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Slocum G1 Glider Manual

1. sn castes 32 STD Receptacle E 121 STD Plug E 122 STD Plug E 124 sto Receptacle E 123 CONTROL BOARD Pins E 125 Pins E 126 Pins E 126 Pins E 125 4 CRN g a16 E 114 3 WaT H a i ae 1 sep Pine z117 a 4 EEN i ca a ies 2 RATT H mo Te H S i x i i ar gt T cr T ese gt lt a H SE H af m n azo as oo ao i E i t ET Fy cig 8 DRN CONN E 151 m a or 3 5 Fa p pine gise t z st Ee 2 wire c miss aza cass 5 ai See Pump wire zonus i i Pine Bist 3 te wiring Paras K as gt ner ete TAE Es Diagram doc Brae ro crose 1 oa so s cia yan ap as et sac oF zor i Bux 27 to BLE a TE 2 Pins 2 117 lt
2. capture GliderDos I 3 gt capture c config simul sim Ready lt CTRL C or BREAK gt to end on_bench hit control C here Complete dir plain GliderDos I 3 gt dir Volume in drive C is NONAME Volume Serial Number is 7B17 2E37 Directory of C CONFIG lt DIR gt 09 04 08 10 27a lt DIR gt 09 04 08 10 27a CONFIG SCI 449 07 29 08 3 45p CONFIG SRF 41 07 29 08 3 45p DELLOG DAT 442 07 29 08 3 45p HIGHDENS DAT 549 07 29 08 3 45p LOGIN EXP 1 222 07 29 08 3 45p LONGTERM DAT 857 09 27 06 6 12p MBDLIST DAT 295 07 29 08 3 45p SBDLIST DAT 480 07 29 08 3 45p SENSDATA DAT 46 207 07 29 08 3 45p ZMEXT DAT 1 361 07 29 08 3 45p AUTOEXEC MI 4 541 04 12 08 12 59p SIMUL BAK 49 01 21 08 7 23p SIMUL SIM 10 09 04 08 3 12p 13 file s 56 503 bytes 2 dir s 125 399 040 bytes free Slocum Glider Page 81 Teledyne Webb Research verbose GliderDos I 3 gt dir v Volume in drive C is NONAME Volume Serial Number is 7B17 2E37 Directory of C CONFIG File Name Size Allocated Modified Attrib lt DIR gt 09 04 08 10 27a D lt DIR gt 09 04 08 10 27a D CONFIG SCI 449 2 048 07 29 08 3 45p A CONFIG SRF 41 2 048 07 29 08 3 45p A DELLOG DAT 442 2 048 07 29 08 3 45p A HIGHDENS DAT 549 2 048 07 29 08 3 45p A LOGIN EXP 1 222 2 048 07 29 08 3 45p A LONGTERM DAT 857 2 048 09 27 06 6 12p A MBDLIST DAT 295 2 048 07 29 08 3 45p A SBDLIST DAT 480 2 048 07 29 08 3 45p A SENSDATA DAT 46 207 47 104 07 29 08 3 45p A ZMEXT DAT 1 361 2 048 07 29 0
3. mi files Mission files defines mission variables ma files Mission acquisition file defines mission behavior variables Picodos Picodos is the operating system that ships with the Persistor CF1 Typing help will access the many DOS like functions and their command lines The navigation devices may be tested in Picodos using the talk program The syntax is as follows talk gps Talk gps turns the GPS on and displays the NMEA output this may also be used to acquire a full almanac Leaving the GPS on for in excess or 15 minutes will refresh the almanac talk att Legacy Talk att turns the attitude sensor on and displays the pitch roll heading and temperature output this may also be used to calibrate the compass See Appendix D Does not work with TCM3 Compass talk arg Legacy Talk arg turns the Argos transmitter on and displays the output This command only works with the older Smartcat style PTT Slocum Glider Page 30 Teledyne Webb Research talk iridium Talk IRIDIUM turns the Iridium modem on and allows the user to manually make or receive a call Structured in Picodos or GliderDos are the following folders and contents Volume in drive C is NONAME Volume Serial Number is 75E1 51B6 Directory of C CONFIG BIN LOG MISSION SENTLOGS STATE AUTOEXEC BAT CONFIG Folder AUTOEXEC MI Configuration file for calibration constants and factory settings CONFIG SCI Specify which sensors are sent to the glider and when SBDLIST
4. full_ filename What the filename should be on the host filename_extension mission_name The name of the mission being run fileopen_time Human readable date string total_num_sensors Total number of sensors in the system sensors_per_cycle Number of sensors we are transmitting cycle state_bytes_per_cycle The number of state bytes sent per cycle These are the state 2 bits sensor sensor_list_cre CRC32 of the section lt lt A sensor list in ASCII gt gt sensor_list_factored 1 if the section lt lt A sensor list in ASCII gt gt is present 0 if factored lt lt A sensor list in ASCII gt gt This section is not present in every file It is present if sensor_list_factored see above is 0 and it is not present if sensor_list_factored is 1 If it is not present the topside processing software has to find the correct lt lt A sensor list in ASCII gt gt by inspecting other files looking for one with the same sensor_list_crc and a sensor_list_factored of 0 Factoring is controlled by the value of the sensor u_dbd_sensor_list_xmit_control If present One line is sent for EVERY sensor regardless of whether it is being transmitted An example list sT 0 04 f_max_working_depth m ssT 1 14u_cycle_time s s T 2 24m_present_time s Slocum Glider Page 90 Teledyne Webb Research The s marks a sensor line The next field is either T sensor being transmitted F sensor is NOT being transmitted The next fie
5. http www stratosglobal com StratosGlobal cfm 1 954 217 2265 CLS America or ARGOS http www clsamerica com Another provider NAL Research offers competitive rates http www nalresearch com Airtime html Another provider http www infosat com support infosat com 1 800 207 55759 Specify data only service No equipment needed except for a commercial iridium SIM card Billing for the service is monthly The SIM card is required during the manufacturing process and must be activated 30 days prior to shipment Teledyne Webb Research will need the actual card and the unlocking pin This is so the card can be unlocked and the PIN code deactivated permanently Note Iridium usage based on one of our users averages 90 minutes per day per glider using some of the data reduction techniques that we provide This is roughly 108 day cost Plan on significantly larger usage for your first deployment because you will be monitoring testing and learning After that plan on 75 90 minutes per day per glider APPENDIX ARGOS Satellite Service and ID Glider users must provide IDs in both decimal and hexadecimal Standard repetition rate 90 seconds To establish ARGOS Service Submit a Program Application Form to the User Office They will respond with an acknowledgement and user manual To contact Service ARGOS http www argosinc com North American users useroffice argosinc com Australia and New Zealand users clsa
6. 1 trip Cable 2 PITCH BATTERIES tom Hre Eom e130 strip cable 5 5 aw rfid Pine giaz pins E175 Wiring 200K Red alack 5 5 long IE 28 51 gt Ee iey Hak past Brown amp White 3 5 Long a a SBR 8378 444 aa 5 om of saav oe a pm Green amp Blue 2 5 long a a e V9 7 ad cts ovreury CONVENTION K zj O Sas 3 m BS iJ sre meon RED 12 RED i4 swrrcnen 15v TRN hi ar STRIPPING 1 5 ma im fy 2 an m s e a mx omom HEAT SHRINK 1 a i Hes w e aa g aema Sar ie s m 16 25 sa me 1 io TOOLS I EEN 123 8 173 BEE Keanen wire Ease as a lt Pins E 127_ amp E 128 fx 7i 4 Tool HIR 1719C 11 01 0008 ha ey esis acan e can 82 fine Bois Pine enin a em ping Beli e rast pee a crs ad hice eis 3 a cts Ring Fria hi Ex ot nf m s amo 5 2 a sane wore 2 z sjer smr i ae i cro S bol ade 2 ey SEF S ass gana Paecwave bang Brad lee ett h Si aee am 1 jee recuse Pine esti Tool HTR2445A ee y endih te ann gt Pins E 155 1 a 5i 2 S H 10 25 gt Tool 11 01 0204 comi g is cro T mire Eas 2 alelss QUAD varT a wiring Rear View a i zo sensoncs wir Fra oot E oe cole ve S 3s Wiring For Never Version of cro SCIENCE BAY Conn A3 35 Conn 13 3 conn 13 36 conn 13 35 Bin anaa Pin Ana Pin aaa pin a3 50 neo ufa na a e na nao i t SE iz a at x i Tr m i i ane To lt _ t as AIK 18 8 Bhi vectector i c ay Webb fevearch corporation crn 14 can crn 59_o
7. ARGOS 401 MHz Freewave RF modem 900 MHz and a patch with combined GPS 1575 MHz and Iridium 1626 MHz The fin is bonded to a socket that is installed into the antenna support with dual radial o ring seals This provides a passage for the antenna cables and allows for easy replacement upgrade of the Antenna Tail Fin module The antenna should not be handled during launch and recovery The tail boom attached to the fin and antenna is the desired location for manually manipulated the position of the glider during launch and recovery Mention digifin which can be handled during launch and recovery Sacrificial anode The outside of the aft end cap is fitted with a zinc sacrificial anode This anode must have continuity to ground within the glider The anode will need to periodically be replaced Beware any scratches to the anodizing of the glider aluminum parts can be corrosion points Scratches which reveal bare aluminum with continuity should be touched up with paint or in an emergency nail polish is effective It is advisable to rinse the glider with fresh water each time it is exposed to salt water The anode should be checked for continuity to ground on regular basis to ensure proper protection against corrosion Batteries Battery packs consist of 10 Duracell C cells in series diode protected nominally at 15 volts As indicated below the number of packs can be adjusted depending on reserve buoyancy after Payload considerations Given 26 packs 2
8. Air Pump on ARGOS on Freewave on and GPS on to ensure best possible surface expression The reasons to go to Picodos are to load new source code for GliderDos and to work in the file structure without the Device Drivers being called The glider should never be deployed will in Picodos or set to boot pico For detailed description of how to load a glider and science bay with a new release of glider production code visit ftp ftp glider webbresearch com glider windoze production src doco software howto updating all glider software txt When in GliderDos or as noted from Picodos use the following basic control commands Control C Takes control of the glider Exit pico Sends the glider to Picodos from GliderDos exit reset Return to GliderDos as long as Persistor is set to boot app Slocum Glider Page 32 Teledyne Webb Research boot pico Commands the glider to start in Picodos when reset or the power is recycled Use this when loading an application glider app never deploy a glider left to boot pico boot app Commands the glider to start in GliderDos when reset or the power is recycled Use this AFTER loading an application glider app Note the boot commands need to be set in Picodos Masterdata Masterdata contains all of the sensors or variable definitions and default values Masterdata cannot be changed as a text file as the mission files can be The application is inclusive of the sensor values represented by the text vers
9. The code is located in code simdrvr c In general what we do at each of the levels not simulating Computes all the S_xxx variables Inputs to A Ds are NOT computed Note that the driver is consuming resources even though the results are not being used On a real long term mission you probably want to put the following in autoexec mi or your mission file USE simdrvr 0 on_bench Requires fully assembled and functional glider that is not in the water Moves all the fins and pumps but simulates environmental inputs Specifically Compute all the S_xxx variables Let the motors and other devices run normally Only supply A D input for devices which monitor outside physical items NOTE For experienced users ONLY the following argument may be added on_bench open When operating a full glider on the bench WITH A DUMMY BOUYANCY PUMP MOTOR to cause the simulation code to simulate the vacuum reading to prevent vacuum aborts 1 DAMAGE TO THE GLIDER WILL RESULT IF THE GLIDER IS OPERATED ON_BENCH WITH THE GLIDER OPEN AND THE VEHICLE BOUYANCY PUMP just_electronics This requires only the glider control board This is typically used to test science computer programs and the Iridium modem The glider control board is only required for the uarts This is the interface to the science computer and Iridium Just_electronics Computes all the S_xxx variables Supplies simulated inputs to all A Ds and shift registers Simulates all of the uar
10. a cD 3s i K 26 gt t a2 e 112 2 TEL 1 BLK RED 5 RED 20 RED gig E 112 Pins E 117 1 ERN 2 ns m ae i mireia K miin lt u x 3 7 su EOE gas etna 2 ae E ase gt te pr H Hae et 7 al azo 3s cum scan F aa gaa lt tr Heo gt 7 ita EM oH 3 i wise an2 x sco pij H mT te 17 PETET gt ba 26 25 gt 322 e115 urmerer C11 la Pine eit 2 st p oo kuz GS HA e waT 3 wat a waT F Wire E 199 1 ELK kad Tr 3 EO f mr 2 sy conmacton 2 eh t at ee i age E Fins E 121 pins E 175 ext ra p ee Set ns easa 2 We to l PINGER MODULE me e a aee bi hakz oS a end ajr a T a a0 gaa aa ean lt Full Lenght 1 25 Blue Sleeving 1277 4 SHORTING PLUG Pina en 3 e 3 Bins gai Pins Bir F ar ae 2 2 wire maas mire goane 1 Sa a2 ean ie i i T EM una wane me e201 I ge saya morr ele 3 5 aza e s 6 TET g E 131 Pins E 117 2 ERN CONN E 116 com 2 257 comi m as Pins e138 mire eass i en a Pins 17 Ting Eia Pina zan Era neo at E nhe E m asi ete STATIONARY BATTERIES mari 1 BIR 1 Pins E 120 RED ipii mize zonus com ae z Ai ne r Black z197 En as eana PT eo L an begets Bras tou Pins eny 3 Su A A ii Pins erroe rie 2 ai H ea Mht Bik 2 wire nie i mugi men crn 1 57 20 20 wire z193 s ET dE 2 2 iS Red Blk wht 2 AIR SOLENOID er 7 con b E nent E iw mye m y g9 aep meo er wires al Hine ar i egg 7 La oan one BLK mR 6i BIK IRIDIUM PHONE ODER
11. weight tube Do not discard the used burn wire assembly as they can be rebuilt at the factory Remove the e ring from the new burn wire assembly complete with jettison weight attached Feed the single pin Mecca connector through the aft end of the Jettison weight tube out the hole on the forward end With one hand push the Jettison Weight into the tube compressing the jettison weight spring At the same time feed the Mecca wire through the hole until the burn wire bushing appears With the face of the burn wire bushing beyond the edge of the hole slide it slightly sideways so that it is resting on the crossbar and does not fall back through the hole Replace e ring on the burn wire bushing seating it fully Allow the burn wire bushing to fit back through the hole It will be stopped by the e ring on the face of the crossbar Reconnect to the single pin Mecca connector Use O lube lubrication Replace Aft End Cowling See Closing Procedure Dummy and Green Plug Use O lube lubrication or Silicone Spray Keep Contact Pins clean Slocum Glider Page 26 Teledyne Webb Research Sensors Individual sensors may have special needs See manufacturer recommendations 8 Glider Communications The Glider is intended to be used in conjunction with Dockserver see the GMC Dock Server Users Guide for information on communication to the glider while using Dock server Direct The glider control Persistor is set to communic
12. Glider is too light add external washer to the exterior of the hull in the areas where one can make weight adjustments See Ballasting Adjusting Weight These tend to be at the hull intersections at the Forward and Aft End caps and at the Payload Bay Slocum Glider Page 28 Teledyne Webb Research If Glider is too heavy attach spring scales at the hull intersections at the Forward and Aft End caps to determine balance and overall excess weight Record the results and compare against target surface water The mass Glider has just been measured to make it neutrally buoyant in the tank one then needs to compare the tank to the target and add or subtract that calculated weight to derive the final mass of the Glider To achieve the proper neutral pitch the weights may need to be shifted fore or aft internally The Pitch Vernier will take care of some offset provided that the h moment is ideally set4 to 6 mm Calculating Weight Tank to Target Water Density and temperature adjustments from one body of water to another Weight to adjust glider Displacement of glider Thermal coefficient of expansion Target water temperature Tank water temperature Target water density Target water density Tank water density 1 Given Displacement of glider Air weight of glider Thermal coefficient of expansion of aluminum 70E 6 Density in grams liter Weights are in grams Temperatures are in Celsius External to Internal Wei
13. Oxygen Optode 3835 proglet oxy3835 uart 3 U4Soem Pins T 2 R 3 we only use receive bit 34 power control for sensor start_snsr c_oxy3835_on sec Slocum Glider Page 85 Teledyne Webb Research Move the edited proglet dat file to the To glider directory on the Dockserver Confirm that glider is still in Scidos There is a 1200 second default timeout value cd to config directory if necessary Type dockzr proglets dat When transfer is complete Type type proglet dat The new file will now be displayed to screen Confirm edits Type quit to exit science computer If in mission type use science_super wait for science to power down Then type use science_super If not in a mission Type exit reset Proceed APPENDIX DBD_FILE_FORMAT This document specifies the Dinkum Binary Data format This is the format of the data transmitted from Teledyne Webb Research Glider to a host computer for processing Table of contents gt gt gt HISTORY and RATIONALE gt gt gt MISSION NUMBERING SCHEME gt gt gt DBD FORMAT gt gt gt HOST SIDE PROCESSING gt gt gt gt gt gt rename_dbd_files gt gt gt gt gt gt dbd2asc gt gt gt gt gt gt dba_time_filter gt gt gt gt gt gt dba_sensor_filter gt gt gt gt gt gt dba2_orig_matlab gt gt gt gt gt gt dba2_glider_data gt gt gt DBA FORMAT gt gt gt DATA SIZE REDUCTION RESULTS gt gt gt FUTURE PLANS gt gt gt HISTORY OF RELEASED VERSIO
14. Teledyne Webb Research knows of no way to completely eliminate this hazard The user is warned and must accept and assume responsibility for this risk in order to use this instrument safely as so provided Personnel with knowledge and training to deal with this risk should seal or operate the instrument Teledyne Webb Research disclaims liability for any consequences of combustion or explosion Teledyne Webb Research TWR provides products with alkaline manganese dioxide Duracell or equivalent primary batteries Some customers may choose to install other types of batteries Any decision to use alternative batteries is made solely by the customer and is not the result of any endorsement of recommendation from TWR Upon request TWR may provide technical support such as product energy usage connector types etc to customers who wish to use alternative batteries Any enclosure containing batteries presents inherent hazards In ocean instruments these hazards are aggravated by intrinsic risks of water leakage into the battery compartment Teledyne Webb Research disclaims liability for any battery related hazards including combustion or explosion Slocum Glider Page 2 Teledyne Webb Research DISCLAIMERS AND BATTERY WARNING INTRODUCTION FORMAT NOTES SPECIFICATIONS 0 VEHICLE OPERATION THEORY 0 1 Forward Propulsion 0 2 Navigation and Flight 1 VEHICLE DESCRIPTION 1 1 Architecture Nose Dome Forward Hull Section Payload Bay Mid Hull S
15. and sentlogs with the header cache files in state cache To support SDL some new SciDos commands parallel GliderDos commands on the glider dellog df get any var known to science as seen by science heap list all vars known to science with their values prunedisk put note think about whether it propagates to glider side or not send SDL TRANSPARENCY Whenever logging is turned on on the glider a clothesline message is sent to turn it on on science using the same file name root i e the XXXXXXXX in Xxxxxxxx bd lg If science is not running at the time a flag is set to turn on science logging when science is started Whenever logging is turned off on the glider a clothesline message is sent to turn it off on science If science is not running at the time a flag is set that cancels the start logging flag Slocum Glider Page 38 Teledyne Webb Research Logfile names on science and glider are kept synchronized Science has no idea of these names itself the glider furnishes the names when it tells science to start logging each time Sending of data files to the dockserver has been made transparent Issuing the send command from GliderDos or the s command from the surface dialog causes logfiles to be sent first from science and then from the glider The same command line is processed by each processor in turn For example if the command as typed is send num 3 sbd tbd then science will send 3 tbd files fi
16. automating the unpacking of the Argos data available at ftp ftp glider webbresearch com glider windoze production windoze bin prntargo exe and prntargo_rev1 exe should be put in the c drive and run from a cmd prompt to work properly Please contact glidersupport webbresearch com if you are having trouble using this tool while searching for your glider Slocum Glider Page 74 Teledyne Webb Research APPENDIX J25 TO DB9 TO DB25 WIRING EXTERNAL COMPUTER DB9 FEMALE DB9 Signal DB25 1 DCD 8 2 RD 3 3 TD 2 4 DTR 20 5 SGND 7 6 DSR 6 7 RTS 4 8 CTS 5 9 RI 22 Slocum Glider Page 75 Teledyne Webb Research APPENDIX HOW TO DETERMINE MISSION LONGEVITY Mission battery longevity is determined by best estimation of a number of factors including type of battery style of pump science sensor types and sampling strategy surface time required for real time data transmission and starting battery voltage A user should monitor the battery voltage from the glider surface dialog or included in the data stream by monitoring the following masterdata sensor sensor m_battery volts When plotting m_battery a user should note that voltage drops during heavy current usage ie buoyancy pump adjustment at depth are expected and normal The glider will begin aborting missions for under voltage at 10 volts per the abort behavior below b_arg undervolts volts 10 0 lt 0 disables The following document can be used to estimate b
17. com glider windoze production windoze bin It is a self extracting archive and it will self extract to the current directory GliderView exe is a single self extracting archive of everything needed to run the Glider View application on Win2K NT 4 0 or WinXP Procedure to install and run 1 Create an empty working directory which you do not care if it is filled with a tree containing some tens of megabytes of files 2 Copy GliderView exe to that directory 3 Run GliderView exe from that directory 4 Again from that directory run the file go bat which will have been created in that directory in step 2 You can do all this either from a command window or graphically from Windows Explorer The batch file will set GLIDER_PARENT_DIR and PATH appropriately for you but only locally it won t upset your global variables and run Glider View Two data files are included in subdirectory data created in step 2 These are purely for testing 1152x864 resolution is required to see the display properly Don t press the data buttons at the bottom until after you have loaded some data 1 Loading new data 1 Go to Data menu and click on the load data option 2 Chose the data file you wish to load This file can be a sbd or a dbd file This file can also be a short name format ex 01230001 sbd or dbd or a long name format glider 2003 196 0 0 dbd 3 After clicking ok the data is loaded and ready to view 4 If you wi
18. coordinates instead you can just insert a new ma file on the glider with the waypoints Slocum Glider Page 54 Teledyne Webb Research b_arg start_when enum 12 BAW_NOCOMM_SECS 12 when have not had comms for WHEN_SECS secs b_arg when_secs sec 1200 20 min How long between surfacing only if start_when 6 9 or 12 b_arg when_wpt_dist m 10 how close to waypoint before surface only if start_when 7 In this example this b_arg is not active b_arg end_action enum 1 Q quit 1 wait for C quit resume 2 resume 3 drift til end_wpt_dist b_arg report_all bool 1 T gt report all sensors once F gt just gps b_arg gps_wait_time sec 120 how long to wait for gps b_arg keystroke_wait_time sec 300 how long to wait for control C b_arg end_wpt_dist m 0 end_action 3 gt stop when m_dist_to_wpt gt this arg Slocum Glider Page 55 Teledyne Webb Research The following behavior surface instructs the glider to come up when the mission is done This is determined by a lack of waypoints to direct the glider to in the x y plane behavior surface b_arg args_from_file enum 10 read from mafiles surfac10 ma b_arg start_when enum 3 O immediately 1 stack idle 2 pitch idle 3 heading idle 6 when_secs 7 when_wpt_dist b_arg end_action enum 0 O quit 1 wait for C quit resume 2 resume b_arg gps_wait_time s 300 how long to wait for gps b_arg keystroke_wait_time s 180 how
19. end cap The transducer is mounted such that it is parallel to a flat sea bottom at a nominal dive angle of 26 degrees CTD A typical sensor package contained in the payload bay on the glider is a Sea Bird non pumped low drag conductivity temperature and depth package An appendage to the side of the payload bay the CTD sensor is delicate and should be protected from abuse For a 200 meter glider a 500 PSI pressure transducer is used for the depth measurement For a 1000 meter glider a 2900 PSI pressure transducer is used for depth measurement The SBE electronics and sensors are calibrated as a single unit Note that the CTD is not used for flight as the glider has an independent pressure sensor for dynamic flight control Slocum Glider Page 13 Teledyne Webb Research ARGOS Satellite Transmitter PTT The Seimac X Cat PTT or legacy Smartcat is used for recovery situations transmitting last known GPS positions when available Service Argos also provides periodic surface location accurate to 100 meters See Appendix ARGOS Data Catalyst A catalyst is used to recombine Hydrogen and Oxygen into H20 to reduce the risk of explosion The reaction is exothermic and the catalyst may become hot This item does not need periodic replacement See the disclaimer at the beginning of this document Air Pump System An air bladder in the flooded tail cone is used to provide additional buoyancy on the surface for bettering communications It is inflated us
20. gt Consume some heap memory and never give it back Used for testing system behavior with inadequate heap space lt bytes to leak gt How many bytes to allow and never free on each simdrvr call typically every 2 seconds bad_device iridium_no_carrier lt min mt gt lt max mt gt lt probability gt Simulates a NO CARRIER condition from iridium modem bad_device leakdetect lt min mt gt lt max mt gt lt probability gt lt bad value gt Simulates a water leak by using lt bad value gt as M_LEAKDETECT_VOLTAGE bad_device vacuum lt min mt gt lt max mt gt lt probability gt lt bad value gt Simulates a bad vacuum by using lt bad value gt as M_VACUUM bad_device pressure_drift lt min mt gt lt max mt gt lt probability gt lt bad value gt Simulates a pressure drift by returning lt bad value gt as the drift sometimes One must be simulating the device before it has any effect Slocum Glider Page 45 Teledyne Webb Research The simulation is a full end to end simulation when appropriate the inputs to system A Ds and digital inputs are computed and used so that all the normal software from the lowest level is still employed The cycle to cycle timing is fairly true Some of the sub cycle timings less than a second or so have to be faked because the cpu isn t fast enough to simulate them There are a number of S_xxx sensor variables These are all computed by simulation code in the simulation driver simdrvr
21. have a significant impact on its performance Height is key In general Freewave units with a higher antenna placement will have a better communication link In practice the transceiver should be placed away from computers telephones answering machines and other similar equipment The 6 foot RS232 cable included with the transceiver usually provides ample distance for placement away from other equipment To improve the data link Freewave Technologies offers directional and omni directional antennas with cable lengths ranging from 3 to 200 feet When using an external antenna placement of that antenna is critical to a solid data link Other antennas in close proximity are a potential source of interference use the Radio Statistics to help identify potential problems It is also possible that an adjustment as little as 2 feet in antenna placement can solve noise problems In extreme cases such as when the transceiver is located close to Pager or Cellular Telephone transmission towers the standard and cavity band pass filters that Freewave offers can reduce the out of band noise Slocum Glider Page 67 Teledyne Webb Research APPENDIX Iridium Service and SIM CARD To obtain a Iridium Sim Card you will need to locate and choose a provider Iridium charges can be a significant expense and it is worth shopping for a good rate There are many different plans and providers and you can use any provider you wish Teledyne Webb Research uses Stratos
22. is smaller than but very similar to DOS and many DOS commands will work in Picodos Uploading of new Glider Controller code new mission files and retrieval of data files are all done in Picodos GliderDos is an application that is loaded into the Persistor This resident operating system is a super set of Picodos which is used to run the glider controller code Missions are executed from within GliderDos It is written in C C and compiled using Metrowerks CodeWarrior and then post linked and uploaded to the SLOCUM vehicle via Motocross b Code Design The user commands the SLOCUM glider by writing mission files text files with a mi extension and loading them onto the Persistor The mission is then executed from within GliderDos Mission files are based on a layered single thread approach where tasks are coded into behaviors behavior _ which themselves are composed of behavior arguments b_arg _ During a mission the glider is continually updating a large number 1400 of variables These variables are referred to as sensors sensor _ In the simplest terms sensors are defined as any variable whose value is changing or set over the duration of a mission Some examples of sensor values are gps fixes piston displacement pump position and CTD values All sensor definitions behavior arguments and behaviors are defined in a file called MASTERDATA which is located ftp ftp glider webbresearch com glider windoze production src code
23. long to wait for control C The following behavior surface instructs the glider to come up briefly if yo finishes This happens if a bad altimeter hit causes a dive and climb to complete in the same cycle The Glider surfaces and the yo restarts behavior surface b_arg args_from_file enum 10 read from mafiles surfac10 ma b_arg start_when enum 2 0 immediately 1 stack idle 2 pitch idle 3 heading idle 6 when_secs 7 when_wpt_dist b_arg end_action enum 1 Q quit 1 wait for C quit resume 2 resume b_arg gps_wait_time s 300 how long to wait for gps b_arg keystroke_wait_time s 15 how long to wait for control C Slocum Glider Page 56 Teledyne Webb Research The following behavior surface instructs the glider to come up every way point behavior surface b_arg args_from_file enum 10 read from mafiles surfac10 ma b_arg start_when enum 8 0 immediately 1 stack idle 2 depth idle 6 when_secs 7 when_wpt_dist 8 when hit waypoint 9 every when_secs b_arg when_secs s 2700 How long between surfacing only if start_when 6 or 9 b_arg when_wpt_dist m 10 how close to waypoint before surface b_arg end_action enum 1 O quit 1 wait for C quit resume 2 resume b_arg report_all bool 0 T gt report all sensors once F gt just gps b_arg gps_wait_time s 300 how long to wait for gps b_arg keystroke_wait_time s 300 how long to wait for control C Sloc
24. neither is added to the just_electronics line the Iridium device is taken out of service This is the same as entering use iridium from GliderDos Normally in just_electronics a direct cable is used without a Freewave modem and the simulator always simulates the Freewave carrier detect CD bit If the following is present just_electronics iridium modem options see above freewave_cd_switch The actual CD bit from the hardware is read This typically requires a switch On revision E and later glider control boards connect a wire between J25 6 and J25 7 switching Freewave power to CD input Disconnecting this for at least 3 seconds simulates unplugging an actual Freewave modem This is useful in testing code which acts on the presence or absence of the Freewave carrier Simulating Bad Input The capability also exists to simulate bad input from some devices This is useful for testing the operation of the software in the presence of bad input data and or failed devices The following lines in the simul sim file determine this In all cases lt min mt gt Mission Time to start returning bad values lt max mt gt Mission Time to stop returning bad values lt probability gt 0 1 The probability of returning a bad value bad_device altimeter lt min mt gt lt max mt gt lt probability gt lt bad value gt Make the altimeter return the specified bad value sometimes lt bad value gt The bad value to return bad_dev
25. run glmpc mi to begin the glmpc mission or run desired mission 5 Deployment and Recovery Deployment and recovery can be challenging an or dangerous especially in heavy seas Plan accordingly to get your glider in and out of the water Deployment conditions and craft will vary The gilder can be deployed using the pick point With smaller vessels the glider cart can be used on the gunwale to allow the glider to slip into the water During handling hold by tail tube not the antenna unless the glider is fitted with the Digifin A glider with a Digifin installed can be manipulated by the palm sized horizontal antenna area During recovery the pick point or cart can be useful tools to manipulate and provide support while moving the glider onboard A hook or lasso on a pole has also been used to manipulate the glider while in the water Remember to not use the antenna as a handle unless the glider is fitted with a Digifin Photographs of deployment and recovery by cart can be found in the Appendix Operators Guide 6 Emergency Recovery Contact glidersupport webbreseach com for specifics but some or all of the following may need to be done in an emergency recovery scenario Callback time can be increased significantly by changing in the glider Autoexec mi sensor u_iridium_max_time_til_callback sec 1800 0 Maximum legal value for C_IRIDIUM_TIME_TIL_CALLBACK If the glider has blown the ejection weight or you feel safe Change u_max_time in g
26. simplified by avoidance of lithium batteries Some customers install lithium batteries which increases endurance Typical glider usage with alkaline manganese dioxide batteries averages 600 700 hours of operation per battery pack This is approximately one month of flight This calculation is highly dependent on the sensor package carried by the glider battery usage increases with increased sensor payload Contact Teledyne Webb Research at glidersupport webbresearh com for a xls spreadsheet for estimating battery longevity Glider Battery Full set includes 1 Pitch Battery Set 1 Aft Battery set 2 Nose battery sets Credit issued with return of battery cores The following parts require occasional replacement Anode ASSY G 540 Burn Wire Assembly ASSY G 123 Note This is the ejection weight which will release if the glider fails to surface per planned mission It will need to be replaced each time it is activated Wing G 237D Hull O rings G 024 Parker only 2 265 N674 70 Dessicant Slocum Glider Page 77 Teledyne Webb Research APPENDIX Ancillary Glider Equipment Ballast Tank min size 8 2 5m long X 4 1 2m X 3 1m This is for manual set up of glider A way to get the glider in and out of the tank i e an overhead winch a low enough tank to go over the side or some lifting device Vacuum Pump Thomas model 2688CE44 available from Grainger Grainger item 5Z350 or equivalent to pull th
27. the glider exactly 180 and press the keyboard s Space bar to continue The compass will take a measurement then you will be prompted to turn the system upside down It is very important that the vertical axis in the new position be exactly 180 degrees from the original position Turn the system upside down and press the keyboard s Space bar to continue The compass will take the third measurement and calculate the hard iron correction Configuration Make the following configuration changes to the compass Each of the following will need to be typed separately followed by the enter key Note that if the data is entered properly the compass will only respond with a carriage return but if the data is entered improperly the compass will respond with E010 error Simply re enter the data Typing the function then will report the stored value ex ec ec e compass enabled ep e pitch enabled er e roll enabled et e temperature enabled ed e Enable Magnetic Distortion Alarm damping d Disable Dampening fast d Disable fast sampling clock 5 Set clock to 5Hz a Type go and hit enter confirm that the data is streaming then type Control C twice to exit Slocum Glider Page 64 Teledyne Webb Research APPENDIX Freewave Configuration Following are excerpts from the FreeWave Technologies Inc Spread Spectrum Users Manual Refer to www FreeWave com for complete details About Freewave Transceivers Freewave transceivers operate in virtuall
28. water on material Place well ballasted glider with wings in a ballasting tank Measure the static angle of roll An inclinometer may be used Hang a known amount of weight 300 g from the starboard wing rail Attach a spring scale to the port wing rail Measure the weight change on the spring scale Measure the angle of roll that the glider undergoes due to the addition of weight An inclinometer may be used Remove the added weight measure it and multiply by 0 912 if using Lead weight or by 0 875 if the weight used is stainless steel Bu ON RS S SCALE PORT WING STARBOARD WING WEIGHT Weight added to starboard wing rail W g Weight shown on spring scale S g The difference in angle of rotation prior to weight added and the angle of rotation after to weight added The diameter of the Hull H 107mm The glider displacement D kg S W H D 1000 TAN W pi0 180 H distance specification 6mm Imm In order to lower the H distance it will be necessary to add weight to the weight bar in the payload bay and the reverse is necessary to increase the H distance Slocum Glider Page 80 Teledyne Webb Research Appendix Command examples attrib GliderDos I 3 gt attrib r c config autoexec mi Makes it read only in the current directory you don t need the C part GliderDos I 3 gt attrib autoexec bat A R C AUTOEXEC BAT shows attributes of autoexec bat
29. what portions of the payload data that is most important to the user 13 Flight Data Retrieval A separate document GMC Glider Mission Control User guide will instruct the user in use of Glider Terminal a Java application and one of the Dockserver applications ftp ftp glider webbresearch com glider windoze production src gliderMissionControl Documentation qmc UserGuide pdf The Dockserver can automate file retrieval data storage and allow the user to display data and glider locations for easy viewing Dockserver applications also allow for ftp manipulation of data Slocum Glider Page 41 Teledyne Webb Research Flight data can be recorded and recovered in a number of ways There are a number of nomenclatures described below for the way in which data is stored Depending on the nature of the mission the amount of data being transmitted will be customized by the user to suit their particular mission needs This text will guide a user in retrieval of data from the glider during a mission surfacing as well as when the mission has ended Due to low transmission speed and expensive transmission rates it is not recommended to send large files such as dbd over Iridium service You will be able to retrieve all dbd mlg and sbd files using a the Freewave modem bd Dinkum Binary Data all sensors or variables are recording and stored in this type file See Appendix K dbd are large files in most cases it would be undesirable to t
30. 0 dbar 43 cc sec 26 1 41 dbar 30 dbar 126 cc sec Ballast pump assembly 1000 meter The 1000 meter ballast pump is a rotary displacement design which moves oil from an internal reservoir to external bladder changing the vehicles buoyancy While you will not damage the pump by adjusting the pump without a vacuum the 1000 meter pump will not properly draw the oil internally without a vacuum so like the 200 meter glider it is advisable to only move the pump while the vehicle is under vacuum A rotary valve is used to control flow of oil from bladder to reservoir Ratio Pmax 7 amp Rated Pressure Speed no load N A 1240 dbar 1000 dbar 5 cc sec Pitch Vernier Provided that the h moment is 6mm 1 the fluid movement from the Ballast pump assembly provides the moment for changing pitch water moves into the nose making the vehicle nose heavy when diving similarly making the nose buoyant when rising To trim to the desired dive and climb angles a lead screw drives the forward 8 4 Kg 10kg battery battery pack fore or aft as a vernier The default pitch for descent and climb is 26 degrees The battery pack is put full forward during surfacing to better raise the tail out of the water for communications Altimeter The Airmar altimeter with a 0 100 m range transducer is mounted on the front of the ballast pump assembly and electronics are supported on the Ballast pump assembly Cylinder The transducer leads feed through a bulkhead connector on the front
31. 001 193 28 X the8x3_ filename 0088000X filename_extension dbd filename_label cassidy 2001 193 28 X 0088000X mission_name BOX MI fileopen_time Fri_Jul_13_2X XX XX_2001 sensors_per_cycle 249 num_label_lines 3 num_segments 4 segment_filename_0 cassidy 2001 193 28 0 segment_filename_1 cassidy 2001 193 28 1 segment_filename_2 cassidy 2001 193 28 2 segment_filename_3 cassidy 2001 193 28 3 The Xs in the header represent characters that are different in the four input DBD file headers gt gt gt DATA SIZE REDUCTION RESULTS On a simulated one hour mission the OBD format generated 381 Kbytes hour the DBD format transmitting 4 bytes for every sensor generated 278 Kbytes hour A 27 improvement The DBD format transmitting a variable number of bytes per sensor generated 289 Kbytes hour Note that this is bigger than the 4 bytes sensor It was the same mission but longer I can only assume that the extra mission time involved actions that resulted in more variables changing This should probably be investigated On a simulated five hour mission Slocum Glider Page 96 Teledyne Webb Research The SBD sensor list from New Jersey 00 24 sensors produced data at the rate of 50Kbytes hour APPENDIX Legacy Gliderview exe Is legacy data visualization tool and is minimally supported Data server described above is the preferred method for data viewing GliderView exe may be downloaded from ftp ftp glider webbresearch
32. 4 TELEDYNE WEBB RESEARCH A Teledyne Technologies Company 82 Technology Park Drive E Falmouth Massachusetts 02536 Phone 508 548 2077 Fax 508 540 1686 glidersupport webbresearch com User Manual Slocum Glider Applies to Electric gliders type 30m 100m 200m and 1000m Operations Manual Ver2 05 05 2010 Disclaimers and Battery Warning Qualified personnel Only trained and qualified personnel should operate and maintain the glider Teledyne Webb Research conducts regular training sessions several times a year Glider users should attend a training session and understand basic glider concepts and terminology Contact glidersupport webbresearch com for information regarding training sessions Company policy is to fully support only properly trained individuals and groups Battery Warning Gliders contain batteries comprised of alkaline manganese dioxide C cells There is a small but finite possibility that batteries of alkaline cells will release a combustible gas mixture This gas release generally is not evident when batteries are exposed to the atmosphere as the gases are dispersed and diluted to a safe level When the batteries are confined in a sealed instrument mechanism the gases can accumulate and an explosion is possible A catalyst inside the instrument recombines hydrogen and oxygen into H20 and the instrument has been designed to relieve excessive internal pressure by having the hull sections release
33. 60 C cells the battery weight is 18 2 kg and energy available 7 800 kjoules Location of packs Pitch Battery 12 Aft Battery 10 12 Nose Batteries 1 2 For power management typically all of the packs except one of the aft battery packs are tied into battery main The one emergency pack is tied to Battery Backup and runs the Main Controller boards and performs the following functions only Abort Timer Burn Wire ARGOS and pinger if available in the event of Main power loss Desiccant Slocum Glider Page 17 Teledyne Webb Research If possible the glider should be opened and sealed in a controlled dry environment A desiccant pack or several should be installed to absorb internal moisture and should be replaced for each deployment When the glider is open for long periods the desiccant should be stored in sealed plastic bags to prevent atmospheric moisture from saturating it 2 Opening Procedure Only trained and qualified personnel should operate and maintain the glider Teledyne Webb Research conducts regular training sessions several times a year Glider users should attend a training session and understand basic glider concepts and terminology Contact glidersupport webbresearch com for information regarding training sessions Company policy is to fully support only properly trained individuals and groups The section on opening and closing below will reference communications with the glider please see the separate documents GM
34. 8 3 45p A AUTOEXEC MI 4 541 6 144 04 12 08 12 59p R A SIMUL BAK 49 2 048 01 21 08 7 23p A SIMUL SIM 10 2 048 09 04 08 3 12p A 13 file s 56 503 bytes 2 dir s 75 776 bytes allocated 125 399 040 bytes free 128 116 736 bytes total disk space 2 in use tighter specs GliderDos I 3 gt dir c state Volume in drive C is NONAME Volume Serial Number is 7B17 2E37 Directory of C STATE lt DIR gt 09 04 08 10 29a lt DIR gt 09 04 08 10 29a LONGTERM STA 555 09 04 08 2 50p PFSTDERR TXT 0 09 04 08 2 54p PFSTDOUT TXT 776 09 04 08 2 54p 3 file s 1 331 bytes 2 dir s 125 399 040 bytes free Slocum Glider Page 82 Teledyne Webb Research GliderDos I 3 gt dir c config mi Volume in drive C is NONAME Volume Serial Number is 7B17 2E37 Directory of C CONFIG AUTOEXEC MI 4 541 04 12 08 12 59p 1 file s 4 541 bytes 0 dir s 125 399 040 bytes free rm GliderDos I 3 gt rm c old_app Path C OLD_APP delete entire branch 10 seconds to reply Y N gt y Deleting branch at path C OLD_APP put GliderDos I 3 gt put c_science_all_on 1 1899 79 sensor c_science_all_on 1 secs rename GliderDos I 3 gt rename config simul sim simul bak GliderDos I 3 gt dir config Volume in drive C is NONAME Volume Serial Number is 7B17 2E37 Directory of C CONFIG lt DIR gt 09 04 08 10 27a lt DIR gt 09 04 08 10 27a CONFIG SCI 449 07 29 08 3 45p CONFIG SRF 41 07 29 08 3 45p DELLOG DAT 442 07 29 08 3 45p HIGHD
35. C or Dock Server User Guide and section 6 of this manual as a reference Teledyne Webb Research recommends use of Dockserver as your sole source of communication to the glider However a properly configured Freewave modem connected to a terminal program such as Procomm or Hyperterminal can also be used for Glider communication if a Dockserver is unavailable Work on the glider is best done on a glider cart The glider will lose its rigidity when taken apart and the sections will need to be supported 2 1 Glider Hull Sections Note glider commands and definitions can be accessed by typing All glider commands in this manual will be referenced in bold and purple The glider should be powered down while performing maintenance The Air Bag must be deflated in order to remove the Aft Tail Cowling To deflate an inflated bladder from GliderDos type the following command put c_air_pump 0 and press enter This will deflate the airbag Then type exit and enter This will shut down the glider Turn power to the glider off by removing green plug or External Power Cable and replacing red plug Remove the two 10 32 socket head cap screws SHCS and washers that hold the Aft Tail Cowling in place using a 5 32 hex driver Slide the cowling back slightly separating the cowling to allow for the antenna tail fin Remove the 7 16 MS vent access plug on the starboard side of the Aft End cap with a 3 16 hex driver Note If an internal vacuum is
36. DAT Specify which sensors are recorded for a short binary data file MBDLIST DAT Specify which sensors are recorded for a medium binary data file SIMUL SIM Can convert the glider into several versions of a simulator See Simulation Note this file must be deleted prior to actual flights ZMEXT DAT Automatically puts transferred files in the correct directory from any other directory BIN Folder Where Pico executable programs are kept These are all run in PicoDOS ADTEST RUN Displays and updates raw voltages for A gt D devices Used in calibration procedures ALLOFF RUN Is placed in AUTOEXEC BAT to start the world with all registers zeroed and turns on the RF modem for communication CONSCI RUN Switches the RF modem over to the Payload Science Computer for direct access and code loads Note A loss of carrier detect on the Glider side will automatically switch back to Glider Controller SRTEST RUN Allows switching on off of select bits Used for Hardware Interface Board testing TALK RUN Ports to specific components such as ARGOS Attitude Sensor and GPS for direct access and setup Talk help will give a list of parameters UARTTEST RUN Testing of uart drivers for programming ZR RUN and ZS RUN Required for z modem send and receive transfers LOG Folder Where the mission derived data is stored Types include Slocum Glider Page 31 Teledyne Webb Research DBD Dinkum Binary Data all sensors turned on fo
37. Description 1 1 Architecture The Slocum Battery Glider is comprised of three main separate hull sections in addition to two wet sections located fore and aft The 200 meter glider cylindrical hull sections are 21 3 cm OD 6061 T6 aluminum alloy chosen for simplicity economy and expandability 1000 meter hull sections are 22 cm OD manufactured from composite material or 6061 T6 aluminum The nose end cap is a machined pressure resistant elliptical shape and the tail cap a truncated cone Composite wings are swept at 45 degrees and are easily replaced using a quick release click in click out system Take care while removing and installing wings as they are not buoyant and will sink if dropped Nose Dome Gliders manufactured before 2008 have a penetrator thru the front end cap to the wet section that houses a 10 kHz transducer for Pinger In addition the nose dome has a hole on the centerline for large bore movement of water as is created by the ballast pump assembly Although not of substantial volume and desire to keep reflectors away from the transducer external trim weights can be added inside the nose dome for ballast trimming Forward Hull Section This section houses the ballast pump assembly pitch vernier mechanism altimeter electronics was removed from the design in 2007 batteries and provisions for ballast weights Internal wiring connectors are mounted on the pump endplate The large battery pack also serves as the mass moved by t
38. ENS DAT 549 07 29 08 3 45p LOGIN EXP 1 222 07 29 08 3 45p LONGTERM DAT 857 09 27 06 6 12p MBDLIST DAT 295 07 29 08 3 45p SBDLIST DAT 480 07 29 08 3 45p SENSDATA DAT 46 207 07 29 08 3 45p ZMEXT DAT 1 361 07 29 08 3 45p AUTOEXEC MI 4 541 04 12 08 12 59p SIMUL BAK 49 01 21 08 7 23p 12 file s 56 493 bytes Slocum Glider Page 83 Teledyne Webb Research 2 dir s 126 162 944 bytes free send GliderDos I 3 gt send f irid sbd Enumerating and selecting files About to send 17 files bal GliderDos I 3 gt send f rf sbd Enumerating and selecting files About to send 17 files Prechecking is not necessary for this invocation el SHUFFLING FILES Sent 17 file s c logs 00310000 SBD c logs 00300020 SBD c logs 00300019 SBD c logs 00300018 SBD_ c logs 00300017 SBD_ c logs 00300009 SBD c logs 00300008 SBD c logs 00300000 SBD _c logs 00290001 SBD c logs 00290000 SBD c logs 00280000 SBD c logs 00270000 SBD c logs 00260000 SBD c logs 00250000 SBD c logs 00240000 SBD c logs 00230000 SBD c logs 00220000 SBD SUCCESS end of a bad transfer Sent 0 file s FAILURE xmit_to_host results 1 Error sending files num option sets max num files GliderDos I 3 gt send num 2 dbd Enumerating and selecting files About to send 2 files feel t sets max time GliderDos I 3 gt send t 60 dbd Enumerating and selecting files About to send 1 files bel setdevlimit GliderDos I 3 gt setdev
39. For a typical glider deployment layering behaviors in a pre determined sequence to obtain the desired glider path and vertical movement creates a mission file The glider mission is being executed through the Layered Control as displayed above All motor settings are controlled through the behaviors There are three kinds of aborts which the glider can trigger to get to the surface They are synchronous abort out of band abort and a hardware generated abort Each type of abort utilizes different control layers to perform the abort A synchronous abort is an abort in which the behaviors selected in the mission files are no longer called Instead Dynamic Control is used to bring the glider to the surface Dynamic Control movement of motors Device Drivers Sensor Processing Data Logging dbd sbd mlg log files The dynamic control uses the device drivers to move motors so that positive buoyancy is achieved All communication and location devices are also turned on gps argos etc Also all system log files are available to trace the cause of the abort The abort terminates when the glider detects that it is on the surface or if the user interrupts with a keystroke CTRL C Once the abort terminates control is returned to GliderDos You will see a prompt similar to GliderDos A gt GliderDos A gt The A stands for abort Slocum Glider Page 51 Teledyne Webb Research GliderDos N gt N stands for mission ended n
40. Iridium output of a glider and display the data To run this feature press Start in the Track glider window chose the capture file required then press ok To stop operation press the toggle button Stop and Save save your data to the desired filename then you can either restart or Close the window Glider View operation should resume once you are done tracking data 6 The Sensor editbox allows you to type in a sensor not shown in the list box and to plot it vs time To find the sensor there exists a list of all sensors in the help menu To plot only the sensors in the box chose the None variable in the list box To plot more than one sensor including the sensors in the sensor box use the CTRL key to choose none in addition to the sensors desired from the list box 2 Clearing Data It is not necessary to clear data each time before loading new data Clicking the clear data option will simply clear all plots list boxes and remove any displayed data 3 The help menu The help menu is self explanatory and launches help information in the Matlab help window in HTML format 4 The Fly through option This option is designed to allow the user to view a previously run mission The Fly through button is only activated for DBD file types Clicking on the button will start a fly sequence of the loaded mission A 3D plot of the flight path in latitude longitude and depth is displayed in the main plot A second plot sh
41. NS gt gt gt HISTORY and RATIONALE The Glider originally used an OBD Odyssey Binary Data format This consisted of an ASCII header and binary data representing sensor data On every cycle 6 bytes were transmitted for every sensor that was updated with a new value 2 bytes of sensor number and 4 bytes of floating point data representing the sensor Slocum Glider Page 86 Teledyne Webb Research This format had a couple of problems 1 Once on the host one couldn t tell whether a sensor was updated with the same value or it wasn t updated This presented a severe problem for artificial i e non real world sensors 2 The data compression wasn t optimal a Sensors with small dynamic range e g 0 or 1 still required 4 bytes to transmit b The overhead of two bytes for each sensor number was excessive To address these needs the DBD Dinkum Binary Data format was invented It also consists of An ASCII header A list of sensor names units and number of bytes encoded in Binary data representing changed sensors on each cycle The binary data is encoded quite differently At the beginning of every cycle two bits are transmitted for EVERY sensor These two bits encoded one of three states The sensor wasn t updated The sensor was updated with the same value The sensor was updated with a new value This cycle state is followed by the binary values at 1 2 or 4 bytes for only those sensors that were updated with a n
42. TUS_2 status of mission two missions ago 29 X_OLD_MISSION_STATUS_3 status of mission three missions ago 30 31 16 bit cre of bytes 0 29 Locations and age The same encoding scheme is used for current location last waypoint and next waypoint The location consists of a latitude and longitude The age is in seconds from now the now must be extracted from the argos email header A latitude or longitude is encoded in 3 bytes The age is encoded in two bytes pds latitude 5 longitude age in seconds r r NWO a1 BR r Slocum Glider Page 72 Teledyne Webb Research The input data format on the glider is D DDMM MMMM where the Ds are degrees and Ms are minutes The latitude or longitude is rounded to nearest 1 100 of a minute about 20 meters multiplied by 100 and stored as a signed integer i e 4235 12354 would be stored as 423512 in 3 bytes The age in seconds is stored as an unsigned 2 byte integer An all ones value OxFFFF hex means either that the location was never computed or it was computed more than 65K seconds ago Current or Last Mission number The mission number is YYDDDxx YY year DDD day in year xx the xx th mission of the day This is encoded into two bytes as an unsigned integer The MSB is stored first followed by LSB DDDxx Note Once must examine Curr or last mission status to determine if that mission is still running or it terminated and glider is sitting
43. UDICS 9 BALLASTING Calculating Weight Tank to Target Water External to Internal Weight Adjusting Weight 10 SOFTWARE ARCHITECTURE Picodos30 CONFIG Folder BIN Folder LOG Folder MISSION Folder SENTLOGS Folder Slocum Glider Page 5 25 26 26 26 26 26 26 27 27 27 27 27 28 28 28 29 29 29 29 30 31 31 31 32 32 Teledyne Webb Research AUTOEXEC BAT GliderDos Masterdata Sensor Commands Device Commands 10 1 Science Computer BIN Folder CONFIG Folder AUTOEXEC BAT 11 SCIENCE DATA RATE COOKBOOK 12 FLIGHT DATA RETRIEVAL 13 DOCKSERVER DATA VISUALIZER 14 SIMULATION 15 MISSIONS MI Files 47 MA Files Running Missions a Operating Systems b Code Design c Control Stacks States amp Abort Sequences d General Control Structure e Abort Codes f Sample Mission and Comments APPENDIX GLIDER SOFTWARE WEB SITE APPENDIX WIRING DIAGRAM APPENDIX COMPASS Slocum Glider Page 6 32 32 33 33 33 35 36 36 36 37 41 43 43 47 48 48 49 49 50 51 52 53 62 63 64 Teledyne Webb Research APPENDIX Freewave Configuration APPENDIX Iridium Service and SIM CARD APPENDIX ARGOS Satellite Service and ID APPENDIX ARGOS DATA FORMAT APPENDIX J25 TO DB9 TO DB25 WIRING APPENDIX HOW TO DETERMINE MISSION LONGEVITY APPENDIX COMMONLY PURCHASED SPARE PARTS APPENDIX Ancillary Glider Equipment APPENDIX BALLASTING AND H MOMENT ADJUSTMENTS
44. USED TO THE GLIDER IF THE SIMULATION FILE CONTAINS no_electronics or just_electronics WHEN USING A FULL GLIDER no_electronics Persistor alone no glider board Pocket simulator just_electronics No Hardware no motor etc just the electronics board and Persistor Shoebox simulator on_bench This is a complete glider on the bench i e not In water The level of simulation is set when the glider boots by the contents of the simul sim file in the config directory of the glider flash card A single line of text controls the level of simulation no_ electronics just_electronics on_bench If the file is missing or does not have the required line no simulation is done A glider should never be deployed with a simul sim file remaining in the config directory Iridium phone simulation The Iridium satellite modem has two levels of simulation Both are controlled by a parameter on the just_electronics line just_electronics modem Slocum Glider Page 43 Teledyne Webb Research just_electronics null modem modem An actual modem is attached to the Iridium connector on the electronics board Normally this would be an Iridium satellite modem although any Hayes compatible modem should work null_ modem A null modem cable connects the Iridium connector on the electronics board to a terminal emulator All modem responses such as OK CONNECTED 4800 etc are simulated Set the terminal the emulator to 4800 baud 8 bit no parity If
45. WORKSHEET APPENDIX How to edit a proglet dat file APPENDIX DBD_FILE_FORMAT APPENDIX Legacy Gliderview exe APPENDIX Slocum Glider Do s and Don ts APPENDIX Storage conditions APPENDIX Returning equipment to factory APPENDIX Slocum Glider Operator Guide quick reference Slocum Glider Page 7 65 68 68 70 75 76 77 78 79 85 86 97 100 101 101 101 Teledyne Webb Research Introduction Conceived by Douglas C Webb and supported by Henry Stommel and others the class of Slocum Gliders is named after Joshua Slocum the first man to single handedly sail around the world An innovative Autonomous Underwater Vehicle the Slocum glider AUVG has two primary designs the 200 meter coastal glider and 1000 meter glider Each is specifically designed to work from 4 to 200 meters for the 200 meter and 40 to 1000 meters for the 1000 meter to maximize littoral or deep ocean capabilities A third design in development is the long range Thermal glider These platforms are a uniquely mobile network component capable of moving to specific locations and depths occupying controlled spatial and temporal grids Driven in a saw tooth vertical profile by variable buoyancy the glider moves both horizontally and vertically Long range and satellite remote sensing systems are being realized in the ocean measurement field These systems are being used to quantify currents sea surface height temperature and optical pr
46. _name SASHBOX MI fileopen_time Mon_Apr_30_17 28 25_2001 sensors_per_cycle 216 num_label_lines 3 num_segments 1 segment_filename_0 zippy 2001 119 2 0 f_max_working depth u_cycle_time m_present_time m s sss nodim nodim nodim nodim nodim enum X 444444444444444444444444 30 2 9 88652e 08 0 0 07 1119 1 3 3 3 301 NaN NaN 9 88652e 08 2 902 NaN NaN NaN NaN NaN NaN NaN NaN 9 88652e 08 5 664 NaN NaN NaN NaN NaN NaN The key value pairs in the header have the same meanings as in the DBD file Additionally optional keys may appear in the DBA header The num_segments and segment_filename_0 are examples The num_segments key represents how many dbd files 1 e segments were merged to produce the dba file The segment_filename_X keys are the long filenames of the dbd segments The NaN entry for data means that the sensor Slocum Glider Page 95 Teledyne Webb Research was not updated that cycle The labels in an ascii header may have a number of Xs in them when multiple data sets are merged Basically any characters in the ascii header fields which are different in any of the input DBD files are replaced by an X An example may help dbd2asc cassidy 2001 193 28 0 dbd cassidy 2001 193 28 1 dbd cassidy 2001 193 28 2 dbd cassidy 2001 193 28 3 dbd Would result in the following header dbd_label DBD_ASC dinkum_binary_data_ascii file encoding_ver 0 num_ascii_tags 17 all_sensors 1 filename cassidy 2
47. ammed Ctrl c aborts the mission closes files and remains on surface in glider DOS Ctrl e extends surface time by 5 minutes before resuming mission no entry will resume the mission in the seconds specified Ctrl p Starts mission immediately Slocum Glider Page 42 Teledyne Webb Research Ctrl f re read ma files C switch to communications with the science bay Persistor followed by a allowable glider dos commands to runs a subset of glider DOS commands commands listed as lower case in help menu not available during a mission 14 Dockserver Data Visualizer Version 6 33 Ashumet and later of Dockserver include a Data Visualizer See Dockserver Guide for instruction of use The Data Visualizer allows the user to plot all sensors from any data file transmitted to the Dockserver See Appendix Gliderview for legacy data processing method 15 Simulation A powerful feature of the software is the capability to convert the glider into a simulator or create a glider out of a standalone Persistor This allows testing of new code pre running of missions and providing a hands on training tool There are various ways to operate the glider in a simulated environment This allows testing of software simulation of missions etc The simulation is reasonably accurate The simulated physics of the glider are far from perfect but generally adequate for verifying software and missions There are various levels of simulation NOTE MAJOR DAMAGE WILL BE CA
48. an also be constructed to deal with more complex issues such as dead reckoning navigation current correction and adaptive sampling Each device is labeled as a sensor and is logged every time that the value changes during a mission This data is retrieved as a binary file and is post parsed into a matrix which allows one to re play flight dynamics or to easily construct graphical views of vehicle performance or scientific data A subset of the sensors can be chosen as a science data package so as to reduce surface radio transmission time allowing near real time data collection The glider can have in memory of the CF card any number of pre written missions that can be called or a new mission can be created downloaded to the Glider via the RF modem or Iridium and run Mission changes might include different inflect depths new GPS waypoints or turning a behavior on or off such as current correction Mission files are small text files To further decrease the size of mission particulars portions of missions can be broken out into MA or mission acquisition files This allows for transferring very small files to modify the most commonly adjusted mission sensors Hierarchy of software control PicoDos Persitor operating system GliderDos Glider operating system masterdata Defines all sensors or maybe better defined as Glider variables 1400 longterm dat Maintains sensors variables on power cycle Autoexec mi Defines glider specific variables
49. ar extension In the old OBD file days a mission was identified as Z0122202 xxx Z first letter of vehicle name 01 The last two digits of year 222 The day in the year 02 The n 1 mission of day e g 3rd This didn t let us handle segments or many different vehicle names So to get around these limitations we have two names for each log file An 8 3 compatible name and a long file name The 8 3 name simply needs to be unique on the glider s file system once it is transferred to another computer with a reasonable file system it gets renamed to the long file name There are host side tools to do this automatically See rename dbd files The 8 3 name is mmmmssss XXX where mmmm is the unique mission number ssss is Mission segment number After 10 000 missions or segments they wrap around The long filename looks like zippy 2001 222 04 05 zippy vehicle name 2001 The year AT START OF MISSION 222 day of year AT START OF MISSION 04 the n 1 th mission of the day 05 the segment of the mission Both the 8 3 and full names are stored in all the data files When used for labeling a string of the form is used zippy 01 222 04 05 0123 0005 Slocum Glider Page 88 Teledyne Webb Research The long term memory of unique_mission_number segment is kept in disk file state mis_num txt You never need delete this file it periodically gets trimmed in length The format is mmmm_ ssss YY DDD UUUU zippy 01 222 04 05 where mmmm
50. at GliderDos prompt Mission status A single byte representing the status of a current or prior mission These are decimal numbers that are taken from command h Tt is likely that command h will be changed and this document won t So consult code command h for the final word MS_IN_PROGRESS 0 MS_ABORT_STACK_IS_IDLE 1 layered_control MS_ABORT_HEADING_IS_IDLE 2 layered_control MS_ABORT_PITCH_IS_IDLE 3 layered_control MS_ABORT_BPUMP_IS_IDLE 4 layered_control MS_ABORT_THRENG_IS_IDLE 5 layered_control MS_ABORT_BEH ERROR 6 layered_control behavior entered error state MS_ABORT_OVERDEPTH 7 behavior abend MS_ABORT_OVERTIME 8 MS_ABORT_UNDERVOLTS 9 MS_ABORT_SAMEDEPTH_FOR 10 MS_ABOR USER_INTERRUPT 11 MS_ABORT_NOINPUT 12 MS_ABORT_INFLECTION 1 3 MS_ABORT_NO_TICKLE 14 MS_ABORT_ENG_ PRESSURE 15 Slocum Glider Page 73 Teledyne Webb Research 29 Mission never ran 3 Gl MS_NONI MS_COMPLETED_ABNORMALLY 1 MS_COMPLETED_NORMALLY 16 bit cre of bytes 0 29 30 not used 2 31 Mission completed normally Used for error checking See code crc_16 c for algorithm It was taken from C Programmer s Guide to Serial communications page 779 Joe Campbell Sams Publishing 2nd Edition There are tools for
51. ate at 115 200 N 8 1 Provided that the RF modem system is working direct wire communication is not necessary If needed Open the Glider Remove the aft end cap and chassis from aft hull See opening procedure On the glider control board remove connector J25 and replace with a patch cable to computer with terminal emulator running See Appendix G Wiring Diagram Disconnect the ballast and air pump connectors and apply power to the Glider This is necessary because the air bladder requires vacuum and the aft cowling to provide resistance to switch off the air pump at the proper differential pressure Communication should commence RF modem 900 MHz Nominal Watt configurable to 05 Watts A Freewave modem should be paired with the vehicle using Point to Point with Repeaters if necessary the correct Ids in Call Book and matching frequency keys See Appendix E Freewave Configuration Connect the Freewave to Dockserver or to computer running terminal emulation With power applied to both the Freewave and the Glider communication should commence Changing Settings on Glider Freewave Open the Glider See Opening Procedure Remove the Aft End cap and Chassis from Aft Hull On the Freewave board remove connector and replace with a patch cable to computer with terminal emulator running 19 200 N 8 1 Take the reset line to ground See Appendix E Freewave Configuration configuration and patch cable wirin
52. ater resolves the issue see section 11 For releases 6 38 and earlier the below cookbook should be consulted for gliders with heavy science demands A text document fully describing the original problem and the solutions is outlined below and can be found at ftp ftp glider webbresearch com glider windoze production src doco science science datarate cookbook txt Slocum Glider Page 40 Teledyne Webb Research Overview The problem A glider is unable to process all of the data in a timely fashion from the science bay when a number of science sensors are collecting large amounts of data simultaneously The observed symptom is the periodic science_super ODDITY Input ringbuffer overflow In the time between these oddities M_SCIENCE_CLOTHESLINE_LAG sec continues to climb as the glider falls further and further behind until eventually a ring buffer overflow occurs Gliders configured with heavily loaded science bays can 1 Live with current behavior i e get all the data for a while and remove the M_SCIENCE_CLOTHESLINE_LAG in post processing 2 Reduce the data in time i e increase behavior sample b_arg intersample_time 3 Reduce the amount of data i e decrease c_XXX_num_fields_to_send nodim for all the proglets to the minimum required number of output sensors The documentation found at website above quantifies the glider s ability to consume science data and give some guidelines for configuring the glider to get
53. attery longevity Electric Glider Mission Spreadsheet x1s Found at ftp ftp glider webbresearch com glider windoze production src doco how to calibrate 16 ty 5 iiia k A i POOR OON Voltage m_battery as reported from surface dalog 2 4 6 8 10 12 14 6 18 20 22 24 26 28 30 Time days Above is an actual alkaline battery voltage data plot from a 27 day glider deployment A user would typically begin monitoring available recovery scenarios as the voltage approaches 12 volts In this deployment recovery became critical as voltage dropped below 11 volts on day 25 In this deployment while using the factory settings the glider began to abort all missions for under voltage beginning at day 27 If a user finds themselves in a position where recovery is not possible as the voltage drops below 11 5 volts contact glidersupport webbresearch com for recommendations for battery preservation including termination of science sampling limiting dive depth limiting communication and or drifting at a shallow depth until recovery is possible Slocum Glider Page 76 Teledyne Webb Research APPENDIX COMMONLY PURCHASED SPARE PARTS Commonly replaced parts include Battery packs Note The Teledyne Webb Research design uses alkaline manganese dioxide batteries Duracell It does not contain lithium primary batteries which are regulated as hazardous materials per international law UN3091 Transportation and disposal of batteries is greatly
54. ble to load all missions before starting field operations However when necessary you can still load missions while in GliderDos using the same procedure At the C prompt type C gt DOCKZR mission name mi The appropriate mission or file must first be in the to glider directory on the ftp utility MI Files The main mission files that are run are mi files These files contain all the main behaviors and sensor values for the glider These files can be run independently or they can call mission acquisition files ma files One important mi file to be aware of is the Autoexec mi mission file which resides in the config directory The Autoexec mi controls many of the individual settings particular to each glider This is where calibrations for motors are stored where the phone number for iridium dialing to a Dockserver is stored and where the glider draws its name Slocum Glider Page 47 Teledyne Webb Research MA Files The ma files called by mi files can contain behaviors that are often modified waypoint lists surface instructions or even sensor values These files cannot be run independently and are always called from mi files Typically they are referenced by a number in the mi files and the behavior calling For example for a list of waypoints the behavior used is goto_list and it calls a file reference number of 07 then the ma file should be called goto_l07 ma and should contain just a list of latitudes and
55. bresearch com to enquire about access to these protected documents Slocum Glider Page 8 Teledyne Webb Research SPECIFICATIONS Slocum 30 100 200 meter glider specifications Weight in air Weight in water Hull Diameter Width including Wings Vehicle Length Depth Range Speed projected Energy Endurance Range Navigation Sensor Package Communications 52 Kg Neutrally buoyant 21 3 cm 8 3 8 Inch 100 3 cm 39 1 2 Inch 1 5 meters 4 200 meters motors geared to depth rating 0 4 m sec horizontal Alkaline Batteries Dependent on measurement and communication type 30 days 1500 km GPS internal dead reckoning altimeter Conductivity Temperature Depth RF modem Iridium satellite ARGOS Slocum 1000 meter glider specifications Weight in air Weight in water Hull Diameter Width including Wings Vehicle Length Depth Range Speed projected Energy Endurance Range Navigation Sensor Package Communications Slocum Glider 56 Kg Neutrally buoyant 22 cm 8 2 3 Inch 100 3 cm 39 1 2 Inch 1 5 meters 40 1000 meters 0 4 m sec horizontal Scalable Alkaline Batteries Mission dependant Mission dependant GPS internal dead reckoning altimeter Conductivity Temperature Depth RF modem Iridium satellite ARGOS Page 9 Teledyne Webb Research 0 Vehicle Operation Theory The principle advantages of Autonomous Under water Vehicle Gliders AUVGs are 1 Very suitable for lon
56. connected to e Set data rate to 19 200 data bits 8 Parity none Stop bits 1 Flow control none 3 Press and release the SETUP button A 0 volt level on this pin will switch the radio into setup mode e The three lights on the board should all turn green indicating Setup mode e The main menu will appear on the screen 4 Press 0 to get into the Operation Mode menu e Press 1 to set the radio as a Point to Point Slave e Press Esc to get back to Main menu 5 Press 1 in the main menu to change the Baud Rate e The baud rate in setup mode is always 19200 e The baud rate must be changed to match the baud rate of the device that the radio is attached Slocum Glider Page 66 Teledyne Webb Research e Press 1 to set the radio communication baud rate to 115 200 e Press Esc to get back to Main menu 6 At the Main Menu press 3 e Set Frequency key e Press 0 to set to change the Frequency Key e Press 5 to set to change the Frequency Key to 5 e Press Esc to get back to Main menu 7 At the Main Menu press 2 e Press 0 0 through 9 may be used To add the serial number of the shore side Freewave e Press C to select the glider in which this slave will communicate with e Press 0 to select entry 0 1 to select entry 1 etc or A for all radios on the list e Press Esc to get back to Main menu e Press Esc to exit set up Choosing a Location for the Transceivers Placement of the Freewave transceiver is likely to
57. d to the division between science 2 x and 3 0 and elements of old and new across this division must be consistent either all old or all new for the glider to operate successfully SDL PERFORMANCE Since science isn t doing much else EXCEPT to collect and log the data even though by default it is running at reduced CPU speed it is able to maintain a high cycle rate The cycle time is independent of the glider cycle time and by default is set to 1 second Of course actual throughput attainable does depend on installed sensor load and sensor data stream parsing overhead Slocum Glider Page 37 Teledyne Webb Research SDL DETAILS Science now has a parallel logfile type for each logfile type on the glider glider gt science dbd gt ebd mbd gt nbd sbd_ gt tbd mlg gt nlg and each pair is formatted the same e g ebd is formatted same as dbd Accordingly there are some new config files on science which also parallel like config files on the glider glider gt science config mbdlist dat gt config nbdlist dat config sbdlist dat gt config tbdlist dat config highdens dat gt config highdens dat and again each pair is formatted the same Just as m_present_time should be present in both mbdlist dat and sbdlist dat on the glider sci_m_present_time should be present in both nbdlist dat and tbdlist dat on science The logfiles on science are stored in the same directories as the glider logs
58. der to get ready to dive as long after waiting for 12 minutes for a gps fix behavior prepare_to_dive b_arg start_when enum 1 Q immediately 1 stack idle 2 depth idle b_arg wait_time s 720 12 minutes how long to wait for gps The following behavior sensors_in turns most of the input sensors on behavior sensors_in lt 0 off 0 as fast as possible N sample every N secs b_arg c_att_time s 1 0 b_arg c_pressure_time s 1 0 b_arg c_alt_time s 1 0 b_arg u_battery_time s 1 0 b_arg u_vacuum_time s 1 0 b_arg c_profile_on s 0 0 b_arg c_gps_on bool 0 0 Special 1 is on 0 is off APPENDIX GLIDER SOFTWARE WEB SITE In order to download the glider code from the repository you must arrange for access through Teledyne Webb Research This can be arranged by emailing glideraccess Webbresearch com A user name and password will be provided or can be requested TWR will require organization name phone number and email addresses of each person using access To access documents log in at https dmz webbresearch com The Glider Software Web Site is as follows http www glider doco webbresearch com Slocum Glider Page 62 Teledyne Webb Research
59. dinkum binary ascii format from stdin output of dbd2asc Excludes the data of sensors NOT listed on the command line or in the f lt sensors_filename gt Writes the data of remaining sensors in dinkum binary ascii format to stdout Usage dba_sensor_filter h f lt sensors_filename gt sensor_name_0O sensor_name_N Slocum Glider Page 93 Teledyne Webb Research Accepts a dba file from stdin The data corresponding to sensors listed on the command line or in the f lt sensors_filename gt are written to stdout as a dba file All other sensor data is discarded Sensor names in f lt sensors_filename gt should be line or space delimited A sf is added to the filename of the output header e g filename zippy 2001 222 04 05 gt zippy 2001 222 04 05 sf gt gt gt gt gt gt dba2_orig_matlab Reads dinkum binary ASCII data from stdin output of dbd2asc and writes two matlab files your filenames will vary zippy_2001_104_21_0_dbd m zippy_2001_104_21_0_dbd dat The output format is identical to the initial matlab files produced in the development of the Teledyne Webb Research Glider To use the file from matlab execute zippy_2001_104_21_0_dbd m Thus a typical usage is dbd2asc 0041001 dbd dba2_orig_matlab As other data processing needs arise additional filters can be written See gt gt gt FUTURE PLANS for some that have been conceived but not implemented yet gt gt gt gt gt gt dba2_glid
60. e Glider vacuum Gram Scale 0kg 2kg to measure internal ballast Hanging Gram scale to measure weight of glider in ballast tank Lead Shot or ballast material Iridium account sim card To enable satellite communications See appendices for further information ARGOS Account and ID See appendices for further information Land phone line To receive Iridium satellite calls or introduced in 2008 Rudics is available for data transfer Slocum Glider Page 78 Teledyne Webb Research APPENDIX BALLASTING AND H MOMENT ADJUSTMENTS WORKSHEET Glider Name Date Glider Displacement kg Tank Water Temp Target Water Temp ___ Tank Water Density Target Water Density ___ Tank Target Adjustment Weight Change fresh water Salinity pss 0 Y YY j Displacement 70 10 Demperaiute target T Tank T Target D Pressure psi 0 Gi Wy A D ensity 1000 Displacement g L target D Tank D 1 l 0 Current Weight Configuration A B C Port Starboard Pitch Roll Section A SectionB Section C Spring Scales Static Roll Weights Added X Ballast weight constants S Steel 0 912 Lead 0 875 Total weight change Final Weight Configuration Weight Section A Weight Section B Weight Section C Slocum Glider Page 79 Teledyne Webb Research APPENDIX CALCULATING THE H MOMENT This factor accounts for buoyancy provided by
61. e Webb Research 2 4 Nose Cone and Altimeter Remove four SHCS from the Nose Cone with a 7 64 hex driver Remove Nose Cone Remove four SHCS from the Altimeter with 9 64 hex driver Unscrew Altimeter pigtail from bulk head Older gliders have hardwired altimeters DO NOT REMOVE 3 Closing Procedure Care must be taken to inspect and lubricate the O rings and clean the O ring surfaces See Maintenance When tightening the nuts and bolts do not over tighten and apply proper torque values where applicable 3 1 Nose Cone Replace Altimeter and Nose Cone Replace four SHCS from the Nose Cone 3 2 Ballast pump assembly Place the Ballast pump assembly in a vertical stand Nose down Paying attention to the centerline marks Slide the forward hull over the Ballast pump assembly and seat it on the forward end cap Lay the piston displacement pump and forward hull section horizontally on the cart Check that the Forward End cap is seated square in the Forward Hull Section Slide the Pitch Battery in from the aft end of the Forward Hull Section Looking into the open end of the forward hull section there are two SHCS visible on the top of the pitch battery pack at mid length Using a 5 32 long handled hex driver engage and tighten both of these captured bolts 3 3 Center Payload Bay Paying attention to the centerline marks slide center hull Section over the payload bay and seat squarely on the front ring Use cautio
62. ection Aft Hull Section Aft Tail Cone Wings 1 2 Specific Components Ballast pump assembly 200 meter Pitch Vernier Altimeter CTD ARGOS Satellite Transmitter PTT Catalyst Air Pump System Vehicle Controller Hardware Interface Board Attitude Sensor Slocum Glider Page 3 10 10 11 11 11 11 11 11 12 12 12 12 12 13 13 13 14 14 14 14 14 15 Teledyne Webb Research GPS Iridium Satellite Telemetry RF modem Telemetry Pinger discontinued in 2007 Science Payload Computer Switch Board Pressure Transducer Leak detect Air Bladder Burn Wire Jettison Weight Power Umbilical Antenna Fin Steering Assembly replaced by Digifin in 2008 Sacrificial anode Batteries 2 OPENING PROCEDURE 2 1 Glider Hull Sections 2 2 Center Payload Bay 2 3 Ballast Pump Assembly 2 4 Nose Cone and Altimeter 3 CLOSING PROCEDURE 3 1 Nose Cone 3 2 Ballast pump assembly 3 3 Center Payload Bay 3 4 Glider Hull Sections 4 PRE MISSION TESTING 5 DEPLOYMENT AND RECOVERY Slocum Glider Page 4 15 15 15 15 15 16 16 16 16 16 16 17 17 17 18 18 19 19 20 20 20 20 20 20 23 25 Teledyne Webb Research 6 EMERGENCY RECOVERY 7 MAINTENANCE General O rings Pressure transducer Burn Wire Assembly Dummy and Green Plug Sensors 8 GLIDER COMMUNICATIONS Direct RF modem 900 MHz Nominal 1 Watt configurable to 05 Watts ARGOS 401 MHz 1 watt Iridium 1600 MHz 1 1 watt R
63. ehavior is controlling glider movement Once layered control determines this Dynamic Control moves the motors inflates deflates the bladders etc to initiate the movement or behavior commanded under the layered control In order to do this Dynamic Control uses a specific set of Device Drivers to perform the movements Sensor Processing involves the algorithm calculations to assign values 1 or 0 to the sensors data Logging is self explanatory except that values of all sensors i e variables instruments gps fixes etc are actually logged c Control Stacks States amp Abort Sequences In order to understand this controlled flow structure it is useful to look at how various types of aborts are initiated and which layers are used to execute the aborts Much of this information is taken from a text file called abort sequences in http www glider doco webbresearch com how it works abort sequuences txt First the general structure of a mission file and the assignment of priority levels to a particular behavior will be explained Then the three types of aborts will be discussed Following this discussion the structure of an actual mission will be explained in further detail Once the glider has been instructed to execute a mission GliderDos reads the mission and assigns a priority to each behavior The priority is denoted by a numerical assignment and is determined by the physical location of the behavior in the mission text f
64. er_data Reads dinkum binary ASCII data from stdin output of dbd2asc and writes two matlab files your filenames will vary zippy_2001_104_21_0_gld m zippy_2001_104_21_0_gld dat The m file contains the same information as the m file produced by dba2_orig_matlab but formatted as a matlab struct In addition this struct contains the segment filenames corresponding to the input dba file s composite dbd files and it contains struct elements representing all of the dba header keys and values The dat file is the same as that produced by dba2_orig_matlab The generated m and dat files are for consumption by the Matlab Glider_Data application Slocum Glider Page 94 Teledyne Webb Research Typical usage is dbd2asc 0041001 dbd dba2_glider_data gt gt gt DBA FORMAT The DBA Format is all ASCII and consists of lt lt An ASCII header gt gt lt lt A list of whitespace separated sensor names all on line gt gt lt lt A list of whitespace separated sensor units all on 1 line gt gt lt lt A list of whitespace separated sensor bytes all on line gt gt lt lt A cycle s worth of data as whitespace separated ASCII gt gt An example portion of a file is shown below dbd_label DBD_ASC dinkum_binary_data_ascii file encoding_ver 0 num_ascii_tags 14 all_sensors 1 filename zippy 2001 119 2 0 the8x3_ filename 00440000 filename_extension dbd filename_label zippy 2001 119 2 0 dbd 00440000 mission
65. ers use rev1 format for decoding Customers may need to revise their data processing software accordingly Teledyne Webb Research can provide data format information upon request In the event your glider is missing and Argos transmissions are needed to locate the vehicle contact Service Argos and ask that ALP processing All Location Processing be activated Slocum Glider Page 69 Teledyne Webb Research APPENDIX ARGOS DATA FORMAT The Argos transmitter in the glider will dictate the Argos data format If your glider is equipped with the newer X cat transmitter the following data format will be transmitted at a 90 second repetition rate while the glider is on the surface To determine transmitter type refer to the Autoexec mi and the following sensor and sensor notes sensor f_argos_format enum Below is the data format for gliders with X cat ptts and 28 bit Arogs Ids http www glider doco webbresearch com specifications index html file argos data format revl txt This defines the 31 byte packet of data sent to argos by the glider For a description of the legacy 32 byte format see argos data format txt NOTE WELL If you change what s in the packet you ll need to modify code argos c construct_31b_data_to_xmit_to_argos code prntargo_revl c If you change an encoding scheme you ll have to modify code argoscode c code argosdecode c 23 Mar 05 pfurey DinkumSoftware com Initial 27 Apr 05 pfurey DinkumSo
66. ew value This adds some fixed overhead per cycle of transmitting 2 bits for every sensor 56 bytes currently If 13 or more of the sensors change on every cycle the new format results in less data and fully communicates the state of the sensors In a one hour simulated mission 16 of the variables changed per cycle See DATA SIZE REDUCTION RESULTS for final numerical comparisons gt gt gt MISSION NUMBERING SCHEME A mission is uniquely identified by 2 different numbers unique_mission_number 0 9999 mission_segment 0 9999 Each mission is given a unique number Is it incremented every time a mission is started over the life of the vehicle Any mission can be broken into a number of segments The initial segment of a mission is segment 0 A new segment can be created any number of ways The mission is interrupted and resumed by operator at a keyboard The glider surfaces to transmit data The glider decides to do so because the current segment is to big Slocum Glider Page 87 Teledyne Webb Research The most visible impact of segments relates to log files When a segment is ended all the log files are closed and flushed to disk When a new segment is created new mission files are opened with a different file There is a bunch of strings filenames related to mission_number segment There are a lot of constraints on these filenames Primarily the Persistor only has an 8 3 file system i e filenames can only be 8 chars with a 3 ch
67. exposed to moisture the circuit is shorted and any value below the masterdata default entry of 2 volts will cause an abort for leak detect Air Bladder A 1400cc bladder provides buoyancy and stability while the Glider is surfaced lifting the antenna support out of the water The bladder is filled via the Air Pump System Although the bladder is rugged care should be taken to have the Aft Tail Cowling in place when the bladder is filling The bladder is then supported as it inflates until shut off by the pressure switch Likewise when removing the Aft Tail Cowling it is important to deflate the Air Bladder as it will be hard up against the Cowling See Opening Procedures for more details Burn Wire The glider is equipped with an emergency abort system a replaceable rebuildable battery activated corrosive link that after approximately 15 minutes in salt water and 4 hours in fresh water will release a spring ejected Jettison Weight The wire is 20 AWG Inconel held in a delrin bushing and mated and sealed to a single pin Mecca connector Note Activating the Burn Wire in air will have no effect as it takes ions in the water to complete the return path to ground See Maintenance for more details Jettison Weight A lead mass 470g attached to Burn Wire Assembly by 300 Ib test monofilament When the Burn Wire is electrically corroded the Jettison Weight is forcibly ejected by a spring forcing the Glider to surface within limits of mass lost Powe
68. ft Battery Pack from the Payload bay remove the 2 x 20 SHCS screws and washers which hold the battery plate in place using a 3 16 hex driver Separate hull sections Unscrew the 28 pin CPC unplug the battery and disconnect the BNC if applicable connectors from the forward ballast pump assembly Each section is now independent 2 2 Center Payload Bay Remove the two aluminum hex bolts from the aft end ring of the center payload bay with a 1 2 inch wrench Deep gliders use a 3 32 hex wrench into battery standoff Remove the guard plate from the payload bay by removing two Pan Head Phillips screws Using the hull separation tool separate the aft ring from the payload bay hull Use caution when removing the ring as the weight bar may still be attached Unplug the science sensor connectors Carefully remove the center hull section from the front ring and set aside This will expose the interior of the center payload bay 2 3 Ballast Pump Assembly Looking into the open end of the forward hull section there are two SHCS visible on the top of the pitch battery pack at mid length Using a 5 32 long handled hex driver loosen both of these captured bolts Withdraw the Pitch Battery Pack from the forward hull section set aside Place the forward hull section in a vertical stand Nose down Using the hull separation tool carefully remove the forward hull section from the ballast pump Slocum Glider Page 19 Teledyn
69. ftp glider glider linux production linux bin Slocum Glider Page 92 Teledyne Webb Research Usage this may be dated dbd2asc s lt filename gt lt filename gt Builds a list of files DBD or SBD from all the filenames on the command line and from stdin if s is present The data from all the files are merged and written to stdout in an ASCII format See next section gt gt gt DBA FORMAT for a description The intent is to provide a series of filters which are piped together to produce the desired results The following will process all the DBD files in a directory Windows dir b dbd dba2asc s The following will process all the SBD files from a given mission Linux ls cassidy 2001 193 28 sbd dba2asc s gt gt gt gt gt gt dba_time_filter Reads dinkum binary ascii data from stdin output of dbd2asc Throws away some data based on time Writes the remainder ad dinkum binary ascii data to stdout Usage dba_time_filter help epoch earliest_included_t latest_included_t All records between earliest_included_t and latest_included_t inclusive are output All others are discarded The time is normally based on mission time M_PRESENT_SECS_INTO_MISSION If epoch is present time is based on seconds since 1970 M_PRESENT_SECS A tf is added to the filename of the output header e g filename zippy 2001 222 04 05 gt zippy 2001 222 04 05 tf gt gt gt gt gt gt dba_sensor_filter Reads
70. ftware com Fixed typo byte offset in decimal sensors Meaning 0 3 M_PRESENT_TIME Present time at start of cycle secs since 1970 4 11 M_GPS_LAT LON Current location and age of fix in minutes 12 19 M_GPS_INVALID_LAT LON Last unvalidated fix and age in minutes Slocum Glider Page 70 Teledyne Webb Research 20 27 M_GPS_TOOFAR_LAT LON Last too far fix from dead reckoning point and age in minutes 28 29 X_WATER_VX VY Water current components in LMC 30 8 bit checksum of bytes 0 29 Present time Seconds since 1970 encoded in 4 bytes 32 bit unsigned long Locations and age The same encoding scheme is used for current location last invalid and last too far fixes The location consists of a latitude and longitude The age is in minutes from now the now must be extracted from the argos email header A latitude or longitude is encoded in 3 bytes The age is encoded in two bytes Paley latitude 5 longitude age in minutes r r NWO BR r The input datum format on the glider is D DDMM MMMM where the Ds are degrees and Ms are minutes The latitude or longitude is rounded to nearest 1 100 of a minute about 20 meters multiplied by 100 and stored as a signed integer i e 4235 12354 would be stored as 423512 in 3 bytes The age in minutes is stored as an unsigned 2 byte integer An all ones value OxFFFF hex means either that the location was
71. g Change appropriate settings ARGOS 401 MHz 1 watt ARGOS messages are nominally transmitted from Glider while powered up on the surface See Appendix Argos data format txt for documentation of message transmitted Slocum Glider Page 27 Teledyne Webb Research Iridium 1600 MHz 1 1 watt Iridium is generally used in the absence of the Freewave The phone number is configured in the Autoexec mi file In GliderDos Iridium always tries to call the given number however while running a mission Iridium will call only if Freewave communication is not available Similarly during data transfer the data will be transferred via Iridium only if Freewave is not available The option to force transfer through Iridium while Freewave is connected is also available To test Iridium in Picodos use talk iridium refer to Picodos section of manual Control C pause Control C to leave talk To dial a number using a commercial card type AT 001 number to be dialed To dial a number using a military card type AT 00697 number to be dialed ata Is used to answer an Iridium phone call ath Is used to hang up after terminating an Iridium call Alternately a control C can be use to hang up the phone Rudics In 2008 Rudics capabilities were introduced Refer to section 12 of the GMC Manual ftp ftp glider webbresearch com glider windoze production src gliderMissionControl Documenta tion gmcUserGuide pdf 9 Ballasting The goal of ballasti
72. g range and endurance if low to moderate speed is acceptable 2 The saw tooth profile is optimal for both vertical and horizontal observations in the water column 3 Regular surfacing is excellent for capturing GPS and two way communication no other navigational aids are required and the system is very portable 0 1 Forward Propulsion Gliders are unique in the AUV world in that varying vehicle buoyancy creates the forward propulsion Wings and control surfaces convert the vertical velocity into forward velocity so that the vehicle glides downward when denser than water and glides upward when buoyant Fig 1 representative of a 200 meter glider Gliders require no propeller and operate in a vertical saw tooth trajectory BUOYANCY 450 2 Kg TOTAL CONTROLLED MOVEMENT OF CENTER OF GRAVITY a NET PITCH MOMENT 0 an GLIDE ANCLE Fig 1 Force balance diagram of forces acting on Glider angle of attack not included Slocum Glider Page 10 Teledyne Webb Research 0 2 Navigation and Flight The Slocum Battery Glider dead reckons to waypoints inflecting at set depths and altitudes based on a text mission file As set by the mission the Glider periodically surfaces to communicate data and instructions and to obtain a GPS fix for location Any difference in dead reckoning and position is attributed to current and that knowledge is used on the subsequent mission segment as a set and drift calculation 1 Vehicle
73. ght In ballasting the vehicle in a tank it is often desirable to lay external weight on the hull to trim the overall weights and moments These weights displace water and it should be accounted for prior to putting the equivalent weight internal to the vehicle Stainless Steel External air weight 875 Internal weight to be added Lead External air weight 912 Internal weight to be added Adjusting Weight The capabilities to adjust weight and balance on the Glider are lead weights lead shot in Ballast Bottles Batteries and Payload Sites include Nose Cone external washers tie wrapped to the Transducer Cable Forward Hull Section provisions for two 2 X 5 C cell Battery Packs two Ballast Bottles Payload mid Hull Section shifting payload such as science packages batteries etc a top and bottom position for Weight Bars that have tapped holes for positioning of punched lead rounds and provisions for a Ballast Bottle Aft Hull Section removal or addition of batteries from the Aft Battery Pack provisions for a Ballast Bottle Aft Tail Cone external weight attached to various places in the wet area Slocum Glider Page 29 Teledyne Webb Research 10 Software Architecture The Controller code is written in C and architecturally is based on a layered single thread approach where each task is coded into a behavior and behaviors can be combined in almost any order to achieve flexible and unique missions These behaviors c
74. h 2 a ELECTRIC GLIDER FRONT PINGER FWD CHASSIS AFT CHASSIS Abe C ELECTRIC GLIDER WIRING DIAGRAM Woarestay Jura 05 2007 pa art Slocum Glider Page 63 Teledyne Web APPENDIX COMPASS Present compass is the TCM3 Talk command is not available Recalibration is a three point system Contact Glidersupport webbresearch com if you need assistance in recalibration of this sensor To determine if the factory configured compass is a Tcm3 confirm presence of the following text in Autoexec mi installed attitude_tcm3 Original glider Compass The CAL3 calibration requires you to take one measurement turn the system exactly 180 degrees take another measurement then turn the system upside down exactly and take a third measurement The compass is taking two measurements on each axis with the directions reversed between them The average of the two measurements is the hard iron vector that the compass needs to correct Calibration Power the Glider on either use an external power cable 15 volts DC or insert the green band Green Plug Start communication with the vehicle and make sure the glider is in Picodos Type talk att and hit enter If the compass is displaying data type h and enter until the output stops Position the glider on a flat surface heading north Type CAL3 and hit Enter The compass will take a measurement and prompt you to turn the system 180 It is very important that this be as exact as possible Turn
75. he pitch control When installed the Pinger board is housed within the Forward hull section Bay Payload Bay Mid Hull Section The payload bay is 8 3 8 diameter and 12 long with a nominal capacity of 3 to4 kg The payload was designed for easily removal and replacement for calibration needs or sensor type changes allowing for great ease and flexibility to the user It consists of two rings and a hull section The front ring is typically ported for the CTD sensor assembly To accommodate this section a software interface exists in the main glider computer to allow a payload or science bay computer to be installed which can control the sensor packages and collect and store data Any control system is applicable e g embedded processors Persistor PC104 etc There are also provisions for ballast weight attachment points With the exception of the wire harness and the tie rod that must run through the bay for connection from the aft to the forward section this Slocum Glider Page 11 Teledyne Webb Research volume is set aside for more energy science or other payloads H moment adjustments are made by moving weight high or low in this section of the vehicle See Appendix L Aft Hull Section This section houses the strong back chassis that ties the Glider together On the bottom of the strong back chassis are the ARGOS transmitter moved to the lower tray in 2006 a catalyst and the air pump system In addition the battery and internal wiri
76. hold the aft tail cowling in place using a 5 32 hex driver do not over tighten 4 Pre mission testing These procedures should be followed for qualification of a glider prior to delivery or with new or modified software On the beach boat or bench Power on glider and enter glider dos by typing ctrl c Type put c_air_pump 0 to stop the air pump from running Type callback 30 to hang up the iridium phone Test gps by typing put c_gps_on 3 This will put gps communication into a verbose mode You should see the data stream change from V to A Generally several minutes of gps acquisition is all that is necessary However if large geographical distances have been moved since the last position was acquired it is recommended to let the gps run for some time to build a new almanac When satisfied with the gps location type put c_gps_on 1 Test motors by typing lab_mode on and then wiggle on and run for 3 5 minutes to check for any device errors or other abnormalities Type wiggle off to stop wiggling If no errors are found type lab_mode off to return to the GliderDos prompt Slocum Glider Page 23 Teledyne Webb Research Always ensure that the glider is not in Pico or Lab Mode before deploying it in the water Type run status mi and confirm that all sensors are being read Mission should end mission completed normally Load glider into the boat and head out toward the first waypoint or deployment location Note These tests
77. i session can be active default has been changed from 1200 to 3600 seconds to allow sending a single 180K tbd file via iridium What science does is limit a send command to u_sci_cmd_max_consci_time times u_science_send_time_limit_adjustment_factor seconds This clips any t option which may have been specified in the send command and forms a time limit which may cut short any num option which may have been specified in the send command u_science_send_time_limit_adjustment_factor is set conservatively to allow for extra time spent enumerating files before the send shuffling files after the send and possible less than than optimal comms conditions during the send This makes it nearly but not absolutely certain that the send on science will not be aborted in the middle of a file by the consci timeout If you need to run a huge send command for a large number of files you can temporarily raise u_sci_cmd_max_consci_time to a potentially huge number for this purpose there are 3600 seconds in a hour 86 400 seconds in a day You should exercise caution before doing this in the water and you should take care to restore the normal setting after doing the long send Alternatively you can just do repetitive sends until all files have been transferred 12 Science data rate cookbook 5 As Of March 2010 the science data rate cookbook should no longer be needed The introduction of Science data logging in Version 7 code and gre
78. ice attitude lt min mt gt lt max mt gt lt probability gt lt bad value gt Make the attitude return an error sometime lt bad value gt The error code to return Ex bad_device gps lt min mt gt lt max mt gt lt probability gt Make the gps return an invalid fix sometimes Slocum Glider Page 44 Teledyne Webb Research i e controls the A or V line bad_device gps_error lt min mt gt lt max mt gt lt probability gt lt ini_err_meters gt lt alpha gt Make the gps return a fix an added error lt ini_err_meters gt The error on first fix after power on A random direction for the error is chosen lt alpha gt How much to reduce the error on each gps fix New error alpha prior error The direction of the error remains constant bad_device watchdog_oddity lt min mt gt lt max mt gt lt probability gt Make the watchdog issue a SIMULATED oddity sometimes bad_device pitch_stalled lt min mt gt lt max mt gt lt probability gt Make the pitch_motor appear to stall jam sometimes Should generate a motor not moving warning bad_device bpump_stalled lt min mt gt lt max mt gt lt probability gt Make the buoyancy appear to stall jam sometimes Should generate a motor not moving warning bad_device bpbump_overheated lt min mt gt lt max mt gt lt probability gt Make the buoyancy overheat bit come up sometimes bad_device memory_leak lt min mt gt lt max mt gt lt probability gt lt bytes to leak
79. ience data can be viewed by simply pushing the buttons that correspond to the desired elements This option is usually most helpful when viewing dbd files 2 To plot two different sensors against each other high light the wanted sensors in the list box using the CTRL key for the second selection and press the Plot button This will activate the invert y axis the Swap x y and the Rad to Deg checkboxes that you can click to help view your data in a more reasonable format You cannot choose more or less than two sensors for this function 3 The list box at the right of your screen contains all commanded measured and science sensors You can choose up to 14 of those sensors to plot against time with the plot vs time button Multiple sensors are chosen by holding down the CTRL key and choosing the required sensors 4 The Map it button will give you a map plot of your current glider position and the waypoints that the glider is heading to If the required Slocum Glider Page 98 Teledyne Webb Research sensors do not exist in the sbd file that you are viewing you will be unable to map glider position 5 The Track it button is a new feature and still needs a lot of work In theory this button will launch a new window that suspends the operation of Glider View until it has been closed This new window running the Track_glider program will allow the user to automatically monitor a capture file from the Freewave or
80. ile The assigned priority list is called a log_c_stack or stack and takes on the following generic form the particular behaviors will be explained in further detail later log_c_stack 1 abend 2 surface 3 set_heading 4 yo 5 prepare_to_dive 6 sensors_in Where the words following each number are specific behaviors When one behavior is assigned priority over another and a behavior argument b_arg is satisfied in both of the behaviors i e if Slocum Glider Page 50 Teledyne Webb Research two or more surface behaviors have been written into the mission the behavior with the higher priority wins out After the log_c_stack has been created GliderDos begins to scroll through the mission in order to activate various sensors and or behaviors by changing the state of a particular behavior Whether a particular behavior changes from one state to another depends upon numerous sensor values While a mission is being executed all behaviors are in one of the following states 1 Uninitiated 2 Waiting for Activation 3 Active 4 Complete Towards the end of MASTERDATA is a list of numbers and their assigned actions This list is named beh_args h and can be found in the C code This list primarily deals with the two b_arg statements b_arg start_when and b_arg stop_when and determines when a particular behavior becomes active Only one behavior can be active at a time d General Control Structure
81. imbond 199 97 48 sensor m vacuum 6 5 inHg trieste_1 unit_O67 ae lab_mode on unit_098 ailase unit 103 report m vacuum unit_104 v Il gt Glider Terminal screenshot Slocum Glider Page 22 Teledyne Webb Research Adjust vacuum accordingly by applying more vacuum or slightly unscrewing the 7 16 MS plug allowing air back into the hull until the vacuum reads 6 inches of mercury 3 for a 200 meter glider and 7 inches of mercury for 1000 meter glider Ensure MS plug is tight using the 15 inch lb torque handle Note This is done at room temperature with the piston displacement pump in ballast position The vacuum will subsequently change with piston movement air bladder inflation and hull temperature all items that change the internal volume of air or its pressure The vacuum serves many purposes a leak test providing seating of the O rings force holding the Glider together a differential pressure on the displacement piston rolling diaphragm to eliminate bunching and the air return method for deflating the air bag To terminate the vacuum report Type the command report clearall to stop reporting Type the command exit after a few seconds the glider will report YOU MAY NOW REMOVE POWER FROM THE GLIDER Remove power from the glider by removing green plug and install the red stop plug Slide aft cowling around the antenna fin and engage on the aft end cap Replace the two 10 32 SHCS and washers that
82. ing air from the hull interior providing 1400 ml of reserve buoyancy The air pump is mechanically switched off when the differential pressure between the air bladder and the internal hull pressure becomes 6 25 PSI This has been factory set When surfaced the Glider equilibrates with the tail elevated and the boom holds the antenna clear of the water This air is vented inward via a latching valve for descent Vehicle Controller A Persistor CF1 based on a Motorola 68338 processor is used to control the functions of the Glider This board has low current consumption capability and supports the use of Compact Flash cards and miniature hard drives enabling large amounts of data to be stored Controller code is written in C and architecturally is based on a layered single thread approach where each task is coded into a behavior and behaviors can be combined in almost any order to achieve flexible and unique missions Each device is labeled as a sensor and is logged every time that the value changes during a mission This data is retrieved as a binary file and is post parsed into a matrix that allows the user to easily construct graphical views of vehicle performance or scientific data A subset of the sensors can be chosen as a science data package so as to reduce surface radio transmission time The Persistor can have in memory any number of pre written missions text files that can be called or a new mission can be created downloaded to the Glider
83. ion of masterdata found at ftp ftp glider webbresearch com glider windoze production src code prefix meanings m_ measured c_ commanded u_ user defined before run time f_ Set in factory do not change unless you know what you are doing x_ Do not ever set this Typically computed at run time s_ simulated state variables Sensor Commands Sensors can be changed on the GliderDos command line Commands are as follows List Prints all of the sensor names and values Get sensor_name Returns the present value of the sensor requested Put sensor_name value Changes the value of the sensor Report Prints help Report sensor_name Reports the sensor value every time it changes Report sensor_name Reports the sensor value every cycle Report sensor_name Removes sensor from reporting Report all Reports all changed sensors Report clearall Removes all sensors from reporting Report list Tells what is being reported Device Commands The Use command will allow one to see what devices are installed and in use During GliderDos operation if a device is installed and receives 2 errors it will be taken out of service Presently this number is upped to 20 during a mission for most devices Errors are primarily that the driven device is not moving thus it is taken out of service as a protective measure use Prints help use Lists all devices use dev_name Puts device s in service use dev_name Takes device s ou
84. is unique mission number SSSS is mission segment number zippy is the long base filename YY year of mission start DDD day of year of mission start UUUU mission number of the day gt gt gt DBD FORMAT The details of the DBD Format lt lt AN ASCII HEADER gt gt lt lt A sensor list in ASCII gt gt UNLESS FACTORED lt lt A known bytes binary cycle gt gt lt lt A data cycle with every sensor value transmitted gt gt lt lt data cycles gt gt lt lt end of file cycle gt gt lt lt AN ASCII HEADER gt gt An example ASCII header is shown below It consists of whitespace separated key value pairs dbd_label DBD dinkum_binary_data file encoding_ver 4 num_ascii_tags 14 all_sensors T the8x3_filename 00410000 full_filename zippy 2001 115 2 0 filename_extension dbd mission_name SASHBOX MI fileopen_time Thu_Apr_26_07 35 08_2001 total_num_sensors 216 sensors_per_cycle 216 state_bytes_per_cycle 54 sensor_list_cre 5A87DC29 sensor_list_factored 0 The meanings of the fields Slocum Glider Page 89 Teledyne Webb Research dbd_label Identifies it as a DBD file encoding_ver What encoding version Version 0 is reserved for the future development of an OBD to DBD translator num_ascii_tags The number of key value pairs all_sensors TRUE means every sensor is being transmitted FALSE means only some sensors are being transmitted i e this is an SBD file the8x3_ filename The filename on the Glider
85. ld is the sensor number from 0 to total_num_sensors 1 The next field is the index from 0 to sensors_per_cycle 1 of all the sensors being transmitted 1 means the sensor is not being transmitted if all_sensors is TRUE then this and the prior field will be identical The last numerical field is the number of bytes transmitted for each sensor 1 An integer value 2 An integer value 4 A float value The last two field are the sensor name and it s units lt lt A known bytes binary cycle gt gt Three known binary values are transmitted This allows the host to detect if any byte swapping is required s Cycle Tag this is an ASCII s char a one byte char 0x1234 two byte integer 123 456 four byte float 123456789 12345 eight byte double lt lt A data cycle with every sensor value transmitted gt gt This is like a regular data cycle but every sensor is marked as updated with a new value This represents the initial value of all sensors See lt lt data cycle gt gt for the format lt lt data cycle gt gt The data cycle consists of d Cycle tag this is an ASCII d char lt state bytes gt there are state_bytes_per_cycle of these lt sensor data gt 1 2 4 or 8 bytes for every sensor that was as updated with a new value lt sensor data gt Slocum Glider Page 91 Teledyne Webb Research The state bytes consist of 2 bits per sensor The MSB of the first byte is associated with the first transmitted sensor The next two bit
86. les b_arg samedepth_for_sample_time s 30 0 how often to check b_arg no_cop_tickle_for s 7000 0 secs abort mission if watchdog not tickled this often lt 0 disables Slocum Glider Page 53 Teledyne Webb Research The following behavior surface instructs the glider to come up if it hasn t had communication for a given period of time in this case 20 minutes behavior surface b_arg args_from_file enum 10 read from mafiles surfacl0 ma This is a new feature of software in which the 10 in enum see notes below for more on b_arg enum values tells GliderDos to surface only if the conditions in the ma file are met The corresponding ma file is displayed below behavior_name surface surface 20deg ma climb to surface with ballast pump full out pitch servo ed to 20 degrees Hand Written 08 Apr 02 tc DinkumSoftware com Initial lt start b_arg gt arguments for climb_to b_arg c_use_bpump enum 2 b_arg c_bpump_value X 1000 0 b_arg c_use_pitch enum 3 I battpos 2 setonce 3 servo in rad rad gt 0 climb b_arg c_pitch_value X 0 3491 20 deg lt end b_arg gt This allows for generic missions to be written with new conditions for b_arg s to be inserted A more practical or obvious use of this feature is to insert a behavior_name goto_list which contains inserted waypoints for the glider to go to Then you will not have to go into the actual mission file to change the waypoint
87. lider dos from 900 to 3600 This will increase how often the glider will cycle into a mission and try to call in to save energy while stuck at surface Consider running special scripts to conserve energy A pilot might change to a callback 30 script Contact service Argos and turn on Argos ALP all location processing Determine best known position with available data Slocum Glider Page 25 Teledyne Webb Research 7 Maintenance General Rinse glider with fresh water after exposure to salt water Minor scratches to paint and anodizing should be touched up with automotive paint or nail polish O rings O rings should be inspected for cleanliness nicks and slices O ring surfaces should also be inspected for scratches dents and cleanliness Parker fibrous o lube 884 4 Petroleum Naphthenic Oil and Barium Soap is recommended Pressure transducer Rinse well with fresh water after each salt water deployment Burn Wire Assembly If in the event a Burn Wire has been used and must be replaced The Air Bag must be deflated in order to easily remove the Aft Tail Cowling In GliderDos put c_air_pump 0 See Glider Communication amp Sensor Command Remove the two 10 32 SHCS and washers that hold the Aft Tail Cowling in place with a 5 32 hex driver Slide the cowling back and around Antenna tail fin Disconnect the single pin Mecca connector From the single pin male Mecca connector side remove the burn wire bushing in the jettison
88. limit attitude 10 20 5 Setting limits for ATTITUDE os times device can be put back into service 10 w s warnings segment before error 20 Slocum Glider Page 84 Teledyne Webb Research w m warnings in last minute before error 5 APPENDIX How to edit a proglet dat file From Picodos or GliderDos type consci to transfer to communicating with the science Persistor While in a mission type C Structured in Picodos or Sci Dos of the science Persistor are the following BIN CONFIG AUTOEXEC BAT A single science program with a standard configuration for each instrument allows the run time selection of which instruments are actually in a given glider A file in config directory called proglets dat controls the wiring and configuration of the science computer There is proglet for each device connected to the science computer Type cd config Type dir Confirm proglet dat is in config directory To transfer the proglet dat from the config folder to Dockserver type zs proglet dat Preserve original proglet dat by changing name Type rename proglets dat proglets org Edit proglet dat in from glider directory Below is an excerpt from proglet dat of commenting out an Aanderaa sensor to remove it from service Original document partial text Aanderaa Oxygen Optode 3835 proglet oxy3835 uart 3 U4Soem Pins T 2 R 3 we only use receive bit 34 power control for sensor start_snsr c_oxy3835_on sec Aanderaa
89. longitudes Running Missions Before running a mission there are a few steps to follow to insure that everything is running properly Connect the Freewave radio to the antenna and a computer Run the terminal program on you computer Power the glider by inserting the Green Band Plug Check that glider is not under Simulation Mode simul sim in the glider Persistor flash card config directory and appcmd dat in the Science Persistor flash card config directory must be deleted Run Status mi and check everything is working properly check you have a GPS fix check the level of batteries check no errors appears on the screen on you computer Missions can be run singly or sequenced by typing e Run mission mi e Sequence mission mi mission2 mi mission3 mi missionX mi e Sequence mission mi n where n is number of time to run that mission Slocum Glider Page 48 Teledyne Webb Research APPENDIX Code Theory and Operation The brain of the SLOCUM AUGV is a Persistor Instruments Inc CF1 computer chip based on Motorola s MC68CK338 design The disk space is provided via a removable compact flash card The SLOCUM vehicle also contains a separate Persistor for the collection and logging of scientific data science computer in addition to CTD measurements which are logged by the glider computer a Operating Systems The operating system for the Persistor CF1 is Picodos Persistor Instruments Card Or Disk Operating System Picodos
90. masterdata Only experienced users should manipulate the masterdata file located on your glider All lines beginning with are comments Any line not beginning with will be acted on during glider operation If a sensor value is set in the Autoexec mi file mi the default value in the MASTERDATA file is over written this is done at glider start up When a mission is run GliderDos checks the sensor values against those in the MASTERDATA file or presently set by the Autoexec mi file When a mission is run if a sensor value is set in the mission file mi the default value is over written otherwise the MASTERDATA value is used to determine the resulting physical outcome of the glider for that specific mission Any sensor value can also be over written in an MA file which supersedes all previous value entries Users can also put sensors to any value from a GliderDos prompt Care should be taken when changing any of the masterdata values as they can will adversely affect glider performance Slocum Glider Page 49 Teledyne Webb Research Control Levels The SLOCUM glider controller software contains five layers or levels of control These layers of control can be visualized in the following hierarchal structure Layered Control behaviors Dynamic Control movement of motors Device Drivers Device Scheduler Sensor Processing lt lt e lt Data Logging dbd sbd mlg log files Layered Control determines which b
91. n to prevent damage to sciences sensors Reconnect science sensor wiring Install the aft end ring and weight bar assembly s over the payload bay and seat squarely on the hull section Replace aluminum chassis bolts from the aft end ring using a 2 inch wrench Do not over tighten Deep gliders use 3 32 hex wrench into battery standoffs Replace the guard plate 3 4 Glider Hull Sections Ensure that power is not applied to the vehicle and that the red stop plug is installed Place the three hull sections on the cart in the appropriate fore and aft position keeping the top centerline marks up and in line Slocum Glider Page 20 Teledyne Webb Research At the forward end of the center payload reconnect the battery connector the BNC transducer connector if applicable and the CPC connector using the alignment marks Note Take care in engaging connectors as the pins are delicate Slide the Center Payload Bay and the Forward Hull together taking care not to pinch any wires and to ensure free movement of the battery connector wire as it must move with pitch adjustments Position aft hull so that the centerline marks are matched with the Center Payload Bay leaving an approximate 3 inch gap between the aft and center hull sections Install the aft battery pack and slide up to aluminum chassis bolts of the Center payload bay Slide the aft battery pack up to the aluminum chassis bolts of the center payload bay Realigni
92. nce_readiness_for_consci enum glider tells if ready or if not why not sci_m_disk_free Mbytes science how much space currently free on science sci_m_disk_usage Mbytes science how much space currently used on science sci_m_present_secs_into_mission sec science analog of m_present_secs_into_mission on science sci_m_free_heap bytes science analog of m_free_heap on science sci_m_min_free_heap bytes science analog of m_min_free_heap on science sci_m_min_spare_heap bytes science analog of m_min_spare_heap on science sci_m_spare_heap bytes science analog of m_spare_heap on science Slocum Glider Page 39 Teledyne Webb Research sci_x_disk_files_removed nodim science count of files removved by last prune cmd on science sci_x_sent_data_files nodim science count of files successfully xmitted by last science send cmd u_sci_cycle_time secs glider default 1 0 tells science how fast to run u_sci_dbd_sensor_list_xmit_control enum glider default 0 always transmit header to tell science what to do x_science_logging state enum glider tells what science logging state is u_science_send_time_limit_adjustment_factor nodim glider default 0 5 see below NOTE Science send is implemented as a pre programmed consci batch command If a large number of files is to be transferred in a single send command consideration needs to be given to u_sci_cmd_max_consci_time which puts an absolute limit on how long a single consc
93. nding no match for sbd and the glider will send 3 sbd files finding no match for tbd The lack of matching files for some of the filespecs is not considered an error The num 3 limits the number of files sent by EACH processor alone The total number of files sent by two two processors together in this case will be 6 Sites using Data Server and Data Visualizer will be able to view data as before Other shoreside software tools will likely require changes to view science data A merge tool has been developed to put ascii files together to appear as they did before science data logging was introduced and can be found in the following location SDL EXCEPTIONS TO TRANSPARENCY The dellog and prunedisk commands are local to either science or the glider The send command issued directly from SciDos not recommended is local to science SDL CONTROL In normal operation only certain key science sensors are sent to the glider For setup purposes customarily c_science_on is set to 2 or 3 and all sensor values are visible as they are being sent Provision is made via a new sensor see below c_science_send_all to alter behavior such that all science sensors are sent as was always the case before this release in order to still use this technique Sensors added c_science_send_all bool glider default 0 tells science whether to send all vars or just a few m_mission_start_time timestamp glider in order to propagate to science m_scie
94. need to be done outside as the gliders needs a clear view of the sky to get a GPS fix and to make iridium communications In the water If possible it is advisable to attach a line with flotation to the glider before putting it in the water However if you have great confidence in the ballasting and are an experienced user you may proceed without a floatation device Once the glider is in the water type run status mi once again Run ini0 mi Does 1 yos dive to 3m Fixed pitch and fin Run inil mi Does 3 yos dive to 5m climb to 3m Heading North pitch at 20 degrees Run ini2 mi Goes to a waypoint 100m south of dive point Does yos dive to 5m climb to 3m Run ini3 mi Goes to a waypoint 100m north of dive point Does yos dive to 30m alt 3 3 climb to 3m If you are performing this mission on a line with floatation please ensure line length is sufficient or modify yo depth When the glider returns to the surface evaluate if it is ok to proceed by examining data If you have not removed the line from the glider do it now From the GliderDos prompt type exit reset This will force a re initialization of all of the sensor values It is advisable to do an exit reset after removing the buoy but not necessary Slocum Glider Page 24 Teledyne Webb Research When the glider re boots type a ctrl c to return to a GliderDos prompt and type loadmission waterclr mi to zero any built up water currents that are remembered long term Type
95. never computed or it was computed more than 65K minutes ago Water current The water current is encoded in 2 bytes the units are m sec and are in Local Mission Coordinates where Y is magnetic north The velocity components are scaled by 1 0 05 prior to encoding and then scaled by 0 05 when decoded and have a valid range of 12 8 m sec 8 bit checksum of bytes 0 29 Used for error checking Alg sum the bytes and takes one s complement ie negate and add 1 sum 1 Slocum Glider Page 71 Teledyne Webb Research The following data format will be transmitted with the discontinued Smart cat transmitter file argos data format txt This defines the 32 byte packet of data sent to argos by the glider NOTE WELL If you change what s in the packet you ll need to modify code argos c construct_data_to_xmit_to_argos code prntargo c If you change an encoding scheme you ll have to modify code argoscode c 06 Sep 00 tc DinkumSoftware com Initial 07 Sep 00 tc DinkumSoftware com Added sensors byte offset in decimal sensors Meaning 0 7 M_GPS_LAT LON Current location and age of fix 8 15 C_WPT_LAT LON Current waypoint and when started for it 16 23 X_LAST_WPT_LAT LON Last waypoint achieved and when 24 25 X_MISSION_NUM Current or Last Mission number 26 X_MISSION_STATUS Curr or last mission status 27 X_OLD_MISSION_STATUS_1 status of mission before last 28 X_OLD_MISSION_STA
96. ng connector are located on the upper side of the strong back An upper electronics chassis holds the Vehicle Controller Hardware Interface Board and the Attitude Sensor GPS Iridium and RF modem engines are located on the lower electronics chassis tray The Micron pressure transducer is ported thru the aft end cap and positioned remotely The aft battery is located under the strong back and can be manually rotated for static roll offsets Aft Tail Cone A faired wet area that houses the air bladder steering assembly burn wire jettison weight power umbilical and has provisions for external trim weight and wet sensors Protruding from the aft end cap through the tail cone is the antenna fin support This boom is a pressure proof conduit for the antenna leads The antenna fin is socketed into the support Below the support is a protected conduit for the Steering Motor Linkage Wings In all operations particularly coastal work there is a risk of entraining weed or debris on the wings or tail causing major degradation in gliding performance and for littoral gliders a sweep angle of 45 degrees or more is recommended Horizontal tail planes are not required pitch stability is provided by the wings which are mounted aft of the center of buoyancy In the low Reynolds number regime in which the glider operates approximately 30 000 their un cambered razor blade wings are very suitable The original glider design required a screw driver to sec
97. ng is to adjust the mass of the Glider to result in the glider being neutrally buoyant and properly trimmed at the surface of the operation site water with the Displacement Pump set to 0 cc and the Pitch Vernier set to 0 inches and the air bladder deflated Static roll should be set to 0 degrees The command ballast from Lab mode will move these motors to the proper position Close Glider with an internal vacuum of 6 0 3 inHg 7 inHg for 1000 meter gliders See Closing Procedure Power the Glider with either an external power cable 15 volts DC or insert the Green Plug If not there already boot app lt gt to get to GliderDos From GliderDos type callback 30 then Lab_mode on Type Ballast This will set the ballast pump to 0 the pitch vernier to O and deflate the air bladder If external power was used type exit and pull the plug and replace with a Red Dummy Plug when the glider states it is ok to remove power If internal power is being used the Glider may remain on Keep in mind that if there is no GPS fix or cop_tickle from the keyboard any keystroke within 18 hours the Hardware Abort will commence See Hardware Interface Board Insert the wings into the wing rails If your tank does not provide you with the space you may lay stacked Wings on top of the Aft Hull Section aligning the holes of the Wings with the aft holes of the Wing Rails Hold in place with a wrap of electrical tape around the Hull and Wings If
98. ng to noted rotational position of the aft battery pack replace and tighten the two 1 4x20 SHCS with a 3 16 hex driver Note The hull sections must be aligned parallel and at the same height to allow the hulls sections to fit together Ensure that all of the connectors on the aft chassis are connected and seated properly Slide the Aft End cap and Chassis into the Aft Hull Take care that the tension rod runs through the tie rod guide tube in the center payload bay This aligns the rod and protects payload components Reconnect the aft battery connector and the CPC connector and wire bundle Take care in engaging connectors as the pins are delicate Slide the center and forward hull sections together until the tension rod engages with the Tie rod plate in forward hull section Using the 3 16 inch hex t handled torque wrench tighten the Tension Rod to 15 in Ibs Use caution that the O rings are seating properly and that no wires are being pinched Take care to not damage the MS seal area or the threads with the side of the driver The hull sections should be tight and square to the end caps The rings and hull sections with the centerline marks should be in alignment Refit wing rails with SHCS using a 5 32 hex driver Use a vacuum pump with an evacuation tool and place the 7 16 MS Plug on the hex driver Seal the evacuation tool over the aft end cap evacuation port shown by the red arrow Evacuate the glider to 6 inche
99. nsor name gt lt new value gt LONGTERM for help path list a file system branch MBD for help drive path lt src_path gt lt dest_path gt copy a file system branch Show search path kkk Page 34 Teledyne Webb Research PATH d path P TAT prompt text P oon PRUNEDISK Prune expendable files to free space on disk PURGELOGS Deletes sent log files PUT PUT lt sensor name gt lt value gt RENAME d p oldname newname i REPORT REPORT for help RMDIR drive path RM lt path gt delete a file system branch run mission_file runs it SBD SBD for help SEND f rf l irid num lt n gt t lt s gt filespec sequence SEQUENCE do this for help SETDEVLIMIT devicename os w s w m SETNUMWARN X set max dev warnings to X SET var str SLFE one SIMUL print desc of what is simulated SRF_DISPLAY SRF_DISPLAY for help sync_time offset Syncs system time with gps time tem3 TCMS3 for help TIME hh mm ss alp M C tvalve uplchargeldown backward RRR TYPE drv pth name USE USE do this for help VER Firmware versions WHERE prints lat lon whoru Vehicle Name WHY abort Tells the reason for an abort wiggle onloff fraction moves motor ZERO_OCEAN_PRESSURE ZR ZS re calibrate zero ocean pressure sensor Zmodem Rec zr for help Zmodem Send zs for help 10 1 Science Computer From Picodos type consci or from Glide
100. oing before answering Y Want to exit to the operating system Y or N In general you want to reset the system When the system is reset you will be returned to the GliderDos prompt Slocum Glider Page 52 Teledyne Webb Research The third type of abort is a hardware generated abort The glider hardware is capable of autonomously generating an abort sequence and getting the glider to the surface by triggering the burn wire and dropping the weight There is a watchdog circuit in the hardware with a time constant of either 2 hours or 16 hours set by a jumper in the glider control board and referred to as COP_TICKLE COP Computer Operating Properly f Sample Mission and Comments The following is from an actual glider mission called gy70v001 mi Black text denotes mission behaviors and behavior arguments b_arg s and is what appears in the mission text and or MASTERDATA Blue text denotes comments regarding what each b_arg actually does Red text denotes ma files which are discussed as they are presented The following behavior describes the conditions under which the glider must abort Any text preceded by is a comment and will not be recognized by the glider code behavior abend b_arg overdepth m 1000 0 lt O disables clipped to F MAX_WORKING_DEPTH b_arg overdepth_sample_time s 10 0 how often to check b_arg overtime s 1 0 MS_ABORT_OVERTIME lt 0 disables b_arg samedepth_for s 120 0 lt 0 disab
101. operties of the water enabling modeling and prediction of ocean state variables in the littoral zone A similar nested grid of subsurface observations is required to maximize the impact and ground truth of the more extensive surface remote sensing observations The long range and duration capabilities of the Slocum gliders make them ideally suited for subsurface sampling at the regional or larger scale The Slocum gliders can be programmed to patrol for weeks or months at a time surfacing to transmit their data to shore while downloading new instructions at regular intervals at a substantial cost savings compared to traditional surface ships The small relative cost and the ability to operate multiple vehicles with minimal personnel and infrastructure enables small fleets of Gliders to study and map the dynamic temporal and spatial features of our subsurface coastal or deep ocean waters around the clock and calendar Format Notes Glider sensors and commands will be denoted in bold and purple throughout this document Example Typing Report m_roll will report measured roll m_roll every 4 seconds When displayed on a pc some areas will be hyperlinked to information available on the Internet such as http www webbresearch com and protected documents by permission http www glider webbresearch com Many of the links and the code mentioned in this manual require access by prior arrangement Please contact Glidersupport web
102. or this case we have again used the ma convention which allows us to write a more general mission and insert the particular waypoints coordinates that the glider will glide to Slocum Glider Page 58 Teledyne Webb Research behavior goto_list b_arg args_from_file enum 10 read from mafiles goto_110 ma b_arg start_when enum 0 0 immediately 1 stack idle 2 heading idle Slocum Glider Page 59 Teledyne Webb Research The corresponding ma file is displayed below behavior_name goto_list Written by gen goto list ma ver 1 0 on GMT Tue Feb 19 18 56 54 2002 07 Aug 02 tc DinkumSoftware com Manually edited for spawars 7aug02 op in buzzards bay 07 Aug 02 tc DinkumSoftware com Changed from decimal degrees to degrees minutes decimal minutes goto_110 ma Flies a hexagon around R4 lt start b_arg gt b_arg num_legs_to_run nodim 1 loop b_arg start_when enum 0 BAW_IMMEDIATELY b_arg list_stop_when enum 7 BAW_WHEN_WPT_DIST b_arg initial_wpt enum 2 closest b_arg num_waypoints nodim 6 lt end b_arg gt lt start waypoints gt 7040 271 4138 861 7040 271 4138 807 7040 333 4138 780 7040 395 4138 807 7040 395 4138 861 7040 333 4138 888 lt end waypoints gt The following behavior yo instructs the glider to perform a yo i e a single up and down pattern through the water column Again the ma convention is used to designate the depth and altitude together
103. ormally GliderDos I gt I stands for initial i e no mission has been run refers to a specific abort code The abort codes are listed below e Abort Codes 3 MS_NONE 2 MS_COMPLETED_ABNORMALLY MS_COMPLETED_NORMALLY MS_IN_PROGRESS MS_ABORT_STACK_IS_IDLE MS_ABORT_HEADING_IS_IDLE MS_ABORT_PITCH_IS_IDLE MS_ABORT_BPUMP_IS_IDLE MS_ABORT_THRENG_IS_ IDLE MS_ABORT_BEH_ERROR MS_ABORT_OVERDEPTH MS_ABORT_OVERTIME MS_ABORT_UNDERVOLTS 10 MS_ABORT_SAMEDEPTH_FO 11 MS_ABORT_USER_INTERRUPT 12 MS_ABORT_NOINPUT 13 MS_ABORT_INFLECTION 14 MS_ABORT_NO_TICKLE 15 MS_ABORT_ENG_PRESSURE 16 MS_ABORT_DEVICE_ERROR 17 MS _ABORT_DEV_NOT_INSTALLED 18 MS_ABORT_WPT_TOOFAR Abort Codes 5 and 15 are used with the Thermal Gliders only Set Sy Or eh ee ek During the second type of abort referred to as an out of band abort the glider assumes that the software is no longer reliable For this reason the upper 2 layers of software control are no longer utilized Instead only the device drivers schedulers are utilized As with the synchronous abort the device drivers will be used to achieve positive buoyancy the last known GPS fix is output and communication devices are turned on The abort can only be terminated by user keystroke even though the glider is on the surface The following dialog is presented Want to reset the system Y or N Want to exit to the operating system Make sure you know what you are d
104. ows the glider adjusting heading and pitch according to recorded data and a third compass plot displays glider heading and magnitude of the horizontal speed of the glider To increase the mission replay time increase the number in mission speed from 1 to the desired number To do this you must first stop the mission make your change and then start the mission again To move forward into a mission use the slider to jump ahead in the mission This option can only be used once This will change in future releases The Pause button pauses the fly through The user cannot continue any other functions while in pause mode The Stop button stops fly through and any other functions can be used Slocum Glider Page 99 Teledyne Webb Research APPENDIX Slocum Glider Do s and Don ts THINGS TO NEVER DO WITH A GLIDER Never power up a glider without a vacuum Never run a simulation on a glider other than on_bench Never deploy a glider in simulation Never pick a glider up by the rudder fin digifin can be handled Never deploy a glider in boot pico Never exit to pico during a deployment Never power a glider with more than 15v DC from an external power supply Never deploy a glider in lab_mode Never perform the top of a yo below 30 meters with 100 or 200 meter glider THINGS TO DO WITH A GLIDER Do secure it properly in crate with all 3 straps Do use fresh desiccants on each deployment Do monitor internal vacuum befo
105. paced one second apart The following are transmitted once at the beginning of each task Vehicle starting to climb 5 Pings Vehicle starting to dive 10 Pings Vehicle at the surface 15 Pings Vehicle software aborts 20 Pings Vehicle hardware aborts 20 Pings Science Payload Computer Switch Board A hardware relay on the glider control board is used to switch the RF modem communications to the science payload computer to allow direct access through the software application consci run on the Science bay Persistor A disconnect of carrier detect for three seconds will revert the RF communications back to the Glider Controller Persistor In the field disconnecting power to the host side RF modem for three seconds will accomplish this Slocum Glider Page 15 Teledyne Webb Research Pressure Transducer Micron 300 and 2000 PSIA strain gage transducers for 200 meter and 1000 meter gliders respectively are used for vehicle control and dead reckoning Ported through the aft cap the transducer is isolated by oil filled stainless tubing to prevent thermal shock Changed to PEEK tubing and fittings in 2008 Leak detect Each glider is equipped with two leak detect sensor boards the aft one is located on the bottom of the aft cap The forward leak detect sensor is attached to the bottom of the front cap in the 200 meter glider and in the 1000 meter glider the sensor is attached to the front of the payload bay The sensors will normally report 2 5 volts If
106. present air will be heard rushing in Properly stored with an internal vacuum air should not rush out this may be a sign of released hydrogen gas caution should be taken If there is any concern prior to opening the instrument the internal pressure can be read from a terminal To read the internal vacuum type the following command from Slocum Glider Page 18 Teledyne Webb Research GliderDos Report m_ vacuum This command reports the vacuum scan cycle Typing Report clearall Stops vacuum from reporting Loosen the 10 32 SHCS on the Wing Rails with a 5 32 hex driver This prevents the hull paint from being scratched as the Wing Rails overlap hull sections Insert the long handled 3 16 hex driver into the access port and engage the captured SHCS Tension Rod Note Take care to not damage the MS seal area or the threads with the side of the driver Unscrew until the SHCS is disengaged from the Tie Rod Plate Note Full disassembly will be described here but one can also partially disassemble the Glider to access a particular module Using the hull separation tool separate the center Payload Bay from the forward and aft hull sections Unscrew the 63 pin CPC connector and unplug the battery from the forward end of the aft tray Carefully withdraw the Aft End cap and Chassis from the Aft Hull Set aside on a support stand to prevent tipping and or rolling Note or mark the rotation of the aft battery pack To free the A
107. r Umbilical An Impulse cable is used to switch or supply power to the Glider When the red band Dummy Plug is inserted or the connector end is empty there is no power applied to the vehicle This is done so that any person can be instructed to easily remove power from the system without special tooling Further for safety reasons no internal spark is generated as could be with an internal switch To power the Glider on either use the provided external power cable or insert the green band shorting plug The Umbilical is accessible external to the Glider Aft Tail Cone See Appendix Wiring Diagram and Section Maintenance for Plug care Voltage should not exceed 16 volts Digifin Slocum Glider Page 16 Teledyne Webb Research A molded urethane self calibrating tail fin is moved as a controlled plane acting as a rudder Unlike its predecessor described below it can be used to handle and manipulate the glider It also contains the glider s antennas ARGOS 401 MHz Freewave RF modem 900 MHz and combined GPS 1575 MHz and Iridium 1626 MHz Antenna Fin Steering Assembly replaced by Digifin in 2008 A tail fin is moved as a controlled plane acting as a rudder The steering motor and rotary potentiometer are located external to the pressure hull and are oil filled and pressure compensated The maximum tail fin angle spans 35 degrees The hinge is synthetic as the fixed portion of the fin contains antenna structures The tail fin houses three antennas
108. r recording are stored in this type file See Appendix K SBD Short Binary Data records only those sensors specified in SBDLIST DAT to reduce communication time MBD Medium Binary Data records only those sensors specified in MBDLIST DAT MLG Mission Log tracks the calls for behaviors and device drives LOG Stores the process of opening and closing files and operations MISSION Folder Missions are stored here as mi files They are text files that when run by the glider determines the behavioral parameters SENTLOGS Folder The storage of dbd sbd mlg files from LOG folders that have been successfully sent AUTOEXEC BAT Typically this has path bin prompt GPico P G alloff GliderDos The operating shell GliderDos is a superset of Picodos Itis an application that performs most of the Picodos functions and has knowledge of the Glider as explained under Software Architecture Typing help or will list the functions available Sensors make up all of the variables in the glider these sensors are defined in masterdata Behaviors then use these values to operate the vehicle The glider will list all sensors names with the command list GliderDos is an application that is loaded onto the Persistor glider app Configured correctly it will boot up and call an Autoexec mi file that has all of the Glider s calibration coefficients Certain devices are set automatically Ballast pump assembly full extension Pitch full forward
109. rDos type c to transfer to communicating with the science Persistor Structured in Picodos of the science Persistor are the following folders and contents BIN CONFIG AUTOEXEC BAT A single science program with a standard configuration for each instrument allows the run time selection of which instruments are actually in a given glider The wiring and configuration of the Slocum Glider Page 35 Teledyne Webb Research science Persistor is controlled by a file in the config directory called proglets dat There is a proglet for each device connected to the science computer Some of the devices are as follows ctd41cp Sea bird CTD SBE 41CP continuous profiling ctd41 Sea bird CTD SBE 41 old pulsed style bb2f wet labs bb2f fluorometer backscatter sensor bb2c wet labs bb2c sensor bb2Iss wet labs Light Scatter Sensor sam wet labs Scattering Attenuation Meter whpar WHOI PAR Photosyntheticly Active Radiation whgpbm WHOI Glider Bathy Photometer hs2 HobiLab HydroScat2 Spectral Backscattering Sensor bam Benthos Acoustic Modem Note that the science computer must always be set up to boot app so that the science application runs the proglets BIN Folder Where Pico executable programs are kept These are all run in Picodos AMCONNCT RUN Port to acoustic modem that allows communication for testing BLAST RUN Blasts characters to all ports for testing CTD_CTRL RUN Runs the CTD program for sampling In autoexec bat
110. ransmit these files during a mission especially over iridium bd Short Binary Data records only those sensors specified in SBDLIST DAT to reduce communication time Users will customize this list of sensors to receive limited amounts of data during a mission mbd Medium Binary Data a second user specified data set specified in MBDLIST DAT mlg Mission Log tracks the calls for behaviors and device drives This is the dialog seen in communication sessions with the vehicle log Stores the process of opening and closing files and operations Data can be accessed and transmitted while using a terminal program while in communication with a vehicle by following the steps outlined below To retrieve glider data when the glider is at the surface during a mission Types dbd ors sbd or s mlg or s mbd The 30 most recent files will be sent of the type specified Remember it is not desirable to send dbd files over Iridium To retrieve glider data while the glider is not running a missions from a GliderDos prompt Type send dbd send sbd send mbd send mlg or send Send sends all of the files of type sbd mbd dbd and mlg To send specific files in Picodos or Glider Dos Use Zmodem to send the files desired zs lt filename gt Vehicle Status Glider on surface counting down to resume mission Immediate commands available during surface mission paused dialog Ctrl r resumes glider mission if so progr
111. re launch less vacuum indicates a leak positive pressure may indicate dangerous gas accumulation Do simulate missions before launch Do test Iridium and ARGOS telemetry before launch Slocum Glider Page 100 Teledyne Webb Research APPENDIX Storage conditions For optimum battery life storage temperature range is 10 to 25 degrees C When activated the glider should be equilibrated at a temperature between 2 and 54 degrees C APPENDIX Returning equipment to factory Before returning equipment contact TWR for RMA Email Glidersupport webbresearch com All returns from outside USA please specify our import broker Consignee Teledyne Webb Research 82 Technology Park Dr East Falmouth MA 02536 USA Notify DHL Danzas Freight Forwarding Agents Attention Ellis Hall Import Broker Phone 617 886 6665 FAX 617 242 1470 500 Rutherford Avenue Charlestown MA 02129 USA Note on shipping documents US MADE GOODS Please note All crates large enough to hold a human must be metal banded TWR recommends shipping by air only and strongly discourages truck transport over long distances as this frequently causes damage CAUTION If the glider was recovered from the ocean it may contain water which presents a safety hazard due to possible chemical reaction of batteries in water which may generate explosive gases see Battery Warning and Disclaimers In this case be sure to remove the seal plug to ventilate the instr
112. rgos bom gov au All other nations useroffice cls fr Slocum Glider Page 68 Teledyne Webb Research Instructions for completing ARGOS Technical Information Form Processing A2 hex output Results format DS of Platforms of IDS Lifetime of Platform years glider will be in use Service Required Location Platform Type Other Glider Message Length 256 bits 20 bit IDS Output Power 1 watt Platform Manufacturer Teledyne Webb Research Platforms Model Slocum Autonomous Glider Transmitter Manufacturer Seimac Transmitters Model X Cat Transmission Duty Cycle Other Period Surfacing Day It is helpful if you request that we receive a copy of the IDs Type of ARGOS application Oceanography User Requirements Global coverage low transmitter power platform compatibility location transmitter small size and weight system access Note It is vital to ensure that IDs are not already in use Please verify this Note ARGOS ID Format Change Since 1999 CLS ARGOS has been preparing to change the format of platform IDs 2003 Service Argos began offering 2 types of ID The ID format will change from 20 bits to 28 bits As a result each 28 bit message will contain 31 data bytes instead of 32 Note this will change the format of ARGOS data For gliders with 20 bit ids and X cat transmitter a user should refer to legacy ARGOS Data format for decoding For gliders with 20 or 28 bit ids and Smart cat transmitt
113. s with the next sensor etc Any unused bits in the last byte will be 0 The meanings of the two bit field for each sensor MSB LSB 0 0 Sensor NOT updated O 1 Sensor updated with same value 1 0 Sensor updated with new value 1 1 Reserved for future use lt lt end of file cycle gt gt X cycle tag a single ASCII X char There may very well be data in the file after this last cycle It should be ignored The persistor currently has a real annoying habit of transmitting a bunch of Control Z characters after the end of valid data This ought to be fixed gt gt gt HOST SIDE PROCESSING gt gt gt gt gt gt rename_dbd_files A program rename_dbd_files will rename the transmitted mmmmssss dbd files to their full filenames Versions of this program exist for Windows and Linux It takes its arguments from the command line AND from stdin if s is on the command line Usage rename_dbd_files s lt file gt lt file gt The names of all renamed files are echoed to stdout Any non dbd file or a dbd file that has already been renamed will be silently ignored So rename_dbd_files works just fine For windows users I might suggest dir b rename_dbd_files s gt gt gt gt gt gt dbd2asc A single program dbd2asc will read a DBD or SBD file s and convert them to a pure ASCII format Versions of this program exist for Windows and Linux ftp ftp glider glider windoze production windoze bin ftp
114. s of mercury for 200 meter glider and 7 inches of mercury for a 1000 meter glider and screw in the MS plug using the 15 inch b torque handle Vacuum gauge and tool M S plug not seated Slocum Glider Page 21 Teledyne Webb Research Vacuum drawn and M S plug seated Power the Glider with an external power cable 15 volts DC or insert the green Power Plug Use Dockserver or a terminal emulator connection to a Freewave modem 115 200K baud no parity 8 data bits and 1 stop bit to establish communication with the glider Press control C take control of the glider in GliderDos after the glider responds with SEQUENCE About to run initial mi on try 0 o You have 120 seconds to type a control C to terminate the sequence o The control P character immediately starts the mission o All other characters are ignored Type the commands lab_mode on callback 30 ballast wait fo motors to become idle Report m_vacuum Note One symbol will display any time the measurement changes Two symbols will display every time it is measured every 2 seconds The above is true of any measured sensor peter 171 36 41 sensor m_vacuum 6 5 inHg pongo 175 57 42 sensor m_vacuum 6 5 inHg potame 179 54 43 sensor m vacum 6 5 inHg pytheas 163 74 44 sensor m vacum 6 5 inHg sim012 187 73 45 sensor m_vacuum 6 5 inHg sim015 191 95 46 sensor m_vacuum 6 5 inHg sim_026 195 92 47 sensor m_vacuum 6 5 inHg s
115. sh to load a single segment of the data set uncheck the All Segments option in the Data drop down menu Then load data Slocum Glider Page 97 Teledyne Webb Research e Sensor Filter The sensor filter option allows the user to choose a specific set of sensors to process into a data file Clicking on sensor filter will cause the program to look for a file called sensor_list_file txt in the current data directory If this file exists and contains a list of the wanted sensors delimited by either spaces or new lines the file will be processed and the data displayed If the file does not exist the user will be prompted to choose the location of the sensor_list_file txt Only the sensors in the file will be processed and displayed Example of file contents m_depth m_present_secs_into mission c_ballast_pumped OR m_depth m_present_secs_into_mission c_ballast_pumped e Time Filter The time filter option allows the user to determine a time range during the mission to look at This time is specified by the user through a dialog box when the time filter option is used The time range must be specified in number of seconds from the beginning of the mission Note If the All Segments option is left checked in the Data drop down menu then any segment clicked on will process all data segments 2 Viewing data and clearing data 1 Viewing Data 1 Now that the data is loaded common engineering and sc
116. t of service use all Puts ALL installed devices in service use none Takes ALL devices out of service Slocum Glider Page 33 Teledyne Webb Research From a GliderDos prompt the command help will list all commands available to the user Full help menu and definition e see Appendix command examples for examples of this command e not often used by average user ATTRIB ballast boot callback capture CD CHKDSK CLRDEVERRS consci COPY CP CRC DATE DELLOG DEL DEVICES DF DIR DUMP ERASE exit GET HARDWARE HEAP HELP HIGHDENSITY LAB_MODE LIST loadmission logging LONGTERM_PUT LONGTERM LS MBD MKDIR MV PATH Slocum Glider RASH d p name BALLAST for help PICO PBM APP lt minutes til callback gt d p fn Dx B N E Change Directory d p fo F ao zero device errs f rflirid console to science source dest V lt src_path gt lt dest_path gt copy a file system branch Compute CRC on memory mdy hms alp IEUMCP ALL MLG DBD SBD drv pth name P print device driver info Print disk space used and disk space free d p fn PWBLV4A a file start end ek drv pth name P RK nofin powerofflresetlpicolpbm GET lt sensor name gt v Hardware config Report Free Memory Print help for commands HIGHDENSITY for help onloff display all sensor names loads mission file onloff during GliderDos LONGTERM_PUT lt se
117. the RANGE over which the yo is to be performed behavior yo b_arg args_from_file enum 10 read from mafiles yol0 ma b_arg start_when enum 2 O immediately 1 stack idle 2 depth idle b_arg end_action enum 2 O quit 2 resume Slocum Glider Page 60 Teledyne Webb Research The corresponding ma file is displayed below behavior_name yo yo c3x5 d20 a3 p20 ma climb 3 5m dive 10m alt 20m pitch 20 deg Hand Written 18 Feb 02 tc DinkumSoftware com Initial 13 Mar 02 tc DinkumSoftware com Bug fix end_action from quit 0 to resume 2 03 aug 02 tc DinkumSoftware com DREAO1 at ashument went to depth only lt start b_arg gt b_arg start_when enum 2 pitch idle see doco below b_arg num_half_cycles_to_do nodim 1 Number of dive climbs to perform lt 0 is infinite i e never finishes arguments for dive_to b_arg d_target_depth m 5 b_arg d_target_altitude m 1 b_arg d_use_pitch enum 3 I battpos 2 setonce 3 servo in rad rad lt 0 dive b_arg d_pitch_value X 0 3491 20 deg arguments for climb_to b_arg c_target_depth m 3 5 b_arg c_target_altitude m 1 b_arg c_use_pitch enum 3 I battpos 2 setonce 3 servo in rad rad gt 0 climb b_arg c_pitch_value X 0 3491 20 deg b_arg end_action enum 2 0 quit 2 resume lt end b_arg gt Slocum Glider Page 61 Teledyne Webb Research The following behavior prepare_to_dive instructs the gli
118. their own shoreside data handling systems should understand the following information before upgrading xk NOTE for legacy glider users To use this release you should have an upgraded 1MB RAM Persistor for your science processor and a large CF card on science Please contact glidersupport Science Data Logging SDL INTRO This is an architectural change to address the limited throughput of the serial data connection the so called clothesline between the glider and science processors In previous releases all science sensor data had to be passed over the clothesline in real time for logging commingled with glider sensor data on the glider processor with a severe limit on the number of science sensors per second which could be thus transferred In the new system using SDL the science sensors do not have to be transmitted over the clothesline eliminating the bottleneck SDL SCOPE AND CAVEATS To fully implement this release it is important to upgrade both the glider processor to 7 0 and the science processor to 3 0 This is absolutely necessary because the baud rate at which the clothesline is operated has been changed from 9600 to 4800 However with science 3 0 it is still possible to fall back to the old method of operation sans SDL though this is not recommended Only release 7 0 and forward can be used with SDL and science 3 0 or greater will be required going forward The division between glider 6 38 and 7 0 is tie
119. ts EXCEPT science and Iridium Simulates modem responses if null_modem specified Removes Iridium from service if neither null_ modem or modem is specified Slocum Glider Page 46 Teledyne Webb Research no_electronics Requires only a Persistor Computes all the S_xxx variables Supplies simulated inputs to all A Ds shift registers and uarts To begin a mission one has to set the origination point of the glider by Put s_ini_lat xxxx xxxx lt gt Put s_ini_lon xxxx xxxx lt gt A mi file is available and will be included in production releases of code 6 34 that will allow a user to define all the simulated values and set them by using the l oadmission command SIMULATION IN THE SCIENCE BAY config appcmd dat supersci nog sim echo_uart echo_cl nog No glider is attached sim No sensors attached simulate them echo_uart Show send recv lines from sensor uarts echo_cl Show send rev lines from clothesline glider 16 Missions Missions can be loaded to or drawn off the glider by using FTP and referring to section 3 of the GMC or Dock Server Users Guide Alternatively below is the method used to manipulate files directly while using a terminal program and the Freewave modem To load a mission file into the glider you must first have ready the mission file on your computer Open a Glider Terminal and apply power to the glider If the glider boots to GliderDos exit to a GliderDos prompt by using control c It is advisa
120. typed with a number lt 3 for fastest sampling or gt 3 for sampling at that rate in seconds No longer runs on gliders with software version 5 0 or greater MCMD RUN Runs the acoustic modem MDATACOL RUN Acoustic modem command that sets the acoustic modem to listen mode until the buffer is full then tells the glider to surface U4TALK RUN Testing of UART drivers for programming CTD_HS2 RUN Runs either CTD HydroScat 2 or both simultaneously Type help ctd_hs2 in the science computer for information on usage and options No longer runs on gliders with software version 5 0 or greater ZR RUN and ZS RUN Required for z modem send and receive transfers CONFIG Folder APPCMD DAT Simulates functions in the science bay See Simulation Note this file must be deleted prior to actual flights ZMEXT DAT Automatically puts transferred files in the correct directory from any other directory PROGLETS DAT This contains configuration of the science computer sensors and defines which sensors are installed in the Payload bay AUTOEXEC BAT This contains the path to the executable and the Picodos prompt path bin p prompt sci p g Slocum Glider Page 36 Teledyne Webb Research 11 Science data logging RELEASE_7 0 ea Soundbite for production release 7 0 NOTE This release contains science data logging a major change to the way the glider stores and uploads data Users especially sites who have implemented
121. ud rate in setup mode is always 19200 e The baud rate must be changed to match the baud rate of the device that the radio is attached e Press 1 to set the radio communication baud rate to 115 200 e Press Esc to get back to Main menu 6 At the Main Menu press 3 e Set the Frequency Key e Press 0 to set to change the Frequency Key e Press 5 to set to change the Frequency Key to 5 Slocum Glider Page 65 Teledyne Webb Research e Press Esc to get back to Main menu 7 At the Main Menu press 2 e Press 0 0 through 9 may be used To add the serial number of the Freewave in the glider e Press C to select the glider in which this master will communicate with e Press 0 to select entry 0 1 to select entry 1 etc or A for all radios on the list for this master to communicate with e Press Esc to get back to Main menu e Press Esc to exit set up Set up glider Freewave slave Internal to the glider The following is the procedure setting up the glider slave Freewave This mode allows for a slave to communicate with several shore side Freewaves 1 Connect the transceiver to the serial port of your computer through a serial cable per the drawing below SETUP 12 VOLTS DC T DB9 FEMALE COMNONAWNHA FREEWAVE MODEM ATE 2 Open up a Hyper Terminal session e Use the following settings in connecting with hyper terminal e Connect to COMx depending on which COM port your cable is
122. um Glider Page 57 Teledyne Webb Research The following behavior surface instructs the glider to come up when a surface request is made by the science computer behavior surface b_arg args_from_file enum 10 read from mafiles surfac10 ma b_arg start_when enum 11 BAW_SCI_SURFACE b_arg end_action enum 1 0 quit 1 wait for C quit resume 2 resume b_arg report_all bool 0 T gt report all sensors once F gt just gps b_arg gps_wait_time s 300 how long to wait for gps b_arg keystroke_wait_time s 300 how long to wait for control C The following behavior surface instructs the glider to come up every 10 minutes In this particular case mission it is commented out behavior surface b_arg args_from_file enum 10 read from mafiles surfac10 ma b_arg start_when enum 9 0 immediately l stack idle 2 depth idle 6 when_secs 7 when_wpt_dist 8 when hit waypoint 9 every when_secs b_arg when_secs s 600 How long between surfacing only if start_when 6 or b_arg when_wpt_dist m 10 how close to waypoint before surface b_arg end_action enum 1 0 quit 1 wait for C quit resume 2 resume b_arg report_all bool 0 T gt report all sensors once F gt just gps b_arg gps_wait_time s 300 how long to wait for gps b_arg keystroke_wait_time s 300 how long to wait for control C H HOHH The following behavior goto_list tells the glider where it s waypoints are F
123. ument APPENDIX Slocum Glider Operator Guide quick reference and checklists To download or review the most recent Operators Guide visit ftp ftp glider webbresearch com glider windoze production src doco MANUAL Slocum Glider Page 101 Teledyne Webb Research
124. ure the wings in place The current design clicks into place A quick release is located in the wing rail to the aft 1 2 Specific Components Ballast pump assembly 200 meter A single stroke piston design using a 90 watt motor and a rolling diaphragm seal moves 504 cc of sea water directly into and out of a short 12 mm diameter port on the nose centerline the stagnation point The pumps for different glider types 30 100 and 200 meter are rated for different pressures based on the gearbox associated with the motor The mechanical gear drive is not the limiting factor it is the maximum amount of energy that is desired to pull from the battery source The selection of gearbox motor assembly should be optimized for the working depth to allow for quick inflections more important in shallow water and to minimize energy used on the return stroke It is important to note that the displacement pump should not be run without either external pressure or internal vacuum on the rolling diaphragm Restated the pump should be installed in the hull section and a vacuum drawn to 6inHg lower than external atmosphere This ensures that the diaphragm folds smoothly as it rolls otherwise damage may result To eliminate back drive of the pump at pressure a latching brake is used to hold the motor when at rest Slocum Glider Page 12 Teledyne Webb Research Ratio Pmax 6 amp Rated Pressure Speed no load 156 1 248 dbar 200 dbar 24 cc sec 74 1 135 dbar 10
125. uring surfacing and it is used to locate the Glider s position and update the glider time if necessary The output used is the RMC NMEA 0183 string every 5 seconds Iridium Satellite Telemetry The Iridium bi directional satellite modem is on the lower electronics tray with a Low Noise Amplifying LNA switching board for the antenna which is shared with the GPS RF modem Telemetry Freewave 900 MHz radio modem is used for the local high speed communications link to the Glider It is connected to the console on the Persistor permitting code load changes See Appendix E Freewave Configuration Pinger discontinued in 2007 The pinger is controlled by software in normal operation and by hardware during a hardware abort in which the Persistor has failed The pinger will output various ping structures depending on the message being translated The pinger transmits at 10 KHz and every eight seconds it transmits the depth of the glider below the surface If the glider is at the surface the pinger transmits then transmits again 100mS later If the glider is below the surface the second transmission will be one second after the first when the vehicle is at u_pinger_max_depth The default value for u_pinger_max_depth is 100 meters If this value is changed the second ping will transmit when the vehicle dives the new value ex put u_pinger_max_depth 25 This will set the Pinger maximum depth to 25 meters meaning that at 25 meters the pings will be s
126. via the RF or Iridium modem and run Mission changes might include different inflect depths new GPS waypoints or turning a behavior on or off such as current correction Hardware Interface Board The Persistor is mated to this driver board that interfaces to all of the sensors communications and drive mechanisms See Appendix C Schematic and Wiring Diagram The board runs on a nominal 15 volts DC A section of the board is dedicated to a hardware abort mechanism As a recovery precaution for errant events a timer set to 18 hrs in the factory is reset COP_tickled every time there is a GPS fix or a keystroke while in Glider Dos Both of these situations indicate that the Glider is safely on the surface If the timer elapses however the following items will come alive Air Pump ARGOS PTT Pinger if available and the Burn Wire for the Jettison Weight The 10 kHz Pinger if available will change to an 8 second duty cycle and at 4 2ma 10ms 8 sec rate x 5Owatts 15v will emit sound on a single 10 C cell battery pack for 60 days Slocum Glider Page 14 Teledyne Webb Research Attitude Sensor The Precision Navigation compass and attitude sensor provides the bearing pitch and roll indications of the Glider These inputs are used for dead reckoning the vehicle while under water Recalibrating the compass depending on the magnetic anomalies of the usage area may at times be necessary See Appendix D Compass Calibration GPS The GPS is on d
127. y any environment where RS232 data communications occur The transceivers functions on a 9 pin null modem cable If the Freewave transceivers are to be used in an application where a null modem cable is used such as communication between two computers then the Freewave transceivers can be connected directly If Freewave transceivers are to be used to replace a straight through RS232 cable then a null modem cable must be placed between the transceiver and the DCE instrument to which it is connected Set up glider shore side Freewave The following is the procedure setting up the glider shore side Freewave This mode allows for a shore side Freewave to communicate with several Slaves 1 Connect the transceiver to the serial port of your computer through a serial cable 2 Open up a Hyper Terminal session e Use the following settings in connecting with hyper terminal e Connect to COMx depending on which COM port your cable is connected to e Set data rate to 19 200 data bits 8 Parity none Stop bits 1 Flow control none 3 Press the setup button next to the serial port on the back of the radio e The three lights on the board should all turn green indicating Setup mode e The main menu will appear on the screen 4 Press 0 to get into the Operation Mode menu e Press 0 to set the radio as a point to Point to Point Master e Press Esc to get back to Main menu 5 Press 1 in the main menu to change the Baud Rate e The ba

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