WALRUS II Manual B - Hobi Instrument Services
Contents
1. 26 IMPORTANT The Processing parameter can interact with other parameters to affect the quality of your data We recommend a processing level of 0 for most applica tions The Processing parameter controls which calibration steps are applied to data be fore they are filtered and saved 0 raw unprocessed counts are returned l pixel adjustments are performed 2 dark current is calculated and subtracted from the counts 3 counts are divided by the integration time 4 engineering units are returned full calibration OutputFormat controls whether spectra generated by the logging commands LOG LOGFIXED LOGRANGE and LOGAUTO are in ASCII or binary format 2 spectra saved in binary with CRC checksum and host reply BIN extension on files If the output is to the console the data is followed by a Within 2 se conds the host must respond with an acknowledgment of good data Y or an in dicator of bad data X If bad data is indicated or no response is received in 2 seconds then the data is re sent up to 10 times per channel 1 spectra saved in binary with CRC checksum BIN extension on files 0 spectra saved in binary BIN extension on files l spectra saved in text ASC extension on files 2 for backwards compatibility sets OutputFormat to 0 and sets OutputDestina tion to 2 3 for backwards compatibility sets OutputFormat to 1 and sets OutputDestina tion to 2 OutputDestination select2. Figure 4 Proper attachment of tether with loop for strain relief Figure 5 Attach stability weight to the bottom eye with locking carabiner Figure 6 To deploy lower the stability weight into the water while hold ing the WaLRUS on deck Then lower the WaLRUS 4 2 4 Retrieval e Use the tether to pull WaLRUS back to the ship e Haul aboard with the tether and using the top protective ring see Figure 1 as a hand hold 4 3 Profiling 4 3 1 Preparation Prepare as for surface deployment with the addition of securing a profiling weight to the bottom of the stability weight Figure 7 The rope for the profiling weight must be long enough that the profiling weight can rest on deck while the WaLRUS and stability weight are in the water and at the desired distance from the ship Adjust it if necessary 10 N _ Figure 7 Weights and ropes for profiling Upper weight with white ropes is stability weight Lower with green rope is profiling weight Adjust rope lengths by adjusting the loops as shown in Figure 8 4 3 2 Deployment Follow the procedure for surface deployment but keep the profiling weight on deck When WaLRUS is in the desired position and you are ready to begin the profile lower the profiling weight into the water and start data collection When WaLRUS reaches desired depth stop data collection Use tether to pull WaLRUS back to the surface 4 4 Weight and Rigging Details 4 4 1
3. 5 2 1 Battery Capacity The capacity of the battery depends on the temperature at which it is charged stored and discharged Charging and storage at temperatures of 20 C or less improve capacity On the other hand low temperatures during discharge lower the realized capac ity Peak capacity for a battery charged and discharged at room temperature is about 20 hours of continuous operation with a 3 channel WaLRUS In response to the SLEEP software command the WaLRUS will enter a low power sleep state during which its current drain is reduced to less than 1 mA In this state fully charged batteries will last about 2 months Hourly sampling schemes can typically last about month Capacity decreases slowly as the battery ages The capacity loss depends greatly on charging conditions but is typically less than 10 after 200 charge discharge cycles and 20 after 500 cycles 5 2 2 Battery Voltage and State of Charge To read current value of the battery voltage whenever communication is estab lished with the sensor enter the BATT command This will display the current voltage and the battery charging current The battery voltage gives a rough indication of how much charge remains When the battery voltage falls below 10 V indicating it is virtually completely discharged the WaLRUS should not be used in battery mode operation WaLRUS will go into its low power sleep mode whenever the voltage falls below this threshold 5 2 3 Charging
4. 9 6 Auxillary Serial Port Commands 9 6 1 SERCLOSE Closes the 2nd serial port Not implemented on all systems 9 6 2 SEROPEN BaudRate Opens the 2nd serial port at the specified baud rate Data received from the 2nd serial port will be sent to the first serial port Not implemented on all systems 9 6 3 SERSEND String Sends string including ANSI escape sequences to the 2nd serial port Not 1m plemented on all systems 9 7 Debugging and Testing 9 7 1 FREEMEM Displays the amount of RAM available for debugging 39 9 7 2 SIM State Turns on or off simulation mode In simulation mode the actual spectrometer data are ignored and each integration results in a triangular spectrum whose overall amplitude is proportional to the value of State If State 1s 1 the amplitude will be based on a ran dom value 9 8 Help 9 8 1 Command or HELP Command Displays information related to specified command If no command is specified lists available commands 40 10 APPENDIX COMMAND FILES WaLRUS commands can be loaded and executed from files stored in its flash memory exactly as 1f they had been received on the serial port from a user By conven tion these files have the extension cmd and are referred to as command files They are similar to MS DOS batch files with the addition that they may specify a real time sched ule for executing commands Most command files are executed by typing the file name of the command file
5. Halts data collection initiated by START 9 5 File Operations 9 5 1 CAPTURE Filename Opens the file named Filename and copies lines of text to the file as they are typed Editing keys may be used to edit each line as it is typed During editing the prompt changes to Capture gt The file 1s closed when a lt control z gt character is re ceived CAPTURE automatically overwrites any previously existing file called File name The RadSoft Terminal cut and paste functions on the Edit menu may be used to give this command considerable power 9 5 2 COPY File1 File2 Copies the contents of Filel to File2 9 5 3 COPY CON FileName or COPY CON FileName Synonymous with CAPTURE FileName 9 5 4 DEL Filespec Deletes the indicated file or files from the flash disk Any combination of and wild cards that can be used with MS DOS can be used with this command The wild card matches any single character and matches any group of characters For example DEL TEST deletes any file whose name starts with TEST followed by any single character and with any extension TESTA DAT TEST2 BIN TESTA and TESTT X all match TEST12 DaT does not DEL presents a list of files meeting that file specification and their sizes then asks Delete all the above files If you press Y it will immediately delete them Pressing any other key will abort the command 9 5 5 DIR Filespec Lists all the files on the flash disk whose filenames are d
6. Time Collects a spectrum from the specified Channel with the specified integration Time in ms Channel may be entered as a letter a number or an asterisk to indicate all channels If no Channel is specified uses the most recently specified channel that displayed by CHAN If no Time is specified uses the time most recently used by the current or specified channel The Time parameter may also take the form of 7ime Time Time or Time In this case the operator specified and the new Time argument will be applied to the previ ous integration time for the channel So if the previous integration time for channel A was 35 ms and the command INT A 2 was used channel A would be integrated for 70 milliseconds This may be useful for intentionally overexposing the spectrometer af ter a AUTO command to get better resolution in the UV in UR ranges 9 4 7 LOG AUTO FIXED Count SEC Average BaseName Process Format Dest Channels FirstPix LastPix Pixinc FilterType FilterSize Collects data from all channels storing the data as specified in the Params settings by default This command is very similar to the ACQUIRE command but uses different default settings The first optional parameter sets the exposure time mode AUTO iteratively tries to find the optimum exposure time for each channel within the limits set with INTPARAMS which may mean that for each data sample the instrument may take sev eral measurements FIXED re u
7. Weights The weights supplied with the WaLRUS are made up of lead discs of the following sizes 7 cm diameter 0 53 kg 11 cm diameter 1 45 kg 15 cm diameter 2 6 kg Typically the stability weight is made up of three 15 cm discs and two 7 cm discs for a total weight of 8 9 kg This is generally appropriate for deploying the WaL RUS in either fresh water or sea water although it may need to be adjusted depending on 11 deployment conditions and on the exact configuration in which you deploy your WaL RUS When deployed with a correct stability weight the WaLRUS should float with its electrical connector slightly above the surface of the water as shown in Figure 3 A typical profiling weight is 5 8 kg but you may wish to adjust this to tailor the rate of descent based on conditions and your preferences 4 4 2 Adjusting Rope Lengths e The ropes supplied with the WaLRUS can be used at their full length by simply attaching the spring clips to the desired weights Their lengths can also be re duced in two different ways e First the rope can be formed into a large loop as shown in Figure 7 by attaching the spring clip to a small loop tied as shown in Figure 8 e Second you can change the rope length by adjusting the rope clamps used to form the loops in the ends of the ropes see Figure 9 x ay SS fa Fie lt lt J w Figure 8 Tying a loop for shortening a rope 12 Figure 9 Assemblin
8. minus the cMD extension Command files can also be executed with the RUNFILE command Upon startup WaLRUS will automatically execute the file HYDRORAD CMD 1f it exists Command files can be created and edited using a Windows text editor then downloaded into the WaLRUS through RadSoft Explorer 10 1 General Format Each line has one command followed by a carriage return and optional linefeed Commands have the same format they would have if entered in real time 10 2 Simple Example auto 1 20 auto 2 20 a to 3 20 The above example simply determines the optimal integration time for channels 1 2 and 3 Nothing is saved to the flash memory 10 3 Timed Command File Format Timed commands are preceded by a time in the form HH MM hours and minutes with a comma separating the time from the command Note that whereas command arguments may be separated with a space or comma scheduled commands MUST be separated from their times by a comma only Lines that contain a time but no command instruct WaLRUS to repeat the last executed command at the designated time 41 10 4 Execution When a file is run WaLRUS begins by executing commands in the sequence they are found in the file If the file contains no timed commands WaLRUS simply executes them once in order then closes the file and returns to interactive mode When WaLRUS encounters a scheduled command it goes into low power sleep mode until the scheduled time then wakes a
9. or 2 A value of 0 zero or off specifies no filtering A value of 1 specifies boxcar averaging in which case each pixel in the output spectrum will be the result of an equally weighted average of the number of pixels or wavelength 32 range specified by Fil terSize rounded up to an odd integer if necessary A value of 2 specifies Gaussian averaging where each pixel in the output spectrum will be the result of an normal distribution weighted average with a full width at half max FWHM equal to the number of pixels or wavelength range specified by FilterSize By default Filter Type is 0 and FilterSize is 1 no filtering If FilterSize is a positive integer then it will correspond to that fixed number of pixels By default FilterSize is 0 no filtering 9 4 2 AUTO Channel IntTime Collects a spectrum to memory from the given channel automatically seeking the optimum integration time If nt7Time is specified it will try that time first If not it will start with the integration time that was last used for that channel regardless of which command triggered the previous integration If no Channel is specified it will collect from the last used channel Channel may be entered as a letter a number or an asterisk to indicate all channels 9 4 3 CHAN Channel If no Channel is specified displays the most recently used spectrometer channel If a Channel is specified sets the current channel to that value Channel may be entere
10. properly to avoid strain on electrical connector see section 4 2 1 e Prevent kinks and sharp bends in the tether e If running tether through pulley or sheave use a diameter of at least 30 cm e Do not load the tether with more than 50 kg Batteries e Store and ship the WaLRUS with the battery disconnect dummy installed see section 5 2 4 e Fully charge the batteries at least once every two months 4 DEPLOYMENT 4 1 Overview WaLRUS II can be deployed in a surface float mode or in profiling mode Both modes use a stability weight suspended from the bottom pad eye to provide proper attitude and floating depth see Figure 3 In profil ing mode additional weight is suspended below the stabil Za ity weight to provide the desired sink rate The lengths of the ropes used for the stability weight and if it is used profiling weight can be adjusted according to the deployment method and the height above the water from which the WaLRUS is deployed See sec tion 4 4 for more details about rigging of the ropes and weights Ideally WaLRUS would be raised and lowered with a davit or crane But it can be deployed directly by hand with two or more people Figure 3 WaLRUS float ing at proper depth NOTE the WaLRUS tether cable is strong enough to lift the WaLRUS and its weights but must not be bent to a radius of less than 15 cm when holding weight If deploying with a davit or crane use a pulley or sheave of
11. recently used integration time 30 9 3 13 TOM8 Exits the WaLRUS program sets the baud rate to 9600 and enters the TOM8 monitor program Unlike exiting to PicoDOS with the PicoDOS or QUIT command this allows exiting the WaLRUS program without executing an AUTOEXEC BAT file 1f one is on the flash disk Therefore TOM 8 is not affected by any BAUD instructions 9 4 Data Collection 9 4 1 ACQUIRE AUTO FIXED Count SEC Average BaseName Process Format Dest Channels FirstPix LastPix Pixinc FilterType FilterSize Collects data from all channels sending the data to the host console by default This command is very similar to the LOG command but uses different default settings The first optional parameter sets the exposure time mode AUTO iteratively tries to find the optimum exposure time for each channel within the limits set with INTPARAMS which may mean that for each data sample the instrument may take sev eral measurements FIXED re uses the last integration time or the times specified in the TIMES command SPEED default uses auto integration for the first data collec tion and then makes only one measurement per subsequent data collection Occasionally data samples will be over or underexposed but overall the data sampling rate will be maximized The second parameter Count specifies the number of samples to take If the word SECONDS or an abbreviation as short as sec appears as the next argument then Cou
12. terminal windows allow you to send commands directly to the instruments Click on the WaLRUS terminal window to bring it to the front then press the en ter key to see the WaLRUS gt prompt Then type START ACQUIRE followed by the enter key To stop acquisition press control C If an integration is in progress you may need to press control C more than once Use the same process to control the HydroRad E1 but it will show a HydroRad gt prompt in its terminal window 7 3 Measuring Sky Irradiance Data For remote sensing applications collect sky irradiance data by using a small black disk to block direct sun from falling on the irradiance collector as shown in Figure 11 For best results hold the shadowing disk such that the white diffuser of the Ed collector is in the center of the shadow Hold the shadowing disk at least 15 to 20 cm away so that the light collector will still be exposed to the entire sky but not to the direct sun Ship motion will prevent you from holding the disk perfectly still but motion will not affect the data as long as the shadow completely covers the white diffuser throughout the meas urement Figure 11 Shading Ed collector to measure sky irradiance 20 8 MAINTENANCE SERVICE AND SUPPORT 8 1 Calibration WaLRUS is a sophisticated scientific instrument that requires regular calibrations in order to deliver its full performance We recommend radiometric calibration using the specialized equipm
13. will be included in the output spectrum If Pixlnc is a positive number then FirstPix LastPix and PixIncrement will correspond to physical pixels If PixInc 1s a negative number and a calibration has been imported into the WaLRUS see ImportCal then FirstPix and LastPix and PixInc will be 10ths of nanometers For ex ample if 400 2000 and 2 are specified then the output will consist of pixels 400 402 404 406 2000 If 3500 8500 and 25 are specified then output will consist of pixels corresponding to wavelengths at 350nm 352 5nm 355nm 357 5nm 850nm By de fault the settings specified in the FiltParams command are used FilterType can be 0 1 or 2 A value of 0 zero or off specifies no filtering A value of 1 specifies boxcar averaging in which case each pixel in the output spectrum will be the result of an equally weighted average of the number of pixels or wavelength range specified by FilterSize rounded up to an odd integer if necessary A value of 2 specifies Gaussian averaging where each pixel in the output spectrum will be the result of an normal distribution weighted average with a full width at half max FWHM equal to the number of pixels or wavelength range specified by FilterSize By default the Fil terSpec setting specified in the FiltParams command is used If FilterSize is a positive integer then it will correspond to that fixed number of pixels If FilterSize is a negative integer then the filte
14. AUTOEXEC BAT file is present on the flash disk it will be executed If the current baud rate is other than 9600 PicoDOS will set it to 9600 unless otherwise in structed in an AUTOEXEC BAT file 9 3 7 POWER Siate Turns on state 1 or off state 0 power to the spectrometers POWER may also be used without an argument to display the current status Any command that initi ates an integration will automatically turn on the power first 1f necessary and executing SLEEP will turn it off so this is rarely needed in normal use 9 3 8 PRESSURE Displays the current raw reading of the pressure transducer if installed See also DEPTH 9 3 9 RESET Reinitializes the WaLRUS program which executes any BAUD command in AUTOEXEC BAT if it exists loads the parameters in HYDRORAD INT if it exists executes the commands in HYDRORAD CMD if it exists and loads any calibration files that exist 9 3 10 SLEEP Seconds Turns off the spectrometers and puts the system in low power sleep for the given number of seconds If Seconds is not specified sleeps indefinitely Sleep can always be interrupted by receipt of characters on the serial port or by the sleep wake switch 9 3 11 TEMP Displays the internal temperature of the spectrometers in degrees C 9 3 12 TIMES TimeA TimeB TimeC TimeD TimeE TimeF TimeG Displays the most recently used integration time for each channel If times are specified they will be stored as 1f they were the most
15. Value and MinPeak settings will result in fewer over exposed measurements and more usable data in speed auto mode The algorithm will attempt to find an integration time that results in a spectrum that has at least MinPeakPixels whose values are between SatValue and MinPeak It will allow up to MaxSatPixels that exceed SatValue MinPeakPixels has the lowest priority of the criteria A spectrum may be considered well exposed even if it does not meet MinPeakPixels MaxAttempts is the maximum number of trial integrations allowed The algorithm will terminate after this many integrations if it does not achieve a spectrum that meets the dynamic range criteria Within LOGAUTO the last integration will be logged whether or not it terminated normally PreFilter sets the width of a filter that excludes occasional hot pixels from con sideration Under most circumstances this should be set to 3 9 2 2 BAUD newrate Q store Change to a new baud rate Without the Q flag BAUD replies Changing to XXXX BAUD Hit lt return gt when ready and waits until it receives another character not necessarily lt return gt With the Q flag which stands for quiet the baud rate will immediately change without any further in put There must be a space between the newrate parameter and the Q flag or the Q will be ignored Standard baud rates from 2400 to 230 400 baud are supported Note that most PC serial ports do not support 230 400
16. WaLRUS Il Water leaving Radiance Unison Spectrometer User s Manual Revision B HOBI 3s on Hydro Optics Biology amp Instrumentation Laboratories www hobilabs com support hobilabs com HOBI abs HOBI Labs Inc 1420 NW Gilman Blvd 2 2662 Issaquah WA 98027 USA http www hobilabs com support hobilabs com phone 425 484 0111 fax 425 401 5134 li Contents T OWN G WW rare ccs states tees cece A caiece me seeetieueus euecmeeaueetons 1 2 Quick Stall osiyni naaa a A AANE AE A SI 2 3 PrO AUN OU NS eaea E ona tueanna dunn ch senuensuaneaaane rs 7 A HCD IOV IMG ING tress E E 8 AM OVEN ENa e N setantaus E nade a nga TRA 8 T2 URAC eS Deploy Il CM titers mccatsteassecden tec uatea a uations namet yada tates teleaeae oad eeeatas 8 AcSS PROMIMNG Sodas thence a tal cat tats wasit hs arsieedae ts aerlasdati E E mean aaaoeie Renate memieieas 10 AA MWereht amd Rie Cie Deti scanio eines estate asst ase eeaeateaes 11 5 Power and Communication Interface cccccceeeeseeeeeeeeeeeeeeeeeeeeeeeneeees 14 Sl Connections and Pow cr Supp y assan a 14 sa Temal Ba Weries nta o sos aanssausanssauegass N N A 15 Deo MCOMMMUMICALIONMELCT ACC oia a E E A ee eee gies 16 6 Tilt Roll Heading Sensor keiacisidvetetevtietcatidevesvedesiiiatieaurcdeeseleacdariieetetecousis 18 0 Roakimedi piy aaura a N Gee eno 18 02 SOE Da Ee E PE oP E EEA E EAA 18 7 Operation With HydroRad E 1 ccccceces
17. WaLRUSs with batteries installed include constant current chargers that recharge the battery in a maximum of 15 hours The actual charging time required after a partial discharge is about the same as the time the WaLRUS was being operated from the batter ies Charging continues at the same rate as long as the charger is plugged in If the WaLRUS is operating with the battery charger plugged in note that the cur rent going to the batteries will be reduced and the charging time will increase For fastest charging either put WaLRUS to sleep or provide an external power supply whose volt age is higher than the battery voltage A 13 8V power supply is recommended for this situation While the battery tolerates indefinite periods of charging repeated prolonged charges can eventually degrade battery capacity For best battery life we recommend that 15 you charge on average not more than 3 times the time that the sensor is operated from the battery not including sleep time 5 2 4 Battery disconnect Plug The battery can be electronically disconnected from the WaLRUS circuitry by shorting pins 2 and 8 of the bulkhead connector together HOBI Labs supplies a spe cial dummy plug distinguished from a standard dummy by a pink or red handle for disconnecting the battery Figure 10 Apply this plug when shipping or storing the in strument for long periods to protect the batteries Figure 10 Battery disconnect plug against
18. aracters received through the serial port during execution of LOGRANGE will abort the process 9 4 9 RAW FirstPixel LastPixel Pixellncrement Channel Displays the most recent spectrum collected with INT or AUTO Does not apply the filter but does apply the pixel limits set with FILTPARAMS If FirstPixel LastPix el or PixelIncrement are specified then these values are used in place of the FILTPARAMS limits If Channel is specified or an asterisk for all channels the most recent spectrum from that channel is shown Press Control C or send an ASCII code 03 to break out of the listing 9 4 10 START Command If Command is specified it is executed every SampleCycle seconds as speci fied in the LOGPARAMS command Control C or switching the Trigger switch to OFF stops the loop Command may also be the name of a command file which would be executed every SampleCycle seconds A STOP command in the command file will also break the loop If no command is specified the LOG command executes every SampleCycle se conds collecting SampleDuration samples each time as specified in the LOGPARAMS command When sampleDuration samples have been collected the WaLRUS will go into low power sleep mode until SampleCycle seconds have passed since the beginning of the previous collection This is equivalent to switching the Trigger switch to ON Control C or switching the Trigger switch to OFF stops automatic sampling 37 9 4 11 STOP
19. at least 30 cm diameter 4 2 Surface Deployment 4 2 1 Tether connection Figure 4 shows correct attachment of the tether e Loop the cable around the WaLRUS to prevent strain on electrical connection e Tighten locking sleeve on electrical connector e Connect the cable grip to pad eye with a locking carabiner Be sure to lock the carabiner 4 2 2 Preparation e The rope on the stability weight should be long enough to lower the weight into the water while the WaLRUS is on the deck of the ship If necessary adjust it e Have tether in a neat coil or figure 8 and ready to pay out without kinks Assign cable handling responsibility to one person 8 Test data communication Set data collection parame ters in RadSoft Deployment Move WaLRUS and stability weight to deployment site Use locking carabiner to se cure profiling weight to bot tom pad eye on WaLRUS Figure 5 Set the WaLRUS on deck at the place where it will be lowered into the water While two people hold the WaLRUS se curely on the deck one person gently lowers the stability weight into the water Figure 6 Do not let the weight drop The person who lowered the stability weight now assists in lowering the WaLRUS into the water To avoid ship shadow let the WaL RUS drift away from the ship while paying out a length of tether Use start button in RadSoft to start data collection if using a HydroRad E1 simultaneously see section 7
20. ayed in the format time heading tilt roll Time is measured in seconds since midnight January 1 1970 Head ing is in degrees ranging from 0 to 359 9 and tilt and roll are in degrees with a range of 60 to 60 To test the sensor stand the WaLRUS upright and rotate it while observing the orientation data The heading values should change with the rotation while the tilt and roll values change only slightly Then tip the WaLRUS in different directions while ob serving corresponding changes in the tilt and roll values To stop continuous tilt display send the command tilt 6 2 Stored Data Each time it stores spectral data in a file in its flash memory the WaLRUS also stores a set of orientation data sampled at the beginning and end of the spectrometers integration time For example if you specify that spectral data will be stored with a base file name of TEST see the Quick Start section a file named TEST TLT will be stored that contains the orientation data for each spectrum Each line in the TLT file will be in the form timel heading tiltl rolll time2 heading2 tilt2 roll2 The first four data are stored at the beginning of the corresponding spectrum and the se cond four at the end 18 7 OPERATION WITH HYDRORAD E1 The HydroRad E1 is a single channel radiometer especially suited as a companion to the WaLRUS for collecting irradiance data on the deck of the ship while a WaLRUS is de ploye
21. baud and some may have trouble with even lower rates Also note that high baud rates may not work over long cables If you plan to use high baud rates and long cables in the field test your system first in the lab 24 The baud rate you set remains in effect until changed by another BAUD com mand you exit the WaLRUS operating software or the WaLRUS is reset by removal of power or the RESET command To make the change in baud rate permanent include the key word store in the baud command 9 2 3 DEPTHCAL Offset ScaleFactor For DEPTHCAL sets the coefficients used to calculate calibrated depth readings from the WaLRUS pressure sensor if one is installed Offset is the raw reading at at mospheric pressure ScaleFactor is the coefficient to convert digital counts to equivalent meters of depth in water Values entered with DEPTHCAL take effect immediately and are saved in the file DEPTH CAL so they will remain in effect until changed with another DEPTHCAL command 9 2 4 DATE mm dd yy hh mm ss Identical to the TIME command Sets the date and or time of the real time clock The command will accept partial dates for example 3 1 sets the month to 3 and the day to 1 without affecting the year and times for example 13 24 sets the hour and minute without affecting the seconds Years may be entered with 2 or 4 digits 9 2 5 ECHO state or ECHO string State specifies whether characters sent to WaLRUS s serial port are automatical ly e
22. choed If state is on 1 then echo is turned on 1f state is off zero then echo 1s turned off The default is on With echo off characters you type will not appear in your terminal software If a string follows the echo command the string will be echoed to the command line Be careful because if the first word of the string is one of the WaLRUS reserved words on open yes off close no the value of the reserved word will be used as if you were specifying a State and the rest of the string will be ignored 9 2 6 ID Displays the factory set model serial number and configuration information about the WaLRUS 9 2 7 IMPORTCAL Filename Given a file containing properly formatted calibration data for one or more chan nels translates the file into a binary format for future rapid loading The resulting binary files are named A cAL for channel 1 8 CAL etc 25 If the DAISYCHAIN command is used IMPORTCAL does NOT have to be re peated 9 2 8 INTPARAMS MinTime MaxTime WarmupTime AutoPowerDown Channels Shows and sets parameters governing integration MinTime is the minimum inte gration time in milliseconds used in auto integration commands such as AUTO LOGAUTO and START This is typically set to the electronic limit of 20 ms MaxTime is the maximum integration time in milliseconds used in auto integration commands such as AUTO LOGAUTO and START Practical values of MaxTime
23. d First the HydroRad E1 light collector can be shaded from direct sunlight to measure the irradiance of the sky as described in section 7 3 Second the HydroRad E1 provides surface irradiance measurements when the Ed collector on the WaLRUS II is submerged during profiling 7 1 To Add a HydroRad E1 to RadSoft Setup e Install a second RS232 USB interface on your computer as described in the Quick Start section You may need to reboot your computer in order for it to rec ognize the new interface e Start RadSoft and connect to the WaLRUS as in the Quick Start section e Connect the HR E1 through its PDI cable similarly to the WaLRUS connection and connect its battery charger e Inthe RadSoft Desktop window select New gt New Device from the File menu It will display the Connect To Instrument dialog box Check the Load Calibration From Instrument option and Click the Find port amp baud rate button Connect to Instrument Status No Connection Com Pot BaudRate __instumert Type Com3 s600 v HydoRad V Load Calibration From Instrument Connect Find port amp baud rate Chose Save port amp baud settings and connect late vis Reconnect e RadSoft will detect the HydroRad E1 and create a new icon for it in the RadSoft desktop window 19 7 2 To Operate WaLRUS and HydroRad E1 Simultaneously After you set up both instruments in RadSoft double click on their icons to open terminal windows The
24. d as a letter a number or an asterisk to indicate all channels This channel setting will be used as the default channel for subsequent AUTO or INT commands 9 4 4 FILT FirstPixel LastPixel Pixellncrement Channel Displays the most recent spectrum collected with INT or AUTO after applying the current filter see FILTPARAMS If Channel is specified or an asterisk for all channels the most recent spectrum from that channel 1s shown Press Control C or send an ASCII code 03 to break out of the listing 9 4 5 GRAPH FirstPixel LastPixel VerticalScale Channel Displays a crude graph of the most recent raw spectrum whose numerical values can be viewed with RAW The X axis represents pixels numbers over the range speci fied by FirstPixel and LastPixel The width of the graph is fixed at 80 characters If no FirstPixel and or LastPixel are specified the corresponding values set by the FILTPARAMS command will be used The Y axis represents pixel amplitudes in digital counts VerticalScale specifies the graph s height in lines The Y axis always covers the full range of pixel values from 0 to 32767 Therefore the default VerticalScale value of 32 is equivalent to 1000 counts per line 33 If Channel is specified or an asterisk for all channels the most recent spec trum from that channel is shown Note that because of the low resolution of the display many details of the spec trum may not be apparent 9 4 6 INT Channel
25. der information displayed includes WaLRUS Serial Number Channel name Units and Scale For each pixel between FirstPixel and LastPixel the constants displayed include F which determines the dark current calibra tion function to use C which is the floating point constant used in the dark current cal ibration and Epsilon which the count rate is divided by to obtain engineering units Channel may be entered as a letter a number or an asterisk to indicate all channels 9 2 17 TIME mm dd yy hh mm ss Identical to the DATE command Sets the date and or time of the real time clock The command will accept partial dates for example 3 1 sets the month to 3 and the day to 1 without affecting the year and times for example 13 24 sets the hour and minute without affecting the seconds Years may be entered with 2 or 4 digits 28 9 2 18 TXDELAY Delay Sets the minimum time in milliseconds by which WaLRUS delays its responses to commands in case the system with which it is communicating requires such a delay 9 2 19 VER Displays the version number and date of the WaLRUS firmware 9 2 20 ZERODEPTH ZERODEPTH measures the current raw reading of the pressure transducer if 1n stalled then records this as the Offset used for calculations of calibrated depth which may also be set with DEPTHCAL If executed while the WaLRUS is at atmospheric pressure ZERODEPTH compensates for offset errors due to the effects on the t
26. e top as a hand hold Stand the WaLRUS upright on its foot as in Figure 1 or lay it on the flat side of the ring and foot as shown in Figure 2 WaLRUS is shipped with a protective dummy plug installed on the power amp data and covers on the light collectors Leave the plug and covers in place until you are ready to collect data Software Installation Insert the software CD in your Windows computer and run the RadSoft installation program If your WaLRUS will be used in both surface and profiling modes it is supplied with two different calibration files To install these e Start RadSoft e Select About RadSoft from the Help menu e In the About box click the link under User Files This will open a Windows explorer window e Double click the HydroRad folder e Double click the Calibration folder Irradiance Ed collector Protective ring Radiance Lu collector Power amp data connector Tether attachment eye Pressure sensor Radiance Lu collector Figure 1 WaLRUS Overview baseline configuration shown USB Interface Installation Drag the files WRxxxxxx_surface csv and WRxxxxxx_profile csv where xxxxxx is the serial number of your WaLRUS from the Calibration folder on the software CD into the Calibration folder on the computer Plug the HOBI supplied RS232 USB interface ts into your computer Allow Windows to automatically install the driver If Windows cannot insta
27. ent and procedures developed at HOBI Labs every six months or 200 hours of operation whichever is sooner 8 2 Maintenance e Observe all the precautions listed in section 1 e Wash salt water away from the instrument after every use and dry the WaLRUS before storage e Regularly inspect the light collectors for damage Note that the copper parts on the radiance collectors do normally develop a green oxide layer e Apply the battery disconnect plug during Figure 12 Two round zinc an odes protect the other metal storage and shipment and fully charge the parts from corrosion batteries at least once every two months e Check the condition of the zinc anodes on the bottom end cap see Figure 12 If they show major erosion contact HOBI Labs about replacing them 8 3 Service and Support For help and advice regarding the operation of your WaLRUS contact HOBI Labs at support hobilabs com or through our web site www hobilabs com where you can also download manuals software and other technical information 8 4 Equipment Return To return your equipment to HOBI Labs for any reason first contact us for a re turned material authorization RMA number at support hobilabs com The RMA is very important for tracking your equipment Please provide us with the instrument serial number the address to which it should be returned after service and any special requests Upon issuing the RMA we will send you shipping i
28. ents 2 dark current compensation 3 normalized by integration time 4 engineering unit scaling full calibration The Format parameter selects the format in which data are output the default set ting is to use the LogParams OutputFormat setting 2 spectra saved in binary with CRC checksum and host reply BIN extension on files If the output is to the console the data is followed by a Within 2 seconds the host must respond with an acknowledgment of good data Y or an indicator of bad data X If bad data is indicated or no response is received in 2 seconds then the data is re sent up to 10 times per channel 1 spectra saved in binary with CRC checksum BIN extension on files 0 spectra saved in binary BIN extension on files l spectra saved in text ASC extension on files The Dest parameter selects where data are output the default setting is to use the LogParams OutputDestination setting 0 multiple files Channel letter appended to file name 1 single file 2 host console default for Acquire command 3 host console multiple files 4 host console single files 35 Channels is a string of digits indicating with spectrometer channels are enabled For example 124 indicates that channels 1 2 and 4 are enabled By default the channels specified in the IntParams Channels setting are used FirstPix LastPix and PixInc are used to sub sample the measured data They determine which pixels
29. escribed by Filespec Filespec can contain MS DOS wild cards such as and 9 5 6 ERASE Filename Synonymous with DEL Filename 9 5 7 REN OldName NewName Renames the file called Ol dName to NewName 38 9 5 8 TYPE Filename Textmode ShowNames Delay Transmits the contents of the file named Filename via the serial port Filename can contain wildcards If Textmode is specified as 1 or on default then Carriage Re turns and Line Feeds will be expanded to Carriage Return Line Feed combinations If Textmode is specified as 0 or off then the output will be pure binary If ShowNames is specified as 1 or on default off then filename s precede the output from each file If Delay is specified then the WaLRUS waits Delay milliseconds before displaying the output 9 5 9 YS Q G FileSpec Initiates a batch file send using the YMODEM protocol Sends all files whose filenames match FileSpec which can contain DOS wildcards such as or YS can be forced to YMODEM G no error checking recovery with the G option The Q op tion inhibits messages To cancel a pending transfer press lt control x gt several times 9 5 10 YR Q G Initiates a batch file receive with automatic file naming using the YMODEM pro tocol YR can be forced to YMODEMG no error checking recovery with the G option The Q option inhibits messages To cancel a pending transfer press lt control X gt sev eral times
30. excessive discharge The battery disconnect plug can also be used to reboot the instrument in case of a soft ware fault Note that like the hard disk in a computer WaLRUS s flash memory can be cor rupted if power is removed while it is updating its directory Therefore do not disable the battery while WaLRUS is storing data or performing file operations Disabling the battery will cause WaLRUS s real time clock to reset and will also reset any parameters that were changed without being saved to flash by the SAVEPARAMS command 5 3 Communication interface WaLRUS communicates through a standard RS 232 serial connection to any computer serial port or through a USB serial adapter The serial protocol settings are 8 data bits no parity 1 stop bit and no flow control Only the transmit receive and ground lines are connected between WaLRUS and the computer Any common terminal emulator program can be used to communicate with the WaLRUS but the software provided by HOBI Labs has many features tailored specifi cally for the WaLRUS 5 3 1 Baud Rate WaLRUS can operate at any baud rate from 2400 to 115 200 In order to transfer spectra rapidly it is desirable to set the baud rate as high as possible But the actual rate is limited by the cable connection to the host computer and in some cases by the serial interface hardware on the computer WaLRUS is typically set to a rate of 57 600 at the factory which is safe for most cables up t
31. fter doing LOGAUTO 300 at 12 00 in this file then LOGFIXED 10000 WaL RUS will sleep until 0 00 the next day then do LOGRANGE 20 1000 2 10 7 3 Timed Example 3 intparams 20 10000 Pace rameag LUO 0004 10 JOC O00 hoGrange 20 1 300055 6200 7 10GamEo 600 SECONDS 7200 43 8200 9 00 OOO LEEDO L200 hs 00 14 00 FOO FOs 00 de 0 1 00 L900 ZO G0 ZOD When it is first started this file will do the INTPARAMS and FILTPARAMS commands then wait for the next listed hour to start It will collect 10 minutes 600 se conds of data every hour during daylight hours and a range of dark integrations every midnight 44
32. g a rope clamp First place the rope in the half of the clamp with unthreaded screw holes Hold the screws in place while place the other half not shown on top Then tighten the screws 13 5 POWER AND COMMUNICATION INTERFACE 5 1 Connections and Power Supply WaLRUS II can be powered from three sources external 10V to 15V supply in ternal battery and external 18 to 24V battery charger Any combination of these sources may be safely connected simultaneously Pow er will be drawn from the source with the highest voltage Nominal power draw at 12V input is 50 mA plus 70 mA per channel during sampling and 1 mA during low power sleep Note that if the battery charger is connected as the only power source operating the WaLRUS will reduce the charging current to the battery and increase the needed charging time The WaLRUS communicates via RS 232 through a standard COM port or through a suitable USB adapter Power and data lines are brought out on a SubConn MCBH8M connector mate MCIL8F with pins assigned as shown below FUNCTION Supply voltage 10 to 15 VDC 2 Common RS232 Instrument Receive Battery charging input 18 to 24 VDC Reserved Reserved Short to Common to Disable Battery The supplied power data interface cable splits into a DB9 for RS 232 communica RS232 Instrument Transmit tion a barrel connector for the battery charger and a pigtail for an external DC supply 14 5 2 Internal Batteries
33. g tab and enter the following settings Wait keg tae Coiecten Pleto Piocesang hycholled Procecemg Loonse Pome Sang Processing applied by RadSoft to all HydroRad dala Colle ton Lewd Rafn dete sdearg rg Note Calbratos bevels T Subsanple nat data lower than bevels aput data will have no effect T haw Vaha Ou 1 Bad Pool Adanimar T Dak Subpacton To Lren ard me Adani Raf dats Fite Ko Fherg ful Enrgreomg Un i Bace Me F Remove laneto e Daane f n i LS Fa W Set Over Expcoed Dats to Ze Acarian Lind 1 No im booed dyo musi be ewe Doe 1 r Mae B Live Samgien W Appi Changes to curert beaded dae ox Cancel Save ogre iira o HARA fash morscry e Select the Exposure tab and select the Auto Speed option Leave all other set tings at their defaults e Remove covers from the WaLRUS light collectors e Note the data sampling controls in the toolbar Sample Once Stop Sampling Sample Continuously e Click the button or select Acquire One Sample from the File menu Commands and WaLRUS responses will appear in the terminal window and a graph will appear and display spectra The amount of time required for this pro cess may be up to 30 seconds depending on light levels e Click the D button or select Acquire Continuous Samples from the File menu and note that multiple samples are collected and added to the graph If desired shine lights int
34. ined as equal to 1 in command argu ments that expect logical values and may be used in place of the value 1 In place of the 9 66 value zero in command arguments the words of close or no may be used These words are not case sensitive 9 1 2 WaLRUS Channel Numbering Commands that refer to channels will accept either a channel number or letter as an argument Thus the first channel can be referred to as either 1 a or A 9 2 Configuration Commands 9 2 1 AUTOPARAMS SatValue MinPeak MaxSatPixels MinPeakPixels Max Attempts PreFilter Shows and sets parameters governing the automatic setting of integration time used by AUTO ACQUIRE LOG and LOGAUTO 23 The first four parameters define what is considered an acceptable dynamic range for the pixel values in a spectrum SatValue defines the value at which a pixel is consid ered saturated MinPeak is the minimum value at which a pixel is considered fully ex posed The range for both of these values 1s 2000 to 32760 Please note that higher SatValue and MinPeak settings will result in more fully saturated potentially more accurate readings when used with the LogAuto Log Au to or Acquire Auto command sequences However when using the Log or Acquire commands in the default speed auto mode higher settings will lead to more over exposed samples and less usable data In fact if light levels are changing rapidly lower Sat
35. ll the driver automati cally go to http www ftdichip com Drivers VCP htm and download the driver applicable to your Windows version You may need to reboot your computer before it Figure 2 WaLRUS resting safely on its side with the top mounted Ed collector and pro recognizes the interface Startup tective plastic ring in the fore Connect the beige colored branch of the PDI ground cable to the RS232 USB interface Remove the dummy plug from the power amp data interface connector see Figure 10 Store it in a safe place for later use Plug the waterproof connector of the power data interface PDI cable into WaL RUS Tighten locking sleeve Connect the battery charger to the PDI cable In RadSoft select Connect from the File menu In the Connect To Instrument dialog box click Find port amp baud rate Leave all settings at their defaults RadSoft will detect the instrument type Connect to Instrument Status Port Open Com Post Baud Rate Instrumert T Com3 0 HydoRad vl M Load Calibration From instrument Connect Find port amp baud rale Save port amp baud settings and connect later vis Reconnect RadSoft will scan its ports until it finds the WaLRUS If this is the first time you have connected to the instrument it will display a message indicating you must select a calibration file Click OK then navigate to the WRxxxxxx_surface csv file you installed in the Quick Star
36. m eter system that measures spectral irradiance and radiance in situ in a manner that is proven to provide the best determination of water leaving radiance and remote sensing reflectance WaLRUS II measures the solar irradiance spectrum incident on the ocean surface and the upward reflected radiance 60 cm below the sur face simultaneously and with high spectral reso lution over a range of at least 350 to 850 nm In addition WaLRUS II may be configured with additional light collectors and spectrometers to measure other simultaneous radiances and irradi ances above and below the water surface Though ideally suited measurements while floating at the surface of the water WaL RUS II can also measure underwater at depths up to 100 meters either at a fixed depth or while profiling Data from all channels are delivered through a neutrally buoyant tether cable for real time display on a computer The internal intelli gent controller can also store data in on board flash memory for later retrieval 2 QUICK START Unpacking and Handling Figure 1 shows some key features of WaL RUS II in its baseline configuration Your WaLRUS II may have different features WaLRUS II is shipped in a rugged custom shipping case The Power Data Interface PDI ca ble tether cable software CD and other accessories are shipped in a separate case While lifting WaLRUS from its case and han dling it you may use the protective ring near th
37. nd executes the command On its first pass through the file WaLRUS will skip any commands whose times have passed WaLRUS continues executing commands in sequence unscheduled commands as soon as they are read and scheduled commands according to their designated times When it reaches the end of the file or if all the schedule times have already passed WaLRUS will return to the first scheduled command in the file and wait for that time to arrive on the following day If a file contains no timed commands WaLRUS will execute all the untimed commands once then return to the WaLRUS gt prompt If the file contains one or more timed commands it will repeat the schedule every day until halted by the user 10 5 Halting Execution To halt execution of a command file press lt control c gt You may need to re peat this several times depending on the command being executed 10 6 Testing WaLRUS command files are essentially computer programs and it can be surpris ingly easy to create bugs in them Before deploying a command file of any complexity you should test it to verify it that it behaves as you intend If your file includes long peri ods of sleep you can accelerate its execution by pressing a key not control C unless you want to halt execution once or twice to wake it from each sleep It will detect that it woke early and display the message sleep interrupted but will nevertheless continue with the next command then sleep u
38. nstructions 21 After we receive the equipment we will inspect and test it and send a description and cost estimate for any service required We will not proceed with service until we re ceive your authorization for the cost Always ship your WaLRUS II in its original case which is designed to protect it against rough handling 22 9 APPENDIX DIRECT COMMANDS This section describes in detail the commands used to communicate with and con trol the WaLRUS operating firmware You do not need to know the details of these commands if you use RadSoft to communicate with your WaLRUS but may need them for special applications or in order to communicate directly through a text terminal or other software Within RadSoft you can send and receive commands in a terminal win dow 9 1 Command Conventions For clarity in this document commands are shown in upper case but they are not case sensitive Some commands accept arguments which are separated from the base command and from each other by commas or spaces Arguments may be individually omitted in which case they will have no effect For example if a command accepts three arguments in the form COMMAND argl arg2 arg3 OF COMMAND argl arg2 arg3 you may adjust only arg3 by entering COMMAND arg3 Most commands reply with the settings of relevant parameters or other status 1n formation 9 1 1 Reserved Words 29 66 The words on open or yes are all def
39. nt up to 10 times per channel default for Acquire command 1 spectra saved in binary with CRC checksum BIN extension on files 0 spectra saved in binary BIN extension on files l spectra saved in text ASC extension on files The Dest parameter selects where data are output 0 multiple files Channel letter appended to file name 1 single file 2 host console default for Acquire command 3 host console multiple files 4 host console single files Channels is a string of digits indicating with spectrometer channels are enabled For example 124 indicates that channels 1 2 and 4 are enabled By default all channels are enabled for the Acquire command FirstPix LastPix and PixInc are used to sub sample the measured data They determine which pixels will be included in the output spectrum If Pixlnc is a positive number then FirstPix LastPix and PixIncrement will correspond to physical pixels If PixInc is a negative number and a calibration has been imported into the WaLRUS see ImportCal then FirstPix and LastPix and Pix nc will be 10ths of nanometers For ex ample if 400 2000 and 2 are specified then the output will consist of pixels 400 402 404 406 2000 If 3500 8500 and 25 are specified then output will consist of pixels corresponding to wavelengths at 350nm 352 5nm 355nm 357 5nm 850nm By de fault FirstPix 1 LastPix 2047 PixInc 1 corresponding to every pixel FilterType can be 0 1
40. nt is to be interpreted as a duration in seconds during which data should be col lected If Average 1s nonzero only one averaged spectrum will be produced for each ac tive channel Otherwise each spectrum measured will be sent to the host and or saved If BaseName is specified and Dest setting indicates data are to be saved in multi ple files the file name for each channel will be formed from the BaseName followed by a letter indicating the channel A 1 B 2 etc followed by an extension indicating the data format If the Dest setting indicates data are to be saved in a single file the letter in dicating the channel will be omitted If BaseName is not specified the base name will be the date in the form MMDDYY The Process parameter controls which calibration steps are applied to data before they are filtered and saved 0 raw unprocessed default for Acquire command 1 pixel adjustments 31 2 dark current compensation 3 normalized by integration time 4 engineering unit scaling full calibration The Format parameter selects the format in which data are output 2 spectra saved in binary with CRC checksum and host reply BIN extension on files If the output is to the console the data is followed by a Within 2 seconds the host must respond with an acknowledgment of good data Y or an indicator of bad data X If bad data is indicated or no response is received in 2 seconds then the data 1s re se
41. ntil the next scheduled time You can also interrupt time consuming LOGAUTO LOGFIXED and LOGRANGE commands without halting file execution by pressing lt control c gt once during the command 10 7 Timed Examples 10 7 1 Timed Example 1 Z20 700 Logauto 600 Zl OO Logate 600 42 222007 LOganto 600 logfixed 10000 Z5 307 VOGELKEO 100 This file will do LOGAUTO 600 at 8PM and 9PM Sleeping after it s done each one At 1OPM it will do LOGAUTO 300 immediately followed by LOGFIXED 10000 then sleep until 11 30PM and do LOGFIXED 100 Then it will sleep until 8 00 the fol lowing day It will repeat this cycle daily until instructed to do otherwise 10 7 2 Timed Example 2 intparams 20 1000 0700 logrange 2071000 2 65007 lOogauto 300 SECONDS L200 S200 9 00 02 0 0 11700 12400 logfixed 10000 Note that example 2 starts with an untimed line Untimed lines that appear before the first timed line are executed only once each time the file is opened whereas timed commands are repeated each day Once all the untimed lines are done the program waits for the first timed line whose time has not yet past So if you were to start this file at 5 00 it would execute intparams 20 1000 then wait until 6 00 and do that line Lines that have a time but no command will repeat the last command that appears before it in the file If you started example 2 at 8 30 it would do the untimed line then at 9 00 it would do LOGAUTO 300 A
42. o 100 meters and often longer 16 After it is reset by disabling the internal battery or sending the RESET com mand the WaLRUS temporarily starts up at 9600 baud and sends a message indicating what baud rate it will change to If you are having trouble communicating and suspect a baud rate problem set your software to 9600 baud reset the WaLRUS and send the con trol X character during this startup sequence That will cancel the baud rate change and hold the baud rate at 9600 until you explicitly change it The BAUD command changes the current baud rate To permanently change the rate end the command with the word store for example BAUD 115200 store lt return gt will cause the WaLRUS to change to 115 200 baud after the next reset 17 6 TILT ROLL HEADING SENSOR WaLRUS II includes a 3 axis magnetic sensor to measure its attitude tilt and roll and compass heading Its orientation is defined as follows e Positive tilt 1s inclination toward the tether attachment eye e Positive roll is inclination toward the right when the tether attachment eye is fac ing the observer e Zero compass heading is when the tether attachment is facing the magnetic south pole 6 1 Real time display To view a continuous display of the orientation in real time open a terminal win dow in RadSoft by double clicking on the WaLRUS icon on the RadSoft Desktop Type tilt cont into the terminal window Data will then be displ
43. o the different collectors to observer their responses e To stop sampling click the button or select Stop from the File menu Data Retrieval e To display files stored on the WaLRUS select Device Explorer from the File menu or click the XI button e If you followed the steps in the Quick Start section you should see files called TESTA BIN TESTB BIN etc and TEST TLT The BIN files contain spectral data from the WaLRUS channels The TLT file contains tilt roll heading data synchronized with the spectral data e To transfer the files to your computer drag their icons from the RadSoft Explorer window to a Windows Explorer folder You can then open the spectrum files in RadSoft RadSoft Operation Details For complete details on all RadSoft commands and operations see the separate RadSoft User s Manual 3 PRECAUTIONS General e Also see section 8 Maintenance Service and Support e If deploying in salt water rinse the WaLRUS and tether thoroughly with fresh water after each use e Dry before storing e Check the condition of the zinc anodes on the bottom end cap see Figure 12 in section 8 Electrical Connectors e Lightly lubricate the connectors on the WaLRUS and tether with silicone grease or spray e Protect the connectors with dummy plugs when not in use Light Collectors e Cover the light collectors when not in use e Clean and dry the collectors before covering Tether Cable e Connect tether
44. r width will be that many 10ths of nm wide So a FilterSize of 5 specifies a 5 pixel wide filter A filter size of 15 specifies a 1 5 nm wide filter By default the Fi terSize setting specified in the FiltParams com mand is used 9 4 8 LOGRANGE MinTime MaxTime TimeStep Mode Averages BaseName Process LOGRANGE repeatedly executes LOGFIXED over a range of integration times The first integration on each channel will be for MinTime milliseconds If Mode 1s 1 the second integration will be at MinTime TimeStep If Mode is 0 zero the second will be at MinTime TimeStep Integrations continue with increasing length until the integra tion time is equal to MaxTime If the last calculated time is greater than MaxTime a fi nal integration will be performed for MaxTime For example LOGRANGE 20 1000 3 1 will integrate each channel at 20 60 180 540 and 1000 milliseconds 36 If MinTime MaxTime or TimeStep is omitted the corresponding value set by INTPARAMS will be used Averages and BaseName have the same meaning as with LOGFIXED If a value is specified for Process this value will override the Processing value set up with the LogParams command This parameter controls which calibration steps are applied to data before they are filtered and saved 0 raw unprocessed l pixel adjustments 2 dark current compensation 3 normalized by integration time 4 engineering unit scaling full calibration A pair of control c ch
45. range from 2000 to 30000 milliseconds although it can be set higher WarmupTime is the number of seconds WaLRUS will wait before collecting spec tra after power is first applied to the spectrometers AutoPowerDown can be either zero or a number greater than zero If it is non zero then power to the spectrometers will be turned off if they are idle for more than 2 seconds plus WarmupTime Channels is a string of digits or letters specifying from which channels data will be collected For example 13 or AC indicates that channels and 3 are enabled Note that WaLRUSs may be equipped with different numbers of channels Normally all in stalled channels should be enabled 9 2 9 LAMBDA Channel Pixel Given a channel and pixel ranging from 0 to 2047 displays the wavelength in nm corresponding to the pixel Channel may be specified with a letter a number and asterisk for all channels If no channel is specified the current CHAN setting is used 9 2 10 LOADPARAMS FileName LOADPARAMS restores parameters saved in a file by SAVEPARAMS If no FileName is specified it loads HYDRORAD INI 9 2 11 LOGPARAMS Samplelnterval SampleDuration Processing Output Format OutputDestination Samplelnterval and SampleDuration both in seconds are used for continuous pe riodic collection as initiated by the START command or trigger switch They are not rel evant to collection scheduled by a command file unless that file contains a START command
46. ransducer of temperature and barometric pressure 9 3 General Operations 9 3 1 lt enter gt Pressing the enter key on a blank line will repeat the last command 9 3 2 command Any command preceded by a backslash will be passed to the operation system for execu tion This is not needed under normal circumstances WARNING Although you can use this mechanism to launch another program or run a batch file from within WaLRUS this is not advisable It leads to a disorderly exit from WaLRUS and the computer may not return to WaLRUS upon completion of the other program 9 3 3 BATT Displays the current supply voltage and charge current if battery is being charged This is typically the voltage of the internal battery but may also be supplied by an external source If the external source s voltage is higher than the battery voltage its voltage will be reported The voltage reported will be somewhat lower than actual volt age of the source since it is measured after passing through a protective diode 9 3 4 DEPTH If your WaLRUS is equipped with a depth sensor this displays the current cali brated depth in meters 29 9 3 5 PAUSE Seconds Used primarily in command files PAUSE illuminates the red indicator waits for the given number of seconds 5 1f Seconds is not specified then switches the indicator to green 9 3 6 PICODOS Exits the WaLRUS program and sends control to the operating system prompt Note that if an
47. s where data are output 0 multiple files Channel letter appended to file name 1 single file 2 host console 3 host console multiple files 4 host console single files 27 9 2 12 PARAMS Displays all the settable parameters Similar to typing LOGPARAMS FILTPARAMS AUTOPARAMS and INTPARAMS in succession except that PARAMS can not change any parameter values This is handy if you forget which pa rameters are available or which command to use for a particular setting See also SAVEPARAMS LOADPARAMS 9 2 13 PIXEL Channel Wavelength Given a channel and wavelength displays the pixel most closely corresponding to the wavelength Channel may be specified with a letter a number or an asterisk to specify all channels If no channel is specified the current CHAN setting is used 9 2 14 SAVEPARAMS Filename SAVEPARAMS stores all the parameters set with LOGPARMS INTPARAMS AUTOPARAMS and FILTPARAMS in a file with the given Filename If no Filename is specified they will be stored in HYDRORAD INI which is automatically loaded whenever WaLRUS starts up 9 2 15 SET VariableName Value Sets the value of environment variable VariableName to Value which can be a string or numeric expression Use VariableName to insert the value into other expres sions 9 2 16 SHOWCAL Channel FirstPixel LastPixel Displays in ASCII the currently loaded calibration data for a given channel from the FirstPixel to the LastPixel Hea
48. ses the last integration time or the times specified in the TIMES command SPEED default uses auto integration for the first data collec tion and then makes only one measurement per subsequent data collection Occasional ly data samples will be over or underexposed but overall the data sampling rate will be maximized The second parameter Count specifies the number of samples to take If the word SECONDS or an abbreviation as short as sec appears as the next argument then Count is to be interpreted as a duration in seconds during which data should be collected If Average 1s nonzero only one averaged spectrum will be produced for each ac tive channel Otherwise each spectrum measured will be sent to the host and or saved 34 If BaseName is specified and the Dest setting indicates data are to be saved in multiple files the file name for each channel will be formed from the BaseName fol lowed by a letter indicating the channel A 1 B 2 etc followed by an extension in dicating the data format If the Dest setting indicates data are to be saved in a single file the letter indicating the channel will be omitted If BaseName is not specified the base name will be the date in the form MMDDYY The Process parameter controls which calibration steps are applied to data before they are filtered and saved the default setting 1s to use the LogParams Processing set ting 0 raw unprocessed 1 pixel adjustm
49. sseeseeseesceeneessenneeseenseeseeeneeseoaes 19 7 1 To Add a HydroRad E1 to RadSoft Setup cccccccccceeessseceeceeaesseceesaeaenseceeeaaas 19 7 2 To Operate WaLRUS and HydroRad E 1 Simultaneously ec eeeeececeeeeeeeeeeeees 20 io Measuring Sky Irradiance ala a2 24cycest ntsc aaO a canta A deseo 20 8 Maintenance Service and Support ccsccccceseeeeeeeecenseseeseesenneeeenseeeens 21 SE C aNDa Oesen a fe PGR Pane PEA AERP SAR T eA eee ee 21 S2 Ma NENINC pee Eco PO 21 S3 DENCE ANG OPPO sraa E E a ESN 21 Sa EUP nE R 0 oea a Pe R ANA aS 2d 9 APPENDIX Direct CommandS sss ssssnsnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnE 23 OA Command Conven ons an E T eae OAE a A a 23 I2 Conomor C OMI AIS er ves a T T AT EEOAE OTE 23 23 Ganera Operat ONE serip E T A Ra 29 OA Din Collecion nra a a a a es a 31 LS PIC OPAO me ne ee NU mt Pe NP nC eee 38 9 6 sAuxillary Serial Porr Commands seanna a n A 39 9 Dedusim and Vestine aan E O mom stoma aeees 39 o EI eE UE OE A AAE eee ee 40 10 APPENDIX Command FIleS cccceeeeeeeeeneeeneceseenseenseeseeeseonseeneeeneees 41 IOL Generale Oval e A viens gesavaeetn ee ese aa es sae en me 4 IO Simple ele lt 72110 41 8 oie ee rns eens IE tS NT RC REC 41 I gt Fmd Command Pile F oOrma ienaa ea EET eae 41 O ECU Oee A A 42 IOS Haline KOC UG on renen a A E T E E AEA 42 IOG SC SUS r N E AE 42 IOF TIETE ES on N N 42 ili 1 OVERVIEW WaLRUS II is a second generation buoy radio
50. t section e When the connection is established and icon representing the WaLRUS will ap pear in the RadSoft Desktop window appearance may vary with software ver sion e Double click on the icon This will open a terminal window in which you can ob server the commands being sent to the WaLRUS and its responses e Select Set Date Time from the WRxxxxxx menu In the dialog box shown below click Set WRxxxxxx To PC Date amp Time PC Date amp Time Othe Date amp Time 1074 2011 1 15 49 Ph Set WR111201 To Othe Date amp Time W R111201 Date amp Time 1 1 1998 3 1257 AM Close Data Collection e Select Set Up Acquisition from the WRxxxxxx menu to see the following dia log box Copy the settings shown below the list of channels may vary depending on the configuration of your WaLRUS Colection Aasiat Processing Hydiad Procesung Lxpcoure Powe Sarg Data collection parameters Pycbofl ad Darnet to an i Corian S arging ptora a E Lue m Sapi nhat paro lu l Speci Sanping Porod Mreamh avoi porod bac 8 of Sampie m asch penod T B Cite Derr D See copy te He otlad Flesh Foxo Mame bw ssh data they med Mex 7 chart empty Gate YYMMDD MyoF act Finn F bes jer i i sS S One Fie per Dard p gt Poot narat wall De apperaded dy PIN Comtaned Fite XASC nhare X the charred co Cano M Sae kogo iotro b Hpcboted Rech novoy e Inthe same dialog box select the Radsoft Processin
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