ISAR5 User Manual v0.10
Reference: ISAR-User-Manual-v0.10.doc
Issue: Draft
Date of issue: Thursday, 11 March 2004
Document type: User
Manual
Restricted Rights Notice
The ISAR instrument design and ISAROS software program including all accompanying procedures, functions and documentation described herein are made available under license agreement with Craig Donlon. Their use, duplication, and disclosure are subject to the restrictions stated in the license agreement.
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Craig Donlon. makes no warranties, either express or implied, as to any matter not expressly set forth in the license agreement, including without limitation the condition of software, merchantability, or fitness for any particular purpose.
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Purchasers of an ISAR instrument and ISAROS software code license are given limited permission to reproduce this manual provided such copies are for their use and are not sold or distributed to third parties. All such copies must contain the title page and this notice in their entirety.
Copyright © 2003 by Craig Donlon.
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Document change record
|
Author |
Modification |
Issue |
Rev. |
Date |
|
C Donlon |
Original |
DRAFT |
0.1 |
March 27, 2003 |
|
C Donlon |
Updated to isaros-v6.1 data format |
DRAFT |
0.2 |
April 3rd 2003 |
|
C Donlon |
Updated to isaros-v6.2 data format |
DRAFT |
0.3 |
April 22nd 2003 |
|
C Donlon |
Updated to new isaros6.2 format |
DRAFT |
0.4 |
May 5th 2003 |
|
C Donlon |
Updated with inputs from Gary Fisher |
DRAFT |
0.6 |
June 6th 2003 |
|
C Donlon |
Included PNI setup and revised Encoder setup sections. Checked data format sections and updated to isaros-v6.7. Added prototy6pe optical alignment and prototype GPS configuration sections. |
DRAFT |
0.7 |
August 14th 2003 |
|
C Donlon |
Added SCS enabled routines and data format description |
DRAFT |
0.8 |
November 10th 2003 |
|
C Donlon |
Updated and corrected errors |
DRAFT |
0.9 |
January 20th 2004 |
|
C Donlon |
Revised to isaros-v7.1 |
DRAFT |
0.10 |
March 6th 2004 |
|
C Donlon & M Reynolds |
Revised to isaros-v7.2 and redesigned outputs for SCS operations while in Miami building ISAR#1. Added new section describing hardware. |
DRAFT |
0.11 |
March 14th 2004 |
Table
of contents
8.9 SCS
enabled Standard data record format ($I5SCS).............. Error!
Bookmark not defined.
8.10 SCS
enabled SSTskin data record format ($SCSST).............. Error!
Bookmark not defined.
1 Introduction
The Infrared Sea surface temperature Autonomous Radiometer model 5 (ISAR-5) has been developed to provide accurate and reliable measurements of the radiative sea surface temperature (SSTskin) to an accuracy of ±0.1 K within the spectral waveband 9.8-11.mm (see Table 1.1). In the past, one of the major problems to obtaining accurate SSTskin measurements from ships has been adequate environmental protection of delicate infrared radiometer fore-optics. Sea-water spray or rain can introduce significant errors and in extreme cases, destroy instrumentation without prompt operator intervention. The ISAR-5 system has been specifically designed to address these problems and provide a self calibrating infra red radiometer system that can operate autonomously for extended periods when deployed from a ship of opportunity (SOO). AS SSTskin measurements alone are often of marginal value, additional meteorological or oceanographic instrumentation can be connected to the ISAR-5 system to provide a complete user specified measurement package.
Table 1.1 ISAR-5 instrument Specifications
| Spectral range |
9.6-11.5mm |
| Response
time |
0.05-10s (user defined) |
| SSTskin
Accuracy[1] |
±0.1K rmse. |
| Temperature
range |
173-373 K |
| Target
angle range |
180° (nadir-zenith) in 0.1° intervals (user defined) |
| Maximum
continuous deployment at sea |
0-3 months |
| Min.
deployment height |
7m |
| Calibration
type |
2 internal radiance cavities |
| Output |
RS232/NMEA style |
| Weight |
<15 kg |
| Dimensions |
Diameter 200mm x 500 mm |
| Operating
temperature |
274 - 310 K (non-freezing) |
| Power input |
16V DC |
This operations manual describes the configuration, operation and deployment of an ISAR-5 system. It is meant to be a user reference guide that provides sufficient information for you to configure and begin making measurements with the ISAR5 system. Several procedures are described that may be performed by a competent technician although it should be recognized that any warranty agreement may be void if these are undertaken. Their inclusion is meant to be a last resort should things go wrong at sea without the ability to return the ISAR instrument to base for a proper service and repair.
The following symbols are used within this manual:
i Indicates
useful information and tips to help you work with your ISAR5
M
Indicates critical information that
should be read with care and attention
It is assumed that you as a user are competent with handling
PC computers, software installation, basic wiring of plugs and have a competent
understanding of making infrared measurements of the sea surface and atmosphere.
2 Unpacking the ISAR5 system
This section of the ISAR5 manual explains how to:
1. Unpack and repack the ISAR5 system and peripheral devices
2. Check for damaged items
3. Check that all components are present
The ISAR5 is shipped in a robust travel case that contains all of the necessary hardware and software to operate the ISAR5 instrument. However, as each deployment requires consideration of local mounting options, it will be necessary to construct a mounting cradle specific to your deployment. Please contact the ISAR team for advice on suitable mounting options. Operational deployment of ISAR-5C on a ship is discussed in more detail in section ??.
i Do handle all items with care and inspect each one for obvious damage. If you suspect that any ISAR component is damaged, please notify the ISAR team immediately.
Figure 2.1. The ISAR-5 radiometer and Optical rain gauge.
Before you begin to use your ISAR5, please take some time to check that your ISAR system is complete and that there are no obvious signs of damage. Use Table 2.1 to ensure that all items are present in the box when first unpacking and contact the ISAR team if any items are missing.
Table 2.1 ISAR-5 component list.
|
Item code |
Number supplied |
Description |
|
ISAR5-01 |
1 |
ISAR-5C instrument |
|
ISAR5-02 |
1 |
Optical rain gauge |
|
ISAR5-03 |
1 |
Trimbell GPS magnetic antenna |
|
ISAR5-04 |
1 |
Cable for Mini-ORG |
|
ISAR5-05 |
1 |
Cable for ISAR-5 power |
|
ISAR5-06 |
1 |
Communications cable for ISAR-5 instrument |
|
ISAR5-07 |
1 |
KT15 Optical alignment tool |
|
ISAR5-08 |
1 |
Small spot size laser for optical alignment with manual |
|
ISAR5-09 |
1 |
KT15 lens mount for laser |
|
ISAR5-10 |
1 |
US-Digital shaft encoder configuration interface card |
|
ISAR5-11 |
1 |
US-Digital shaft encoder configuration software (3.5” floppy disk) and manual. |
|
ISAR5-12 |
1 |
ISAR5 operational software CD. |
|
ISAR5-13 |
1 |
ScTI Mini-ORG optical rain gauge operations manual |
|
ISAR5-14 |
1 |
Trimbell GPS operations manual |
|
ISAR5-15 |
1 |
Tattletale operations manual |
|
ISAR5-16 |
1 |
Heitronics KT15.85D operations manual |
|
ISAR5-17 |
1 |
Hietronics KT15.85D instrument data (3.5” floppy disk) |
|
ISAR5-18 |
1 |
4 Impulse connector blanks |
|
ISAR5-19 |
1 |
Calibration certificate |
|
ISAR5-20 |
1 |
CD-ROM containing software/documentation etc |
|
ISAR5-21 |
1 |
GPS configuration software |
3 Connecting the ISAR5 system
This section of the ISAR5 manual explains how to:
1. Connect the ISAR5 Optical rain gauge to the ISAR instrument
2. Connect the GPS antennae to the ISAR5 instrument
3. Connect a power supply to the ISAR5 instrument
4. Connect external user RS485 devices to the ISAR5 instrument
5. Connect the ISAR5 to a computer
Figure 3.1 shows the electronics housing end cap of the ISAR-5C instrument and the necessary connections to the external devices. Use this as a guide to connect the ISAR-5C system noting the orientation of the ISAR-5C using the 7 LED indicators as a guide.
Figure 3.1 View of the ISAR5 end plate showing how external connections are made to the instrument. Use the indicator panel lights to orient the ISAR-5C body.
Connect each of the peripheral devices to the ISAR-5C instrument as shown in Figure 3.1 ensuring that the connections are well made. It may be wise to use a small amount of silicone grease to secure a waterproof seal on each connector. Wiring tables are given below for each peripheral device.
3.1 Peripheral device wiring schedule
3.1.1 Serial interface wiring
The serial interface IMPULSE plug is wired according to Table 3.1.1.1
Table 3.1.1.1 Serial interface IMPULSE plug wiring schedule
|
Impulse pin number |
Serial pin number |
Wire colour |
Purpose |
|
1 |
1 |
Screen (Green) |
Screen/Case |
|
2 |
5 |
Black |
Signal Ground |
|
3 |
3 |
Orange |
Transmitted Data (PC->>ISAR) |
|
4 |
- |
Red |
Reset Switch |
|
5 |
- |
Yellow |
Reset Switch |
|
6 |
2 |
Brown |
Received Data (ISAR ->> PC) |
Serial interface communication settings are shown in Table 3.1.1.2
Table 3.1.1.2 Serial communications parameters for ISAR5 serial interface
|
Name |
Setting |
|
Baud |
9600 |
|
Data Bits |
8 |
|
Stop Bits |
1 |
|
Parity |
None |
|
Handshake |
None |
3.1.2 Optical rain gauge wiring
The optical rain gauge IMPULSE socket is wired according to Table 3.1.2.1
Table 3.1.2.1 Optical rain gauge IMPULSE socket wiring schedule
|
Impulse pin number |
Wire colour |
Purpose |
ORG Connector pin number |
|
1 |
Screen |
|
|
|
2 |
Black |
Ground |
E |
|
3 |
Orange |
Analogue Signal |
A |
|
4 |
Red |
+12Volt DC |
D |
|
5 |
Yellow |
|
|
|
6 |
Brown |
Analogue Ground |
B |
|
7 |
Green |
|
|
|
8 |
Blue |
|
|
3.1.3 RS485 device wiring
The RS485 IMPULSE socket is wired according to Table 3.1.3.1
Table 3.1.3.1 RS485 IMPULSE socket wiring schedule
|
Impulse pin number |
Wire colour |
Purpose |
|
1 |
Screen |
|
|
2 |
Black |
Ground |
|
3 |
Orange |
|
|
4 |
Red |
+12Volt DC |
|
5 |
Yellow |
Data+ |
|
6 |
Brown |
|
|
7 |
Green |
Data- |
|
8 |
Blue |
|
3.1.4 Power supply wiring
The Power supply IMPULSE socket is wired according to Table 3.1.4.1
Table 3.1.4.1 Serial interface IMPULSE socket wiring schedule
|
Impulse pin number |
Wire colour |
Purpose |
|
1 |
Screen/Green |
Ground/Case |
|
2 |
Black/Brown |
Supply Ground |
|
3 |
Red/Orange |
+12Volt DC |
i
Ensure that the correct voltage
is set on the power supply unit (15-16 V DC) and always use an uninterruptible
power supply with a current limit facility. If the input power falls below 15V
DC the on board TT8 computer may require a hard power reset as the internal
registers may be corrupted. This
may be difficult to determine as the operational code may continue running
although the data will be incorrect!
The ISAR5 on-board computer is a Tattletale Model 8 (TT8) manufactured by Onsett computer corporation and further information can be found at http://www.onsetcomp.com/.
For operational deployments, use an uninterruptible power supply. For the first power on of the instrument, ensure that you have any current limit capability turned to minimum and slowly increase the current limit.
MISAR-5 should draw about 0.5-0.7 A during normal operations and ~1 – 1.2 A during motor operations. If excessive current is drawn, immediately power off and contact the ISAR team for advice and assistance.
3.1.5 GPS antennae wiring
The GPS antennae BNC socket is wired according to Table 3.1.5.1
Table 3.1.5.1 GPS antennae BNC socket wiring schedule
|
BNC |
Wire colour |
Purpose |
|
|
|
|
4 ISAR5 software installation
This section of the ISAR5 manual explains how to:
1. Install ISAR5 software on a computer that will be used to control the ISAR5 instrument
Please install the operational software provided on the ISAR-5C CD-ROM following the instructions provided in the README.TXT file. Typically, the ISAR code is copied to a directory with the following structure:
Table 4.1 Directory structure of the ISAR-5C software distribution
|
Directory structure |
Contents and purpose |
|
\isar\Documentation |
Contains all ISAR-5 documentation |
|
\isar\bin |
Contains executable (*.rhx and *.ahx) TT microcomputer files |
|
\isar\source |
Contains ISAR-5C source code |
|
\isar\configuration |
Contains ISAR-5C configuration files (these are instrument specific) |
|
\isar\calibration |
Contains calibration files for ISAR-5C components |
|
\isar\data |
Default directory for data files |
|
\isar\CrossCut-v2.01 |
Directory containing CrossCut communications program |
|
\isar\PicoDos |
PicoDos software |
It is assumed that the user has installed the CrossCut v2.08 (for Linux use minicom and see Appendix B) program and read through the documentation supplied on the ISAR-5 CD-ROM before proceeding further.
5 Using the ISAR5 for the first time
The ISAR5 instrument is shipped with a basic diagnostic program called proto which can be used to familiarise yourself with the ISAR5 system and to test all of the instrument functionality. ISAR5 allows considerable flexibility for defining how the instrument will make measurements. This section of the manual explains how to:
- Interact with the ISAR5 instrument using a terminal emulator
- Test the ISAR5 system
To operate, the ISAR5 requires connection to a personal computer running Microsoft DOS/Windows or LINUX operating system. Only the DOS/Windows systems will be considered here and in the case of LINUX please see Appendix B.
The ISAR onboard computer (TT8) communicates with a host computer through a serial port via a resident mini-monitor program called TOM8. The TT8 computer can accept and execute C programs, interact with a user and offload logged data for final analysis. A communications interface is required on the host computer and the DOS CrossCut program supplied with the TT8 may be used for this purpose.
On initial power up the ISAR5 should automatically run the proto diagnostic software code that is stored in the ISAR5 EEPROM.
i The ISAR5 has a small panel of light emitting diodes (LED) to indicate the operational status of the instrument shown in Figure 5.1.
Figure 5.1 ISAR-5 status lights layout
Figure 5.1 shows the layout of the LED status lights and Table 5.1 describes their function.
Table 5.1 ISAR-5 status lights function
|
Position |
Color |
Indicates… |
|
1 |
Green |
BB1 heater on/off |
|
2 |
Green |
KT15.85D on/off |
|
3 |
Red |
Indicates status of watchdog timer If lit OK |
|
4 |
Green |
Spare power circuit on/off |
|
5 |
Green |
12 V DC ISAR-5C power supply on/off |
|
6 |
Yellow |
Heartbeat (blinking if OK) |
|
7 |
Green |
BB2 heater on/off |
6 Using the ISAR5 diagnostics software (PROTOnnn)
The PROTOnnn (where nnn refers to the release version of the codebase e.g. PROTO111) software is stored as a memory resident program within the TT8 EEPROM system and also as a compiled executable file located on the ISAR5 compact flash card (see section 7.1). This code will be run every time the ISAR5 is turned on automatically until you replace the EEPROM with another program.
Table 6.1 Command set for the PROTOnnn program (Proto111, 2003-06-06)
|
Key |
Description |
Expected result |
|
> |
Selects the Engineering menu option page |
Screen presents engineering menu command
options |
|
( |
Computes a Mean and Standard deviation of
Mini-ORG measurements for use in the isarconf.icf file |
Mean and SD calculation results are
presented |
|
$ |
Prints the contents of the flashcard file
ISARDATA.DAT |
The entire ISARDATA.DAT file is printed
to the screen allowing it to be captured and saved. |
|
? |
Selects the Operational menu page |
Screen presents operational menu command
options |
|
[ |
Executes the EnableEncoder() function |
Enables the USDIGITAL shaft encoder for
comms |
|
] |
Executes the DisableEncoder() function |
Enables the USDIGITAL shaft encoder for
comms |
|
* |
Obtain data over a scan drum arc (Useful
to scan over the black bodies) |
Points scan drum to an initial position,
increments the scan drum position until position 2 is reached. Prints data for each scan drum
position |
|
a |
Turns the ISAR5 spare power line on/off |
Green LED 4 (Fig 5.1) on/off |
|
A |
Turns the KT15 on/off |
Green LED 6 (Fig 5.1) on/off |
|
b |
Turns BB1 heater on/off |
Green LED 3 (Fig 5.1) on/off |
|
B |
Turns BB2 heater on/off |
Green LED 7 (Fig 5.1) on/off |
|
C |
Sends a command to an RS485 device |
Sends a command to the RS485 system |
|
C |
Reads all channels of the AD 4017 unit |
Prints values (counts) to the screen |
|
d |
Opens the ISAR-5C shutter |
Opens the shutter |
|
D |
Closes the ISAR-5C shutter |
Closes the shutter |
|
E |
Reads the position of the scan drum |
Prints scan drum angular position
(degrees) with reference to the set zero position (see F) |
|
E |
Move the scan drum to a given angular
position |
Moves the scan drum to the angular
position (degrees) you provide with reference to the set zero position (see
F) |
|
F |
Write a test string the ISAR-5C flashcard |
A flashcard file is opened and a string
is written to this file. |
|
F |
Set the shaft encoder reference position |
Sets the zero position of the shaft
encoder and stores the data on the encoder eeprom. |
|
g |
Read data from the GPS unit |
Prints raw data read from the GPS unit
(See section 8) |
|
G |
Set the ISAR-5C real time clock using the
GPS signal |
Sets the ISAR-5C real time clock to the
UTC time value reported by the GPS unit. |
|
h |
Read the Target temperature reported by
the KT15.85D |
Prints data to the screen |
|
H |
Send a command to the KT15.85D |
Prints a reply string from the KT15 (See
KT15 manual for more information) |
|
I |
Moves the scan drum in the forward
direction |
Scan drum moves continuously until a key
is pressed |
|
I |
Moves the scan drum in the reverse
direction |
Scan drum moves continuously until a key
is pressed |
|
J |
Moves the shutter in the open direction
(Careful not to run the shutter off the drive belt !!) |
Shutter moves continuously until a key is
pressed |
|
J |
Moves the shutter in the close direction
(Careful not to run the shutter off the drive belt !!) |
Shutter moves continuously until a key is
pressed |
|
k |
Not used |
|
|
K |
Switches the Thermistor Power VRef on |
|
|
l |
Not used |
|
|
L |
Read all of the analog channels |
All, analog channel data printed to screen
until a key is pressed |
|
M |
Not used |
|
|
M |
Not used |
|
|
n |
Not used |
|
|
N |
Not used |
|
|
o |
Read the ScTi Optical rain gauge |
Optical rain gauge data printed to screen |
|
O |
Test routine to check that rain gauge
signal closes the ISAR-5C shutter |
Opens the shutter and watches the rain
gauge for rain. IF a signal is
detected (e.g., by waggling your fingers in front of the rain gauge sensor)
the shutter will close. |
|
p |
Reads data from the PNI compass module |
Prints data to the screen (See section 8) |
|
P |
Sends a command to the PNI compass module |
See the PNI TCM-2 manual for more
information. Used to set up the
PNI TCM-2 module prior to use in ISAR) |
|
q |
Exit the Proto program and return to the
TOM8> prompt |
Returns to TOM8> prompt |
|
Q |
Not used |
|
|
r |
Reads the current ISAR-5C real time clock |
Prints date and time to the screen |
|
R |
Sets the real time clock from the
Tattletale time |
Sets time |
|
s |
Not used |
|
|
S |
Read the status of the shutter Hall
effect switches |
Prints data to the screen |
|
t |
Read the Tattletale electronics board
temperature, the window temperature |
Prints data to the screen |
|
T |
Read BB1 and BB2 temperatures |
Prints data to the screen |
|
u |
Show the current time setting of the
Tattletale |
Prints data to the screen |
|
U |
Set the Tattletale clock using
yyymmddhhmmss |
Set the TT8 clock |
|
v |
Read the input power voltage |
Prints data to the screen |
|
w |
Read the KT15 internal reference
temperature |
Reads the digital KT15 reference
(internal) temperature |
|
W |
Read the KT15 target temperature |
Reads the target temperature measured by
the KT15 |
A generic diagnostic program called PROTOnnn (where nnn is the version number) is supplied with the ISAR-5 instrument to help familiarize you with the instrument and to assist in diagnosing any problems you may encounter. A copy of this program can be found in the \bin subdirectory of the ISAR-5C CD-ROM.
i A copy of the Proto executable code is also available on the ISAR5 Compact Flash card (called Protonnn.R). While in PicoDOS, this program can be executed by typing its name and pressing enter (see section 7 below for details of how to access the ISAR Compact Flash card).
6.1 Testing the ISAR5 instrument
The ISAR-05C instrument has the PROTOnnn program already resident in flash memory so that on power up, the program will automatically start. Table 6.1 describes the command set of the PROTOnnn program.
Start the CrossCut interface and you should be presented with a menu of PROTOnnn options. Pressing ? will recall this menu screen at any time. As you can see, a command is executed by typing a letter which is case sensitive. Some commands have additional requirements and you will be prompted to enter appropriate data by the program. The command menu is summarized in Table 4.1 below.
The PROTOnnn program can be used to test the ISAR-5 instrument in order to make sure that no damage has occurred during transportation. The following tests should be executed:
- Check that the red light LED comes on when power is applied and that the yellow heartbeat LED is flashing.
- Check that the shutter opens and closes. You can use commands d and D for this purpose. Check that the shutter opens completely and closes completely and that excessive current is not drawn during this operation. Shutter movement should be smooth and the motors should maintain a steady speed.
- Check that the scan drum rotates and meaningful shaft encoder data is reported. This is best achieved by setting the scan drum to point at an angle of 355.5°. When the scan drum is in this position, the edge of the viewing aperture hole should line up exactly with the back face of the ISAR-5C body.
- Check that the KT15 reports meaningful data (typical range of 3-4 V at room temperature when set to use a range of –100 - 100°C)
- Checks the Blackbody thermistor ranges using command T.
- Check the Blackbody heater circuits by first switching each BB heater off and collecting some data. Now turn each black body heater back on and collect data (you may have to wait a few minutes for the BB’s to warm up a little)
- Checks the rain sensor. You should be able to generate a test signal by waggling your fingers in front of the sensor.
- Checks the PNI sensor by moving the ISAR-5C instrument into different angular positions in both the vertical and horizontal plane.
- Checks the GPS unit. Note that you will need to have the antenna connected and located in a position where GPS satellites can be seen to obtain meaningful data.
i Should the any test fail please contact the ISAR-5C team immediately!
Once you have successfully completed all the diagnostic tests, you are ready to begin using the ISAR-5.
7 Using the ISAROS© operational data logging software
ISAR5 allows considerable flexibility for defining how the instrument will make measurements for an operational deployment using the ISAROS (ISAR Operating System). This section of the ISAR5 manual explains how to:
1. Access the ISAR5 compact flashcard using PicoDOS functions
2. Upload a new isaros executable program to the TT8 computer
3. Store a file on the Compact flash card
4. Load a new isaros executable program into the ISAR5 EEPROM
5. Configure the isaros software to make user defined measurements
7.1 Using the ISAR-5 Compact Flash card and PicoDOS
The ISAR-5 system has an internal 120Mb compact flash card that can be used to store programs, configuration files, calibration information and data files. To access the Flash card it is necessary to execute the Peripheral Issues Card Or Disk Operating System or “PicoDOS” flash program using:
g 2bcf8
PicoDOS replicates most of the functionality of a "real" DOS, but embedded in TT8. The PicoDOS kernel and command shell provides you with transparent access to DOS compatible file functions. The following DOS Emulation Commands mimic the syntax and behavior of their DOS counterparts as shown in Table 7.1.1
Table 7.1.1 PicoDOS commands
|
Name |
Purpose |
Syntax |
|
CAPTURE |
Save a file from the Serial port |
Capture <filename> |
|
COPY |
Copy fa file |
copy <source filename>
<destination filename> |
|
DATE |
Print/set the TT8 date |
Date |
|
DEL |
Delete files |
del <filename> |
|
DIR |
List files |
dir [wildcards] |
|
ERASE |
Erase a file |
erase <filename> |
|
FORMAT |
Format a compact flashcard |
format [/Q][/E][/F] |
|
TIME |
Print/Set TT8 time |
Time |
|
TYPE |
Print the contents of a file |
type <filename> |
|
REN |
Rename a file |
Ren <oldname> <newname> |
|
VER |
Print the software
version |
Ver |
|
? |
Print a help screen with syntax information |
? |
i All commands are described in detail in the PicoDOS user manual in the \ISAR5C-Documentation subdirectory of the ISAR-5 CD.
7.2 Loading a new program onto the ISAR-5C instrument
Before any program can be executed, it is necessary to load the program onto the TT8 computer. Two types of Motorola S-record programs are provided with the ISAR-5C:
*.RHX which is a runtime hex S-record file loaded to RAM
*.AHX which is an application hex S-record file loaded to flash ROM.
The major difference is that an RHX S-record is memory resident (RAM) and needs to be re-loaded after each execution has terminated whereas an AHX record is burnt onto the TT8 flash which is described in the following section.
M It is always wise to run the RHX version of your program first to check that all is well before loading an AHX file. Sometimes it can be difficult to clear a program from flash if there is an error without first disassembling an ISAR5 instrument!
To clear a program from Flash, there is a hex file called NOPROG.AHX file in the \bin subdirectory. You can load NOPROG.AHX just as any other application hex file, but all it does is erase the portion of the Flash memory where the start of the program is found. When the ISAR-5C is powered on, the TOM8 monitor notices that there is no longer a program loaded.
7.2.1 Loading a new rhx program onto the ISAR-5C
To load a program into RAM, first make sure that the Terminal window is shown and the ISAR-5C is connected and powered up. Press <return> a few times on your PC. You should keep getting the TOM8> prompt in the Terminal window. Select the Tattletale menu item while in CrossCut and then the Load S-record entry (short-cut is Alt-L). This sends the proper commands to the TOM8 monitor to allow a high-speed (57600 baud) load of an S-record executable program to the TT8.
i Complete information on the operation of the TT8 computer can be found in the documentation provided in the \Documentation\TT8-Manual directory on the ISAR-5C CD-ROM.
You will be prompted to enter the file name of the S-record to load. Use the TAB and cursor keys or the mouse to select your rhx file and press ENTER when that file is highlighted. A dialog appears showing the process of the download. After the download you should see the following prompt:
TOM8>
load successful
To run the program, type g at the TOM8> prompt. This jumps to the starting address of the program (which the TOM8 monitor received from the S-Record) and executes it.
7.2.2 Storing a new program in the ISAR-5C flash memory
Loading a program to Flash memory is very similar to loading to RAM. When the ISAR-5C is powered up, the TOM8 mini-monitor will check for a program in Flash and execute this immediately. Thus, an application will automatically run at power-up or hardware reset if it is burned into the ISAR-5C Flash.
M When loading a new AHX file to the ISAR-5C this will overwrite the contents of the TT8 memory (e.g. the proto301.ahx program)!
To load the isar5.ahx program onto flash, first make sure that the Terminal window is shown and the ISAR-5C connected and powered. Press return a few times on your PC. You should keep getting the TOM8> prompt in the Terminal window. Go to the Tattletale menu and choose Load S-record (or press Alt-L). A file dialog appears and you should use the TAB and cursor keys or the mouse to select your ahx and press ENTER when that file is highlighted. A dialog appears showing the process of the download. After the download you should see something similar to the following prompt (the start and end address values may vary):
TOM8>
load successful
Target is Flash!
start addr = 00002000
end addr = 00006105
Ok to write flash between above addresses? (Y/N)
Press the y key to burn the program into Flash memory. The progress of the burn and the Flash ID are shown. To execute the program, while at the TOM8> prompt type g. To verify that the new isaros.ahx program is in Flash, turn off power to the ISAR-5C and then reapply it. The program should run automatically. Remember that you can always re-load an old flash resident program that you have overwritten.
7.2.3 Stopping the ISAR5 resident data logging program
When the ISAR5 is powered up, the isaros data logging program is automatically run. The initial factory configuration of the isaros code will make a SSTskin temperature measurement using a target view angle of 45º from nadir for the sea, 45º from zenith for the sky and a sea water emissivity of 0.98. However, for many deployments this configuration will be far from optimal.
By pressing Q the isaros data logging software should stop and place you at the TOM8> prompt.
7.3 Configuration of ISAR-5: Using the isarconf.icf file
The ISAR5 operational software, isaros, has been written to provide a versatile and easily configurable data logging software interface.
The isarconf.icf file is an instrument configuration file that is read by the isar system every time the data logging program isaros is started. It is stored on the ISAR5 compact flash card. The isarconf.icf file is an ASCII text file with a very specific format and contains instrument specific calibration data, component identifications and user configuration fields. The general format of the isarconf.icf file is for a comment line, denoted by a # at the start of the line, followed by a data line. For example
# ISAR-5C serial number (int)
2
i A complete
isarconf.icf file is provided as a reference in Appendix 2.
A complete isarconf.icf file is provided as a reference in Appendix 2.
In general, the comment line provides the format of the data line. No comment line should exceed 255 characters in length. In general only a few isarconf.icf fields need to be changed by a user these are discussed by task in the following sub-sections.
M Modifying
any of the calibration data entries within the isarconf.icf file may result in
either your ISAR refusing to boot or incorrect results. ALWAYS make a backup copy of the
isarconf.icf file on the ISAR flashcard before modifying any entries.
All of the fields that require user editing are provided at the start of the ISAR conf.icf file. Most entries should not be changed unless you are absolutely certain that you know what is required and the implications of your changes for the isaros data logging system and for your own measurements. In general it should only be necessary to set up the header sections, scan drum and associated sampling characteristics, the real time SST calculation configuration and any external RS485 devices you have connectexd th the ISAR instrument.
The following isarconf.icf entries should be used to describe the purpose of the isarconf.icf file:
# L1: Title
stating purpose of this isarconf file (str[255])
v65lab.icf
ICF for ISAR-5C-003; Setup for BB cals, log to flashcard:ON, SST
calculation:ON, diagnostics:ON, Raw PNI output:ON raw GPS output:ON
# L2: Author
name, e-mail and telephone number (str[255])
C
J Donlon (craig.donlon@jrc.it tel:+39 0332 786353)
# L3: Last
Edit date yyyy-mm-dd (str[15])
2003-06-05
7.3.1 Configuration of KT15.85D parameters
The KT15.85D may be configured to operate in a variety of different modes. The isarconf.icf file allows a user to define the serial number of the KT15 unit, calibration information, emissivity settings, response times and communication parameters. The following settings provide a default configuration for a KT15 radiometer although these values are specific to instrument serial number 4801:
# L33:
KT15.85D Serial number (int)
4801
# L34: Date
and details of KT15.85D last calibration (str[255])
2001-27-11
(Not used until 2003-05-05)
# L35: KT15
emissivity setting command (0.001 -> 1.000) (str[15])
EPS
1.000
# L36: KT15
response setting command (0.05, 0.1, 0.3, 1 3 or 10 seconds) (str[15])
RESP 1.0
# L37: KT15
analog output setting command (Do you know what you are doing ?) (str[30])
ANALOG
-100.0 50.0 C 3
# L38: KT15
serial interface setting (Do you know what you are doing ?) (str[20])
COM
96 8 1 n
# L39: KT15
Temperature to Radiance coefficients based on kt15 filter response (-1 not
used) (double[9])
-22.925646e0,65.196703e0,-81.215855e0,56.792568e0,-21.105313e0,3.2575460e0,-1.0,-1.0,-1.0
# L40:
Radiance to Temperature coefficients based on kt15 filter response (-1 not
used) (double[9])
273.15973e0,54.529628e0,10.634341e0,2.0172007d0,3.6480705e-1,5.7776974e-2,6.5293295e-3,
3.5814663e-4,1.0
Notes:
- The KT15 serial number is unique to each unit. It is entered into the isarconf.icf file in order that a cross check may be made between the KT15 by reading the serial number off the unit and the isarconf.icf value. In this way, the calibration data applied to the KT15 should be valid.
- The KT15 calibration date refers to the last calibration of the KT15 unit by Heitronics and applies to the Radiance to temperature and Temperature to radiance coefficients.
- The KT15 emissivity value should always be set to 1.0
- The KT15 response time default is 1.0s
- The analog parameters should not be modified
- MThe Serial interface parameters should not be modified
- MThe radiance to temperature and Temperature to radiance data should not be modified. These are specific to each KT15 unit and are computed based on the calibration data provided by Hietronics.
7.3.2 Setting the ScanDrum park angle
The scan drum park angle refers to the default angle at which the scan drum will be placed when the ISAR shutter is closed. It is set using the following lines of the isarconf.icf file:
# L11: Park
angle (normally over lower blackbody) (float,deg)
280.0
Notes
- The park angle is an absolute rotary position that has a zero position depending on the ISAR-5 shaft encoder reference position. Normally, 0 is vertically up, 180 is vertically down. The shaft encoder must be configured appropriately.
- The default position is over lower BB to prevent water ingress.
7.3.3 Setting the shutter open delay following a rain event
Following a rain event a delay period is required to (a) allow rainwater to drain away from the ISAR and (b) to be sure that the rain event has actually stopped. The delay is approximately calculated as n*2 seconds and a good choice of delay is ~350. If you are working with the ISAR in the laboratory for a calibration, then a rain event delay is not required. Use the following lines of the isarconf.icf to reduce the shutter open delay following a rain event:
# L7: Number
of cycles to wait after rain event (time is ~n*2 secs. Lab=60 Field= ~350) (int)
60
7.3.4 Setting the Optical Rain gauge shutter trigger threshold
The Optical rain gauge (ORG) is used to trigger the ISAR shutter mechanism and close the instrument down if rain or sea spray is detected. The ORG has a background noise level above which a rain/spray event becomes significant and this is set using an ORG mV threshold using the following isarconf.icf lines:
# L8: Optical
rain gauge rain mV threshold below which shutter is closed (float). Lab=1.0,
Field= ~0.54
0.54
During long deployments some surface contamination of the ORG optical system may occur and the mV threshold value must be set with some margin of allowance. However, in this case there is an increased possibility of ISAR not closing down quickly once a rain/spray event has occurred. Typically, a rain event is characterized by a significant increase in the Standard deviation of the signal and a second threshold may be set to trigger the ISAR shutter based on the standard deviation of the ORG signal. A second check is made by computing the standard deviation of 25 ORG measurements and comparing this against a threshold value. The following lines of the isarconf.icf file may be used for this purpose:
# L9: Optical
rain guage rain mV standard deviation above which shutter is closed (float).
Lab=1.0, Field= ~0.002
0.002
Notes:
- The mV mean threshold should be verified by basic tests before significant deployments at sea. A guide value of 0.46-0.56 is typical.
- The mV standard deviation threshold should be verified by basic experiments before deployments at sea using the Proto code (option ‘(‘ ). A guide value of 0.002 is typical.
7.3.5 Setting the Shaft Encoder Reference position
The shaft encoder reference position must be set in order for the ISAR scan drum to be able to position itself correctly. A simple method to check the configuration is to carefully position the rear edge of the scan drum aperture flush against the back wall of the ISAR body so that it is looking vertically up and along the central cutaway. Use the Proto software to do this. The scan drum position should read 355.5° in this position. If this is not the case, an appropriate zero offset may be set using the following isarconf.icf lines:
# L10:
Encoder reference position (float,deg)
0.0
Notes
- If the Scan drum positions are inconsistent it may mean that the shaft encoder has lost its internal configuration. This may be reset using the proto software.
- Be sure to line up the scan drum aperture as accurately as possible when using this method.
7.3.6 Setting the heated black body
Both ISAR BB units are identical and have a Kapton heater that can be used to heat the BB cavity. Normally, the upper (325º) BB unit (BB1) should be heated to prevent heat loss from the cavity as the scan drum aperture opens the cavity. The following lines of the isarconf.icf must be used to configure the BB heater system:
#
L19: Heated (Active) blackbody (1 or 2)
1
7.3.7 Logging data to the ISAR compact Flashcard
The ISAR system as a 120Mbyte compact flashcard system that can be used to store ISAR average and SST data records. All data are appended to a file called ISARDATA.DAT. Data logging to the Compact flashcard is turned ON by setting the first flag in the isarconf.icf file using the following lines:
# L6: 10 flags:0=log
data to flashcard,1=compute SSTskin (set realtime SST calculation data above)
2=test at startup, 3=print raw PNI data 4=print raw GPS data 6-9=unused (int[10])
1,0,0,0,0,0,0,0,0,0
7.3.8 Configuring ISAR measurement angles
The ISAR can be configured to obtain data at from a target any angular position (0-360º) by setting the scan drum angle to a given angular location. Experience shows that 10 positions are sufficient for most applications and the isarconf.icf file can be used to specify 10 “set” scan drum positions using the following line in the isarconf.icf file:
# L12: 10 set
point scan drum target measurement positions -1 if not used (float,
spearator=',') BB1,BB2,sea,sky...
280.0,325.0,90.0,25.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0
In this example, four target views will be sampled sequentially in the order from left to right (280, 325,90 and 25 degrees). The remaining six positions are not set (indicated by a -1.0 that is used to denote a null angle).
MNote
that views of the ISAR calibration blackbody targets (280.0º and 325.0º must be
defined as view angles here otherwise the ISAR will not function properly.
In addition, the positions of each BB must be set using the following lines of the isarconf.icf file:
#
L20: Blackbody 1 position (float, deg)
280.0
#
L21: Blackbody 2 position (float, deg)
325.0
The number of samples to take at each measurement angle that are averaged together in the SSTskin calculation and output as $IS5MR data records (see Section 8) must be set using the following lines of the isarconf.icf file:
# L13: 10
Number of samples for each target view. -1 if not used (int)
30,30,30,15,-1,-1,-1,-1,-1,-1
Note that there is a one to one correspondence between the scan drum angles and the number of samples so that in the example given here, 30 samples will be made at angles 280,325 and 90 but only 15 samples will be made at angle 25.
Notes:
- Please ensure that exactly 10 entries are made for the scan drum target position and the sample numbers otherwise the isarconf.icf may not be read correctly at boot.
- It is possible to set a complex measurement sequence of alternate BB and target views using this method.
- Angular positions are accurate to approximately 0.1 degree
7.3.9 Requesting ISAR to provide a real time SSTskin data record
The ISAR can also compute a real time SSTskin data record which can be requested using the flags line of the isarconf.icf file as follows:
# L6: 10
flags:0=log data to flashcard,1=compute SSTskin (set realtime SST calculation
data above) 2=test at startup, 3=print raw PNI data 4=print raw GPS data
6-9=unused (int[10])
0,1,0,0,0,0,0,0,0,0
In order for a SSTskin temperature to be properly derived from raw ISAR measurements the isarconf.icf file must specify which measurement angles to use to determine the sea radiance and sky radiance and what the appropriate seawater emissivity value is for a given deployment geometry. Initially, a user must set the view angles for which ISAR will collect measurements. Following on from the other example settings described above, in this example, scan drum angle 2 (90.0º) will be used as the target “sea view” angle, scan drum angle 3 (25.0º) will be used as the target “sky view” angle and an emissivity value of 0.98123 will be used for the emissivity of seawater. As several different sea and sky angles may be defined in a typical measurement sequence, the SSTskin calculation must know which data to use for sea and sky measurements. The following lines in the isarconf.icf file may be used for this purpose:
# L14: SST
real time calculation setup (double): 0=seaview drumangle index,1=skyview
drumangle index,2=seawater emissivity,3-9=spare
2,3,0.9916349,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0
where the first number is the index to the scan drum angels defined above that will be used as the target view (sea view) data (in this example, index 2 refers to a scan drum angle of 90.0º and 30 samples). The second value provides the index to the scan drum angle that will be used to collect sky view data (in this example, index 3 refers to a scan drum angle of 25.0º and 15 samples). The third number provides the emissivity of seawater for the sea view angle and viewing geometry of the ISAR system specific to each deployment scenario. In this example it is 0.9916349 (valid for a view angle of 25º from nadir).
Finally, data logging to the Compact flashcard is turned ON by setting the first flag in the isarconf.icf file using the following lines:
# L6: 10
flags:0=log meanrec data to flashcard,1=compute SSTskin (set realtime SST
calculation data above) 2=test at startup, 3=print raw PNI data 4=print raw GPS
data, 5= write out meanrec to s
tdout,
6=enable SCS output, 7-9=unused
(int[10])
1,1,0,0,0,0,0,0,0,0
Notes
1. If the emissivity value is our of bounds (ie <0 or > 1.0), ISAR will not boot.
2. Attention should be given to ensure that the SST real time setup is valid in each case otherwise the SSTskin temperature data will be in error.
3. A sufficient number of samples (typically > 20) is recommended on each black body unit.
4. The ISAR shaft encoder reference angle should be correct to ensure that all target views are correct.
5. The ISAR must be deployed correctly with a known geometry relative to the sea surface in order for the target values relative to the sea surface are correct. This may be verified using the PNI roll values.
7.3.10 Requesting ISAR to provide diagnostic data at boot
A summary of ISAR data outputs can be requested at the startup of the isaros program that can be used to check the functionality of the ISAR system and isarconf.icf file. This function is requested by setting the third flag in the isarconf.icf file using the following lines:
# L6: 10
flags:0=log meanrec data to flashcard,1=compute SSTskin (set realtime SST
calculation data above) 2=test at startup, 3=print raw PNI data 4=print raw GPS
data, 5= write out meanrec to s
tdout,
6=enable SCS output, 7-9=unused
(int[10])
0,0,1,0,0,0,0,0,0,0
7.3.11 Requesting ISAR to log raw GPS data
The raw output from the ISAR on-board GPS system can be placed onto the ISAR data stream by setting the fifth flag in the isarconf.icf file using the following lines:
# L6: 10
flags:0=log meanrec data to flashcard,1=compute SSTskin (set realtime SST
calculation data above) 2=test at startup, 3=print raw PNI data 4=print raw GPS
data, 5= write out meanrec to s
tdout,
6=enable SCS output, 7-9=unused
(int[10])
0,0,0,0,1,0,0,0,0,0
The GPS data string provided by the GPS unit will appear as $GPSGGA or $GPSRMC data records (see section 8).
7.3.12 Requesting ISAR to log raw PNI TCM-2 compass data
The raw output from the ISAR on-board compass system can be placed onto the ISAR data stream by setting the fourth flag in the isarconf.icf file using the following lines:
# L6: 10
flags:0=log meanrec data to flashcard,1=compute SSTskin (set realtime SST
calculation data above) 2=test at startup, 3=print raw PNI data 4=print raw GPS
data, 5= write out meanrec to s
tdout,
6=enable SCS output, 7-9=unused
(int[10])
0,0,0,1,0,0,0,0,0,0
The PNI data string provided by the PNI unit will appear as $PNIST data records (see section 8 below).
7.3.13 Requesting ISAR to log SCS enabled data
You can request SCS enabled data strings ($I5SCS and $SCSST) in addition to $ISAR5 and $I5SST outputs by setting the sixth flag in the isarconf.icf file using the following lines:
# L6: 10
flags:0=log meanrec data to flashcard,1=compute SSTskin (set realtime SST
calculation data above) 2=test at startup, 3=print raw PNI data 4=print raw GPS
data, 5= write out meanrec to s
tdout,
6=enable SCS output, 7-9=unused
(int[10])
0,0,0,0,0,0,1,0,0,0
The SCS enabled data will appear as $I5SCS and $SCSST data records (see section 8 below).
7.3.14 Changing PNI TCM-2 pitch and Roll alarm limits
During a given deployment, should a ship exceed certain roll and pitch limits the ISAR system will flag $ISAR5 data records accordingly using the 7th and 8th bits of the StatusWord (see section 8) The following lines of the isarconf.icf file may be used for this purpose:
# L22: PNI
sensor pitch warning limit (deg) (float)
5.0
# L23: PNI
sensor roll warning limit (deg)
(float)
5.0
Notes:
- Pitch and roll limits are used to provide warnings only reported via the StatusWord bits 7-8
7.3.15 Using the ISAR5 RS485 sub-system
The ISAR provides a means to connect RS485 devices to the main system and log data from these devices directly into the ISAR data stream. For each RS485 device the following parameters must be set in the isarconf.icf file:
(a) A label for the device
(b) The RS485 address
(c) The device specific read command
(d) A bitdelay in milliseconds
Each RS485 device should be configured at 9600 baud, with no stop bits and no parity. The following isarconf.icf lines are provided for RS485 configuration:
#
L15: 8 External RS485 device description (str[8][80] separate fields with ' ',
Default=NoDevice)
RhoPD_D1102_CM11Solarimeter NoDevice NoDevice NoDevice NoDevice
NoDevice NoDevice NoDevice
#
L16: 8 External RS485 device address (0x03 and 0x0E are reserved) (int[8],
default=-1)
4,-1,-1,-1,-1,-1,-1,-1
#
L17: 8 External RS485 device data read command (str[8][30] separate fields with
' ', Default=NoCommand)
4RD NoCommand NoCommand NoCommand NoCommand NoCommand NoCommand
NoCommand
#
L18: 8 External RS485 device bitdelay (int[8] separated by ',' Default=-1)
12000,-1,-1,-1,-1,-1,-1,-1
In this example, a single RS485 device has been configured
with the title RhoPD_D1102_CM11Solarimeter. It is
located at address 4 and
the data read command is 4RD. The bitdelay for this device is 12000.
Notes
- No spaces are allowed in the device description fields which should not exceed 80- characters per device
- MRS485 device address 0x0E (encoder address) and 0x03 (AD 4017 address) are reserved
- The present system assumes that a numeric data value is received prefixed by an identifier character (* is the RhoPoint default return). Please contact the ISAR team for specific requests if this is not appropriate.
7.3.16 Configuration of ISAR basic measurements
To make a basic set of radiance and SSST measurements the ISAR5 instrument needs to be configured appropriately. The isaros data logging program collects data in measurement cycles. A measurement cycle consists of the following measurements:
- BB1 calibration data
- BB2 calibration data
- Target observations
Note that the isaros program allows you to select up to 10 programmable target scan drum positions specified as angles. ISAR-5C must first collect n measurements viewing BB1, n measurements viewing BB2 and that for each target position it will make x measurements before moving on to the next target position. Finally, n measurements viewing BB1 and n measurements viewing BB2 will be made so that a meaningful calibration trend can be established over the measurement period. Each sample takes approximately 1 second to collect without additional instruments attached to the RS485 port.
Use the following to setup ISAR to make your measurements:
· Scan drum angles
· Number of samples at each scan drum position
· Should data be logged to Flashcard?
· Should an SSTskin measurement be made (if so setup the calculation)
· Should GPS data be logged
· Should PNI data be logged
The isaros data logging program will
- Check the ISAR-5C systems and initialize each of them
- Read the user defined configuration settings for this execution from the isarconf.icf file stored on the ISAR-5C flash card
- Dump out the current instrument configuration
- Begin logging data.
i Be sure to
capture all of the data to a file on the host computer using the CrossCut
Capture to file facility by invoked ctrl-z before starting the isar5 data
logging program !!!
8 ISAR5 data record format
The ISAR-5C data stream is a formatted comma separated variable (csv) data record as a NEMA style ASCII string output. Several NEMA style are used to define ISAR5 data record types which are defined in Table 8.1.
Table 8.1 ISAR-5 NEMA style data record identification labels
|
NEMA style identifier |
Description |
|
$ISAR5 |
A standard ISAR-5 data
record |
|
$IS485 |
A data record containing
external RS485 device outputs |
|
$IS5MR |
An averaged ISAR-5 data
record |
|
$I5SST |
A SSTskin data record for
real time operations |
|
$I5CAL |
Calibration data used to compute
real time SST measurement provided in $I5SST |
|
$GPRMC |
GPS data: Recommended
minimum Specific GPS/Transit data |
|
$GPGGA |
GPS fix data (NEMA version
2.1) |
|
$PNIST |
TCM2 Electronic compass data
record |
|
$ISMSG |
A comment or message string |
|
$CONFG |
Configuration data and
messages relating to the isarconf.icf configuration file |
|
$DIAGN |
Diagnostics test outputs |
Each data record type is fully expanded in the sections below. Note that these records are valid for the isaros v7.2 code base and may require updating for more recent software releases.
8.1 $ISMSG data records
Various $ISMSG strings will appear in the data file to provide an indication of warnings or general operations status according to the status of the instrument. The $ISMSG format is
$ISMSG,<timestring>,<message text>
<timestring> takes the ISO 8601 standard format for a single variable date+time having the format
YYYYMMDDTHHMMSS
For example, we might expect the following when ISAR-5C is unable to obtain GPS information when there are no satellites in view:
$ISMSG,20030523T134522,WARNING: Bad GPS record
$ISMSG,20030523T134522,KT15 is now turned ON
$ISMSG,20030523T134522,isarconf.icf last edit date: 2003-03-05
$ISMSG,20030523T134522,ISAR-5C ID: 2
$ISMSG strings are categoriesed as WARNINGS or as FATAL, where the latter stops the onboard isaros data collection system form running (normally due to a badly configured isarconf.icf file).
8.2 Standard data record format ($ISAR5)
A standard ISAR5 data record produced approximately each second by the ISAR system. Each sensor on board the ISAR is read and the data value stored in the lowest processed state and constitutes the level-0 engineering data output. The format of an $ISAR5 record is fully described in Table 8.2.1 and 8.2.2.
Table 8.2.1 Format of $ISAR5 data record (isaros-v7.2 2004/03/14)
| CSV Position |
Example |
Units |
Description |
Format |
| 0 |
$ISAR5 |
|
NEMA style identifier |
String |
| 1 |
20030523T134544Z |
yymmddThhmmssZ |
ISO 8601 time string YearMothDayTHourMinuteSecondZ |
Integer |
| 2 |
25.02 |
Degrees |
Scan drum position |
Float |
| 3 |
0.0603 |
mV |
Optical rain gauge signal |
Float |
| 4 |
0.7025 |
mV |
KT15.85D signal |
Float |
| 5 |
1.7525 |
Counts |
BB1 thermistor 3 (base) |
Float |
| 6 |
1.7386 |
Counts |
BB1 thermistor 2 (base) |
Float |
| 7 |
1.7353 |
Counts |
BB1 thermistor 1 (aperture) |
Float |
| 8 |
2.3296 |
Counts |
BB2 thermistor 3 (base) |
Float |
| 9 |
2.3284 |
Counts |
BB2 thermistor 2 (base) |
Float |
| 10 |
2.3295 |
Counts |
BB2 thermistor 1 (aperture) |
Float |
| 11 |
2200 |
Counts |
5 Volt reference voltage for BB thermistors (should
be ~2200 +/- 100counts) |
Integer |
| 12 |
2000 |
Counts |
BB Aperture thermistor 1 |
Integer |
| 13 |
2300 |
Counts |
BB aperture thermistor 2 |
Integer |
| 14 |
1200 |
Counts |
BB aperture thermistor 3 |
Integer |
| 15 |
1900 |
Counts |
KT15 external case thermistor |
Integer |
| 16 |
1977, |
Counts |
ZnSe window thermistor |
Integer |
| 17 |
2612 |
Counts |
TT8 computer board thermistor |
Integer |
| 18 |
3795 |
Counts |
Input power |
Integer |
| 19 |
0 |
0 or 1 |
Shutter switch 1 |
Integer (1 active) |
| 20 |
1 |
0 or 1 |
Shutter switch 2 |
Integer (1 active) |
| 21 |
-3.1000 |
Degrees |
Pitch |
Float |
| 22 |
1.1000 |
Degrees |
Roll |
Float |
| 23 |
181.70 |
Degrees |
Azimuth |
Float |
| 24 |
22.5 |
Degrees |
PNI board temperature |
Float |
| 25 |
50.893501 |
Degrees |
Latitude |
Float |
| 26 |
-1.39583 |
Degrees |
Longitude |
Float |
| 27 |
11.0 |
Knots |
Speed over ground |
Float |
| 28 |
32.4 |
DegreesT |
Course made good |
Float |
| 29 |
4.2 |
Degrees |
Magnetic variation |
Float |
| 30 |
2 |
|
ISAR-5C serial number |
Integer |
| 31 |
3474 |
|
KT15.85D serial number |
Integer |
| 32 |
289.1 |
Kelvin |
KT15 target temperature measurement |
Float |
| 33 |
290.2 |
Kelvin |
KT15 internal reference temperature |
Float |
| 34 |
23634128 |
|
Record status flags |
Long (see table 4.2 below) |
Table 8.2.1 $ISAR5 data record status word bit field interpretation (isaros-v7.1 2004/01/23)
|
Bitfield position |
Description if set |
|
0 |
Data collected in a rain event |
|
1 |
GPS data are bad |
|
2 |
PNI data are bad |
|
3 |
TT8 clock reset from GPS |
|
4 |
Rain detected by ORG |
|
5 |
Shutter is Closed |
|
6 |
Optical rain gauge data are bad |
|
7 |
PNI roll limit exceeded |
|
8 |
PNI pitch limit exceeded |
|
9 |
RS485 data present in data record |
|
10 |
Bad data from 18 bit A/D |
|
11 |
Bad scan drum position |
|
12 |
Not used |
|
13 |
Not used |
|
14 |
Not used |
|
15 |
Not used |
Table 8.4.3 Format of a $IS485 data record (isaros-v7.2 2004/03/14)
| CSV Position |
Example |
Units |
Description |
Format |
|||
| 0 |
$IS485 |
|
NEMA style identifier |
String |
|||
| 1 |
20030523T134544Z |
yymmddThhmmssZ |
ISO 8601 time string YearMothDayTHourMinuteSecondZ |
Integer |
|||
| 2-7 |
Float |
Various |
Up to 8 optional user defined RS485 device outputs
see bit 9 of Status flags |
|
|||
8.3 Averaged data record format ($IS5MR)
An averaged ISAR5 data record is the mean value of a number of standard data records obtained for a given Scan drum position. A New $IS5MR data record is created for each new scan drum position. The format of an $IS5MR record is fully described in Table 8.3.1. Users may request that $IS5MR data are stored to the ISAR-5 compact flashcard data file isardata.dat by setting user flag[0] in the isarconf.icf file stored on the isar-5 compact flash card.
Table 8.3.1 Format of a $IS5MR data record (isaros-v7.2 2004/03/14)
|
CSV Position |
Example |
Units |
Description |
Value
and format |
| 0 |
$IS5MR |
|
NEMA style identifier |
String |
| 1 |
20030523T134544Z |
yyyyddmmThhmmssZ |
ISO 8601 time string YearMothDayTHourMinuteSecondZ |
Integer |
| 2 |
25.02 |
Degrees |
Scan drum position |
Float |
| 3 |
0.001 |
Degrees |
Scan drum position Standard deviation |
Float |
| 4 |
30 |
|
Number of scan drum position measurements averaged |
Float |
| 5 |
0.0603 |
mV |
Optical rain gauge signal |
Float |
| 6 |
0.001 |
Degrees |
Standard deviation of optical rain gauge signal |
Float |
| 7 |
30 |
|
Number of optical rain gauge measurements averaged |
Float |
| 8 |
0.7025 |
mV |
KT15.85D signal |
Float |
| 9 |
0.001 |
Degrees |
Standard deviation of kt15 signal |
Float |
| 10 |
30 |
|
Number of kt15 signal measurements averaged |
Float |
| 11 |
1.7525 |
Counts |
BB1 thermistor 3 (base) |
Float |
| 12 |
0.001 |
Degrees |
Standard deviation of BB1 thermistor 3 |
Float |
| 13 |
30 |
|
Number of BB! Thermistor 3 measurements averaged |
Float |
| 14 |
1.7386 |
Counts |
BB1 thermistor 2 (base) |
Float |
| 15 |
0.001 |
Degrees |
Standard deviation of BB1 thermistor 2 |
Float |
| 16 |
30 |
|
Number of BB1 Thermistor 2 measurements averaged |
Float |
| 17 |
1.7353 |
Counts |
BB1 thermistor 1 (aperture) |
Float |
| 18 |
0.001 |
Degrees |
Standard deviation of BB1 thermistor 1 |
Float |
| 19 |
30 |
|
Number of BB1 Thermistor 1 measurements averaged |
Float |
| 20 |
2.3296 |
Counts |
BB2 thermistor 3 (base) |
Float |
| 21 |
0.001 |
Degrees |
Standard deviation of BB2 thermistor 3 |
Float |
| 22 |
30 |
|
Number of BB2 Thermistor 3 measurements averaged |
Float |
| 23 |
2.3284 |
Counts |
BB2 thermistor 2 (base) |
Float |
| 24 |
0.001 |
Degrees |
Standard deviation of BB2 thermistor 2 |
Float |
| 25 |
30 |
|
Number of BB2 Thermistor 2 measurements averaged |
Float |
| 26 |
2.3295 |
Counts |
BB2 thermistor 1 (aperture) |
Float |
| 27 |
0.001 |
Degrees |
Standard deviation of BB2 thermistor 1 |
Float |
| 28 |
30 |
|
Number of BB1 Thermistor 2 measurements averaged |
Float |
| 29 |
2200 |
Counts |
5 Volt reference voltage for BB thermistors (should
be ~2200 +/- 100counts) |
Integer |
| 30 |
0.001 |
Degrees |
Standard deviation of 5V reference |
Float |
| 31 |
30 |
|
Number of 5V reference measurements averaged |
Float |
| 32 |
2000 |
Counts |
BB aperture thermistor 1 |
Integer |
| 33 |
0.001 |
Degrees |
Standard deviation of BB aperture thermistor 1 |
Float |
| 34 |
30 |
|
Number of BB aperture thermistor 1 measurements
averaged |
Float |
| 35 |
2000 |
Counts |
BB aperture thermistor 2 |
Integer |
| 36 |
0.001 |
Degrees |
Standard deviation of BB aperture thermistor 2 |
Float |
| 37 |
30 |
|
Number of BB aperture thermistor 2 measurements
averaged |
Float |
| 38 |
2000 |
Counts |
BB aperture thermistor 3 |
Integer |
| 39 |
0.001 |
Degrees |
Standard deviation of BB aperture thermistor 3 |
Float |
| 40 |
30 |
|
Number of BB aperture thermistor 3 measurements
averaged |
Float |
| 41 |
2000 |
Counts |
KT15 external body thermistor |
Integer |
| 42 |
0.001 |
Degrees |
Standard deviation kt15 external body thermistor |
Float |
| 43 |
30 |
|
Number of kt15 external body measurements averaged |
Float |
| 44 |
1910, |
Counts |
ZnSe window thermistor |
Integer |
| 45 |
0.001 |
Degrees |
Standard deviation of ZnSe thermistor |
Float |
| 46 |
30 |
|
Number of ZnSe thermistor measurements averaged |
Float |
| 47 |
2612 |
Counts |
TT8 computer board thermistor |
Integer |
| 48 |
0.001 |
Degrees |
Standard deviation of TT8 computer board thermistor |
Float |
| 49 |
30 |
|
Number of TT8 board thermistor measurements averaged |
Float |
| 50 |
3795 |
Counts |
Input power |
Integer |
| 51 |
0.001 |
Degrees |
Standard deviation of input power |
Float |
| 52 |
30 |
|
Number of input power measurements averaged |
Float |
| 53 |
0 |
0 or 1 |
Shutter switch 1 |
Integer (1
active) |
| 54 |
1 |
0 or 1 |
Shutter switch 2 |
Integer (1
active) |
| 57 |
-3.1000 |
Degrees |
Pitch |
Float |
| 58 |
0.001 |
Degrees |
Standard deviation of pitch measurement |
Float |
| 59 |
30 |
|
Number of pitch measurements averaged |
Float |
| 60 |
1.1000 |
Degrees |
Roll |
Float |
| 61 |
0.001 |
Degrees |
Standard deviation of roll measurements |
Float |
| 62 |
30 |
|
Number of roll measurements averaged |
Float |
| 63 |
181.70 |
Degrees |
Azimuth |
Float |
| 64 |
0.001 |
Degrees |
Standard deviation of azimuth measurements |
Float |
| 65 |
30 |
|
Number of azimuth measurements averaged |
Float |
| 66 |
22.5 |
Degrees |
PNI board temperature |
Float |
| 67 |
0.001 |
Degrees |
Standard deviation of PNI board temperature |
Float |
| 68 |
30 |
|
Number of PNI temperature measurements averaged |
Float |
| 69 |
50.893501 |
Degrees |
Latitude |
Float |
| 70 |
-1.39583 |
Degrees |
Longitude |
Float |
| 71 |
11.0 |
Knots |
Speed over ground (SOG) |
Float |
| 72 |
0.001 |
Degrees |
Standard deviation of SOG |
Float |
| 73 |
30 |
|
Number of SOG measurements averaged |
Float |
| 74 |
32.4 |
DegreesT |
Course made good (CMG) |
Float |
| 75 |
0.001 |
Degrees |
Standard deviation of CMG |
Float |
| 76 |
30 |
|
Number CMG of measurements averaged |
Float |
| 77 |
4.2 |
Degrees |
Magnetic variation |
Float |
| 78 |
0.001 |
Degrees |
Standard deviation of magnetic variation |
Float |
| 79 |
30 |
|
Number of magnetic variation measurements averaged |
Float |
| 80 |
2 |
|
ISAR-5C serial number |
Integer |
| 81 |
3474 |
|
KT15.85D serial number |
Integer |
| 82 |
289.9 |
Kelvin |
KT15 Target
temperature |
Float |
| 83 |
0.001 |
Kelvin |
SD KT15 target temperature |
Float |
| 84 |
30 |
|
Number of KT15 target temperature measurements
averaged |
integer |
| 85 |
290.9 |
Kelvin |
KT15 internal reference temperature |
Float |
| 86 |
0.001 |
Kelvin |
SD KT15 reference temperature |
Float |
| 87 |
30 |
|
Number of KT15 reference temperature measurements
averaged |
integer |
| 88-112 |
Float |
Various |
8 optional user defined RS485 device outputs with SD
and number of observations |
|
| |
0.001 |
Degrees |
Standard deviation of RS485 measurement |
Float |
| |
30 |
|
Number of RS485 measurements averaged |
Float |
8.4 SSTskin data record format ($I5SST) and associated calibration data ($I5CAL) record format
If a user has requested that ISAR-5 calculate the SSTskin in real time by setting user flag[1] in the isarconf.icf file, an $I5SST data record will be produced. In addition, a $I5CAL data record is also produced which contains the blackbody calibration data that has been used to compute the real time SSTskin measurement. A New $I5SST data record is created for each scan sequence when suffiecit data are available for real time SSTskin calculation. Note that for the SSTskin calculation to be valid, the isarconf.icf file must contain appropriate configuration information in the SST calculation section including the scan drum angle index for both sea and sky views and the value to use for the emissivity of sea water (see section 7.3.7). The format of an $I5SST record is fully described in Table 8.4.1 and the format of a $I5CAL record is described in Table 8.4.2. Users may request that $I5SST data are stored to the ISAR-5 compact flashcard data file isardata.dat by setting user flag[0] in the isarconf.icf file stored on the isar-5 compact flash card.
Table 8.4.1 Format of a $I5SST data record (isaros-v7.2 2004/03/14)
|
CSV Position |
Example |
Units |
Description |
Value
and format |
| 0 |
$I5SST |
|
NEMA style identifier |
String |
| 1 |
20030523T134544Z |
yyyymmddThhmmssZ |
ISO 8601 time string YearMothDayTHourMinuteSecondZ |
Integer |
| 2 |
299.78 |
Kelvin |
Mean SSTskin |
Float |
| 3 |
155.0 |
Degrees |
Mean Scan drum position for sea view data |
Float |
| 4 |
0.78 |
Counts |
Mean KT15 signal for sea view |
Float |
| 5 |
0.023 |
Counts |
Mean Standard deviation of sea view signal |
Float |
| 6 |
40 |
|
Number of valid $ISAR5 sea view data records used in
calculation |
Integer |
| 7 |
25.0 |
Degrees |
Mean Scan drum position for sky view data |
Float |
| 8 |
0.38 |
Counts |
Mean KT15 signal for sky view |
Float |
| 9 |
0.235 |
Counts |
Mean Standard deviation of sky view signal |
Float |
| 10 |
10 |
|
Number of valid $ISAR5 sky view data records used in
calculation |
Integer |
| 11 |
1.1000 |
Degrees |
Mean Roll for sea view segment |
Float |
| 12 |
0.0233 |
Degrees |
Standard deviation of Roll for sea view segment |
Float |
| 13 |
-3.1000 |
Degrees |
Mean Pitch for sea view segment |
Float |
| 14 |
0.0233 |
Degrees |
Standard deviation of Pitch for sea view segment |
Float |
| 15 |
50.893501 |
Degrees |
Mean Latitude for sea view segment |
Float |
| 16 |
-1.39583 |
Degrees |
Mean Longitude for sea view segment |
Float |
| 17 |
11.0 |
Knots |
Mean Speed over ground for sea view segment |
Float |
| 18 |
32.4 |
DegreesT |
Mean Course made good for sea view segment |
Float |
| 19 |
4.2 |
Degrees |
Mean Magnetic variation for sea view segment |
Float |
| 20 |
2234 |
counts |
Mean 5V BB reference voltage |
Integer |
| 21 |
2234 |
counts |
Mean Electronics board thermistor |
Integer |
| 22 |
2343 |
counts |
Mean nput power supply |
Integer |
| 23 |
0.98588 |
|
Emissivity value used in temperature calculation |
Float |
| 24 |
2/2853 |
ID/Serial |
ISAR-5 instrument ID+kt15 serial |
Integer |
Table 8.4.2 Format of a $I5CAL data record (isaros-v7.2 2004/03/14)
|
CSV
Position |
Example |
Units |
Description |
Value and format |
| 0 |
$I5CAL |
|
NEMA style
identifier |
String |
| 1 |
20030523T134422Z |
yyymmddThhmmssZ |
ISO 8601 time
string YearMothDayTHourMinuteSecondZ for Calibration data on BB1 |
Integer |
| 2 |
280.0 |
Degrees |
Mean Scan
drum position for BB1 data |
Float |
| 3 |
0.001 |
Degrees |
Mean Standard
deviation of BB1 scan drum position |
Float |
| 4 |
2.459 |
Counts |
Mean BB1
Temperature (mean base thermistors) |
Float |
| 5 |
0.001 |
Counts |
Mean Standard
deviation of BB1 temperature |
Float |
| 6 |
30 |
|
Number of
samples used to compute BB1 temperature |
Integer |
| 7 |
0.6837 |
Counts |
Mean BB1 KT15
signal |
Float |
| 8 |
0.0001 |
Counts |
Mean Standard
deviation of BB1 temperature |
Float |
| 9 |
30 |
|
Number of
samples used to compute BB1 temperature |
Integer |
| 10 |
20030523T134422Z |
yyymmddThhmmssZ |
ISO 8601 time
string YearMothDayTHourMinuteSecondZ for Calibration data on BB2 |
Integer |
| 11 |
325.0 |
Degrees |
Mean Scan
drum position for BB2 data |
Float |
| 12 |
0.001 |
Degrees |
Mean Standard
deviation of BB2 scan drum position |
Float |
| 13 |
2.179 |
Counts |
Mean BB2
Temperature (mean base thermistors) |
Float |
| 14 |
0.001 |
Counts |
Mean Standard
deviation of BB2 temperature |
Float |
| 15 |
30 |
|
Number of
samples used to compute BB2 temperature |
Integer |
| 16 |
0.7356 |
Counts |
Mean BB2 KT15
signal |
Float |
| 17 |
0.0038 |
Counts |
Mean Standard
deviation of BB2 temperature |
Float |
| 18 |
30 |
|
Number of
samples used to compute BB2 temperature |
Integer |
8.5 GPS Fix data (NEMA version 2.1) format ($GPGGA)
The raw output of the on-board GPS receiver is placed onto the ISAR-5 data stream. The $GPSGGA data format is a csv data record formatted according to the NEMA version 2.1 standard as shown in Table 8.5.1.
Table 8.5.1 Format of a $GPGGA data record
|
CSV Position |
Example |
Units |
Description |
Value
and format |
| 0 |
$GPGGA |
|
NEMA version 2.1 identifier |
String |
| 1 |
122233.2 |
UTC time |
Hhmmss.s format |
Float |
| 2 |
50.233 |
Degrees |
Latitude |
Float |
| 3 |
N |
Hemisphere |
N or S |
Char |
| 4 |
1.344 |
Degrees |
Longitude |
Float |
| 5 |
E |
Quadrant |
E or W |
Char |
| 6 |
1 |
Flag |
GPS QC indicator: 0=NoGPS, 1=GPS, 2=DGPS |
Integer |
| 7 |
4 |
Count |
Number of satellites in use |
Integer |
| 8 |
2.1 |
|
Horizontal Dilution of Precision (HDOP) |
Float |
| 9 |
9.4 |
Meters |
Antennae altitude |
Float |
| 10 |
M |
|
Character indicating Antennae altitude is in Meters |
Char |
| 11 |
4.9 |
Meters |
Geodal separation in Meters. Difference between WGS-84 earth
ellipsoid and mean sea level |
Float |
| 12 |
M |
|
Char indicating Geodal separation is in Meters |
Char |
| 13 |
5.7 |
Seconds |
Age of differential GPS data. Time in seconds since the last Type 1
or 9 upgrade |
Float |
| 14 |
0001 |
ID |
Differential reference station ID (0000 – 1023) |
Integer |
Note that if insufficient data are available due to a lack of satellites no data will be shown but the commas of the csv format will be shown.
8.6 GPS recommended minimum specific GPS/transit data (NEMA version 2.1) format ($GPRMC)
The raw output of the on-board GPS receiver is placed onto the ISAR-5 data stream. The $GPSRMC data format is a csv data record formatted according to the NEMA version 2.1 standard as shown in Table 8.6.1.
Table 8.6.1 Format of a
$GPGGA data record
|
CSV Position |
Example |
Units |
Description |
Value
and format |
| 0 |
$GPRMC |
|
NEMA version 2.1 identifier |
String |
| 1 |
122233.2 |
UTC time |
Hhmmss.s format |
Float |
| 2 |
A |
Character |
Status: A=valid, V=navigation receiver warning |
Char |
| 3 |
50.345 |
Degrees |
Latitude |
Float |
| 4 |
N |
Hemisphere |
N or S |
Char |
| 5 |
2.675 |
Degrees |
Longitude |
Float |
| 6 |
E |
Quadrant |
E or W |
Char |
| 7 |
20.4 |
Knots |
Speed over ground (SOG) |
Float |
| 8 |
234.7 |
Degrees T |
Course made good |
Float |
| 9 |
030326 |
Date |
Yymmdd |
Integer |
| 10 |
3.4 |
Degrees |
Magnetic variation |
Float |
| 11 |
E |
Quadrant |
E or W |
Char |
| 12 |
|
|
Checksum |
Integer |
Note that if insufficient data are available due to a lack of satellites no data will be shown but the commas of the csv format will be shown.
8.7 TCM2 Electronic compass record format ($PNIST)
The raw output of the on-board Precision Navigation TCM2 electronic compass module is placed onto the ISAR-5 data stream. The 2 standard output data record provided by the ISAR instrument has the following format
$PNIST,$C<compass>$P<pitch>$R<roll>$T<temperature>*<checksum>
for example
$PNIST,$C151.2P-1.0R-3.2T27.5*22
The $PNIST ISAR data record data format is shown in Table 8.7.1.
Table 8.7.1 Format of a $PNIST data record
|
ID |
Units |
Description |
Example |
| $PNIST |
|
NEMA style identifier |
$PNIST |
| $C<compass> |
Degrees |
Compass heading |
$C151.2 |
| $P<pitch> |
Degrees |
Pitch measurement |
$P-1.0 |
| $R<roll> |
Degrees |
Roll measurement |
$R-3.2 |
| $T<temperature> |
Celsius |
Temperature of Electronics (0.5C precision) |
$T27.5 |
8.8 Diagnostic data record format ($DIAGN)
ISAR5 diagnostic data is collected when the ISAR instrument is booted and is prefixed by the $DIAGN NEMA style identifier. The data are not used for any purpose other than to identify them as diagnostic data during the instrument startup process. If a $DIAGN output is requested, diagnostic data are written to the stdoutput and a delay of 10s is provided for the user to quit the deployment if required.
9 Maintenance
The proper and regular maintenance of your ISAR-5C instrument is fundamental to ensuring that accurate and dependable data are obtained. All components have been selected for their resistance to the harsh marine atmosphere and seawater but inevitably, after long deployments, optical and mechanical components will require a thorough service.
9.1 General maintenance
After every deployment:
- Check and service the shutter system
- Check and service the ScTi ORG
- Check and service the ISAR-5C Mirror
- Check and service the ISAR-5C ZnSe window
- Check and service the scan drum bush bearings
- Check and service the scan drum main bearing
- Check and service shaft encoder shaft seal
- Check and service shutter motor shaft seal
- Check and service shaft encoder to drive motor coupling
- Check and service all external plugs
- Check and service all external cables
i It is wise practice to ensure that a proper calibration is obtained before and after any maintenance activity.
The following sections describe in detail several maintenance procedures including:
- Replacement of the ScanDrum mirror
- Reconfiguration of the US Digital shaft encoder
- Replacement of the ZnSe window
- Configuration of the PNI TCM-2 sensor
9.2 Replacement of mirror (Procedure RM)
This procedure describes the steps required to replace the scan drum mirror located within the scan drum assembly. While a fairly simple operation, this requires that the ISAR-5C is dissembled and the scan drum assembly removed. Be sure to allocate sufficient space on the workbench for this procedure preferably in a clean dust free laboratory to avoid contamination of the optical components. Be sure to revise the instrument maintenance record spreadsheet (ISAR-5C-instrument-???.xls) !!
i The gold plated mirror used in the ISAR-5C system uses a glass substrate and is consequently a brittle structure that can be easily broken. Furthermore, the protective coatings deposited onto the gold surface may easily scratch. For all these reasons, please use extreme care when handling the ISAR-5C mirror using fresh rubber gloves in a clean room.
9.2.1 Equipment and supplies
For this procedure you will need the following tools:
- 5 mm hex spanner
- small flathead screwdriver
- M5 socket nut spinner
- M6 socket nut spinner
You may need the following replacement ISAR-5C components and supplies:
- 1 x Replacemet Gold mirror window (Part#: IS5-SOC-004)
- 2 x O-ring seal for outer casing (Part#: IS5-SOC-046)
- 6 x Dowty washers (Part#: IS5-SOC-040)
- 6 x M6 Dome nuts (Part#: IS5-SOC-037)
- Silicone grease
- Rubber gloves
- Acetone
- Lint free cloth
9.2.2 Procedure RM
Follow these steps to replace the ISAR-5C scan drum mirror:
RM-1. Make sure the ISAR-5C shutter is in the open position be fore commencing this procedure.
RM-2. Place the ISAR instrument standing vertically with the drive body at the top (the short body section).
RM-3. Remove the ISAR drive body end cap by undoing the 6 dome nuts holding it in place. Remove the Dowty washers beneath.
RM-4. Using the tool provided, release the end cap from the drive body. This may be a particularly tight fit and require patience. M do not use excessive force!
RM-5. Remove the end cap and inspect the o-ring seal. Replace with part IS5-SOC-047 as required.
RM-6. Remove the outer casing. Inspect the O-ring on the main body and replace with part IS5-SOC-047 as required.
RM-7. Remove the 6 retaining rods now visible by unscrewing these from the ISAR-5 drive bulkhead and place to one side.
RM-8. Inspect all components for obvious sign of wear or stress.
RM-9. Undo the 5 cap screws holding the drive assembly in place.
RM-10. Disconnect the Shaft encoder RJ-11 jack and also the scan motor power cable.
RM-11. Use a ?? hex key to loosen the shaft coupling that connects the drive motor to the encoder. Loosen the coupling using only the grub screw furthest away from the drive motor so that the coupling stays connected to the drive motor shaft.
RM-12. Remove the drive motor housing assembly from the ISAR.
RM-13. The
US-Digital encoder has a gasket seal on the front face and will require
delicate maneuvering to free this seal. Alternatively, the ISAR main bulkhead
may be split and the entire scan drum assembly will be removed with the drive
bulkhead. M If you choose this latter option, be
extremely careful to ensure that the springs and spring laded bushes do not
fall onto the ISAR ZnSe window as this will then need replacing!!
RM-14. Gently
slide out the scan drive assembly. M
When the scan drive assembly is removed from the ISAR-5C, the springs and
the scan drive sealing bushes may spring out ! Furthermore
take care not to deposit anything into the blackbody apertures or in the
labyrinth leading to the ZnSe window !
RM-15. You should now have access to the scan drive sub assembly. Take this opportunity to examine the blackbody apertures for contamination as best you can. Also examine the ZnSe window using a small flashlight to clearly see the window. Examine the scan drum main bearing for wear. Examine the shaft coupling between the shaft encoder and the encoder drive motor. Examine all components for corrosion and wear. Finally examine the scan drum bush seals and compression springs for wear and damage. Replace as required.
RM-16. Locate the scan drum retaining screw on the side of the scan drum and remove
RM-17. The outer scan drum should now slide off. M Take care with the 2 small drive keys locating the scan drum and mirror mounting !
RM-18. You should now have access to the scan drum mirror. Inspect the mirror and record your results in the instrument log.
RM-19. Unscrew the 4 countersunk screws holding the scan mirror retaining plate in place.
RM-20. Remove the scan mirror retaining plate.
RM-21. Remove the scan mirror.
RM-22. The mirror may be cleaned using a wash of distilled water followed by a wash in acetone. If the mirror is scratched or dirty following this procedure, discard and replace with IS5-SOC-004.
RM-23. M Replace the mirror taking great care not to tough the surface of the mirror.
RM-24. Replace the mirror retaining plate and 4 countersunk screws. You may use a small amount of threadlock to secure the screws I place.
RM-25. Replace the scan drum using the keys
RM-26. Replace the scan drum retaining bolt using a small amount of threadlock as required.
RM-27. You are now ready to replace the scan drum subassembly back into the ISAR-5C Instrument. This requires that you first re-install the scan drum bushes and compression springs before attempting to re-install the scan drive assembly. Use the tool provided to retain the scan bushes in place while relocating the scan drive assembly. Once the bushes are in contact with the outside diameter of the scan drum, the tool can be removed and the scan drum carefully pushed home. Prior to inserting the US-Digital shaft encoder, use a smear of HYLOMAR® universal blue gasket and joining compound to create a gasket seal between the encoder and the encoder faceplate making sure that the compression flow of the gasket compound will seal the outer corner of the seat. Do not use excessive amounts of the gasket compound!!!
RM-28. Replace the scan drive retaining bolts and tighten.
RM-29. Replace the 6 retaining rods by screwing these back into the ISAR-5 drive bulkhead.
RM-30. Lightly grease the drive bulkhead o-ring seal. Inspect the O-ring on the main body and replace with part IS5-SOC-047 as required.
RM-31. Replace the outer casing.
RM-32. Lightly grease the end cap o-ring seal. Replace with part IS5-SOC-047 as required.
RM-33. Replace the end cap and press firmly home ensuring that there is sufficient thread exposed on the end cap retaining rods to start the dome nuts when the dowty washers are in place.
RM-34. Add a small amount of silicone grease to each retaining rod end.
RM-35. Inspect the dowty washers for damage and replace with part IS5-SOC-040 as necessary.
RM-36. Inspect the Dome nuts for damage and replace with part IS5-SOC-037 as required.
RM-37. Carefully tighten the dome nuts to ensure an even seating of the end cap.
RM-38. Enter details of the replacement components into the instrument maintenance record spreadsheet (ISAR-5C-instrument-???.xls) making sure to quote all serial and batch numbers as required.
9.3 Reconfiguration of US-DIGITAL shaft encoder Procedure (SE)
Follow the instructions in the US-digital manual provided on the ISAR-5C CD-ROM. Settings should be for 3600 increments to provide an encoder resolution of 0.1°. The reference position should be set and recorded. This value should be entered into the isarconf.icf file.
9.3.1 Equipment and supplies
For this procedure you will need the following tools:
- M6 socket nut spinner
- U.S Digital AD2-B adaptor
- U.S Digital 9v dc power supply
- PC with com port and terminal
- U.S Digital software ???
You may need the following replacement ISAR-5C components and supplies:
- 2 x O-ring seal for outer casing (Part#: IS5-SOC-046)
- 6 x Dowty washers (Part#: IS5-SOC-040)
- 6 x M6 Dome nuts (Part#: IS5-SOC-037)
- Silicone grease
9.3.2 Procedure SE
Follow these steps to reconfigure the U.S Digital shaft encoder:
SE-1. Make sure the ISAR-5C shutter is in the open position before commencing this procedure.
SE-2. Using the proto software, if possible set the scan drum aperture edge to just tough the back face of the ISAR-5C main body (an absolute angle of 355.5° assuming a 0° shaft encoder zero).
SE-3. Follow procedures RM-1 to RM-6 in order to gain access to the shaft encoder RJ45 plug.
SE-4. Disconnect the ISAR-5C RJ45 plug
SE-5. Connect the A2D-B adaptor RJ45 plug to the ISAR shaft encoder.
SE-6. Use the US-Digital software “SEI Explorer” to set the encoder for 3600 resolution (0.1° increment). Select the menu option found on the top left hand window pane showing the encoder response to change each setting in turn. A2 Encoders should be set to a resolution of 14400 (0.025 deg resolution), 9600 baud, scale factor of 1 and no mode setting. Assign an address 0x0E (decimal 14) to the encoder to prohibit contention with other RS485 devices. Use the “Get Factory Info” menu item to check the configuration.
SE-7. It is necessary to set the zero position of the shaft encoder by either directly entering the zero position into the shaft encoder eeprom. If you were unable to set the position of the scan drum, use the U.S Digital software tools provided set the scan drum aperture edge to just tough the back face of the ISAR-5C main body (an absolute angle of 355.5° assuming a 0° shaft encoder zero).
SE-8. Store the zero position
SE-9. Lightly grease the drive bulkhead o-ring seal. Inspect the O-ring on the main body and replace with part IS5-SOC-047 as required.
SE-10. Replace the outer casing.
SE-11. Lightly grease the end cap o-ring seal. Replace with part IS5-SOC-047 as required.
SE-12. Replace the end cap and press firmly home ensuring that there is sufficient thread exposed on the end cap retaining rods to start the dome nuts when the dowty washers are in place.
SE-13. Add a small amount of silicone grease to each retaining rod end.
SE-14. Inspect the dowty washers for damage and replace with part IS5-SOC-040 as necessary.
SE-15. Inspect the Dome nuts for damage and replace with part IS5-SOC-037 as required.
SE-16. Carefully tighten the dome nuts to ensure an even seating of the end cap.
SE-17. Enter details of the replacement components into the instrument maintenance record spreadsheet (ISAR-5C-instrument-???.xls) making sure to quote all serial and batch numbers as required.
9.4 Replacement of ISAR-5C ZnSe window (Procedure RW)
This procedure describes the steps required to replace the ZnSe window. While a fairly simple operation, this requires that the ISAR-5C is dissembled as the window is situated deep within the ISAR-5C instrument. Be sure to allocate sufficient space on the workbench for this procedure preferably in a clean dust free laboratory to avoid contamination of the optical components. Be sure to revise the instrument maintenance record spreadsheet (ISAR-5C-instrument-???.xls) !!
i Zinc selenide (ZnSe) is toxic and we recommend that you consult your local health and safety guidelines when handling this material has a very brittle structure and can be easily broken. Furthermore, the antireflection coatings deposited onto the window may easily scratch. For all these reasons, please use extreme care when handling the ISAR-5C window using fresh rubber gloves in a clean room.
9.4.1 Equipment and supplies
For this procedure you will need the following tools:
- 8 mm hex spanner
- 4 mm hex spanner
- 2.5 mm hex spanner
- M6 socket nut spinner
You may need the following replacement ISAR-5C components and supplies:
- 1 x Replacemet ZnSE window (Part#: IS5-SOC-012)
- 2 x O-ring seal for outer casing (Part#: IS5-SOC-046)
- 2 x O-ring seals for ZnSe retaining plate (Part#: IS5-SOC-047)
- 4 x 4mm o-ring (Part#: IS5-SOC-048)
- 6 x Dowty washers (Part#: IS5-SOC-040)
- 6 x M6 Dome nuts (Part#: IS5-SOC-037)
- Silicone grease
- Thermal grease
- Rubber gloves
- Acetone
- Lint free cloth
9.4.2 Procedure RW
Follow these steps to Replace the ISAR-5C ZnSe Window:
RW-1. Place the ISAR instrument standing vertically with the main body at the top (the long section).
RW-2. Open the ISAR main body end cap by undoing the 6 dome nuts holding it in place. Remove the dome nuts and the Dowty washers beneath.
RW-3. Using the tool provided, release the end cap from the main body. This may be a particularly tight fit and require patience. M do not use excessive force! Be careful not to strain any wires when removing the end cap ! Gently ease the cap away and disconnect all wires attached to the plugs on the end cap using the inline plugs provided. Disconnect the GPS antenna from the GPS board and the earth wire from the case.
RW-4. Remove the end cap and inspect the o-ring seal. Replace with part IS5-SOC-047 as required.
RW-5. Remove the outer casing. Inspect the O-ring on the main body and replace with part IS5-SOC-047 as required.
RW-6. Remove the 6 retaining rods now visible by unscrewing these from the ISAR-5 main bulkhead and place to one side. M Be careful not to damage the window thermistor cable which should be looped around one of the retaining rods !
RW-7. Remove the 2.5 mm cap screw holding the window thermistor cable retainer taking care not to damage the sensor cable.
RW-8. Be especially careful of the window thermstor that can now be removed from its mount. M Take great care not to contaminate the area with old thermal grease during this operation ! Wrap the thermistor in protective foam as any physical shock or damage may render the calibration void.
RW-9. In order to gain proper access to the ZnSe window, it is necessary to remove the entire optical bench from the ISAR-5C main bulkhead. Undo and remove the 4 cap screws holding the optical bench to the main bulkhead. The optical bench should stay in place as it is maintained by two precision dowel pins.
RW-10. Prepare a safe and secure area to place the optical bench when removed. Carefully remove the optical bench (with the KT15 and electronics in place) from the main bulkhead. A gentle rocking motion normally releases the dowells. M Be careful not to damage any cables by pulling or stressing them when removing the optical bench.
RW-11. You should now have a clear view of the ZnSe window which is held in place by 4 M4 cap screws and a black retaining plate. Inspect the area for moisture/salt contamination and note any contamination. Contamination may indicate a broken seal on the window mounting plate.
RW-12. Remove the 4 M4 cap screws and inspect the o-ring seals. Replace with part IS5-SOC-048 as required.
RW-13. Remove the ZnSe window retaining plate and inspect the area for moisture/salt contamination.
RW-14. Remove the o-ring seal above the window and discard.
RW-15. Thoroughly clean the retaining plate with alcohol and set to one side.
RW-16. Carefully remove the ZnSe window. It might be easier to turn the ISAR-5C upside down and tip the window out into your gloved hand rather than to contaminate the window.
RW-17. Inspect the ZnSe window for corrosion, scratches or damage. If excessive corrosion or damage is evident discard the window and replace with part IS5-SOC-012 as required. The window may be cleaned using distilled water and a soft lint free cloth followed by a wash in alcohol.
RW-18. Inspect the ZnSe window mount plate for corrosion. It should not be necessary to remove this component if no obvious contamination is present.
RW-19. Thoroughly
clean the ZnSe seating area with alcohol.
M
Be careful not to spill or drop anything onto the gold scan mirror which
is beneath the ZnSe window
mounting !!
RW-20. If required, replace the thermal grease in the ZnSe window thermistor mounting and wipe off excess grease.
RW-21. Replace
the ZnSe window being careful to M
avoid touching the face of the component using rubber gloves at all
times.
RW-22. Lightly
grease a new ZnSe o-ring seal (part IS5-SOC-047) and M
carefully lay this onto the face of the ZnSe window taking care not to
contaminate the window surface.
RW-23. Replace the ZnSe window retaining plate.
RW-24. Replace M4 cap screws and new o-ring washers M taking care to tighten each screw slowly and evenly to prevent excessive strain on the window and possible cracking.
RW-25. Relocate the ZnSe window thermistor into the thermal grease filled seating.
RW-26. Replace the M2.5 ZnSe window thermistor cable retainer making sure that the cable is clear of the end cap retaining rod tapped hole.
RW-27. M Inspect the new window –
does everything look ok ?
RW-28. Carefully replace the optical bench on the location dowels.
RW-29. Replace the 4 M8 retaining cap screws and tighten slowly to ensure an even seating of the optical bench. M Inspect the seating- it is ok ?
RW-30. Re-fit 6 end plate retaining rods taking care to ensure that the window thermistor cable is suitable wrapped around the retaining rod.
RW-31. Lightly grease the o-ring seals for the body section on both the main bulkhead.
RW-32. Ensure that all electronics cables and plugs are centered and accessible so that you can access them after the main body case is replaced
RW-33. Lightly grease the main body o-ring seal using silicone grease.
RW-34. Replace the main body case.
RW-35. Reconnect all plugs, the earth wire and GPS unit.
RW-36. Lightly grease the end cap o-ring seal using silicone grease.
RW-37. Replace the end cap and press firmly home ensuring that there is sufficient thread exposed on the end cap retaining rods to start the dome nuts when the dowty washers are in place.
RW-38. Add a small amount of silicone grease to each retaining rod end.
RW-39. Inspect the dowty washers for damage and replace with part IS5-SOC-040 as necessary.
RW-40. Inspect the Dome nuts for damage and replace with part IS5-SOC-037 as required.
RW-41. Carefully tighten the dome nuts to ensure an even seating of the end cap.
RW-42. Enter details of the replacement components into the instrument maintenance record spreadsheet (ISAR-5C-instrument-???.xls) making sure to quote all serial and batch numbers as required.
9.5 Configuration of the PNI-TCM2 (procedure PNI)
The PNI TCM-2 compass module must be correctly configured before using the device in an ISAR instrument. The configuration of a PNI0-TCM2 module is performed using the Proto software system that must be run from the ISAR flashcard. The Proto option ‘P’ under the ENGINEERING MENU (select option ‘>’) must be used to send configuration commands to the PNI instrument. These are then stored on the PNI TCM-2 EEPROM. The output configuration of the PNI-TCM2 can be checked at any time using the Proto command ‘p’.
9.5.1 Equipment and supplies
- An ISAR instrument with a PNI-TCM2 device correctly installed
- A version of the Proto software
- PNI-TCM2 reference manual
9.5.2 Procedure PNI
PNI-1. Stop the ISAOROS operational code after turning the ISAR on. You should be returned to the TOM8> prompt.
PNI-2. At the TOM8> prompt type PROTOxxx.RUN (where xxx) refers to the software version number of the Proto code) to run the Proto software.
PNI-3. Using option ‘P’ from the engineering menu (option ‘>’), clear the on-board calibration data by sending the command: cc <enter>
PNI-4. Disable fast sampling of the TCM-2 by sending the command: fast=d <enter>
PNI-5. Set the PNI-TCM2 clock rate using the command: clock=10.0 <enter>
PNI-6. Set the PNI-TCM2 clip rate using the command: clip=40 <enter>
PNI-7. Set the PNI-TCM2 baud rate to 9600 using the command: baud=5 <enter>
PNI-8. Set the PNI-TCM2 temperature units to centigrade using the command: ut=c <enter>
PNI-9. Set the PNI-TCM2 compass units to 360º full circle using the command: uc=d <enter>
PNI-10. Set the PNI-TCM2 inclinometer units to 360º full circle using the command: ui=d <enter>
PNI-11. Set the PNI-TCM2 RS232 word format to standard TCM2 output word using the command: sdo=t <enter>
PNI-12. Enable the PNI-TCM2 compass data for output word using the command: ec=e <enter>
PNI-13. Enable the PNI-TCM2 pitch data for output word using the command: ep=e <enter>
PNI-14. Enable the PNI-TCM2 roll data for output word using the command: er=e <enter>
PNI-15. Enable the PNI-TCM2 temperature data for output word using the command: et=e <enter>
PNI-16. Disable the PNI-TCM2 magentometer data for output word using the command: em=d <enter>
PNI-17. Disable the PNI-TCM2 magnetic distortion data for output word using the command: ed=d <enter>
PNI-18. Disable the PNI-TCM2 analog output mode using the command: sao=d <enter>
PNI-20. Select uncorrected magnetometer readings using the command: ma=u <enter>
PNI-21. Save the settings to the PNI-TCM2 eeprom using the command: save <enter>
The PNI-TCM2 device should now be configured correctly for the ISAR5 instrument. Use the Proto command ‘p’ to read a data packet from the PNI-TCM2. It should return a record identical in format to
$C149.3P-1.1R0.0T29.0*0C
9.6
Configuration
of GPS card (Lassen SK-II)
The Lassen SK-II GPS unit used within an ISAR are configured for a default output other than a $GPGGA NEMA string. This procedure describes how to modify the Lassen SK-II on-board eeprom configuration settings to permit $GPRMC, $GPGLL and $GPGGA NEMA output only.
9.6.1 Equipment and supplies
For this procedure you will need the following tools:
- GPS interface board
- Spanners
- Desktop Power supply
- TSIPCHAT v1.50(7.68a)
software
- PC computer
You may need the following replacement ISAR-5C components and supplies:
- 1 x O-ring seal for outer casing (Part#: IS5-SOC-046)
- 6 x Dowty washers (Part#: IS5-SOC-040)
- 6 x M6 Dome nuts (Part#: IS5-SOC-037)
- Silicone grease
- Acetone
9.6.2 Procedure GPS
Follow these steps to configure the GPS card.
GPS-1 Install TSIPCHAT configuration software onto PC
GPS-2 Remove ISAR end cap
GPS-3 Locate GPS unit within ISAR (small PCB to the left of the electronics package – you can see a gold connector that is wired to the center BNC socket on the ISAR end cap)
GPS-4 Disconnect the GPS plug carefully noting connection direction (remove outer casing if this is difficult). Red and black cables indicate power supply connections.
GPS-5 Connect the Red and black cables from the interface board to 5V d.c on a PSU.
GPS-6 Attach interface board plug to the GPS unit making sure that the red and black cables are located properly. Attach the yellow D-type connector to the PC COM-1 port.
GPS-7 Start the TSIPCHAT program in a DOS window using the command tsipchat –c1 (assuming you are using COM1). You should see lots of numbers scrolling up the screen.
GPS-8 Configure the output options of the GPS card. Use ‘?’ to access the TSIPCHAT menu and select option ‘O’ Set I/O options. Use the space bar to select the Set option and press enter. Use the space bar to select ‘no’ to the ‘Turn on GPS Spkt 8F-20?’ request (this allows you to manually set the parameters up.
- Set LLA output to on
- Set WGS-84 Altitude output to on
- Set WGS-84 Altitude input to on
- Set to Double precision output
- Set ENU lecocity output to on
- Set Timetags in UTC (not GPS)
- Set Signal strength to AMU
- Set everything else to off
GPS-9 From the main menu (option ?), configure the NEMA output setup by selecting option ‘q’. Choose the Set (rather than request) option.
- Set the NEMA interval to 1 (1 second)
- Turn on GGA, GLL and RMC output and turn all other options off.
GPS-10 Return to the main menu and use the command ‘%’ TSIP command string to save the configuration to the GPS eeprom. Enter the string 0x8E-26, hit return and then press ‘=’ to access the submenu options. Select submenu option ‘s’ to save the configuration to the GPS eeprom. If all is well you should get a ‘SEE write successful’ message. This is described in the Lassen SK-II system developers manual in section 3.7.3 in more detail if you run into problems.
GPS-11 Turn off the power supply to the GPS card for a minimum of 2 minutes. Close the TSIPCHAT software and DOS window.
GPS-12 Disconnect the yellow D-type plug from the PC COM1 port and connect the orange D-Type to COM1. This port provides an ASCII output that can be viewed using hyperterm (set to Baud 4800, no handshake). Start up hyperterm in this configuration and power up the GPS card. Initially you may only see GPGGA strings as the GPS unit locates satellites from a warm boot. Once these are located you should be able to see GPRMC, GPGLL and GPGGA strings.
GPS-13 Power down the GPS card and disconnect the interface from GPS unit,PSU and PC
GPS-14 Reconnect ISAR internal plug noting direction of plug (red and black wires)
GPS-15 Verify GPS output by booting ISAR and noting the output
GPS-16 Replace ISAR end cap.
9.7 Optical alignment (procedure OI)
This procedure describes how to verify that the KT15 is optically aligned within the ISAR instrument. The design of the ISAR instrument is such that full optical alignment can be performed without the need for an optical bench or external target sighting system.
9.7.1 Equipment and supplies
For this procedure you will need the following tools:
- 8 mm hex spanner
- 4 mm hex spanner
- 2.5 mm hex spanner
- M6 socket nut spanner
- Sighting laser[2]
- Sighting laser mount
- ISAR optical alignment tool
- ISAR eccentric washer spanner tool
You may need the following replacement ISAR-5C components and supplies:
- 1 x Replacemet ZnSE window (Part#: IS5-SOC-012)
- 2 x O-ring seal for outer casing (Part#: IS5-SOC-046)
- 2 x O-ring seals for ZnSe retaining plate (Part#: IS5-SOC-047)
- 4 x 4mm o-ring (Part#: IS5-SOC-048)
- 6 x Dowty washers (Part#: IS5-SOC-040)
- 6 x M6 Dome nuts (Part#: IS5-SOC-037)
- Silicone grease
- Thermal grease
- Rubber gloves
- Acetone
- Lint free cloth
9.7.2 Procedure OI
Follow these steps to optically align the KT15 radiometer head
OI-1 Remove end plates
OI-2 Remove outer cases
OI-3 Remove encoder/scan drum assembly
OI-4 Remove optical bench
OI-5 Remove ZnSe window
OI-6 Clean everything
OI-7 Remove electronics from optical bench (do not disconnect)
OI-8 Loosen KT15 mounting plate retaining bolts and slide KT15 mounting plate to rearmost position
OI-9 Attach Laser and laser mount to KT15 lens
OI-10 Replace optical bench
OI-11 Slide KT15 back into operational position and finger tighten retaining bolts. Make sure that eccentrics are aligned so that the KT15 is approximately parallel with the optical bench axis.
OI12 Turn ISAR so that KT15 is staring vertically up
OI-13 attach optical alignment tool (drop into encoder seating)
OI-14 Turn laser on and adjust KT15 position using eccentric spanner to have the strongest laser ooutput. Turn the alignment tool to establish the best location. Tighten the KT15 into position
OI-15 Replace scan drum assembly
OI-16 Attach paper with centerline drawn between the ISAR main body split
OI-17 Turn laser on and operate scan drum. Laser light should follow the centerline drawn on paper. Use the KT15 eccentrics to make sure this is the case.
OI-18 Remove optical bench and laser
OI-19 Replace ZnSe window
OI-20 Replacer optical bench – tape up the KT15 adjustments with a note indicating date and person who made the OI
OI-21 Replace electronics
OI-22 Replace end caps
Things occasionally go wrong and here are several pointers to help you find out what the problem may be
9.8 Software
Check the Isarconf.icf file this is normally the cause of problems
9.9 Hardware
The ISAR electronics boards have been revised as follows:
- Revision A: Prototype board was based on the Preconic Bay data logger interface (BNL project).
- Revision B: This board was built for ISAR 1 following extensive testing of Rev. 1. Main changes included removal of redundant devices (real-time clock, several A/D buffers). Solid state devices specific to ISAR were included on the board, added a board thermistor, power supplies for ISAR devices, LED indicators for switched power, US-DIGITAL encoder interface, scan and door motor controller, and BB interface circuit.
- Revision C: This board eliminated the TT8 squishy Bus system with minor mods to various systems.
- Revision D: Strictly cosmetic changes but functionally, this board is identical to Revision C
- Revision E: (Current revision, includes Thermistor ports to the 12 bit A/D,
The ISAR mechanical system has been revised as follows:
- Revision A: Basic design built and modified during initial build.
- Revision B: Minor modifications to the general design mainly to relocate various bolts on the main bulkhead section, reworking of the ZnSe seating, modifications to the optical bench fasteners, new PNI mounting bracket, new electronics board mounting plate, new end caps.
- Revision C: Tidied up all outstanding errors on drawings and revised the main bulkhead section, relocation of magnets in shutter, additional clearance for shutter, relocated all incorrect holes for main bulkhead clamping.
- Revision D: Added thermistors at BB aperture.
9.9.1 Electronics board schematic diagrams
9.9.2 12 bit A/D Thermistor locations (BB aperture and on KT15 case)
Four thermistors are attached to the TT8 12 bit A/D channels. Three of these are used to monitor the temperature of the blackbody apertures and one is used as an external monitor for the temperature of the Kt15 case. The aperture thermistors are located according to Figure 9.9.2.1
|
|
Thermistor |
12 bit A/D channel |
Location Description |
|
1 |
1 |
Beneath BB1 aperture port |
|
|
2 |
2 |
Between BB! And BB2 aperture port |
|
|
3 |
3 |
Above BB2 aperture port |
|
|
4 |
4 |
Attached to the centre of the top of the KT15 outer casing |
Figure 9.9.2.1 Location of Aperture thermistors and 12 bit A/D channel assignments
Appendix
A Example isarconf.icf file (isaros-v7.1)
The
following provides an example isarconf.icf configuration file as a guide. Note that entries shown in blue are user configurable. All other entries should not be changed unless you are sure
of the implications and values.
# L1: Title stating purpose of this isarconf file
(str[255])
isaros-v7.1 ICF:ISAR-03,
ElectronicsBoard:BNL/Jan2002/RevC/001, TT8serial:505416,
PersistorBoardSerial:1264, CFcard:SOC001
# L2: Author name, e-mail and telephone number (str[255])
C J Donlon (craig.donlon@metoffice.com
+44 (0)1392 886622)
# L3: Last Edit date yyyy-mm-dd (str[15])
2004-01-20
# L4: ISAR-5C serial number (int)
3
# L5: Date and details of last ISAR-5C instrument
calibration date (str[255])
Pending
(See ISAR-03-instrument-configuration.doc for history)
# L6: 10
flags:0=log data to flashcard,1=compute SSTskin (set realtime SST calculation
data above) 2=test at startup, 3=print raw PNI data 4=print raw GPS data, 5=SCS
style output, 6-9=unused (int[10])
1,1,1,1,1,1,0,0,0,0
# L7: Number of
cycles to wait after rain event (time is ~n*2 secs. Lab=60 Field= ~350) (int)
60
# L8: Optical
rain guage rain mV threshold below which shutter is closed (float). Lab=1.0,
Field= ~0.54
1.0
# L9: Optical
rain guage rain mV standard deviation above which shutter is closed (float).
Lab=1.0, Field= ~0.002
1.0
# L10: Encoder
reference position (float,deg)
0.0
# L11: Park
angle (normally over lower blackbody) (float,deg)
280.0
# L12: 10 set
point scan drum target measurement positions -1 if not used (float,
spearator=',') BB1,BB2,sea,sky...
280.0,325.0,25.0,90.0,155,-1.0,-1.0,-1.0,-1.0,-1.0
# L13: 10 Number
of samples for each target view. -1 if not used (int)
30,30,15,30,30,-1,-1,-1,-1,-1
# L14: SST real
time calculation setup (double): 0=seaview drumangle index,1=skyview drumangle
index,2=seawater emissivity,3-9=spare
4,2,0.985,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0
# L15: 8
External RS485 device description (str[8][80] separate fields with ' ',
Default=NoDevice)
NoDevice
NoDevice NoDevice NoDevice NoDevice NoDevice NoDevice NoDevice
# L16: 8
External RS485 device address (0x03 and 0x0E are reserved) (int[8], default=-1)
-1,-1,-1,-1,-1,-1,-1,-1
# L17: 8
External RS485 device data read command (str[8][30] separate fields with ' ',
Default=NoCommand)
NoCommand
NoCommand NoCommand NoCommand NoCommand NoCommand NoCommand NoCommand
# L18: 8
External RS485 device bitdelay (int[8] separated by ',' Default=-1)
-1,-1,-1,-1,-1,-1,-1,-1
# L19: Heated
(Active) blackbody (1 or 2)
1
# L20: Blackbody
1 position (float, deg)
280.0
# L21: Blackbody
2 position (float, deg)
325.0
# L22: PNI
sensor pitch warning limit (deg) (float)
5.0
# L23: PNI
sensor roll warning limit (deg)
(float)
5.0
# L24: SCTI
Optical rain guage serial number (str[80])
02020032
# L25: SCTI
Optical rain guage description (str[128])
Model
ORG-115-DA standard configuration.
# L26:
US-DIGITAL A2 Encoder serial number (str[80])
9021
# L27: PNI
compass serial number (str[80])
11686_(v2.82
)
# L28: ISAR-5C
mirror serial number (str[80])
OFR-MR-25-3
(2002-05-05)
# L29: ISAR-5C
window serial number (str[80])
CRYSRTAN-ZNSE
bbar batch 24827
# L30: ISAR-5C
scan drum drive motor and gearbox serial number (str[80])
MAXON-A-Max
110926 Installed on: 2003-04-30
# L31: ISAR-5C
shutter drive motor and gearbox serial number (str[80])
MAXON-A-Max
123325 Installed on: 2003-04-30
# L32: Trimble
GPS board serial number (str[80])
22695537
(Trimble SK2)
# L33: KT15.85D
Serial number (int)
4801
# L34: Date and
details of KT15.85D last calibration (str[255])
2001-27-11
(Not used until 2003-05-05), Polynomials for R2T & T2R: TJ Nightingale
2003-06-04
# L35: KT15
emissivity setting command (0.001 -> 1.000) (str[15])
EPS
1.000
# L36: KT15
response setting command (0.05, 0.1, 0.3, 1 3 or 10 seconds) (str[15])
RESP
1.0
# L37: KT15
analog output setting command (Do you know what you are doing ?) (str[30])
ANALOG
-100.0 50.0 C 3
# L38: KT15
serial interface setting (Do you know what you are doing ?) (str[20])
COM
96 8 1 n
# L39: KT15
Temperature to Radiance coefficients based on kt15 filter response (-1 not
used) (double[9])
-22.925646e0,65.196703e0,-81.215855e0,56.792568e0,-21.105313e0,3.2575460e0,-1.0,-1.0,-1.0
# L40: Radiance
to Temperature coefficients based on kt15 filter response (-1 not used)
(double[9])
273.15973e0,54.529628e0,10.634341e0,2.0172007e0,3.6480705e-1,5.7776974e-2,6.5293295e-3,3.5814663e-4,-1.0
# L41: BB1
serial number (int)
5
# L42: BB1 description
(str[128])
See
ISAR-BB-Configuration.doc for history
# L43: BB1
thermistor 1 serial number (str[80])
ISAR-TH01-11032
# L44: BB1
Thermistor 1 description (str[128])
YSI
NASA grade 46041 0.05K intercahngable thermistor with standard YSI calibration
# L45: BB1
Thermistor 1 calibration coeficients: Range 268.16 ->338.16K, -1.0 not
used(double[10])
1.0271173e-3,
2.3947051e-4, 1.5532990e-7,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0
# L46: BB1
thermistor 2 serial number (str[80])
ISAR-TH02-11032
# L47: BB1 Thermistor
2 description (str[128])
YSI
NASA grade 46041 0.05K intercahngable thermistor with standard YSI calibration
# L48: BB1
Thermistor 2 calibration coeficients: Range 268.16 ->338.16K, -1.0 not
used(double[10])
1.0271173e-3,
2.3947051e-4, 1.5532990e-7,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0
# L49: BB1
thermistor 3 serial number (str[80])
ISAR-TH03-11032
# L50: BB1
Thermistor 3 description (str[128])
YSI
NASA grade 46041 0.05K intercahngable thermistor with standard YSI calibration
# L51: BB1
Thermistor 3 calibration coeficients: Range 268.16 ->338.16K, -1.0 not
used(double[10])
1.0271173e-3,
2.3947051e-4, 1.5532990e-7,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0
# L52: BB2
serial number (int)
6
# L53: BB2
description (str[128])
See
ISAR-BB-Configuration.doc for history
# L54: BB2
thermistor 1 seriall number (str[80])
ISAR-TH07-11032
# L55: BB2
Thermistor 1 description (str[128])
YSI
NASA grade 46041 0.05K intercahngable thermistor with standard YSI calibration
# L56: BB2
Thermistor 1 calibration coeficients: Range 268.16 ->338.16K, -1.0 not
used(double[10])
1.0271173e-3,
2.3947051e-4, 1.5532990e-7,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0
# L57: BB2
thermistor 2 serial number (str[80])
ISAR-TH08-11032
# L58: BB2
Thermistor 2 description (str[128])
YSI
NASA grade 46041 0.05K intercahngable thermistor with standard YSI calibration
# L59: BB2
Thermistor 2 calibration coeficients: Range 268.16 ->338.16K, -1.0 not
used(double[10])
1.0271173e-3,
2.3947051e-4, 1.5532990e-7,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0
# L60: BB2
thermistor 3 serial number (str[80])
ISAR-TH09-11032
# L61: BB2
Thermistor 3 description (str[128])
YSI
NASA grade 46041 0.05K intercahngable thermistor with standard YSI calibration
# L62: BB2
Thermistor 3 calibration coeficients Range 268.16 ->338.16K, -1.0 not
used(double[10])
1.0271173e-3,
2.3947051e-4, 1.5532990e-7,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0
# L63: Window
thermistor serial number (str[80])
NOT
SETUP
# L64: Window
thermistor description (str[128])
YSI
NASA grade 46041 0.05K interchangable thermistor with standard YSI calibration
# L65: Window
thermistor calibration coeficients: Range 268.16 ->338.16K, -1.0 not
used(double[10])
1.0271173e-3,
2.3947051e-4, 1.5532990e-7,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0,-1.0
# L66: TT8
thermistor serial number (str[80])
Unknown
# L67: TT8
thermistor description (str[128])
Thermometrics
RL1005 (See thermistor_RL1005.pdf)
# L68: TT8
thermistor calibration coeficients: Range 273.16K->323.16, -1.0 not
used(double[10])
3.3540172e-3,2.5027462e-4,2.4300527e-6,-7.2909526e-8,-1,-1,-1,-1,-1,-1