Glider Operators Handbook
Contents
1. SCILWANTS_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 Teledyne Webb Research Slocum Glider Operators Guidebook page 31 Teledyne Webb Research Slocum Glider Operators Guidebook page 322. Verify time Verify science Put c_science_all_on 0 off 1 Put c_science_on 3 off 1 Powered by batt Outside lab tests 3hrs Argos put c_argos_on 3 off 1 Confirm receipt of messages at Argos Confirm GPS Confirm Compass Dockserver comms send and receive files Run status mi Teledyne Webb Research Slocum Glider Operators Guidebook page 7 Shipping Checklist Glider packed and secured w three straps Mobile computer packed Freewave and Freewave antenna Buoy with rope Glider evac tools Glider tools Red and green shorting plugs Wings packed Shipping address and details arranged Address Contacts details Contacts details Teledyne Webb Research Slocum Glider Operators Guidebook page 8 BALLASTING AND H MOMENT Glider under vacuum 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 1000m Report m_battery Lab_mode on
3. 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 HHHHHHHHH behavior goto_list b_arg args_from_file enum 10 read from mafiles goto_l10 ma b_arg start_when fenum 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 O immediately 1 stack idle 2 depth idle b_arg end_action enum 2 O quit 2 resume Sample all science sensors only on downcast behavior sample b_arg intersample_time s 0 if lt 0 then off if 0 then behavior prepare_to_dive b_arg start_when enum 0 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 Teledyne Webb Research Slocum Glider Operators Guidebook page 29 goto10 ma behavior_name goto_list Written by gen goto list ma ver 1 0 on GMT Tue Feb 19 18 56 54 2002 07 Aug 02 te DinkumSoftware com Manually edited for spawars 7aug02 op in buzzards bay 07 Aug 02 tc DinkumSoftware com Changed from decimal degrees to degrees minutes decimal minutes 22 Apr 0
4. 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 hmsf a p IEUMCP ALL MLG DBD SBD drv pth name P print device driver info d p fn PWBLV4A a i nofin poweroff reset pico pbm GET lt sensor name gt v Hardware config Report Free Memory Print help for commands HIGHDENSITY for help onloff display all sensor names loads mission file onloff during GliderDos LONGTERM_PUT lt sensor name gt lt new value gt LONGTERM for help path list a file system branch MBD for help drive path lt src_path gt lt dest_path gt copy a file system branch Prune expendable files to free space on disk Deletes sent log files PUT lt sensor name gt lt value gt 7 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 gt filespec SEQUENCE do this for help devicename os w s w m Teledyne Webb Research Slocum Glider Operators Guidebook page 23 SETNUMWARN SIMUL SRF_DISPLAY sync_time TIME TYPE USE VER WHERE whoru WHY wiggle X set max dev warnings to X print desc of what is simulated SRF_DISPLAY for help offset Syncs system time with gps time hh mm ss alp M C drv pth name USE do this for help Firmware versions p
5. Teledyne Webb Research Slocum Glider Operators Guidebook page 13 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 stop 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 con
6. 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 off 1 This will tell the science computer to sample all science sensors as fast as possible Type put c_science_on 3 off 1 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
7. glider will power on and go through its normal start up routine When you see SEQUENCE About to run initial mi on try 0 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 callback 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
8. operations mission planning overview worksheet Glider number Prepared Deployment location Surf Temp Surf Sal Density Deployment Date Deployment notes Science collection notes Ballast Complete Software check list complete Missions simulated Dockserver tested and updated Dockserver IP Pre seal check list complete Post seal check list complete All supplies packed Deployment details Cruise leaves Arrive on station Recovery details Cruise leaves Emergency recovery plans Pilots contact info email Teledyne Webb Research Slocum Glider Operators Guidebook page 4 Mission notes Teledyne Webb Research Slocum Glider Operators Guidebook page 5 Pre Mission Seal Checklist final seal 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 Reconstituted or Fresh Desiccant installed Payload Science serial numbers Wiring dressed O ring inspected and lubed Pa
9. 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 off 1 This will tell the science computer to sample all science sensors as fast as possible 7 Type put c_science_on 3 off 1 This will display that data to the screen Teledyne Webb Research Slocum Glider Operators Guidebook page 12 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
10. raise the glider with a crane or winch from the vessel to the water Glider with buoy and rope ready for first deployment 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 Teledyne Webb Research Slocum Glider Operators Guidebook page 16 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 Teledyne Webb Research Slocum Glider Operators Guidebook page 17 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 and manipulate the glider by tail boom into position on cart Lift and tilt the glider onto the ships deck Teledyne Webb Research Slocum Glider Operators Guidebook page 18 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 Teledyne Webb Research Slocum Glider Operators Guidebook page 19 Dockserver Dockserver is the name of the laptop or ra
11. 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 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 After sending dat
12. 3 kniewiad webbresearch com changed to ashument 17 Apr 03 tc DinkumSoftware com fixed comments goto_l10 ma Flies the box in ashumet Each leg about 200m lt start b_arg gt 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 lt end b_arg gt 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 te 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 lt end b_arg gt 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 from 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 c
13. 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 Teledyne Webb Research Slocum Glider Operators Guidebook page 9 Glider Ballast Worksheet Glider Name Glider Displacement Disp Liters TANK WATER Temperature degrees C Conductivity S M Date Technician TARGET WATER Temperature degrees C Salinity PSU Density kg cu m Conductivity S M Salinity PSU Density kg cu m First Run Forward Payload Aft Roll Weight Removed Weights Added 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 Port Bottle Top FWD Aft Bottle STBD Bottle Bottom FWD Bottom Bottle Top AFT Teledyne Webb Research Slocum Glider Operators Guidebook page 10 Roll H Moment Software Checklist Flight CF Card contents archived Version updated Version Logs arc
14. a files from the glider the code will move the files from the logs directory to the sentlogs directory Teledyne Webb Research Slocum Glider Operators Guidebook page 26 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 Never secure the glider to the glider cart while over railing or in the water THINGS TO DO WITH A GLIDER Do secure it properly in crate with all 3 straps for shipping 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 Teledyne Webb Research Slocum Glider Operators Guidebook page 27 mi and ma files Default Webb Ashumet missions below insert text of actual missions and ma files here if desired Highlighted in yellow are sensors and arguments commonly changed by users glmpc mi Retrieves waypoints from mafiles goto_l10 ma which is GLMPC generat
15. ck 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 Glider Terminal EB Glider Terminal glider 6 3 File Edit EEE Eooal jocks m 192 169 2 254 6564 amp m 134 245 219 15 8564 m 192 168 3 254 6564 m 192 165 3 254 6564 B tournesol obs wirfr6564 72 6564 dockserver webbresearch com 6564 08 o cmosk CLRDEVERRS cory cP rc DELLOG DEL DEVICES digitin DIR exit md mhimiteon at slocum m uni L049 sr HELP HIGHDENSITY LAB_MODE unknown m 193 49 1123 6564 m192 168 25 6564 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 Glmpc terminal Els MPc Terminal glider 6 33 Ashumet E The cursor is off the map Connected to production dockserver webbresearch com using port 6564 No route being edited GMC Site production dockser v Map world 7 Gider x Routes box E Show Grid C Show Bathymetry C Show Glider Positions C ISO Format Real time Visual interface which allows
16. custom jpg maps and click through uploading of waypoints during live missions Teledyne Webb Research Slocum Glider Operators Guidebook page 20 Data Visualizer Fle Server Sensor Comparison Glider sensor plots 10 20 30 40 so so I so depth 100 110 I 120 130 140 150 160 170 180 190 BOD 21 00 20080821 MOM BEN ORD 20080821 400 18021 BRD BWI 11 130 20080821 1400 BW 184840 18W 195320 008 0821 200 0882 000 MEN GRY 2080922 084000 IBON MD IBEN 121320 BR 150000 BEN 174040 IBON NBD 20882 2200 BEB MAD 208023 045320 time depth Connected to production dockserver webbresearch com using port 6600 Data Server production dockser v cider bensim ere E Sensor fime Sensor fer dent Ir 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 Dockserver FTP utility GMC 131 247 138 236 k Security Help M FIP connection M Manage sites M View log Local fle system Remote FTP ste Look in C darwin ia Lookin CI unit_123 E 49 fles In directory 7 One directory selected I X darwin 2008 283 0 0 dbd Eifomsider I Dogs ji j darwin 2008 283 10 0 mbd 1B darwin 2008 283 10 0 mig Y darwin 2008 263 10 0
17. ebd darwin 2008 283 2 0 dba B darwin 2008 263 2 0 mba darwin 2008 263 2 0 mig DB darwin 2008 283 2 0 sba aarwin 2008 263 3 0 dba B darwin 2008 263 3 0 mba darwin 2008 283 3 0 mig B darwin 2008 263 2 0 sbd T darwin 2008 263 4 0 dbd 1D danwin 2008 283 4 0 mba D darwin 2008 283 4 0 mig D carwin 2008 263 6 0 mig D darwin 2008 263 6 0 sbd X aarwin 2008 269 7 0 dbd B aarwin 2008 263 7 0 mbd darwin 2008 263 7 0 mig B aarvin 2008 263 7 0 sbe Connection idie Whenever new files are sent to Dockserver you must disconnect and reconnect to refresh the file list Teledyne Webb Research Slocum Glider Operators Guidebook page 21 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 Dockserver 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 gt System Options gt 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 R
18. eceiver 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 ZRIZS Tera term is another viable terminal program Teledyne Webb Research Slocum Glider Operators Guidebook page 22 Commonly used Glider Commands From a GliderDos prompt the command help will list all commands available to the user Partial help menu and definitions 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 BALLAST for help PICO PBM APP lt minutes til callback gt d p fn Dx B N E Change
19. ed 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 FE 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 lt 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 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 6 when_secs 7 when_
20. g y 82 Technology Park Drive E Falmouth Massachusetts 02536 Phone 508 548 2077 Fax 508 540 1686 glidersupport webbresearch com Slocum Glider Operators Guide September 2009 Table of contents INTERNET RESOURCES GLIDER OPERATIONS MISSION PLANNING OVERVIEW WORKSHEET POST SEAL CHECKLIST SHIPPING CHECKLIST BALLASTING AND H MOMENT GLIDER BALLAST WORKSHEET SOFTWARE CHECKLIST COMMON LAB COMMANDS PRE MISSION CHECK OUTS SCIENCE SENSOR CHECK OUT IN THE WATER GLIDER DEPLOYMENT GLIDER RECOVERY GLIDER PACKING DOCKSERVER Glider Terminal Glmpc terminal CONFIGURE COMMS WITH TERMINAL PROGRAM PROCOMM PLUS COMMONLY USED GLIDER COMMANDS FILE MANIPULATION QUICK TUTORIAL FULL FILE MANIPULATION TUTORIAL MI AND MA FILES Teledyne Webb Research Slocum Glider Operators Guidebook page 2 10 11 13 14 14 15 16 18 19 20 20 20 22 23 26 26 28 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 Glideraccess webbresearch com For technical glider assistance contact Glidersupport webbresearch com Qualified personnel Only trained and q
21. hived deleted If new version Payload CF Card contents archived Version updated Logs archived deleted If new version Directory s flight Persistor IConfig Simul sim deleted Configure sbdlist dat and mbdlist 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 Sci gt proglets dat Confirm desired sensors are installed Archive of all files locally Teledyne Webb Research Slocum Glider Operators Guidebook page 11 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
22. itch should be 20 degrees Run 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 Run 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 remembered long term Type run glmpc mi or equivalent mi to begin the desired mission Teledyne Webb Research Slocum Glider Operators Guidebook page 15 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
23. limbs 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 in rad rad lt 0 dive b_arg d_pitch_value X 0 4528 26 deg arguments for climb_to Teledyne Webb Research Slocum Glider Operators Guidebook page 30 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 lt end b_arg gt 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 lt 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 from 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
24. nect to Dockserver and send sbd over Iridium 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 num 2 this will send 2 most recent Sbd files over iridium be patient as iridium is slow and there presently no positive feedback over Freewave Science sensor check out Type put c_science_all_on 0 off 1 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 Teledyne Webb Research Slocum Glider Operators Guidebook page 14 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 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 Run Ini0 mi Does a single yo to max depth 3 meters min depth 1 5 meters Uses a fixed pitch battery and fin position Run Ini1 mi Does 3 yos to the north diving to 5 meters and climbing to 3 meters P
25. o 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 Teledyne Webb Research Slocum Glider Operators Guidebook page 25 File manipulation quick tutorial send XXX works from GliderDos only dbd sbd mdb mig files 30 most recent send works from GliderDos sends all dbd sbd mdb mig files 30 most recent Do not use send 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 s 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 file 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
26. rints lat lon Vehicle Name abort Tells the reason for an abort onloff fraction moves motor ZERO_OCEAN_PRESSURE re calibrate zero ocean pressure sensor ZR ZS Zmodem Rec zr for help Zmodem Send zs for help Teledyne Webb Research Slocum Glider Operators Guidebook page 24 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 0 0 Owarn O O Oodd 12 12 O ABORT HISTORY total since 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 lt GliderDos cmd gt to execute lt GliderDos cmd gt Hit C to consci t
27. ualified 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 Internet resources Sign into access restricted glider documentation https dmz webbresearch com Software distribution ftp ftp glider webbresearch com 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 Teledyne Webb Research Slocum Glider Operators Guidebook page 3 Glider
28. 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 Teledyne Webb Research Slocum Glider Operators Guidebook page 28 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 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 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 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 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
29. yload weights properly secured CF card fully seated and loaded See Software checklist lab section 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 checklist lab section 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 O rings clean of debris 15 in lb torque All sections snug together Vacuum pulled Teledyne Webb Research Slocum Glider Operators Guidebook page 6 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 by battery inside lab Lab_mode_on 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
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