1.0 24JUL 00 mrc Initial draft

1.5 04OCT00 mrc

2.0 14NOV00 mrc First release

Table of Contents

1. Introduction
1. Purpose
2. Scope
3. Definitions, Acronyms, Abbreviations
4. References
2. Design drivers
3. Overall System Description
1. MOOS Mooring System
1. Surface float
2. Riser Cable
3. Anchor
2. Benthic Instrument Nodes (BIN)
3. Remote Instrument Nodes (RIN)
4. Universal Node Controller
5. Vertical Profiler
6. AUV
7. AUV Docking Station
4. Overall System Design Requirements
1. System design life
1. Duration of deployment
2. Quality of service
3. Environmental Design Requirements
1. Installation Locations
2. MOOS Deployment Water Depths
3. Wave effects
4. Wind effects
5. Icing effects
6. Ocean Currents
4. Episodic event detection and response (adaptability)
5. Portability
6. Configurability
7. Expandability
5. Measurements and instrumentation
1. Supported instruments
1. Surface float
2. Riser cable
3. BIN and RIN
4. AUV
5. Vertical profiler
2. Instrumentation temporal and spatial coverage
1. Upper water column
2. Canyon processes
3. Active Mid-Ocean Ridge Processes
4. Benthic carbon cycling
6. Instrument Interface
1. Hardware interface
2. Instrument Software Interface
7. Data collection
1. Local storage capacity
2. Data latency requirements
8. Data management and representation
9. Systems Detailed Design Requirements
1. Power
1. Power system capacity
2. Power generation
3. Power distribution
4. Fault detection and response
5. Neptune and DEOS compatibility
2. Communications
1. Data rate
2. Data protocols
3. Time synchronization
4. Physical layer
5. Neptune and DEOS compatibility
3. Universal Node Controller
4. Mooring System
1. Surface Expression
1. Mechanical Structure
2. Electronics Housing
3. Electronics Hardware
4. Interfaces
2. Riser Cable
3. Anchor
5. Benthic Instrument Nodes (BIN)
1. Mechanical structure
2. Electronics Housing
3. Electronics Hardware
4. Interface
1. Mechanical
2. Electrical
3. Communications
4. Connectors
6. Remote Instrument Nodes (RIN)
1. Mechanical structure
2. Electronics Housing
3. Electronics Hardware
4. Interface
1. Mechanical
2. Electrical
3. Communications
4. Connectors
7. AUV
1. Range
2. Docking
3. Depth Capability
4. Payload
5. Data management
8. AUV Docking Station
1. Mechanical structure
2. Electronics Housing
3. Electronics Hardware
4. Interface
1. Mechanical
2. Electrical
3. Communications
4. Connectors
9. Vertical Profiler
1. Mechanical structure
2. Electronics Housing
3. Electronics Hardware
4. Interface
1. Mechanical
1. Maximum line angle limitations
2. Electrical
3. Communications
4. Connectors
10. System cost
1. Fabrication cost
2. Installation cost
3. Maintenance cost
11. System Interfaces
1. System Interface Control
2. Mooring Controller to Mooring Riser
3. Mooring Riser to Benthic Instrument Node
4. Benthic Instrument Node to Remote Instrument Node
5. Instrument Ports on the Benthic Instrument Node
6. Instrument Ports on the Remote Instrument Node

Appendix

A1. Multi-Scale Oceanographic Processes Instrument Data

A2. Canyon Processes Instrument Data

A3. Ridge Processes Instrument Data

A4. Benthic Carbon Cycling Instrument Data

This document describes the System Design Requirements for the MOOS (MBARI Ocean Observation System) mooring system and forms the basis for all MOOS design work

The system design requirements in this document apply to all the elements of the MBARI Ocean Observing System (MOOS) including; the mooring buoy, communication and power riser, Benthic Instruments Nodes (BIN), Remote Instrument Nodes (RIN), Vertical Profiler, AUV’s and AUV dock.

BIN – Benthic Instrument Node

MVP – MBARI Vertical Profiler

RIN – Remote Instrument Node

AUV – Autonomous Underwater Vehicle

ROV – Remotely Operated Vehicle

DCON – Data Controller Node

kB - kilo byte

MB – Mega byte

MMC – MOOS Mooring Controller

MOOS mooring system – Any combination of a moored surface float, BINs, RINs, AUV/AUV dock and MVP.

UNC – Universal Node Controller

IBC+ - Instrument Bus Computer

Time series – A collection of measurements taken at a fixed location over time.

ISI – Instrumentation Software Infrastructure, the system wide software interface for instrumentation

Wh – Watt-hour

"Instrumentation Software Architecture for MOOS" – MBARI 2000-2001 proposal

"MOOS Data Management and Representation" – MBARI 2000-2001 proposal

"MOOS System Functional Requirements", MBARI internal document 2000

"New Mooring Controller Functional Requirements ver. 1.2" – Wayne Radichonski 2000

"The Future of MBARI Ocean Observing Systems", MBARI workshop Report

"Canyon Dynamics – Science Proposal" – MBARI 2001 proposal

"Design description, METSYS Meteorological Data Logger" – Dave Wright 1999

"Biogeochemical Responses to Climate and Ocean Variability" – MBARI 2001 proposal

The System Design Requirements have been derived from the following:

• MBARI "MOOS System Functional Requirements" , including Upper Water Column, Canyon Processes, Benthic Carbon Cycle and Active Mid-Ocean Ridge Processes use scenarios.

• Identifying design requirements through meetings with MBARI scientists and observatory support technicians.

3.1.1 Surface float

The surface float provides a semi-permanent sea surface platform that serves multiple functions. It provides a mounting frame for meteorology instruments, solar power panels and battery, universal node controller, and sea surface instruments. As the surface expression for the MOOS observatory system it also acts as a platform for the communications link between the mooring system and shore based facilities. In addition the surface float provides flotation for the negatively buoyant section of the mooring riser cable.

3.1.2 Anchor cable

The anchor cable attaches the surface float to the seafloor located anchor providing a direct mechanical connection. Some MOOS configurations include an electrical and optical connection from the surface float to the sea floor, in which case the anchor cable is referred to as a "riser cable". If a riser cable is used for direct mechanical, optical and electrical connection between the surface float and the buoy system anchor, an extension of the riser cable extends from the anchor area to the first BIN location (see BIN description below). The upper section of the riser cable also acts as a support cable for the MVP, when installed and upper water column science instruments. The AUV docking station would attach to the riser cable if installed in the upper water column. This is TBD pending "Design trade-off study" 4A.

3.1.3 Anchor

The anchor moors the MOOS mooring system to the ocean bottom.

The BIN is the instrument and communications interface physically located at the sea floor base of the mooring system. Mechanically the BIN is a generic structure includes the pressure housing that contains the UNC, provides receptacles for cables that connect to the mooring riser and additional sea floor nodes and provides support structure and receptacles that connect to local scientific instruments. The distance between the mooring anchor and the nearest connecting BIN can extend from immediately adjacent to a maximum of 4 km. The maximum distance between any two connected BINs is 10 km. The maximum number of BINs that can be connected to the MOOS network is TBD. The maximum number of radiating BINs that can be connected into a single central BIN is four. This limit is imposed by the maximum number of available mechanical connector receptacles on a BIN. The maximum number of BINs that can be connected serially forming a SEGMENT is TBD. Cable connection between the mooring riser and BINs and BIN to BIN requires the use of an ROV.

The RIN is logically identical to the BIN. Mechanically it is constructed to meet the requirements of specific experimental environments, for example the high energy canyon floor capability needed by the Canyon Dynamics experiment. . The maximum distance between any two connected RINs/BINs is 10 km. The maximum number of RINs that can be connected to the MOOS network is TBD. The maximum number of radiating RINs that can be connected into a single central BIN is four. The maximum number of RINs that can be connected serially forming a SEGMENT is TBD. Cable connection between RINs and BINs requires the use of an ROV.

The UNC provides the functions of data processing, data storage, communications, power control, instrument interface, and system status monitoring/fault isolation in the MOOS system. A UNC is installed in the surface float and each sea floor mounted BIN and RIN.

The MVP is an instrument platform that rides on the nominally vertical anchor cable or mooring riser cable if installed, and conducts vertical profiles at preprogrammed intervals.

AUV’s are free swimming instrument platforms that perform pre-programmed sampling missions. It is a future requirement of the MOOS system that it interface to AUV’s through the AUV docking station.

The AUV docking station is the interface between the AUV and the MOOS mooring system. It provides power for AUV battery charging as well as a communications link for data retrieval and downloading new mission sequences. The number and location of docking stations in the MOOS mooring system is TBD pending "Design trade-off study" 4A. It is a requirement of the MOOS mooring system that it provide an interface suitable for an AUV docking station.

Figure 1. Locations of major MOOS system component options.

4.1.1 Design life

The MOOS mooring system is designed for a 10 year design life from initial deployment. The surface expression and upper TBD section of cable are required to operate for a minimum interval of one year between maintenance recovery and redeployment cycles. The design goal is minimal interval of two years exclusive of bio-fouling maintenance. The lower mooring riser cable, anchor and seafloor mounted BINs and RINs are required to operate for a minimum interval of three years without maintenance.

4.1.2 Duration of deployment

a) The MOOS mooring system is required to remain fully operational for deployments of up to 3 years duration with normal maintenance.

b) The minimum deployment duration is likely to be determined by logistic and cost/benefit considerations.

4.1.3 Maintainability requirements

TBD

4.2.1 Mooring system end to end availability (exclusive of AUV)

4.2.1.1 Cabled mooring configuration

The cabled riser MOOS system is required to establish an end-to-end data/command connection within (one hour) with 90% long-term availability. End-to-end is defined as from instrument physical interface to shore based user terminal or MOOS data archive. This includes all factors such as weather. Note: For generalized North Pacific locations this requires full operation in sea-states up to and including Sea State 6.

4.2.1.2 Acoustic modem mooring configuration

4.2.2 Short term minimum data rate (per second)

4.2.2.1 Cabled mooring configuration

4.2.2.2 Acoustic modem mooring configuration

4.2.3 Long term minimum data rate (per 24 hours)

4.2.3.1 Cabled mooring configuration

4.2.3.2 Acoustic modem mooring configuration

4.2.4 AUV availability

4.3.1 Installation Locations

• Monterey Bay area and immediately adjacent waters extending out 1000 kilometers (3500m)

• Equatorial pacific, 0N (3000-5500m)

• Northern area of the East Pacific Rise southwest of Mexico’s Baja Peninsula 25N

109W (2500-3500m)

• Ocean station "P" at 50N, 145W in the North Pacific (4150m)

• Axial Seamount on Juan De Fuca Ridge complex, 45.92N, 130W (1600m)

• Juan De Fuca ridge complex centered 40.73N, 130.42W (2500m).

• Gorda ridge 42N, 128W (3900m)

• Loihi Seamount, 35 kilometers south east of Hawaii, 18.92N, 155.3W (900-1500m)
• Locations in the western Pacific (5500m)

• Central pacific gyre area off Monterey Bay (4500m)

4.3.2 MOOS system deployment water depths.

The MOOS system, including riser cable, BINs and RINs is required to be deployed in water depths to 4000 meters deep. Consideration is being given to increasing the maximum deployment depth to 6000 meters to cover locations deeper than 4000 meters. The increased cost and technical difficulty will be determined in "Design trade-off study" 1B. The minimal deployment depth for the mooring riser system is TBD but must be less than 1000 meters.

The AUV is required to operate to 4000 or 6000 meters depth consistent with the depth requirements of the overall MOOS system.

4.3.3 Wave effects

To meet the quality of service requirements of section 4.2, the MOOS mooring system must be able to operate continuously in wave conditions corresponding to Sea State 1 through Sea State 6. The significant wave height is 4-6 meters. The mooring system must survive the wave conditions of a statistical 25 year storm and return to full operation.

4.3.4 Wind effects

To meet the quality of service requirements of section 4.2, the MOOS mooring system must be able to operate continuously in wind conditions corresponding to Sea State 1 through Sea State 6. The maximum sustained wind speed range is 28-47 knots¹. The mooring system must survive the wind conditions of a statistical 25 year storm and return to full operation.

4.3.5 Icing effects

The MOOS mooring system icing requirements are TBD.

4.3.6 Ocean Currents

The MOOS mooring system must meet the quality of service requirements of section 4.2 in nominal ocean current conditions for the deployment location in sea states 1 to sea state 6. The mooring system must survive the ocean current profile associated with a 25 year storm combined with corresponding wind and wave conditions and return to full operation.

4.4.1 Event Detection. The MOOS mooring system is required to be capable of detecting predefined environmental events by locally monitoring and processing single or multiple instrument data streams without interrupting the normal data storage and retrieval process. The system is required to allow downloading of updated event detection algorithms and processes over the buoy to shore communications link.

4.4.2 Event Response.

a) Response When Mooring Sensors Detect Onset of Event. In the situation where the event is detected by sensors on the MOOS mooring, the system responds in the following manner:

• communicate notice of the event detection to shore with maximum notification delay 12 hours.
• start a pre-determined response by initiating a mission profile, taking more data with its suite of sensors, implementing new sampling strategies, launching AUV’s etc. with maximum response delay TBD (60 seconds?).

• follow a set of mission commands communicated from shore, with maximum system connection/response delay TBD (1 hour?).

b) Response When Onset of Event Communicated to MOOS Mooring. In the situation where the onset of the episodic event is communicated to the MOOS system from shore, the system would respond in the following manner:

• follow a set of mission commands communicated from shore, with maximum system connection/response delay TBD (1 hour?).
• start a pre-programmed response by initiating a mission profile, which could include taking more data with its suite of sensors, implementing new sampling strategies, launching AUV’s etc. with maximum response delay TBD (60 seconds?).

c) The requirement for system level event detection and response capability places functional requirements on the system software to:

• Support setting event thresholds and executing event detection algorithms for both individual and groups of instruments.
• Support down-loading of preprogrammed event response sampling configurations and real-time or near real-time interactive modification of sampling rates.

a) There is a requirement for system portability so that the entire MOOS system, or MOOS sub-systems, can be configured and deployed for scientific missions at different sites using an acceptable level of resources. All the major system components; mooring, BINs, RINs must be designed to allow for recovery using MBARI assets and the Pt. Sur. One exception is the mooring anchor itself which optionally can be left in place.

a) The MOOS system is required to support a broad range of scientific experiments with different mooring hardware configurations, sampling strategies and instrumentation. The system hardware and software is required to be routinely and efficiently configurable to these various combinations.

b) The MOOS system is required to allow deployment of combinations of major sub-systems in mission specific configurations. Such combinations include the options in Table 1.

a) The MOOS system will be developed and deployed incrementally over an extended period. It is required that the system be designed to allow a ready upgrade path for accommodating future advancements in measurement and sub-system capabilities.

b) The system must be able to readily scale from simple one BIN implementations to multi-BIN/RIN applications distributed over 10 kilometer spacings. The maximum number of BINs that can be connected on a single mooring system are TBD. The maximum number of mooring systems that can be connected in a contiguous geographical area is TBD. See also expansion capability listed in detailed systems design requirements sections for each subsystem.

a) The following tables list the range of instruments that the MOOS Mooring system and AUV are required to support to meet the functional requirements of the targeted science programs. The MOOS mooring will not be able to support all of these instruments simultaneously, so the Use Scenarios have been used to provide a basis for determining:

• the need for simultaneous measurements to support a science program.
• the required temporal and spatial coverage of measurements around the MOOS mooring
• sampling topologies prior to and after episodic event detection

The instrument configuration for each of the specific science experiments as described in the MOOS System Functional Requirements Use Scenarios is shown in Appendix A. This information provides the baseline for the number and type of instruments required to be supported simultaneously. The series of tables below list the total range of instruments described in the use scenarios that are required to interface at each physical location in the Mooring System, including an associated AUV. This information is used to determine the types of instrument interfaces that must be provided at each physical location and subsystem.

The final configuration for a specific experiment is determined by the sampling requirements and is limited by available energy, data storage, physical connection ports, weight and drag considerations.

b) The MOOS mooring system design is required to support the number and type of instrument ports shown in the specific configurations listed in the use scenarios tables plus have the expansion capability. See the expansion capability listed in detailed systems design requirements sections for each subsystem for more detail.

c) The total MOOS System energy, data and weight requirements are listed in section 8 for each subsystem and are calculated from the use scenarios + expansion capability.

d) Appendix B contains a detailed master list of measurements and the associated instruments currently used to take these measurements.

The MOOS mooring system is required to support the following instrumentation:

Note 1: These values could go up by a factor of 5 during event response episodes.

CTD, fluorometer, CO2, nitrate, iron and transmissometer or OBS.

CTD, fluorometer, CO2, nitrate, iron and transmissometer or OBS.

The baseline temporal resolution, or sampling rate of MOOS mooring, MVP and RIN based instrumentation is listed in the instrument tables above in the duty cycle column and in the appendix listing the specific instrumentation configuration for each of the MOOS Use Scenarios. These numbers are used to calculate the baseline energy and data storage requirements for the system. In most cases the sampling rates can be adjusted to satisfy a specific science experiment requirement provided the total energy and data budgets are not exceeded.

MOOS instrumentation for collecting time series data at a specific location is required to be deployable at the geographical locations listed in the environmental requirements section above and in the specific vertical locations listed in the instrumentation tables.

The temporal and spatial are listed below for each of the main MOOS Use Scenarios.

5.2.1 Multi-Scale Oceanographic Processes

5.2.2 Canyon Processes

5.2.3 Active Mid-Ocean Ridge Processes

5.2.4 Benthic Carbon Cycling

The standard instrument interface electrical protocol is EIA 232-D (which is a revision of the RS-232-C standard) with the following modifications:

6.1.1. Only transmitted data, received data and signal common return are used.

6.1.2. All signals electrical isolation from seawater ground is greater than 500 Meg Ohms at 500VDC except through a ground fault detection circuit.

6.1.3. The data rates supported are 300 to 115kbaud.

EIA 232 signal levels (reference)

6.1.4 The standard interface physical connector is described in the detailed design section for the individual MOOS system components.

6.1.5 The serial interface must be able to generate a variable length "BREAK" command (continuous spacing state) to meet specific instrument requirements.

6.1.6 In addition to the standard instrument interface the MOOS instrument interface hardware must support easy adaptation/configuration to the following communications hardware standards through the use of adapter cards or jumpers. Field configuration capability of the hardware interface is not required.

EIA 485

IEEE 802.31 10BASE-T

The general operational requirements of the software system that controls instruments on MOOS platforms include:

6.2.1 Plug and work: Easy configuration of instrument suites. Minimal effort to add or remove instruments from MOOS platforms. Standard instrument qualification process for adding new instruments.

6.2.2 Status monitoring: Easy to query instruments to determine their health, status, configuration, and calibration.

Instrument control: remote command of instruments to power-on, power-off, self-calibrate, change mode of sampling, change sampling frequency, or any other command relevant to a particular instrument.

6.2.3 Network monitoring: easy to query network to determine health and status of instrument nodes.

6.2.4 Tolerant of intermittent data links: including platform power cycles and intermittent communication links. Support for multiple data transmission links; efficient data transmission to enable system support for low-bandwidth link (minimum bandwidth requirement and efficiency requirement TBD). Tolerant of communication latency of several hours between platforms.

6.2.5 Fault-tolerance: graceful degradation of system in event of failure of one or more system components or instruments.

6.2.6 Autonomous platform response capability: support for local computation of events requiring data communication from multiple instruments.

6.2.7 Data download: acquire data from remote platforms when communication link becomes available (e.g. Download data from docked AUV when it docks into a MOOS mooring).

Scalability: support a few instruments or a large number of instruments on a platform, including one to many of a particular instrument, potentially running different device drivers for different instances.

6.2.8 Interface for data management system: establish interface and formats for data transfer to and from MOOS data management system.

6.2.9 Interface for end users: establish interface and data formats for facilitating access to data and instruments.

6.2.10 Maintainability: software remote diagnosis and remote upgrade capability.

Software engineering: Software to be written in modern maintainable language. Software system to be well documented and to include written software test and maintenance procedures

6.2.11 Software engineering: Maximum use of industry proven standards and technology and commercial off the shelf (COTS) components.

MOOS deployment locations that are reachable with line-of-sight radio data links, such as Monterey Bay need enough local storage to retain data for several weeks in case of radio link failure. For deployments outside of line-of-sight radio range the local storage capacity required should allow data logging for instruments that do not store their data internally for a minimum one year nominal time between mooring system maintenance cycles. This allows the capture of more data than can be transmitted in real-time or near-real-time back to shore as well as full data recovery during a normal maintenance cycle if the instrument-to-shore data link becomes unreliable.

7.1.1 Data storage requirements per 24 hours.

7.2.1 There is a requirement for near real-time (1-4 hrs) bi-directional data to notify shore of the onset of an episodic event, and to receive subsequent mission commands from shore.

7.2.2 There is a requirement for near real time (1-4 hrs) data for engineering health monitoring of the MOOS mooring and sensors.

7.2.3 A minimal data set, such as daily averages, still visual images, event logs, or event "snap-shots" are required and the observational science capabilities improve with increased data rate.

Therefore the MOOS system must establish a data connection at regular intervals and transport a minimum of TBD bytes of data bi-directionally with a maximum system end-to-end latency of 4 hours. (see also section 4.2, Quality of service)

8.1 The data processing requirements range from "production" processing of standard data types such as CTD data to highly customized processing for more specialized data sets such as chemistry instrumentation data. For specialized data sets the system is required to pass through raw data to the end user in a form that can later be correlated with the standard data sets.

8.2 All data must be stored locally within the MOOS hardware system and be recoverable during a normal maintenance cycle. This insures data recovery if connections to shore data management facilities are lost for an extended period of time. The MOOS hardware or individual instruments must contain enough memory space to retain all data gathered between normal maintenance intervals + 50% safety factor.

8.3 Specific design requirements.

8.3.1 All data is saved in its native format with associated metadata.

8.3.2 All data is accessible on-line even if access tools for some data sets are primitive.

8.3.3 All data sets are catalogued. At a minimum these catalogues must contain:

File format

Sensor identification

Calibration information

Generating software identification

Contact person for data set

Original data capture date/time "box"

Latitude/Longitude (/Pressure) "box"

General comments about the data file

8.3.4 Processing

8.3.5 Quality control

8.3.6 Quality identification

8.3.7 Archival

8.4 Data representation and retrieval tools and features required.

8.4.1 Tools to convert data from native formats to formats recognized by visualization packages.

8.4.2 Identification of individual sensors, units, etc. for visualization labeling and axes range limit settings.

8.4.3 Read and identify individual sensors, units, etc. inside a variety of file formats.

8.4.4 Combine/merge disparate data to common formats and time intervals.

9.1.1 Average energy requirements per 24 hours.

9.1.2 Power distribution requirements.

9.1.3 Fault detection and response

9.1.4 Neptune and DEOS compatibility

9.2.1 Data protocols

9.2.2 Time synchronization

Time synchronization across the MOOS network must be less than or equal to 1 millisecond to meet the requirements of seismic data sampling (Paul McGill). (Neptune proposing NTP and "<1Usec accurate 1S pulse" PPS based system. "The Network Time Protocol (NTP) is used to synchronize the time of a computer client or server to another server or reference time source, such as a radio or satellite receiver or modem. It provides client accuracy’s typically within a millisecond on LANs and up to a few tens of milliseconds on WANs relative to a primary server synchronized to Coordinated Universal Time (UTC) via a Global Positioning Service (GPS) receiver, for example."

9.2.3 Physical layer

9.2.4 Neptune and DEOS compatibility

9.4.1 Surface Expression

The surface float must conform to all applicable maritime regulations and include navigation lighting and radar reflector.

The surface float must have appropriate lifting points, each capable of carrying the entire float weight with a minimum safety factor of 1.75 G (this needs to be confirmed).

The surface float must provide a safe working platform for personnel during maintenance operations that require accessing on-board systems.

9.4.1.1 Mechanical Structure

Buoyancy – the surface float buoyancy required is TBD lbs.

Maximum weight – The maximum weight of the entire surface float structure must be less than 6000 lbs. in air (Pt Sur crane capacity is 3000lbs extended, 6000lbs. not extended)(current M1 deployment weight is approximately 2200lbs.).

Maximum Height – The height must not exceed TBD feet.

Maximum Beam – The width of the widest section must not exceed TBD feet.

9.4.2 Electronics Housing

9.4.3 Electronics Hardware

9.4.3.1 Interfaces

9.4.4 Riser Cable

9.4.5 Anchor

9.5.1 Mechanical structure

The BIN design must incorporate appropriate lifting points, each capable of carrying the entire BIN weight, including any attached instrumentation with a minimum safety factor of 1.75 G (this needs to be confirmed).

Electronics Housing

Electronics Hardware

Interface

Mechanical

Electrical

Communications

Connectors

9.6.1 Mechanical structure

The RIN design must incorporate appropriate lifting points, each capable of carrying the entire BIN weight, including any attached instrumentation with a minimum safety factor of 1.75 G (this needs to be confirmed).

9.6.2 Electronics Housing

9.6.3 Electronics Hardware

9.6.4 Interface

9.6.4.1 Mechanical

9.6.4.2 Electrical

9.6.4.3 Communications

9.6.4.4 Connectors

The projected use of AUV platforms as part of the MOOS sampling network falls into the following two main mission profiles;

• Periodic sampling transects following predetermined track lines.

• Sampling on command for specific missions, such as mapping water mass frontal boundaries and event driven mapping of the composition and extent of hydrothermal megaplumes.

9.7.1 Range

MOOS Use Scenario AUV track length requirements.

Current AUV technology (Odyssey) has transect ranges of around 72 km before recharging is required. Increased AUV range combined with multi-AUV multi-mooring deployment configurations will be required to cover the sampling requirements for all but local transects and mapping small scale events.

9.7.2 Docking

The AUV is required to operate from a fixed docking station either near the seafloor or in the upper water column. The AUV must return to the dock and reconnect for battery charging and data transfer.

9.7.3 Depth Capability

The depth requirements are the same as for the overall MOOS system listed in section 4.3.2.

9.7.4 Payload

For AUV payload details see section 5.1.4, AUV instrumentation. The total required payload air and in-water weight is TBD. The total electrical energy requirements are TBD.

9.7.5 Data management

The data management scheme and protocol must be compatible with the MOOS Instrument Software Interface.

9.7.5.1 Data storage

The AUV must provide local storage of all data collected during a mission. For the standard mission profile the data storage requirement is approximately 1.6MB per km.

9.8.1 Mechanical structure

TBD

9.8.2 Electronics Housing

9.8.3 Electronics Hardware

9.8.4 Interface

9.8.5 Mechanical

9.8.6 Electrical

9.8.7 Communications

9.8.8 Connectors

0-500m depth operating range, measurements in the shallower depths are a scientifically higher priority.

MVP motion rise and fall rates 18m/min.

measurement cycle every 4 hours

instrument payload 20kg

9.9.1 Mechanical structure

9.9.2 Electronics Housing

9.9.3 Electronics Hardware

9.9.4 System Interface

9.9.4.1 Mechanical

9.9.4.2 Maximum line angle limitations

9.9.4.3 Electrical

9.9.4.4 Communications

10.1 Fabrication cost.

TBD

10.2 Installation cost.

The MOOS system must provide an affordable mooring based system with consideration given to balancing the initial cost, installation and maintenance costs.

10.3 Maintenance cost.

TBD

11.1 System Interface Control

11.2 Mooring Controller to Mooring Riser

11.3 Mooring Riser to Benthic Instrument Node

11.4 Benthic Instrument Node to Remote Instrument Node

11.5 Instrument Ports on the Benthic Instrument Node

11.6 Instrument Ports on the Remote Instrument Node

Supported instruments listed by use scenario.

Iron, CTD, ADCP, Fluorometer, CO2, nitrate and transmissometer/OBS

Note 1: These values could go up by a factor of 5 during event response episodes.