this manual Typically when an application upgrade occurs only the modem software needs to be updated This process can be done using the ATEU command as described on page 7 13 When using this command follow the on screen prompts If power is lost during the update procedure or the procedure fails altogether the modem will boot into the following prompt Boot Loader version 3 6 FFS enabled Boot user 1 gt Entering ormat FSS and rebooting will d
311. nd then wait about five seconds 5 Disconnect the modem from the external time source and reconnect the host processor to the modem 6 Enter Ctrl D or rapidly enter to terminate the gpsd command 7T Enter date and then verify that a new time is displayed with the message Not Stored as the following example Sun Nov 30 2011 18 52 02 Not Stored Most GPS units output GMT UTC time 8 If the date is correct enter date store The time and date are stored to the real time clock of the modem meaning that rebooting the modem using the xeboot command powering down the modem and then powering up the modem or waking itup from the lowpower state will use the time and date from the real time clock Real Time Clock Commands The following Real Time Clock commands are available date uptime rtc battery Sync date The date command sets or displays the current time and date It also provides 5 and sec modifiers which can be used to add or to subtract one second from the current time to aid in synchronizing the real time clock Optional 12 and 24 modifiers are available for 12 hour and 24 hour time displays and a store modifier will store the time and date from a connected GPS to the real time clock chip If a GPS is connected to the modem and the date command is used without the modifier store the message Not Stored will be displayed The gpsd command must also be running for the modem to inp
312. ne Causes the local modem to go into Online mode from Command mode AT Kn p Enter Remote Break Causes the remote modem at address n to send a break on its serial port p and to go online with the local modem ATXn Enter Acoustic Link Test Tests the acoustic link with the modem at address n P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems Table 7 1 ATM 900 Series Acoustic Telemetry Modem and UDB 9400 Universal Deck Box AT Command Set Continued Command Syntax Command Name Result ATYn Enter Multiple Bit Rate Test Tests the acoustic link with the modem at address n at multiple bit rates AT Pn m Enter Remote Power Sets the transmit power level of the remote modem at address n to level m AT An m Enter Remote Bit Rate Sets the transmitting acoustic bit rate of the remote modem at address n to m ATSn Enter Read Register Displays the setting of the local modem s configuration parameter n AT Sn Enter Read Remote Registers Displays the configuration parameter settings of the remote modem at address n ATSn n Enter Set Register Sets the local modem s configuration parameter number n to the value entered following AT amp W Enter Write Saves the local modem s configuration parameter settings as the new startup configuration ATL Enter Lowpower State Forces the
313. nformation will be in accordance with the Verbose configuration parameter Special Considerations When using the Compass and Tilt command take note of the following The displayed range is the one way range to the remote transponder or modem and is determined acoustically based on the setting of the SpeedOfSound configuration parameter To acquire the range the local transponder or modem transmits an interrogation signal to the remote modem or transponder When this signal is received a reply is transmitted The local transponder or modem must receive the reply within the acoustic response timeout which is determined by the setting of the AcRspTmOut configuration parameter If a reply is not received Response Not Received will be displayed 7 Modem AT Command Set 7 80 TELEDYNE BENTHOS Pitch and Roll ATRTn User s Manual Syntax ATRTn Enter Definition The Pitch and Roll command displays the range and the pitch and roll of the remote modem at address n The displayed range is in meters with a resolution of 0 1 meters The displayed pitch and roll are in degrees with a resolution of 1 0 degree All data are displayed in accordance with the Verbose configuration parameter as listed below Output format Verbose 0 and 1 Tilt pitch lt roll gt Range local address to remote address range m Output format 2 Verbose 2 Tilt pitch roll Range local address to remote address
314. ngs as part of the startup configuration power down the modem and then power up the modem again 7 Modem AT Command Set 7 40 TELEDYNE BENTHOS Write AT amp W Syntax AT amp W Enter or cfg store Enter Definition The Write command saves the configuration parameter settings of the local modem as the new startup configuration m NOTE For the local modem to execute entered commands the modem must be in Command mode with the command prompt displayed If the modem is not in Command mode refer to page 5 6 for instructions on how to place the modem into Command mode How to Use To use the Write command type AT amp W and then press Enter The local modem will save its current configuration parameter settings as the startup configuration and then respond with the message Sregisters Stored WARNING f power is lost while the Write command is being executed all the configuration parameter settings will revert to their factory default settings upon power up Special Considerations When using the Write command take note of the following When the modem is powered up the configuration parameters will be set to their new startup configuration The configuration parameter settings can again be changed with the Set Register command ATSn n or Q9 parameter name gt lt value gt and then saved as the new startup configuration with the Write command or by entering cfg store User s Manual P N M 270 26 Rev D ATM 9
315. nline Interrupt 5 EON 7 6 Attention 2s dm CR res dong ee CR 7 8 Check vu vex 7 9 7 10 Reboot 5 7 11 Remote Acoustic Reset 5 7 12 Update Firmware 7 13 oov aC RS 7 15 Factory Reset 7 17 ker ATA T 7 18 7 19 Remote Break 7 21 Acoustic Link Test ATXN 7 23 User s Manual P N M 270 26 Rev D Acoustic Telemetry Modems xvii Multiple Bit Rate Test 7 27 Remote AT Pn m 7 30 Remote Bit Rate AT An m 7 32 Read Register n rur 7 34 Read Remote Registers 7 36 Set AITSnzn i 7 38 RE AT amp W 7 40 Lowpower State ATE 7 41 Local Device Enable ATTIDm p 7 43 Remote Device Enable AT Xn
316. nsport address attached will be routed in accordance with the settings of the Dst1 and Dst2 configuration parameters SrcP1 and SrcP2 Configuration Parameters The settings of the SrcP1 and SrcP2 configuration parameters are the transport addresses to be attached to data packets generated from data that are input to serial port 1 and serial port 2 respectively When the data packets are received by the remote modem the transport addresses will be used to determine to which serial port on that modem the data will be output Dst1 Dst2 Dst3 and Dst4 Configuration Parameters The settings of the Dst1 Dst2 Dst3 and Dst4 configuration parameters are the serial ports that data packets received over the acoustic link with transport address 1 2 3 and 4 respectively will be output However Dst3 and Dst4 are reserved and are not currently used The available values for these configuration parameters are P1 and P2 for serial port 1 and serial port 2 respectively For example if a data packet is received with a transport address of 1 and QDst1 P1 that packet will be output on serial port 1 if transport addressing is enabled on the receiving modem Similarly if Dst1 P2 the packet will be output on serial port 2 Flow Control When InputMode Dual both serial port 1 and serial port 2 share the same eight internal 4 kbyte transmit data buffers One buffer is reserved for each port Therefore flow control should be used whenever both instru
317. nsport information will be transmitted with the data packets only if TPortMode Always 2 Dual Twoinstruments can be connected to the modem one to serial port 1 and the other to serial port 2 Both serial ports will input data when the modem is in Online or Datalogger mode Transport information will be transmitted with the data packets Special Considerations When setting the InputMode configuration parameter take note of the following Serial port 1 should always be used when in Command mode Although serial port 2 can be used for some CLAM shell commands it will not accept any AT commands Command mode is not affected by the setting of the InputMode configuration parameter User s Manual P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 8 59 SmartRetry Default Setting Dis Smart retry is disabled Definition The setting of the SmartRetry configuration parameter determines whether an acoustic data packet that is received with errors is retransmitted at successively slower acoustic bit rates When enabled the transmitting modem requires an acknowledgement from the receiving modem after transmitting each data packet If errors are detected or if no acknowledgement is received the data are retransmitted NOTE As each packet of data contains sixteen 256 byte cells for a total of 4 kbytes only the 256 byte cells containing errors are retransmitted The smart retry feature functions by fir
318. nter play ffs mydatafilel Example 2 To play the contents of the file mydatafile1 in the flash file system of the remote modem at address 5 enter 5 play ffs mydatafilel P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 81 SMART Releases and Modems The Teledyne Benthos Smart Modem Acoustic Release Technology SMART Releases and SMART Modems are combination acoustic releases and acoustic modems They perform the same functions as the ATM 900 Series Acoustic Telemetry Modems plus they can be commanded to release themselves from their moorings The commands incorporate the same highly reliable modulation techniques as are used by the acoustic modem SR 50 and SR 100 SMART Releases The Teledyne Benthos SR 50 and SR 100 SMART Releases are combination acoustic releases and acoustic modems that provide reliable wireless digital communications with other deployed underwater instrument packages and surface or subsea platforms They use a motorized type release mechanism to release themselves from their moorings The acoustic telemetry is disabled when the battery voltage falls below a safe threshold at which only the release and transponder functions and the ability to send status messages can be activated SM 975 SMART Modem The Teledyne Benthos SM 975 Smart Modem is a combination full ocean depth acoustic release and an acoustic modem that provides reliable wireless digital communications with other deployed under
319. o instruments to be connected to a single modem for the same purpose In addition data that are transmitted to a remote modem can be routed to specific serial ports of that modem through the use of a transport addressing scheme Transport addressing enables configuration of the transmitting and receiving modems such that data that are input to either serial port 1 or serial port 2 or both of the transmitting modem can be output on either serial port 1 or serial port 2 or both of the receiving modem in any combination When just storing data to a modem s data logger the data are tagged in accordance with which serial port the data were input on The Dual Serial Port feature requires the purchase and installation of a feature key in the internal flash memory of the modem The Dual Serial Port feature key is modem serial number based and is available from Teledyne Benthos When installed the configuration parameters associated with it become available and the feature can be used The following configuration parameters are associated with the Dual Serial Port feature InputMode TPortMode SrcP1 SrcP2 051 0512 The InputMode configuration parameter is available only if the Dual Serial Port feature key is installed If not installed the configuration parameter name is not visible when listing parameters using configuration system commands such as cfg all User s Manual P N M 270 26 Rev D ATM 900 Series Acoustic Te
320. o the RS 232 interface NOTE Only serial port 1 will accept all the commands If connecting the ATM 900 or ATM 903 to a PC refer to Table 4 8 for serial port 1 or to Table 4 9 for serial port 2 and connect the pins listed to an available serial RS 232 port on the PC The tables show the connections for a DB 9 serial port connector typically used on laptop computers If required continue with the steps listed below to connect a second DC power supply as a backup or if reverse polarity protection is required when connecting a single supply User s Manual P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems gt 4 17 NOTE Pin 3 is diode protected against reverse polarity Connect Pin 3 to the DC power supply positive when reverse polarity protection is required Some power loss will result due to the power dissipation across the diode 4 Refer to Table 4 7 on page 4 16 and connect Pin 3 to the DC power supply positive through a 6 Amp inline fuse 5 Connect Pin 2 to the DC power supply negative To connect an 900 or 903 to an instrument using the RS 485 serial interface refer to Figure 4 9 Table 4 8 ATM 900 and ATM 903 DSP Board Serial Port 1 Connector J7 to DB 9 Pin to Pin Connections ATM 900 and ATM 903 DSP BOARD SERIAL PORT 1 CONNECTOR J7 PIN LABEL FUNCTION SIGNAL DIRECTION HOST PC DB 9 CONNECTOR LABEL FUNCTION GND Ground GND Gr
321. o the lowpower state until the sentinel character is received P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 8 39 AN ChrCount Default Setting 1024 The number of characters to receive on the serial interface before a discrete record is stored in the data logger memory is 1024 Definition The setting of the ChrCount configuration parameter which applies only when the LogMode configuration parameter is set to ChrCount is the number of characters to receive on the serial interface before a discrete record is stored in the data logger memory Monitoring for the character count is performed separately for serial port 1 and serial port 2 when InputMode Dual Available Settings The range of available settings for the ChrCount configuration parameter is 0 to 4096 WARNING The modem will not go into the lowpower state until the full character count is received 8 Modem Configuration Parameters 8 40 User s Manual TELEDYNE BENTHOS LogStore Default Setting 0 Internal Data are stored in the 6 MB internal flash memory of the modem Definition The setting of the LogStore configuration parameter determines which memory the internal 6 MB internal flash memory or the secure digital high capacity SDHC card memory on the local modem the data logger information will be stored Available Settings There are two available settings for the LogStore configuration parameter as listed below 0 Internal D
322. ocation of the modem on off switch Using a 9 64 Allen wrench remove the three socket head screws that attach the transducer end cap Carefully pull the end cap straight out from the housing If required rotate the end cap slightly while pulling Disconnect the 5 pin power connector 5 Remove the old real time clock battery and dispose of it in accordance with local regulations The battery is located on the edge of the DSP board Refer to Drawing B 270 156 in Section 10 Drawings for its exact location Install the new real time clock battery in the holder with the positive side of the battery facing up Refer to Cleaning or Replacing an O ring on page 9 14 and clean or replace the O rings on both end caps 8 Connect the 5 pin serial connector to the circuit board 9 Slide the chassis into the housing and then press the end cap into the 10 housing being careful not to pinch the wires Line up the three holes in the end cap with the three holes in the housing and secure the end cap to the housing with the three hex head Screws 9 Maintenance and Troubleshooting Changing the Real Time Clock Battery 9 10 TELEDYNE BENTHOS Changing the ATM 964 ATM 965 or ATM 966 Real Time Clock Battery For the ATM 964 ATM 965 and ATM 966 Acoustic Telemetry Modems only one end cap requires removal when changing the real time clock battery the top end cap for an ATM 964 or the transducer end cap for a
323. odel specific The modem s reply frequency is dependent on the modem model Definition The setting of the RespFreq configuration parameter is the reply frequency of the modem in hertz when the modem is configured as a remote modem transponder To configure the modem as a remote modem transponder set the LBLmode configuration parameter to Tone Available Settings The range of available settings for the RespFreq configuration parameter is an integer value within the frequency band of the modem in 250 Hz increments 8 Modem Configuration Parameters 8 82 User s Manual TELEDYNE BENTHOS Latitude Default Setting 41 638246 The latitude is 41 638246 degrees north the location of the Teledyne Benthos factory Definition The Latitude configuration parameter stores the latitude in decimal degrees of the location of the modem A positive value represents north and a negative value represents south This value can be updated automatically when a GPS is connected or set manually Available Settings The range of available settings for the Latitude configuration parameter is from 90 000000 to 90 000000 in 0 000001 increments P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 8 83 Longitude Default Setting 70 609376 The longitude is 70 609376 degrees west the location of the Teledyne Benthos factory Definition The Longitude configuration parameter stores the longitude in decimal degrees of the location of the m
324. odem A positive value represents east and a negative value represents west This value can be updated automatically when a GPS is connected or set manually Available Settings The range of available settings for the Longitude configuration parameter is from 180 000000 to 180 000000 in 0 000001 increments 8 Modem Configuration Parameters 8 84 User s Manual TELEDYNE BENTHOS GPSAIt Default Setting 0 The altitude of the modem is 0 meters at sea level Definition The GpsAIt configuration parameter stores the altitude of the modem in meters with respect to sea level This value is typically provided as part of a 3 dimensional GPS fix and is updated automatically when a GPS unit is connected or it can be set manually Available Settings The range of available settings for the GPSAIt configuration parameter is from 20000 0000 to 20000 0000 in 0 0001 increments P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 8 85 Altitude Default Setting 0 The modem is at an altitude of 0 meters on the sea floor Definition The Altitude configuration parameter stores the height of the modem above the sea floor in meters This value is typically provided by a sonar altimeter such as a Teledyne Benthos PSA 916 and is updated automatically when the altimeter is connected or it can be set manually Available Settings The range of available settings for the Altitude configuration parameter is from 0 to 20000
325. odem and then press Enter The local modem will display the S Register settings of the remote modem An example that uses the Read Remote Registers command is shown in Figure 7 3 where the S Register settings of the remote modem with address 1 were displayed by entering AT S1 Special Considerations When using the Read Remote Registers command take note of the following The local modem must receive an acknowledgment from the remote modem within the acoustic response timeout which is determined by P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 7 37 the setting of the AcRspTmOut configuration parameter If an acknowledgment is not received Response Not Received will be displayed The S Register settings can be interpreted from Table 8 1 on page 8 2 which includes page references to where detailed descriptions are provided user l1 at sl Remote Sregisters 500 080 501 000 502 000 503 130 504 003 505 000 506 001 507 015 508 060 509 000 510 036 511 000 512 000 513 001 514 000 515 001 516 001 517 001 518 001 519 000 520 000 Figure 7 3 Read Remote Registers Command and Resulting Display 7 Modem AT Command Set 7 38 TELEDYNE BENTHOS Set Register ATSnzn Syntax ATSnzn Enter Definition The Set Register command sets the local modem s S Register number n to the value entered following NOTE S Registers available for backward compatibility as they perform many of
326. ommand mode Refer to Online Interrupt on page 7 6 for information on the Online Interrupt command Cycling power OpMode Command If OpMode Command and cfg store is used to save the configuration parameter settings powering down the modem and then powering up the modem will place the modem into Command mode Acoustic Command Execution When a modem receives a command over the acoustic link it will respond in one of the following ways Go into one of two of the operating modes If the command is the Dial command ATDn then the modem will go into Online mode if it is the Remote Datalogger Disable command AT BDn and the modem is in Datalogger mode then also Online mode if it is the Remote Datalogger Enable command AT BEn then Datalogger mode Go into the lowpower state If the command is the Hang Up command ATH the modem will go into the lowpower state without transmitting an acknowledgment Transmit an acknowledgment If the command is one that does not require that the modem transmit back specific information the modem will execute the command and transmit an acknowledgment For example if a modem receives the Remote Power command AT Pn m it executes the command by setting the transmit power level to level m and then it transmits an acknowledgment at the new transmit power level Transmit information If the command is one that requires that the modem transmit back specific information the modem will transmi
327. oncatenation special character and space from treating the line as two separate commands Command Mode 5 12 User s Manual TELEDYNE BENTHOS The alias command can also be used to display the current list of aliases and to display the command assigned to an alias To display the list enter just alias To display the assigned command for an alias enter alias followed by the alias Example 3 display the current list of aliases enter alias Example 4 To display the assigned command for the alias sf enter alias sf unalias The unalias command removes the alias created with the alias command Syntax unalias alias Privilege user Example To remove the alias sf for the setpriv safe command enter unalias sf help The help command displays the syntax for all the available commands or a specific command under the current privilege level Syntax help sectlist lt sect_name gt lt command gt Privilege safe Example 1 display help for all the commands enter help Example 2 display help for the setpriv command enter help setpriv P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 13 hist The hist command displays the last 10 commands entered along with their sequential number which begins at power up Syntax hist Privilege safe Example 1 To display the last 10 commands entered and their sequential number enter hist To select a displayed command fo
328. ontents of a file from a host PC to the root directory of the modem file system An optional f modifier will save the file to ffs instead of the root directory Syntax Privilege Example rz rx f lt path gt lt file gt user To transfer the contents of the file named newdatafile1 on the host PC to a file named datafile1 on the root directory of the modem file system first enter rx datafilel The modem responds with rx ready to receive datafilel Next set the communications program on the PC to send using the X Modem protocol Select the directory that contains the newdatafile1 file and then open the file The contents of newdatafile1 on the host PC will be transferred to datafile1 on the root directory of the modem file system The rz Z modem receive command causes the modem to use the receive Z Modem protocol to receive a file from a host PC to the root directory of the modem file system An optional f modifier will save the file to ffs instead of the root directory Syntax Privilege Example rz f user To transfer the file named newdatafile1 on the host PC to the root directory of the modem file system first enter rz The modem responds with rz ready To begin transfer type sz file to your modem program Next set the communications program on the PC to send using the Z Modem protocol Select the directory that contains the newdatafile1 file and then open the file
329. oosen the remote transducer connector end cap for an ATM 964 Acoustic Telemetry Modem or the stainless steel band clamp on the transducer end cap for an ATM 965 Acoustic Telemetry Modem Slide the band clamp down along the housing out of the way With the modem on its side and resting on a flat surface carefully pull the end cap straight out from the housing far enough to access the connectors on the circuit board If required rotate the end cap slightly while pulling Disconnect the 5 pin power and 10 pin serial cable connectors that connect to the circuit board and set the end cap assembly aside 9 Maintenance and Troubleshooting Changing the Modem Battery Packs 9 6 User s Manual 11 12 13 14 15 16 17 18 TELEDYNE BENTHOS Using a flat head screwdriver loosen the stainless steel band clamp on the POWER SERIAL connector end cap Slide the clamp down along the housing and out of the way Carefully pull the end cap straight out completely removing it and the battery tray with the installed battery packs from the housing If required rotate the end cap slightly while pulling Remove one of the battery retainer bars by removing the four Phillips head screws that secure it One at a time remove the two battery packs from the battery tray and then remove the electrical tape that secures the in line connectors and disconnect them Install the new battery packs into the batte
330. or Functions 4 7 Subsea Modem Operator Functions 4 8 Setting Up the Modems 4 9 Setting up the UDB 9400 Universal Deck Box 4 9 Setting up the Subsea Modems 4 11 Setting up the ATM 900 and ATM 903 Board Sets 4 14 Setting up the ATM 980 and ATM 980RF Buoy Boxes 4 20 Setting up the Host 4 21 Checking the Modems and Host Processors 4 22 Turning on a Modem and Entering Command Mode 4 22 Verifying the Acoustic Operation of a Modem s Receiver 4 23 Checking the Acoustic Link between a Pair of Modems in Air 4 23 Preparing a Pair of Modems for Real Time Data Transfer 4 24 Preparing a Modem for Data Logging 4 25 Reloading Software Applications 4 26 5 Modem Operation 5 1 Online HERE LE tee tese RUE du Dix 5 2 Transmit Data Buffers 5 3 Data Formati uses de eis wes hte ese EE EE it eed BE 5 4 Online Break rige etaed Se PER eae 5 4 Error Checking ku ests EXC ERROR ca 5 4 Command Mode pvp exu per eara EVE RC RAE 5 5 Acoustic Command Execution 5 6 Entering 5
331. or the connector pinout information for J8 and to Figure 4 8 on page 4 14 for the connector pin orientation P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 8 19 f the P2Protocol configuration parameter is set to 1 CMOS serial port 2 is available on the DSP board connector J3 for the ATM 900 and ATM 903 Board Sets and is not available on the POWER SERIAL connector of all other modems Refer to Table 4 11 on page 4 19 for the connector pinout information for J3 and to Figure 4 11 on page 4 19 for the connector pin orientation 8 Modem Configuration Parameters 8 20 User s Manual TELEDYNE BENTHOS P2StripB7 Default Setting Dis Serial port 2 is configured to use all 8 bits for data and 1 stop bit Definition The setting of the P2StripB7 configuration parameter determines whether serial port 2 will use 8 bits or strip the last bit and allow only 7 bits Available Settings There are two available settings for the P2StripB7configuration parameter as listed below Ena Configures serial port 2 to strip and ignore the parity bit and allow data bits and 1 stop bit This allows 7 E 1 or 7 0 1 formats Dis Configures serial port 2 to use all 8 bits for data and 1 stop bit NOTE In most cases P2StripB7 Dis unless receiving serial data with a format of 7 E 1 or 7 0 1 P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 8 21 SyncPPS Default Setting 1 RTC The tim
332. or the first and last record This command can only be entered on serial port 1 Each time stamp comprises the year month day hour minute and second the record was created The only command parameter is addr which is the remote modem address Syntax rdllist lt addr gt Privilege user Reference Datalogger Mode page 5 15 rdirecs The rdlrecs command causes a remote modem to transmit over the acoustic link in accordance with specified search parameters the number of bytes and the number of records in its data logger along with the approximate time in seconds that it will take to transmit them to the local modem at the current acoustic bit rate of the remote modem This command can only be entered on serial port 1 The acoustic bit rate is determined by the setting of the TxRate configuration parameter in the remote modem and except for the additional command parameter addr which is the remote modem address the search parameters are the same as that for the d1 ind command Syntax rdirecs lt addr gt i lt recno gt lt time gt lt recno gt lt time gt lt numrecs gt lt step gt lt flags gt Privilege user Reference Datalogger Mode page 5 15 reboot The reboot command reboots the firmware of the local modem causing the modem to reset in the same manner as it would when the power is cycled off and then on An optional safe modifier will reboot the modem into the safe comman
333. ound TXD Transmit Modem to Host RXD Receive RXD Receive Host to Modem TXD Transmit RTS Request to Modem to Host Send CTS Clear to Send Table 4 9 ATM 900 and ATM 903 DSP Board Serial Port 2 Connector J8 to DB 9 Pin to Pin Connections ATM 900 and ATM 903 DSP BOARD SERIAL PORT 2 CONNECTOR J8 LABEL FUNCTION SIGNAL DIRECTION HOST PC DB 9 CONNECTOR LABEL FUNCTION RTS Request to Modem to Host Send CTS Clear to Send GND Ground Transmit Modem to Host GND Ground Receive Receive Host to Modem 4 Setup and Test Transmit Setting Up the Modems 4 18 TELEDYNE BENTHOS RS 485 Figure 4 9 ATM 900 and ATM 903 DSP Board Serial Port 1 Connector J7 RS 485 Connections ATM 903 Transducer Connections The ATM 903 includes a remote transducer and a transducer cable Connect the transducer cable to the transducer and to J1 of the Transmitter Board Table 4 10 shows the pinout information for the connectors on the transducer cable J1 requires a Molex 50 57 9405 mating connector with Molex 16 02 1117 pins A wiring diagram for the transducer cable is shown in Figure 4 10 The transducer cable connector on the transducer is an Impulse MCIL3F connector Table 4 10 ATM 903 Transducer Cable Wiring TRANSDUCER TRANSMITTER CABLE BOARD J1 PUNGTION TRANSDUCER CONNECTOR Transducer 2 No Connection
334. ousing until the face seal O ring is firmly seated against the housing If required rotate the end cap slightly when pressing it into the housing 20 Slide the stainless steel band clamp back into position between the end cap and the housing and tighten the clamp Changing the Real Time Clock Battery The subsea modems include a real time clock battery for powering the real time clock when the modem is powered down To change the real time clock battery the modem requires disassembly and the procedures for disassembling the ATM 914 ATM 915 ATM 924 and ATM 925 the ATM 916 and ATM 926 and the AM 964 ATM 965 and ATM 966 Acoustic Telemetry Modems are different The real time clock battery is an Energizer CR1632 or equivalent and should be replaced after two years of modem off time or when the battery voltage is less than 2 7 VDC To display the real time clock battery voltage use the rtc battery command Changing the ATM 914 ATM 915 ATM 924 or ATM 925 Real Time Clock Battery For the ATM 914 ATM 915 ATM924 and ATM 925 Acoustic Telemetry Modems both end caps require removal when changing the real time clock battery First the POWER SERIAL connector end cap must be removed and then the transducer end cap for an ATM 915 and ATM 925 or the remote transducer connector end cap for an ATM 914 and ATM 924 To change the real time clock battery for an ATM 914 ATM 915 ATM924 or ATM 925 1 Turn the modem off by pulling the on off
335. oustic Telemetry Modems and the UDB 9400 Universal Deck Boxes should take into account the required modem operating depth and communications range the multipath and noise influences and other factors As there are many possible deployment configurations that will take these factors into account especially for the subsea modems typical deployment configurations are presented only In addition refer to Section 4 Setup and Test for information on the cables and connectors used to connect the modems The modems should be set up and tested prior to deployment Each subsea modem is encased within an anodized aluminum housing Each remote transducer is encapsulated in a protective urethane mold and mounted to an anodized aluminum housing These configurations provide a high degree of protection from physical damage However for all installation configurations any installed cables that provide external power to the modem or connect to a remote transducer should be properly secured to prevent crimping or accidental disconnection UDB 9400 Universal Deck Box Transducer Deployment The transducer supplied with the UDB 9400 Universal Deck Box is used as a dunking transducer The transducer cable is used both to connect to the transducer and to lower it into the water The weight of the transducer will assist in keeping it vertical when it is in the water This cable must be strain relieved at the transducer end Therefore a Kellums grip is installed
336. oustic Telemetry Modem includes the following components ATM 966 Series Acoustic Telemetry Modem MCIL16F to serial port 1 DB9 RS 232 serial port 2 DB9 RS 232 and DC power connection MCDC16F dummy connector ATM 900 Series Acoustic Telemetry Modems User s Manual User s Manual P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 4 5 ATM 900 Components The ATM 900 Board Set includes the following components 2 conductor shielded internal transducer cable 10 pin Molex connector to DB9 RS 232 cable 5 pin Molex connector to DC power cable 6 pin connector to DB9 RS 232 cable w dual serial option only ATM 900 Series Board Set ATM 900 Series Acoustic Telemetry Modems User s Manual ATM 903 Components The ATM 903 Board Set includes the following components 2 conductor shielded internal transducer cable 10 pin Molex connector to DB9 RS 232 cable 5 pin Molex connector to DC power cable 6 pin connector to DB9 RS 232 cable w dual serial option only ATM 903 Series Board Set Remote transducer MCIL3F with 2 meters of underwater cable transducer pigtail MCDC3M dummy connector ATM 900 Series Acoustic Telemetry Modems User s Manual ATM 980 Components The ATM 980 Buoy Box includes the following components ATM 980 Buoy Box MCILAM DC power pigtail MCILAM DC power and RS 232 pigtail ATM 900 Series Acoustic Telemetry Modems User s Manual 4 Setup and Test Unpacking and Inspection
337. ow the on screen instructions to transfer the file S 270 68 Standard Modem vx x x rom from the PC to the modem using the Xmodem or 1K Xmodem protocol 6 Return the baud rate to 9600 baud Turn the modem off and then on again The banner message should be displayed and if the modem is set to power up in Command mode the command prompt will also be displayed as in the following example Teledyne Benthos ATM 900 Series LF Frequency Band Standard Modem Version 8 6 0 Jan 6 2012 18 16 52 gt Reloading Software Applications ATM 900 Series Acoustic Telemetry Modems 5 1 5 Modem Operation gt This section provides an overall description of the Teledyne Benthos ATM 900 Series Acoustic Telemetry Modems and the UDB 9400 Universal Deck Box including the various operating modes their associated commands and how to enter them The modem commands which are input to a modem from its host processor over the serial interface control the operation of the modem An understanding of the operating modes and commands is important when integrating and operating the modems with other instruments NOTE To enter commands serial port 1 of the modem must be connected to a computer that is set up to run a terminal program such as ProComm Plus or Tera Term Refer to Setting Up the Modems on page 4 9 for instructions on how to connect the modem to a PC and to Setting up the Host Processor on page 4 21 for instructions on how to
338. owever is not available and therefore the data are displayed only as ASCII text In addition the byte index is zero based meaning that the first byte is byte 0 the second is byte 1 the third is byte 2 and so on Syntax rdibik lt addr gt byte index byte count lt flags gt Privilege user Example To extract and display 1000 bytes beginning with the 500th byte from the data logger records of the remote modem at address 5 enter rdiblk 5 499 1000 5 Modem Operation Datalogger Mode 5 26 TELEDYNE BENTHOS diclear The dlclear command clears the contents of the data logger memory of the local modem Syntax diclear Privilege user Example To clear the contents of the data logger memory of the local modem enter dlclear The modem responds with Are you sure y n If you are sure enter rdiclear The rdlclear command clears the contents of the data logger memory of a remote modem and can only be entered on serial port 1 The only command parameter is addr which is the remote modem address Syntax rdiclear lt addr gt Privilege user Example To clear the contents of the data logger memory of the remote modem at address 5 enter rdlclear 5 The modem responds with Are you sure y n If you are sure enter Y ATBC The Clear Local Data Logger command ATBO clears the contents of the data logger memory of the local modem Syntax ATBC Privilege user User s Manual P N M 270 2
339. pact modem is normally in a hibernate state where everything is essentially shut down even the receiver However while in this hibernate state the modem will activate its receiver and listen for a wakeup signal from a transmitting modem for 150 ms every wakeup period This period is the setting of the CMWakeHib configuration parameter in the Compact Modem The transmitted wakeup signal must be equal in duration to the wakeup period of the Compact Modem to guarantee that it will be received by the modem during the 150 ms listening period immediately after which the modem will determine if it is the one being addressed gt NOTE For the local modem to execute entered commands the modem must be in Command mode with the command prompt displayed If the modem is not in Command mode refer to page 5 6 for instructions on how to place the modem into Command mode How to Use To use the Compact Modem Wakeup command type ATW followed by the address of the Compact Modem the comma character and the idle time and then press Enter The local modem will transmit a wakeup command to the Compact Modem and set the idle time Special Considerations When using the Compact Modem Wakeup command take note of the following When not specifying a value of m or when specifying 0 the idle time is set to 3 minutes which is the built in default value 7 Modem AT Command Set 7 76 TELEDYNE 5 Transpond ATNm Syntax ATNm
340. parameter should be set to 1 or higher When an instrument is used as the host processor the Verbose configuration parameter should be set to 0 This setting will avoid errors that might occur should the instrument be unable to recognize the diagnostic messages or received data statistics 8 Modem Configuration Parameters 8 26 User s Manual TELEDYNE BENTHOS Prompt Default Setting 7 The command prompt combines the gt character with the privilege level and the command history number Definition The Prompt configuration parameter determines the characters displayed for the command prompt which can include any combination of the gt character the privilege level and the history number as in the following example user 5 gt Available Settings The available settings for the Prompt configuration parameter are listed below 0 No command prompt is selected 1 The gt character is displayed 2 The privilege level is displayed Example user 3 Combines the gt character with the privilege level Example user 4 The command history number is displayed Example 5 5 Combines the gt character with the command history number Example 5 gt 6 Combines the privilege level with the command history level Example user 5 7 Combines the gt character with the privilege level and the command history number Example user 6 gt P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modem
341. pectral Plot X F of Baseband Waveform x t Next x t is passed through a low pass filter to remove the frequency component at 2f This leaves the desired baseband waveform a t centered at DC as x t a t 6 The Fourier Transform of x t is X F which can be visualized as shown in Figure 5 7 X F 0 w w 22 DO 2 Figure 5 7 Low Pass Filtered Spectral Plot X F of Baseband Waveform x t 5 Modem Operation Acoustic Recorder Option 5 74 User s Manual TELEDYNE BENTHOS Acoustic Recorder Commands The following acoustic recorder commands are available record on record off record Record The Record command displays the on or off status of the acoustic recorder If on the time and date at which it was started is also displayed Syntax record Privilege user Example To display the status of the acoustic recorder enter record Record on The Record on command starts the acoustic recorder and indicates the time and date at which it was started Data are recorded in contiguous WAV files to the SDHC card as stereo WAV files in 16 bit format with the left channel as the real part and the right channel as the imaginary part Each file contains 60 seconds of data and named in accordance with the setting of the NameFormat configuration parameter During recording a log file with the same name as the first file but with LOG extension is recorded to the flash file system This file contains high reso
342. perate as a transponder for easy relocation The combined modem and release functions along with built in flotation makes the SMART Modem easy to deploy and recover and upon recovery it can be easily re armed and redeployed Release of Moored Instrument Arrays An SR 50 or SR 100 SMART Release can be used to release moored instrument arrays The SMART Release also functions to assist in the relocation of the array as it can be commanded to operate as a transponder for measuring slant range Upon recovery it can be easily re armed and redeployed The battery life is up to two years depending on the number of transponder replies and the amount of data transmitted and received Typical Applications 1 8 TELEDYNE BENTHOS Modem Performance Factors The primary function of modems is to both transmit and receive signals that represent digital data binary ones and zeros over what usually is a hard wired link such as a telephone line In fact the word modem is derived from the terms modulation and demodulation which refer to the coding and transmission and the receiving and decoding of digital data respectively Two key factors measure a modem s performance speed and reliability Speed is measured by determining the number of bits transmitted per second which is referred to as the bit rate Reliability is measured by determining the bit error rate which is the ratio of the number of bits received in error to the total number of bits t
343. provides descriptions of each of the available acoustic telemetry modem configuration parameters and how to set them Section 9 Maintenance and Troubleshooting provides instructions for cleaning and inspecting the acoustic telemetry modems changing the modem battery packs and troubleshooting operational problems that might occur vi TELEDYNE BENTHOS Section 10 Drawings includes outline drawings of the acoustic telemetry modems to assist in their installation and setup Section 11 Modem Spares Accessories and Part Designator Includes lists of spares and accessories for the acoustic telemetry modems along with a part designator for simplified ordering Notes and Warnings Where applicable special notes and warnings are presented as follows NOTE A referral to another part of this manual or to another reference a recommendation to check that certain criteria are met before proceeding further in a step or sequence or general information applicable to the setup and operation of the Teledyne Benthos acoustic telemetry modems WARNING reminder that dangerous or damaging consequences could result if certain recommended procedures are not followed Customer Service We welcome your comments and suggestions for improving our products and documentation as well as developing better ways of serving you with acoustic technology Therefore please contact Customer Service should you have any comments or suggestions abou
344. ps 4 MODEM RxPktType 0 MFSK RELEASE FSKRIsDur 8 LstCommsCnt 0 RisCode Unit specific TRANSPORT L4Enable Ena TEST RspDelayl Dis DbgLvl 0 XPND AGCRef 60 8 Modem Configuration Parameters 8 8 AN User s Manual TELEDYNE BENTHOS P1Baud Default Setting 9600 Serial port 1 is configured for 9600 baud Definition The setting of the P1Baud configuration parameter is the baud rate of serial port 1 Available Settings The available settings for the P1Baud configuration parameter are listed below 1200 1200 baud 2400 2400 baud 4800 4800 baud 9600 9600 baud 19200 19200 baud 38400 38400 baud 57600 57600 baud 115200 115200 baud WARNING Changes to the P1Baud configuration parameter take place immediately Therefore be sure to set the baud rate of the host processor to the same baud rate otherwise it will not be possible for the host processor to establish communications with the modem Special Considerations When setting the P1Baud configuration parameter take note of the following When connecting an instrument to the modem and with the P1Baud configuration parameter set to the default 9600 for 9600 baud the instrument s serial port should be configured as follows Baud rate 9600 baud Parity none Data bits 8 Stop bits 1 P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Mod
345. r oRemoteAddr value where value is the original setting If the original setting is not known use the Remote Reset command AT ESn to reboot the modem and set all of its configuration parameters back to their previously saved values P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 7 29 Special Considerations When using the Multiple Bit Rate Test command take note of the following The local modem must receive an acknowledgment from the remote modem within the acoustic response timeout which is determined by the setting of the AcRspTmOut configuration parameter If an acknowledgment is not received Response Not Received will be displayed To optimize the performance and efficiency of the modems consider reducing the transmit power level of the remote modem with the Remote Power command AT Pn m and use the Multiple Bit Rate Test command to verify a low error rate 8 or less Also consider increasing the remote modem s transmitting acoustic bit rate by changing the setting of the TxRate configuration parameter with the Remote Bit Rate command AT An m Again use the Multiple Bit Rate Test command to verify a low error rate Similarly if a high error rate is observed consider increasing the transmit power level or decreasing the transmitting acoustic bit rate or both 7 Modem AT Command Set 7 30 TELEDYNE BENTHOS Remote Power AT Pn m 1 User s Manual Syntax AT Pn m Enter
346. r for any signs of damage Changing the Modem Battery Packs The subsea modems except for the ATM 916 ATM 926 and ATM 966 Acoustic Telemetry Modems have an internal modem battery pack which will occasionally require changing To change the battery pack the modem requires disassembly and the procedures for disassembling the ATM 914 ATM 915 ATM 925 and ATM 926 Acoustic Telemetry Modems are different than those for the ATM 964 and ATM 965 modems User s Manual P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 9 3 A WARNING The installation of a battery pack that is not inspected or approved by Teledyne Benthos may cause destruction of the modem housing or electronics should the battery pack rupture leak outgas or improperly discharge Any of these conditions can cause a buildup of gas inside the housing which may result in an explosion and personal injury or death If it is suspected that a battery pack has discharged inside a housing move the modem to a safe location as quickly as possible Checking the Modem Battery Pack The best way to determine the remaining capacity of a modem battery pack is to keep track of the watt hours consumed If unable to do this then the capacity of the battery pack can be estimated by measuring the battery pack voltage To check the battery pack voltage after removing it from a modem connect a 150 ohm 3 watt resistor across the battery pack terminals measure the voltage across th
347. r re entry use the Up and Down arrow keys To execute a displayed command enter followed by the command number Example 2 To execute command number 25 enter 125 setpriv The setpriv command sets the current privilege level Three privilege levels are available without requiring a password safe user and update Three additional available privilege levels require passwords factory diag and sys Syntax setpriv safe user update factory diag sys Privilege safe Example 1 set the current privilege level to user enter setpriv user The setpriv command can also be used to list the available privilege levels both those that do not require a password and those that do Example 2 To list the available privilege levels enter setpriv 5 Modem Operation Command Mode 5 14 User s Manual TELEDYNE BENTHOS strictat The strictat command places the modem into a state that enables processing of AT commands only With the exception of the nostrictat command CLAM shell commands are not processed Syntax strictat Privilege user Example To enable processing of the AT command set only enter strictat nostrictat The nostrictat command places the modem into a state that enables processing of both AT and CLAM shell commands Syntax nostrictat Privilege user Example To enable processing of both AT and CLAM shell commands enter nostrictat P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry
348. r s Manual TELEDYNE BENTHOS TxToneDur Default Setting 10 The local modem s transmit pulse width is 10 ms Definition The setting of the RxToneDur configuration parameter determines the transmit pulse width of the modem and must be correctly set when using the Transpond ATNm command to acquire the two way sound travel time to a transponder The TxToneDur setting should be the same as the transponder s receive pulse width as determined by the RxToneDur setting Available Settings The available settings for the RxToneDur configuration parameter are listed below 0 12 5ms 12 5 ms 1 6 25ms 6 25 ms 5 5ms 5 ms 6 6ms 6 ms 7 7ms 7 ms 8 8ms 8 ms 9 9ms 9 ms 10 10 5 10 ms 11 11ms 11 ms 12 12 5 12 ms 13 13ms 13 ms 14 14 5 14 ms 15 15ms 15 ms P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 8 79 TAT Default Setting 0 The local modem s turn around time is 0 ms Definition The setting of the TAT configuration parameter is the turn around time of the transponder and must be correctly set when using the Transpond ATNm command to acquire the two way sound travel time to a transponder The turn around time is the time in milliseconds from when the transponder receives an interrogation pulse to when it transmits the reply It is subtracted from the measured two way travel time Available Settings The range of available settings for the TAT configuration parameter is fro
349. racy of the input power supply voltage measurement is 1 0 volts Should the internal temperature of the modem exceed 80 C the modem transmitter will shut down Once cooled to 60 C the transmitter will again be operational User s Manual P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 7 51 Remote Battery Voltage AT Vn Syntax AT Vn Enter The Remote Battery Voltage command causes the local modem to display the input power supply voltage whether it is from the transmitter battery or an external power source and the real time clock battery voltage of the remote modem at address n Refer to Table 9 1 on page 9 3 for the estimated modem battery pack capacity remaining versus the voltage of the transmitter power supply NOTE For the local modem to execute entered commands the modem must be in Command mode with the command prompt displayed If the modem is not in Command mode refer to page 5 6 for instructions on how to place the modem into Command mode How to Use To use the Remote Battery Voltage command type AT V followed by the address of the remote modem and then press Enter The local modem will display the input power supply and real time clock battery voltages in volts of the remote modem Special Considerations When using the Remote Battery Voltage command take note of the following The local modem must receive acknowledgment from the remote modem within the acoustic response tim
350. ransmit pulse width of 12 ms and use a transmit pulse width of 12 ms a threshold of 15 a lockout time of 50 ms and an acoustic response timeout of 10 seconds If the LBL Multi Receive feature key is not installed set the RxFreq configuration parameter to 14000 by entering rxfreq 14000 Set the TAT configuration parameter to 150 ms by entering TAT 150 Set the RxToneDur configuration parameter to 12 by entering rxtonedur 12 Set the TxToneDur configuration parameter to 12 by entering txtonedur 12 Set the RxThresh configuration parameter to 15 by entering rxthresh 15 5 Modem Operation Transponder Operation 5 64 User s Manual Example 2 TELEDYNE BENTHOS Set the RxLockout configuration parameter to 50 by entering rxlockout 50 Set AcRspTmOut configuration parameter to 10 by entering acrsptmout 10 Then enter ATN9000 The Teledyne Benthos TR6001 transponders have selectable receive frequencies from 7 0 kHz to 15 0 kHz in 250 Hz increments They reply at selectable frequencies from 7 0 kHz to 16 0 kHz in 500 Hz increments The standard turn around time is 3 ms and the standard transmit and receive pulse widths are 10 ms To acquire the two way travel time to a TR6000 transponder with the receive frequency set to 10 kHz and the reply frequency set to 12 5 kHz and use a threshold of 10 a lockout time of 100 ms and an acoustic response timeout of 13 seconds Set the RxFreq configuration parameter to
351. ransmitted Except when noise interference is high modems that transmit and receive data over phone lines or microwave links typically function nearly error free and at bit rates of 128 000 bits sec or more In addition repeater systems allow virtually unlimited transmission ranges Those same performance factors are also used to measure the capabilities of the ATM 900 Series Acoustic Telemetry Modems and the UDB 9400 Universal Deck Box However with the transmission medium being water and the transmitted signals being sound a number of physical barriers exist that constrain those performance factors physical barriers that are not present in either wire or microwave links Barriers to Underwater Communications User s Manual The major factors that constrain the performance of any communications system that uses water as a communications medium are the relatively slow speed of sound in water the signal fading characteristics due to sound absorption and destructive interference the multipath interference due to sea surface and sea floor reflections and reflections from nearby objects Sound Speed in Seawater The speed of sound in seawater on average is about 1500 meters sec This is compared to electromagnetic signals that are carried on a wire or transmitted as radio signals and travel at nearly the speed of light However the relatively slow speed of sound in seawater has no direct effect on the bit rate of the modems it affects onl
352. ransport Addressing Topside and Subsea Ne ER ORE WER ORG CARN Renee 5 33 Default Transport Addressing UDB 9400 and Subsea MOGdeIms 5 34 Backward Compatibility 5 35 LOW DOW Er Slate E x ort E nd 5 36 Waking up a Modem 5 37 Lowpower State Commands 5 37 Dy nr 5 37 User s Manual TELEDYNE BENTHOS File System o voee Lp or dg ne rea ete DRE E RE A SEE se 5 39 Flash File System 5 39 External SDHC Card vene Rr RETE ERE E EE oh eee 5 39 System Devices eser xU ERG IER 5 39 File ES RN 5 40 Directories ivy usas oe RR neues EEG ieee 5 40 8 Bit Versus 16 bit Wide Files 5 40 Redirection eC EEUU 5 41 Tab Completion for File System Names 5 41 File System Commands 5 42 olea eie D DE ce su EE MN a peaks mE 5 42 MOUNTS ded 5 43 ee eee 5 44 Jac eS 5 44 a a USS eR E Red 5 45 Set ge eee ari cu cud Viste Beier sts 5 46 LEE 5 46 MKAIF par PIE P
353. red after data have been input to the modem over the serial interface but before the forwarding delay has elapsed the data will be lost The setting of the FwdDelay configuration parameter determines the forwarding delay How to Use To use the Online Interrupt command type rapidly The local modem will indicate that it has gone into Command mode by displaying the command prompt User s Manual P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 7 7 Special Considerations The Online Interrupt command uses three plus characters typed in rapid succession because of the low probability that a string of three plus signs would be part of any data stream To further ensure that these characters are not part of a data stream the local modem requires three additional conditions for recognizing an interrupt 1 There are no characters entered before the first plus sign is entered for a period that is longer than one second 2 There are no other characters entered between entering any two plus signs 3 The time interval between entering any two plus signs is less than one second The three conditions are shown graphically in Figure 7 1 No Characters No Characters mn No Characters gt lt lt Figure 7 1 Conditions for Recognizing an Online Interrupt Command 7 Modem AT Command Set TELEDYNE BENTHOS 7 8 Attention AT Syntax AT
354. remote modem will include a transport address attached to the data packets in accordance with the setting of the SrcP1 configuration parameter indicating to the remote modem which port on the local modem the data were input The same is true for serial port 2 and the setting of the SrcP2 configuration parameter Data packets that are received over the acoustic link from a remote modem with a transport address attached will be routed in accordance with the setting of the Dst1 and Dst2 configuration parameters to serial port 1 or to serial port 2 8 64 User s Manual TELEDYNE BENTHOS SrcP1 Default Setting 1 The transport address for data input on serial port 1 is 1 Definition The setting of the SrcP1 configuration parameter is the transport address that will be attached to transmitted data packets that are generated from data that are input to serial port 1 when TPortMode AlwaysOn or when TPortMode InpMode and InputMode Dual Available Settings The available settings for the SrcP1 configuration parameter are listed below 1 The transport address for data input on serial port 1 is 1 2 The transport address for data input on serial port 1 is 2 3 Reserved 4 Reserved Special Considerations When setting the SrcP1 configuration parameter take note of the following If TPortMode InpMode and InputMode Single no transport addresses will be attached to transmitted data packets P N M 270 26 Rev D ATM 900 Ser
355. reply is not received Response Not Received will be displayed The output format is for ATM 900 Series Acoustic Telemetry Modem and a UDB 9400 Universal Deck Box only 7 Modem AT Command Set 7 48 TELEDYNE BENTHOS Range and Location ATRXn User s Manual Syntax ATRXn Enter Definition The Range and Location command causes the local modem to display the range from the local modem to the remote modem and the location of the remote modem at address n The displayed range is in meters with a resolution of 0 1 meters The information displayed and the format are dependent on the setting of the Verbose configuration parameter as listed below Output format Verbose 0 and 1 Range local address to remote address range m Output format Verbose 2 Range local address to remote address range m speed relative speed m s Output format Verbose 3 TX time hh mm ss nnnn RX time hh mm ss nnnn Range local address to remote address range m Round trip range ms speed relative speed m s For Q Verbose 3 hh is hours mm is minutes ss is seconds and nnnn 15 tenths of milliseconds In addition to the range the location of the remote modem is displayed in latitude and longitude along with its depth or altitude in accordance with the setting of the ReplyData configuration parameter NOTE For the local modem to execute entered commands the modem must be in Command mo
356. rial Molex 08 50 0185 pins J7 requires a Molex Connector J7 Face View 22 55 2101 mating connector with Molex 16 02 1117 pins and Molex 15 04 5104 clip In addition a Molex 15 04 0292 key must be inserted into pin 1 of the 22 55 2101 connector J7 is serial port 1 The second serial interface connection is made to J8 Refer to Figure 4 8 for the DSP Board serial connector J8 pin orientation and to Table 4 6 for the pinout information J8 requires a Hirose DF11 6DS 2C mating connector with Hirose DF11 2428SCA pins J8 is serial port 2 Figure 4 8 ATM 900 and ATM 903 DSP Board Serial Connector J8 Face View P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 4 15 Table 4 5 ATM 900 and ATM 903 DSP Board Serial Port 1 Connector J7 Pinouts SIGNAL PUNGTON DIRECTION Keyed Pin No Connection GND Ground Modem to Host Host to Modem TX RS 422 Transmit Modem to Host RXD RS 232 Receive Host to Modem DE Device Enable See NOTE below Modem to Host No Connection TX RS 422 Transmit Modem to Host Modem to Host Host to Modem TXD RX RS 232 Transmit RS 422 Receive RTS RX Request to Send RS 422 Receive Table 4 6 ATM 900 and ATM 903 DSP Board Serial Port 2 Connector J8 Pinouts SIGNAL P DIRECTION Request to Send Modem to Host 2 No Connection 3 GND Ground 4 TXD RS 232 Transmit Modem to Hos
357. rivilege level to update D Enter addkey key where lt gt is replaced with the feature key Be sure to enter a single space before the feature key E Enter showkeys If the feature key has been installed it will be displayed 9 Maintenance and Troubleshooting Troubleshooting ATM 900 Series Acoustic Telemetry Modems 10 1 1 Drawings This section includes the outline and wiring drawings for the Teledyne Benthos ATM 900 Series Acoustic Telemetry Modems and UDB 9400 Universal Deck Box Refer to these drawings when setting up and installing the modems Surface Modems A 270 108 Outline UDB 9400 Universal Deck Box C 270 215 Outline ATM 980 Buoy Box Subsea Modems B 270 437 Outline ATM 914 Modem B 270 432 Outline ATM 915 Modem B 270 433 Outline ATM 916 Modem D 270 088 Outline ATM 924 Modem D 270 053 Outline ATM 925 Modem D 270 060 Outline ATM 926 Modem D 270 089 Outline ATM 964 Modem D 270 056 Outline ATM 965 Modem C 270 259 Outline ATM 966 Modem Modem Board Sets B 270 156 Outline ATM 900 OEM Board Set B 270 504 Outline ATM 900 OEM Board Set with SDHC B 270 498 Outline Coprocessor Board Pair Remote Transducers B 270 267 Outline Remote LF Omnidirectional Transducer B 270 509 Outline Remote MF Band C and Band C Omnidirectional Transducers B 270 337 Outline Remote LF Directional Transducer B 270 371 Outline Remote MF Directional Transducer 10 Drawings Surface Modems jenue y sasn
358. rrent modem configuration can be saved to the standard ini file by entering cfg store Syntax cfg store lt file gt Privilege user Example 1 export the current modem configuration to a file named newstandard1 in the flash file system enter cfg store ffs newstandardl Example 2 To save the current modem configuration to the standard ini file enter cfg store factory reset The factory reset command loads the configuration parameters from the factcfg ini file The Factory Reset command AT amp F can also be used for this purpose Syntax factory reset Privilege user Example To load the configuration parameters from the factcfg ini file enter factory reset or AT amp F To save the modem configuration to the standard ini file enter cfg store 5 Modem Operation Configuration System 5 60 User s Manual TELEDYNE BENTHOS Z address 2 parameter name z value The lt address gt 9 parameter name value command sets the named configuration parameter of the remote modem at the specified address to the desired setting Syntax lt address gt parameter name gt lt value gt Privilege user Example To set the TxPower configuration parameter of the remote modem at address 5 to 9dB enter 5 TxPower 9db lt address gt cfg store The lt address gt cfg store command saves the current modem configuration of the remote modem at the specified address to its standard ini
359. ry when working with a radial seal a small amount of the same lubricant can be applied to the O ring surface inside the housing where the O ring will seal WARNING Apply only a thin coat of silicone lubricant Too much lubricant could displace the O ring when it is under pressure 8 Install the O ring into the O ring groove Troubleshooting If during the setup or deployment of an ATM 900 Series Acoustic Telemetry Modem or UDB 9400 Universal Deck Box the modem does not appear to be functioning properly use the troubleshooting guide in this section for assistance The troubleshooting guide will help to quickly isolate a few basic operational problems that could occur However should further help be required contact Teledyne Benthos directly Refer to Customer Service on page vi for information on how to contact Teledyne Benthos The troubleshooting guide includes a list of symptoms along with a list of recommended checks designed to lead to the most likely cause There is no banner message displayed on the monitor of the host PC connected to a modem when the modem is switched on A Verify that the host PC serial port is configured correctly with the correct baud rate parity number of data bits and number of stop bits Refer to Setting up the Host Processor on page 4 21 B Verify that the terminal program communications software is running C Verify that the verbose level as determined from the Verbose configuration p
360. ry Modems 5 55 user 1 0modem S Modem Params 7 AcRspTmOut 2 DataRetry 28 DevEnable 8 FwdDelay 18 LocalAddr 15 OpMode PrintHex 14 RemoteAddr 5 RxPktType 16 ShowBadData StartTones StrictAT 4 TxRate 6 TxPower 17 WakeTones InputMode 1 Online Dis 0 0 MFSK Ena Ena Dis 5 800 8 Max Ena 1 Single Range 2 0 99 5 sec 0 5 sec increments Ena Dis 0 Auto 1 MBARI 2 Manual 0 05 to 5 sec 50ms increments 0 249 0 Command 1 Online 2 Datalog 4 TM 4 6 ContXpnd Ena Dis 0 249 255 0 MFSK 1 FHOP 2 Xpnd 3 Chirp Ena Dis Ena Dis Ena Dis 2 140 3 300 4 600 5 800 6 1066 7 1200 8 2400 9 2560 10 5120 11 7680 12 10240 13 15360 1 21dB 2 18dB 3 15dB 4 12dB 5 9dB 6 6dB 7 3dB 8 Max Ena Dis 1 Single 2 Dual Figure 5 3 List of Configuration Parameters for the Modem Section of the Standard ini File The columns in the list are defined as follows S Modem Params Value Range S Register equivalent of the configuration parameter if any The configuration parameter name The current setting of the configuration parameter The available settings or range of settings for the configuration parameter To display a list of all the configuration parameters for all the sections enter cfg all Configuration parameter names prefixed by cannot be changed at the
361. ry tray one at a time 10 Connect the in line connectors and wrap each of them with electrical tape Tuck the battery wires and the in line connectors out of the way between the two battery packs Install the battery retainer bar and secure it with the four Phillips head Screws Refer to Cleaning or Replacing an O ring on page 9 14 and clean or replace the O rings on both end caps Feed the wire harness through the housing and slide the battery pack into the housing until the gland seal O ring on the end cap is against the housing Be careful not to scrape the O ring surface on the inside wall of the housing When the gland seal O ring is against the housing apply equal pressure against the end cap and press it into the housing until the face seal O ring is firmly seated against the housing If required rotate the end cap slightly when pressing it into the housing Slide the stainless steel band clamp back into position between the end cap and the housing and tighten the clamp Connect the 5 pin power and 10 pin serial cable connectors to the circuit board Slide the chassis into the housing until the gland seal O ring on the end cap is against the housing being careful not to scrape the O ring surface on the inside wall of the housing P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 9 7 19 When the gland seal O ring is against the housing apply equal pressure against the end cap and press it into the h
362. s 1 88 watt hours day 119 days Modem Operating Depth The rated operating depth of an ATM 910 Series Acoustic Telemetry Modem is 500 meters for an ATM 920 Series it is 2000 meters and for an ATM 960 Series 6000 meters For custom applications a higher depth rating can be provided Refer to Customer Service on page vi for information on how to contact Benthos should a higher rating be required WARNING Do not subject a subsea modem or remote transducer to a depth that exceeds its depth rating as damage or destruction could occur Modem Communications Range The communications range between two ATM 900 Series Acoustic Telemetry Modems or an ATM 900 and a UDB 9400 Universal Deck Box depends on many factors the transmitting modem s source level the depth of the modems the transducer orientations the operating frequency band the beam pattern of the transducers the multipath and ambient noise conditions and other factors In general horizontal ranges of two to three kilometers are typical with omnidirectional transducers and can be extended with the use of directional transducers When the installation and environmental conditions are known the approximate expected range can be estimated Multipath and Noise Because of the advanced modulation techniques used by the ATM 900 Series Acoustic Telemetry Modems and UDB 9400 Universal Deck Boxes reliable operation can be obtained even in relatively severe multipath and noise condit
363. s The index files contain the indexing and time stamping data that correspond to the discrete data records in the log files Each idx file will have one 32 byte metadata record for every data parcel that begins in the corresponding log file regardless of whether it is fully contained within that log file or spills over into the next one If it is desired to clear the SDHC card while installed on a PC then the card must be formatted either on the PC before being reinstalled into the modem or with the format command after it is reinstalled The format must be FAT32 with 4096 byte cluster sizes The modem should always be deployed with a newly formatted SDHC card P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 17 Record Parceling The data logger saves data in discrete records which are indexed and are searchable The way in which a record is partitioned can occur in one of the following ways When the maximum record size of 4096 bytes is reached When LogMode FwdDelay and no further characters have been received for the time specified by the setting of the FwdDelay configuration parameter When LogMode Sentinel and an ASCII character matches that specified by the setting of the Sentinel configuration parameter When LogMode ChrCount and the number of characters matches that specified by the setting of the ChrCount configuration parameter When AcData Datalog or UART Datalog to store data received over the acou
364. s 8 27 CMWakeHib Default Setting 9 48sec The wakeup period of the compact modem is 48 seconds Definition The setting of the CMWakeHib configuration parameter which applies only to compact modems determines the wakeup period of the modem A compact modem is normally in a hibernate state where everything is essentially shut down even the receiver However while in this hibernate state the modem will activate its receiver and listen for a wakeup signal from a transmitting modem for 150 ms every wakeup period The length of the wakeup period determines how often the Compact Modem will listen for a wakeup signal A shorter wakeup period means that the modem will listen more frequently and therefore can be awakened quicker A longer wakeup period means that the modem will listen less frequency and therefore will be awakened slower A shorter wakeup period uses more power than a longer wakeup period Available Settings The available settings for the CMWakeHib configuration parameter are listed below 1 Off The compact modem wakeup is off 0 2sec 2 seconds compact modem firmware versions prior to 1 2 7 1 8sec 3 seconds 2 4sec 4 seconds 3 6sec 6 seconds 4 8sec 8 seconds 5 125 12 seconds 6 16sec 16 seconds 7 24sec 24 seconds 8 32sec 32 seconds 9 48sec 48 seconds 11 96sec 96 seconds compact modem firmware versions 1 2 7 and higher 8 Modem Configuration Parameters 8 28 User s Manual
365. s Acoustic Telemetry Modems 7 61 Output Local Page ATBPn Syntax ATBPn Enter Definition The Output Local Page command causes the local modem to output the contents of page n of its data logger over the serial interface where each page contains a maximum of 64 kbytes of data gt NOTE For the local modem to execute entered commands the modem must be in Command mode with the command prompt displayed If the modem is not in Command mode refer to page 5 6 for instructions on how to place the modem into Command mode Use of the 41 ind command instead of the Output Local Page command is recommended unless it is desired to display the contents of the entire page in which case the Output Local Page command can be used WARNING f data are stored in the data logger from multiple sources using the Output Local Page or dlfind command will not display the contents of the data logger memory as separate records How to Use To use the Output Local Page command type ATBP followed by the selected data logger page number of the local modem s data logger and then press Enter The local modem will output the contents of the selected data logger page over the serial interface Special Considerations When using the Output Local Page command take note of the following The contents of the local modem s data logger page do not change when it is output over the serial interface 7 Modem AT Command Set 7 62 User s Manu
366. s the local modem to output the contents of its data logger memory over the serial interface NOTE For the local modem to execute entered commands the modem must be in Command mode with the command prompt displayed If the modem is not in Command mode refer to page 5 6 for instructions on how to place the modem into Command mode Use of the ad1 ind command instead of the Output Local Data Logger command is recommended unless it is desired to display the contents of the entire data logger memory in which case the Output Local Data Logger command can be used WARNING f data are stored in the data logger from multiple sources using the Output Local Data Logger or dlfind command will not display the contents of the data logger memory as separate records How to Use To use the Output Local Data Logger command type ATBT and then press Enter The local modem will output the contents of its data logger memory over the serial interface Special Considerations When using the Output Local Data Logger command take note of the following The contents of the local modem s data logger memory do not change when it is output over the serial interface 7 Modem AT Command Set 7 60 User s Manual TELEDYNE BENTHOS While the contents of the local modem s data logger memory are being output the local modem will not accept any input over the serial interface or over the acoustic link P N M 270 26 Rev D ATM 900 Serie
367. s the modem type the firmware version number the firmware version build date the PLD Programmable Logic Device version numbers and the serial number of the local modem Syntax version Privilege user Reference Version ATI on page 7 10 User s Manual P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 6 23 wc The wc command counts characters words or lines in a file An optional c modifier counts characters only an optional w modifier counts words only and an optional I modifier counts lines only Syntax wc c w l Privilege user Reference none xmittime The xmittime command calculates the time it will take to transmit a fixed number of bytes at a given acoustic bit rate An optional m modifier specifies an acoustic bit rate Without this modifier the acoustic bit rate is determined by the setting of the TxRate configuration parameter An optional i modifier specifies in milliseconds an interpacket delay Without this modifier the delay is 25 ms and is only relevant if the amount of data to be transmitted need to be broken into multiple 4 kbyte acoustic packets Optional w and w modifiers include or exclude respectively the lowpower wakeup signal Without these modifiers transmission of a lowpower wakeup signal is determined by the setting of the WakeTones configuration parameter The time is displayed in hours minutes seconds and thousandths of seconds Syntax xmittime
368. sage 300 600 800 1000 1200 and 2400 bits sec If the local modem is a UDB 9400 Universal Deck Box these bit rates plus five additional bit rates are used 2560 5120 7680 10 240 and 15 360 bits sec In addition the local modem measures and displays the following which are the received data statistics ERR Errors the number of bits received that did not match the test message CRC Checksum pass or fail where a pass condition signifies no errors were detected and a fail condition signifies one or more bit errors were detected MPD Multipath Delay in milliseconds where the higher the number the greater the multipath The range is from 0 to 50 SNR Signal to Noise Ratio a measurement that provides information on the quality of the processed signal The value takes into account all the processing and the effects of multipath Use Table 7 2 on page 7 24 as a guide for adjusting the power level and acoustic bit rates to obtain the optimum SNR SPD Speed the relative speed in knots between the local and remote modems where a negative number indicates the modems are moving farther apart and a positive number indicates the modems are moving closer together 7 Modem AT Command Set 7 28 User s Manual TELEDYNE BENTHOS AGC Automatic Gain Control a value that indicates how much gain is being applied to the received signals The higher the AGC value the higher the gain Use Table 7 3 on page 7 24
369. ser s Manual P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 23 Syntax rdifind lt addr gt i lt recno gt lt time gt lt recno gt lt time gt lt numrecs gt lt step gt lt flags gt Privilege user Example To search for and display the data logger records from the remote modem at address 5 for the year 2011 enter rdlfind 5 2011 As in the example above with the exception of the additional command parameter addr all of the examples provided for the 41 1 command as described in dlfind on page 5 18 apply in exactly the same way for the rdlfind command rdllist The rdllist command causes a remote modem to transmit over the acoustic link the number of bytes and the number of records in its data logger along with the time stamps for the first and last record This command can only be entered on serial port 1 Each time stamp comprises the year month day hour minute and second the record was created The only command parameter is addr which is the remote modem address Syntax rdllist lt addr gt Privilege user Example To display the number of bytes the number of records and the first and last record time stamps in the data logger of the remote modem at address 5 enter rdllist 5 rdirecs The rdlrecs command causes a remote modem to transmit over the acoustic link in accordance with specified search parameters the number of bytes and the number of records
370. set the IdleTimer configuration parameter to the same time When a modem is not being powered by batteries the idle time should be disabled to prevent the modem from ever going into the lowpower state This improves operating efficiency as the modem never has to be reawakened from the lowpower state 8 Modem Configuration Parameters 8 24 User s Manual TELEDYNE BENTHOS Verbose Default Setting 1 Data and some diagnostic messages are displayed when received by the local modem Definition The setting of the Verbose configuration parameter determines whether only data or data and other information when received by the local modem are displayed NOTE Should a fatal error occur it is displayed regardless of the setting of the Verbose configuration parameter Available Settings The range of settings for the Verbose configuration parameter is from 0 to 4 as listed below 0 Only data are displayed 1 Data and some diagnostic messages are displayed 2 Data most diagnostic messages and received data statistics are displayed 3 Data additional diagnostic messages and received data statistics are displayed 4 For factory use only With a setting of 2 or higher data along with received data statistics are displayed in the following general format Source xx Destination xx CRC Pass Fail MPD x x SNR xx x SPD 4 xx x AGC x x CCERR xx P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems
371. set up the PC as the local host processor Modem commands are entered using the Command Line for Acoustic Modem CLAM shell user interface The CLAM shell provides both user input and output and is similar to that provided on Unix platforms The CLAM shell also supports the AT command set which is similar to the Hayes standard AT commands that is used for dial up modems All the AT commands begin with AT and all the CLAM shell and AT commands are accepted on serial port 1 only For a detailed description of the available AT commands refer to Section 7 Modem AT Command Set Many of these commands are called out in this section Although the modem commands control the operation of the modems configuration parameters directly affect how some of the commands are applied and how a modem functions in each of its operating modes For a detailed description of the configuration parameters and how to set them refer to Section 8 Modem Configuration Parameters A number of the configuration parameters are called out in this section NOTE When entering a configuration parameter setting the configuration parameter name is prefixed with the character followed by the character z and then the setting itself This format is used throughout this manual when referring to an actual configuration parameter setting 5 Modem Operation 5 2 TELEDYNE BENTHOS Online Mode User s Manual When a modem is in Online mode and is online with a re
372. should be used to reset the modem P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 7 13 Update Firmware AT EU Syntax ATEU Enter Definition The Update Firmware command initiates the local modem firmware update procedure When entering this command instructions are provided on how to update the modem firmware by using the Xmodem or 1K Xmodem transfer protocol and a terminal program to transfer the new firmware file to the modem Once the firmware is transferred the modem will automatically reboot and enter Command mode NOTE For the local modem to execute entered commands the modem must be in Command mode with the command prompt displayed If the modem is not in Command mode refer to page 5 6 for instructions on how to place the modem into Command mode How to Use To use the Update Firmware command type ATEU and then press Enter The modem will display a prompt requesting that the baud rate be switched to 115 200 followed by a request to continue with the update procedure At this point the firmware can be updated by transferring the new firmware file over to the modem using the Xmodem or 1K Xmodem transfer protocol Special Considerations When using the Update Firmware command take note of the following f the Update Firmware command is entered and the baud is not switched to 115 200 baud within 30 seconds the modem will reboot Should for any reason the firmware update be
373. signals and noise sources that arrive from behind the remote transducer Teledyne Benthos can custom design and built acoustic baffles for any of the remote transducers or they can be obtained from other sources if required Refer to Customer Service on page vi for information on how to contact Teledyne Benthos for detailed specifications Height Above the Bottom and Distance Below the Surface Adjusting the height of a remote transducer above the bottom for fixed bottom installations can reduce the effects of multipath Generally raising a transducer that is close to the bottom such that it is two or three meters above the bottom will usually reduce multipath from bottom reflections Similarly for a remote transducer that is near the surface lowering the transducer will generally reduce the effects of multipath from surface reflections and it will reduce the effects of both ship noise and surface noise 3 Deployment Considerations Multipath and Noise 3 8 TELEDYNE BENTHOS Other Acoustic Devices If there is other active acoustic devices in the vicinity of a modem which transmit at frequencies within or near the operating frequency of the modems modem performance will likely be reduced The installation and use of other equipment near a modem should be carefully considered prior to and after installing and deploying a modem Typical Deployment Configurations User s Manual The deployment configurations for the ATM 900 Series Ac
374. st determining the percentage of cells in a data packet that are received with errors to that of the total number of cells received and then adjusting the setting of the TxRate configuration parameter as follows Greater than 50 The setting is dropped by 2 25 49 The setting is dropped by 1 Less than 25 The setting is left as is Available Settings There are two available settings for the SmartRetry configuration parameter as listed below Ena Enables smart retry Dis Disables smart retry Special Considerations When setting the SmartRetry configuration parameter take note of the following 8 Modem Configuration Parameters 8 60 User s Manual TELEDYNE BENTHOS For smart retry to function properly the setting of the SmartRetry configuration parameter must be the same for both the local and remote modems The setting of the TxRate configuration parameter will not be dropped below 2 which is 140 bits sec Only one retransmission will be made at 140 bits sec If no response is received no further attempts will be made to transmit the data and the entire data packet will be discarded If no response is received from the remote modem the TxRate configuration parameter setting will not be changed for the retransmission attempt If no response is received after one retransmission no further attempts will be made to transmit the data and the entire data packet will be discarded The DataRetry configuration par
375. stic link in the data logger For example if data are received while the data logger is configured to log data the data become a single record regardless of its length or sentinel characters When AcStats Stats Timestamp or Stats Time to store statistics based on received data over the acoustic link in the data logger For example if statistics are received while the data logger is configured to log statistics the statistics become a single record regardless of its length or sentinel characters Search and Retrieval Data can be searched for and retrieved from the local and remote modems either as single contiguous blocks or as discrete records For contiguous block retrieval where there are both 4 kbyte blocks and 256 byte sub blocks AT commands are used For descriptions of the AT commands and how to enter them refer to Section 7 Modem AT Command Set When retrieving data as contiguous blocks no time stamps are provided For discrete record retrieval records of a particular type and with time stamps can be selected Single records and multiple records over any specified range can be retrieved from the local and remote modems with a 64 kbyte limit per command execution on the remote modem only p NOTE When there are a lot of data stored in the data logger of the modem the boot up time is longer delaying the banner message on power up by 10 seconds or more 5 Modem Operation Datalogger Mode 5 18 User s Manual TE
376. t e lt max_bit_errs 0 999 gt lt addr gt Privilege user Reference Acoustic Test on page 5 96 calc The calc command evaluates an expression Syntax calc x value lt value gt Privilege user Reference none cat The cat concatenate command displays the contents of a specified file An optional n modifier adds a line number to each line and an optional c or modifier enables a range of characters or lines respectively to be specified This command can also be used as an easy way to create a text file or to add to an existing one To do this enter the command name followed by a space the gt or the gt gt character the path and the file name Using gt will replace the contents of the named file with all subsequent text entered after the prompt If the file does not exist it will be created automatically Using gt gt will add all subsequent text entered after the prompt to the existing named file To end either process enter Ctrl D Syntax cat n c l lt num gt lt from gt lt to gt lt path gt lt file gt gt lt file gt Privilege user Reference File System on page 5 39 6 Modem CLAM Shell Command Set 6 4 User s Manual TELEDYNE BENTHOS cfg all The 11 command lists all of the configuration parameter sections along with the configuration parameters in each Syntax cfg all Privilege user Reference Config
377. t 5 DE Device Enable See NOTE below Modem to Host 6 RXD RS 232 Receive Host to Modem NOTE The Device Enable output is on when the modem is sending data to the host or if the modem receives the Dial command ATD Refer to Device Enable on page 5 94 for more information Refer also to Section 2 Specifications for the electrical specifications 4 Setup and Test Setting Up the Modems 4 16 TELEDYNE BENTHOS Table 4 7 ATM 900 and ATM 903 Transmit Receive Board Power Connector J3 Pinouts FUNCTION Reserved Ground External Power Input 1 12 36 VDC Ground External Power Input 2 12 36 VDC Perform the steps listed below to connect an ATM 900 or ATM 903 to a DC power supply and to an instrument or PC WARNING Pin 5 is NOT protected against reverse polarity DO NOT connect Pin 5 to the negative of the DC power supply as damage to the modem will occur If reverse polarity protection is required connect Pin 3 to the DC power supply positive instead as described below for Step 4 1 Refer to Table 4 7 and connect Pin 5 to the DC power supply positive through a 6 Amp inline fuse 2 Connect Pin 4 to the DC power supply negative 3 If connecting serial port 1 of the ATM 900 or ATM 903 to an instrument refer to Table 4 5 on page 4 15 and connect the pins listed to the RS 232 or RS 422 interface of the instrument For serial port 2 refer to Table 4 6 on page 4 15 and connect the pins listed t
378. t character difference and then all the possible matches are displayed as a guide for entering additional characters or as a simple help feature to indicate what commands are available To use the tab completion feature enter one or more characters and then press Tab Tab completion can be used multiple times on a single line NOTE Tab completion cannot be used when entering AT commands Command Prompts The command prompt includes any combination of the gt character the privilege level and the history number as in the following example user 5 gt Any one or combination of these characters are selectable or no prompt can be selected The command prompt is selected using the prompt configuration parameter To select the prompt enter prompt followed by a numerical code as follows 1 gt 2 Privilege level 4 Command history number To select two or all three prompts create the code by adding the corresponding numbers For example setting prompt 7 will create the following prompt user 36 gt P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 9 for a privilege level of user To select no prompt enter prompt 0 To display the codes for the prompts enter prompt For more information on the Prompt configuration parameter command refer to Prompt on page 8 26 Strict AT Although both CLAM shell and AT commands can be used interchangeably a modem can be commanded to accept only AT commands b
379. t the requested information For example if a modem receives the Remote Bytes Stored command AT BNn it executes the command by transmitting the number of bytes stored in its data logger User s Manual P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 7 Entering Commands Commands can only be entered when a modem has been connected to a host processor and is in Command mode For information on how to set up the modem refer to Setting Up the Modems on page 4 9 The commands are input to the modem from its host processor over the serial interface at the baud rate of the serial interface The data format for the commands is ASCII with 8 bits no parity and 1 stop bit NOTE Any reference to a local modem in the command descriptions that follow refers to the modem to which commands and data are input from the host processor over the serial interface Any reference to a remote modem refers to the modem to which acoustic commands are sent and from which data and acknowledgments are received over the acoustic link If an external PC is used as the host processor commands can be entered from the keyboard and data and messages displayed on the monitor Commands are entered at the command prompt and every command must be followed by pressing Enter for the command to be executed To enter a command type the command in accordance with the command entry requirements Keyboard functions such as Backspace Delete and Left and Ri
380. t this manual or the Teledyne Benthos acoustic telemetry modems or if you require service or support Please contact us at TELEDYNE BENTHOS INC Attention Customer Service 49 Edgerton Drive North Falmouth MA 02556 U S A Telephone 1 508 563 1000 Fax 1 508 563 6444 E mail benthos teledyne com www benthos com User s Manual P N M 270 26 Rev D Acoustic Telemetry Modems vii Contents NOTICES ounce edv e sf duin is dE E ii Proprietary Information ii Warranty and Intellectual Property Rights Statement ii iability Gata iv TIU odes epa se bau adus Me S ca iere a iv LIIS rr iv Preface tierce dicey vue cui e E De inet ab etis te dos arg V Notes and WarningS lcu lx xU Rr erae vi Customer Service vi CONLENUS 2 25 ence Seite ese Erud RUE Se i RR E EE Sees vii List FIgures iius cse Ov e B eee es xxi List of Labl6 S EE iu un Caco E Latina xxiv 1 Overview 1 1 Wireless Underwater Communications 1 1 Commands and Data 1 3 Acoustic Bit Rates 1 3 Modulation Techniques 1 3 Typical Applicatioris cer rrr IRR 1 4 Remote Data Acquisition
381. te modem at address n ATRCPn Pitch Displays the range and the high resolution pitch of the remote modem at address n ATRCRn 7 Modem AT Command Set Roll Displays the range and the high resolution roll of the remote modem at address n 7 6 TELEDYNE BENTHOS Online Interrupt Syntax Definition The Online Interrupt command causes the local modem to go into Command mode When local modem is in Online mode and is online with a remote modem every character that is input to the local modem from its host processor over the serial interface is transmitted to the remote modem Similarly every character that is input to the remote modem from its host processor over the serial interface is transmitted to the local modem However if the characters are typed in rapid succession when the local modem is not transmitting or receiving data either over the serial interface or over the acoustic link the modem will switch to Command mode and the remote modem will remain in Online mode Similarly when the local modem is in Datalogger mode every character that is input to the modem from its host processor over the serial interface is stored in the modem s data logger And if the characters are typed in rapid succession when the modem is not transmitting or receiving data either over the serial interface or over the acoustic link the local modem will switch to Command mode WARNING If is ente
382. ted automatically Using gt gt will append the text to the contents of an existing file Syntax echo n text gt lt file gt Privilege user Reference File System on page 5 39 factory_reset The factory reset command loads the configuration parameters from the factcfg ini file The Factory Reset command AT amp F can also be used for this purpose Syntax factory reset Privilege user Reference Configuration System on page 5 53 format The format command clears all data and reinitializes the directory structure of the specified path If the path is SD then the external SD or SDHC card is cleared If the path is FFS then the entire modem file system is cleared including the factcfg ini diag rom standard ini and modem rom files The feature keys will not be lost Syntax format path Privilege update Reference File System on page 5 39 getcurrent When an SM 975 SMART Modem is in the process of being released the burn wire current is sampled and stored once per minute The get current command displays the sampled currents in amperes of a local SM 975 SMART modem Syntax getcurrent Privilege user Reference SMART Releases and Modems on page 5 81 6 Modem CLAM Shell Command Set 6 10 User s Manual TELEDYNE BENTHOS gpsd The gpsd command starts a parser process that will translate messages from navigation instruments and store the extracted information in the NAV confi
383. ted to distance The default value used for the sound speed is 1500 meters second which is the approximate speed of sound in seawater If the actual sound speed has been determined for example from a conductivity temperature depth CTD instrument then this value can be used instead Navigation Commands The following Navigation commands are available gpsd tcm5d compass P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 85 gpsd The gpsd command starts a parser process that will translate messages from navigation instruments and store the extracted information in the NAV configuration section An optional s modifier switches serial port 2 to an RS 232 serial interface that can receive GPS messages from an externally connected GPS upon the reception of an acoustic command or data The RS 232 interface is available on J8 of the DSP board for the ATM 900 and ATM 903 Board Sets and on the POWER SERIAL connector of all other modems After receiving the command or data serial port 2 switches back to a CMOS serial interface that is available on J3 of the DSP board to receive internal compass data The GPS and compass data are available through the configuration parameters in the Nav section of the configuration system NOTE The optional s modifier applies only when the GPS is connected to serial port 2 and the P2Protocol configuration parameter is set to 1 CMOS Syntax gpsd s lt NMEA gt Priv
384. than dBV at the modem s transducer User s Manual P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 79 Waveform Play Option The Waveform Play option is enabled with the purchase and installation of a feature key This feature enables transmission of signals that are within the modem s operating frequency using the modem s transmitter and transducer The signals must be in the form of basebanded complex data with a bandwidth of 5120 Hz sampled at 10240 samples per second and with 0 Hz or DC as the basebanded passband center frequency or 2560 Hz to 2560 Hz in this case The data are mixed or Heterodyned to the center frequency using a process that is the inverse of that used for the acoustic recorder as described in Generating Basebanded Signals on page 5 71 The data can be generated using a Matlab utility and then uploaded to the modem s flash file system Creating a Basebanded Waveform A basebanded waveform can be created using a Matlab utility For example the routine below generates a baseband tonal signal that can be uploaded to the modem s flash file system and played back as passband signals fsdat 10240 This is usually the baseband sample rate to use 0 05 pulse duration seconds N fix T fsdat 0 100 Stone to be transmitted 10052 above center frequency generate the baseband tonal This is what goes into the modem A exp i 2 pi FO0 0 N 1 fsdat wavwrite real A imag A fs
385. the 4 pin connector located on the side of the buoy box The serial interface connection is RS 232 only Refer to Figure 4 12 for the connector pin orientation and to Table 4 12 for the pinout information The 4 pin connector is an Impulse MCBH 4 FS bulkhead connector that requires an Impulse MCIL 4 M mating connector pigtail A cable pigtail is supplied Table 4 12 ATM 980 4 Pin Connector Pinouts SIGNAL DIRECTION External Power Input 24 VDC To Buoy Box RS 232 Transmit Buoy Box to Host Ground RS 232 Receive Host to Buoy Box FUNCTION Subsea Modem Connections The modem connections to the subsea modem are made with the 8 pin connector located on the side of the buoy box Refer to Figure 4 12 for the connector pin orientation and to Table 4 13 for the pinout information The 8 pin connector is an Impulse MCBH 8 FS bulkhead connector that requires an Impulse MCIL 8 M mating connector A cable is separately available with an MCIL 8 M connector on one end for connecting to the buoy box and a MIL 9 FS connector on the opposite end for connecting to the subsea modem P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 4 21 Table 4 13 ATM 980 8 Pin Connector Pinouts SIGNAL DIRECTION Power External Power Input 24 VDC To Modem GND Ground TX RS 422 Transmit Modem to Buoy Box RTS RX Request to Send RS 422 Receive Buoy Box to Modem TX RS 422 Transmit Modem to Buoy Box TXD RX R
386. the acoustic link are stored in the data logger memory 8 Modem Configuration Parameters 8 36 User s Manual TELEDYNE BENTHOS RingBuf Default Setting Dis The data logger will record up to 6 MB of data and then stop recording Definition The setting of the RingBuf configuration parameter determines whether the data logger will record data in flat mode where up to 6 MB of data are recorded and then recording stops or in ring buffer mode where data are recorded in a 6 MB ring buffer When recording data in the ring buffer and the buffer fills the oldest 384 kbytes of data are erased making room for new data which can continue to be recorded until the 6 MB ring buffer is again filled This cycle repeats continuously as long as new data are received ensuring that the latest 6 MB of data are always available The data can be received acoustic data if the AcData configuration parameter is set to 1 Datalog or 2 UART Datalog the data can be data received on the serial interface if the OpMode configuration parameter is set to 2 Datalog Available Settings There are two available settings for the Ringbuf configuration parameter as listed below Ena The data logger will continuously record data in the 6 MB ring buffer Dis The data logger will record up to 6 MB of data and then recording will stop Special Considerations When setting the Ringbuf configuration parameter take note of the following To store dat
387. the configuration parameter factory default settings as the startup configuration which is the configuration parameter settings when the modem is powered up When the modem is powered up the configuration parameters will be set to their startup configuration This configuration is not necessarily the factory default settings as the configuration parameter settings may have been changed and then saved as the new startup configuration with the Write command AT amp W or by entering cfg store 7 Modem AT Command Set 7 18 TELEDYNE BENTHOS Hang Up ATH Syntax ATH Enter Definition The Hang Up command causes all the remote modems to go into the lowpower state It is not possible to send a Hang Up command to a specific modem gt NOTE For the local modem to execute entered commands the modem must be in Command mode with the command prompt displayed If the modem is not in Command mode refer to page 5 6 for instructions on how to place the modem into Command mode How to Use To use the Hang Up command type ATH and then press Enter The local modem will send the Hang Up command to address 255 which each modem will recognize as one of its addresses When the local modem has completed the transmission it will respond with the message Off Line Special Considerations When using the Hang Up command take note of the following When a remote modem receives the Hang Up command it will not send an acknow
388. the less likely a detected signal will be marked as a received reply Therefore a high setting increases the likelihood of missing valid detections The receive threshold should be adjusted in accordance with the background noise such as to minimize false positives and negatives The range of available settings is from 10 to 256 in integer increments The default setting is 10 P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 63 Transponder Operation Commands The following transponder operation command is available ATNm ATNm The Transpond ATNm command causes the local modem to display the two way travel time in milliseconds from the modem to a transponder The interrogation frequency m of the modem should be set to an integer value in hertz in 250 Hz increments that is within the frequency band of the modem This frequency must be the same as the receive frequency of the transponder If m is set for a frequency outside of this band the modem will still transmit at the set frequency but at a reduced source level If the LBL Multi Receive feature key is not installed the RxFreq configuration parameter must be set to the reply frequency of the transponder This frequency should also be within the frequency band of the modem Syntax ATNm Privilege user Example 1 To acquire the two way travel time to a transponder with a receive frequency of 9 kHz a reply frequency of 14 kHz a turn around time of 15 ms and a t
389. the modem to be used as the surface modem to the serial port of the PC Turn on the PC and run the terminal program Turn on the modem The banner message should be displayed followed by the command prompt If the command prompt is not displayed enter rapidly The modem should go into Command mode and display the command prompt At the command prompt enter LocalAddr 2 At the command prompt enter 9 RemoteAddr 3 At the command prompt enter OpMode Online Enter rapidly to place the modem back into Command mode At the command prompt enter cfg store When the modems are deployed any data input to either serial port of the surface or subsea modem will be transmitted acoustically to the other modem Preparing a Modem for Data Logging Another operating mode of a modem is Datalogger mode where any input received over the serial interface from its host processor is stored in the modem s flash memory Perform the following steps to prepare a modem for data logging 1 4 Setup and Test Connect the modem to be used as the data logging modem to the serial port of the PC as described in Setting Up the Modems on page 4 9 Checking the Modems and Host Processors 4 26 TELEDYNE BENTHOS 2 Turn on the PC and run the terminal program 3 Turn on the modem The banner message should be displayed followed by the command prompt If the command prompt is not displayed enter rapidly The modem should go into Comma
390. the optional Coprocessor board installed some of the ATM 900 Series can both transmit and receive using PSK modulation and achieve the same higher bit rates MFSK modulation is a spread spectrum modulation process that transmits multiple tones simultaneously MFSK has a maximum bit rate of 2400 bits sec and has good reliability even in a high multipath environment Wireless Underwater Communications 1 4 TELEDYNE BENTHOS Typical Applications Teledyne Benthos ATM 900 Series Acoustic Telemetry Modems and the UDB 9400 Universal Deck Box are used in numerous applications including acquisition of real time or stored data from subsea instruments command and control of autonomous underwater vehicles AUVs wellheads and pipeline valves data repeaters for underwater local area networks and release of moored instrument arrays Refer to Modem and Remote Transducer Types on page 1 11 for information on the types of modems Remote Data Acquisition common application for the ATM 900 Series Acoustic Telemetry Modems and the UDB 9400 Universal Deck Box is the acquisition of real time or stored data from deployed underwater instruments as illustrated in Figure 1 3 In this setup one or more ATM 925 or ATM 965 Acoustic Telemetry Modems are deployed each with an instrument such as an Acoustic Doppler Current Profiler ADCP a Conductivity Temperature Depth CTD sensor or a tide gauge The modems input data from the SATELLITE SURFACE
391. the other the lowest The displayed values indicate the relative amount of background signal or noise present Low P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 101 values indicate a strong received signal and high values a weak received signal The AGC ranges are 0 91 dB for the ATM 900 Series Acoustic Telemetry Modems and 0 77 dB for the UDB 9400 Universal Deck Box Syntax AT Gn Privilege user Example To output ten seconds of AGC history from the remote modem at address 5 enter ATSG5 The values are displayed as dashed pairs where the first value of each pair is the minimum gain and the second the maximum 5 Modem Operation Acoustic Test ATM 900 Series Acoustic Telemetry Modems 6 1 6 Modem CLAM Shell Command Set This section provides a summarized description of each of the available Teledyne Benthos ATM 900 Series Acoustic Telemetry Modem and UDB 9400 Universal Deck Box Command Line for Acoustic Modem CLAM shell commands Each description includes the command syntax the privilege level and for most of the commands a reference to where in this manual a more detailed description of the command and one or more examples of its use can be found The commands are listed in alphabetical order NOTE To enter commands serial port 1 of the modem must be connected to a computer that is set up to run a terminal program such as ProComm Plus or Tera Term Refer to Setting Up the Modems on page
392. tion parameter are listed below 1200 1200 baud 2400 2400 baud 4800 4800 baud 9600 9600 baud 19200 19200 baud 38400 38400 baud 57600 57600 baud 115200 115200 baud WARNING Changes to the P2Baud configuration parameter take place immediately Therefore be sure to set the baud rate of the host processor to the same baud rate otherwise it will not be possible for the host processor to establish communications with the modem Special Considerations When setting the P2Baud configuration parameter take note of the following When connecting an instrument to the modem and with the P2Baud configuration parameter set to the default 9600 for 9600 baud the instrument s serial port should be configured as follows Baud rate 9600 baud Parity none Data bits 8 Stop bits 1 P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems P2Baud 115200 is the default setting for an ATM 9400 Series Acoustic Telemetry Modem 8 Modem Configuration Parameters 8 15 8 16 User s Manual TELEDYNE BENTHOS P2EchoChar Default Setting Dis Echoing of characters entered from the keyboard is disabled for serial port 2 Definition The setting of the P2EchoChar configuration parameter determines whether characters entered from the keyboard for serial port 2 are echoed back to the host computer Available Settings There are two available settings for the P2EchoChar configuration parameter as listed below
393. tional LF Transducer provided which connects from the modem to a remote transducer that is also included Both modems also include a power serial connector which is used to input external power instead of using the internal battery pack and to connect to either an RS 232 or an RS 422 serial interface ATM 966 Acoustic Telemetry Modem The ATM 966 Acoustic Telemetry Modem which is shown in Figure 1 14 is externally powered only It is contained in a thick walled hard coat anodized aluminum housing which is designed for deployment to full ocean depth and includes a built in omnidirectional or directional transducer The ATM 966 also includes a power serial connector The connector is used to input external power and to connect to either an RS 232 or an RS 422 Figure 1 14 The ATM 966 Acoustic serial interface Telemetry Modem Shown with Omnidirectional LF Transducer Modem and Remote Transducer Types 1 18 User s Manual TELEDYNE BENTHOS SMART Releases The SMART releases include the following SR 50 SMART Release Designed for short range light load shallow water applications and operates to a depth of 305 m 1000 ft SR 100 SMART Release Designed for long range heavy duty deep or shallow water applications and operates to a depth of 12 000 m 39 360 ft SM 975 SMART Modem Designed for long range deep or shallow water applications and operates to a depth of 6700 m 22 000 ft NOTE For detail
394. tional Transducer 2 10 Remote Directional Transducer 2 11 Modem Battery Pack Capacities 2 12 Modem Battery Pack Capacity for ATM 914 915 924 925 Acoustic Telemetry Modems 2 12 Modem Battery Pack Capacity for ATM 964 965 Acoustic Telemetry Modems 2 12 User s Manual P N M 270 26 Rev D Acoustic Telemetry Modems ix 3 Deployment Considerations 3 1 Remote Transducer Selection 3 1 Modem Battery Pack 3 2 Battery Pack Power Usage 3 2 Processing Overhead 3 2 Modem Battery Pack Capacity Calculations 3 3 Verifying the Modem Battery Pack Capacity for a Short Deployment vus dO ROT RI 3 3 An Example Deployment Calculation 3 4 Modem Operating Depth 3 6 Modem Communications Range 3 6 Multipath and Noise rr RR YE 4 RS 3 6 Transducer Orientation 3 7 Use of an Acoustic Baffle 3 7 Height Above the Bottom and Distance Below the Surface 3 7 Other Acoustic Devices 3 8 Typical Deployment Configurations
395. tire modem file system Example 2 mount The mount command tells the modem to make the files and directories on an SD or SDHC card available to the modem s file system by way of the sd path 5 Modem Operation Syntax Privilege Example 1 Example 2 To format the flash file system format FFS The modem will respond with Are you sure y to proceed If you are sure enter Y mount path 0 1 user To install the first available card enter mount sd If a card is inserted in slot 0 the modem will respond with SD card mount complete SD v1 4 on slot O0 OK If a card is inserted in slot 1 the modem will respond with SD card mount complete SD v1 4 on slot 1 OK To specifically install a card in slot 1 enter mount sd 1 If a card is inserted in slot 1 the modem will respond with File System 5 44 TELEDYNE BENTHOS SD card mount complete SD v1 4 on slot 1 OK If there is no card inserted in slot 1 the modem will respond with SD v1 4 no card Error umount The umount command tells the modem to make the SDHC card ready to remove from the modem The SD mount point is the only mount point that can be removed Syntax umount path Privilege user Example 1 Before removing an SDHC card from its carrier board first enter umount sd The sd path will no longer be available cat The cat concatenate command displays the contents of a specified file An optiona
396. tly from the PC Error Checking With each 4 kbyte data packet transmitted a checksum is calculated and also transmitted The modem that receives the packet also calculates a checksum and compares it to the transmitted checksum If enabled with the setting of the Verbose configuration parameter the received data statistics comprising the checksum pass or fail results CRC the multipath delay MPD the signal to noise ratio SNR the relative speed between the local and remote modems SPD the automatic gain control AGC and the corrected channel errors CCERR are displayed Refer to Acoustic Link Test ATXn on page 7 23 for a detailed description of the received data statistics The Verbose configuration parameter must be set to 2 or higher for the received data statistics to be displayed In addition the ShowBadData configuration parameter must be set to Ena to display data packets with failed CRCs P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 5 Command Mode When a modem is in Command mode input from its host processor over the serial interface is treated as commands A modem will go into Command mode when it is powered up only if OpMode Command gt NOTE The factory default setting of the OpMode configuration parameter is Online which causes the modem to go into Online mode when it is powered up When powered up in any mode a modem will boot up and display a banner message The banner messa
397. to page 5 6 for instructions on how to place the modem into Command mode How to Use To use the Local Device Enable command type ATTD followed by the value of m as determined by the required setting and the serial port number and then press Enter The local modem will clear or set the Device Enable output 7 Modem AT Command Set 7 44 TELEDYNE BENTHOS Remote Device Enable AT Xn m p User s Manual AT Xn m p Enter Definition The Remote Device Enable command sets or clears the Device Enable output of serial port p of the remote modem at address n If p is left out serial port 1 is assumed The Device Enable output can also be set or cleared both as described in Device Enable on page 5 94 and with the Remote Device Enable command by setting DevEnable Auto which is its default setting To set or clear the Device Enable output only with the Remote Device Enable command the DevEnable configuration parameter must be set to 3 Manual The settings for m are 0 and 1 as follows 0 Clear Device Enable output high impedance 1 Set Device Enable output low impedance The settings for p are 1 and 2 as follows 1 Serial port 1 2 Serial port 2 NOTE For the local modem to execute entered commands the modem must be in Command mode with the command prompt displayed If the modem is not in Command mode refer to page 5 6 for instructions on how to place the modem into Command mode How to Use To use
398. transmits data packets to the subsea modem the data can be routed to either serial port 1 or serial port 2 of that modem by modifying the SrcP1 configuration parameter on the deck box Dest1 P1 Dest2 P1 SrcP1 1 Dest1 P1 SrcP2 2 5 Dest2 P2 Serial Port 2 Serial Port 1 Serial Port 1 Serial Port 2 SUBSEA MODEM UDB 9400 Figure 5 2 Default Transport Addressing Topside ATM 900 Series and Subsea ATM 900 Series Acoustic Telemetry Modems User s Manual P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 35 The following configuration parameter settings are the default settings in the subsea modem for transport addressing e SrcP1 1 Dst1 P1 Dst2 P2 The transport addressing setup required for the UDB 9400 Universal Deck Box such that transmitted data packets to the subsea modem from the deck box are output on serial port 1 of the subsea modem and received data packets from the subsea modem that were input to either serial port 1 or serial port 2 of the subsea modem are output on serial port 1 of the deck box is the following SrcP1 1 QDst1 P1 ODst2 P1 The transport addressing setup required for the UDB 9400 Universal Deck Box such that transmitted data packets to the subsea modem from the deck box are output on serial port 2 of the subsea modem and received data packets from the subsea modem that were input to either serial port 1 or serial port 2 of the subsea
399. try as determined by the setting of the DataRetry configuration parameter is enabled the total buffer size is reduced to 28 kbyte as one of the 4 kbyte transmit data buffers is reserved for retransmission of the data 5 Modem Operation Online Mode 5 4 User s Manual TELEDYNE BENTHOS should an error occur If disabled the full 32 kbytes are available For information on the DataRetry configuration parameter refer to DataRetry on page 8 41 Flow control will ensure there is no loss of data as when the eight 4 kbyte transmit data buffers are full flow control will not allow the host processor to output data to the modem Data Format Data including parity that are input to a modem over the serial interface when the modem is in Online mode can be in any format that fits into 8 bit bytes For example the data can be 7 bits with parity 8 bit ASCII or 8 bit binary However it cannot be 8 bits with parity Online Break A local modem that is connected to a PC will detect a serial port break if it is sent over the serial interface from the PC If the local modem is online with a remote modem it will command the remote modem to send the equivalent break on its serial interface If the remote modem is connected to an RD Instruments Acoustic Doppler Current Profiler ADCP the break will wake up and reset the current meter Therefore the current meter essentially performs in the same manner as it would if it received the break direc
400. ttery pack Therefore the battery pack can provide power in the lowpower state for over 2 years However when the DSP and the receiver are active hence not in the lowpower state a relatively large amount of power a maximum of 768 mw is drawn from the battery pack while the modem receives data or commands The most power a maximum of 20 watts which occurs at a power level of 8 is drawn when the modem is transmitting Therefore unless a modem is to be deployed for well over a year with few transmissions it is the amount of data to be transmitted that determines its useful deployment life Processing Overhead When transmitting a packet of data which can range from 1 byte to 4096 bytes additional overhead for each packet is added For every 256 bytes 2 bytes are added for the checksum pass or fail results CRC In addition for every packet the transmitter is on for an additional 0 8 seconds for the acquisition and header and an additional 0 4 seconds for the lowpower wakeup Therefore there is an additional 1 2 seconds of overhead for every packet transmitted So if a number of packets containing less than 4096 bytes are transmitted periodically then this overhead should be taken into account But if a large amount of data is transmitted with each packet containing 4096 bytes then the overhead can be neglected for a first approximation of the battery capacity P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 3 8 Mo
401. tting modem to be output on serial port 1 of the remote modem and data that are input to serial port 2 on the transmitting modem to be output on serial port 2 of the remote modem Serial Port 1 MTS DestiaPs Serial Port 1 Dest1 P1 H SrcP1 1 i SerialPort2 SrcP2 2 Dest2 P2 Serial Port 2 Dest2 P2 SrcP1 1 SUBSEA MODEM TOPSIDE MODEM Figure 5 1 Default Transport Addressing Topside and Subsea ATM 900 Series Acoustic Telemetry Modems 5 Modem Operation Dual Serial Port Option 5 34 TELEDYNE BENTHOS The following configuration parameter settings are the default settings in both the topside and subsea modems for transport addressing SrcP1 1 SrcP2 2 Dst1 P1 Dst2 P2 Default Transport Addressing UDB 9400 and Subsea Modems A configuration that shows the default transport addressing for a UDB 9400 Universal Deck Box communicating with a subsea ATM 900 Series Acoustic Telemetry Modem with two instruments connected to it is shown in Figure 5 2 In this setup both modems have the Dual Serial Port feature installed with transport addressing enabled by setting InputMode Dual However the deck box has only serial port 1 available serial port 2 is used internally for communications with the display Therefore transport addressing for the deck box is set up such that all received data packets are output on serial port 1 regardless of the transport address attached to the data packets When the deck box
402. ty Teledyne Benthos assumes no liability for damages losses or costs incurred consequentially through operation or malfunction of Teledyne Benthos products Title Title shall pass to the Buyer on delivery to the carrier at North Falmouth Massachusetts U S A Risk of damage or loss following such delivery shall be the Buyer s and Teledyne Benthos shall in no way be responsible for safe arrival of the shipment Title shall so pass to the Buyer regardless of any provision for payment of freight or insurance by Teledyne Benthos and regardless of the form of the shipping documents If shipment is consigned to Teledyne Benthos it shall be for the purpose of securing the Buyer s obligations under contract Changes Teledyne Benthos reserves the right to make changes to the design or specifications at any time without incurring any obligation to modify previously installed units In addition while considerable effort has been made to ensure that the information in this manual is accurate and complete Teledyne Benthos assumes no liability for any errors or omissions P N M 270 26 Rev D Acoustic Telemetry Modems Preface Congratulations on your purchase of a Teledyne Benthos acoustic telemetry modem The ATM 900 Series Acoustic Telemetry Modems and the UDB 9400 Universal Deck Box which employ the latest in digital signal processing technologies are the most advanced underwater modems available They offer a low cost yet reliable and
403. updated plot of the amount of received energy across the entire receive bandwidth of the modem The graph may be zoomed in to zoomed out of and scaled It can also display either a single line plot or a bar plot For the graph to display properly the terminal program must be configured to emulate ANSI BBS or VT 100 Syntax spectrum Privilege user Reference Acoustic Test on page 5 96 strictat The strictat command places the modem into a state that enables processing of AT commands only With the exception of the nostrictat command CLAM shell commands are not processed Syntax strictat Privilege user Reference Command Mode on page 5 5 sync The sync command displays the status of the modem s synchronization state and includes a number of factory use statistics with the last line being the synchronization status Synchronized Not in Sync or Qualifying Syntax sync Privilege user Reference Real Time Clock on page 5 88 SX The sx X modem send command causes the modem to use the transmit X Modem protocol to transmit the contents of a file from the modem file system Syntax Sx lt path gt lt file gt Privilege user Reference File System on page 5 39 P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 6 21 52 sz Z modem send command causes the modem to use the transmit Z Modem protocol to transmit a file from the modem file system to a host PC Syntax 52 lt p
404. uration System on page 5 53 cfg load The 1oad command imports a specified configuration file or if no file is specified it loads the configuration parameters from the standard ini file Syntax cfg load lt file gt Privilege user Reference Configuration System on page 5 53 cfg store The store command exports the current modem configuration to a specified configuration file or if no file is specified it saves the current modem configuration to the standard ini file Syntax cfg store lt file gt Privilege user Reference Configuration System on page 5 53 char The char command converts decimal ASCII code to ASCII text Syntax char ASCII Privilege user Reference none P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 6 5 chmod The chmod command changes the permission properties of a file The file must be at or below the command privilege level Syntax chmod rwx path Privilege user Reference File System on page 5 39 chown The chown command changes the privilege level of a file Syntax chown safe user update factory diag sys path Privilege user Reference File System on page 5 39 clearkeys The clearkeys command clears all of the feature keys installed on the modem This command can only be used when running the diagnostic software application The rundiag command is used to start the diagnostic software application Syntax
405. ustic Telemetry Modem and a UDB 9400 Universal Deck Box only 7 Modem AT Command Set 7 50 TELEDYNE BENTHOS Local Battery Voltage ATV Syntax ATV Enter Definition The Local Battery Voltage command causes the local modem to display the input power supply voltage whether it is from the transmitter battery or an external power source and the internal temperature Refer to Table 9 1 on page 9 3 for the estimated modem battery pack capacity remaining versus the voltage of the transmitter power supply NOTE For the local modem to execute entered commands the modem must be in Command mode with the command prompt displayed If the modem is not in Command mode refer to page 5 6 for instructions on how to place the modem into Command mode l WARNING Exceeding the recommended power level and continuous transmission time limits for an ATM 914 ATM 915 or ATM 916 Acoustic Telemetry Modems may cause the transmitter to overheat and to automatically shut down Should this condition occur a message will be output on the serial interface indicating such Once the modem cools down it will be able to transmit again How to Use To use the Local Battery Voltage command type ATV and then press Enter The local modem will display its input power supply voltage in volts and its internal temperature in degrees Celsius Special Considerations When using the Local Battery Voltage command take note of the following The accu
406. ut of the local modem P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 8 57 StrictAT Default Setting Dis The modem will process both CLAM shell and AT commands Definition The setting of the StrictAT configuration parameter determines whether the modem will process both CLAM shell and AT commands or just AT commands Available Settings There are two available settings for the StrictAT configuration parameter as listed below Ena The modem will process only AT commands Dis The modem will process both CLAM shell and AT commands 8 Modem Configuration Parameters 8 58 TELEDYNE BENTHOS InputMode Default Setting 1 Single The modem will allow only one instrument to be connected to the modem for the input of data Definition The setting of the InputMode configuration parameter determines whether one or two instruments can be connected to the modem for the input of data and whether transport information will be sent with the data NOTE For the InputMode configuration parameter to be available a Dual Serial Port feature key must be purchased and installed in the modem Available Settings There are two available settings for the InputMode configuration parameter as listed below 1 Single The modem will allow only one instrument to be connected to the modem for the input of data when the modem is in Online or Datalogger mode The instrument must be connected to serial port 1 Tra
407. ut the time and date 5 Modem Operation Real Time Clock 5 92 User s Manual Syntax Privilege Example 1 Example 2 Example 3 Example 4 Example 5 uptime TELEDYNE BENTHOS date t hh mm ss d lt mm dd yyyy gt 12 24 store sec user To display the time and date enter date To set the time and date to 09 55 30 P M on March 18 2011 and display 12 hour time enter date t21 55 30 d03 18 2011 12 To set the time and date to 09 55 30 on March 18 2011 and display 24 hour time enter date t21 55 30 d03 18 2011 24 To subtract one second from the current time enter date sec To store the time and date provided from a connected GPS to the real time clock enter date store The uptime command displays the time at which the modem was last rebooted as read from the real time clock chip Syntax Privilege Example ric battery uptime user To display the time and date at which the modem last rebooted enter uptime The rtc battery command displays the real time clock battery voltage Syntax Privilege Example rtc battery user To display the real time clock battery voltage enter uptime NOTE The real time clock battery is an Energizer CR1632 or equivalent and should be replaced after two years of modem off time or when the battery voltage is less than 2 7 VDC For instructions on how to replace the real time clock battery r
408. utional coding 10 240 bits sec PSK 15 360 bits sec PSK gt NOTE For the local modem to execute entered commands the modem must be in Command mode with the command prompt displayed If the modem is not in Command mode refer to page 5 6 for instructions on how to place the modem into Command mode User s Manual P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 7 33 How to Use To use the Remote Bit Rate command type AT A followed by the address of the remote modem the comma character and the value of m as determined by the required acoustic bit rate and then press Enter The remote modem will set its transmitting acoustic bit rate and then the local modem will respond with the message OK Special Considerations When using the Remote Bit Rate command take note of the following The local modem must receive acknowledgment from the remote modem within the acoustic response timeout which is determined by the setting of the AcRspTmOut configuration parameter If an acknowledgment is not received Response Not Received will be displayed The Remote Bit Rate command sets the TxRate configuration parameter of the remote modem to the selected value Settings 9 13 are available for a UDB 9400 Universal Deck Box only 7 Modem AT Command Set 7 34 TELEDYNE BENTHOS Read Register ATSn User s Manual Syntax ATSn Enter or ATS Enter Definition The
409. ved and the dissolving wire module is currently not activated Burn Wire Activated Displayed when the dissolving wire module is currently activated Burn Wire Released Unit Tilted Displayed when the SM 975 has been released Battery Reduced Displayed when the battery is low and should be replaced Battery OK Displayed when the battery is good and does not need to be replaced Battery Reduced Displayed when the battery capacity is reduced The transmit power level is capped at 7 03 dB Battery Low Displayed when the battery capacity is low Data transmissions are not allowed For an ATM 900 Series Acoustic Telemetry Modem or a UDB 9400 Universal Deck Box the local modem displays the following Standard Modem NOTE For the local modem to execute entered commands the modem must be in Command mode with the command prompt displayed If the modem is not in Command mode refer to page 5 6 for instructions on how to place the modem into Command mode How to Use To use the Release Status command type AT T followed by the address of the release and then press Enter The release will transmit its release status and the local modem will display the information described above User s Manual P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 7 73 Release AT Rn m Syntax AT Rn m Enter Definition The Release command causes the SMART Release at address n with release code m to act
410. ved from its host processor to the remote modem which will in turn output the data to its host processor Similarly the remote modem will transmit all the data received from its host processor to the local modem which will in turn output the data to its host processor Special Considerations When using the Online command take note of the following To display the message CONNECT followed by the acoustic bit rate and many other messages the Verbose configuration parameter must be set to 1 or higher where 1 is the factory default setting 7 Modem AT Command Set 7 20 TELEDYNE BENTHOS If itis desired to enter commands after going online with the remote modem type in rapid succession to cause the local modem to go into Command mode Then enter the desired commands To go back online with the same remote modem use the Online command User s Manual P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 7 21 Remote Break AT Kn p Syntax AT Kn Enter Definition Causes the remote modem at address n to send a break on its serial port p and to go online with the local modem If p is left out serial port 1 is assumed The settings for p are 1 and 2 as follows 1 Serial port 1 2 Serial port 2 gt NOTE For the local modem to execute entered commands the modem must be in Command mode with the command prompt displayed If the modem is not in Command mode refer to page 5 6 for instructions on how to
411. ware application The rundiag command is used to start the diagnostic software application Syntax addkey lt feature key gt Privilege update Reference Troubleshooting on page 9 15 alias The alias command creates an alias for a single command or for multiple commands in a command string One or more aliases can be created for any command Syntax alias lt alias gt lt cmd gt or alias lt alias gt lt cmd gt Privilege user Reference Command Mode on page 5 5 P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 6 3 autobaud The autobaud command initiates a communication sequence with a remote modem that cycles through test packets at different acoustic bit rates to determine the fastest bit rate the acoustic channel will support This command can only be entered on serial port 1 An optional a modifier automatically sets the TxRate configuration parameter upon completion of the sequence on the local modem the remote modem or both An optional e modifier sets the maximum allowable number of bit errors for a given rate to be considered acceptable And an optional m modifier specifies the maximum acoustic bit rate at which to begin testing and optionally the minimum bit rate at which to end testing Without this modifier the fastest bit rate is 8 2400 bits sec and the minimum 2 140 bits sec Syntax autobaud a lt local remote both gt m lt max_modspec gt lt min_modspec g
412. water instrument packages and surface or subsea platforms It uses an electrolytic dissolving wire burn wire type release mechanism to release itself from its mooring The acoustic telemetry is disabled when the battery voltage falls below a safe threshold at which only the release and transponder functions and the ability to send status messages can be activated SMART Release and Modem Commands The following SMART Release and Modem commands are available getcurrent AT Tn AT Rn m AT Nn m n getcurrent 5 Modem Operation SMART Releases and Modems 5 82 User s Manual TELEDYNE BENTHOS getcurrent When an SM 975 SMART Modem is in the process of being released the burn wire current is sampled and stored once per minute The get current command displays the sampled currents in amperes of a local SM 975 SMART modem Syntax getcurrent Privilege user Example To display the burn wire current samples of a local SM 975 SMART modem in the process of being released enter getcurrent AT Tn The Release Status command AT Tn displays the status of the SMART Release or the SMART Modem at address n Syntax AT Tn Privilege user Example To display the status of the SR 100 SMART Release at address 5 enter 5 AT Rn m The Release command AT Rn m activates the release mechanism of the SMART Release at address n with release code m where the release code is the serial number of the release
413. when using the Transpond ATNm command to acquire the two way sound travel time to a transponder The RxToneDur setting should be the same as the transponder s transmit pulse width as determined by the TxToneDur setting Available Settings The available settings for the RxToneDur configuration parameter are listed below 0 12 5ms 12 5 ms 1 6 25ms 6 25 ms 5 5ms 5 ms 6 6ms 6 ms 7 7ms 7 ms 8 8ms 8 ms 9 9ms 9 ms 10 10 ms 11 11ms 11 ms 12 12 5 12 ms 13 13ms 13 ms 14 14 5 14 ms 15 15ms 15 ms P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 8 77 RxLockout Default Setting 75 The local modem s lockout time is 75 ms Definition The setting of the RxLockout configuration parameter is the lockout time in milliseconds of the local modem and must be correctly set when using the Transpond ATNm command to acquire the two way sound travel time to a transponder The lockout time is a period that begins at the start of the interrogation pulse during which the modem will ignore any received replies from the transponder The RxLockout setting prevents interrogation pulse transmission echoes from nearby objects from being detected as replies Available Settings The range of available settings for the RxLockout configuration parameter is from 0 to 1000 in integer increments for a lockout time of 0 ms to 1000 ms in 1 ms increments 8 Modem Configuration Parameters 8 78 Use
414. which is determined by the setting of the AcRspTmOut configuration parameter If an acknowledgment is not received Response Not Received will be displayed The Remote Data Logger Disable command sets OpMode Online of the remote modem The Remote Data Logger Disable command has no effect on the remote modem if the remote modem is not in Datalogger mode User s Manual P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 7 55 Clear Remote Data Logger AT BCn Syntax AT BCn Enter Definition The Clear Remote Data Logger command causes the remote modem at address n to clear the contents of its data logger memory NOTE For the local modem to execute entered commands the modem must be in Command mode with the command prompt displayed If the modem is not in Command mode refer to page 5 6 for instructions on how to place the modem into Command mode How to Use To use the Clear Remote Data Logger command type AT BC followed by the address of the remote modem and then press Enter The remote modem will clear the contents of its data logger memory and then the local modem will respond with the message OK Special Considerations When using the Clear Remote Data Logger command take note of the following The local modem must receive an acknowledgment from the remote modem within the acoustic response timeout which is determined by the setting of the AcRspTmOut configuration parameter If an ac
415. will be transferred to newdatafile1 on the host PC File System 5 52 TELEDYNE BENTHOS 52 sz Z modem send command causes the modem to use the transmit Z Modem protocol to transmit a file from the modem file system to a host PC Syntax 52 lt path gt lt file gt Privilege user Example To transfer the file named datafile1 on the root directory of the modem file system to a host PC first enter sz datafilel Next set the communications program on the PC to receive using the Z Modem protocol The datafile1 file on the root directory of the modem file system will be transferred to the root directory of the host PC User s Manual P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 5 53 Configuration System The configuration system for a modem comprises all of its configuration parameters These parameters determine how the modem operates in all of its operating modes and how some of the commands are executed They include the serial interface baud rate the acoustic bit rate the modem address the idle time the transmit power level the forwarding delay and many others The configuration parameters are the same as the S Registers used in modems prior to the ATM 900 Series and these S Register settings can still be changed using the AT command set However there are more configuration parameters than the original number of S Registers and they use descriptive names instead of S Register numbers A
416. will transmit the preset test message when it receives the Acoustic Link Test command ATXn from the local modem Available Settings There are two available settings for the PktEcho configuration parameter as listed below Ena Enables the display of the preset test message when received from a remote modem Dis Disables the display of the preset test message when received from a remote modem 8 Modem Configuration Parameters 8 72 TELEDYNE BENTHOS PktSize Default Setting 0 8B When the local modem transmits the Acoustic Link Test command ATXn to a remote modem the remote modem will transmit an 8 byte preset test message Definition The setting of the PktSize configuration parameter determines the test message size in bytes that a remote modem will be commanded to transmit when it receives the Acoustic Link Test command ATXn from the local modem Available Settings The available settings for the PktSize configuration parameter are listed below 0 8B 8 byte message 32B 32 byte message 128 byte message 256B 256 byte message 512 byte message 1024B 1024 byte message 2048B 2048 byte message 4096B 4096 byte message User s Manual P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 8 73 RcvAII Default Setting Dis The local modem will not receive data from all transmitting modems only the data addressed to itself Definition The setting of the RcvAII configuration paramet
417. without notice gt General NOTE For the UDB 9400 Universal Deck Box specifications refer to the UDB 9400 Universal Deck Box User s Manual NOTE For detailed dimensional outline information for each of the modems refer to Section 10 Drawings Except where noted otherwise the general specifications listed below apply to all of the ATM 900 Series Acoustic Telemetry Modems Frequency band Data modulation Bit rate Addressable modems Processing features Temperature operating Temperature nonoperating Serial interface 2 Specifications 8 96 14 08 kHz LF 16 00 21 12 kHz MF or 22 56 27 68 kHz Band C PSK and MFSK 2560 15 360 bits sec PSK transmit 140 2400 bits sec MFSK transmit and receive 250 Data redundancy 1 2 rate convolutional coding Multipath guard period 5 C to 50 C 23 F to 122 F 45 C to 85 C 49 F to 185 F RS 232 422 485 at 115 200 57 600 38 400 19 200 9600 4800 2400 or 1200 baud General 2 2 User s Manual Flow control External DC input power Average transmit power 2 21 VDC Peak transmit current Receive active power Lowpower state power Low frequency LF omnidirectional transducer Medium frequency MF omnidirectional transducer Band C omnidirectional transducer TELEDYNE BENTHOS RS 232 hardware RTS CTS handshaking or software XON XOFF RS 422 software XON XOFF handsh
418. x byte index byte count lt flags gt Privilege user Reference Datalogger Mode page 5 15 difind The difind command extracts and displays data logger records from the local modem in accordance with specified search parameters These search parameters contain one or more of the following starting point ending point step interval and flags The starting and ending point parameters can be in the form of a time stamp in years months days hours minutes and seconds a record number referenced to the start or the end of the data logger s data set or the number of records from the starting point The step interval specifies how many records should be skipped when displaying data The flags parameter specifies the source of the data 6 Modem CLAM Shell Command Set 6 8 User s Manual TELEDYNE BENTHOS Syntax i x recno time lt recno gt lt time gt lt numrecs gt lt step gt lt flags gt Privilege user Reference Datalogger Mode page 5 15 dilist The dilist command displays the number of bytes and the number of records in the data logger of the local modem along with the time stamps for the first and last record Each time stamp comprises the year month day hour minute and second the record was created The total number of bytes and records from all the data sources together are displayed as well as those from the individual data sources In addition
419. xes Every effort is made to pack the modems to protect them during shipment However carefully inspect the boxes for any signs of external damage and immediately report any damage to Teledyne Benthos and to the freight carrier After inspecting the boxes locate and remove the packing list While referring to the packing list carefully remove the contents of each of the boxes checking the items against the packing list to verify that all the items on the list are included Inspect the items for any physical damage that might have occurred during shipment Immediately report any damage to Teledyne Benthos and to the freight carrier UDB 9400 Universal Deck Box Components The UDB 9400 Universal Deck Box includes the following components UDB 9400 Universal Deck Box with internal batteries Transducer Transducer cable Accessories case AC power cable UDB 9400 Universal Deck Box User s Manual 4 Setup and Test Unpacking and Inspection 4 2 TELEDYNE BENTHOS ATM 914 Components The ATM 914 Acoustic Telemetry Modem includes the following components ATM 914 Series Acoustic Telemetry Modem with internal alkaline battery pack and stainless steel mounting sidebar MCIL16F to serial port 1 DB9 RS 232 serial port 2 DB9 RS 232 and DC power connection MCIL3M to MCILSF transducer cable Remote transducer MCDC16F dummy connector MCDC3M dummy connector ATM 900 Series Acoustic Telemetry Modems User s Manual
420. y entering strictat or by setting StrictAT Ena To return to normal operation enter nostrictat For descriptions of the AT commands and how to enter them refer to Section 7 Modem AT Command Set For information on the strictat command refer to strictat on page 5 14 and for the nostrictat command nostrictat on page 5 14 Command Numbers and History Beginning on power up each entered command is counted and the current command number can be displayed as the prompt or as part of the prompt as described in Command Prompts on page 5 8 In addition the last 10 commands can be displayed using the hist command and any one of them can be selected for re entering or for executing To display the last 10 commands enter hist To execute a previously executed command again enter followed by the command number For example entering 25 will execute command number 25 if it is one of the last 10 commands executed Alternatively to select a previously executed command for re entry use the Up and Down arrow keys and then press Enter to execute it For more information on the hist command refer to hist on page 5 13 Privilege Levels All commands have a privilege level associated with it To view or execute a particular command it must be included in the currently assigned privilege level The current privilege level can be displayed as the prompt or as part of the prompt as described in Command Prompts on page 5 8 Three privilege
421. y the time period between the transmission of a signal and its reception In most applications this delay is not of much concern as the alternative is to use a hard wired connection which is sometimes prohibitively expensive or not feasible P N M 270 26 Rev D ATM 900 Series Acoustic Telemetry Modems 1 9 Signal Fading Signal fading is primarily caused by spreading loss and the absorption of sound in water but it is also caused by destructive interference due to multipath a situation where signals of like frequency nearly cancel each other out This frequency dependent fading occurs when a multipath induced reflection of the transmitted signal arrives at the receiving transducer at the same time as a transmitted signal of the same frequency The result is a reduction in the amplitude of both signals Signal fading due to spreading loss is a result of the dispersion of energy as it radiates outwardly from the transmitting transducer And signal fading due to the absorption of sound in water increases with increasing frequency To a lesser extent environmental factors such as temperature pressure and salinity also affect absorption and absorption also occurs at the sea floor Multipath Interference and Reflections The factor that most restricts both the bit rate and the reliability of an acoustic modem is multipath Multipath which is particularly severe when attempting to communicate over the horizontal channel in shallow water is t
422. ys 187 5 watt hours 2 52 watt hours day 74 days Although at the end of the 74 days the battery will not have the capacity to continue to transmit at full power it will have remaining capacity to transmit at a reduced power level When a modem reaches the point that the battery can no longer support full power transmission it will reduce its power level A modem that is transmitting at power level 7 will only require 14 watts At this power level the battery capacity is 300 watt hours Repeating the above calculation for a modem transmitting at 14 watts will show that the modem will consume 1 88 watt hours per day For the average transmit power for each of the power level settings refer to Section 2 Specifications Therefore with the capacity of the battery being 300 250 or 50 watt hours and derating the 50 watt hours for temperature provides 50 0 75 or 37 5 watt hours remaining capacity Therefore the total number days the modem will continue operating at power level 7 is Additional days at level 7 37 5 watt hours 1 88 watt hours day 20 days 3 Deployment Considerations Modem Battery Pack 3 6 TELEDYNE BENTHOS Alternatively if the modem is at power level 7 for the entire deployment then the battery capacity available would be 300 watt hours Derating for temperature provides 300 0 75 or 225 watt hours Transmitting at power level 7 consumes 1 88 watt hours day Deployment days at level 7 225 0 watt hour

M-270-26 Rev D ATM-900 Series Users Manual

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