© 2004 MBARI

Real-time Over-the-horizon Communications for

MBARI's Ocean Observing System

SM

M B A R I

© 2004 MBARI

Introduction

Radio tower M2

POINTLOBOS

WESTERN FLYER

M1MBARI

MBA

ZEPHYR

DORADO

DRIFTERS

© 2004 MBARI

Introduction

Radio tower M2

POINTLOBOS

WESTERN FLYER

M1MBARI

MBA

ZEPHYR

MOOS

Satellite

DORADO

DRIFTERS

© 2004 MBARI

Introduction• MBARI Ocean Observing System (MOOS)

– Buoy– AUV Dock – Benthic Instrument Node (BIN)

• Stand-alone remotely deployable cabled observatory

• Delivers OEM cable to seafloor – (Optical, Electrical, Mechanical)– Good to 4km depth

• Targets low/mid-latitude deployments

© 2004 MBARI

MOOS – MTM2

© 2004 MBARI

Relevent MOOS System Requirements

• Readily configurable / expandable– Compatible with MARS/other cabled observatories

• Portable• Large data storage capacity• Real-time interaction• Event response

– Signal to shore– Initiate predefined actions

• Affordable

© 2004 MBARI

Targeted MBARI Science

• Meteorological• Upper Water Column (UWC)

– Nutrient supply impact on community structure– Carbon export from euphotic zone to deep sea– Ocean fertilization processes

• Benthic– Microbial processes– Fluid fluxes– Geologic activity

© 2004 MBARI

California Coast

Juan de Fuca

Outer Monterey Bay

NE Pacific Rise

Benthic Primary Site

Benthic Secondary Site

Benthic Secondary Site

Upper WC Primary Site

Target Deployment Locations

© 2004 MBARI

MSE 2005 UWC Science Instruments

• WHOI ASIMET Suite– WND, HRH, SWR, LWR

• MBARI Delta pCO2

• 7x HOBILabs HydroRad & HydroScat• 11x Seabird CTD• RDI ADCP• MBARI Environmental Sample Processor (ESP)• MBARI Bathyphotometer• MBARI OSMO

© 2004 MBARI

MSE 2005 Surface-Node Block Diagram

© 2004 MBARI

MSE 2005 Benthic Science Instruments

• Seabird CTD• Wetlabs ECO BBD & FLD• RDI ADCP• MBARI ISUS• MBARI OSMO• MBARI SEISMO• Prime Focus Sediment Trap• MBARI Respirometer• Vertical Profiler• MBARI Seafloor Cam

© 2004 MBARI

Instrument Sample Schedule

• Instruments powered/sampled periodically– Most every 10 minutes– Some every hour– Few continuously

© 2004 MBARI

Data Requirements – As Planned

• Multi-scale Oceanographic Processes: 3.3MB/day• Canyon Processes – Normal: 257kB/day• Canyon Processes – Event: 1.3MB/day• Active Mid-Ocean Ridge: 71.3MB/day• Benthic Carbon Cycles: 3.3MB/day• Standardized Baseline: 1MB/day

© 2004 MBARI

MOOS Mooring Controller (MMC)

• CPU based on Intel StrongARM– Embedded Linux RTOS running Java application

• Java RMI

• Provides telemetry services:– Retrieval– Archival– Transmission control– Bi-directional shore/instrument interface– Up to 12A per channel power switching/isolation

• Multinode support via copper/fiber Ethernet

© 2004 MBARI

Radio Integration

• RF Interface Card (RFIO)– Two ‘9-pin’ RS-232 ports

• 1 Primary radio– buoy shore

• 1 Secondary radio– buoy buoy– buoy AUV– buoy ship

– Isolated 10W power supply– Separate ground-fault detector

© 2004 MBARI

Buoy / Seafloor Network

Primarily Star Topology

© 2004 MBARI

Buoy/Shore Network

© 2004 MBARI

Telemetry - Data Publishing

• Buoy dials shore modem periodically• Buoy establishes PPP link to portal computer

– Portal publishes buoy DNS information

• Buoy publishes recently archived data on portal• Buoy disconnects• Portal publishes data to shore-side data system

(SSDS) through firewall

© 2004 MBARI

Telemetry – Instrument Services• Buoy dials shore modem periodically

– Or RF reset initiated

• Buoy establishes PPP link to portal computer– Portal publishes buoy DNS information

• Shore computer opens remote console on buoy via ssh• Shore computer establishes console to instrument

– Remote instrument configuration– Remote instrument diagnostics– Remote driver updates– Add instrument and remotely start instrument service– Etc.

© 2004 MBARI

Systems Considered

• Iridium

• Globalstar

© 2004 MBARI

Deployment Location EvaluationLocation Globalstar Iridium· Monterey Bay area and immediately adjacent waters extending out 1000 kilometers (3500m) yes yes· Equatorial pacific no yes· Northern area of the East Pacific Rise southwest of Mexico’s Baja Peninsula yes yes· Ocean station “P” at 50N, 145W in the North Pacific (4150m) yes* yes· Axial Seamount (1600m) yes yes· Juan De Fuca ridge complex (2500m) yes yes· Gorda ridge (3900m) yes yes· Loihi Seamount, 35 kilometers south east of Hawaii no yes· Locations in the western Pacific (5500m) some* yes· Central pacific gyre area off Monterey Bay (4500m) yes yes

© 2004 MBARI

Data Transmission Price - Planned

• Iridium @ 2.4kbps

• Globalstar @ 7.4kbps

© 2004 MBARI

Globalstar Testing & Integration

• Qualcomm GSP-1620• Prevco housing

– PVC case– Acrylic window

• Data port to MMC RFIO• Testing results

– Reliable 7.6kbps for IP traffic over PPP link

– No significant impact seenfrom buoy motion simulation

© 2004 MBARI

Globalstar Integration - EMC

• Transmitters– BT Console: 2.4GHz

– Globalstar: 1.6GHz

– Freewave: 900MHz

– ARGOS: 401MHz

• Receivers– Globalstar: 2.4GHz

– BT Console: 2.4GHz

– GPS: 1.575GHz

– RF Reset: 929MHz

– Freewave: 900MHz

• Separated Globalstar & GPS by 1.2m– Requires >0.76m separation

• Console & RF Reset separated by 2m• Removed Bluetooth Console Repeater

© 2004 MBARI

Iridium Testing

• NAL Research– 9500 Iridium Modem

• Model CDM9500I35-I

• Fixed Mast Antenna• Model SAF5350

– +0.5dB 0° to 40°– +1.5dB 40° to 70°– +0.5dB 70° to 80°– +0.0dB 80° to 90°– -2.0dB 90° to 110°

– Buoy spends most time between 0° and 20°• ASIMET WND data from MTM2

© 2004 MBARI

Iridium Testing Results

• FTP’d multiple small files of varying formats– .zip, .jpg, .gif, .pdf, .txt, .rtf, .c, .tar, .gzip

– Filesizes from 1.5kB to 15.0kB

• Tilted antenna to predefined heading and angle to simulate buoy motion– Dial-up only

• Transferred large text files– 100kB to 1MB

© 2004 MBARI

Iridium Testing Results – Small Files• “Dial-up data” service (tested in Linux)

– AVE: 2.04kbps, MAX: 6.00kbps, MIN: 1.28kbps

• “Direct Internet” service (tested in Windows)– Compression from Brand Communications

– AVE: 6.76kbps, MAX: 26.24kbps, MIN: 1.36kbps

Plain Text

© 2004 MBARI

Iridium Testing Results – Filesize & Tilt

• Noticed lower bandwidth at low angles than at high angles – Suspected antenna gain pattern

© 2004 MBARI

Iridium Testing – Large Files

• ‘Direct Internet’– MAX: 15.0kbps– AVE: 13.9kbps– MIN: 13.1kbps

• ‘Dial-Up’– MAX: 2.6kbps– AVE: 2.5kbps– MIN: 2.2kbps

• Dropped link 4 times out of 16 at around 600kB

© 2004 MBARI

Iridium Testing – Compression

• Large files compressed down with WinZip– 100kB to 1.24kB – 500kB to 3.391kB– 1.023MB to 6.055kB

• “Direct Internet” really– MAX: 182bps– AVE: 116bps– MIN: 79bps– Due to online time lost during data compression

• Better to compress data then send

• “Dial-Up” should be– MAX: 3.3kbps– AVE: 2.8kbps– MIN: 1.8kbps

© 2004 MBARI

Iridium Testing - Conclusions

• Use optimized antenna for application

• Transfer small files

• Transfer precompressed files

© 2004 MBARI

Iridium Integration

• Changed components based on previous testing• Motorola 9505 Phone

– Antenna adapter– Data Kit

• “Auto-on” Modification– Michael Ashley

– Auto Adapter• Compatible with

buoy power

– Mobile Antenna• +1.0dB 0° to 40°• +0.5dB 40° to 70°• -0.5dB 70° to 80°

© 2004 MBARI

Iridium Integration - EMC

• Transmitters– Iridium: 1.6GHz

– Console: 900MHz

– ARGOS: 401MHz

• Receivers– Iridium: 1.6GHz

– GPS: 1.575GHz

– RF Reset: 929MHz

– Console: 900MHz

• Separated Iridium & GPS by 1.2m– Untested

• Console & RF Reset separated by 2m

© 2004 MBARI

New Pricing Plans

• Iridium • Globalstar30 min/mon $34.95

+ /min $1.17120 min/mon $49.95

+ /min $0.42400 min/mon $99.95

+ /min $0.251250 min/mon $249.95

+ /min $0.203000 min/mon $499.95

+ /min $0.17

0 min/mon $34.99+ /min $1.40

20 min/mon $53.99+ /min $1.30

60 min/mon $93.99+ /min $1.20

120 min/mon $149.99+ /min $1.10

240 min/mon $269.99+ /min $1.00

© 2004 MBARI

Data Requirements – As Deployed

• CIMT in Monterey Bay: 4.1MBdata/day• MTM2 in Monterey Bay: 1.1MBdata/day

• With link overhead:– Link overhead ~6 to 1– On MTM2 really using 120minutes/day

• 3650 min/month• Upgraded to 3000min/month plan

– $7325/year with Globalstar

© 2004 MBARI

Future Plans

• Reduce link overhead

• Implement shore initiated link establishment

• Deploy Iridium on buoy in region outside Globalstar service area

© 2004 MBARI

MOOS Buoy Team - Primary

• Keith Raybould – Program Manager

• Mark Chaffey – Systems/Project Engineer• Software Engineering

– Kent Headley – Bob Herlein – Tim Meese – Tom O’Reilly– Wayne Radochonski– Mike Risi

• Mechanical Engineering– Jon Erickson– Andy Hamilton

• Electrical Engineering– Scott Jensen – Lance McBride– Ed Mellinger

© 2004 MBARI

Thanks to

• Sanjeev Uruppattur

• Duane Thompson

• Mark Chaffey

• Tim Meese

• Russ Light, APL