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Applies to: Electric gliders, type 30m, 100m, 200m and 1000m

1. FWD CHASSIS Slocum Glider Page 59 gen Ws SA ELECTRIC GLIDER FRONT PINGER AFT CHASSIS MET Ra a ELECTRIC GLIDER WIRING DIAGRAM 7 S baie ednesday June 09 2004 nest X 9 1 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 meas
2. See deployment and recovery section In the water Attach a line with flotation to the glider before putting it in the water If you have great confidence in the glider s ballasting you may choose to not test on the line Once the glider is in the water type run status mi once again Run one or several of the following missions while on station until satisfied that the glider is ballasted and operating normally Ini mi Does a single yo to max depth 3 meters min depth 1 5 meters Uses a fixed pitch battery and fin position Ini1 mi Does 3 yos to the north diving to 5 meters and climbing to 3 meters Pitch should be 20 degrees Ini2 mi Goes to a waypoint 100 meters south of the dive point diving to 5 meters and climbing to 3 meters Pitch should be 20 degrees Ini 3 mi Goes to a waypoint 100 meters north of the dive point diving to 5 meters and climbing to 3 meters Pitch should be 20 degrees Send files locally and or by Iridium Confirm flight data and desired flight characteristics of ini missions run if necessary turn flight control over to Dockserver over Iridium If you have not removed buoy and 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 When the glider re boots when prompted type control C to bring up the GliderDos prompt and type loadmission waterclr mi to zero any built up water currents that are reme
3. Page 100 Teledyne Webb Research Mission notes Slocum Glider Page 101 Teledyne Webb Research Pre Mission Seal Checklist All ballasting complete and weights are adjusted see page 9 Fore Pump lead screw clean and greased Pitch Lead screw clean and greased Leak detect in place batteries secure Ballast bottles secure O ring inspected and lubed Exterior nose bellow clean of debris Interior Clean of debris Desiccant installed Payload Science serial numbers Wiring dressed O ring inspected and lubed Payload weights properly secured CF card fully seated and loaded See Software Persistor button batteries checked voltage Interior clean of debris Iridium Sim card installed Sim number Aft tray wiring dressed CF Card seated and loaded See Software Persistor button batteries checked voltage Ballast bottle secure O ring inspected and lubed Battery voltages J13 voltage voltage voltage voltage Battery voltage J31 emergency Anode to main tray continuity Threaded rod clean and greased Seal O rings clean of debris 15 in Ib torque All sections snug together Vacuum pulled Slocum Glider Page 102 T
4. 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 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 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
5. 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 O0 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 H
6. how long to wait for control C Come up every 10 minutes behavior surface b arg args from file enum 10 read from mafiles surfac10 ma b arg start when enum 9 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 600 How long between surfacing only if start when 6 or 9 b arg end action enum 1 0 quit 1 wait for C quit resume 2 resume b arg report all bool O 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 behavior goto list b arg args from file enum 10 read from mafiles goto 10 ma b arg start when enum 0 0 immediately 1 stack idle 2 heading idle behavior yo b arg args from file enum 10 read from mafiles yo10 ma b arg start when enum 2 0 immediately 1 stack idle 2 depth idle b arg end action enum 2 0 quit 2 resume Sample all science sensors only on downcast behavior sample b arg intersample time s O sif lt 0 then off if 0 then behavior prepare to dive b arg start when enum O 0 immediately 1 stack idle 2 depth idle b arg wait time s 720 12 minutes how long to wait for gps behavior sensors in Turn most input sensors off Slocum Glider Page 126 Teledyne Webb Research goto10 ma behavior_name goto_list Written by gen goto list ma ver 1 0 on
7. 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 74 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 Displacement 70 10 Temperature C target T Tank T Target D Pressure psi 0 D ensity 1000 Displacement g L target D Tank D 1 Current Weight Configuration 0 n B C Port Starboard Pitch Roll Section A Section B 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 75 Teledyne Webb Research APPENDIX CALCULATING THE H MOMENT This factor accounts for buoyancy provided by water on material Place well ba
8. 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 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 ctd4lcp ctd41 Slocum Glider Sea bird CTD SBE 41CP continuous profiling Sea bird CTD SBE 41 old pulsed style Page 35 Teledyne Webb Research 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 typed with a number lt 3 for fastest sampling or gt 3 for s
9. 1 1 watt RUDICS 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 AUTOEXEC BAT GliderDos Masterdata Sensor Commands Slocum Glider Page 5 26 26 26 26 26 27 27 27 27 27 28 28 28 29 29 29 29 30 31 31 31 32 32 32 32 33 33 Teledyne Webb Research 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 44 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 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 Slocum Glider Page 6 33 35 36 36 36 37 38 39 39 43 44 44 45 45 46 47 48 49 57 59 60 61 64 64 66 71 Teledyne Webb Research APPENDIX HOW TO DETERMINE MISSION LONGEVITY APPENDIX COMMONLY PURCHASED SPARE PARTS APPENDIX Ancillary Glider Equipment APPENDIX BALLASTING AND H
10. 8 3 8 diameter and 12 long with a nominal capacity of 3 to 4 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 volume is set aside for more Slocum Glider Page 11 Teledyne Webb Research 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 wiring connector are located on the upper side of the strong back An upper electronics chassis holds the Vehicle Controller Hardware Interface Board a
11. First Run Forward Payload Aft Roll Weight Removed Weights Added 16 1 Weight conversion constants Stainless Steel 875 weight added external Lead 912 weight added external Second Run Forward Payload Aft Roll Weight Removed Weights Added Third Run Forward Payload Aft Roll Weight Removed Weights Added Final Weight Configuration As Shipped Forward weight Payload weight Aft weight Roll Port Bottle Top FWD Aft Bottle STBD Bottle Bottom FWD Bottom Bottle Top AFT H Moment Slocum Glider Page 109 Teledyne Webb Research Lab notes Slocum Glider Page 110 Teledyne Webb Research Pre mission check outs These procedures should be followed for qualification of a glider for launch of a mission On the beach deck and or at lab with the glider outside with a clear view of the sky Power on glider and when prompted type control C to exit to GliderDos From the GliderDos prompt Type callback 30 to hang up the iridium phone Type Lab_mode on Type put c_gps_on 3 Confirm GPS In the string like the following the highlighted A should turn from a V to and A gps_diag 2 cyc 538 GPRMC 161908 A 5958 3032 N 7000 5568 W 0 000 343 9 190808 0 3 W After a number of A responses type put c gps on 1 to stop screen display Type wiggle on and run for 3 5 minutes to check for any device errors or other abnormalities Type wiggle off to st
12. GMT Tue Feb 19 18 56 54 2002 07 Aug 02 tce DinkumSoftware com Manually edited for spawars 7aug02 op in buzzards bay 07 Aug 02 tce DinkumSoftware com Changed from decimal degrees to degrees minutes decimal minutes Apr 03 kniewiad webbresearch com changed to ashument 17 Apr 03 tc DinkumSoftware com fixed comments goto 110 ma Flies the box in ashumet Each leg about 200m startb arg 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 end b arg lt start waypoints gt lt end waypoints gt surfac10 a behavior name surface surface 20deg ma climb to surface with ballast pump full out pitch servo ed to 26 degrees Hand Written 08 Apr 02 tce DinkumSoftware com Initial 01 Feb 03 tc DinkumSoftware com Renamed surfac20 ma 03 Mar 03 kniewiad webbresearch com Renamed surfac30 ma for Buzzards Bay Trials 09 Apr 03 kniewiad webbresearch com Adjusted for Ashumet Pitch to 26 deg 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 1 battpos 2 setonce 3 servo in rad rad gt 0 climb b arg c pitch value X 0 4528 26 deg end b arg yo10ma behavior name yo yo10 ma climb 3m dive 12m alt 9m pitch 26 deg Hand Written 18 Feb 02 tc DinkumSoftware com Initial 13 Mar 02 tc DinkumSoftware com Bug fix end action fro
13. Ill 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 Ib 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 hold the aft tail cowling in place using a 5 32 hex driver do not over tighten 4 Pre mission testing These procedures shoul
14. MOMENT ADJUSTMENTS 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 72 73 74 75 81 82 93 96 97 97 97 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 properties o
15. 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 mi files Mission files defines mission variables ma files Mission acquisition file defines mission behavio
16. before last 28 X OLD MISSION STATUS 2 status of mission two missions ago 29 X OLD MISSION STATUS 3 status of mission three missions ago 30 31 16 bit crc 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 0 1 2 latitude 34 55 longitude 6 7 age in seconds Slocum Glider Page 68 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 i
17. 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 52 Kg Weight in water Neutrally buoyant Hull Diameter 21 3 cm 8 3 8 Inch Width including Wings 100 3 cm 39 1 2 Inch Vehicle Length 1 5 meters Depth Range 4 200 meters motors geared to depth rating Speed projected 0 4 m sec horizontal Energy Alkaline Batteries Endurance Dependent on measurement and communication type 30 days Range 1500 km Navigation GPS internal dead reckoning altimeter Sensor Package Conductivity Temperature Depth Communications RF modem Iridium satellite ARGOS Slocum 1000 meter glider specifications Weight in air 56 Kg Weight in water Neutrally buoyant Hull Diameter 22 cm 8 2 3 Inch Width including Wings 100 3 cm 39 1 2 Inch Vehicle Length 1 5 meters Depth Range 40 1000 meters Speed projected 0 4 m sec horizontal Scalable Energy Alkaline Batteries Endurance Mission dependant Range Mission dependant Navigation GPS internal dead reckoning altimeter Sensor Package Conductivity Temperature Depth Communications RF modem Iridium satellite ARGOS Slocum Glider Page 9 Teledyne Webb Research 0 Vehicle Operation Theory The principle advantages of Autonomous Under water Vehicle Gliders AUVGs are 1 Very suitable for long range and endurance if low to moderat
18. 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 Y 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 GliderDos N gt N stands for mission ended normally Slocum Glider Page 47 Teledyne Webb Research 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 MS NONE 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
19. dat Autoexec mi sensor c_iridium_phone_num number sensor F MAX WORKING DEPTH m Depth m Confirm Installations Confirm calibration coefficients Only necc if new hardware Ima missions Load custom mi and ma files Files loaded 0 2 3 1 1 1 1 1 2 Sci gt proglets dat Confirm desired sensors are installed Archive of all files locally Slocum Glider Page 104 Teledyne Webb Research Shipping Checklist Glider packed and secured w three straps notes Mobile computer packed Freewave and Freewave antenna Buoy with rope Glider evac tools Glider tools Red and green shorting plugs Wings packed 0 2 4 Shipping address and details arranged Address Contacts details Contacts details Slocum Glider Page 105 Teledyne Webb Research BALLASTING AND H MOMENT Glider under vacuum notes Pick point installed Wing rails installed Wings installed Exterior connectors secure and fastened Altimeter Aanderaa if present Burn wire MS plug seated Ejection weight assembly not seized Pressure sensors clear and clean Aft flight Payload science Bladder visual inspection Powered Report m vacuum 6 in Hg 7 for 1
20. driver Unscrew Altimeter pigtail from bulk head Older gliders have hardwired altimeters DO NOT REMOVE Slocum Glider Page 19 Teledyne Webb Research 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 caution to prevent damage to sciences sensors Reconnect science sensor wiring Install the aft end ring and weight bar assembly s
21. 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 crc 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 s T 0 04f max working depth m s T 1 14u cycle times s T 2 24m present times Slocum Glider Page 86 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 field 1s the sensor number f
22. 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 Slocum Glider Page 42 Teledyne Webb Research just_electronics This requires only the glider control board This is typically used to test science computer programs and the Iridtum 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 uarts EXCEPT science and Iridium Simulates modem responses if null modem specified Removes Iridium from service if neither null modem or modem is specified 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 l
23. 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 7 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 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 Z how long to wait for gps b arg keystroke wait time s 300 how long to wait for control C THE cHE cHR cH GHk OHHH The following behavior goto list tells the glider where it s waypoints are For 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 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 54 Teledyne Webb Research The corresponding ma file is displayed below behavior name goto list Written by gen goto lis
24. 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 95 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 before launch less vacuum indicates a leak positive pressure may indicate dangerous gas accumulation Do simulate missi
25. 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 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 Slocum Glider Page 18 Teledyne Webb Research 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 Aft Battery Pack from the Payload bay remove the 2 1 4 x 20 SHCS screws and washers which hold the battery plate in place using a 3 16
26. 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 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 pac
27. 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 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 Autoexe
28. reset 0 Hit Control R to RESUME the mission i e dive Hit Control C to END the mission i e GliderDos Hit Control E to extend surface time by 5 minutes Hit Control W to get device warning reports Hit Control F to re read MAFILES Hit S f rf irid num lt n gt t lt s gt filespec to send log files Hit GliderDos cmd to execute GliderDos cmd Hit C to consci to science computer when comms ready communications NOT ready for consci Water Velocity Calculations COMPLETE Waypoint 4326 0829 6925 5198 Range 513m Bearing 10deg Age 1 1h m Drifting toward outer watch circle centered on waypoint Now 512 9 meters from middle will dive at 100 0 meters Time until diving is 2493 secs Slocum Glider Page 122 Teledyne Webb Research File manipulation quick tutorial send XXX works from GliderDos only dbd sbd mdb mlg files 30 most recent send works from GliderDos sends all dbd sbd mdb mlg files 30 most recent Do not use over iridium S works from surface dialog while in mission only dbd sbd mdb files S works from surface dialog while in mission sends all dbd sbd mdb files 30 most recent Do not use over iridium zr works form GliderDos with terminal emulator all files types dockzr works from GliderDos while using Dockserver all file types file must be in to glider directory on Dockserver zs works from GliderDos all file types Izr works while in mission all fi
29. 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 After clicking ok the data is loaded and ready to view 4 If you wish to load a single segment of the data set uncheck the All Segments option in the Dat
30. 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 Ifnot 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 0 and deflate the air bladder Jfexternal 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 orcop 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 JfGlider is too light add external washer to the exterior of the hull in the areas where one can make weight adjustme
31. 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 Doc umentation gmcUserGuide pdf 9 Ballasting The goal of ballasting is to adjust the mass of the Glider to result in the glider being neutrally buoyant and properly trimmed at the
32. x The cursor is off the map Connected to production dockserver webbresearch com using port 6564 No route being edited Cac ste production docksor v Map won iter Routes ox zi LjShowGrid C Show Bathymetry Show Glider Positions ISO Format Real time Visual interface which allows custom jpg maps and click through uploading of waypoints during live missions Slocum Glider Page 117 Teledyne Webb Research Data Visualizer E Data visualizer File Server Sensors Plots Dates 10 20 30 40 so 60 70 so 90 100 110 120 130 140 150 160 170 180 190 depth 2080920 21200 BW 11 1320 20080921 MHD 70080821 05320 20080821 054000 20080921 08 2640 20080821 140000 Sensor Comparison Glider sensor plots 20080821 184840 2080921 193320 20080821 222000 2080922 085320 20080922 064000 20080822 MHD IBAN 121320 0030822 150000 IBAN 174840 290922 NBD 3 x02 010940 time depth 182 ANO 20080923 MHD 20080923 045320 Connected to production dockserver webbresearch com using port 6600 Data Server production dockser liter pensim EL Iz X Sensor fime sensor nter sept The Data Visualizer server must be running on Dockserver to view data remotely Launch with desktop icon on Dockserver Allows pilots to plot all glider data as it is received by Dockserver
33. 0 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 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 Slocum Glider Page 17 Teledyne Webb Research 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 GMC or Dock Server User Guide and section 6 of this manual as a reference Teledyne Webb Research recommends use of Dockserver as your s
34. 000m Report m battery Lab mode on Wiggle on ballast Cowling installed While in ballast tank Ensure no air in front or aft sections Note roll for potential adjustment Record weight adjustments necessary Rinse and dry after wettings Exit and power down glider when done Slocum Glider Page 106 Teledyne Webb Research Notes for Ballasting and lab tests If the glider is not already closed up with a proper vacuum you will need to do this before you can apply power to the glider To do this pull the glider together with the tie rod using the long 24 T handle provided Hex wrench until the hulls have come together Set the torque to 15 in Ibs using the torque handle and long extension provided With the vacuum tool and the long T handle put a vacuum on the glider Your target is 6 hg 7 for 1000m but it is best to pull a vacuum higher than this as you can bleed some off when the glider is powered on Once this is accomplished and the MS plug is in place you may apply power The glider will power on and go through its normal start up routine When you see SEQUENCE About to run initial mi on try O You have 120 seconds to type a control C to terminate the sequence The control P character immediately starts the mission All other characters are ignored Type CTRL C This will give you a GliderDos prompt From the GliderDos prompt 1 Type call
35. 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 1 MUN UEM d T9 E 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 doing 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 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 Slocum Glider Page 48 Teledyne Webb Research triggering the burn wire and dropping the weight There is a watchdog circuit in the hardware with a time co
36. 2p TELEDYNE WEBB RESEARCH A Teledyne Technologies Company 82 Technology Park Drive E Falmouth Massachusetts 02536 Phone 508 548 2077 Fax 508 540 1686 E Mail dwebb webbresearch com User Manual Slocum Glider Applies to Electric gliders type 30m 100m 200m and 1000m Operations Manual Ver2 04 02 2009 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
37. 44 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 78 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 Odir s 125 399 040 bytes free rm GliderDos I 3 gt rm c old_app Path CNOLD APP delete entire branch 10 seconds to reply Y N gt y Deleting branch at path CAOLD 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 rename config Wimul 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 HIGHDENS DAT 549 07 29 08 3 45p LOGIN EX
38. 83 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 spaced one second apart The following are transmitted once at the beginning of each task Vehicle starting to climb 5 Pings Vehicle s
39. 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 100 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
40. D for help drive path src path dest path copy a file system branch Show search path ne d path P sek text P doe Prune expendable files to free space on disk Page 34 Teledyne Webb Research PURGELOGS PUT RENAME REPORT RMDIR RM run SBD SEND sequence SETDEVLIMIT SETNUMWARN SET SIMUL SRF_ DISPLAY sync_time tcm3 TIME tvalve TYPE USE VER WHERE whoru WHY wiggle ZERO OCEAN PRESSURE ZR ZS Deletes sent log files PUT sensor name gt value ii d p oldname newname REPORT for help drive path lt path gt delete a file system branch mission file runs it SBD for help f rfj irid num lt n gt t lt s gt filespec SEQUENCE do this for help devicename os w s w m X set max dev warnings to X var str SLFE cho print desc of what is simulated SRF DISPLAY for help offset Syncs system time with gps time TCM3 for help hh mm ss alp M C up charge down backward Tt drv pth name USE do this for help Firmware versions prints lat lon Vehicle Name abort Tells the reason for an abort on off fraction moves motor 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 GliderDos type c to transfer to communicating with the science Persistor
41. Dockserver FTP utility GMC 131 24 8 236 M FIP connection Local ile system L Manage sites M View iog Security o x Help Look in C darwin MIC Remote FTP site wokm Cumas E 49 fles in directory 6MB One directory selected S darvin 2008 283 0 dba Cromie 0 mbd Boss BS saw 2005 265 i rj Dto gliger IS carin 20062052 sao 20062052 IS carin 20062052 Scan 20062652 IS carin 20062053 car 20062053 cann 20062053 S darwin 2008 283 3 S carin 2006 2054 S darwin 2006 263 4 IS davin 2009 265 amp ddarwin 2008 283 10 0 dod darvin 2008 283 10 0 mba ddarwin 2008 283 10 0 mig S darwin 2008 263 10 0 sbd dba Ombd mig 0 sbd Ddod Ombd mig O sba 0 dbd mbd O mig ID aiderstaemi BS carwin 2008 263 7 darwin X O dbe Omi DS darwin 2008 283 7 1 mig S arwin 2008 269 7 O sbe 9m Upload m 9m 90x Download Connection idie Whenever new files are sent to Dockserver you refresh the file list Slocum Glider Page 118 must disconnect and reconnect to Teledyne Webb Research Configure Comms with Terminal program Procomm Plus Many users have decided to have a mobile Dockserver and a permanent installation Dockserver If you do not have a mobile Dockse
42. F hex means either that the location was 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 67 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
43. FreeWave com for complete details About Freewave Transceivers Freewave transceivers operate in virtually 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 Use the following settings in connecting with hyper terminal Connect to COMx depending on which COM port your cable is connected to 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 The three lights on the board should all turn green indicating Setup mode The main menu will appear on the screen 4 Press 0 to get into the Operation Mode menu Press 0 to set the radio as a point to Point to Point Mast
44. LE 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 82 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 new value This adds some fixed ove
45. North American users useroffice argosinc com Australia and New Zealand users clsargos bom gov au All other nations useroffice cls fr Slocum Glider Page 64 Teledyne Webb Research Instructions for completing ARGOS Technical Information Form Processing A2 hex output Results format 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 fo
46. P 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 79 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 GliderDos I 3 gt send f rf sbd Enumerating and selecting files About to send 17 files Prechecking is not necessary for this invocation 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 ca t sets max time GliderDos I 3 gt send t 60 dbd Enumerating and selecting files About to send 1 files E setdevlimit GliderDos I 3 gt setdevlimit attitude 10 20 5 Setting lim
47. 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 Slocum Glider Operators Guide April 2009 Slocum Glider Page 98 Teledyne Webb Research This document is a field guide and reference documentation for use in preparation and deployment of Teledyne Webb Research Slocum Gliders Please also refer to the complete User Manual Slocum Glider at ftp ftp glider webbresearch com glider windoze production src doco MANUAL The site above is an authorized user restricted site To request access contact Glidersaccess webbresearch com For technical glider assistance contact Glidersupport webbresearch com 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 Only personnel who have attended a Teledyne Webb Research training session should use this document 16 Internet resources Sign into access restricted glider documentation https dmz webbresearch com Software distribution ftp ftp glider webbresearch c
48. a drop down menu Then load data Ww Slocum Glider Page 93 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 science data can be viewed by simply pushing the buttons that correspond to the desired elements Th
49. a to the screen Slocum Glider Page 107 Teledyne Webb Research Pick out the water temperature and conductivity and calculate your salinity and density Enter this data into the ballasting and H moment calculator sheet in the appropriate blocks Enter the temperature density and salinity for your target water into the appropriate blocks to get your total weight change from tank to real world conditions It is important to remember that you need to make the glider neutral in the tank and do an H moment calculation before you make this adjustment To do the H moment calculation with the glider neutral in the tank 8 Type report m_roll This will display the roll of the glider every time the Sensor updates in radians Follow the instructions for calculating the H moment on the ballasting and H moment calculator spreadsheet Common Lab commands While in lab_mode on to exit lab_mode off never launch the glider in lab_mode Ballast zeros motors and deflates air bladder never launch the glider in ballast Use iridium or callback 30 stops iridium phone calls Report any_masterdata_sensor Reports sensor as fast as possible Report m_battery Put any_masterdata_sensor report clearall turns off all reporting example Put c_fin 0 zeros fin after wiggle Type wiggle on This exercises the ballast pump pitch motor and fin motor Type wiggle off to stop exercising the motors Type put c_science_all_on 0 This will tell the science compute
50. ampling 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 UATALK 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 RUNandZS 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 rate cookbook TWR is in development of a new system for handling and recording data to resolve the issues handled by the science data rate cookbook The scheduled release of this software enhancement is planned for the end of 2008 A text document fully describing the problem outlined belo
51. and manipulate the glider by tail boom into position on cart Lift and tilt the glider onto the ships deck Slocum Glider Page 115 Teledyne Webb Research Glider packing Ensure that all three straps are secure 2 crate straps and 1 cart strap If extra supplies are included in crate ensure that they will not interfere with the fin or become dislodged during transit Slocum Glider Page 116 Teledyne Webb Research Dockserver Dockserver is the name of the laptop or rack mounted Linux Centos 4 based P C provided with a glider The applications also named Dockserver and Dataserver must be launched from desktop icons to provide full Dockserver functionality m lala 3 08192169 2254 6564 amp M 134 245 219 15 8564 m192168 3 254 6564 m 192 165 3 254 6564 B tournesol obs wir fr 6564 server webbresearch com 6564 boot co CDSE CLRDEVERRS cory c cre DELLOG DEL DEVICES digifin DIR exit GET HELP HIGHDENSITY LAB MODE loadmission logging LONGTERM PUT ts PATH PURGELOGS RM 8193491123 18564 2192168256564 Primary interface through Dockserver to glider Top panel Dockserver site manual entry Script functionality Terminal and ports perspective toggle and remote glider notification tabs Left panel active Docks and Gliders Middle right communication from glider Bottom right communication to glider
52. ax mt probability bad value gt Simulates a water leak by using bad value as M LEAKDETECT VOLTAGE bad device vacuum min mt max mt probability bad value Simulates a bad vacuum by using bad value as M VACUUM bad device pressure drift min mt max mt probability bad value Simulates a pressure drift by returning bad value as the drift sometimes One must be simulating the device before it has any effect Simulation Details 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 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
53. back 30 This will hang up the iridium phone for 30 minutes You can enter any value for callback from 1 to 30 Alternately you can type use iridium to take the iridium out of service until you are done with your testing NOTE If you do this remember to type use iridium when you are finished to put the iridium back into service 2 Type lab mode on This puts the glider in lab mode and will prevent the glider from trying to run its default mission 3 Type ballast This will deflate the air bladder put the pitch motor to zero and the ballast pump to zero 4 Type report m vacuum This will display the vacuum inside the glider every time the sensor updates If the vacuum is already at 6 7 for 1000m hg you are done 2 If not you will need to adjust the vacuum 5 Type report clearall This will stop outputting the vacuum value Put the aft cowling on the glider If you are connected via an external power supply you will need to power down by typing exit before installing the cowling Re power if necessary and follow steps 1 3 You are now ready to put the glider into the ballast tank You will need to get CTD data from the glider so that you can make your final weight adjustment calculations from ballast tank to real conditions In order to do this 6 Type put c science all on 0 This will tell the science computer to sample all science sensors as fast as possible 7 Type put c science on 3 This will display that dat
54. 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 Slocum Glider Page 40 Teledyne Webb Research 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 min mt max mt lt probability gt bad value gt Make the altimeter return the specified bad value sometimes bad value The bad value to return bad device attitude min mt max mt lt probability gt bad value Make the attitude return an error sometime bad value The error code to return Ex bad device gps min mt max mt probability Make the gps return an invalid fix sometimes i e cont
55. c 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 Slocum Glider Page 45 Teledyne Webb Research be taken when changing any of the masterdata values as they can will adversely affect glider performance 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 Data Logging dbd sbd mlg log files Layered Control determines which behavior 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 in
56. ch 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 50watts 15v will emit sound on a single 10 C cell battery pack for 60 days 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 Slocum Glider Page 14 Teledyne Webb Research 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 during 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 01
57. ctor 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 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 Slocum Glider Page 16 Teledyne Webb Research 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 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
58. d 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 putc 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 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 wat
59. d to estimate battery longevity Electric Glider Mission Spreadsheet xls Found at ftp ftp glider webbresearch com glider windoze production src doco how to calibrate Voltage m_bettery as reported from surface dalog j 0 2 4 5 3 10 12 14 16 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 72 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 simplified by avoi
60. dance 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 73 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 the Glider vacuum
61. 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 44 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 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
62. der 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 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_107 ma and should contain just a list of latitudes and 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
63. der 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 PATH prompt PRUNEDISK 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 fn F T Tet zero device errs f rflirid console to science source dest V src path dest path copy a file system branch Compute CRC on memory mdy hms a p 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 nea nofin poweroff reset pico pbm GET lt sensor name gt v Hardware config Report Free Memory Print help for commands HIGHDENSITY for help on off display all sensor names loads mission file onloff during GliderDos LONGTERM PUT sensor name new value gt LONGTERM for help path list a file system branch MB
64. e 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 X XX 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 84 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 is unique mission number ssss is mi
65. e 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 lbs 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 inches 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 lb t
66. e 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 E A A FJ x l y 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 Description 1 1 Architecture The Slocum Battery Glider is comprised of three main separate hull sections in addition to two wet sections located
67. econd 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 or s 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 Slocum Glider Page 38 Teledyne Webb Research 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 programmed 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 Ctr
68. ect 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 Power Umbilical An Impulse cable is used to switch or supply power to the Glider When the red band Dummy Plug is inserted or the conne
69. eded 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 1 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 wiring Change appropriate settings ARGOS 401 MHz 1 watt ARGOS messages are nominally transmitted from Glider
70. eledyne Webb Research Post seal Checklist General Pick point installed Wing rails installed Wings and spares packed Hardware Exterior connectors secure and fastened Altimeter Aanderaa if present Burn wire MS plug seated Ejection weight assembly not seized Pressure sensors clear and clean Aft flight Payload science Continuity Aft anode to Tail boom Bladder visual inspection Cowling installed Powered inside Report m vacuum 6 in Hg 7 for 1000m In hg Report m battery volt Lab mode on Wiggle on No errors for 5 minute Verify time 0 2 1 1 1 1 1 1 1 Verify science Putc science all on 0 Putc science on 3 Outside Lab mode on tests 3hrs Argos put c argos on 3 Confirm receipt of messages at Argos Confirm GPS Confirm Compass Dockserver comms send and receive files Run status mi Slocum Glider Page 103 Teledyne Webb Research Software Checklist notes 0 2 2 Flight CF Card contents archived Version updated Version Logs archived deleted If new version 0 2 3 Payload CF Card contents archived Version updated Logs archived deleted If new version Directory s flight Persistor Config Simul sim deleted Configure sbdlist dat and mbdlist
71. er Press Esc to get back to Main menu 5 Press 1 in the main menu to change the Baud Rate The baud rate in setup mode is always 19200 The baud rate must be changed to match the baud rate of the device that the radio is attached Press 1 to set the radio communication baud rate to 115 200 Press Esc to get back to Main menu 6 At the Main Menu press 3 Set the Frequency Key Press 0 to set to change the Frequency Key Press 5 to set to change the Frequency Key to 5 Slocum Glider Page 61 Teledyne Webb Research Press Esc to get back to Main menu 7 At the Main Menu press 2 Press 0 0 through 9 may be used To add the serial number of the Freewave in the glider Press C to select the glider in which this master will communicate with 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 Press Esc to get back to Main menu 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 12VOLTS DC DB9 FEMALE kk ANT T FREEWAVE MODEM 2 Open up a Hyper Terminal session e Use the following settings in connect
72. er 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 run glmpc mi to begin the glmpc mission or run desired mission 5 Deployment and Recovery Deployment and recovery can be challe
73. er 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 FIy 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 shows the glider adjusting heading and pitch according to recorded data and a third compass plot displays glider
74. es 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 90 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 1 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 1 line 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 name SASHBOX MI fileopen time Mon Apr 30 17 28 25 2001 sensors per cycle 216
75. f 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 webbresearch
76. fix 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 out of service use all Puts ALL installed devices in service use none Takes ALL devices out of service Slocum Gli
77. 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 the pitch control When installed the Pinger board is housed within the Forward hull section Bay Payload Bay Mid Hull Section The payload bay is
78. g a Location for the Transceivers Placement of the Freewave transceiver is likely to 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 63 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 pr
79. gt filespec SEQUENCE do this for help devicename os w s w m Page 120 Teledyne Webb Research SETNUMWARN X set max dev warnings to X SIMUL print desc of what is simulated SRF_DISPLAY SRF_DISPLAY for help sync_time offset Syncs system time with gps time TIME hh mm ss a p M C 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 on off fraction moves motor ZERO_OCEAN_PRESSURE re calibrate zero ocean pressure sensor ZR Zmodem Rec zr for help ZS Zmodem Send zs for help Slocum Glider Page 121 Teledyne Webb Research Surface dialog The following is an example of surface dialog Glider sim at surface Because Hit a waypoint behavior surface_2 start_when 8 0 MissionName LASTGASP MI MissionNum bensim 2008 282 0 2 0053 0002 Vehicle Name sim Curr Time Thu Oct 9 14 18 58 2008 MT 3445 DR Location 4325 810 N 6925 583 E measured 2 738 secs ago GPS TooFar 69697000 000 N 69697000 000 E measured 1e 308 secs ago GPS Invalid 4326 053 N 6925 525 E measured 1672 51 secs ago GPS Location 4325 810 N 6925 583 E measured 3 873 secs ago sensor m_battery volts 13 123 24 899 secs ago sensor m_vacuum inHg 6 5 53 567 secs ago sensor m_leakdetect_voltage volts 2 5 24 819 secs ago devices t m s errs O O Owarn O O Oodd 12 12 O ABORT HISTORY total since
80. ified 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 It is 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 Air Pump on ARGOS on Freewave on and GPS on to ensure best possible surface expression The reasons to go
81. im Ready lt CTRL C or BREAK 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 77 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 lt A CONFIG SRF 4 2 048 07 29 08 3 45p lt A DELLOG DAT 442 2 048 07 29 08 3 45p lt 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 lt A SBDLIST DAT 480 2 048 07 29 08 3 45p lt A SENSDATA DAT 46 207 47 104 07 29 08 3 45p lt A ZMEXT DAT 1 361 2 048 07 29 08 3 45p lt A AUTOEXEC MI 4 541 6 1
82. 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 te 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 l battpos 2 setonce 3 servo in rad rad gt 0 climb b arg c pitch value X 0 3491 20 deg end b arg 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 coordinates instead you can just insert a new ma file on the glider with the waypoints Slocum Glider Page 50 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 0 quit 1 wait fo
83. ing with hyper terminal e Connect to COMx depending on which COM port your cable is connected to 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 The three lights on the board should all turn green indicating Setup mode The main menu will appear on the screen 4 Press 0 to get into the Operation Mode menu Press 1 to set the radio as a Point to Point Slave Press Esc to get back to Main menu 5 Press 1 in the main menu to change the Baud Rate The baud rate in setup mode is always 19200 The baud rate must be changed to match the baud rate of the device that the radio is attached Slocum Glider Page 62 Teledyne Webb Research Press 1 to set the radio communication baud rate to 115 200 Press Esc to get back to Main menu 6 At the Main Menu press 3 Set Frequency key Press 0 to set to change the Frequency Key Press 5 to set to change the Frequency Key to 5 Press Esc to get back to Main menu 7 At the Main Menu press 2 Press 0 0 through 9 may be used To add the serial number of the shore side Freewave Press C to select the glider in which this slave will communicate with Press 0 to select entry 0 1 to select entry 1 etc or A for all radios on the list Press Esc to get back to Main menu Press Esc to exit set up Choosin
84. ions see User Manual Appendix command examples for examples of this command ballast boot callback capture CD CLRDEVERRS consci COPY CP DATE DELLOG DEL DEVICES DIR exit GET HARDWARE HEAP HELP HIGHDENSITY LAB_MODE LIST loadmission logging LONGTERM_PUT LONGTERM LS MBD MKDIR MV PRUNEDISK PURGELOGS PUT RENAME REPORT RMDIR run SBD SEND sequence SETDEVLIMIT Slocum Glider BALLAST for help PICO PBM APP minutes til callback d p fn Dx B N E Change Directory zero device errs f rflirid console to science source dest V lt src_path gt lt dest_path gt copy a file system branch mdy hms a p IEUMCP ALL MLG DBD SBD drv pth name P print device driver info d p fn PWBLV4A a nofin poweroff reset pico pbm GET sensor name v Hardware config Report Free Memory Print help for commands HIGHDENSITY for help on off display all sensor names loads mission file onjoff during GliderDos LONGTERM_PUT lt sensor name gt lt new value gt LONGTERM for help path list a file system branch MBD for help drive path src path dest path copy a file system branch Prune expendable files to free space on disk Deletes sent log files PUT sensor name value d pJoldname newname REPORT for help drive path mission file runs it SBD for help f rf irid num lt n gt t lt s
85. is 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 94 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 Iridium output of a glider and display the data To run this feature press Start in the Track glid
86. its for ATTITUDE os times device can be put back into service 10 w s warnings segment before error 20 Slocum Glider Page 80 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 uat 3 U4Soem Pins T 2 R 3 we only use receive bit 34 power control for sensor start snsr c oxy3835 on sec Aanderaa Oxygen Optode 3835 proglet ox
87. kage 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 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 Slocum Glider Page 13 Teledyne Webb Research Catalyst A catalyst is used to recombine Hydrogen and Oxygen into H5O 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 using air from the hull interior providing 1400 ml of reserve buoyancy The air pump is mechanically switched off when the differential pressure be
88. l 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 13 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 14 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 CAUSED 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 simulato
89. l 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 can also be constructed to deal with more complex issues such as dead reckoning navigation current correction
90. last byte will be 0 The meanings of the two bit field for each sensor MSB LSB 0 0 Sensor NOT updated 0 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 ftp glider glider linux production linux bin Sl
91. le types from terminal emulator zs works while in mission all file types dockzr works while in mission from Dockserver Care must be taken when sending files over Iridium dbd files should not be sent over iridium in normal conditions dbd files are prohibitively large 1 to 8 Mbytes is not uncommon which results in large surface times and large expense to the user Terms are from glider perspective send send from glider to shore R Receive from shore to glider Full file manipulation tutorial To send data files from the glider in GliderDos to the Dockserver or a computer running a terminal emulator the command is send The command send will send the 30 most recent files of type sbd mbd dbd mlg and the sys log If Freewave and iridium are both present files will be sent over Freewave The pilot can also specify a specific type of file send sbd 30 most recent or a specific file send XXXXXX sbd A pilot should never use the wildcard when Freewave comms is not present If the glider is in a mission the send command is truncated to s All of the criteria above remain To send any other type of file mi ma dat etc from the glider the command is zs filename To send these types of files the pilot must first cd into the directory where the desired file resides To send these types of files while in a mission during a surface dialog the command must be proceeded by example zs autoexec mi To send a file to
92. llasted 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 NUS e NUUS S 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 A 107mm The glider displacement D kg St W H D 1000 TAN W pi 180 H distance specification 6mm 1mm 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 76 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 CMAUTOEXEC BAT shows attributes of autoexec bat capture GliderDos I 3 gt capture c config simul s
93. m prior START if cycling BAW EVERY SECS UPDWN IDLE 10 After behavior arg when secs from prior START AND Il updown is idle no one commanding vertical motion BAW SCI SURFACE 11 SCI WANTS SURFACE is non zero BAW NOCOMM SECS 12 when have not had comms for WHEN SECS secs b arg STOP WHEN 0 complete 1 N same as start when HHHHHHHHHHHHHHHH Slocum Glider Page 128 Teledyne Webb Research Slocum Glider Page 129 Teledyne Webb Research
94. m quit 0 to resume 2 03 aug 02 tc DinkumSoftware com DREAO1 at ashument went to depth only start b arg 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 l battpos 2 setonce 3 servo in rad rad 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 l 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 56 Teledyne Webb Research The following behavior prepare_to_dive instructs the glider 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 0 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
95. m quit 0 to resume 2 09 Apr 03 kniewiad webbresearch com Adjusted for Ashumet 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_use_pitch enum 3 1 battpos 2 setonce 3 servo Slocum Glider Page 127 Teledyne Webb Research in rad rad 0 dive b arg d pitch value X 0 4528 26 deg arguments for climb to b arg c target altitude m 1 b arg c use pitch enum 3 1 battpos 2 setonce 3 servo in rad rad gt 0 climb b arg c pitch value X 0 4538 26 deg b arg end action enum 2 O quit 2 resume end b arg NOTE These are symbolically defined beh args h b arg START WHEN When the behavior should start i e go from UNITIALIZED to ACTIVE BAW IMMEDIATELY 0 immediately BAW STK IDLE 1 When stack is idle nothing is being commanded BAW PITCH IDLE 2 When pitch is idle nothing is being commanded BAW HEADING IDLE 3 When heading is idle nothing is being commanded BAW UPDWN IDLE 4 When bpump threng is idle nothing is being commanded BAW NEVER 5 Never stop BAW WHEN SECS 6 After behavior arg when secs from prior END if cycling BAW WHEN WPT DIST 7 When sensor m dist to wpt behavior arg when wpt dist BAW WHEN HIT WAYPOINT 8 When X HIT A WAYPOINT is set by goto wpt behavior BAW EVERY SECS 9 After behavior arg when secs fro
96. mbered long term Type run glmpc mi or equivalent mi to begin the desired mission Slocum Glider Page 112 Teledyne Webb Research Glider Deployment Deployment at sea can be dangerous and the welfare of crew and glider handlers should be considered while at the rail of a ship From a small boat the glider cart can be used to let the glider slip easily into the water Remove the nose ring in the original cart design or when ready release the nose ring with handle bar release on newer carts For larger boats the pick point affixed to the payload bay should be used to lower and raise the glider with a crane or winch from the vessel to the water Note in the deployment sequence above that the Digifin can be handled The tail boom should be used for handling a glider not equipped with Digifin Slocum Glider Page 113 Teledyne Webb Research 0 2 4 1 1 Large ship deployment A quick release system utilizing the pick point can be fashioned from supplies found on most vessels as illustrated in the following two images Slocum Glider Page 114 Teledyne Webb Research Glider Recovery Note a boat hook can be used to manipulate the glider in the water Care should be taken with non Digifin gliders during deployment and recovery as the fin can be knocked out of calibration or damaged if handled too aggressively Handle by tail boom or pick point only with non Digifin designs Lower the cart with nose ring into water
97. nd 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 secure 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
98. nging 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 4C IRIDIUM TIME TIL CALLBACK If the glider has blown the ejection weight or you feel safe Change u max time in glider 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
99. nstant 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 gy 0v001 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 0 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 0 disables 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 49 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 surfac10 ma This is a new feature of software
100. nts 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 Weight In ballasting the vehicle in a tank it is often desirable to lay external weight on the hull to trim the overal
101. 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 mssssnodim nodim nodim nodim nodim enum X 444444444444444444444444 30 2 9 88652e 08 00 07 1119 1 3 3 3330 1 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 91 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 2001 193 28 X the8x3 filename 0088000X filename extension dbd filename label cassid
102. ocum Glider Page 88 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 tlatest 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 2 dba sensor filter Reads dinkum binary ascii format from stdin output of dbd2asc Excludes
103. ode c 23 Mar 05 pfurey DinkumSoftware com Initial 27 Apr 05 pfurey DinkumSoftware 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 66 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 0 1 2 latitude 3 4 5 longitude 6 7 age in minutes 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 OxFFF
104. ole 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 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
105. om glider Slocum User Manual ftp ftp glider webbresearch com glider windoze production src doco MANUAL GMC user guide Dockserver Manual ftp ftp glider webbresearch com glider windoze production src gliderMissionControl Doc umentation gmcUserGuide pdf Windows executables replace windoze with linux for linux ftp ftp glider webbresearch com glider windoze production windoze bin Glider service bulletins ftp ftp glider webbresearch com glider service bulletins Update glider code procedure ftp ftp glider webbresearch com glider windoze production src doco software howto updating all glider software txt masterdata ftp ftp glider webbresearch com glider windoze production src code masterdata Slocum Glider Page 99 Teledyne Webb Research Glider info worksheet Glider number Payload instruments Prepared Deployment location Density Deployment Date Deployment notes Science collection notes notes Ballast Complete Pre seal check list complete Post seal check list complete Software check list complete Dockserver tested and updated Dockserver IP Missions simulated All supplies packed Deployment details Cruise leaves Arrive on station Recovery details Cruise leaves Emergency recovery plans Pilots contact info email Slocum Glider
106. om 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 Atthe 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 communicate at 115 200 N 8 1 Provided that the RF modem system is working direct wire communication is not necessary If ne
107. ons before launch Do test Iridium and ARGOS telemetry before launch Slocum Glider Page 96 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 e 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 instrument APPENDIX Slocum Glider Operator Guide quick reference Slocum Glider Page 97 Teledyne Webb Research mm
108. ons below insert text of actual missions and ma files here if desired Highlighted in yellow are sensors and arguments commonly changed by users gimpc mi Retrieves waypoints from mafiles goto 110 ma which is GLMPC generated Retrieves envelope from mafiles yo10 ma Retrieves climb to surface controls from mafiles surfac10 ma Surfaces if haven t had comms for an hour mission done finished all the waypoints Every waypoint bad altimeter hit yo finishes If requested by science All science sensors sample on only downcast 3k 24 May 05 hfargher DinkumSoftware com Initial based on gylov001 mi behavior abend b_arg overdepth_sample_time s 10 0 how often to check MS_ABORT_OVERTIME b_arg overtime s 1 0 0 disables b arg samedepth for sample time s 30 0 how often to check Come up when mission done This is determined by no one steering in x y plane no waypoints behavior surface b arg args from file enum 10 read from mafiles surfac10 ma b arg start when enum 3 0 immediately 1 stack idle 2 pitch idle 3 heading idle 6 when secs 7 when wpt dist b arg end action enum 0 0 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 long to wait for control C Come up briefly if yo finishes This happens if a bad altimeter hit causes a dive and climb to complete in
109. op wiggling Report m vacuum remember vacuum can fluctuate with temperature Report m battery report clearall If no errors are found type lab mode off to return to the GliderDos prompt Note Make sure that the glider is not simulating or in boot Pico or Lab Mode before deployment Purge Log directory send logs over Freewave or dellog this can take a long time if there are a large number of files and they will be lost It is advised to purge and archive the log files in the lab Type run status mi and confirm that all sensors are being read Mission should end mission completed normally Let glider connect to Dockserver and send sbd over lridium files if not connected Callback 1 to force iridium to call in one minute once connected Example of forcing iridium while Freewave is present GliderDos 3 gt send f irid sbd numz2 this will send 2 most recent Sbd files over iridium be patient as iridium is slow and there presently no positive feedback over Freewave Slocum Glider Page 111 Teledyne Webb Research Science sensor check out Type put c_science_all_on 0 default value is 2 This will tell the science computer to sample all science sensors as fast as possible Type put c_science_on 3 default value is 1 This will display that data to the screen Pack Glider ensuring use of all cart and crate straps and locks and or load glider into the boat and proceed to the first waypoint or deployment location
110. orded 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 CONSCIRUN 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 RUNandZS RUN Required for z modem send and receive transfers LOG Folder Where the mission derived data is stored Types include DBD Dinkum Binary Data all sensors turned on for recording are stored in this type file See Appendix K Slocum Glider Page 31 Teledyne Webb Research SBD Short Binary Data records only those sensors spec
111. orque 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 Allother 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 vacuum 6 5 inHg pytheas 183 74 44 sensor m vacuum 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 simbond 199 97 48 sensor m_vacuum 6 5 inHg trieste_1 unit 067 trI iyi lab mode on unit 098 atiest unit 103 report m vacuum unit 104
112. over the payload bay and seat squarely on the hull section Replace aluminum chassis bolts from the aft end ring using a 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 At the forward end of the center payload reconnect the battery connector the BNC transducer connector 1f 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 Slocum Glider Page 20 Teledyne Webb Research 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 Realigning to noted rotational position of the aft battery pack replace and tighten the two 1 4x20 SHCS with a 3 16 hex driver Note Th
113. oviders and you can use any provider you wish Teledyne Webb Research uses Stratos 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 iridtum 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
114. 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 52 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 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 Slocum Glider Page 53 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
115. r 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 7 end action 3 gt stop when m dist to wpt this arg Slocum Glider Page 51 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 0 immediately 1 stack idle 2 pitch idle 3 heading idle 6 when secs 7 when wpt dist b arg end action enum 0 0 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 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 0
116. r on bench This is a complete glider on the bench i e not In water Slocum Glider Page 39 Teledyne Webb Research 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 just_electronics null modem modem An actual modem is attached to the Iridtum 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 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
117. r to sample all science sensors as fast as possible Type put c_science_on 3 This will display that data to the screen If you need to apply power to the glider in an open state no vacuum you will need to do the following before powering down and opening the glider Type exit pico This will bring you to a pico dos prompt Type boot pico to set the glider to boot into pico dos Type boot lab from picodos to enter straight into lab mode on This will allow you to power up the glider without the fear of running the ballast pump If the ballast pump is run on the bench without a vacuum it can damage the forward rolling bellafram When you are finished close the glider back up apply the vacuum and type boot app to set the glider to boot the application You must always make sure the glider is set to boot app before doing any in the water tests Lab mode off to exit lab mode Exit reset to cycle to default settings Exit and wait for prompt to remove green plug or power supply Install red plug Slocum Glider Page 108 Teledyne Webb Research Glider Ballast Worksheet Glider Name Date Glider Displacement Disp Liters Technician TANK WATER TARGET WATER Temperature degrees C Temperature degrees C Conductivity S M Conductivity S M Salinity PSU Salinity PSU Density kg cu m Density kg cu m
118. r 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 DAT Specify which sensors are recorded for a short binary data file MBDLIST DAT Specify which sensors are rec
119. re are tools for automating the unpacking of the Argos data available at ftp ftp glider webbresearch com glider windoze production windoze bin prntargo exe and prntargo_revl 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 70 Teledyne Webb Research APPENDIX J25 TO DB9 TO DB25 WIRING TO 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 71 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 use
120. rhead 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 83 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 char extension In the old OBD fil
121. rmat for decoding For gliders with 20 or 28 bit ids and Smart cat transmitters 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 65 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 For a description of the legacy 32 byte forma format txt o argos by the glider See argos data ct ct NOTE WELL If you change what s in the packet you ll need to modify codeNargos 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 argosdec
122. rols the A or V line bad device gps error min mt max mt probability ini err meters alpha Make the gps return a fix an added error lt ini err meters The error on first fix after power on A random direction for the error is chosen alpha 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 min mt max mt probability Make the watchdog issue a SIMULATED oddity sometimes bad device pitch stalled min mt max mt lt probability gt Make the pitch motor appear to stall jam sometimes Should generate a motor not moving warning bad device bpump stalled min mt max mt probability Make the buoyancy appear to stall jam sometimes Should generate a motor not moving warning bad device bpump overheated min mt max mt probability Make the buoyancy overheat bit come up sometimes bad device memory leak min mt max mt probability bytes to leak Consume some heap memory and never give it back Used for testing system behavior with inadequate heap space 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 min mt max mt lt probability gt Simulates a NO CARRIER condition from iridium modem Slocum Glider Page 41 Teledyne Webb Research bad device leakdetect min mt m
123. rom 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 ifall 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 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 data cycle The data cycle consists of d Cycle tag this is an ASCII d char state bytes there are state bytes per cycle of these sensor data 1 2 4 or 8 bytes for every sensor that was did updated with a new value sensor data Slocum Glider Page 87 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 bits with the next sensor etc Any unused bits in the
124. rs i e if two or more surface behaviors have been written into the mission the behavior with the higher priority wins out After the og 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 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
125. rver the following settings will allow direct communications with a terminal program to the glider Connect powered Freewave to serial com port on computer with provided serial cable Open Procomm plus and select the following ProComm plus Terminal program settings Select proper com port Baud 115200 Parity N 8 1 Go to Options System Options Modem Connection Click on Modem Connection Properties If the Use hardware flow control check box is unchecked check it and click OK Click on the Data tab Next to Receiver Crash Recovery Settings click Change Settings Check If date time match under Crash Recovery Options Check Overwrite if incoming newer under Overwrite Options Click OK Next to Sender Crash Recovery Settings click Change Settings Check Crash recovery off under Crash Recovery Options Check Always overwrite under Overwrite Options Click OK Select Streaming from the Transmit method menu and uncheck Use local EOL convention Select 32 bit CRC from the Error detection menu and check Original file time stamp Click OK You re now ready to begin comms with glider and ZR ZS testing Note there are know problems with using Hyperterminal and attempting to ZR ZS Tera term is another viable terminal program Slocum Glider Page 119 Teledyne Webb Research Commonly used Glider Commands From a GliderDos prompt the command help will list all commands available to the user Partial help menu and definit
126. 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 57 Teledyne Webb Research APPENDIX WIRING DIAGRAM 6 8 gt jt Z t i See Pump Wiring Diagram doc mug 03 4 p zaowurb Piss r117 STATIONARY BATTERIES CONVENTION EMERGENCY BATTERY en STRIPPING 1 45 HEAT SHRINK 1 TOOLS Pins E Tool Hi Pins E 117 amp E 151 Tool 11 01 0185 Pins E H 120 Tool HTR2445A Pins E 155 Tool 11 01 0204 QUAD UART
127. s sitting 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 It is likely that command h will be changed and this document won t So consult codeNcommand 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 ABORT USER INTERRUPT 11 MS ABORT NOINPUT 12 MS ABORT INFLECTION 13 MS ABORT NO TICKLE 14 MS ABORT ENG PRESSURE 15 Slocum Glider Page 69 Teledyne Webb Research 29 Mission never ran 3 MS NONE 30 not used 2 MS COMPLETED ABNORMALLY 31 Mission completed normally 1 MS COMPLETED NORMALLY 16 bit crc of bytes 0 29 Used for error checking See codeNcrc 16 c for algorithm It was taken from C Programmer s Guide to Serial communications 2nd Edition page 779 Joe Campbell Sams Publishing The
128. same cycle We surface and hopefully 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 Slocum Glider Page 125 Teledyne Webb Research 6 when_secs 7 when_wpt_dist b arg end_action enum 1 0 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 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 wpt dist m 10 how close to waypoint before surface b arg end action enum 1 7 O0 quit 1 wait for C quit resume 2 resume b_arg report_all bool O 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 Come up when requested by science 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 O0 quit 1 wait for C quit resume 2 resume b arg report all bool O 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
129. server applications ftp ftp glider webbresearch com glider windoze production src gliderMissionControl Documentati on gmcUserGuide 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 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 dbd 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 transmit these files during a mission especially over iridium sbd 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 s
130. ssion 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 crc 5A87DC29 sensor list factored 0 The meanings of the fields Slocum Glider Page 85 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 full filename What the
131. struments 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 file The assigned priority list is called a og c stack or stack and takes on the following generic form the particular behaviors will be explained in further detail later log c stack 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 Slocum Glider Page 46 Teledyne Webb Research behavio
132. t 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 loadmission command SIMULATION IN THE SCIENCE BAY config appemd 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 15 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 advisable 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 Slocum Glider Page 43 Teledyne Webb Research 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 gli
133. t 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 gDinkumSoftware com Changed from decimal degrees to degrees minutes decimal minutes goto 110 ma Flies a hexagon around R4 startb arg 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 end b arg 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 1 e a single up and down pattern through the water column Again the ma convention is used to designate the depth and altitude together 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 0 immediately 1 stack idle 2 depth idle b arg end action enum 2 0 quit 2 resume Slocum Glider Page 55 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 tce DinkumSoftware com Initial 13 Mar 02 tc DinkumSoftware com Bug fix end action fro
134. tarting 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 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 Slocum Glider Page 15 Teledyne Webb Research 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 exposed to moisture the circuit is shorted and any value below the masterdata default entry of 2 volts will cause an abort for leak det
135. 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 260 C cells the battery weight is 18 2 kg and energy available 7 800 kjoules Location of packs Pitch Battery 12 Aft Battery 1
136. the data of sensors NOT listed on the command line or in the f sensors filename Writes the data of remaining sensors in dinkum binary ascii format to stdout Usage dba sensor filter h f sensors filename gt sensor name 0 sensor name N Slocum Glider Page 89 Teledyne Webb Research Accepts a dba file from stdin The data corresponding to sensors listed on the command line or in the f sensors filename are written to stdout as a dba file All other sensor data is discarded Sensor names in f sensors filename should be line or space delimited A sf 1s 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_glider_data Reads dinkum binary ASCII data from stdin output of dbd2asc and writ
137. the glider from a computer running a terminal emulator program to the glider the command is zr The proper upload path needs to be selected in the terminal program When using Dockserver the command is dockzr filename or dockzr and the desired file or files must be in the to glider directory for the glider in question on the Dockserver Slocum Glider Page 123 Teledyne Webb Research After sending data files from the glider the code will move the files from the logs directory to the sentlogs directory 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 on 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 before 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 124 Teledyne Webb Research mi and ma files Default Webb Ashumet missi
138. 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 version of masterdata found at ftp ftp glider webbresearch com glider windoze production srce code pre
139. tween 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 via the RF or Iridtum modem and run Mission changes might include different inflect depths new GPS waypoints or turning a behavior on or off su
140. ull Section 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 GPS Slocum Glider Page 3 10 10 11 11 11 11 11 11 12 12 12 12 12 13 13 13 13 14 14 14 14 14 15 Teledyne Webb Research 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 24 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 6 EMERGENCY RECOVERY 7 MAINTENANCE Slocum Glider Page 4 15 15 15 15 15 16 16 16 16 16 17 17 17 18 18 19 19 19 20 20 20 20 20 23 25 25 26 Teledyne Webb Research 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
141. urement and prompt you to turn the system 180 It is very important that this be as exact as possible Turn 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 60 Teledyne Webb Research APPENDIX Freewave Configuration Following are excerpts from the FreeWave Technologies Inc Spread Spectrum Users Manual Refer to www
142. w can be found at ftp ftp glider webbresearch com glider windoze production src doco science science datarate cookbook txt 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 1 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 what portions of the payload data that is most important to the user Slocum Glider Page 37 Teledyne Webb Research 12 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 Dock
143. 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 weight tube Do not discard the used burn wire assembly as they can be rebuilt at the factory Remove the e ring fr
144. y 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 92 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 com glider windoze production windoze bin It is a self extracting archive and it will
145. y3835 uat 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 81 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 VERSIONS gt gt gt HISTORY and RATIONA

Applies to: Electric gliders, type 30m, 100m, 200m and 1000m

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