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iRobot® 1KA Seaglider™ User's Guide

1. Step Responsibility Action 1 Pilot Ensures the Seaglider is flying towards the recovery waypoint in advance 2 Field Team Notifies Pilot once they leave port on recovery vessel and their estimated steam time to be onsite 3 Pilot Changes the necessary parameters to put the Seaglider into shallow dives 4 Field Team Arrives at designated recovery location at designated time and informs the Pilot they re onsite 5 Pilot Ensures the Seaglider arrives at the designated recovery location at the designated time 6 Puts the Seaglider into recovery mode and insures it will remain on the surface T Notifies Field Team once the Seaglider is on the surface and in recovery mode 8 Relays the last known GPS coordinates to the Field Team 9 Field Team Searches for the Seaglider on the sea surface 10 Recovers the Seaglider 11 Informs the Pilot the Seaglider has been successfully recovered 12 Attaches the necessary sensor protective covers 13 Poweres the Seaglider off 14 Makes sure the Seaglider is powered off 15 Pilot Completes the dive log sheet and saves it onto the basestation if needed iRobot amp 1KA Seaglider User s Guide 437 Appendix H Pilot and Field Team Checklist 16 17 18 Field Team Steams back to port Properly
2. Service Description HWLBB2F Wetlabs sensor HOPTODE Optode O2 sensor HBATT Battery hardware and charging HPRES Pressure Sensor HXPDR Transponder hardware SPOWER Software managing power SBATHY Software managing bathymetry SNAV Software managing navigation primarily targets SKALMAN Software kalman filter SMOTOR Software controlling all motor movements primarily GC nterrupt handler SSENSOR Software controlling all sensors primarily data sampling SDIVE Software controlling dive and flight SSURF Software controlling surface activities SEPDOS Extended PicoDOS support SSYS Software utilities and infrastructure SUSR Software dealing primarily with human console interaction primarily tests and menus SGLMALLOC Seaglider s heap implementation TABLE 2 3 Levels at which output can be captured for a given service Output Level Description CRITICAL Only trigger output thaty is critical in nature usu ally associated with an extreme hardware problem such as motor errors or a critical software problem such as buffer or heap overrun 308 iRobot amp 1KA Seaglider User s Guide Appendix C Extended PicoDOS Reference Manual v66 07 TABLE 2 3 Levels at which output can be captured for a given service Output Level Description NORMAL The vast majority of Seaglider output falls into this category currently DEBIG Extended di
3. Pitch Control Men ua oi eee neo otto rne poa ran ie avene on von vna eau ous Current Motor Position n eene enean 468 sasoina aane Move to Position AD counts and cm Change the A D counts asa a ee eee eene eene etn ens soans oog ss tuae Change the cm centimeters of movement Edit Pitch Parameters scecsssssecossessosessssessosesossossssocessosssesvansssaseseveeseas Run Pitch Duty Cycles aasasssasaasesssssassssassasqssas Run Pitch and Roll Duty Cycles Ium Open ValY y Cm O i eite T a a isis Cycle Valye sk a reet cnavecrsnbentessetncevententecsvasesnsses Pump and Bleed Cycles Pump and Hold at Pressure Special Test me Supervisor MENU sieisessessensees ook seo Gar oat tra eee SESS PN ese s PEU eR ean NIE SERE SE enam iRobot amp 1KA Seaglider User s Guide xi Pressure Sensor Meu ene eren vao ao oo oen aeo ap aeo Pe os poo dioen Poeno e neu Odd 410 Compass Attitude Menu u Su SS asus aus 410 GBPSMenu 2 aayqa aaa rue YS Sea v SY Ce eb aeo eb ONN ERE NEN PR ERREUR UE 412 Modem Mni qu q S u CF a p vi een Pe E Neve e ue URS EN 412 Internal Pr ss re Merise 4 seio eee aenea nena ena eee eee NADU EV aaa do 413 Altimeter XPDR Menu 413 Sensors Meri uu i Guia uu susnestesesvesus
4. S LNIdWVS NHDL L N W SZc NH L L N u Ovvl lUuOdV LS N u Sn8 898 pcr Sns 8c8 bcP SnS G8L PCP SI NOISSIW LS N HSDS OPL PCP OI HAIq L N usns 00L vZV iRobot amp IKA Seaglider YM User s Guide 360 Appendix E Autonomous Self Test P HHOOdV ALYA GV dWDd GGHAS N MSDS 0I 6CP S dov4uns ALYY dV dW d GSAS N usns vvO 62v T0000 2I00 0 L4IHS GHA HOLId N usns t86 82v OcL LDOHWIL QgAS N usns Gce 6 8zy 96cSP lt 0 ANO GgAS N usns G88 82v Z aNV8d dgAS N uSDS IvT8 8ZY 9962 qgA OS N usns 108 82v 196 XVW QgAS N usns LSL 8Zv I6v NIN GQgAS N USDS CIL 8Zv 0 aNvad cav TIONS N usns v99 82v O NIVD CAY TIONS N usns lZ9 82v I SuowUsxvW TIONS N usns LLG 8ZY OGE ALYA dV TIONS N usns IEG 8ZY 61 LOOHSAO QELS W N MSDnS C8V 8Cb ZZ LOOHSAO IMOd M N MSDS PEP 8CP SI LDOHWIL TIOW N NSnS 98 8cb T1000L2820 0 ANO TIONS N USNS EEE 87H OL GNV amp YWNH GVHHS N HWSDS G8c 8CP vOSZ dWITO TION O N usns LEZ 82v vOSZ HAIG TION OS N usns L81 8ZY Op Suq TION N WS S PvTl 8CYv Z6LE XWW TIOUS N USAS OOT 8Zp I Z NIN TIOH N HSOS GGO 8CP O GNVdd CAY HOLId N HSnSs G00 8cb O NIVD CAY HOLId N usns 196 LZY I SuOWHSXVWM HOLId N usns 9T6 LZV SLI HlVH QV HOLIdS N usns 898 LZv 9I L0OSWIL HOLIdS N usns Ic8 LZV OE NIVD HOLId N usns GLL LZV 6666666 0 0 LOOHSAO d N uUusns zzL Lzv 9LGZTE00 0 AND HOLId N usns 999 LZ l O aNvaa HOLId N HSDS 8I9 LCP T6SI
5. Directive GO SRESUME QUIT State Diving Diving Diving Recovery Recovery Recovery Diving Recovery Piloting Parameters 1KA Seaglider parameters are changeable by the pilot via the command file using the name value example SM_CC 475 convention There is no space between the comma and the value In this section each parameter is listed alphabetically described and where appropriate nominal minimum and maximum values are given In the following section Most Frequently Modified Parameters on page 86 the parameters are listed in order of frequency used iRobot amp 1KA Seaglider User s Guide 85 Chapter 5 Piloting Parameters Parameters by Category For full details on the use of the parameters listed and how they interact with one another refer to Alphabetized Parameters on page 92 Most Freguently Modified Parameters Dive Profile D TGT meters T DIVE minutes T MISSION minutes Buoyancy Limits use to save energy MAX BUOY cc s SM_ CC cc s Second Most Freguently Modified Parameters Flight Behavior and Improvement Thereof C VBD AD counts C PITCH AD counts SPITCH GAIN degrees cm C ROLL DIVE AD counts C ROLL CLIMB AD counts D SURF meters GLIDE SLOPE degrees D BOOST meters T BOOST seconds Communications T RSLEEP minutes CAPUPLOAD Boolean Navigation NAV MODE integer iRobot amp 1KA Seaglider User s Gu
6. a 47 FIGURE 3 10 Connecting the cable to the antenna mast sse 48 FIGURE 3 11 Connecting the cable to the laptop 49 FIGURE 3 12 Seaglider Magnetic Wand sse 50 FIGURE 3 13 Wanding Seaglider On sse 51 FIGURE 3 14 Seaglider Set Date Time and Power Source sss 52 FIGURE 3 15 Verify Primary Telephone Number seen 53 FIGURE 3 16 Verify Alternate Telephone Number eee 54 FIGURE 3 17 Pre Lauth cenene aa aasawa E RED FF 55 FIGURE 4 1 iRobot IKA Seaglider and Its Primary Parts a 60 FIGURE 4 2 Mass Shifter Causing Pitch Change a 62 FIGURE 4 3 Mass Shifter Causing Roll Change 63 FIGURE 4 4 External Bladder Inflation and Deflation 68 FIGURE 4 5 Canonical Dive Schematic sse 74 FIGURE 6 1 Seaglider with Antenna Mast Removed from the Aft Fairing 175 FIGURE 6 2 Travel Mode Menu 1 sssssssssssseeeereneenenee nennen 176 FIGURE 6 3 Travel Mode Menu 2 nn anssssnsnsssssssss 177 FIGURE 6 4 Pre Launch a ennt 180 FIGURE 6 5 Sea Launch aen tee trier eh spa Ee eap Fn 181 FIGURE 6 6 GPS ED ni Y etie it WHO EUR Oe tegens 182 FIGURE 6 7 Final OK to Launch nn s
7. szosues Teuzequt DUI3IIM N usns 069 GL v 0S9 9 88v 66LC SC 89 00c CTOT OT OECL9 FT vy 089 9 88v 66LC SCL OL 00c FLUT 8 6c0 9 EI 8 S 69T 09v 9cCI S69 OEIP 0G9 9 88v 66LC SZL 89 00c STOT 9T LOP8S CI 6ES 891 09v COIL S69 OEIP 0S9 9 88P 66LC GZL 69 00c FTO ECL TL F 089 9 88P 66LC SZL OL 00c PlOL LI96P OI vy 0S9 9 88v 66LC SZL 89 00c vIOI v cvvGv 6 P 089 9 88v 66LC GZL CL 00c 8101 OT 6F809 8 vy 089 9 88v 66LC SCL v9 00c OT O c699t L p 089 9 88v 66LC GTE 89 00c ETOT SI 90Ic 9 p 089 9 88v 66LC SCL OL O0c LlOL c L68LC S P 059 9 88v 66LC GZL S9 00c OLOL 6 EGZ F vy 0S9 9 88v 66LC SZL 99 00c c1OI 9T 80681 v 089 9 88v 66L2 SCL 99 00c OT 9 9IIvVI C v 089 9 88v 66LC SCL OL 00c YTOT 9 16001 I I 869 OEIP 0S9 9 88v 66LC SZL L9 00c OT c OctGS O e3ep due3lWAZT 3UAZl3qq M brsuopo uAgrygg M JSTWOPD WAZTIAATMHTSTYO JWAZTJAATM gezTuo aunagrJ garem brsg09 3uangzrgggrm gez009 3uagIgggre eseyd 55 pqa gy IrIoz gy uo31d gy rrIoz uyo3rd Durpeeg uadep suj sdero oez A S g S TUT S S suumToo 9 8 LI III S 3203S z 2se37res O uorssru SEG zeprrb L0 99 uorszoA U0I 0 suoczL9 V N MOSNHSS P9I IL eat oe as Purzejue N MSDS E IG L9 Ug0 0 SW6Z0E9 d N YOSNASS LLG 99 eatssed qs burzejuo N MSnS GLL C9 U9I 0 SWLOPSS V N MOSNHSS EP C9 eatqoe qs Purzejue N NSDS 069 8G uT0 0 SWTZZPS d N YOSNASS 69L LS e
8. e Step13 Quick launch lt skips some tests and calls very dangerous N y __ Step 14 Can the antenna be used for GPS and communications Y y Step 15 1597 415 SPOWER N 0ll devices are off Remove all old data and log files Y y Step 16 12 Type 5 Pre Launch and press ENTER Figure 7 36 13 Type 6 test Launch and press ENTER Figure 7 36 14 At the prompt Quick Launch skips some tests and calls very dangerous if Seaglider is in the water N type Y and then press ENTER Figure 7 36 15 At the prompt Can the antenna be used for GPS and Communications Y press ENTER to accept the default Y for Yes Figure 7 36 16 At the prompt Remove all old data and log files Y press ENTER to accept the default Y for Yes Beware selecting Yes removes all data files still on Seaglider from prior missions and tests Be sure that those files are saved else where BEFORE selecting Yes If it is unknown whether the files have been saved select N Figure 7 36 Seaglider performs pitch roll and pump VBD maneuvers and displays their movement on the laptop Figure 7 37 224 iRobot amp 1KA Seaglider User s Guide Simulated Dives FIGURE 7 37 Pitch Roll and Pump Maneuvers Setting glider to pre launch state 618 852 HPITCH N Pitch commanded from 6 30 cm 720 to 6 21 cm 7495 ell ee PITCH 741 MOTOR DONE ticks 21 max 24v
9. Main Menu 1 param Parameters and configuration 2 hw Hardware tests and monitoring 3 modes Test operation modes and files 4 pdos PicoDOS commands and exit 5 launch Pre launch The main menu is characteristic of all menus on the glider Selections can either be made numerically or by typing the name of the shortcut contained inside the iRobot amp 1KA Seaglider User Guide 367 Appendix F Hardware and Configuration Menus The advantage to using names versus numbers is that they do not typically change when the menu items are rearranged or items are added when the software version changes Using names also facilitates navigating multiple menus with a single command Sub menus can be accessed by adding a and the name of the sub menu For example from the toplevel menu it is possible to do a compass selftest by typing the following text at the main menu prompt Enter selection 1 5 CR hw compass selftest Navigating one menu at a time reguires typing hw or the number 2 which then displays the hardware test menu At the hardware menu prompt you would type compass or the number 6 to display the compass menu Finally you would type selftest or the number 1 to run the actual selftest This works at any level of the menu tree If you are already at the hardware menu typing compass selftest would run the selftest item from the compass sub menu The entire menu structure can be displayed by typ
10. Appendix F Hardware and Configuration Menus FIGURE F 40 Iridium Phone Menu Iridium phone menu 1 selftest Self test does not make phone call 2 direct Direct comms 3 signal Monitor signal quality 4 locate Geolocate phone 5 remote Remote login and PicoDOS commands xr and xs enabled for transfer 6 upload Exercise uploadData 7 uploadst Exercise uploadData self test results only 8 current Measure modem current CR Return to previous Enter selection 1 8 CR Press ENTER to return to the Hardware Menu Jnternal Pressure Menu To view the Internal pressure menu Select 9 Internal Pressure and press ENTER The menu in Figure F 41 is displayed The self test outputs internal pressure and relative humidity measurements until a Crtl O is received The internal pressure parameters are set at the factory It is not recommended that the user edit these values without consulting iRobot Customer Service FIGURE F 41 Internal Pressure Menu Internal pressure menu 1 selftest Basic self test 2 param Edit internal pressure parameters CR Return to previous To exit the Internal Pressure menu and return to the Hardware Menu press ENTER Altimeter XPDR Menu To view the Altimeter XPDR Menu iRobot 1KA Seaglider User Guide 413 Appendix F Hardware and Configuration Menus Select 10 Altimeter XPDR Menu and press ENTER The menu in Figure
11. Factory Generated File The initial sg calib constants m file is generated at the factory Calibration File The sg calib constants m file contains calibration information for that particular Seaglider and the sensors installed on it and is used for basestation calculations and MATLAB plots There should be no need for edits to this file between factory refurbishments If edits are deemed necessary do so with caution An example of a sg calib constants m file can be found in Appendix B Seaglider File Formats Manual on page 275 The values in the sg calib constants file for your Seaglider differ from the values listed Seaglider Generated Files Seaglider generates the following files Capture cap Data dat Log log Capture Files The capture cap file contains information about all of the actions Seaglider took during the previous dive Capture files are a great source of information on Seaglider s performance especially in error analysis and debugging However they can become quite large multi hour dives and are not always sent to the basestation during a surfacing It is recommended that for the first few dives of the mission while Seaglider is being tuned for flight efficiency that the cap files be sent to the basestation The parameter SCAPUPLOAD Chapter 5 Piloting Parameters on page 83 controls this feature The format of the capture file is not as hard and fast as other file formats bu
12. pro Files The pro files contain the time stamp and scientific data that was acguired during the dive such as temperature and salinity optical and dissolved oxygen data See Appendix B Seaglider File Formats Manual on page 275 for an example of the column headers in this file 250 iRobot amp 1KA Seaglider User s Guide Basestation Generated Files Processed Files Cache File The processed files cache processed files cache contains the list of files that have been processed by the basestation and the time of processing To force a file to be re processed delete the corresponding file from this file Comment lines are preceded by a ff Private Files The pvt or private files are created on the basestation They contain information that was originally in the log file that could pose a security problem if propagated off of the basestation that is basestation telephone numbers and passwords Thus the data 1s stripped from the log file and placed in the matched pvt file URLs File The urls file is read by the basestation following processing of dive data triggered by a Seaglider logout It specifies URLs on which to run GET for each processed dive This can be used for any supported http function and is mainly used to poll for data transfers to support visualization servers The first entry on the line is the timeout 1n seconds to wait for a response to the GET It is separated from the URL by a
13. 38 Assembling Sea glider wcsccsscsssscsasenveossesosessosoonasseesessscesssesersoesenesetscasoes 41 Stowing Moving Seaglider 46 Checking Out the Seaglider System 47 Checking Seaglider Communication with the Field Laptop 47 Checking the Primary and Alternate Phone Numbers 52 Checking the Pump Motors and Basestation Communication 54 Operating Principles 59 S eagliderCommponenBtS uy anu asia hasa s ss 60 Isopycnal Pressure Plull u assqa sasaqa a sskasssaisassssissss 60 Inside the Pressure Hull 61 Outside the Pressure Hull eee eee eee eee ee eee eee een eee saias 63 Inside and Outside the Pressure Hull 65 Principles of Seaglider Operation 65 Environmental Factors 65 Wen o eH HN Gravity e eeeee ee Buoyanoc Dynamic Forces Hydrodynamic Model 69 Control of the Static EOTGCeS u nai asi ayapa a Os 69 BUOVANEC Sasa a qana O O O UU KY AF Hn Features of evincit PD CANONICAL Diye uuu nasqa cesse ess
14. Definition The pump rate in A D counts per second that the code uses as the threshold for retries when pumping at apogee If the Observed rate is less than this number the pump is stopped and restarted The retries continue until the VBD timeout limit is reached then an error is declared Nominal Value 4 Minimum Value 1 Maximum Value 6 iRobot 1KA Seaglider User s Guide 155 Chapter 5 Piloting Parameters VBD PUMP AD RATE SURFACE Set by manufacturer Do not change VBD TIMEOUT Definition The pump rate in A D counts per second that the code uses as the threshold for retries when pumping at the surface If the observed rate is less than this number the pump is stopped and restarted The retries continue until the pump timeout limit is reached then an error is declared If Seaglider is experiencing VBD retries at the surface you may want to adjust the VBD PUMP AD RATE SURFACE to 5 Nominal Value 6 Minimum Value 1 Maximum Value 8 Definition The total time seconds allowed for any commanded change in VBD position Nominal Value 720 Minimum Value 120 Maximum Value 900 XPDR DEVICE Set by manufacturer Do not change Definition A configuration value specifying the model of the attached device set by the manufacturer or assembler These devices have dedicated hardware ports on all motherboard revisions and as such a port specification 1s not necessary See COMPAS
15. Putting Seaglider in Travel Mode Packing Seaglider in its Shipping Case Shipping Seaglider Assembling Seaglider Performing the Interactive Self Test a Communication Messages Final Launch Procedure eere eee eere eee ee ette etes tn tta atnana ARGOS T m 186 iRobot amp 1KA Seaglider User s Guide vii CHAPTER 7 CHAPTER 8 CHAPTER 9 Pre Launch Procedures 187 Interactive Pre launch Self Test 188 Simulated DIVeSu a A een seis eie a N u SSS aD Qa SQ 219 ARGOS t karosa eiae e Fon Y Yd Sod ayasa 227 Tuning Your Seaglider 229 Tuning Your S aglider ccsesssssscossvesencevensesosenseasvososansosoonsssesetvonsssenes 229 Files for Operations 237 Files Placed on the Basestation by the Pilot 237 Comm andiFilei a l eese evo e een eoa oen eoa rie no a eee nn OD EON 239 Targets File ALI Sensors Science File PicoDOS Commands Batch F iile 245 Factory Generated File u ee eene neta tatnen stan Calibration Files ire eene ee
16. iRobot amp 1KA Seaglider User s Guide 303 Appendix C Extended PicoDOS Reference Manual v66 07 Extended PicoDOS Reference Manual SCHOOL OF OCEANOGRAPHY and APPLIED PHYSICS LABORATORY UNIVERSITY OF WASHINGTON v66 07 December 2009 Chapter 1 Introduction and Conventions 1 1 Introduction This manual is a reference to extensions to the PicoDOS6 operating system command set implemented in the Seaglider operating code PicoDOS6 is a registered trademark of Persistor Instruments Inc Bourne MA USA The version number of this document coincides with the version of the main Seaglider operating code in which these extensions exist These extensions either make new functions available from the PicoDOS prompt or extend the capabilities of existing functions Commands are only available through the Seaglider operating code which intercepts and interprets the commands passing them to PicoDOS as appropriate While in this mode the Seaglider code passes any command not explicitly recognized as an extended PicoDOS6 command on to PicoDOS6 itself for execution Limited error reporting exists in this case The extensions are accessible at the PicoDOS prompt available from the main menu when connected directly to a Seaglider exceptions as noted below or by uploading the pdoscmds bat file when the Seaglider is operating autonomously In the former case the Seaglider code displays a standard PicoDOS6 prompt picoDOS gt with
17. ss ep 17 At the prompt Ready to launch N type Y for Yes and then press ENTER Figure 7 37 18 At the prompt Reset dive run number to 0 type 1 or a number of your choosing and then press ENTER Figure 7 38 Note If you chose not to remove old data and log files select a number that does not overlap those already present FIGURE 7 38 Reset Dive Run Number 1643 357 SUSR N For a fresh start reset the dive number to 1 Reset dive run number to 81 1 Step18 19 Verify that Seaglider logs in Then watch as the parameters cmdfile science and targets files are uploaded While the files are uploading the laptop display looks like Figure 7 39 iRobot amp 1KA Seaglider User s Guide 225 Chapter 7 Pre Launch Procedures FIGURE 7 39 File Upload to Seaglider 383 SSURF N Logged in 9822 SSURF N Sending cmd lsx k ti58 cmdfile 437 SSURF N Receiving cmdfile b92 SSURF N SOH ST amp 213 SSURF N SOH STX 653 SSURF N SOH STR 182 SSURF N SOH STR x 712 SSURF N SOH ST amp 245 SSURF N EOT 8x4 received secSize 128 Oxi x1 xi Oxi received received received received received secSize 12 secSize 12 12 secSize 12 secSize 12 Step 19 147 578 SSURF N Received cmdfile 573 bytes 149 040 SSURF N Transmission succeeded 149 128 HTT8 N Updating parameter SSERBIRD T_G to 9 0042812955 149 220 HTT8 N Updating parameter S
18. xxzI puo butpues N 4 Mnss gro 8ss X ZXZ0002S OF dVM HAIGSIHL urssezrduop pepeooons uorssriusuedij N a 0 3due4339 NOV peaeroea N 4 ques LOS N 4 MnSS G8 GG MnSs cec csSs nss 008 6vG UCI 3due33e pcOL 9ZTSXId p9E 9ZTS T X90I1q N g3unss 0T9 vG 00X zqeoo02d burpuos N d 00X zqd 0009d 00Z3 2 xaq puo burpues N J pepeooons uorssriusuedig N a 0 adue33e WOW peaeroea N 4 ques LOU N 4 MDnSS 8CG PG MnSS 9c9 IPG MnSS ECG IPG MnSS 0I0 8 G MASS 68h GES ICI rqdueqqe pcOI 9ZTSjIG TLE 9ZTS T jOOIG N HDOSS IIC 6CS 00x zecooood Burpuos N M 00X zec0009d 00Z3 2 xaq puo burpues N d pepeooons uorssriusuedig N a 0 adue33e NOV peaeroez N J ques LOH N M MDSS 6CL 6CS MDSS 686 9cS MnSss G8 9cs Mnss o Ec Scs MDSS 66L ccCS I 30ue33e pcOL 9ZTSXId 0 6 9ZTS T OOTG N SHOSS PI9 9IG 00x npzoooas Purpues N mTHOSS 8CG 9IS 00X npz0003s 0023 2 xaq puo burpuos Na pepeeoons uorssrIusuerg N d 0 adue33e NOV peaeroez N J ques LOH N M u SS 6lL vIG MDSS PI9 PIG W SS Z61 lIG nss 049 80G UCI 30ue33e pcOIL 9ZTSXNId PLT 9z1S T jOOIG N HDOSS C6 COS I0X nIC0003S Purpues N mHDOSS OIE COS I0x nIc00038S 00Z23 2 A x1 puo burpues N J pepeeoons uorssriusueag N 4 0 adue33e NOV peaeroez N J unss LLE 00G Mnss Ic 0os MDSS I6L 96 iRobot amp IKA Seaglider YM User s Gu
19. DN 372 iRobot amp 1KA Seaglider User Guide Appendix F Hardware and Configuration Menus Flight Parameters To access the Flight Parameters menu from the Parameters and Configuration menu Select 3 Flight Parameters and press ENTER The menu in Figure F 6 is displayed To edit a parameter value follow the pro cedures under Basic Mission and Seaglider Parameters on page 371 FIGURE F 6 Flight Parameters Menu DNDN Gau He Vu www w 2 ES rA p pH p du Qi cn f co SJ pL ru mn hr ve 18 19 20 21 CR Enter s Flight current value in 2 DINE 0 Safety dive depth for emergency escape maneuvers m APOGEE PITCH 8 Intermediate pitch angle apogee deg MAx BUOY 220 Max buoyancy force allowed apogee g cOURSE BIAS 0 Course bias to subtract from the computed deg cw GLIDE SLOPE 30 Max glide slope allowed deg SPEED FACTOR 1 Fudge factor for glider speed RHO 1 0233001 water density grams cc MASS 51509 Glider mass g NAV MODE 1 Navigation mode 0 direct l1 Kalman 2 Set correct j Current relative cae 45 Ferry angle bound fo set correction navigation eg KALMAN_USE 2 Kalman filter 0 reset l enable 2 skip HD_A 0 003 Glider hydrodynamic lift A HD_B 0 0099999998 Glider hydrodynamic drag B HD_c 9 9999997e 06 Glider hydrodynamic induced drag C HEADING 1 Heading degrees true to steer 1 disable ESC
20. ROLL ADJ DBAN D Definition This parameter in conjunction with SROLL ADJ GAIN controls the automatic adjustment of Seaglider s roll centers based on observed turn rate At the end of a complete passive phase a full guidance and control G amp C interval Seaglider adjusts the appropriate dive or climb roll center based on the turn rate over the last half of the passive phase if turn rate gt SROLL ADJ DBAND Note SROLL ADJ DBAND has units of degrees second A value of zero disables automatic adjustment of the roll centers Nominal Value 0 03 Minimum Value 0 Maximum Value 1000 iRobot amp 1KA Seaglider User s Guide 137 Chapter 5 Piloting Parameters ROLL ADJ GAIN Definition This parameter with SROLL ADJ DBAND controls the automatic adjustment of Seaglider s roll centers based on observed turn rate The amount of the adjustment is turn rate SROLL ADJ GAIN if climbing and turn rate ROLL ADJ GAIN if diving Note Turn rate has units of degrees second This adjustment is only meaningful the next time Seaglider turns as Seaglider rolls back to this new neutral position on the next turn It will not immediately roll from the old neutral position to the new neutral position at the start of the next active guidance and control G amp C phase Note If HEAD ERRBAND is large then several active passive G amp C phases might pass before a turn is initiated and the new roll cen
21. SROLL GAIN P Clipped to SROLL DEG Typical values used for ROLL_GAIN_P are 0 5 or 1 0 Note Seaglider turns in the opposite sense from its bank angle on the dive opposite from upright airplane control and in the same sense as its bank angle on the climb same as upright airplane control iRobot 1KA Seaglider User s Guide 71 Chapter 4 Operating Principles Table 4 2 provides some typical roll ranges and values for Seaglider Two roll centers dive and climb are used because asymmetries in Seaglider form where components are installed inside Seaglider result in different roll trim on dives and climbs TABLE 4 2 Typical Roll Ranges and Values Hardware Limit Software Limit A D Counts A D Counts Full Roll to Port 0 150 SROLL MIN Full Roll to Starboard 3983 3833 SROLL MAX C ROLL DIVE example 2000 C ROLL CLIMB example 2050 Buoyancy Buoyancy is controlled by a mechanism called the Variable Buoyancy Device VBD It is a hydraulic system whose purpose is to maintain a specified total vehicle displacement by varying the size of an oil filled bladder external to Seaglider s pressure hull The system pumps oil from an internal reservoir into the external bladder to increase displacement and allows oil to bleed from the external bladder into the internal reservoir to decrease displacement see Figure 4 4 on page 68 Linear potentiometers on either side of the in
22. Turn rate s starboard positive o T 1 5r N 2 5 l i l l i Hmplied P5591 3063 39 GASCON 25874 Ass med roll control gain 35 37 counts to stbd MRO gt Dive Turn Rate s 1 12589 s Roll control counts 0 000367532 Dive Turn Rate s 0 172148 s Roll control 0 0129996 Climb Turn Rate s 0 881117 s Roll control counts 0 000340542 Climb Turn Rate s 0 00258943 s Roll control 0 012045 l 1 T T Descent Ascent FontSize 50 40 30 20 10 0 10 20 Roll Control 30 40 50 iRobot amp 1KA Seaglider User Guide 341 Appendix D Dive Data Visualization Software Plot 11 Buoyancy Contoured Plot The Buoyancy Plot displays VBD in cc s at different o4 The plot also displays the current C VBD SM CC surface maneuver cc s and the recommended cc s CCgyrfmin needed at the surface Implied mass at apogee is also displayed however this is not typically used while piloting This plot allows the pilot to set optimal SM CC for energy savings Buoyancy Contoured SG524 Dive 2 iRobot Port Susan Mission Start Time 17 Mar 2011 19 26 53 3959cts I 550cts 20 PEPEPEPE CC 999 CO 257 surf nin 22r o kg m 23 24 26 i i l i l i i l i j 300 200 100 0 100 200 300 400 500 600 700 VBD cc S524 scale m
23. iRobot amp 1KA Seaglider User s Guide 103 Chapter 5 Piloting Parameters COMPASS_DEVICE Set by manufacturer Do not change Definition Configuration flags integer specifying the specific model and port for the compass and transponder altimeter devices This integer value is equal to port number 16 type number For example for a TCM2 50 type 0 on general purpose port 1 SCOMPASS DEVICE 16 0 1 The array of available models is specific to each device The compass device must be defined parameter cannot be 1 For transponders not connected to a serial port for example Benthos ENT 380 the null port generally index 0 can be specified See SDEVICE 1 2 3 4 5 6 Nominal Value 33 Minimum Value 0 Maximum Value 1023 COMPASS_USE Set by manufacturer Do not change Definition An integer value that tells Seaglider which compass SCOMPASS DEVICE or COMPASS2_DEVICE to use Not used at this time because iRobot only puts one compass in Seaglider Nominal Value 0 Minimum Value 0 Maximum Value 2 COMPASS2 DEVICE Set by manufacturer Do not change Definition Exactly the same as SCOMPASS DEVICE except that it defines the second compass Nominal Value 33 Minimum Value 0 Maximum Value 1023 104 iRobot amp 1KA Seaglider User s Guide Parameters by Category COURSE_BIAS Definition A heading bias degrees to compensate for a Seaglider s observed tendenc
24. nnn file number 9 ICE FREEZE MARGIN 0 30000001 Margin degC in freezing point check for surfacing 10 sM_ cc 529 VBD ve le for surfacing cc 11 SN_FILEKB 4 File segment size for upload KBytes 16 0 no split m md no gzip 12 S ILEMGR 0 File management aggressiveness 0 none l only store compressed 2 delete splits on failed phone call 13 CALL NDIVES 1 f of dive climb cycles before calling 14 COMM SEQ 0 Comm sequence to use 0 default l ctl only 2 no loggers 15 KERMIT 0 Use of kermit 0 none 1 data only 2 data only batch 3 data and control 4 data and control data batch 16 N NOCOMM 1 f dives without communications before max surface 17 N NOSURFACE 0 modulo for dives to finish under surface 18 UPLOAD DIVES MAX 1 maximum of dives to upload at each surfacing C l all available 19 CALL TRIES 5 f of calls to try at each surfacing 20 CALL_WAIT 60 Delay between phone tries sec 21 cAPUPLOAD 1 Upload capture file C no l yes 22 CAPMAXSIZE 2000001 Maximum capture file size to upload before compression 23 T GPS 15 GPS timeout min 24 N GPS 20 Max valid GPS readings 25 n CMS 0 Time to wait to reacquire the GPS almanac mins 26 C S CHARGE 10258 504 How long to trickle charge the GPS secs 27 T RSLEEP 3 Sleep interval during recovery min 28 sTROBE 0 Strobe control 0 never l recovery 2 surface CR Return to HYD menu
25. s T Logger device test menu 1 on Turn on 2 off Turn off 3 selftest Selftest 4 sample Report a sample 5 syncclk Synchronize device clock to TT8 6 clock Read device clock 7 file Get file from device 8 action Execute logger action 9 config Show configuration 10 edit Edit configuration 11 direct Direct comms CR Return to previous Enter selection l 11 CRD 2 e Press 11 and press ENTER to go into direct serial communications with the GPCTD Figure 7 32 f Press ENTER until a S gt prompt appears Figure 7 32 g Type MinCondFreq X where X is the number recorded when you followed the steps to disable the pump before and press ENTER Figure 7 32 Below is some additional information on what the MinCondFreq should be set to 216 iRobot amp 1KA Seaglider User s Guide Interactive Pre launch Self Test FIGURE 7 33 Example Excerpt from GPCTD Cal Sheet SEA BIRD ELECTRONICS INC 13431 NE 20th Street Bellevue Washington 98005 2010 USA Phone 425 643 9866 Fax 425 643 9954 Email seabird seabird com SENSOR SERIAL NUMBER 0017 SBE GLIDER PAYLOAD CTD CALIBRATION DATE 07 Dec 10 CONDUCTIVITY CALIBRATION DATA PSS 1978 C 35 15 0 4 2914 Siemens meter COEFFICIENTS CPcor 9 5700e 008 CTcor 3 2500e 006 WBOTC 4 1244e 007 BATHTEMP BATHSAL BATHCOND INSTFREO INST COND RESIDUAL ITS 90 Siemens m Hz Siemens m Siemens m 2 0 0 00000
26. 4 Replace sensor dust caps 5 Disassemble Seaglider rudder antenna and wings in that order following the directions below If sea conditions are poor disassembly may be better accom plished back on shore a Rudder i Slide Seaglider backwards until the rectangular slot on the aft end fairing is clear of the cradle end Figure 3 7 on page 45 ii Remove the screws holding the rudder in place i Remove the rudder iv Set aside the rudder for packing and put the screws back in the spare hardware kit b Antenna i Slide the antenna mast out of the aft end of the fairing Ease the cables out while doing this but do not disconnect them ii Fold the antenna around so that it can be secured in the cradle c Wings i Doing one wing at a time remove the upper screws holding the wing in place then rotate Seaglider slightly and remove the lower screws Repeat for the other wing ii Setthe wings aside for packing and put the screws back in the spare parts kit 6 Wash Seaglider following the instructions in Chapter 12 1KA Seaglider Refurbishment on page 263 iRobot amp 1KA Seaglider User s Guide 257 Chapter 10 Recovery and Disassembly 7 Pack Seaglider in its shipping crate see Figure 2 1 on page 30 8 Wash the Launch and Recovery Cradle 9 Disassemble the Launch and Recovery Cradle a Remove the wing nuts and eye bolts from the small holes in the end plates with carrying handles Put the hardware in the
27. 58 iRobot amp 1KA Seaglider User s Guide CHAPTER 4 Operating Principles This chapter details the how to operate the IKA Seaglider The following topics are covered e Seaglider Components on page 60 Principles of Seaglider Operation on page 65 Control of the Static Forces on page 69 Features of Control on page 73 Unlike an airplane there are no moving external control surfaces on Seaglider To understand how Seaglider moves through the water in a sawtooth pattern see Figure 4 1 on page 60 and the descriptions of Seaglider s primary parts and how they control Seaglider s movement Your configuration may differ depending on what you ordered iRobot amp 1KA Seaglider User s Guide 59 Chapter 4 Operating Principles FIGURE 4 1 iRobot 1KA Seaglider and Its Primary Parts Not Shown Antenna and Mast Fixed Rudder and Wings CT Sensor Freely Flooded Forward Fairing ee Freely Flooded Aft Fairing Acoustic Oxygen and Isopycnal Pressure Hull Transponder Other Sensors Aft Endcap External Bladder Conductivity and Electronics and 10 VDC Temperature Sensors 24VDC Battery Battery Hydraulic System Internal Reservoir Pressure Sensor SEAG 009 09 Seaglider Components Isopycnal Pressure Hull An important and unique feature of Seaglider is the compressibility of its pressure hull For maximum efficiency Seaglider uses an isopycnal pressur
28. The data are specified by type dive number and fragment number the third 4kB piece of dive 123 s data file would be specified d 123 2 data piece counter starts at 0 Leading zeros on the fragment number are optional Example resend dive d 289 1 science Parses the on board science file Used mainly in the laboratory or test tank to establish sampling intervals for testing sleep seconds Pause execution for up to 60 seconds split file Splits files into pieces of size N_FILEKB kBytes Example split sg0115dz r strip1a lt file gt lt size gt Strips trailing XMODEM padding characters 1a off the end of a file optionally to a specified size in bytes Example strip1a chunk U31 1898 312 iRobot amp 1KA Seaglider User s Guide Appendix C Extended PicoDOS Reference Manual v66 07 sumasc file Sums succeeding lines of data file to recreate original observed values This is the inverse of the simple successive difference compression scheme used for glider data files tar c x lt tarfile gt lt filespec gt Implementation of standard Unix style tar tape archive utility Admits wild card expressions Example tar c data tar SGO1 DZ A target targets new target lt radius gt The mechanism by which the pilot can change the current Seaglider target and the target radius from among the targets listed in the current targets file on the Seaglider The new target must
29. Time to rest min pressure secs 5 If 5 is okay press ENTER otherwise type in a new value and press ENTER Sample report interval secs 1 If 1 is okay press ENTER otherwise type in a new value and press ENTER Display readings Y Ifthe readings should be displayed press ENTER otherwise type in a new value and press ENTER Number of cycles to run 10 1 Set the number of cycles to run and press ENTER For this example the number of cycles is 1 Seaglider starts the pump and bleed test and echoes the activity to the laptop screen Figure F 33 To stop the test press any key FIGURE F 33 VBD Pump and Bleed Pressure Test 20503 396 HVBD N Hit any key to abort 20503 491 HVBD N cycle sec vbd0 vbdl avg mA P psi 20504 415 HVBD N 1 Pressure start 0 end 1910 VBD start 3798 end 3797 Time 0 cc sec 0 00 avg mA 0 000 20504 621 HVBD N pumped to 3828 3765 3796 0 20504 747 HVBD N Waiting for 5 sec 20510 299 HVBD N bled to 383 3773 3803 0 20510 422 HVBD N Waiting for 5 sec 20515 558 HVBD N Cycle 1 completed I 20515 661 SPOWER N powerOFF 3 VBD_pump_during_surface without corresponding p At the conclusion of the test Seaglider returns to the VBD menu 406 iRobot amp 1KA Seaglider User Guide Appendix F Hardware and Configuration Menus Pump and Hold at Pressure This test is done in a pressure chamber It is not recommended that this test be done ou
30. ireobot iRobot LKA Seaglider User s Guide Part Number 4220126 Revision January 2012 Copyright and Liability Information Copyright 2012 iRobot Corporation All Rights Reserved Adapted with permission from original material from the University of Washington Copyright iRobot 2011 rights reserved under the copyright laws of the United States Any reproduction in part or as a whole without the written permission of iRobot Corporation is prohibited Seaglider is a trademark of the University of Washington COMMERCIAL ITEM The technical data and computer software contained transmitted herein is adapted with permission from original material from the University of Washington and is proprietary to iRobot Corporation is iRobot Corporation s commercial technical data and commercial computer software and computer software documentation and may not be used disclosed reproduced modified performed or displayed except as permitted by iRobot s standard commercial license for this data or computer software United States Government license rights are limited to those rights set forth in iRobot s standard commercial license No part of this manual may be copied or distributed transmitted transcribed stored in a retrieval system or translated into any human or computer language in any form or by any means electronic mechanical magnetic manual or otherwise including photocopying or disclosed to third parties without e
31. 1 Maximum Value 20 Definition The wait time seconds between call attempts during a communication session This is time to allow the Iridium satellite geometry to change and perhaps improve the connection Nominal Value 60 Minimum Value 0 Maximum Value 600 iRobot amp 1KA Seaglider User s Guide 101 Chapter 5 Piloting Parameters CAPMAXSIZE CAPUPLOAD Definition Maximum size in bytes prior to compression of the capture file to upload If the capture file is to be uploaded either due to critical output SCAPUPLOAD set to 1 ora completed self test and the capture file size exceeds this value Seaglider creates a new capture file that 1s of the size requested per the following strategy e If there are no critical lines of output then the first CAPMAXSIZE bytes are sent If there are critical lines of output then the new capture file consists of the first 20 of the critical output lines with a window of output lines surrounding each critical line Nominal Value 100000 Minimum Value 1024 Maximum Value 400000 Definition A Boolean value that determines if the capture file from the current dive should be uploaded or not 0 means do not upload the capture file 1 means upload the capture file If critical output is captured during a dive or a self test has been completed then the capture file is uploaded regardless of the value of SCAPUPLOAD Nominal Value 0 Minimum Value
32. 2 hw 1 Harduare tests and monitoring 3 modes Test operation modes and files 4 pdos l PicoDOS commands Cand exit 5 launch 1 Pre launch Enter selection lt 1 5 CR gt 2 Type7 Sea Launch and then press ENTER 3 At the prompt Can the antenna be used for GPS and communications Y press ENTER to accept the default Y Seaglider then resets SIM_PITCH and SSIM W to 0 and removes old data and log files from the persistor CF2 flashcard iRobot amp 1KA Seaglider User s Guide Final Launch Procedure FIGURE 6 5 Sea Launch Launch Menu scene Set scenario mode selftest Perform interactive self test autotest Perform autonomous self test reset test 7 sea CR Return Enter selection Can the antenna 1161 831 SPOWER 1161 882 SUSR N 1161 952 HTT8 N 1162 013 HTT8 N 1162 103 HTT8 N 1169 577 SUSR N Reset dive run number Test Launch Sea Launch to previous 1 7 CcR 7 Step 2 1 2 3 4 uploadst Upload self test results 5 5 be used for GPS and communications Y y N All devices are off Resetting SIM_W and SIM PITCH to 0 0 Updating parameter SIM w to 0 Updating parameter 51M PITCH to Writing NVRAM don Pemovirig old data ard log files Step 3 Deleting STO032DU X00 Deleting ST O32KZ X Deleting STOO032LU x00 Deleting STOOJ2LU X01 4 At the prompt New telnum value if
33. 20 0 006ST0 0 N SSVdINOOH 69S 01 S T 001600 0 001090 T 0018000 N SSVdINOOH 6ZE OTESETE 00ZL00 0 00Z1Z0 0 009Z00 T uozt yos N SSVdIWOOH 60 01 S T1 O0LCLE C OOLIFS 61 00 868 tI O q UON prey N SSVdINOOH T8 60 S 1 000 10 0 00 80T Z OOSETO I 0001 00 Q O amp v Ilo N SSVdINOOH OSS60 S 1 001200 0 0016Z0 0 00LLEO T 00SS10 0 G O amp IV uoud NfSSVdINOOH FtC 60 S 1 00 dS I sseduio N SSVdINOOH 66 80 S T So g uoneiqi eo pue sseduroo FUNI N ISnS 80S SOESETE o0 je SYOO Q pz IOL so g g99ee o04 SOOT c aay So 4g pgopce We deou a N 2OTTVIA TOS 0C 80 SET i LpSS b 9P0L PL0109 cpTp uoneoog uo11mo ou s19A02 op amp noui ueg ON DNINSIVMA N AH IVES 660 80 S L 8867 CCl SL91 8Y CAN e8v cc1 1990785 TT WOOT LET ZIT poo deui ueg popeo I N AH LVIS 9SL L0ESET 8C c Cc1 8 160 8p CUM 8 cc1 00S6 4p TT WOOT ZIT cor coo deuqreq popeo T N AHLVAS LET OOESETE SZET cc 9SL0 8p CAN 199p ccT eco sp TD WOOT pLT Lv 00deui upeg popeo T N AHIIVHS C t F6CSETE 8597 CC1 CvL6 Ly CAN 0007 Cc 1 c88 Lp TT WOOT 001 TOT 100 deui amp peg popeo T N AH IVHS CCC 06CS T DOJL s320 q zz o0Jje so g FOBT 291 sxoo q Z oo so g Qzocce MVM deou 3 N O TIVIA IOS 68 L8CS T So1Aq LZLEL 0 deoH PULION NUSNS TSTLEZSETE ep nourAqreq Surooq NMSDS 6 I 8cse1 3
34. 359 iRobot amp IKA Seaglider YM User s Guide Appendix E Autonomous Self Test 000001 HZISXVNdVOS N MSDS P86 9cP I GVOIdDdVOS N 4SnS P6 9crP 09 LIVM TIVOS N HSns I06 9c G SHTWL TIVOS N HSDnS 6G8 92cb I XVW SHAIG dVOTIdn N VHSnS 8g08 9cb O HOVIHOSON N N WSn8 G9L 9c I WWOOON N N WSns 6cL 9ct O LIWHHWNS N uSnS c69 9cp 0 OHS WWOOS N usns GG9 9Z2y I SSAIGN TIVOS N uSnS vI9 9ZY 0 WDWSTI4 N MSDS 9LG 9CP p guqTIa N N MSns8 6 G 9cb 00S 20 WS N VHSns TI0S 9cb O LINVANG OLAV LOLS N HSDS IGP 9cP 8IZCI NOT LINVASA LOLS N MSDS 00P IZY 9ELU LYT PIOVEHd LOLS N MSOS 9P 9C O LDnOHWIL DNISSIW XI4 N WSnS I6Z 9ZF OTL VLTISd SNIGVHH HdVOSHS N MSDS I6 GCP O DNIGVHH SdVOSs N usns 998 Gzv I 5NIGVS3H N usnsS ez8 Gcv 90 91666666 6 0 GH N uUusns 08L SZv 8666666600 0 8 au N usns 6zL GZy 00 0 v age N usns 989 Gzy 0 ASN NVWIVNS N HSDS TP9 GCP Sp XVW AWuai N usns 209 Gcy T qQOW AVNS N HSnS c9S GCP 881 G SSVNS N usns Zz8 GC Y 920 l OHHS N usns I8v GZY I HOLOV3 QH3dS N usns ctr GZr OE HdOTS HGI IOS N MSDnS I6E GCP O SVIG HGWNDOOS N WSnS LPE GCP OGl zong XVWS N HSDS 80 GCP G HOLId HHDOdVS N NSnS c9c GcV I HONDVIHHS N MSnS cCcCc GCP OT OOGHOLVM L N HSnS 6LL GCU 00I dIHO4gO d N HSnS GEI GCP TO00000 O NIDHVW HZHHWGS HOIS N MSDS PLO GSCP O HOI HSO N HSDnS 0 GC P AHLVG HSO N MSnS p66 PcP O WHLlIOT L N HSnS PG6 PCP OZI M ON L N usns LI6 vZY
35. 53 Seaglider runs a self test on the persistor CF2 flashcard Figure 7 28 If an error is detected the self test fails Determine the cause of the failure and correct before continuing FIGURE 7 28 Checking Flash lL05 901 SUSR N Checking flash No flash problems detecte 54 When prompted to perform the communications check press ENTER to accept the default answer Yes Y Seaglider Makes an Iridium call to the basestation Downloads any files waiting for it on the basestation Uploads the data files it has generated during the self test A message appears reporting the success or failure of the communication and transmission session Figure 7 29 If the transmission fails then the Iridium phone test fails and the self test fails Reposition Seaglider to be sure its antenna has an unobstructed view of the sky and wait for it to make another phone call 212 iRobot amp 1KA Seaglider User s Guide Interactive Pre launch Self Test FIGURE 7 29 Iridium Communications and Transmission Check B71 501 SSURF N Trying call 1 TAL 545 SSURF N Calling phone number 6975087483006 373 654 HPHONE N initializing PSTN connecti on 396 647 HPHONE N Iridium signal streng 5 396 812 HPHONE N Iridium geolocation FUR 729992 71 595558 wed Feb 9 16 08 54 2011 438 284 SSURF N Logged in 439 544 SSURF N Sending cmd lsx k t150 cmdfile 443 668 SSURF N Receiving cmdfile 444 934 SSURF N SOH STX 0x
36. Assemble Cradle SEAG 004 09 10 Put the assembled cradle on the floor next to the shipping case 40 iRobot amp 1KA Seaglider User s Guide Assembling Seaglider Assembling Seaglider To assemble Seaglider 1 Remove Seaglider from the shipping case a two person task and place in the launch and recovery cradle with the tail of the aft fairing resting on one handle see Figure 3 4 Your configuration may differ depending on what you ordered FIGURE 3 4 Position of Seaglider in the Cradle SEAG 005 09 2 Remove the wings from case Each wing is marked on the base of the root with the position where it should be secured port or starboard side of the Seaglider with the iRobot logo facing up and forward see Figure 3 7 on page 45 Install the port wing by inserting 8 8 32 x 1 2 screws through the port wing and into the portside aft fairing holes Start with the top screws keeping them loose until all screws are started and then tighten all of the screws until hand tight Note DO NOT over tighten the screws Rotate Seaglider slightly to attach the lower screws iRobot amp 1KA Seaglider User s Guide 41 Chapter 3 Setting Up the System Install the starboard wing by inserting 8 8 32 x 1 2 screws through the star board wing and into the starboard side aft fairing holes Start with the top screws keeping them loose until all screws are started an
37. CustomPumpMode no Cus tomPumpMode ConfigurationData S minCondfreq 10000 S GetCD ConfigurationData DeviceType SBE Glider Payload CTD SerialNumber 70100016 gt lt SampleDataFormat gt HEX engineering SampleDataFormat RS232ForceOn yes lt RS232ForceOn gt lt TxRealTime gt no lt TxRealTime gt lt SampleInterval gt l lt SampleInterval gt lt Samp leMode Continuous SampleMode lt AutoRun gt no lt AutoRun gt lt SBE43 gt yes lt SBE4J gt lt MinCondFreg gt 10000 lt MinCondFreg gt lt Cus tomPumpMode gt no lt Cus tomPumpMode gt lt ConfigurationData gt S gt start lt l start_logging gt s gt 0 08 15 4768 0 00004 0 09 15 4771 0 00004 0 08 15 4770 0 00003 0 07 15 4778 0 00003 0 08 15 4782 0 00003 0 08 15 4788 0 00003 0 09 15 4789 0 00003 0 09 15 4798 0 00003 0 07 15 4797 0 00003 0 08 15 4799 0 00003 0 08 15 4808 0 00003 0 08 15 4811 0 00003 logging stopped 5 gt Logger device test menu 1 on Turn on 2 off Turn off 3 selftest Selftest 4 sample Report a sample 5 syncclk Synchronize device clock to TT8 6 clock Read device clock 7 file Get file from device 8 action Execute logger action 9 config Show configuration 10 edit Edit configuration 11 direct Direct comms CR Return to previous Enter selection 1 11 cR 2 e Press 11 and press ENTER to go into direct serial communications with the GPC
38. Enter selection 1 5 CR 1 Step 1 Edit parameters Flight control and mission definition basic Basic mission and glider parameters 2 dive Dive parameters 3 flight Flight parameters 4 surface Surface parameters 5 rafos RAFOS parameters 6 password Set show glider login password 7 telnum Set show basestation phone number 8 altnum Set show basestation alternate phone number Pitch roll VBD 9 pitch Pitch parameters 10 roll Roll parameters 11 vbd VBD parameters Sensors and peripherals 12 config Hardware configuration parameters 13 pressure Pressure external parameters 14 intpress Pressure internal parameters 15 compass Compass paramaters 16 altim Altimetry parameters 17 seabird Seabird CT calibration 18 power Power parameters Utility 19 all Edit all parameters 20 validate Validate parameters 21 details Show parameter details 22 show Show changed parameters 23 clear Clear changed parameters 24 save Save parameters by name to file 25 dump Dump parameters to screen 26 load Load parameters from file ahh Seay Reset to defaults CR Return to previous Enter selection 1 27 CR 7 Step 2 6561 080 SUSR N Current telnum is 12062215341 Step 3 New telnum 15 char max length CR to leave unchanged 19194841429 6605 038 SUSR N Changing telnum to 19194841429 4 Type 8 and then press ENTER see Figure 3 16
39. I jOOIG N d 00x nTc000aS Burpuos N H Se tj poasenbez Au a3eq spuosopd 00za uor3ie3seseg uo e rrj 3eg spuosopd oN N MnSS ILC V6P Mnss coo 88 MASS 7S8 187 MOSS EGG GLU MnSS G80 69P unss v86 89Yv unss L8l L9Yv s s6s e uedo 3 u92 qouued XST XST G GDS Mnss cL 99 3eg spuosopd 00Z3 x XST puo burpues N mHn0SS G 9 9Gf 82I ezrgoes T peatecez 7x0 LOH N d gel Sjebae4 00Z23 X pepeooons uorssriusuedgj N soqAq GIT eoueoros peAreoeu N j3 9zTgoes peATecdez XO XLS HOS N 4 ooueros burATooou N MH eoueios 00Z3 J XST puo burpuesg N 4 seItJ poasenbez Au A2030o21p do er rj uons ON s29D703 uedo XST uor3e3seseg uo e 13j s3ebae3 ON N H s39D2932 0043 X XST puo burpues N H O I TVANHLNI Od N MOS 0 v SlUuVIS Od N uos 0 000000T XVNGVOTdn Od N uos 0 HIISONdLIWX Od N MOS O HIISONd Od N HOS 0 000r1 s2AOGVQHOOHN Od N MOS G0 9L666666 6 0 O GHIGVNSS N PI00 0 I O GNIGVHSS N c0000009 0 H O auiavass N II 9 O Gulawass N 90 89 7 f L GHIGVHSS N S0 9100000v Z I I QHuIGVHS N 0000009000 0 H L qurIgVsS N c000000P00 0 D L GHIGVHSS N 0c HOLId WIS N O M WIS N PC HOIAHG MddX N I HOIAWd SO4VU N C HOIASG Sd9 N 8 HOIAWd HNOHd N MnSS 8I8 GG MDSS Zc98 PS Unss 96l vGYv unss 8zl zGy Mnss 999 0G ANSS OT8 8P gegbs e uedo 3j uep jouusgeo xsT unss zs8 vvv MDOSS OLL PEP uHSS L
40. If it does not repeat step 3 5 When finished type exit and then press ENTER Note DO NOT stay logged in as root Checking the Contents of Seaglider s Directory If the Seaglider directory is already present on the basestation commissioning not needed check the contents of the Seaglider directory on the basestation Note Check the contents of the Seaglider directory at the start of every new set of testing and every mission To check the contents of the Seaglider s directory 1 Type ed sgXXX and then press ENTER where XXX is the Seaglider serial number 2 Typels and then press ENTER to check the directory s contents 3 If there are any old data files asc cap dat eng log prm move them to a new subdirectory with a descriptive name See Chapter 3 Moving Data Files on page 36 for information The cmdfile science targets pagers urls and sg calib constants m files should remain in the sgXXX home directory See Chapter 9 Files for Opera tions on page 237 for a description of the contents of the files Moving Data Files The program movedata sh that creates a subdirectory named by the user and moves older files from the top directory to that subdirectory was installed at the factory To move data files 1 Type usr local basestation movedata sh sub directory name of the your choice 2 Press ENTER For example type movedata sh BuzzardsBay 12Jan10 and then press ENTER iRob
41. In this event the Dive Data Analysis Software may display the raw data or may not show the data at all Review sg calib constants m file for correctness before generating plots iRobot amp 1KA Seaglider User Guide 325 Appendix D Dive Data Visualization Software Plot 1 Composite Plot Plot 1 presents a composite graph including the following dive characteristics e Velocities Horizontal and Vertical Horizontal velocity is represented by the horizontal speed in the direction of heading Vertical velocity 1s presented as a magnitude in the z direction perpendicular to the horizon Dive Depth Buoyancy Pitch Roll Heading Other than acting as a general flight check this plot primarily aids in providing a value to the pilot for changes in the parameter C VBD This can be determined by looking at the vertical velocity w dz dt versus the VBD Rule of Thumb If VBD line crosses 0 depth before w line glider is heavy if glider 1s too heavy decrease C VBD And vice versa If w line crosses 0 depth before VBD line glider is light if glider is too light increase C VBD 326 iRobot amp 1KA Seaglider User Guide Appendix D Dive Data Visualization Software G524 Dive 2 iRobot Port Susan Mission Start Time 17 Mar 2011 19 26 53 Height 2m W dzidt cms Horiz Speed W pitch Vert Speed buoy pitch Horiz Speed buoy pitch Pitch Up deg Pitch Control mm Vehicle R
42. Minimum Value 1 Maximum Value 100 AHO 24V Set by manufacturer Do not change Definition The capacity of the 24V high voltage battery pack AmpHr There is a small safety factor in this number and its accuracy has been verified in post recovery depletion testing of Seaglider battery packs Seaglider goes into the recovery phase if the total 24V battery pack amp hours used on a mission equals or exceeds this value Nominal Value 145 Minimum Value 1 Maximum Value 150 iRobot amp 1KA Seaglider User s Guide 93 Chapter 5 Piloting Parameters ALT_TEL_NUM Definition The alternate telephone number Seaglider dials to connect to the basestation should it not be able to connect via the primary number 13 digits maximum This number is the PSTN number for the phone line connected to an alternate modem if available on a basestation for Seaglider operations The format for the number is international country code without leading zeros for example 1 for the US then city area code and number There are no spaces or other interrupting characters between country code city area code or number The ALT mechanism allows for automatic switching between two telephone numbers in the event of a communication failure If a communication session using the primary phone number TEL_NUM does not successfully connect after SCALL NDIVES tries the phone number is switched to the alternate number for the
43. Roll Parameters and press ENTER The menu in Figure F 13 is displayed The explanation for each parameter as well as the acceptable range of values is located in Chapter 5 Piloting Parameters on page 83 The exact values of ROLL MIN ROLL MAX and C ROLL that should be used for the Seaglider being gueried are located on the trim sheets in the notebook shipped with Seaglider To change a parameter value follow the procedures Basic Mission and Seaglider Parameters on page 371 FIGURE F 13 Roll Parameters Roll current value in 2 O ROLL MIN 180 59 6 deg Roll position limit port ADF J ROLL MAX 3875 44 8 deg Roll position limit stbd ADF 32 ROLL DEG 45 Roll position normal flight deg 2 ye spa 2290 Roll neutral point when diving and testing AD jJ C ROLL CLIMB 2090 Roll neutral point when climbing CAD J HEAD ERRBAND 10 00 Roll scene Heading auto deadband deg 7 ROLL CNV 0 028270001 Roll position conversion factor deg ADf ROLL TIMEOUT 15 Roll mass timeout roll and rollback sec 9 R PORT _OVSHOOT 18 Roll mass overshoot to port after motor off AD 10 R STBD OvsHOOT 28 Roll mass overshoot to stbd after motor off AD 11 ROLL AD RATE 400 Roll motor AD count per sec 12 ROLL MAXERRORS 1 Number of roll errors allowed before entering recovery 13 ROLL_ADJ_GAIN 1 5 Gain for auto adjusting roll center deg battery roll deg sec turn rat
44. Seaglider s flight is controlled by systems that change buoyancy pitch and roll It is designed to operate within several hundred cubic centimeters cc of neutral buoyancy over a seawater density range of 106 66 iRobot amp 1KA Seaglider User s Guide Principles of Seaglider Operation e Buoyancy is controlled by changing the displaced volume of Seaglider Pitch is controlled to put Seaglider in a nose up position for climbing and a nose down position for diving and exposing the antenna at the surface Pitch is controlled by altering the center of mass of the vehicle by moving the battery mass forward or aft Roll is controlled to cause Seaglider to turn Roll is changed by altering the center of mass of the vehicle by rotating the battery mass from side to side Gravity Gravity is the force that pulls objects toward the center of the planet The center of gravity of Seaglider is changed by the movement of the mass shifter inside Seaglider The mass shifter is moved forward and back to effect changes in the vehicle s pitch and from side to side to effect vehicle roll Seaglider achieves static trim by the addition of ballast weight between the fairing and the pressure hull The position and amount of ballast is determined by mission and trim reguirements The addition or removal of science sensors also affects the reguired ballast weight Buoyancy Buoyancy is the unbalanced positive or negative vertical force on
45. See Figure 7 20 Ifthe maximum roll value is correct press ENTER to accept the default answer fthe maximum roll value at the prompt differs from the value on the Cal sheet make sure that the Cal sheet is up to date If the Cal sheet is the latest version enter the correct value and then press ENTER d Do one of the following Ifthe nominal value of 15 appears then press ENTER Ifthe nominal value does not appear enter the value 15 and press ENTER 43 Check the VBD motor and values 206 iRobot amp 1KA Seaglider User s Guide Interactive Pre launch Self Test 497911 FIGURE 7 21 Checking VBD Motor and Value 104 SUSR N Checking VBD and valve Verify VBD SW limits and timeouts Y VBD_MIN New value 550 00 VBD_MAX New value 3959 00 VBD_TIMEOUT New_value 720 00 1497926 1497926 1497927 469 HVBD N 589 4 cc ad 597 647 558 pan m 244 HVBD N 518 1 cc ad 888 932 852 069 HVBD N 449 6 cc ad 1167 1208 11351 MOTOR DONE ticks 9 max 24v 1076 4mA avg 24v 123 2mA minv 24v 23 7V 534 SMOTOR N GC TICKS TIME 1211 1213159 1632 HVBD N done 96 HVBD N Bleed completed from 591 65 cc 588 to 400 e cc 1366 1400 1332 took 30 0 sec OmA 928mA peak 23 8Vmin 25 AD sec 1199 ticks 205 HVBD N TRACK b 1399 1332 a ERU d 34 o 372 HVBD N VBD lin pot AD counts 1400 1332 528 HVBD N VBD bladder position
46. The center neutral or straight flight position A D counts for roll during the dive negative pitch control phase Note The climb and dive roll centers will probably be different This was implemented to correct for roll biases induced by physical asymmetries in Seaglider Nominal Value 2025 Actual initial value obtained from vehicle s trim sheet Minimum Value The software minimum of the system obtained from the vehicle s trim sheet Maximum Value The software maximum of the system obtained from the vehicle s trim sheet Definition The center neutrally buoyant at a specified density position A D counts for VBD Nominal Value 2900 Actual initial value obtained from vehicle s trim sheet Minimum Value The software minimum of the system obtained from the vehicle s trim sheet Maximum Value The software maximum of the system obtained from the vehicle s trim sheet iRobot amp 1KA Seaglider User s Guide Parameters by Category CALL NDIVES CALL TRIES CALL WAIT Definition The number of profiles dive climb cycles to perform before attempting communications Seaglider normally surfaces following each dive and GPS fixes 1 and 2 are obtained at each surfacing independent of the value of CALL NDIVES Nominal Value 1 Minimum Value 1 Maximum Value 10 Definition The maximum number of phone calls to attempt during a surfacing between dives Nominal Value 5 Minimum Value
47. aa ol Cyt 04000 Rot conker 2071678 i BE Erbe gs xs E Fols aC nd 4 72367 aL EO o 199 jggples 95 VB O07 vglnax 69725 cc gnax SM CC 449 magMAX BUOY D 7 r 05 1 15 2 25 3 35 50 olsa a Vertical Velocity cm s Roll Control Figure 12 Plot_12 dt Mew Insert Tools Desktop Window Heb Fie Edt View Insert Tools Desktop Window Heb Ido b s lt Su a D amp aoeeead a u Dede h ss 2 a 08 ara Buoyancy Contoured m ri Glider Track 2 50512 Dive 4 iRobot Port Susan 6512 Dive 4 Robot Port Susan SO512 Dive 4 Robot Pori Susan Visualizations Multiple graphs are displayed for the variety of data that is collected and reported by the vehicle Each type of data has a specific graph that is associated with the data So for instance data collected from one or more oxygen sensors will be plotted on the same graph The following subsections will discuss in detail each data type analyzed and visualized by the software Graphs for which no data exists will display a message on the graph indicating that no data exists for the dive being analyzed So for example if no oxygen data exists for the dive a message such as Oxygen data does not exist for this dive will be displayed on the graph Refer to the subsections below for messages specific to the plot If thesg calib constants m file is missing or the input format is incorrect the plots may not plot as intended
48. i pitch Pitch control 2 roll Roll control 3 vbd VBD control Fixed Devices super Supervisor 5 pressure Pressure sensor 6 compass Compass tcm2 7 gps GPS 8 modem Modem xmodem mode 9 intpress Internal pressure 10 altim Altimeter 11 sensors Sensors 12 loggers Loggers Other batt Batteries and fuel gauges 14 lowlevel Low level hardware IO A D CF 15 misc Miscellaneous travel timeouts date time 16 develop Developer tests CR Return to previous Enter selection 1 16 CR 10 Altimeter XPDR Menu 1 ping Ping the altimeter 2 config Upload configuration to altimeter 3 count Query the transponder ping count 4 xpdrcfg Update XPDR configuration from parameters 5 direct Direct comms with altimeter 6 param Edit altimetry parameters CR Return to previous Enter selection 1 6 CR 3 956 913 HXPDR N ping count 0 Altimeter XPDR Menu 1 ping Ping the altimeter 2 config Upload configuration to altimeter 3 count Query the transponder ping count 4 xpdrcfg Update XPDR configuration from parameters 5 direct Direct comms with altimeter 6 param Edit altimetry parameters CR Return to previous Enter selection 1 6 CR 3 1033 230 HXPDR N ping count 3 Set up the acoustic deck box b Set the correct transmit frequency on the deck box This frequency is in the notebook that was shipped with Seaglider Put the transducer next to the nose of Seaglider touchin
49. q sntpey epnirbuoq opnjr3eg 39PzeL N ANNS 91L 68 suor3aeorjro ds eoueros pue sjebreq burjzodouy N usns 900 8 euop WvuAN SuTITIM N 8LLH 098 8L c aunoo burd A doz zepuodsue N NSDnS 9GG 8L iRobot IKA Seaglider YM User s Guide 356 Appendix E Autonomous Self Test uor30euuoo NLSd DUTZTI PIOTUT N WNOHdH 69 LPCc Lv8c19 6I6L zegumu euoud bur e5 N 43uUnss 9G2 SPZ UI II9O DUT IL N GHDSS EIC GSUC o0o1Ie syooIg OG OOTTE se g 9LIP ee1J Sx4o01q 8 eexJ seqAq ZE8ZZE yTeM deoyrD N DOOTIVWIOS G80 GSPZ 8g33 ed L dee s o3 DuroD N mHDnSS OL9 I Zc O sanoeur3l Q S MVN Ie3OL N mHDSS PI9 TI Z iNOzemod Burpuodsezzoo 3noyjrm zeJx Hutanp umrprx1I ggHOZeMOd N MHMOdS OIG I Z urbPo oa eIgeun N mTNHnSS I9P TIEZ WHINHVO ON 00261 LOSNNOO pe30939p aduozd urbDor ou N 4MOSS LSE IEC II02 80 08 02 APM ONL p 86GL 0L 0G9ITPP IP uor3e00I09D umrpraI N SNOHdH LZZ 1S S u3bued3s eubrs unrTprII N WNOHdH C90 IG uor32euuoo NISd burzrT eraIUTN SNOHdH Z9L 6C LV8Cl9E6161 xequnu euoud bur reo N 3HnS8 ZyV9 SZ 70 TTE DuI AZL N 4HDSS 86G Gc oo1Ie SYOOTT 0G OOTTE s 3 q 9 IF ee1j SHOOT g eeag SeiAq ZE8ZZE XIPM deeyurID N DOTIVWIDS OLP GC peuedo 00X nPZ0003S 9III N 84OH 9GP PC peuedo I0X nIZ0003S 9TIJ N 84OH Ivl EC pesop o aM p seu 00X nI200038 OITJ N 8BHOH PLE CC peuedo 00X nTZ20003S 9TIJ N 843OH SZZ ZC pe
50. saad junoo Surd Jopuodue Sur ur 000000 666 SEM 23 Y y osuodsor 8 ut 000000 666 Sem 8 y osuodsor 8 UI Q0ST69 9 SEA o3 ueojo N MSDS SLL L UeIN HGOdXH 8E8 utd N GITdXH 9LL S Uer N MdIdXH 889 utd N TdAXH 9C9 uei N MddXH cLCI SuI9c6 800 osuodsor Sutd N gTdXH TTC T 8189 JO 4184S peur o s8uid ojgrpny N MSDS 61 0 110C 9C L 01 6c FEIN NLN ASNS LZ 0 SESOS Jopi 8 uo cj 1soyos 3uruuiog N IS S Lr 09 GIO T uonoejes 1904 snorAe1d o3 umgew O ijpuneT ves eas 4 igouneTjsop 183 9 Joquinu uni eA p yosoy 39831 sjjnso1 3so Jjes peo dn pspeogdn p 189 JJos snourouojne uuopreq jsoj0jne c 3839 JJos eAnoe1ojur woad soys z epouroueuoosjeg u os I nuo youneq iRobot IKA SeagliderTM User s Guide 348 Appendix E Autonomous Self Test Moddns 1opi o doo qq JnoupiA po Moddns wapo wory NOY po Moddns LO TIVS MOM po uoddns qqoqv nov JnouiA po uoddns JAV Vd JnouiA po uoddns Sw y moya po yoddns jue JnouypiA po uoddns SO yy Noy po Moddns 57 moy po Muoddns OTYVNAOS PM po 1duo5 N tSnS ree 8TeseTe 1duo N tSns TrC8TESETE 1du05 N tSnS rer 81 SET 1duto N dIsns rco 81 seT IduroO NIS0S 0Z6 L1 S I 1duro N ISOS LIS LT SE TE 1duo N tSns cse 16sere 1duo N tSnS LLCLIESETE Ido NASNS SLI LIESETE 1dut0 N tSns 0L0 L 1 s T 993 1 IduroO N IS 1S 86 91 I SLL 8 UOISIOA NAS WOIJ NMSDS 968 91 S T V
51. sg123 finished waiting for next line cnt 999 Sun Dec 2 19 19 13 2007 sg123 got Oxaf sector header Sun Dec 2 19 19 15 2007 sg123 finished waiting for next line cnt 1 Sun Dec 2 19 19 15 2007 sg123 got 0x59 sector header Sun Dec 2 19 19 17 2007 sg123 finished waiting for next line cnt 543 Sun Dec 2 19 19 17 2007 sg123 got 0x59 sector header Sun Dec 2 19 19 21 2007 sg123 finished waiting for next line cnt 130 Sun Dec 2 19 19 23 2007 sg123 sector number 6 block length 128 Sun Dec 2 19 19 23 2007 sg123 sync error in protocol Errors in transmission are reported If the Iridium connection drops the communications session times out Duplicate and or missing sector numbers indicate loss of synchronization between the Seaglider and the basestation Errors can also be caused by dropped Iridium connections The Seaglider will automatically call back and try sending data again until it succeeds or reaches the maximum number of calls set by the parameter CALL TRIES 292 iRobot amp 1KA Seaglider User s Guide Appendix B Seaglider File Formats Manual Sun Dec 2 19 19 23 2007 sg123 sg0055dz x01 XMODEM got error In this case the glider Renamed partial file sg0055dz x01 to sg0055dz x01 PARTIAL 1 realizes that the basestation Sun Dec 2 19 19 23 2007 sg123 processed partial file sg0055dz x01 0x0 did not receive a complete file Sun Dec 2 19 19 23 2007 sg123 Exiting 128 Th
52. to the nose of the forward fairing If adding weight plates apply a coating of Tef Gel to the plate surfaces that will come in contact with one another before installing The screws needed to attach the nose 426 iRobot amp 1KA Seaglider User s Guide Appendix G Ballasting plates are listed below and are determined by the number of nose weight plates used Oty of 1 4in Qty of 1 8in Screw Length Qty Nose Plates Nose Plates 1 4in 20 2 1 2 3 4in 2 2to3 4to6 1 1 2in 2 4to5 8to 10 2 0in Lead ballast on the exterior of the rear most battery hull is affixed using carpet tape and held in place with the straps around the battery hull The lead ballast is isolated from the hull using an EPDM rubber pad The pad is also present to protect the pupa anodizing and allow for expansion and contraction of the hull y Steps to adjust lead ballast 1 Remove Forward Fairing 2 Take note of lead values and location on the pupa Refer to the lead worksheet tab on Trim Sheet When changing ballast by adding or subtracting lead the changes must be made according to the diagram provided by iRobot 3 Remove straps from rearmost battery hull If zip ties are used as the strapping material cut them off over the rubber area so as not to damage anodizing on the battery hull If buckles and straps are used as the strapping material release the buckle with a flat blade screwdriver 4 If removing or
53. we iterate via bisection to settle on the best speed At convergence Seaglider has a ferry angle to steer and a horizontal speed to apply The predicted horizontal speed is used to calculate a new value for glide slope Nominal Value 1 Minimum Value 0 Maximum Value 3 iRobot amp 1KA Seaglider User s Guide Parameters by Category P OVSHOOT Set by manufacturer Do not change Definition The distance cm by which the pitch mass is allowed to overshoot its target after the pitch motor is turned off Nominal Value 0 04 Minimum Value 0 1 Maximum Value 0 1 PC RECORDABOVE Definition A pumped CTD command that sets the depth in meters above which the sensor will turn sample A value of 0 turns the sensor off Minimum Value 0 Maximum Value 1000 PC PROFILE Definition A pumped CTD command that specifies when the CTD will record data none downcast only upcast only or both down and upcast 0 none 1 downcast only 2 upcast only 3 down and upcast iRobot amp 1KA Seaglider User s Guide 127 Chapter 5 Piloting Parameters PC_XMITPROFILE PC_UPLOADMAX PC STARTS Definition A pumped CTD command that specifies which data profiles from a dive are transmitted to the basestation none downcast only upcast only or both down and upcast 0 none 1 downcast only 2 upcast only 3 down and upcast Definition The SPC UPLOADMAX parameter is currentl
54. 0 8028 avg 24v 8 0018 1611 742 SHOTOR N ce TIGNS TIME 29731684 1611 831 HPITCH N done 1611 973 HPITCH N Pitch completed from 6 38 cm 7205 to 6 24 cm 7415 took 8 1 sec 8 2968 48 3598 peak 1612 313 HPITCH N TRACK b 736 a 748 d 4 o 1 1612 512 HROLL Roll commanded from 1 19 deg 21885 to 0 88 deg 21465 1613 657 HROLL N 1 2 deg Cad 21885 MOTOR DONE ticks 26 max 24v 8 08280 aug 24v 0 001 1614 127 SMOTOR N GC TICKS TIME 29 30489 614 216 HROLL Ne done 1614 284 HROLL N Roll No motion occurred 1614 511 HPITCH AE Pitch commanded from 6 24 cm 7415 to 8 21 cm 1185 1615 693 HPITCH N 6 7 cm Cad 581 MOTOR DONE ticks 3 max 24v 8 0828 avg 24v 8 8828 1617 315 SMOTOR N GC TICKS TIME 76 78474 1617 404 HPITCH N done 1617 547 HPITCH N Pitch completed from 6 24 cm lt 741 gt to 8 23 cm 18045 took 1 8 sec 8 0878 8 2368 peak 1617 889 HPITCH N TRACK b 118 a 112 d 18 o 8 1618 695 HUBD N Pump commanded from 9 81 cc 4755 to 8 88 cc 4355 1619 251 HUBD N 9 1 cc Cad 472 501 43915 MOTOR DONE ticks 15 max 24v 8 08838 avg 24v 0 002 1623 598 SMOTOR N GC TICKS TIME 184 186414 1623 689 HUBD N done 1623 803 HUBD N Pump completed from 9 81 cc 4755 to 0 00 cc 435 473 39815 took 4 2 sec 298A 2 995 1624 164 HUBD N TRACK b 435 a 435 d o 1624 270 SUSR N guery timeout lengthened you have one hour to respond St 17 Ready to launch N y zx
55. 1 Test Bathymetry Files is the check that users will most often perform from this menu It tests the successful loading of bathymetry files onto Seaglider This is the same check that is done during a self test Selections 2 8 are used during Seaglider checkout at the factory and at the direction of iRobot Customer Service if a problem occurs with Seaglider iRobot amp 1KA Seaglider User Guide 419 Appendix F Hardware and Configuration Menus FIGURE F 50 Test Operation Modes and Files Operational Functions Test Menu bathy Test bathymetry files recovery Test recovery surface Test surface maneuver sample Test sampling and data file creation Langle Test surface measurements normal upload Exercise uploadData regular operations uploadst Exercise uploadData self test results only modes Test active passive modes CR Return to previous Enter selection 1 8 CR QOO EO un Ps uu RO E To exit the Hardware Menu and return to the Main Menu press ENTER again PicoDOS Commands To view the picoDOS commands menu Select 4 PicoDOS Commands and exit and press ENTER Seaglider responds with Enter extended and normal picoDOS commands at the prompt quit returns to menu pdos exits the program to pDOS tom8 exits the program to TOMS gives help and hints For more information on picoDOS commands see Appendix C Extended PicoDOS Reference Manual It is not recomm
56. 122 degrees 23 456 minutes would be input as 12223 456 Longitude values in the eastern hemisphere will be positive values while longitude values in the western hemisphere will be negative values Nominal Value 12218 000 Minimum Value 18000 000 Maximum Value 18000 000 iRobot amp 1KA Seaglider User s Guide 151 Chapter 5 Piloting Parameters UNCOM BLEED Set by manufacturer Do not change Definition The uncommanded change in A D counts of VBD bleed that triggers the following actions in an attempt to save Seaglider 1 Stop whatever motor is running the assumption is that electrical noise from one of the motors causes the Skinner valve to open and disable it 2 Close the Skinner valve 3 Enter the recovery state go to the surface and call home Nominal Value 50 Minimum Value 0 Maximum Value 400 UPLOAD_DIVES_MAX Definition The maximum number of dives to upload at one surfacing A value of 1 means upload all available dives that have not been previously uploaded Nominal Value 1 Minimum Value 1 Maximum Value 9999 iRobot 1KA Seaglider User s Guide Parameters by Category USE_BATHY Definition If SUSE BATHY is 4 search for an on board bathymap nnn appropriate for the current position of Seaglider This would be the standard usage in operating areas covered by more than one map If USE_BATHY is a positive integer then search for that particular on boar
57. 199250 1497905 500 HROLL N done 1497905 660 HROLL N Roll completed from 35 22 deg a 39 86 deg alss took 4 7 sec 41mA 194mA peak 23 7Vm n 571 AD sec 186 ticks 1497906 061 HROLL N TRACK b 1216 0 a 1212 0 d 1497906 180 SUSR N Roll to neutral 1497906 364 HROLL N Roll commanded from 39 86 deg 1185 to 0 00 deg 2595 1497907 726 HROLL N 34 0 deg ad 1394 MOTOR DONE ticks 7 max 24v 3 lmA avg 24v 2 3mA minV 24v 23 Bv 1497910 339 SMOTOR N GC TICKS TIME 113 115112 1497910 434 HROLL N done 1497910 585 HROLL N Roll completed from 39 86 deg ee to 0 17 deg 2601 took 2 6 sec 63mA 253mA peak 23 6Vmin 549 AD sec 103 ticks 1497910 985 HROLL N TRACK b 2579 0 a 2583 0 d 6 o a At the prompt Verify roll SW limits and timeouts Y press ENTER to accept the default Yes See Figure 7 20 b Atthe prompt SROLL MIN New value x verify that the value displayed matches the minimum roll value on the Cal sheet found in respective Seaglider notebook See Figure 7 20 Ifthe minimum roll value is correct press ENTER to accept the default Ifthe minimum roll value at the prompt differs from the value on the Cal sheet make sure that the Cal sheet is up to date If the Cal sheet is the latest version enter the correct value and then press ENTER c Atthe prompt ROLL_ MAX New value x verify that the value displayed matches the maximum roll value on the Cal Sheet found in respective Seaglider notebook
58. 1KA Seaglider User s Guide 95 Chapter 5 Piloting Parameters ALTIM_PING_DELTA Definition If the altimeter does not get a successful return and confirmation ping return at SALTIM PING DEPTH it continues to issue pings at depth intervals of SALTIM PING DELTA meters See SALTIM PING DEPTH Nominal Value 0 Minimum Value 0 Maximum Value 1000 ALTIM PING DEPTH Definition The depth of the first altimeter ping meters if non zero If the altimeter gets a return and a return to an immediate second confirmation ping it sets the bottom depth equal to the current depth plus the altimeter range to the bottom The apogee maneuver is initiated at ALTIM BOTTOM TURN MARGIN meters above the bottom If SALTIM PING DEPTH is non zero the altimeter timeout is set so that the maximum range is the larger of 0 75 ALTIM PING DEPTH and 1 2 ALTIM TOP PING RANGE if set The first test 1s meant to exclude surface returns Note SALTIM PING DEPTH and the SALTIM BOTTOM PING RANGE modes are mutually exclusive IfSALTIM BOTTOM PING RANGE is set it is honored to the exclusion of SALTIM PING DEPTH Nominal Value 0 Minimum Value 0 Maximum Value 1000 iRobot amp 1KA Seaglider User s Guide Parameters by Category ALTIM_PULSE Definition Pulse width ms of altimeter pings The value must be an integer between 1 and 9 Nominal Value 3 Minimum Value 1 Maximum Value 9 ALTIM SENSITIVITY Defi
59. 1a x00 st0055du r st0055du x00 st0055lu 1a x00 st0055lu x00 st0055kz 1a x02 st0055kz 1a x03s t0055kz b 1a x04 st0055kz b x04 st0055kz r st0055kz x00 st0055kz x01 st0055kz x00 PARTIAL 1 d indicates that these intermediate files will be used to create a data file indicates that these intermediate files will be used to create a log file k indicates that these intermediate files will be used to create a capture file Partial files appear when the basestation does not receive a complete file from the Seaglider and is unable to process it Transmission errors are addressed in the Communications Log section of this document and in the Seaglider Pilot s Guide Chapter 2 File Descriptions This section describes the files relevant to the Seaglider user Where appropriate excerpts from real files with explanatory annotation are shown 2 1 Processed Files 2 1 1 Log File p1230055 log iRobot 1KA Seaglider User s Guide Appendix B Seaglider File Formats Manual One log file is made for each dive The first portion of the data is a list of the Seaglider s parameters and their values for that dive See the Parameter Reference Manual for more information The second section beginning with the entry GPS1 contains information concerning the pre dive period at the surface The GC labeled lines describe motor actions pitch roll or VBD one line per motor move The information l
60. 400 81 cc ADf 1366 661 SUSR N Pumping 100cc on boost alone 903 HVBD N Pump commanded from 400 81 cc 1366 to 500 89 cc E 369 HVBD N 401 3 cc ad 1364 1399 13271 194 HVBD N 424 4 cc Cad 1270 1315 1223 1994 HVBD N 448 4 cc lad 1172 1216 112642 lt 794 HVBD N 472 9 cc ad 1072 1116 1027 F 569 HVBD N 497 2 cc ad 973 1014 929 MOTOR DONE ticks 9 max 24v 3 8mA avg 24v 3 1mA minv 24v 23 8v 709 SMOTOR N GC TICKS TIME 1822 1824116 807 HVBD N done 1967 HVBD N Pump completed from 400 57 cc 1367 to 501 88 cc 954 996 913 took 45 2 sec lllmA 1557mA peak 23 6vmin 9 AD sec 1810 ticks 413 HVBD N TRACK b 1001 916 a Y d 43 o 47 1537 SUSR N Pumping up to maximum buoyan 781 HVBD N Pump commanded from 502 12 cc Yt953 to 600 98 cc 550 1160 HVED N 502 9 cc ad 950 990 907 1960 HVBD N 526 7 cc Cad 853 895 810 785 HVBD N 550 2 cc ad 757 798 14 1535 HVBD N 573 7 cc ad 661 704 617 1335 HVBD N 596 6 cc ad 568 609 525 996 SMOTOR N GC TICKS TIME 1841 1843146 1095 HVBD N done 256 HVBD N Pump completed from 502 12 cc 953 to EON 47 cc 548 591 505 took 45 8 sec 545mA 2805mA peak 23 3vmin 8 AD sec 1831 ticks 696 HVBD N TRACK b 594 507 a 594 507 d 44 o 1819 SUSR N Bleeding down 10 cc 1952 HVBD N VBD lin pot AD counts 589 502 L105 HVBD N VBD bladder position 602 20 cc CAD 545 373 HVBD N Ble
61. 4046374e 06 Seabird T j coefficient SEABIRD_C_G 9 8404341 Seabird C g coefficient SEABIRD_C_H 1 104722 Seabird C h coefficient SSEABIRD C I 9 9999997e 05 Seabird C i coefficient SEABIRD_C_J 0 00025927747 Seabird C j coefficient Return to previous menu Enter selection 1 169 CR the cmdfile 1n this section can also be made i To edit the cmdfile go to Command File on page 239 for an explanation Any 1n Changes made to parameters Note he cmdfile constants m file See Appendix B Seaglider is menu or t her through th ients eit edits made to the SEABIRD coeffic i File Formats Manual on page 275 for in should also be made in the sg_cal his file ormation on t fi 389 iRobot 1KA Seaglider User Guide Appendix F Hardware and Configuration Menus Validate Parameters To access the Validate Parameters menu from the Parameters and Configuration menu Select 20 Validate Parameters and press ENTER The parameters are written to NVRAM When the write is complete the user is automatically returned to the Parameters and Configuration menu To exit from the Parameters and Configuration menu and return to the Main Menu press ENTER Show Parameter Details To access the Validate Parameters menu from the Parameters and Configuration menu Select 21 Show Parameters and press ENTER A table listing all Seaglider parameters the group each
62. 469720 CURRENTS 256 LOGGERS CMD 109 SG0000KZ A 2710 BG010311 497 OLDMAIN RUN 489988 sG0000LZ A 1374 SGODO1KZ X02 2137 SGO001KZ A 10329 sG0001DZ A 1209 sG0001LZ A 2619 SG526PRM TXT 2899 RECEIVE 000 256 RECEIVE 001 0 RECEIVE 002 768 QSP2150 CNF 128 RECEIVE 003 256 RECEIVE 004 384 WLBBZF CNF 256 WLBB2FL CNF 256 WLBBFL2 CNF 256 660701 RUN 490240 BG020711 488 2225621 bytes used 45 files 39 Verify the pressure sensor FIGURE 7 17 Checking Pressure Sensor L497795 211 SUSR N Checking pressure sensor Are you at sealevel Y Number of samples to collect and average 11 Show all samples N 1497802 425 HPRES N A D Volts Meters 1497802 671 HPRES N Mean 415373 6 0 482591 0 01 1497802 937 HPRES N RMS 415373 8 0 482592 0 01 1497803 148 HPRES N Min 414718 0 481830 0 04 1497803 361 HPRES N Max 416149 0 483492 0 07 1497803 538 HPRES N Peak to peak 1431 1 662571 uv 1497803 705 HPRES N Volts per bit 1 161825e 09 1497803 811 HPRES N Y intercept is set correctly a At the prompt Are you at sea level Y type Y for Yes default if you are at sea level or N for No and then press ENTER Figure 7 17 b At the prompt Number of samples to collect and average 11 press ENTER to accept the default of 11 Figure 7 17 c At the prompt Show all samples N press ENTER to accept the default N Figure 7 17 The results from the sea level calibration display iRobot a
63. AD counts 3202 3114 20150 756 HVBD N VBD bladder position 0 49 cc ADf 3158 T 20209 852 HVBD N VBD lin pot AD counts 4077 4088 20210 007 HVBD N VBD bladder position 227 14 cc CAD 4082 20211 305 HVBD N VBD lin pot AD counts 4089 4094 20211 460 HVBD N VBD bladder position 229 35 cc CAD 4091 20212 759 HVBD N VBD lin pot AD counts 4094 4094 20212 912 HVBD N VBD bladder position 230 09 cc CAD 4094 20214 212 HVBD N VBD lin pot AD counts 4094 4095 20214 365 HVBD N VBD bladder position 230 09 cc ADf 4094 At the conclusion of the test Seaglider returns to the VBD menu Pump and Bleed Cycles This test is done in a pressure chamber It is not recommended that this test be done outside of the iRobot factory To perform pump and bleed cycles Select 10 Pump and Bleed Cycles Seaglider returns Do you want to specify pressure Y or VBD AD N limits Y In this example pressure the default is the limit 20475 952 HVBD N current pressure zx Maximum pressure mn 1500 000000 350 Set the maximum pressure For this example pressure is set to 350 Time to rest max pressure secs 5 iRobot 1KA Seaglider User Guide 405 Appendix F Hardware and Configuration Menus If 5 is okay press ENTER otherwise type in a new value and press ENTER Minimum pressure psi 0 000000 If 0 is okay press ENTER otherwise type in a new value and press ENTER
64. Enter selection 1 28 374 iRobot 1KA Seaglider User Guide Appendix F Hardware and Configuration Menus RAFOS Parameters To access the RAFOS Parameters menu from the Parameters and Configuration menu Select 5 RAFOS Parameters and press ENTER The menu in Figure F 8 is displayed Note RAFOS is not licensed to iRobot and as such while these parameters do appear in parameter lists they are NOT activated in the iRobot version of IKA Seaglider software FIGURE F 8 RAFOS Parameters Menu Parameters current value in 2 1 RAFOS PEAK OFFSET 1 5 internal delay of RAFOS receiver seconds 2 S RAFOS CORR THRESH 60 threshold correlation value for hits used in navigation 3 RAFOS HIT WINDOW 3600 window length seconds in which to search for hits to use in navigation CR Return to previous menu Enter selection 1 3 CR To exit the RAFOS Parameters menu and return to the Parameters and Configuration menu press ENTER Password To access Seaglider s password from the Parameters and Configuration menu 1 Select 6 Password and press ENTER The present password is displayed Figure F 9 When prompted for a new password verify the value of the present password The password assigned to a Seaglider at the factory is 6 digits long The first three digits are Seaglider s ID number The last three digits are either 680 1f Sea glider s ID is even or 791 if Seaglider s ID is odd Howe
65. F 42 is displayed Both the altimeter and the transponder functions can be gueried from this menu The unit is configured at the factory It is not recommended that the user edit the configuration values without consulting iRobot Customer Service Adjusting the altimeter parameters is done in the field as sensitivity varies with the environment Seaglider is in FIGURE F 42 Altimeter XPDR Menu Altimeter XPDR Menu 1 ping Pind the altimeter 2 config Upload configuration to altimeter 3 count Query the transponder ping count 4 xpdrcfg Update XPDR configuration from parameters 5 direct Direct comms with altimeter 6 param Edit altimetry parameters CR Return to previous To exit the Altimeter Menu and return to the Hardware Menu press ENTER Sensors Menu To view the Sensors menu Select 11 Sensors menu and press ENTER A menu showing all of the installed science sensors is displayed In the example below Figure F 43 the SBE CT sensors are the only ones installed FIGURE F 43 Sensors Menu ccc Sensors menu 1 sbect SBE CT CR Return to previous When the user selects a sensor he is asked how many samples the sensor should take The data is then displayed on the screen If there are zeros in the counts 414 iRobot amp 1KA Seaglider User Guide Appendix F Hardware and Configuration Menus column this means that there is no signal and the counter has timed o
66. Fairing Kit 4249894 4294323 00001 Nose Kit Ogive 4327116 Wings Kit 4249895 4326606 Rudder Kit 4249896 4326607 Photosynthetically Active Radiation PAR 4287926 Biospherical Instruments Sensor QSP 2150 Dissolved Oxygen Sensor Aanderaa 4330 4330F 4196239 Dissolved Oxygen Sensor Sea Bird SBE 43F 4192455 Free Flow Dissolved Oxygen Sensor Sea Bird SBE 43F 4289668 Pumped Backscatter Meter Fluorometer 4249861 WETLabs BB2FL VMT 470 700 CHL A Backscatter Meter Fluorometer 4314144 WETLabs BB2FL VMT 532 880 CHL A Backscatter Meter Fluorometer 4273157 268 iRobot 1KA Seaglider User s Guide Diagnostics Part Part Number Ouantity Backscatter Meter Fluorometer 4192457 WETLabs BB2FL VMT 650 CDOM CHL A Sea Bird GPCTD 4292639 Sea Bird CT Sail 4249882 Shore Station System 4196238 Communication Cable 4196985 Collapsible Field Cradle 4320926 Magnetic Power Wand 4199416 Hardware Field Kit 4199502 Hardened Shipping Case 4311445 Argos Mount Kit Standard Antenna 4266416 Argos Mount Kit Short Antenna 4327337 Communications Cable with External Power Adapter 4196986 Diagnostics Please list any issues you have encountered with your Seaglider product and or specific functions you would like iRobot to investigate during your refurbishment calibration or other service Issue Function for Diagnosis Description Quantity Please
67. If an ENHANCED BUOYANCY ENGINE is installed in the Seaglider SD BOOST is used in conjunction with T BOOST and should be set as follows Nominal Value 0 Minimum Value 0 Maximum Value 120 106 iRobot amp 1KA Seaglider User s Guide Parameters by Category D_CALL D FINISH Definition A depth meters above which the glider will initiate the GPS acquisition and Iridium phone call portion of the surface maneuver Ifthis depth is not reached a subsurface finish is executed A value of 0 means the glider initiates the GPS acquisition and Iridium phone call at the surface Nominal Value 0 Definition The depth meters at which a dive is considered completed Normally this is 0 but can be a number greater than zero to specify the depth at which subsurface finish maneuvers should be started Used only when an additional trigger to initiate a subsurface finish is present See N NOSURFACE on page 123 Note Ifa subsurface finish has been triggered by N NOSURFACE and D FINISH gt D SURF then the dive will complete a subsurface finish However if a subsurface finish has been triggered by N NO SURFACE and D FINISH D SURF the dive will finish at the surface Nominal Value 0 Minimum Value 0 Maximum Value 1000 iRobot 1KA Seaglider User s Guide 107 Chapter 5 Piloting Parameters D FLARE Definition The depth meters at which Seaglider flares to the computed pi
68. Menu a nnnssnssssssss 380 FIGURE F 15 Hardware Configuration Parameters Menu sss 381 FIGURE F 16 External Pressure Parameters Menu sse 382 FIGURE F 17 Internal Pressure Parameters Menu cccccccecssessesecseeseeseeseeseeeeneeneens 383 FIGURE F 18 Compass Parameters Menu sese 383 FIGURE F 19 Altimetry Parameters Menu annassa 384 FIGURE F 20 Sea Bird CT Calibration Coefficients Menu 385 FIGURE F 21 Power Parameters Menu a eene 386 FIGURE F 22 Edit All Parameters Menu esses 387 FIGURE F 23 Save Parameters By Name To A File 392 FIGURE F 24 Hardware Menu n tnn 394 FIGURE F 25 Pitch Control Menu a ssnsnsnsssssssssssss 394 FIGURE F 26 Pitch Motor Movement By Changing A D Counts 396 iRobot amp 1KA Seaglider User s Guide xvii FIGURE F 27 FIGURE F 28 FIGURE F 29 FIGURE F 30 FIGURE F 31 FIGURE F 32 FIGURE F 33 FIGURE F 34 FIGURE F 35 FIGURE F 36 FIGURE F 37 FIGURE F 38 FIGURE F 39 FIGURE F 40 FIGURE F 41 FIGURE F 42 FIGURE F 43 FIGURE F 44 FIGURE F 45 FIGURE F 46 FIGURE F 47 FIGURE F 48 FIGURE F 49 FIGURE F 50 FIGURE F 51 Pitch Duty Gycling enhn RESI 398 Roll Control Menu s
69. SROLL AD RATE AD counts second PITCH MIN AD counts PITCH MAX AD counts PITCH DBAND cm PITCH_ CNV AD counts cm P OVSHOOT cm PITCH_TIMEOUT seconds SPITCH AD RATE AD counts second VBD MIN AD counts VBD MAX AD counts VBD DBAND cc VBD CNV AD counts cc VBD TIMEOUT seconds SPITCH VBD SHIFT cm travel cc pumped VBD PUMP AD RATE SURFACE AD counts second VBD PUMP AD RATE APOGEE AD counts second VBD BLEED AD RATE AD counts second HEAPDBG Boolean SINT PRESSURE SLOPE calibration value iRobot amp 1KA Seaglider User s Guide Parameters by Category SINT PRESSURE YINT calibration value DEVICEI integer DEVICE2 integer DEVICES3 integer DEVICE4 integer DEVICES integer DEVICE6 integer COMPASS USE integer COMPASS DEVICE integer COMPASS2 DEVICE integer PHONE DEVICE integer GPS DEVICE integer XPDR DEVICE integer SIM W off 0 or cm seconds SIM PITCH off 0 or degrees SSEABIRD T G calibration value SSEABIRD TH calibration value SSEABIRD T I calibration value SSEABIRD T J calibration value SSEABIRD C G calibration value SSEABIRD C H calibration value SSEABIRD C I calibration value SSEABIRD C J calibration value STROBE integer MINV 10V voltage MINV 24V voltage SLOGGERS integer SLOGGERDEVICEI integer LOGGERDEVICE2 integer LOGGERDEVICES integer SLOG
70. The intervals can vary by pilot specified depth bands but are uniform within each specified depth band The vertical velocity is not specified directly by a parameter but is calculated from parameters that describe Target depth of a dive SD TGT in meters e Time to complete a dive ST DIVE from surface to surface discounting pumping time at the bottom of the dive in minutes Therefore the vertical velocity in cm sec is wa 2 D TGT 100cm m T_DIVE 60s min iRobot amp 1KA Seaglider User s Guide Features of Control Seaglider operating software chooses the buoyancy and pitch used on any individual dive to achieve the best results on that dive The choices are bounded by the parameters MAX BUOXY the maximum negative buoyancy allowed on a dive SGLIDE SLOPE the maximum glide slope allowed on the dive The choices are also bounded by physical limits neutral buoyancy need some negative buoyancy to glide and the stall angle The software has to choose a buoyancy value between 0 neutral and MAX BUOY and a desired pitch angle between the stall angle and SGLIDE SLOPE The choice is determined by the distance to the next waypoint The pitch angle is chosen to achieve the desired horizontal distance maximum pitch if the waypoint is close minimum pitch if the waypoint is distant or the exact distance 1f possible Once the pitch angle is chosen the buoyancy is chosen to achieve the desired vert
71. User s Guide of November 2000 which is incorporated into this document by reference The extensions below provide additional functionality either to extend PicoDOS generally or to provide 1KA Seaglider specific functions Tera Term Pro is a free software terminal emulator communication program for MS Windows It supports VT100 emulation telnet connection serial port connection and so on Windows Windows 95 Windows 98 Windows Me Windows NT Windows 2000 Dial Up Networking Outlook Outlook Express and Internet Explorer are registered trademarks of Microsoft Corporation Other product and company names mentioned may be trademarks or registered trademarks of their respective companies Mention of third party products is for informational purposes only and constitutes neither a recommendation nor an endorsement Table of Contents EY rcr C 17 Who Should Use this Manual 17 Typographical Conventions 18 Safety COHVerLtlODS rester dee ANa au awu Gu was 19 Safety Information cccscsscsssessrosesesscsesesecsssesersersscserecsssssereeseseeees 19 Personal Safety Information 19 Vehicle Hgzardsuvas ec e iei lieta toon tne eee ens Battery Safely MA REPiStratiOM u aaa eet orte nid eek enne Uo esie FY Ys cu ER es nid iRobot Contact Inf
72. VBD SM CC If Seaglider surfaces with VBD gt SM CC no bleeding is done to force VBD 8M CC There are several ways to enter the surface maneuver Seaglider is in the surface position at launch after normal completion of a dive reached D SURF in recovery phase or after T MISSION minutes have elapsed from the start of the dive without achieving D_SURF in climb phase The first test in the surface phase is to check whether Seaglider s depth is less than D SURF fit is Seaglider pitches fully forward and pumps to SM_CC fitis not Seaglider first pumps VBD to its maximum value and checks the depth again If the depth is less than D_SURF Seaglider moves the pitch mass to its full forward position This behavior is designed to try to get Seaglider to the surface in the event of a T_MISSION timeout 78 iRobot amp 1KA Seaglider User s Guide Features of Control 2 GPSI Once the surface position is attained the GPS receiver is turned on and left on until a satisfactory position is acguired or until T_GPS minutes have elapsed This GPS position is called GPS1 When this initial position is acguired Sea glider waits an additional N_GPS samples for a GPS position with an HDOP lt 2 0 at which point acguisition stops and that position is accepted If a fix with an acceptable HDOP is not received in N_GPS samples the last position is accepted and the size of HDOP is recorded in Seaglider s log file
73. a Seaglider Select 7 Sea Launch and press ENTER Follow the sea launch procedure in Chapter 6 Pre Deployment Tasks on page 159 iRobot amp 1KA Seaglider User Guide 423 Appendix F Hardware and Configuration Menus Serial Port Data Transmission Directly connect to the Seaglider via the communications cable and launch a terminal program TeraTerm preferred 1 2 3 15 Press enter to return to the main menu From the main menu select pdos 4 Enter the command to zip up all the files on the CF card into a tar file picoDOS gt tar c temp tar Enter into extended Picodos picoDOS gt gt pdos When asked Really exit to pdos N type y Change the baud rate to 38400 PicoDOS gt baud 38400 Change TeraTerm s baud rate to 38400 using the drop down menu Setup gt Serial Port Start the xmodem transfer on the Seaglider PicoDOS gt xs temp tar Start the xmodem transfer on TermTerm using the drop down menu File gt Transfer gt xmodem gt Receive Move the tar file from your laptop to the Seagliders directory sgxxx on the basestation with file transfer software WinSCP Navigate to the Seagliders directory on the basestation with a terminal emulator Putty Unzip the tar file where tar file name the name of the tar file xxxx base sgxxx tar xf Temp tar file name Enter the touch command xxxx base sgxxx touch comm log Enter the script to change the file ext
74. a submerged object arising from the vertical pressure gradient It was Archimedes who as mentioned previously stated that the buoyant upward force on a submerged object is egual to the weight of the fluid that is displaced by the object The buoyancy of a submerged object is altered by changing its density either by changing its mass or volume Submarines typically alter their buoyancy by changing their mass while maintaining their volume Seagliders change their buoyancy by changing their displaced volume while keeping their total mass fixed This is done by moving hydraulic oil between the reservoir inside the pressure hull and the bladder external to the pressure hull Pumping oil from the internal reservoir to the external bladder increases Seaglider s displaced volume which increases its buoyancy Bleeding oil from the external bladder into the reservoir decreases Seaglider s displaced volume which decreases its buoyancy iRobot amp 1KA Seaglider User s Guide 67 Chapter 4 Operating Principles Figure 4 4 shows the location of the bladder FIGURE 4 4 External Bladder Inflation and Deflation External Bladder in Flooded Tail Section Inflates and Deflates to Change Buoyancy SEAG 020 09 Dynamic Forces Lift Seaglider gets lift from its body and wings which convert the vertical force provided by the variable buoyancy device VBD into horizontal motion Some additional lift comes from the rudder ver
75. as such a port specification 1s not necessary Nominal Value 48 Minimum Value 0 Maximum Value 1023 iRobot amp 1KA Seaglider User s Guide 129 Chapter 5 Piloting Parameters PITCH AD RATE Set by manufacturer Do not change Definition The pitch rate A D counts second used as the threshold for retries when pitching If the observed rate 1s less than this number the pitch motor is stopped and restarted The retries continue until the pitch motor timeout limit is reached then an error is declared Nominal Value 175 Minimum Value 0 Maximum Value 200 PITCH ADJ DBAND Definition This parameter degrees with SPITCH ADJ GAIN enables and adjusts active closed loop control on Seaglider pitch during a dive and climb Seaglider automatically seeks to maintain the pitch angle by moving the pitch mass when Pitch observed Pitch desired k 5PITCH ADJ DBAND Note A value of 0 disables automatic pitch adjustment Nominal Value 1 if in use Minimum Value 0 Maximum Value 40 iRobot amp 1KA Seaglider User s Guide Parameters by Category PITCH_ADJ_GAIN Definition This parameter with PITCH_ADJ_DBAND enables and adjusts active closed loop control on Seaglider pitch during a dive and climb The amount of the adjustment is given by Pitch Desired Pitch Observed PITCH_ADJ_GAIN PITCH_ADJ_GAIN has units of cm degree Adjustments are calculated at the beginning of
76. backscatter in A D counts FluorCount Fluorometer A D counts VFtemp BB2F temperature O2 optional Aanderaa optode oxygen concentration Temp optional Aanderaa optode temperature Dphase optional Aanderaa optode dphase 2 1 3 ASC File p1230055 asc The asc or ASCII files are created on the basestation They are essentially the reconstituted uncompressed reassembled and differentially summed versions of the data DAT files created on the iRobot amp 1KA Seaglider User s Guide 287 Appendix B Seaglider File Formats Manual Seaglider See the Data File section for descriptions of the column names The entry NaN indicates that there was no sample returned for that sensor Either the sensor was not installed or the sensor was not enabled for that sample deployment as controlled by the Science File 2 1 4 Eng File p1230055 eng The eng or engineering files are created on the basestation They restate data contained in the asc and og files but with the Seaglider control state and attitude observations converted into engineering units The column titles are described below The first 10 columns are always present while the remaining 10 columns vary depending on the installed sensors elaps_t_0000 Time in seconds since 0000UTC of the current day elaps_t Time in seconds since the start of the dive condFreg Conductivity freguency in Hertz tempFreg Temperature freguency in Hertz depth Depth in
77. be advised that lithium battery shipments are controlled by the Department of Transportation DOT International Civil Aviation Organization ICAO and the International Air Transport Association IATA Under the US DOT regulations please review requirements under 49 CFR 172 101 and Special Provisions 29 188 189 190 A54 ASS A101 and A104 and packing instruction 49 CFR 173 185 Under the IATA regulations iRobot amp 1KA Seaglider User s Guide 269 Chapter 12 1KA Seaglider Refurbishment please review 4 2 List of Dangerous Goods and Special Provision A48 A88 A99 A154 A164 and Packing Instruction 968 969 or 970 270 iRobot amp 1KA Seaglider User s Guide APPENDIX A System Specifications TABLE A 1 IKA Seaglider Specifications Antenna mast length Feature Specification Body Size 1 8 2 0 meters long configuration dependent 30 cm max diameter Wing Span Im Between 43 m and 1 m configuration dependent Weight 52 kg dry Batteries Lithium Sulfuryl Chloride Primary Batteries 24V and 10V packs 17 MJ Battery Endurance fully Up to 10 months mission dependent charged batteries Computer Software Complete data transmitted after every dive Web based information interface Control and system commands can be transmitted before each dive RF Data Telemetry Iridium satellite data telemetry iRobot amp 1KA Seaglider User s
78. be in the list of targets in the targets file on the Seaglider flash The radius is in meters Example target NE CORNER Example target SW CORNER 1852 tom8 Exits the Seaglider main program and native picoDOS6 to the TT8 monitor program TOMB PicoDOS is started by issuing the command go 2bcf8 at the TOMS prompt usage Provides a summary of disk usage on the compact flash ver Provides versioning and configuration information for software and hardware installed and running on the Seaglider s put xr get lt file1 gt lt file2 gt XMODEM protocol file transfer commands issued from the glider Example xr chunk U30 Example xs sg0150DZ A File names for these commands must be specified in the dos 8 3 file name specification If a file name does not conform to these specifications and error will be returned that the file name is too long iRobot amp 1KA Seaglider User s Guide 313 Appendix C Extended PicoDOS6 Reference Manual v66 07 writenv lt varname gt lt value gt Write specified value of specified variable to non volatile RAM NVRAM utility storage Variables stored in NVRAM are target_name password selftest_count boot count last known lon last known lat last last fix time magvar fly escape route fly safe depth deviceO device device2 device3 telhum and altnum Top level help command which only displays methods of exiting the Seaglider code s PicoDOS mode and docum
79. calculated from calibration data received with each pressure sensor and converted to A D counts knowing the configuration of the AD7714 and associated circuitry This number is a constant for each pressure sensor and associated calibration Typical Value 1 16x10 PRESSURE YINT Definition Y intercept of linear fit between psig and pressure sensor output after digitization to A D counts through AD7714 This is the value that is adjusted in the field at launch to correct the pressure sensor relative to atmospheric pressure so that the seawater surface corresponds to 0m depth Typical Value 19 65 Minimum Value 50 Maximum Value 50 134 iRobot amp 1KA Seaglider User s Guide Parameters by Category R_PORT_OVSHOOT Definition Roll mass overshoot A D counts to port after roll motor is turned off Overshoots are assumed to be positive in the sense of past the desired position The sign of the R PORT OVSHOOT parameter indicates how the code handles the overshoots not a direction Positive values allow Seaglider s operating software to automatically compute the roll overshoots and apply them after each roll maneuver Negative values allow the pilot to specify a static overshoot value to be applied uniformly to each roll maneuver In the case where Seaglider is computing and applying the roll overshoots the value reported in the log file is the last value computed during a dive Nominal Value 25 Minimum Val
80. cleans the Seaglider and all sensors Puts the Seaglider into travel mode and properly stows it away 438 iRobot amp 1KA Seaglider User s Guide APPENDIX I Sample Field Kit Checklist Field Kit Checklist Check complete Field Kit Checklist Task 1KA Seaglider Self Tested with Known Transducer Freguency and other parameters Seaglider Cal Sheets MOST CURRENT VERSION Laptop computer charged overnight with power adapter Field phone with power adapter field location determines phone type cell Iridium Handheld GPS unit with extra batteries Benthos DS 7000 charged overnight Benthos transducer safety line Seaglider tag line cradle safety line Marine radio check batteries Power inverter w spare fuses and 12V battery charged Extension cord Plug strip 2x Communication cable 50 feet iRobot amp IKA Seaglider YM User s Guide 439 Appendix I Sample Field Kit Checklist Check complete Field Kit Checklist Task Communication cable 10 feet Sensor rinse water bottle Gallon of distilled water 2x Magnetic wand Notebook and pencils or pens Extra screws rudder fairing T Handle hex driver for rudder screws Phillips screwdriver for fairing screws 3x Quick clamps Foul weather gear Life preservers Binoculars Boots
81. conservatively MAX_BUOY 150 and SM_CC near maximum 2 Check C VBD C PITCH C ROLL DIVE and C ROLL CLIMB values against those listed in the Cal sheet of the notebook that came with Sea glider 3 Turn on the SUSE BATHY feature if bathmetric maps are to be used 4 Turn on the Kalman filter if that feature is desired 5 Check that ST RSLEEP 3 has been set 166 iRobot amp 1KA Seaglider User s Guide Mission Planning 6 Make sure that the last line of the command file is initially SQUIT This holds Seaglider at the surface when it is first put in the water for the deployment If the command RESUME is inadvertently left in place Sea glider will dive as soon as it is given permission to launch and you will not know exactly what state it will be in when it gets in the water Seaglider needs to remain at the surface when it is first put in the water so that the transponder and communication checks can be completed and how Seaglider is sitting in the water can be evaluated targets Edits Next determine what path Seaglider should fly during its mission Again this can be edited as the mission progresses When the waypoints have been determined edit the targets file with this information An example of a targets file and a description of each column is below Sample North Carolina Coast targets NCSPONE lat 3357 4 lon 7623 5 radius 200 goto W PONE WPONE lat 3356 0 lon 7625 2 radius 200 goto WPTWO WPTWO l
82. deg sec turn rate Deadband for auto adjusting roll center deg sec igura Hardware and Conf Pri ee eee eee eB EES 0101010 0 00 000000000000000000000 1i II VI I II GG Y NO O Y CY P O o 00 OY un ds LU RJ E O IO C0 IO Ee Co RO F3 O 0 00 IY B cu NJ EA OAOD 00 Yd Co NJ EA OO C0 I Ch n UON O AD 00 Y UNA uw web ww Uw web www www bw ww www wb www www www www bw www wi nn Appendix F VBD_MIN 472 638 5 cc VBD bladder position limit minimum ADS VBD_MAX 3960 217 1 cc VBD bladder position limit maximum CAD C_VBD 3075 VBD bladder neutral point ADS VBD_DBAND 2 00 VBD bladder position deadband cc VBDLCNV 0 245296 VBD bladder position conversion factor cc AD VBD_TIMEOUT 720 VBD timeout sec PITCH_VBD_SHIFT 0 0012300001 Pitch offset due to VBD cm cc VBD_PUMP_AD_RATE_SURFACE 5 VBD pump AD counts per sec at surface VBD PUMP AD RATE APOGEE 4 VBD pump AD counts per sec at apogee vBD BLEED AD RATE 8 VBD bleed AD counts per sec at surface UNCOM BLEED 20 Uncommanded bleed change AD 0 disabled vBD MAXERRORS 1 Number of VBD errors allowed before entering recovery cF8 MAXERRORS 20 Number of CF8 errors allowed before entering recovery AH0 24v 150 24V pack capacity AmpHr AH0 10v 100 l0v pack capacity AmpHr MINV 24v 19 24v pack minimum voltage MINV 10v 8 10V pack minimum voltage rG AHR 10v 0 10v fuel gauge consumption rG AHR 24v 0
83. depth device0 device1 device2 device3 telhum or altnum reboot run file Reboots the Seaglider using the specified file name as the executable file Note that the run suffix is not used in this command It is important to verify that the file that is the target executable is not corrupted A way to prevent unrecoverable hangs is to never rename new unproven executables main run Name them iRobot amp 1KA Seaglider User s Guide 311 Appendix C Extended PicoDOS Reference Manual v66 07 mainnew run for example and issue the reboot command as reboot mainnew If the Seaglider hangs during the reboot the watchdog timer should initiate another reboot but to the executable code called main which presumably was running when the reboot command was issued This is a fallback safety feature and should be noted Example reboot REVA ren rename lt file1 gt lt file2 gt Rename command which calls the CF8 rename command directly and is aliased to work with either ren or rename Example ren REVA RUN MAIN RUN resend dive l d c t dive fragment The mechanism by which the pilot can ask the Seaglider to resend individual pieces of previous log l data d capture c or tar t files This is used to recover missing pieces of data which are most often caused by protocol confusion between the Seaglider and the basestation on whether or not a particular data piece was successfully transferred
84. functional after any work is done on Seaglider after shipping and before going into the field The end to end checkout tests Seaglider and the communications between Seaglider and the basestation Checking Seaglider Communication with the Field Laptop Note This test can be done in the lab To check Seaglider communication with the field laptop 1 For this test the antenna mast may be bolted into position as it would be for deployment Figure 3 1 on page 38 or folded back onto Seaglider s wing in the stowed position Figure 3 9 Your configuration may differ depending on what you ordered FIGURE 3 9 Antenna in stowed position SEAG 031 10 iRobot amp 1KA Seaglider User s Guide 47 Chapter 3 Setting Up the System 2 Do the following to connect Seaglider to the laptop via the supplied non pow ered serial communication cable Connect the 6 pin IE55 end of the cable to the communication port located at the base of Seaglider s antenna mast Figure 3 10 FIGURE 3 10 Connecting the cable to the antenna mast Communications Cable SEAG 027 10 Connect the DB9 end of the cable to the laptop serial port Figure 3 11 48 iRobot amp 1KA Seaglider User s Guide Checking Out the Seaglider System FIGURE 3 11 Connecting the cable to the laptop Communication Cable SEAG 026 10 3 Turn on the laptop and start the terminal emulation program The
85. iRobot amp 1KA Seaglider User s Guide Interactive Pre launch Self Test 6 Connect the communication cable to the DB9 connector on the laptop and power up the laptop if it has not already been done FIGURE 7 3 Connecting the Communication Cable to the Laptop Communication Cable SEAG 026 10 7 Start the terminal emulation program and start a screen capture file or a session log file on the laptop 8 Turn on the power supplies if Seaglider is being powered externally 9 Wand on Seaglider See page 50 for instructions on wanding on Seaglider 10 When the output starts scrolling on the computer screen press ENTER within one minute See Figure 7 4 Note While performing the following steps watch the process on the laptop and note if there are any errors or warnings The screen capture file can also be checked at the end of the test for warnings and errors Note Pressing ENTER after any guery results in the default answer value shown in brackets after the guestion being used iRobot 1KA Seaglider User s Guide 191 Chapter 7 Pre Launch Procedures FIGURE 7 4 Seaglider Start Up on the Laptop Mersion 66 07 18 775 starting up Mar 29 2011 10 36 24 Seaglider operating software developed and maintained by Applied Physics Laboratory University of washington Copyright 2003 2010 university of washington Built with SCENARIO without ICE without RAFOS without KERMIT wi
86. iRobot amp 1KA SeagliderTM User s Guide 350 Autonomous Self Test Appendix E brsd pGG900 S eg pInous 3T sisebbns e3ep Sru3 An I0 0 CE 60 0 60 0 sito on brsd SGp00PI G eg pInouys ar sasebDns e3ep sty An T0 0 ST 0 80 0 80 0 sz qa mW 9Ae ees qe InX3 JI N SWMdH 66P 9EEGETE 6rsd Gp00PI G ST ydeozequt A znss zd 3uexznoO N SHHdH 80 9 G I 60 9SZ28191 I 3TGg Jod S3IOA N SHHdH PPI OEEGETE L9vLOZ Z 0061 xeed oi xeed N SWHHdH LL6 GEEGEIE 6PPc G 0 L87Z8SP XPW N SHUdH LEL GEESETE ZVZOES 0 L8E9SP UTW N SSHdH 06S GEESETE 8660 G 0 c 8 0LSP ISNA N SHHdH 9LE GEEGEIE 8660 G 0 I 8 0LGSP ueoW N SHHdH P0I GEEGEIE S3TOA d V N SHHdH GG8 P GEIE peadeooe AI Ieor3jeuojne en eA Meu N SWMNdH 886 G I euop WvuAN 5uTITIM N 8LLH OP8 SZESETE SP00PI S O3 LNIA mHnSSWNd 2e3euezed burgepdn N 8LLH 90G SZ SEIE TeA9Tees qe nag3 JI N SHHdH 06C GCEGEIE 6rsd p 9c94 G ST 2deoz93ur A eanssedd queain N SHHdH L60 GCEGETE 60 9SZ28191 I 3TGg Jod S3IOA N SSHdH EEC6 vZEGETE SL9LEZ C 9261 xeed oa3 xeed N SHUdH 99L PCZEGETE 9P9 G 0 LI 6SP XPW N SHUdH 88S PZESETE 80vI S 0 T6ELSD UTW N SHUdH T8E PZEGETE LEECES 0 0 0618Sv ISNA N SHUdH LOT PZEGETE 9EETES O 8 6818Sv ueeWw N SHHdH 606 CEGEIE S3IOA d V N SHHdH 9G9 CEGETE zosues einssezd buryoo9U2
87. iRobot factory To test the motor current ambient pressure and potentiometers Select 12 Special Test 1 Seaglider returns Sample interval ms 1000 If the default value is okay press ENTER Otherwise type in a new value and press ENTER Max Pressure 1500 1 Set the minimum pressure For this example pressure is set to 1 Max Pressure 1500 500 Set the maximum pressure For this example pressure is set to 1 Aborts when pressure 500 psia or any key hit Hit CR to start Press ENTER to start the test Seaglider starts the test and echoes the activity to the laptop screen Figure F 35 To stop the test at any time press any key 408 iRobot amp 1KA Seaglider User Guide Appendix F Hardware and Configuration Menus FIGURE F 35 Special Test 1 ime sec pumpCur linPotl linPot2 linAvg AmbP psia 0 621 554 541 3834 3769 3801 377263 0 3 2 121 489 346 3821 3755 3788 377214 0 3 At the conclusion of the test Seaglider returns to the VBD menu Supervisor Menu To access the Supervisor menu Select 4 Supervisor and press ENTER The menu options in Figure F 36 below are listed This menu is used during the manufacture of Seaglider It is not recommended that items in this menu be accessed outside of the iRobot factory FIGURE F 36 Supervisor Menu Supervisor menu 1 sample Sample A D channel 2 readad Read A D register 3 monitor Dump
88. is a standard Seaglider or a Deepglider A zero indicates the glider is standard a 1 indicates the glider is a deep glider Note All Seagliders produced by iRobot Corporation are standard gliders with a maximum depth capability of 1000m iRobot amp 1KA Seaglider User s Guide 111 Chapter 5 Piloting Parameters DEEPGLIDERMB Definition A Boolean value that indicates whether the main board is intended for use in Deepglider A zero means the motherboard is intended for a standard glider while a 1 means the motherboard is intended for a deep glider Note All Seagliders produced by iRobot Corporation are standard gliders with a maximum depth capability of 1000m DEVICE 1 2 3 4 5 6 Set by manufacturer Do not change Definition Configuration flags specifying device type and port for each of the six possible attached science sensors Empty device slots are indicated with a parameter value of 1 Non negative integer entries indicate that a device is attached The encoding is specific to the version of Seaglider s software These entries are set through Seaglider s menu system by the builders assemblers Minimum Value 1 Maximum Value 104 DIRECT_CONTROL Definition Allows direct control of the pitch and buoyancy settings of the glider Nominal Value 0 Minimum Value 0 Maximum Value 1 iRobot amp 1KA Seaglider User s Guide Parameters by Category DIVE Definition The num
89. is supplied by more pumping to make headway toward desired waypoints This is true only if the current is in a direction that opposes the desired heading Pilot Controllable Factors Seaglider Trimming A well trimmed Seaglider will reguire less corrective action while in flight and conserve both the 10V and 24V power supplies The primary piloting parameters below will have the greatest impact on power consumption 162 iRobot amp 1KA Seaglider User s Guide Mission Planning D TGT T_DIVE The ratio of D_TGT and T_DIVE controls the speed at which the Seaglider dives and climbs Adjusting the ratio to perform slower dives results in longer dive time and therefore increases the amount of time between apogee and surface VBD pumping maneuvers giving more operational time relative to energy use MAX BUOY Decreasing the amount of oil used to for thrust decreases the overall VBD usage and conserves the energy stored in the 24V battery SM_CC Decreasing the amount of oil used for the surface maneuver decreases the overall VBD usage and conserves the energy stored in the 24V battery CALL_N_DIVES Skipping Iridium transmissions during specified dives conserves the energy stored in the 24V battery CAPUPLOAD Turning off the transmission of the cap file conserves the energy stored in the 24V battery This file which contains a detailed record of the entire dive can be quite large causing the glider to remain a
90. is used exclusively for sensors with the ability to log data to an internal file system iRobot currently provides cnf files for the following ALI sensor Sea Bird GPCTD 168 iRobot amp 1KA Seaglider User s Guide Mission Planning All Autonomous Logger Interface ALI devices recognize five cmdfile parameters xx the prefix for a given sensor Example for the GPCTD the prefix PC science Edits Control of the sampling and depth intervals for the OSI sensors to meet the science requirements of the mision are specified in the science file Note that ALI sensors described in the previous section are not controlled via the science file For information on controlling ALI sensors see Chapter 9 Files for Operations on page 237 The practical lower limit on sampling is 4 seconds If only the conductivity and temperature sensors are sampled it is possible to sample every 4 seconds but with the oxygen and BBFL2 or BB2FL optical sensors also being sampled 5 seconds is the lower limit The science file also provides the ability to turn off sensors or only energize them every nth sample in a given depth range or ranges An example science file is below Science for North Carolina Coast for Seaglider w sensors CT SBE 43F oxy WET Labs BB2FL VMT depth time sample gcint 50 5 111 30 200 5 121 60 300 5 103 120 Column 1 The bottom of the depth bin in meters for that sampling protocol Column 2 Base
91. l Test operation modes and files 4 pdos 1 PicoDOS commands lt and exit 5 launch 1 Pre launch Enter selection 1 5 CR gt 10 Set the current date and time GMT Any time within 12 hours is acceptable because Seaglider gets an accurate time from its first GPS fix and reset the internal clock Figure 7 35 Note The format must be mm dd yyyy hh mm ss with no missing values or extra spaces 11 At the prompt Are you running on external bench power type Y for Yes to indicate that you have an external power source on powered comms cable otherwise press ENTER to accept the default answer N for No Figure 7 35 The Main Menu appears Figure 7 36 shows the Main Menu for 1KA Seaglider testing iRobot amp 1KA Seaglider User s Guide 223 Chapter 7 Pre Launch Procedures FIGURE 7 36 Main Menu and Launch Menu p Main Menu 1 param Parameters and configuration 2 hw 1 Hardware tests and monitoring 3 modes Test operation modes and files 4 pdos l PicoDOS commands lt and exit 5 launch 1 Pre launch Enter selection 1 5 CR 5 v gt w Step 12 e Launch Menu 1 scene 1 Set scenario mode 2 selftestl Perform interactive self test 3 autotest Perform autonomous self test 4 uploadstl Upload self test results 5 reset 1 Reset dive run number 6 test 1 Test Launch e iris 1 Sea Launch eturn to previous Enter selection 1 CR gt 6
92. next surfacing If a communication session completes successfully on the alternate phone number the phone number is switched back to the primary for the next surfacing Note This parameter is not adjustable from the cmdfile The number can be edited either through the pdoscmds bat file see Extended PicoDOS Reference Manual writenv on page 279 or through direct connection to Seaglider via the serial communications cable see Checking the Primary and Alternate Phone Numbers on page 52 iRobot amp 1KA Seaglider User s Guide Parameters by Category ALTIM BOTTOM PING RANGE Definition The range in meters from the presumed apogee depth the nominal depth at which Seaglider begins its apogee maneuver to ping for the bottom Only one attempt is made to sound for the bottom unlike with SALTIM PING DEPTH A value of 0 disables pinging Nominal Value 0 Minimum Value 0 Maximum Value 1000 ALTIM BOTTOM TURN MARGIN Definition The distance in meters from the altimeter detected seafloor or an obstacle at which to initiate the apogee maneuver bottom turn A value of 0 disables the use of the altimeter to determine the start of the apogee maneuver Nominal Value 0 Minimum Value 0 Maximum Value 100 ALTIM FREQUENCY Definition Frequency kHz to use for altimeter pings The value must be an integer between 10 and 25 Nominal Value 13 Minimum Value 10 Maximum Value 25 iRobot amp
93. nnusasssss 183 iRobot amp 1KA Seaglider User s Guide xv FIGURE 7 1 FIGURE 7 2 FIGURE 7 3 FIGURE 7 4 FIGURE 7 5 FIGURE 7 6 FIGURE 7 7 FIGURE 7 8 FIGURE 7 9 FIGURE 7 10 FIGURE 7 11 FIGURE 7 12 FIGURE 7 13 FIGURE 7 14 FIGURE 7 15 FIGURE 7 16 FIGURE 7 17 FIGURE 7 18 FIGURE 7 19 FIGURE 7 20 FIGURE 7 21 FIGURE 7 22 FIGURE 7 23 FIGURE 7 24 FIGURE 7 25 FIGURE 7 26 FIGURE 7 27 FIGURE 7 28 FIGURE 7 29 FIGURE 7 30 FIGURE 7 31 FIGURE 7 32 FIGURE 7 33 FIGURE 7 34 FIGURE 7 35 Communications Cable Attached to Seaglider 189 Seaglider Positioned for Self Test sss 190 Connecting the Communication Cable to the Laptop 191 Seaglider Start Up on the Laptop eee 192 Loggers Menu u aa han e ete D COR OE SPERO jat 193 Turing off the GPCTD s ene tb ER Tec ni eats 194 Altimeter Check eee rere et ade 196 Inter ctive Selt Test ERR YR rec tt asa use 197 Removing Old Data Log Files sse 198 Seaglider ID Verification and Communications Set Up 198 Checking GPS and Iridium sssssssseseeeenenns 200 Checking Bathymetry Data sse 201 Compass Calibration uuu me ore Ab 201 Critical Operational Parameters sse 202 Reporting Hardware Configuration and Software Versions 202 Reporting Dire
94. not as this activity consumes battery power If excessive pings are seen in SXPDR PINGS tuning can be done using the XPDR INHIBIT and XPDR VALID parameters Nominal Value 0 Minimum Value 0 Maximum Value No limit 158 iRobot amp 1KA Seaglider User s Guide CHAPTER 6 Pre Deployment Tasks This chapter describes mission planning prepping a Seaglider for transport to the field pre deployment self test and deployment The following topics are covered Mission Planning on page 160 e Transporting Seaglider to the Field on page 174 e Final Launch Procedure on page 180 To get the most out of a Seaglider deployment both duration and data wise Seaglider must be properly prepped in the lab self checks must be thoroughly reviewed and Seaglider s VBD pitch and roll must be tuned when Seaglider is first deployed To achieve these goals a number of tasks must be completed by the pilot and the field team prior to releasing a Seaglider for a mission These tasks include Mission planning including the modification of command science and targets files e Creating and loading of bathymetry files onto Seaglider if desired e Autonomous self test at or close to the deployment site and time e Visual assessment by the field team of how Seaglider is riding in the water when it is first put in the water iRobot 1KA Seaglider User s Guide 159 Chapter 6 Pre Deployment Tasks Ap
95. not agree investigate and correct the cause of the discrepancy before continuing with the testing The calibration coefficients are assigned to a Seaglider based on the ID and Seaglider s serial number is based on the ID 25 Verify the Mission Number and then press ENTER to accept the default 0 for the first self test Figure 7 10 Subsequent self tests are numbered sequentially by Seaglider You can override the Seaglider generated number with your own number 198 iRobot amp 1KA Seaglider User s Guide Interactive Pre launch Self Test 26 You define subseguent mission numbers either here of through the cmdfile from the basestation The current password appears Verify the current password Figure 7 10 At the prompt New password 15 char max length CR to leave unchanged type a new password and press ENTER or press ENTER to leave the password unchanged Figure 7 10 The password installed at the factory is six digits The first three digits are Seaglider s ID number The last three digits are 680 if Seaglider s ID 1s even or 791 if Seaglider s ID is odd If you want to use a different password it cannot be more than 15 characters The characters can be any alphanumeric string but no punctuation or special characters are allowed If you change Seaglider s password installed at the factory you must also make a corresponding change on the basestation for this Seaglider Changing the pass
96. on page 54 iRobot amp 1KA Seaglider User s Guide 53 Chapter 3 Setting Up the System FIGURE 3 16 Verify Alternate Telephone Number cm Edit parameters Flight control and mission definition 1 basic Basic mission and glider parameters 2 dive Dive parameters 3 flight Flight parameters 4 surface Surface parameters 5 rafos RAFOS parameters 6 password Set show glider login password 7 telnum Set show basestation phone number 8 altnum Set show basestation alternate phone number Pitch roll VBD 9 pitch Pitch parameters 10 roll Roll parameters 11 vbd VBD parameters Sensors and peripherals 12 config Hardware configuration parameters 13 pressure Pressure external parameters 14 intpress Pressure internal parameters 15 compass Compass paramaters 16 altim Altimetry parameters 17 seabird Seabird CT calibration 18 power Power parameters Utility 19 all Edit all parameters 20 validate Validate parameters 21 details Show parameter details 22 show Show changed parameters 23 clear Clear changed parameters 24 save Save parameteds by name to file 25 dump Dump parameters to screen 26 load Load parameters from file 27 reset Reset to defaults CR Return to previous Enter selection 1 27 CR 8 6699 777 SUSR N Current altnum is 12062217301 New altnum 15 char max length CR to leave unchanged 19193612847 67
97. parameter is in basic dive surface flight etc the nominal min and max values and a brief definition is displayed No edits may be made in this menu After the table is displayed the user is automatically returned to the Parameters and Configuration menu To exit from the Parameters and Configuration menu and return to the Main Menu press ENTER 390 iRobot amp 1KA Seaglider User Guide Appendix F Hardware and Configuration Menus Show Changed Parameters To access the Show Changed Parameters Menu from the Parameters and Configuration menu Select 22 Show Changed Parameters and press ENTER The names of the parameters whose values were changed under menu option 19 and the respective new parameter value are displayed After the changed parameters are listed the user is automatically returned to the Parameters and Configuration menu To exit from the Parameters and Configuration menu and return to the Main Menu press ENTER Clear Changed Parameters To access the Clear Changed Parameters menu from the Parameters and Configuration menu Select 23 Clear Changed Parameters and press ENTER This option returns any parameter values changed under option 19 Edit All Parameters to the original value After all parameter values are reverted back to original value the Parameters and Configuration menu is displayed To exit from the Parameters and Configuration menu and return to the Main Menu pr
98. parse capvecfile lt file gt usage ver Chapter 3 Extended PicoDOS Command Reference bathy Causes the on board bathymetry files to be re read checked and if appropriate loaded into memory Useful for checking the integrity of the bathymetry files on the compact flash capvec lt service gt level lt dest gt Without arguments displays the current capture vector The capture vector describes the capture output level and destination for each of the Seaglider s hardware and software services Every output line in the Seaglider source code that is capturable is assigned a service and an output level verbosity The capture vector controls where the output is routed to and what the output level verbosity is for each service With arguments sets the capture vector for a specific service table 2 1 to the specified level table 2 2 and destination table 2 3 TABLE 22 Available services for capturing Service Description HPITCH Pitch motor HROLL Roll motor HVBD VBD Pump and Valve HPHONE Modem hardware HGPS GPS receiver HTT8 TT8 Computer HCF8 Flash hardware HANALOG Analog circuits and control HCOMPASS Compass hardware HRAFOS RAFOS hardware HSBECT Seabird CT sensor HSBEO2 Seabird O2 sensor iRobot amp 1KA Seaglider User s Guide 307 Appendix C Extended PicoDOS Reference Manual v66 07 TABLE 2 2 Available services for capturing Continued
99. plastic spares kit Detach the two upper rails from the end plates with carrying handles by removing the large bolts using the 24 wrench Put the hardware in the plastic spares kit Slide the straps off of the upper rails Slide the yellow mesh from the upper rails and roll up Detach the two lower rails from the end plates with carrying handles by removing the large bolts using the 24 wrench Put the hardware in the plastic spares kit Pack the Launch and Recovery Cradle parts in the shipping crate see Figure 2 1 on page 30 258 iRobot amp 1KA Seaglider User s Guide CHAPTER 11 Operator Level Maintenance The following topics are covered Cleaning Seaglider on page 259 Deep Cleaning Seaglider on page 261 Cleaning Seaglider Cleaning Seaglider is not a scheduled task but is done on an as required basis such as after a mission After recovery from a salt water mission Seaglider should be rinsed as described below to prevent salt buildup Tools Required Low pressure water hose Clean cloth Consumables Deionized water iRobot amp 1KA Seaglider User s Guide 259 Chapter 11 Operator Level Maintenance Parts None To clean Seaglider 1 2 3 Make sure the vehicle is powered down Remove the dust caps from the science sensors For cleaning of the CTD sensor Sea Bird recommends flushing the conductivity cell with a dilute bleach solution to eliminate gr
100. positive E Reports the number of seconds each device was powered on during the dive Reports the maximum current in mA drawn by each device listed in DEVICES Similar to DEVICES in simply providing titles for the numbers listed in the following two columns SENSOR SECS and 8ENSOR MAMPS Each title represents one of the sensors installed on the Seaglider as described here Reports the number of seconds each sensor was powered on during the dive Reports the maximum current drawn by each sensor during the dive wz of times the GPS did not provide data from GPRMC Position and time tim The number of spurious interrupts Spurious interrupts may result from divide by zero or memory dereference problems Th arise from interrupt contention Occasional isolated spurious interrupts are normal Buffer Overruns The number of times the log file output is longer than the internal buffer length For each of the buffer overrun These values are from the most recent GPS fix which corresponds to the end of the current dive 286 iRobot amp 1KA Seaglider User s Guide Appendix B Seaglider File Formats Manual 2 1 2 Data File p1230055 dat The dat file is an ASCII text file that is generated by the Seaglider and transmitted to the basestation for further processing The first line is the only actual value all following lines are differences It serves as the primary conduit for the science data collected by
101. s Guide CHAPTER 1 IKA Seaglider This chapter provides an overview of the IKA Seaglider history and components The following topics are covered e Seaglider History on page 23 e System Overview on page 25 e Seaglider Sensors on page 27 Seaglider History The history of buoyancy driven oceanographic instruments begins with Archimedes 287 BCE 212 BCE He is considered the father of hydrostatics static mechanics and integral calculus Archimedes Principle is the basis for all buoyancy driven vehicles It states that the buoyant upward force on a submerged object is egual to the weight of the fluid that the object displaces This fact is used in the variable mass fixed volume ballast control systems of modern submarines and submersibles and in the fixed mass variable volume control systems of small profiling oceanographic instruments The use of buoyancy control in oceanographic instruments dates from the mid 1950s By 1955 Henry Stommel of the Woods Hole Oceanographic Institution and iRobot amp 1KA Seaglider User s Guide 23 Chapter 1 1KA Seaglider John Swallow in the United Kingdom had ideas for neutrally buoyant floats whose positions could be tracked acoustically Swallow was the first to build such a device which contained a free running 10 kHz acoustic source and was tracked from a surface ship By the 1970s transponding versions running at 3 4 kHz had extended shipboard detect
102. sampling interval in seconds Column 3 Multipliers for each of the three sensors listed on line 2 of the file in the order listed applied to the base sampling interval Column 4 Guidance and Control G amp C sampling interval in seconds The science sampling works as follows For the first row of sampling protocol sampling in depths from 0 50m each of the sensors is sampled once every 5 seconds multiply the 5 in column 2 by the first digit 1 in column 3 for CT by the second digit 1 in column 3 for SBE 43F and by the third digit 1 in column 3 for the WET Labs sensor G amp C sampling between 0 and 50m occurs once every 30 seconds iRobot amp 1KA Seaglider User s Guide 169 Chapter 6 Pre Deployment Tasks Sampling Rate Sample time x respective sensor sample interval Where e Sample time value in column 2 e CT interval 1st digit of the value in column 3 SBE 43 interval 2nd digit of value in column 3 WET Labs interval 3rd digit of value in column 3 For the second row of sampling protocol depths between 50 and 200m the CT and WET Labs sensors are sampled once every 5 seconds multiply the 5 in column 2 by the first digit in column three for the CT sensor and multiply the 5 in column 2 by the third digit in column three for the WET Labs sensor The SBE 43F oxygen sensor is sampled once every 10 seconds multiply the 5 in column 2 by the second digit in column 3 The G amp C sampling occ
103. screws 4 in a plastic bag If damage to your Seaglider occurred during transit or if your shipment is incomplete please contact iRobot Maritime customer support at 781 430 3030 ext 2 Inspecting the Basestation Container Locate the following in the basestation container if you purchased the basestation from iRobot CPU with Linux installed prefer Fedora core 10 or 11 Monitor Power cord Keyboard Mouse Two 2 port serial controller Two 2 modems with cables and power supplies iRobot amp 1KA Seaglider User s Guide 31 Chapter 2 Checking Out Crate Contents If damage to your basestation occurred during transit or if your shipment is incomplete please contact iRobot Maritime customer support at 781 430 3030 ext 2 Note If you did not purchase the basestation from iRobot you must provide a system that contains the basestation items listed above 32 iRobot amp 1KA Seaglider User s Guide CHAPTER 3 Setting Up the System This chapter discusses the set up of the basestation the Pre flight Diagnostic Computer field laptop the interface computer the cradle to hold Seaglider and Seaglider The following topics are covered e Setting Up the Basestation on page 34 e Setting Up Seaglider s Interface Computer on page 37 e Setting Up the Pre Flight Diagnostic Laptop on page 37 e Assembling Seaglider s Cradle on page 38 e Assembling Seaglider on page 41
104. tab convert pl adds arguments instrument name sg amp dive with the proper separator Comments in the file are indicated by a ff It is up to the user to set up the urls file as directory structure and location of data visualization software differs from user to user Mailers The mailers file is used by the basestation to e mail generated files Each line of this file contains an e mail address followed by a comma separated list of options The grammar for this line is specified as smtp mail address body msgperfile kkyy_subject gzip eng log pro bpo csv asc cap comm dn kkyy up kkyy nc mission ts mission pro all These options are as follows body send the files in the mbody of the message and not as attachments incompatible with the gzip nc mission ts and mission pro options iRobot amp 1KA Seaglider User s Guide 251 Chapter 9 Files for Operations msgperfile Only send one message per file kkyy subject Use Navy specified XBTDATA as the subject line instead of informative subject gzip Compress attachments using GZIP e eng Send eng files log Send log files pro Send pro files bpo Send bpo files csv Send csv files asc Send asc files cap Send cap files comm Send comm log files dn kkyy Send downcast kkyy files up kkyy Send upcast kkyy files nc Send compressed NetCDF files mission ts Send compressed miss
105. that have been newly created in a single message default kkyy subject Use the navy specified NBTDATA subject line instead of a more informative subject default gzip compress all files before sending eng log pro bpo csv asc cap dn kkyy up kkyy nc send any newly created files of the specified extension comm send the comm log file 172 iRobot amp 1KA Seaglider User s Guide Mission Planning mission ts mission pro send the mission timeseries or mission profile if they have been updated on the processing all send all the newly created or updated files Examples Send NAVO kkyy files kkyyuser navo navy mil msgperfile body kkyy_subject dn_kkyy up_kkyy e Send out the typical per dive files someone apl washington edu gzip log eng cap nc comm e Send a collaborator the update mission profile be careful this can be a big file someone u washington edu gzip mission_pro URL file These are URLs to GET for each processed dive The urls are called twice during processing the first time after all the per dive files have been processed in which case Base py adds the arguments instrument_name sg lt xxx gt amp dive lt dive gt amp files perdive The second time is at the end of processing after all the whole mission files have been generated in which case Base py add the arguments instrument_name sg lt xxx gt amp dive lt dive gt amp files all First entry on th
106. the active guidance and control G amp C phase based on the pitch observed over the same samples for which observed vertical speed is calculated Adjustments are not made during the first two active G amp C phases following the start of a dive or climb A value of zero disables automatic pitch adjustment Nominal Value 0 045 if in use Minimum Value 0 Maximum Value 1000 PITCH_CNV Set by manufacturer Do not change PITCH_DBAND Definition The pitch position conversion factor from A D counts to centimeters cm AD count This is a constant determined by the pitch of the worm gear that drives the pitch motion and is set at the factory by the builder or assembler Value 0 003125763 Definition The pitch position deadband cm within which no further pitch motion will be commanded Nominal Value 0 05 Minimum Value 0 Maximum Value 1 iRobot 1KA Seaglider User s Guide 131 Chapter 5 Piloting Parameters PITCH_GAIN Definition The amount of vehicle pitch degrees change corresponding to a 1 cm movement of the pitch mass Nominal Value 30 Minimum Value 15 Maximum Value 40 PITCH MAX Set by manufacturer Do not change Definition Pitch position software limit A D counts aft Typical Value 4000 Value determined by the software maximum of the system Obtain actual value from the vehicle s trim sheet PITCH MAXERRORS Set by manufacturer Do not change Defi
107. water deeper than 200m on offshore deepwater missions and to try to stay in water deeper than 75m on coastal or estuarine missions Seaglider is rated to 1000m but the maximum depth that should be used for deep dives SD TGT is 990m to allow for the apogee manuever Run Phases Launch and recovery phases are performed at the beginning and end of the mission Surface dive apogee and climb phases are meant to be repeated seguentially once per profile until the end of the mission During the surface phase GPS positions are acguired communication with the basestation is accomplished and navigation calculations for the next dive are made Depth time and functional triggers exist to cause Seaglider to move from one phase to the next Data acguisition is done in the dive apogee and climb phases of an autonomous run During each of these phases Seaglider collects data from the scientific instrumentation at a rate specified in the science file Although other actions are performed during these phases the data collection process is never interrupted Another periodic action performed during the profile phases dive apogee and climb is guidance and control G amp C G amp C operations occur at intervals defined in the science file and are done only when necessary The three G amp C operations that can occur are Pitch adjustment e VBD adjustment Roll adjustment iRobot amp 1KA Seaglider User s Guide 77 Chapter 4 Opera
108. 0 E P uHSS L66 C V NHSS G 6 CEP NHSS I88 CEP NHSS GGP cC P uHSS 00P CE P USNS ZHE ZEP MSnS 88cC c v MSDS CEC CEV MSDS P8I CE P ASNS TET ZEP ASNS TILO ZE USNS TIO ZEP usns ese TEP usns LO6 TEP MSOS IL8G IEP usns 6z8 TEP usns I8L I v USNS BELTED usns 069 TEP 363 iRobot 1KA Seaglider User s Guide Appendix E Autonomous Self Test pepeeoons uorssrusueiL N mHDOSS IIG IP9 0 adue33e wow peaeroei N mTHDnSS I60 8 9 77 Ques LOH N 4MOSS OLG G 9 I qdweqqe pc0OL eZTISXIG pO8 ezis ZT xooiqa N 4unss zLZ 6c9 IT qdueqqe pc0L eZISjIG PCOL eZIS II XOOIGO N mHDSS LL6 CcC9 I 3duoj3e pc0I 9ZTSNIG PCOL 9ZTS OT XOOIG N GHDSS 6LG 9I9 I aduea33e pc0OL eZISXNIG PCOL 9ZIS 6 jOOIGO N HNDOSS 082c 0I9 adue3gae pc0L eZTSXNIG PCOL eZzrs g OoIG N mHnSS c86 09 rey rqdweqqe pc0L eZTSXIG PCOL 9eZTS L XOOTG N SHOSS 089 L6GS T adueg33e pc0OL eZISXIG PCOL ezris 9 jOOTGO N mGHDSS 6L I6G I adue33e pc0L 9zISXIQ PCOL oZTS G j0OIG N mTHOSS 080 G8G aduo33e pc0OL 9zISXIQ PCOL 9ezis p jOOIG N 4DSS I8L 8LG I aduea3e pc0OL 9eZISXNIG PCOL 9ZIS jooIGO N HNOSS O8P CLG aduo33e PZOL ZISYXTQ PCOL ezis z xooid N 3unss 0L2 99G aduo33e pc0L 9ZISjIG PCOL 9ZIS TI xoo q N 3H0SS 296 6SG x zjZ0003s burpues N mHDSS 9I8 6GG X ZzX200039 0043 2
109. 0 Maximum Value 1 iRobot amp 1KA Seaglider User s Guide Parameters by Category CF8_MAXERRORS Set by manufacturer Do not change Definition The maximum number integer of Compact Flash CF8 errors allowed before Seaglider goes into recovery phase A CFS error is counted against the SCF8 MAXERRORS limit when a CF8 open or write call continues to fail returns an error code after three retries Nominal Value 20 Minimum Value 0 Maximum Value 500 COMM_SEO Definition The specification of the seguence of file transfer to use A value of zero indicates the standard communication file transfer seguence command cmdfile targets science current dive log file current dive data file earlier un transferred log and data files pdoscmds bat sgdddd pz nnn the results of the pdoscmds bat commands and any other files as commanded in pdoscmds bat A value of 1 indicates skipping the normal log and data file transmission and going directly to pdoscmds bat so the seguence for file transfers becomes command cmdfile targets science pdoscmds bat sgdddd pz nnn and any other files as commanded in pdoscmds bat This was implemented as a way of getting to the pdoscmds bat file in the event that communications problems or file corruptions prevented data transfers It is a control mode to be used only when communications or other Seaglider problems exist Nominal Value 0 Minimum Value 0 Maximum Value 1
110. 0 0000 A 6P ir 9POLO N T 09 TH IY V 60C LT ON UdDS uunyuoo N SdDH T8S 8CS T 60 C LI PO SO 110C 19S N SdOH T T 8CS T LAN 6 TO 11907000000 000M 0S P 9POLO N 8109 CP TE V 80CELT OIIdD oouoyuos ouAS N Sd5H 100 8CSET VAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA N SdDH 84781 xU SqD Sunni I IET chI 0 HDWVHO SdO L wered Sune PIO S3 A SI oeueuipe c 9JT O S92 p SI OEUPUI P c AT O SY9OM p SI OEUEUI P QZ A1 O S92 p SI OEUEUI P Z A1 O SY9OM p SI OEUEUI E Z OIF O SY9OM p SI BURL Cc 9 I O SY9OM p SI oeueui e Z 9 I O S22 p SI 2eueui e QT T O S22 SI OEUEUI E OIF O SY9OM SI oeueui e OIF O S3 A p SI oeueui e T 9JT PIO S399 SI eueuipe 6 31r PIO S329A SI 2eueuige T PIO SY9OM ST eueuipe 9 AT PIO SHOIM p SI oeueuipe p AI PIO 999 p SI oeueuipe c AT P P P p p P p P p p boV N SdDH L8 LI Pdn N S LLH 086 FI eyes N SqOH 906 t1 eyes N SqDH I IZ FI eyes N SqDH PIS vI eyes N SqDH ZLI VI eyes N SqDH ICUvI eyes N SqOH CC6 1 eyes N SqDH SCL I eyes N SqDH ZCS I eyes N SqDH 6c l eyes N SqDH E T I o es N SdDH L 6 CI eyes N SqDH L6v CI o es N SdDH C0 CI eyes N SqDH LOT CI eyes N SqDH H6 TI eyes N SqDH 9 TL TI PIO S3 A p st oeueulJe c oy 9yes N SqDH IC6 II XY SdD 3utureiqO N SqaDH 90T 8 Sd5 Suppot N ASNS ETOS pooooud sjso 19070 o IqA pS og ueo Surguerpdx N 4S S868 L 0 tunoo
111. 0 41 06 2011 19 At the prompt Can the antenna be used for GPS and communications Y press ENTER to accept the default answer Yes Figure 7 10 FIGURE 7 10 Seaglider ID Verification and Communications Set Up ran the antenna be used for GPS and communications LY yeni fy GPS and communications parameters Y D New value 524 00 MISSION New value 6 00 20 765 SUSR N Current password is 524680 New password 15 char max length CR to leave unchanged 23 299 SUSR N Current telnum is 19195726671 New telnum 15 char max length CR to_leave unchanged 25 834 SUSR N Current altnum is 19195726670 New altnum 15 char max length CR to leave unchanged 27 705 SUSR N CALL TRIES 5 OK 27 808 SUSR N N_NOCOMM 1 OK T GPS New value 15 00 29 898 SUSR N Place glider in position for communications Hit CR to continue A Caution This answer is critical The answer Yes means that Seaglider s antenna is in position for communications and ready to be launched 20 At the prompt Verify the GPS and communications parameters Y press ENTER to accept the default answer Yes Figure 7 10 21 Verify Seaglider s ID number by comparing the ID on Seaglider s aft fairing just forward of where the antenna mast is bolted into the fairing with the num ber on the screen Figure 7 10 22 The ID is a three digit number 23 If the ID numbers agree press ENTER to accept the default Yes Figure 7 10 24 If the IDs do
112. 0 SIOI pe 99 9 8Lv N IHAH T88 8T19SETE OTIT ShT 6ZIT pe OD 9 0Gt N OIHAH T80 809SE TE ccc vP9cIl EVCI pe OD 9 CCVY N GGHAH 60 L6SSETIE P I C8E 6GEI pe OD C P6E N GHAH 60S 98GGETE 8PPI 66P GLUT pe 99 L GOE N GHAH PEL GLGGEIE 6SST IC9 T6ST pe OO LEE N GHAH 606 POSGETE GLOT TPL 6OLI p9 99 80E N GHAH PEI PGGGEIE 6LT 098 8Z8T pe OO I 6LC N GdHAH PE EPGSGEIE II6I I86 LV6l pe OD O OSC N GdHAH PEG CESGEIE 6coc vOIZ 890Z pe OD E 0CC N GdHAH PEL TICSGETIE 9vIZ Pcccl L81Z pe 99 I I6L N dHAH 6G6 OTSSETE 09cc ESECl 80 C pe OD P IOI N GgAH PBT 00SGEIE iRobot IKA Seaglider YM User s Guide 354 Autonomous Self Test Appendix E Io pueuuoo oq puods z oq seur3 I p9IIL N NddXH L0O 8L zepuodsuez3 Duryo9uU2 N MSnS LC8 LL HHI99LGP 868 OT oqa 8 G 6ST 09v STT S69 OE BEG COT 09v TIT S69 OE 8 S 091 09v 80 8 S S91 09v GO BEG OLT 09 LET 6 S COL 09v ZT 6S ILI 09v GZT GES 6ST 09v 9I 6 S LLI 09v GT 6 S COL 09v Sc 6 S OLI 09 LO 6 S LLT 09v vc 6 S SST 09v 8 8690 G69 0 G69 0 G69 0 G69 0 69 0 G69 0 S69 0 G69 0 69 0 ur OSCELL Sem oODuUei N MNddXH L9P LL SUTEO SOON esuodsea urd N uMddXH POP LL zo3eur3Ie burxoeuo N usns 8 6 9L ersd rIG6EE 6 eznsseud euzrojur N XWSnS 8 8 9L saunoo ZE9T Aarprunu Teuzojur N MSnS 6c9 9L
113. 000 103 000 160 000 2 23 000 420 000 50 000 19 800 2 190 19 800 39 800 45 800 81 800 12 000 0 000 8 000 0 000 30 000 SENSORS SBE CT SBE O2 WL BB2F nil nil nil SBE CT Seabird CT sensor By convention this is configured as the first device SBE O2 Seabird O2 sensor WL BB2F Wetlabs BB2F combination backscatter sensor and fluorometer Optode Optode oxygen sensor nil indicates that no sensor is installed in this position SENSOR SECS 2182 877 1551 421 748 579 0 000 0 000 0 000 SENSOR MAMPS 24 000 19 000 105 000 0 000 0 000 0 000 DATA FILE SIZE 36111 664 The number of data samples taken during the dive The total size of the data file in bytes CFSIZE 260165632 248328192 The available free space on the compact flash card The total capacity of the compact flash card ERRORS 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 eout Number of VBD retries Number of roll retries Number of pitch retries Number of VBD errors Number of roll errors Number of pitch errors Number of CF8 retries while closing files Number of CF8 retries while writing files gt Number of CF8 retries while opening files Number of CF8 errors while closing files a Number of CF8 errors while writing files Number of CF8 errors while opening files is truncated to fit in the buffer resulting in lost logfile output GPS 170706 231510 1911 874 15644 574 40 1 4 40 9 6 UTC Magnetic variation degrees
114. 011 19 26 53 CDOM ppb 4 7012 5 0603 5 4195 5 7786 6 1377 6 4969 6 856 CDOM Descent H1 CDOM Ascent H10 420 30 40 E 50 f H a 0 160 TO GYG WG Wi BO PTT Jhan ee 90 Chlorophyll Descent 100 Chlorophyll Ascent I 0 025 0 3106 0 5963 Chlorophyll ug Depth m iRobot amp 1KA Seaglider User Guide 337 Appendix D Dive Data Visualization Software Plot 7 Vertical Velocity The vertical velocity plot measures vertical velocity cm s on the dive s descent and ascent The plot shows the vertical velocity of the glider based on 5 different methods of calculation Ideally the pilot would like to see these centered around the same velocity throughout the entire dive Ex 15cm s on dive and 15cm s on the ascent Vertical Velocity SG524 Dive 2 iRobot Port Susan Mission Start Time 17 Mar 2011 19 26 53 I I I 10 l I 20r 30 H a 50 1 P I Q l m O e0 1 80 oae t api Based on Pressure Change 90 Based on Buoyancy and Pitch Upwelling on Descent 400 Upwelling on Ascent i 199 cc biased model C p 72491 n ae man i t I IL T I I I 75 65 55 45 35 25 15 5 5 15 25 35 VBD bias 0 cc Vertical Velocity cm s best fit VBD bias 199 implies C_VBD 2491
115. 07 sg123 sector number 4 block length 1024 Sun Dec 2 19 23 10 2007 sg123 received EOT and read timed out Sun Dec 2 19 23 10 2007 sg123 sector number 10 block length 1024 Sun Dec 2 19 23 10 2007 sg123 done sending ACK Sun Dec 2 19 23 10 2007 sg123 sg0055dz x02 KMODEM 4096 Bytes 186 BPS 2 2 2 SG Calib Constants sg_calib_constants m The calib constants file contains calibration information about each of the sensors on the Seaglider This file is created by the pilot or operator and exists only on the basestation It does not have a counterpart on the Seaglider Except for the compass all of the Seaglider s sensors come calibrated to the Seaglider Fabrication Center Their calibration numbers can be found in the notebook delivered with the glider and should be entered in this file The compass values are recorded when the Seaglider is fully assembled and the compass is calibrated in the presence of the batteries and other hardware The values in this file should be checked and changed if necessary whenever new sensors are installed batteries are changed or other hardware alterations are made The calib_constants file is also used by various visualization tools Matlab GLMPC etc to plot Seaglider data Incorrect values in this file will result in incorrect scientific data in the plots iRobot 1KA Seaglider User s Guide 293 Appendix B Seaglider File Formats Manual Example Calibration Cons
116. 1 1 95 62 460 65 540 L 6 8 00 05 The glider will now report its internal pressure and humidity Generally if the internal pressure is around 1 atmospheric pressure 14 7 psi a vacuum was not pulled If a vacuum was pulled the internal pressure should be approximately 5 psi below atmospheric pressure or 10 psi Humidity values would typically range between 30 40 If a vacuum was pulled high internal pressure indicates a potentially dangerous problem If the pressure inside the pressure hull rises 4psia above whatever the pressure is outside the pressure hull the vent plug on the aft end cap opens to vent internal gasses If the prompt Internal pressure is high Continue self test N appears press ENTER to accept No default See Figure 7 23 Seaglider has failed the self test iRobot amp 1KA Seaglider User s Guide 209 Chapter 7 Pre Launch Procedures AN Warning Before moving Seaglider understand what is causing the high pressure and determine if it is safe to go near it FIGURE 7 23 Internal Pressure and Humidity Sensors 80 681 SUSR N Writing internal sensors to 81 81 log 208 SUSR N internal humidity 1519 counts 34 008003810 416 SUSR N internal pressure 9 607714 psia 46 If the message Sensor idx x not found in installed sensors appears it indi 47 cates that there are sensors in slots 0 through x 1 Verify the number of installed sensors in the respecti
117. 1 24V 183 24V iRobot amp 1KA Seaglider User s Guide 165 Chapter 6 Pre Deployment Tasks Buoyancy 100m 500m 1000m Engine Duration 100m Duration 500m Duration 1000m Sensors Option Days Limiter days Limiter days Limiter Glider Payload Conductivity Temperature amp Density Standard Sensor Wet Buoyancy Labs Sensor Engine 54 24V 96 10V 118 10V Glider Payload Conductivity Temperature amp Density Enhanced Sensor Wet Buoyancy Labs Sensor Engine 68 24V 96 10V 118 10V cmdfile Edits The starting point for making edits to the cmdfile is the log files generated by the simulated dives The log files list all parameters and the value assigned to each 1 Open the last simulated dive s log file and using the Alphabetized Parameters on page 92 go through every parameter and see if all are set correctly for the upcoming mission For example the initial dive should be relatively shallow 45m to check the initial positions of system centerpoints So D_TGT should be set to D_TGT 45 Correspondingly the desired vertical velocity of the initial dives is usually 10cm s so T_DIVE should be set to T_DIVE 15 T_MISSION should be set to T_MISSION 25 If Seaglider is to fly from waypoint to waypoint rather than by heading HEADING should be HEADING 1 SMAX_BUOY and SM CC settings are environment dependent and should initially be set
118. 1 received 1 secSize 1 448 779 SSURF N SOH STX 0x1 received secSize 1 450 307 SSURF N SOH STX Oxl received i 451 837 SSURF N SOH STX xl received 453 368 SSURF N SOH STX xl received 454 898 SSURF N SOH STX xl received c 456 338 SSURF N EOT Ox4 received 1 secsize 128 RORO NO NO NO NO der o 00 00 00 00 457 086 SSURF N Received cmdfile 709 bytes 457 517 SSURF N Transmission succeeded 55 The pass fail status of the self test is displayed If the self test FAILED or ABORTED the failures are listed In the example in Figure 7 30 self test failed because There were no bathymetric maps of the current location onboard Seaglider Since Seaglider was on land this error can be ignored Sometimes there will be an Iridium failure due to an inability to register at the beginning of the test because the time allotted for the phone registration is very short If the Seaglider was able to successfully transfer data files at the end of the self test this error can be ignored FIGURE 7 30 Self Test Pass Fail Status L015 236 SUSR N Self test FAILED or ABORTED 1015 345 SUSR N 1 failures noted 1015 425 SUSR N bathymetry maps failed 1015 521 SUSR N Restoring original settings 56 Review the files log cap pvt dat sent to the basestation via the Iridium call and the comm log file for any warnings or errors iRobot amp 1KA Seaglider User s Guide 213 Chapter 7 Pre Launch
119. 1395239 518 SSENSOR N sensor SBE_CT not found in installed sensors 1301395239 655 SSENSOR N sensor SailCTx not found in installed sensors 1301395239 789 SSENSOR N no CT sensor configured 1301395244 621 SUSR N Glider 524 mission 6 dive 5 booted Tue Mar 29 10 40 44 2011 boot 374 1301395245 510 HXPDR N max range 60 000000 m timeout 80 ms 1301395245 777 SSURF N Hit CR within 1 minute to start otherwise will go to recovery Set current date and time CR for default 03 29 2011 10 40 48 Are you running on external bench power N y 1301395252 545 SPOWER N Not tracking power consumption ce Main Menu 1 param Parameters and configuration hw Hardware tests and monitoring 3 modes Test operation modes and files 4 pdos PicoDOS commands and exit 5 launch Pre launch Enter selection 1 5 CR 2 11 Set the current date and time GMT in response to the query Figure 7 4 A time within 12 hours is acceptable because Seaglider gets an accurate time from its first GPS fix and resets the internal clock Note that the format must be in mm dd yyyy hh mm ss with no missing values or extra spaces 12 When prompted Are you running on external bench power Figure 7 4 do one of the following Type Y for Yes to indicate that you are using a powered communications cable and press ENTER Press ENTER to accept the default N for No if you do not have an external power source using non powered
120. 2 557 13165 0 00 2 53 46 45 0 633 4 0 000 0 048 3183 832 959 0 0 0 0 0 0 GC 13278 2 24 526 9 48 1 13 3 588 13317 0 08 2 38 31 85 0 607 6 0 047 0 025 3213 2229 806 0 0 0 0 0 0 STATE 20661 end climb SSURFACE DEPTH REACHED STATE 20661 begin surface coast FINISH 1 9 1 008786 Density of water in grams per cc at the first sample taken after reaching D_SURF or D_FINISH if enabled Depth of glider in meters at the first sample taken after reaching D_SURF or D_FINISH if enabled SM_CCo 2031 75 53 0 653 0 0 239 530 09 Final position of the VBD after the SM pump in cc s Final position of the VBD after the SM pump in AD counts Number of errors during the SM pump Number of retries during the SM pump Average current for the VBD during the SM pump in amps Time in seconds for the SM pump Time in seconds from the start of the dive to when the Surface Maneuver SM pump was started SM_GC 1 25 11 30 0 00 0 00 0 038 0 000 0 000 424 2272 1263 10 22 0 34 438 35 284 iRobot amp 1KA Seaglider User s Guide Appendix B Seaglider File Formats Manual IRIDIUM_FIX 1904 66 12231 77 091207 191902 TT8_MAMPS 0 02301 Power draw on the 10 V power pack in amps measured at the end of the dive This measurement can be used to determine if devices are being left on HUMID 1789 Pressure inside the pressure hull in PSIA INTERNAL_PRESSURE 7 15848 Pressure inside the pressure hull in PSIA TCM_TEMP 23 60 Last tempera
121. 2010a software iRobot Dive Data Analysis Software Visualization Software The Dive Data Analysis Software comes packaged in a compressed archive file zip The contents must be extracted to your computer in order to use the software 1 Create a folder on your root drive and name it DivePlot or a more appropriate name pertaining to the spe cific mission 2 Copy the visualization files supplied under the Matlab Scripts folder in your CD or via FTP site into the DivePlot folder Using the Dive Plot Analysis Software Run the MATLAB Application Per the instructions provided by MATLAB 20102 start the MATLAB software When the MATLAB Integrated Development Environment IDE appears on your computer monitor it will look very similar to the following screen capture 316 iRobot amp 1KA Seaglider User Guide Appendix D Dive Data Visualization Software MATLAB 7 10 0 R2010a BAA Eie Edt Debug Desktop Window Heb e Ji XO OG a MB amp de rf E Current Folder E lSesglderlvisuskzationttrunkldiveplot Shortcuts 2 Howto Add 8 What s New Current Folder D a x Command Window gt D n x Workspace Dex visualization trunk diveplot vp fe gt gt T md 59 38 FA stack GD Select data to plot Name Value Min Max Name svn amp 2 commonFiles BB E googleearth amp DD regression E 23 seawater fe course f create _ipegs m 7 date2decyear m Fe dwepl
122. 2424 4 0 00000 0 00000 27955 0 56 2 0 0 2En3 91 8 073 22 0 000 0 0 0 0 0 0 00001 0 00000 Find the numbers circled above where Siemens m is 0 indicating freshwater response The frequency above circled in red 2424 44 Hz is the number needed from the SBE cal sheet for this particular unit For saltwater and estuarine applications SBE recommends the value circled above 500 Hz So for the example above the desired MinCondFreq would be 2924 Hz For fresh nearly fresh water application the typical recommended MinCondFreq is equal to the zero conductivity raw frequency 5 Hz Please contact iRobot if there are any questions on what this value should be for your unit h Type GetCD and press ENTER Figure 7 32 i Find the value labeled MinCondFreq and confirm it has been reset to the value it was before the first half of this process was run i Type Start and press ENTER Figure 7 32 i Confirm the pump is running if the value you entered was 0 ii The pump may not run if the value is non zero iRobot amp 1KA Seaglider User s Guide 217 Chapter 7 Pre Launch Procedures j Type Stop and press ENTER to stop system and get prompt back You will not see the word Stop displayed but a message will appear that the logging stopped Figure 7 32 k Press Ctrl O to exit direct communications with the GPCTD Figure 7 32 I Once back at the GPCTD menu type 2 and press ENTER to tu
123. 24v fuel gauge consumption PHONE sUPPLY 2 Specifies battery for Iridium modem 1 10V 2 24v PRESSURE_YINT 44 968971 Pressure Y intercept psig PRESSURE sLOPE 0 00011645618 Pressure slope psig AD iRobot amp 1KA Seaglider User Guide 388 Menus ion t igura Hardware and Confi Appendix F EE ED RONO NO NO RO NO mU LOL O O 00 IY FU FO ONIN NONE NO ONO NO IN INST ial ete ie e a UU CU LU GU LU LU LU UU NJ SJ 4D7714Ch0Gain 128 AD7714 pressure chan gain l simulation 64 Druck 4020 128 Paine TCM PITCH OFFSET 0 Pitch sensor offset deg TCM_ROLL_OFFSET 0 Roll sensor offset deg COMPASS_USE 0 Flags to indicate trust in compass returns ALTIM BOTTOM PING RANGE 0 Range from presumed apogee depth to initiate bottom pings m ALTIM TOP PING RANGE 0 Depth to initiate top pings m SALTIM BOTTOM TURN MARGIN 12 Distance from obstacle to initiate bottom turn m ALTIM TOP TURN MARGIN 0 Distance from obstacle to initiate top turn m ALTIM TOP MIN OBSTACLE 1 Minimum obstacle depth to honor in initiating a subsurface finish m ALTIM PING DEPTH 80 Depth at which to begin pinging for bottom m ALTIM PING DELTA 5 Depth increment when pinging for bottom m ALTIM FREQUENCY 13 Frequency to use for pings kHz ALTIM PULSE 3 Pulse length to use for pings ms ALTIM SENSITIVITY 3 Altimeter sensitivity 0 5 xPDR VALID 2 Transponder interrogate validity lent
124. 25 312 SUSR N Changing altnum to 19193612847 5 If the alternate telephone number is absent or incorrect do the following Enter the alternate basestation telephone number if available The method is the same as that for the primary telephone number If no alter nate telephone number is available leave the entry blank e After you have entered the last telephone number press ENTER twice to exit to the Main Menu For a complete listing of menu options available when directly connected to Seaglider and their function see Appendix F Hardware and Configuration Menus on page 367 Checking the Pump Motors and Basestation Communication To check the proper operation of the VBD pump pitch and roll motors and Iridium communication with the basestation 1 Disconnect the communication cable from the laptop and the Seaglider 54 iRobot amp 1KA Seaglider User s Guide Checking Out the Seaglider System 2 Move Seaglider outside to an area where you can position it with the antenna pointing up with an unobstructed view of the sky Note If moving Seaglider outside is easier without the antenna mast mounted to the aft end of Seaglider detach it See Checking Out the Seaglider System on page 47 DO NOT disconnect the antenna cable for this procedure Once outside reinstall the antenna if necessary following steps on page 42 3 Connect the communication cable to Seaglider 4 Position Seaglider in it
125. 27747 Seabird C j coefficient CR Return to previous menu Enter selection 1 8 CR The Sea Bird CT calibration coefficients are loaded into Seaglider at the factory The coefficients are CT sensor specific It is not recommended that the user change any of the values in this menu without consulting iRobot Customer Service Note For units with GPCTD installed or no CT Sail these parameters will be set to 0 Note If changes are made to a SEABIRD coefficient the change should also be made in that Seaglider s sg calib constants m file See Appendix B Seaglider File Formats Manual on page 275 To exit the Sea Bird CT Calibration Coefficients menu and return to the Parameters and Configuration menu press ENTER iRobot amp 1KA Seaglider User Guide 385 Appendix F Hardware and Configuration Menus Power Parameters To access the Power Parameters menu from the Parameters and Configuration menu Select 18 Power Parameters and press ENTER The menu in Figure F 21 is displayed The present value for each parameter is shown in brackets to the right of the parameter name FIGURE F 21 Power Parameters Menu Enter selection 1 27 CR 18 Power current value in 2 1 AH0_24v 150 24v pack capacity AmpHr 2 AH0 10v 100 10v pack capacity CAmpHr 3 MINV 24v 19 24v pack minimum voltage 4 MINV 10v 8 10Vv pack minimum voltage 5 rFG HR lOv 0 10v fuel gauge consumption 5 FG AHR 2
126. 434175 requested bytes 358400 glmalloc init Allocated 358400 bytes 386 SSENSOR N reading cnf gpctddo cnf 735 SSENSOR N assigned WL_BBFL2VMT to sensor slot 1 p 83 907 SSENSOR N assigned GPCTD to logger sensor slot 1 p 85 911 SPOWER N Iridium during init saved current 0 10300 080 SPOWER N Iridium during connect saved current 0 16000 R 252 SPOWER N Iridium during xfer saved current 0 22300 421 SPOWER N GPS saved current 0 02696 569 SPOWER N TT8 saved current 0 01496 716 SPOWER N TT8 Active saved current 0 01421 873 SPOWER N TT8 Sampling saved current 0 03743 033 SPOWER N TT8 CF8 saved current 0 04717 187 SPOWER N TT8 Kalman saved current 0 05915 347 SPOWER N Analog circuits saved current 0 01200 511 SPOWER N Compass saved current 0 01573 712 HCOMPASS N Active compass is SP3003 B75 SSYS N Changing capture file 967 SSENSOR N sensor SBE CT not found in installed sensors 092 SSENSOR N sensor SailCTx not found in installed sensors 212 SSENSOR N no CT sensor configured 538 SUSR N Glider 535 mission 0 dive 3 booted Thu Jan 1 00 00 09 1970 boot 16 10 603 HXPDR N max range 60 000000 m timeout 80 ms 10 901 SSURF N Hit CR within 1 minute to start otherwise will go to recovery Set current date and time CR for default 03 29 2011 10 36 24 Are you running on external bench power N DOO un un unen un cn un Js Js Ps ds Ps LU RO NO X Main Menu 1 param Parameters and conf
127. 49 iRobot amp 1KA SeagliderTM User s Guide Appendix E Autonomous Self Test ccc ZS D0ISOdd S9v II9c70D8g GPGP Vv ZX0000DS GOP IIScP0Dd c8v II 0S0D8 cce 5932 660N0 GOP TII6c 0D8g SII GWO SHHDDO I S9v II0c70D8g 68c LVd uHAIGSIHL TBE XAM AAICSTHL 686 s ILIGNO ZEO DOT HAIGSIHL Le ANO C L4dd IM 061 ANO IHCdd IM 61 NO J4cddIM 8cr NO 0SIcdSO 00006 NOW NIVNW 08 ANO OdqaLo2ad5 0cc SLNHWMOO 9Sc GEG LYNZWOL LTES8 MV4 00GEGWOL IGS8P HAV OOSESWOL 980 AULLLVd 0619 dVM SAIGSIHIL c6t I00 LVWCWOL G8LC LXIL WHdI00DS T9E SILHOMVL GPL dONHIOS 9688 P00 dVNAH LVd cLc8 700 dVNAH LV cSL9c 00 dVNAH LV C6LEE T 00 dVNAH LVG 669 4 NO CLOdD 020067 NNA NIVNG IO saueauoo Azo30e11Ip Dur3xodou N uHSnS 9 6 6I G I so g 00006P NOW NIVIN N USNS 186 1 SET LWACI4dd TM SIOSUOS NMSDSC 9 61 S 1 oo s20 q cc IOL so g HEE Oo sxoo q c oo So 4g pHOHTE MVM deeur2 N DO TIVIN IDS 98v 6IESETE So 49 LZLEL 0 deoH PLUON N MSDS PT 61 SET NIYIN se peuyoune J N MSDS SCC 61 ESELE g 9 1 9L 8CHC8O UOISIOA SOMONE N SDS TC1 61 S I Zu Nc 9ADOV N SDS 6 0 61 S T onus SIQN NUSNS 6S6 SI ESELE oSe10js rjnn ur soj g 98 soj g QTL s1oyourezed g JWV YLAN NMSDS PIS STESETE Moddns vy our porduio N ISOS TOL STESETE uoddns preoqioyjo O Ao uir pdw N SDS P8S STESETE uoddns o ooe de H jnourA pordwo o N ASNS 9 81 S T
128. 4v 0 24v fuel gauge consumption 7 PHONE SUPPLY 2 Specifies battery for Iridium modem 1 10v 2 24v CR Return to previous menu Enter selection 1 7 CR The Power Parameters are loaded into Seaglider at the factory It is not recommended that the user change any of the values in this menu without consulting iRobot Customer Service Edit All Parameters To access the Edit All Parameters menu from the Parameters and Configuration menu Select 19 Edit All Parameters and press ENTER One hundred sixty nine Seaglider parameters with the current value assigned in brackets are listed Figure F 22 To edit a parameter value follow the procedures Basic Mission and Seaglider Parameters on page 371 386 iRobot amp 1KA Seaglider User Guide Hardware and Configuration Menus Appendix F FIGURE F 22 Edit All Parameters Menu dS LORI E OO 00 IO Bs co OL iw Uw we bb www BREE 15 20 Qiunenunununun uni un un un Js Fs P RE Ts Jn RA Je LU w w LU LU UU LU UU LU LU NO NO NO NO NO NO RO NON Go 00 IO E cu fJ EA OO 00 IY Yd Ca OF OO C0 OY P Lo NJ O IO 00 LO Un B LU NJ E eb www ww wb ww Pw ww www ww we ww All Ccurrent value in 2 ID 169 Glider ID 3 digits max MISSION 9 Current mission number DIVE 21 Next dive number D SURF 3 Surface depth m D FLARE 5 Flare depth m D_TGT 75 Target depth m D_ABORT 1090 Abort depth m D_NO_BLEED 200 Depth below which we will
129. 7 Pre Launch Procedures on page 187 At the end of the interactive self test Seaglider returns to the Launch menu Perform Autonomous Self Test To access the Autonomous Self Test Mode menu Select 3 Perform Autonomous Self Test and press ENTER Follow the autonomous self test directions in Appendix E Autonomous Self Test on page 347 At the end of the autonomous self test Seaglider returns to the Launch menu Upload Self Test Results To upload self test results to the laptop connected to Seaglider via the serial communications cable Select 4 Upload Self Test Results and press ENTER The output looks like that in Figure 7 30 on page 213 At the end of the upload that Seaglider returns to the Launch menu 422 iRobot amp 1KA Seaglider User Guide Appendix F Hardware and Configuration Menus Reset Dive Run Number To reset the dive or run number Select 5 Reset Dive Run Number and press ENTER Seaglider responds with the present dive number If this value is correct press ENTER Otherwise type in a new dive number and press ENTER Seaglider returns to the Launch menu Test Launch To run simulated dives with Seaglider Select 6 Test Launch and press ENTER Follow the simulated dives procedure in Chapter 7 Pre Launch Procedures on page 187 At the end of the test Seaglider returns to the Launch menu Sea Launch To run the last launch sequence before deploying
130. 76 a Seaglider hydrodynamic parameters hd c 9 8541e 6 induced drag by lift 294 iRobot amp 1KA Seaglider User s Guide Appendix B Seaglider File Formats Manual rho0 1027 5 Greatest expected water density in area of operation pitch min cnts 426 pitch max cnts 3705 roll min cnts 157 roll max cnts 3897 Software limits vbd min cnts 550 vbd max cnts 3875 vbd cnts per cc 4 0767 volmax 51344 Volume in cc the glider displaces when fully pumped see the Seaglider Pilot s Guide for tank and ballasting information 2 2 3 Pagers File pagers The dot pagers file controls the automatic notification system It allows any of three types of messages to be sent to any valid email address gps alerts and recov see below This service is run by the data conversion script which is invoked by a glider logout or disconnection Lines begininning with a ff are comment lines and are ignored in processing Joe Smith Joe Smith will receive emails to his APL account and joe gmail com gps alerts recov text messages to his Sprint phone but will not receive jsmith apl washington edu recov messages to his gmail account 2065551234 messaging sprintpcs com recov Jane Jones jjones apl washington edu gps alerts recov If the glider goes into recovery send the most recent GPS position and the recov code Send an alert when the basestation has a problem converting a file or files After eve
131. 7A peak 97 AD sec 681 ticks 10 retries The capture file also describes changes between dive phases 839 259 SDIVE N Leaving climb state due to SURFACE DEPTH REACHED 839 402 SDIVE N Entering surface coast state 839 570 SDIVE N Reached SD Wo 0 064493 6 more points Seaglider calculated that it should take this many more samples before beginning Vertical velocity when surface depth reached Surface depth 2 1 8 NetCDF File p1230055 nc The netCDF file captures all processed files and is self documenting Read write access to netCDF files is provided by the software libraries supplied by UCAR University Corporation for Atmospheric Research The netCDF file is meant primarily for sharing data between scientific users 2 1 9 Private File p1230055 pvt PVT or private files are created on the basestation They contain data that was originally in the logfile that could pose a security problem if propagated off the basestation as the logfile may well be Thus the data is stripped from the log file and placed in the matched pvt file The lines in the pvt file correspond with parameters that are listed in the Parameter Reference Manual 2 2 Processing Control Files This section includes files that are used by the pilot to monitor and when necessary modify how the basestation processes Seaglider data 290 iRobot amp 1KA Seaglider User s Guide Appendix B Seaglider File Formats Manual 2 2 1 Communications Lo
132. 9 d N WHOS eatssed qs burzriojuo N u eat zoe Gs burieque N W OI u60 0 suc 6cc V N VOS eat zoe qS bPurzrojuo N u eatssed qs burronjuo N u uHSS G C 0P Sns LLE 9 OT Ugl 0 Su90ICE V N HuOSNSSS ZYvO 9 Sns 68 ce OT ug0 0 SuL684c d N uosN3SS 90S8 T eArssed qs Purzoyue N HSns 98r Lc uHSs c98 9c SNS PIZ EZ OT U91 0 SU80681 d N HOSNSSS GEZ ZC sns 6S 8t TIO 8 8 LI v u40 0 SUOTIPI W N YOSNASS 787 8T eAT30e qs Burz qu N usSnS 668 FT u40 0 SurI600I d N YOSNHSS ZIP T eArSsed qs burzojuo N WSDS 8LL 6 OI u 0 0 Su0Z S v N WOSN3SS E8v 6 eA130e qs burdeque N usns c09 G 8IL0 GPOET Kew peM peaaeas ATA N AIANSS IEP O uor3e2o102 oI IJ e3ep pue saosu s burxooeuo N uWSnS pec c TIZ O 8I P PLP 60S 22 v8 L09 OF 7WOLOWN Cott 9 113 DOI PurzZTIPTOTUI N mTHDSS 9LP 0 OTT e1ep DurzT PTJTUI N 4NHDOSS TPC 0 9 pLP 6OG qQ NOVML N dHAH 480 0L9S TI SX2TI3 GI68 O9S dV OT UTWAT SZ eed 9 6Z 99 9 L uoaj peyorduoo dumd N dHAH PP9 699G I Suop N GAH 76h 699SETE L6 68 2 68 SNIL SNOIL OD N MOLOWS 6 699G I AL SZ A pc AUTU S eLG Z9S pe OO 68S N IHAH v86 199SETE 4S9 069 PL9 pe 99 Z z9S N GgAH 602 1G9GETE 89L z08 98L pe OO L vEG N GgAH vET OTOGETE 88 LT6 106 DP OO 6 90S N GgSAH 6S9 629GETE LL66 82
133. 92 cc 3140 to 11 28 cc 3110 3154 3066 took 3 0 sec 51mA 290mA peak 23 4vmin 19957 274 HVBD N TRACK b 3156 3067 a 3156 3067 d 45 o 46 139 to 11 04 cc G111 ws n n c e 2 z n n c A o ku m SE O MOTOR_DONE ticks 3 max 24v 4 6mA avg 24v 3 8mA minv 24v 23 4V I At the conclusion of the test Seaglider returns to the VBD menu iRobot amp 1KA Seaglider User Guide 403 Appendix F Hardware and Configuration Menus Open Valve To open VBD valve Select 7 Open Valve and press ENTER Seaglider returns to the VBD menu Close Valve To close VBD valve Select 8 Close Valve and press ENTER Seaglider returns to the VBD menu Cycle Valve To cycle the VBD valve Select 9 Cycle Valve and press ENTER Seaglider returns Enter time in ms to have the valve OPEN 1000 If 1000ms is okay press ENTER otherwise type in a new value and press ENTER Number of cycles between reports 20 1 If 1 is okay press ENTER otherwise type in a new value and press ENTER Seaglider then cycles the VBD valve echoing the activity back to the laptop Figure F 32 404 iRobot amp 1KA Seaglider User Guide Appendix F Hardware and Configuration Menus FIGURE F 32 VBD Valve Cycling 20147 873 HVBD N Hit any key to abort 20149 171 HVBD N VBD lin pot AD counts 3178 3090 20149 315 HVBD N VBD bladder position 5 40 cc ADf 3134 20150 611 HVBD N VBD lin pot
134. 979 HPITCH N 5 3 cm ad 166 MOTOR DONE ticks 10 max 24v 3 1mA avg 24v 2 3mA minv 24v 23 8Bv 1497883 122 SMOTOR N GC TICKS TIME 134 136259 1497883 217 HPITCH N done 1497883 365 HPITCH N Pitch completed from 5 55 cm 73 to 3 59 cm 700 took 3 0 sec 235mA 292mA peak 23 5vmin 207 AD sec 121 ticks 14978R1 7665 HPTTCH N TRACK h 695 0 a AORA d Q o 2 a At the prompt Verify pitch SW limits and timeouts Y press ENTER to accept the default Y See Figure 7 19 204 iRobot amp 1KA Seaglider User s Guide Interactive Pre launch Self Test b At the prompt SPITCH MIN New value x verify that the value displayed matches the minimum pitch value on the Cal sheet found in respective Seaglider notebook See Figure 7 19 c Doone of the following fthe minimum pitch value is correct press ENTER to accept the default answer Ifthe minimum pitch value at the prompt differs from the value on the trim sheet make sure that the trim sheet is up to date If the trim sheet 1s the latest version enter the correct value and then press ENTER d Atthe prompt 5PITCH MAX New value x verify that the value on the screen matches the maximum pitch value on Seaglider s Cal sheet found in respective Seaglider notebook See Figure 7 19 e Doone of the following Ifthe maximum pitch value is correct press ENTER to accept the default answer If the maximum pitch value at the prompt differs from
135. A Under the US DOT regulations please review reguirements under 49 CFR 172 101 and Special Provisions 29 188 189 190 A54 A55 A101 and A104 and packing instruction 49 CFR 173 185 Under the IATA regulations please review 4 2 List of Dangerous Goods and Special Provision A48 A88 A99 A154 A164 and Packing Instruction 968 969 or 970 Assembling Seaglider Re assemble Seaglider following the instructions in Assembling Seaglider on page 41 Follow the directions for installing the antenna mast on page 42 Performing the Interactive Self Test Run the interactive self test Interactive Pre launch Self Test on page 188 This can be done on shore or at sea When Seaglider calls into the basestation it should pick up the cmdfile science and targets files that you edited see cmdfile Edits on page 166 targets Edits on page 167 and science Edits on page 169 At the conclusion of the self test if it passed the field team stands by laptop still connected to Seaglider while the pilot reviews all of the files that were generated and makes sure that all systems are functioning as expected giving permission to start the Sea Launch seguence The field team needs to be patient as this process can take 15 minutes The pilot needs to review the following cap file ptnnnxxxx cap where p processed t self test nnn Seaglider number xxxx self test number Look for errors and warnings Were file transfers
136. A avg 24v 3 8mA minv 24v 26 4V SMOTOR N GC TICKS TIME 27 2857 HROLL N done HROLL N Roll No motion occurred HPITCH HPITCH SMOTOR HPITCH HPITCH HPITCH H HV8D N Bleed commanded from 581 84 cc uin to 571 29 cc 470 HVBD N 579 1 cc ad 438 448 4371 MOTOR DONE ticks 6 max 24v 1224 9mA avg 24v 209 4mA minv 24v 26 0v SMOTOR N E TICKS TIME 72 74284 1 HVED N don Veb N Bleed completed from 581 84 cc 427 to 571 29 cc 470 479 462 took 1 6 sec OmA 1081mA peak 26 4vmin 27 AD sec 63 ticks HVBD N TRACK b 479 462 a 478 462 d 8 o 8 5 SUSR N query timeout lengthened you have one hour to respond Step 10 Pitch commanded from 6 68 cm 717 to 8 67 cm 80 7 1l cm ad 568 ii ORS DONE ticks 15 max 24v 4 6mA avg 24v 3 8mA minv 24v 26 3v S TICKS TIME 90 92125 one Pitch completed from 6 66 em 722 to 8 64 cm 90 took 1 8 sec 78mA 286mA peak 25 9vmin 351 AD sec 72 ticks TRACK b 92 0 a 90 0 d zzzzz2z Has the pilot given the OK to launch no cancels launch yes proceeds N 11 Both Pilot and Field Team Immediately after the launch command is given to Seaglider a communication session with the basestation starts iRobot amp 1KA Seaglider User s Guide 183 Chapter 6 Pre Deployment Tasks e Both the field team and the pilot should watch to make sure that the session runs completely and properly This is the last chance to abort the launch segue
137. APE HEADING 0 Escape heading degrees magnetic to steer in emergency ESCAPE HEADING DELTA 10 Escape heading offset degrees in emergency FIX MISSING TIMEOUT 0 Time days without fix before activating escape heading TGT DEFAULT LAT 4808 Default target latitude TGT DEFAULT LON 12223 Default target longitude TGT AUTO DEFAULT 0 Automatically update default target Return to previous menu election 1 21 CR iRobot amp 1KA Seaglider User Guide 373 Appendix F Hardware and Configuration Menus Surface Parameters To access the Surface Parameters menu from the Parameters and Configuration menu Select 4 Surface Parameters and press ENTER The menu in Figure F 7 is displayed To edit a parameter value follow the pro cedures under Basic Mission and Seaglider Parameters on page 371 FIGURE F 7 Surface Parameters Menu Parameters current value in 2 1 D SURF 4 Surface depth m 2 D FINISH 10 Dive finish depth m 3 D PITCH 0 Depth to achieve before surface maneuver pitch m 4 D CALL 0 Depth to achieve before antenna is assumed to be out of water m 5 SURFACE URGENCY 0 Number of dives to accumulate before trying extra surfacings 6 SURFACE URGENCY TRY 0 Dive number modulo for extra surfacing attempts 7 S SURFACE URGENCY FORCE 0 Dive number modulo for forced extra surfacing attempts 8 USE ICE 0 Use ice map for surfacing decisions 0 no
138. B Br EE f Hm E m x CBiB o s fia x 086 Click on the button L J and use the standard Windows method for browsing to the DivePlot or alternate name given above folder containing the visualization software Loading the Dive Plot GUI The MATLAB IDE contains a window titled Command Window Within the Command Window is a command prompt gt gt Refer to the following diagram to familiarize yourself with this window which will be used in the steps that follow aglidervisualization trunkidiveplot v Lol B oO a x mmn P fe gt gt gt 318 iRobot 1KA Seaglider User Guide Appendix D Dive Data Visualization Software 1 Move the mouse cursor to the right of the command prompt and click and release the left mouse button You should see a blinking cursor typically a vertical line or bar next to the command prompt 2 Type the following command at the command prompt run GPCTDVis gui lider visualization trunk diveplot v m e oaz x EDAD r P H fe gt gt run GPCTDVis gui gt 3 Press the Enter key on your keyboard In several seconds you will see the Dive Data Analysis graphical user interface GUI appear If this is the first time running the visualization software on the computer the GUI will look like the following figure iRobot 1KA Seaglider User Guide 319 Appendix D Dive Data Visualization Software GPCTDVis gui File Edit Vi
139. C PPPGE I 0I0 SPIE 6L0 DP OO L LZ N GHAH v9 ZEPGE LETE v8zE ZIZE DP OO 09 N GgAH v9G IZVGE tttttttt 0101117717777 592 LlPEl EPEE pe OO G 26 N GdHAH POL OLPGE 99 9 6 uo4j pepueuuoo dung N QOgAH Z08 60vGS euore 3soog uo 00007 Purdund N HSD0S 99G 60PS 8PEE qv O0 0L 6 uor3Tsod zepperIg AJA N GHAH P 60VSE LLZE 61v S3unoo qv 30d uri AJA N Og8AH 6LZ 60vG 8P 4dV oo OL 6 uorarsod xeppeIg ddA N dHAH 680 60PS LLZ 61v S3unoo qv 30d uri AJA N dGAH G 6 80PGS AT A pue qgA burxoeuo N usns 0LL 80vG 61 O 0 P 0 08LC e O ELLZ qA NOWHL N TIOWH EG9 80vGS euop N TTIONH TLlLC L6 G 8LIEL IL HWIL SNOIL OD N MOLONS 8ITI L6EGE TEG GEESE Z6LE Pep 6 LZ 07 0082 bep II O worzy pepueuuoo ON N TTIOWH 99G v6 GC 3430d oa TTOU N USNS OSE PEEGE z030u IIOZ Hhutyosyo N NSnS 0OSc P6 G Q m mm m m m m m m m m 6 m m m O m m m m m m m m m m amp 0 m m Q m m 0 m m m m m 46 XY 6 Gy err ny 353 iRobot amp IKA Seaglider User s Guide Autonomous Self Test Appendix E WULLST vuo p Apc bae wug 9 WUB9G oes 6 ccc Xoo3 ApZ X U pr 69 LOS S OT3 HNOd 88 eArssed qs Purzejue N MSnS 8cI GSp UQI 0 SU6Pp80P V N MOSNHSS I8L PP oaA130e qs bPurzogjuo N MSDS IEI LP OT U00 0 suc69
140. C9 01 110C 6C FEIN uo porrduroD N ISQS 88Z 91 6 1 L0 99 UOISIAA N USNS POL 91 SET UOISIOA o1eAgjos Surodo N ASNS ESS ITESETE oure YIM juojsrsuoo 000000 8CT urea 10suos omssox1d euzojxg N dIS OS L0p 9 TES 1 SS6 AVV St UddX N USNS E9TITESETE pojjpeisur jou sr sseduroo ored N MSDS T91 91 S T 00 dS sr sseduro N WsnS S0 91 c 1 HSISdO WWO st SqD N ISOS 986 STESET ccsoumipu sr UOT N USNS 868 S TESETE T AY SI preogIouoJANMSDS L08 STESET popresur JOU ST jo s 19830 ur 10suog 1380 T N JS 1S 0896 T SET poppesur JOU sr jo s 19230 ur 10suog 19330 T NASAS Lv STESETE poppesur JOU ST Z jo s 19230 ur 10suog 19330 T N JSCS PT STESETE c S9ndo Ajeururou 0 jouueqo xnur TT Ad L OINAL Hod uo QLLOdD SI J0JS 19330 ur 10suos 19380 T N IS 1S 607 STESETE pojjesur jou st 9 jo s ur JOSUdS N USNS ELO SIESELE pojje sur jou st jo s ur JOSUdS NUSNS TI FTESETE pojje sur jou st p jo s ur 1osu S N ASNS IS8 P IESETE pojjesur jou Sr jo s ur JOSUdS NUSNS OPL VIESELE pojje sur jou st Z jo s ur IOSUOSN MSDS6C9 PT SET T sondo Ajreururou 0 d L 9OODd L E 40d uo LWAZT488 TA S T JOJS UI IOSUOS N SDS 6S PTES T uopem3yuoo ere pre 8uniodoy N MSDS 8I PI S T O 0 cc dur Sap 9L EL 31d Sop 18 L OU 89p 1 COI SPH 00 dS I N SSVdINOOH 8L8 C1 SET YO pojgesip 1944 sseduroo N SSVdINOOH L80 C T1 SET 006690 I 008
141. Cal sheet of Seaglider s notebook 16 Field Team The field team notifies the pilot when they arrive at the final deployment site 17 Field Team Make sure that the tag line on Seaglider is tied off on the boat With the boat captain s permission deploy Seaglider and allow the fairing to fill with water 18 Field Team Notify the pilot that Seaglider has been deployed and report how Seaglider is sitting in the water How much of the rudder is showing How much of the antenna mast is visible If Seaglider is riding well in the water continue with the testing 184 iRobot amp 1KA Seaglider User s Guide Final Launch Procedure If Seaglider is riding very low in the water and more than one half of the antenna mast is under water there is an issue with the ballasting Have the pilot verify that the external bladder is fully inflated If it is not this could be the issue However the guestion of why the external bladder is not fully inflated must be answered before proceeding If the bladder is fully inflated or nearly so the ballasting weight needs to be verified and if necessary some lead attached to the outside of the pressure housing needs to be removed The pilot determines if any lead has to be removed and from where 19 Field Team 2 o 2 22 23 With the captain s permission put the transducer of the acoustic recovery system over the side of the boat and down to a depth of 8 10 fee
142. Checking Out the Seaglider System on page 47 iRobot amp 1KA Seaglider User s Guide 33 Chapter 3 Setting Up the System Setting Up the Basestation Seaglider s basestation is the shore side computer end of the Seaglider system It is the computer that gliders call through the Iridium phone system It has three main functions e Supports a modem or modems and dial up users Seagliders Handles one side of the modem to basestation transfer protocol Processes Seaglider s data producing scientific and engineering data and performs simple error detection and notification The pilot does not have to sit at the basestation to control Seaglider although they can Often the pilot accesses the basestation over the internet from another computer Seaglider s Interface Computer see Setting Up Seaglider s Interface Computer on page 37 This setup allows the pilot to control Seaglider from anywhere there is internet access while Seaglider calls into the stationary basestation over the dedicated phone lines or internet via the RUDICS interface Basestation Configuration Seaglider s basestation runs on a Linux operating system OS preferably Fedora core 13 The basestation software package consists of a collection of python scripts a patched version of the XMODEM send and receive programs and configuration support for the modem program MGETTY The basestation is configured to auto answer dial up calls Seagliders
143. Compiled without SAILCT support 1497785 820 SUSR N Compiled without MicroModem support 1497785 933 SUSR N Compiled without DeepGlider support 1497786 046 SUSR N Compiled without Heap Recycle support 1497786 164 SUSR N Compiled with Rev C Motherboard support 1497786 281 SUSR N Compiled without LUA support 1497786 393 SUSR N NVRAM 178 parameters 716 bytes 186 bytes in utility storage 1497786 538 SUSR N Buffers static 1497786 619 SUSR N Active 2Mhz 1497786 700 SUSR N PicoDOS version C82 2651 1 63b 1497786 804 SUSR N Launched as MAIN 1497786 893 SUSR N Normal Heap 0473727 bytes 1497787 036 SGLMALLOC N glheap walk 317984 bytes free 3 blocks free 39720 bytes alloc 26 blocks alloc 1497787 212 SUSR N Sensors WL BBFL2VMT 1497787 860 SUSR N MAIN RUN 490112 bytes 38 The glider will next report a full listing of all the directory contents Figure 7 16 202 iRobot amp 1KA Seaglider User s Guide Interactive Pre launch Self Test FIGURE 7 16 Reporting Directory Contents L8158 855 SUSR N Reporting directory contents BATHYMAP 001 33792 BATHYMAP 002 38272 BATHYMAP 003 26752 BATHYMAP 004 48896 BATTERY 494 BG072110 482 CMDFILE 709 RUN099 CFG 322 SCIENCE 129 SG001PRM TXT 2785 BG012611 484 TARGETS 361 MAIN RUN 490112 GPCTD CNF 768 TCM2MAT 001 192 TCM2MAT 526 256 TCM52600 AVE 4830 TCM52600 RAW 85037 THISDIVE DAT 3775 THISDIVE KAP 4118 THISDIVE LOG 5791 THISDIVE WRK 129 6606 RUN
144. Dive Data Folder field upon startup of GUI is an invalid path and meant to be changed Simply close this window by selecting OK and begin to browse to the appropriate DivePlot or alternate name given above folder 320 iRobot amp 1KA Seaglider User Guide Appendix D Dive Data Visualization Software The folder that you specified does not appear to have any or all of the reguired data files ct Select Select Analyzing Dive Data Specifying the Dive Data Folder Analyzing dive data begins with selecting the DivePlot folder that contains the mission dive data Typically you will want to have the data on your local computer so that the analysis is performed guickly Specifying the data folder in the Dive Data Analysis GUI is similar to selecting the Current Folder in the MATLAB IDE as described in section Set Current Folder on page 317 You can either type the pathname into the Dive Data Folder field or click on the Browse button and use the standard Windows method of browsing to a folder Refer to the following diagram to assist with performing these tasks iRobot amp 1KA Seaglider User Guide 321 Appendix D Dive Data Visualization Software GPCTDVis_gui File Edit View Insert Tools Desktop Window Help A iRobot Seaglider Dive Data Analyzer DiveDataFold r click the Browse button to select a data folder gt Either type the full path to the folder containing Click the Brows
145. Edit the command file cmdfile and possibly the targets file targets the sci ence file science and the pagers file pagers for the simulated dives iRobot amp 1KA Seaglider User s Guide 219 Chapter 7 Pre Launch Procedures These files are located on the basestation in the home directory of the Seaglider about to do the simulation To edit the files for the simulated dives a Using any file editor open the command file cmdfile and add or change the following parameters SIM W 0 1 SIM PITCH 20 D TGT 30 T DIVE 10 T MISSION 15 KALMAN USE 2 8M CC 150 MAX BUOY 5 USE BATHY 0 T RSLEEP 1 C VBD value provided in notebook or on CD C PITCH value provided in notebook or on CD C ROLL DIVE value provided in notebook or on CD C ROLL CLIMB value provided in notebook or on CD GO b Save the changes c Using any file editor open the targets file targets and put in one or two latitude longitude values See Appendix B Seaglider File Formats Manual on page 275 for more detail on targets files The format of the file looks like the example below Simple targets SEVEN lat 4807 0 lon 12223 0 radius 200 goto SIX SIX lat 4806 0 lon 12222 0 radius 200 goto SEVEN d Save the changes e Using any file editor open the science file science and make sure that the sensors installed on Seaglider are represented in the file Also check the sampling rate Since this test is usually d
146. Example 1 finish direction of 90 specifies a north south finish line drawn through the target the target is achieved when the glider is east of the line Example 2 finish direction of 180 specifies an east west finish line target is achieved when glider is south of the line A value of 1 or no specification of finish means that no finish line will be tested timeout 3 0 Timeout specifies a length of time in days that the glider should try to achieve this target If the timeout is exceeded the glider will proceed to the target named by goto If timeout is not specified or is given as zero then the glider will try to achieve the target with no time limit iRobot 1KA Seaglider User s Guide Appendix B Seaglider File Formats Manual 2 4 2 Science File science This file created by the pilot contains instructions for the Seaglider about when to sample with the scientific instruments Comment lines are indicated by a and columns are separated by tabs Example Science File II Science for Port Susan The bottom limit of each depth bin The most freguent sample interval in this depth bin Each digit in this column corresponds to one sensor Sensors and sensor order vary by Seaglider Consult SSENSORS in the Log File Multiply this digit by the number in the time column to calculate how often this sensor should sample in this depth bin The time interval which controls how often the guidance and c
147. GERDEVICEA integer CURRENT m s degrees boolean MEM bytes iRobot amp 1KA Seaglider User s Guide 91 Chapter 5 Piloting Parameters SFG AHR 10V amp hr SFG AHR 24V amp hr SFG AHR 24Vo amp hr SFG AHR 10Vo amp hr Advanced GPCTD Parameters A Caution Use caution when changing these parameters PC RECORDABOVE meters PC PROFILE integer PC XMITPROFILE integer PC UPLOADMAX bytes PC STARTS integer PC INTERVAL seconds Alphabetized Parameters AD7714Ch0Gain Set by manufacturer Do not change Definition The gain assigned to the pressure sensor channel on the AD7714 analog to digital converter The parameter takes two values 128 for normal Seaglider operations with the installed Paine pressure sensor and 1 for bench testing where a synthetic voltage is injected in place of the pressure sensor output to simulate diving If the parameters SIM W and SIM PITCH are non zero this parameter does not apply 92 iRobot amp 1KA Seaglider User s Guide Parameters by Category AH0_10V Set by manufacturer Do not change Definition The capacity of the 10V low voltage battery pack AmpHr There is a small safety factor in this number and its accuracy has been verified in post recovery depletion testing of Seaglider battery packs Seaglider goes into the recovery phase if the total 10V battery pack amp hours used on a mission eguals or exceeds this value Nominal Value 95
148. GPCTD N RX 10 Tx 11 36 579 SUSR N Starting breakable loop Ctrl Q to end S GetCD ConfigurationData DeviceType SBE Glider Payload CTD SerialNumber 70100016 SampleDataFormat HEX engineering SampleDataFormat lt RS232ForceOn gt yes lt RS232ForceOn gt TxRealTime no TxRealTime I lt SampleInterval gt l lt SampleInterval gt lt SampleMode gt Continuous lt SampleMode gt lt AutoRun gt no lt AutoRun gt SBE43 yes SBE43 lt MinCondFreg gt 10000 lt MinCondFreg gt lt Cus tomPumpMode gt no lt Cus tomPumpMode gt lt Confi gurationData gt S gt minCondfreg 3212 0 S GetCD ConfigurationData DeviceType SBE Glider Payload CTD SerialNumber 70100016 lt SampleDataFormat gt HEX engineering lt SampleDataFormat gt lt RS232ForceOn gt yes lt R5232ForceOn gt lt TxRealTime gt no lt TxRealTime gt lt SampleInterval gt l lt SampleInterval gt lt SampleMode gt Continuous lt SampleMode gt lt AutoRun gt no lt AutoRun gt lt SBE4J gt yes lt SBE4J gt MinCondFreq 3212 0 MinCondFreq lt CustomPumpMode gt no lt CustomPumpMode gt lt ConfigurationData gt S gt start lt start logging s gt 0 08 15 4768 0 00004 0 09 15 4771 0 00004 0 08 15 4770 0 00003 0 07 15 4778 0 00003 0 08 15 4782 0 00003 0 08 15 4788 0 00003 0 09 15 4789 0 00003 0 09 15 4798 0 00003 0 07 15 4797 0 00003 0 08 15 4799 0 00003 0 08 15 4808 0 00003 0 08 15 4811 0 00003
149. Guide 271 Appendix A System Specifications TABLE A 2 1KA Seaglider performance specifications Feature Specification Operating Depth Range 20 to 1 000 m configuration dependent Maximum Travel 4 600 km 650 dives to 1 km depth Range Duration Typical Speed 25 cm s 1 2 knot Glide Angle 169 to 459 1 3 5 to 1 1 slope TABLE A 3 Standard Sensors Paine Pressure Sensor TABLE A 4 Optional Sensors Sea Bird 43F dissolved oxygen sensor pumped Sea Bird dissolved oxygen sensor unpumped Sea Bird CT Sail Aanderaa dissolved oxygen WET Labs ECO PucksTM Photosynthetically Active Radiation PAR sensor Payload Conductivity Temperature Density GPCTD sensor TABLE A 5 Mechanical Features Isopycnal pressure hull No external moving parts Low drag flooded fairing Glider Payload Conductivity Temperature Density GPCTD sensor 272 iRobot amp 1KA Seaglider User s Guide Appendix A System Specifications TABLE A 6 Electrical Features Ultra lower power micro processor High capacity compact FLASH memory 4 open serial channels for sensors 1 open freguency channel for sensors TABLE A 7 Guidance and Control G amp C Dead reckoning between surface GPS fixes using 3 axis digital compass Kalman filter prediction for mean and oscillatory currents Acoustic altimetry syst
150. H L I P6 S HOLIdH PEL 6 GE euop N HOLIdH L8S 6 8 ZOTHIT ZIL HWIL SMOIL OD N MOLOWS C6P 6 G E m SL MO z9 z OF PITI WO z9 y uoig pepueuuoo uoird N HOLIdH TP88 68 GC PIT 0 WO Z9 y uorjrsod Tozquoo Yo Td N HOLIdH 129 68 G sseu yoqtd jJjJO burjoed N uHSnsS 80P 68 G ZI O 0 P O LZT O TET G MOVHL N HOLIdH 62 68 S SX2T2 I0P OeS dV PLE UTuA8 9 SuoOp N HOLIdH CPL 88 G 96I60P LOP SWIL SMOIL OD N MOLOWS 979 88 G SITI WO I9 P OF 498 uo II L uozy pepueuuoo Uo3TId N HOLIdH G69 LLEGE uUMOp buruoara N MSDS Z8P LLEGE Z 0 0 iP 0 998 0 98 qQ NOVHL N HOLIdH 69 LLESE 6 ce ey yo 0 oy NIU oom c wo x0 c m euop N HOLIdH 808 9 G SP1609 L09 3WIL SMOIL O9 N HOLONS ZIL 9LEGE wol bod dk no dodo ch wo RS Rd n L61 pe uo P P N HOL dH cL I9 G 6L8 uo GI L o3 68 MO 69 p uozy7 pepueuuoo UojId N HOLIdH C9L 09 G dn buruo3rd N MSnS ZGG 09 G 3030u uyo31d buryo29UD N usns 0SP 09 S qgA pue TTO uoird DUTXO9UD 6I2v008 1087 GG V3E00 SL eIdues N dLOdDH 09c 09 GEI gy y t cy x Y o oo SSWSHSASDS9US HWILWLVd eur3723s o3ur aug cHWILHLVd lt S IS92NIODOILHSWWN UsSurTguoo SIS NIDODOTLHSWWN lt S 1 ST Burz3s OU S xooqo xXoo 9 burou Ss N dLOdDH cSC 8PEGEIE A13091200 Y
151. HOLId OS N MSDS LG LCP 6L8 XVW HOLIdS N usns 9cG LZv SII NIW HOLId N usns 08v LCY 009 MOQNIM LIH SO43VH N uSsns GZv LZY 09 HSHHHI HHOO SO4VHS N usns ILE LZY S I Ll3S44O MVHd SOd4VH N USnS8TE LZY O HGOULSS N USNS T8Z LZE dHWISu L N usns vvz LZv LlZ98 vI HOuVHO SdD LS N NSDS 68I LC O OVNVWTV SdD LS N usns lvl LZY 0Oc SdD N N usns LOT LZ SI SdO L N usns 690 LZv 0 oddavsH N usns ezO LZY 361 iRobot amp IKA SeagliderTM User s Guide Appendix E Autonomous Self Test I HOIAWd CSSVdWOOS N MSnS 6 9 I b HOIASd SSVdWOOS N MSDnS T6G I P I PHOIAHOHHDDOIS N USNS TPS TEP I E HOIAHOHHDDOIS N USNS G6P TEP I CHOIAHOHHDDOIS N WSDnS 8PP TED G8 THOIAHOMHHDDOTIS N MSnS cCOP IEP I SWHODOTIS 9HOIAHG GHOIAHG uSns coe t v uSsns z TED usns v82 TED PHOIAWGdS N uSnS PPpc l P HuoIASa N usns goz TEP CHOIAHd N uSnS G9I I P 8 THOIAHGS N MSnS GCI IEP y GHVOENHHLONS 0o dWW3diT19d333 O NHGI IOdWHG MSDnS 080 IEP ISnS G 0 I P usns 966 0 v 82 0 LNIX HHnsSsud LNIS N uSnS vv6 Otv 00099 600 0 3dOT1S HOSSWNd LNIS N usns LL8 O v 06 LIGIHNI uUuddX N usns 6ez8 oev c dI IVA MddXS Z ALIAILISNSS WILTV asiInd WILTVS MSDS L8L 0EP MSDS 9 L 0EP asns 69 OEP CT AONHDOHSWS WILTVS N MSn8S Ppo O0O b G WLISd ON
152. I 1 833 od L deeIs o4 buroD N m4MHnSS G9 90 O s3noeur3j 0 S MVN TeE3OL N 4HnSS 96G 90 ee13 SYOOTG 8 oexy seq ZE8ZZE 193x burznp umrpriI L SS SS SS SH SH lt p lt p lt SS SS SS lt p SS lt MP lt p lt p MP MP MP v IO3 N a4unss 08 60v XLS HOS N 343H0SS 00L POP 43Oa3emod N usMOdS Z6p 90 utbo oa rqeun N 4uUnsSS PHP 90 Kew peM I6 68L 0L 91968v ly uor3000T0eD umTDIII N HNOHdH GLI 8LC pexoeuo jou y3buergs Teubts perrey xoeuo uor3e 3STDo1 N WHNOHdH CL6 LLC iRobot 1KA Seaglider User s Guide 358 Appendix E Autonomous Self Test O SONOS AONHDWD HOVSHDSS N NSDS GP9 VCV O AWL AONHOND HOV4unS S N WMSDS G6G VPCP O AONHONWDn HOVSHDSS N HSnS OGG PCP 0 TIVO d N VHSnS oIG O WHVS G N VHSnS I8p 0 HOLId G N usns ovy O HSINIS GS N HSDS 60P 0 L1SOOH LS N NSDS PL 0 LSOOH G N usns 8et 00c awwI8 ON d N WSns 96c 0601 LNOHV G N usns vaz O LOL G N HSnS prc HAYTA dq N usns GLT OA awns q N usns g8gI IG N usns eor O NOISSIN N WS09 890 Sec dai N usns seo euop WVHAN PUTOTXM N 8LLH OCF ANNS HAS I O3 SHHDDOIS ie3eueied Z O3 dITVA MddX zo3euezed OZL OF LDOWWIL qgA Ie3euered S O3 soV4uHns ALYA dV dW d qgA ze3euezed I6P o3 NIW dgA ze3euezred I96 O3 XVW qgA Iojeuwezed 96Z2S8vy2 0 OF ANO qgA 1e3euezed p O3 AHLVd HSn zegewezed S O3 LNIdWVS NUNL L 1e3euezred O3 dHWISN L Je3euez
153. I LILI LILI L lt ee s Basic mission and glider parameters Dive parameters Flight parameters Surface parameters RAFOS parameters Set show glider login password Set show basestation phone number Set show basestation alternate phone number Pitch parameters Roll parameters VBD parameters pherals Hardware configuration parameters Pressure external parameters Pressure internal parameters Compass paramaters Altimetry parameters Seabird CT calibration Power parameters Edit all parameters Validate parameters Show parameter details Show changed parameters Clear changed parameters Save parameters by name to file Dump parameters to screen Load parameters from file Reset to defaults CR Return to previous 370 iRobot 1KA Seaglider User Guide Appendix F Hardware and Configuration Menus Basic Mission and Seaglider Parameters To access the Basic Mission and Seaglider Parameters menu Select 1 Basic Mission and Seaglider Parameters and press ENTER The menu in Figure F 3 is displayed The present value for each parameter is shown in brackets to the right of the parameter name The explanation for each parameter as well as the acceptable range of values is located in Chapter 5 Piloting Parameters on page 83 FIGURE F 3 Basic Mission and Seaglider Parameters Menu Enter selection 1 27 CR 1 Basic current value in 2 1 ID 506 Glider ID 3 digi
154. IL ILC IL JL Configure TCM2 Calibrate compass Calibrate compass w SP3003 raw raw reader Autocalibrate compass manual cal stand mode Autocalibrate compass in situ mode Read calibration coefficients Power cycle test Edit compass parameters CR Return to previous Enter selection 1 18 CR To exit the Compass attitude menu and return to the Hardware Menu press ENTER iRobot amp 1KA Seaglider User Guide 411 Appendix F Hardware and Configuration Menus GPS Menu To view the GPS Menu Select 7 GPS and press ENTER The menu is Figure F 39 is displayed The menu options allow the user to check the basic functionality of the GPS unit FIGURE F 39 GPS Menu s s GPS Menu selftest GPS self test acquire fix display Display lat long amp sat info direct Direct comm with unit 1 l 2 3 l 4 capture Capture raw output 5 reset Reset to deployment mode I 6 check Check almanac status 7 pps Check for presence of PPS signal 8 clock Use GPS to set TT8 RTC uses PPS if available 9 version Report GPS version CR Return to previous e To exit the GPS Menu and return to the Hardware Menu press ENTER Modem Menu To view the Iridium phone menu Select 8 Modem and press ENTER The menu is Figure F 40 is displayed The user can access this menu to check the basic functionality of the Iridium phone 412 iRobot amp 1KA Seaglider User Guide
155. IRECT INCIDENTAL SPECIAL OR CONSEQUENTIAL DAMAGES RELATING TO OR ARISING OUT OF THE AGREEMENT EVEN IF iRobot IS ADVISED OF THE POSSIBILITY OF SUCH DAMAGES SUCH EXCLUDED DAMAGES INCLUDE BUT ARE NOT LIMITED TO LOSS OF GOODWILL INTERRUPTION OF BUSINESS DEVICES NOT BEING AVAILABLE FOR USE LOST OR CORRUPTED DATA LOSS OF BUSINESS LOSS OF PROFITS LOSS OF USE OF THE DEVICE OR ANY ASSOCIATED EQUIPMENT COST OF CAPITAL COST OF SUBSTITUTE OR REPLACEMENT PRODUCT FACILITIES OR SERVICES DOWN TIME CHARGES FOR CUSTOMER S TIME AND EFFORT THE CLAIMS OF THIRD PARTIES INJURY TO PROPERTY OR ANY OTHER DIRECT INDIRECT SPECIAL RELIANCE INCIDENTAL OR CONSEQUENTIAL DAMAGES REGARDLESS OF THE NATURE OF THE CLAIM AND WHETHER OR NOT FORESEEABLE AND WHETHER OR NOT BASED ON BREACH OF WARRANTY CONTRACT OR TORT OR STRICT LIABILITY OR FOR ANY CLAIM BY ANY THIRD PARTY EXCEPT AS EXPRESSLY PROVIDED HEREIN 2 3 LIMITATION OF LIABILITY ANY DAMAGES THAT iRobot SHALL BE REQUIRED TO PAY SHALL BE LIMITED TO THE TOTAL FEES AND CHARGES RECEIVED FROM CUSTOMER UNDER THIS AGREEMENT 2 4 NO LIABILITY FOR DELAYS iRobot AND ITS SUPPLIERS SHALL NOT BE LIABLE FOR ANY DAMAGES CAUSED BY DELAY IN DELIVERY INSTALLATION OR OPERATION OF THE SOFTWARE OR EQUIPMENT UNDER THE AGREEMENT iRobot amp 1KA SeagliderTM User s Guide 443 Appendix J Warranty and Disclaimers 444 iRobot amp 1KA Seaglider YM User s Guide
156. Id WILTVS N HSn8 6S 0 b 08 HLdWd ONIG WILTVS N MSDS CVPG 0EP T WIOVLSHO NIW dOL WILTWV O NIDHVW NHOL dOL WILTVS ZT NISWVW NYAL WOLLOG WILTV asns 98h OEP MSDS TEP OEP aSns PLE OF 0 s5NYH ONId dOL WILTVS N HSnS8 8I 0 P O HONWY ONId WOLLOG WILTVS N HSn8 poc 0 P 0 HSN SSWaWOO N USNS EZZ OE O LHS4HO TION WOL O LHSHHO HOLId WOLS usns 8Ll 0 v HSnS c I 0 r 8ZT UTEDOUDPTLLAWS N USNS L80 OEP PP8L6STT000 0 mdOIS WHnSSWNd asns 770 OEP 7SS900 S LNIA gsunSsauds N usns 696 62v c AIddDS HNOHd N 4SnS 8I6 6cP O APC AHY 54 N HSnS 9L8 6CP O AOT MHV Dag 8 AOT ANINS MSDS LE8 6CF uSns 008 62v 61 AvZ ANINS N uSnS 6SL 6ZV OOT AOT OHVS N HSnS LIL 6CP OSI APC OHVS N MSnS 9L9 6cCP Oc SHOWNHXVW 8HO N USNS 879 62v T SHOWNHXVW dHAS N MSnS C8G 6CP oc dwwIe WOOND N HSnS IIC 6Cb 8 HLVu dV GHWIG GgAS N NS0S 091 62v iRobot 1KA Seaglider User s Guide 362 Appendix E Autonomous Self Test I aduog3je I aduejye T qdweqqe IT qdweqqe 00x ntz0003S 0023 2 A xai puo burpues N M Aaqoqoeaip AZO e rj uons ON a3eq spuosopd uedo bor uuoo lt lt 3eg spuosopd oyoe c ques LOH N Ad PcOL 9ZISXIQ PZOT 9ZIS jOOIG N d PCOL 9ZTSMlLG PCOL 9ZzIS xoorq N d PCOL 9ZISNIG PCOL 9zIS cC jOOIG N d PCOL 9ZISNIG PCOL 9zIS
157. It has all the fields necessary to direct the Seaglider to targets There are also four optional fields which can be added as columns in the targets file escape KAYAKPT The escape_target specifies what target to move to if the glider has been unable to navigate for a specified length of time e g if it is stuck under the ice The escape_target must be a valid named target in the file and can vary for each named target One possible future use is to have the standard targets along a cyclical survey route all point to a single escape target that then points through next_target to a series of targets that define an entire route to a convenient recovery location depth 100 Specifying a value for depth on a target means that target can be achieved by crossing a bathymetric contour If the value is positive the target is achieved when crossing that contour from deep to shallow When negative target achievement is defined by moving across that contour from shallow to deep The glider measures its depth for comparison against the target depth either by altimetry or via a T_NO_W timeout during the dive phase finish 90 Finish specifies a direction degrees and establishes a finish line through the target perpendicular to the direction specified The target is considered achieved when the difference between the bearing to the target and the finish direction is greater than 90 or less than 90 degrees
158. KA Seaglider User Guide Appendix D Dive Data Visualization Software Depth m 10 20 30 40 50 60 70 80 90 100 Mission Start Time 17 Mar 2011 19 26 53 i I i i Sat O Descent Sat O Ascent SBE43 Descent SBE43 Ascent 4 6 4 9 5 2 5 5 5 8 SBE43 Sat O m 6 1 6 7 iRobot amp 1KA Seaglider User Guide 333 Appendix D Dive Data Visualization Software Depth m 0 9 0 8 0 7 0 6 0 5 0 4 0 3 0 2 0 1 Mission Start Time 18 Feb 2011 05 29 06 Oxygen data does not exist for this dive 1 1 1 L 1 0 1 0 2 0 3 0 4 0 5 0 6 0 7 Dissolved Oxygen ml 0 9 334 iRobot amp 1KA Seaglider User Guide Appendix D Dive Data Visualization Software Plot 5 Backscatter Plot WET Labs Triplets The backscatter plot displays measured wavelengths of signals from concentrations of material in the water Depending on what triplet is sensor is installed up to three backscatter measurements may be present In this case the sensor provides optical backscattering measurements at 650nm excitation on both the descent and ascent Depending on the triplet installed more than one wavelength may be displayed As seen below the first triplet only has 1 backscatter in the triplet configuration whereas the second plot below has 2 backscatter in the triplet configuration Scattering SG524 Dive 2 iRobot
159. LEMGR O CALL_NDIVES 1 COMM_SEQ 0 N_NOCOMM 1 N_NOSURFACE 0 PITCH_MIN 331 PITCH_MAX 3664 C_PITCH 2720 PITCH_DBAND 0 1 PITCH_ADJ_DBAND 0 5 PITCH_ADJ_GAIN 0 03 PITCH_MAXERRORS 1 ROLL_DEG 45 ROLL_MAX 4000 ROLL_MIN 120 PITCH_CNV 0 0046000001 P_OVSHOOT 0 039999999 PITCH_GAIN 16 PITCH_TIMEOUT 20 PITCH AD RATE 150 UPLOAD DIVES MAX 1 iRobot amp 1KA Seaglider User s Guide 279 Appendix B Seaglider File Formats Manual CALL TRIES 5 CALL WAIT 60 CAPUPLOAD 0 CAPMAXSIZE 100000 T GPS 15 N GPS 20 T GPS ALMANAC O T GPS CHARGE 47579 566 T RSLEEP3 C ROLL DIVE 2150 C ROLL CLIMB 2225 HEAD ERRBAND 10 ROLL_CNV 0 028270001 ROLL TIMEOUT 15 R PORT OVSHOOT 62 R STBD OVSHOOTA2 ROLL AD RATE 500 ROLL_MAXERRORS 0 ROLL ADJ GAIN O ROLL ADJ DBAND 0 VBD MIN 704 VBD MAX 3940 C VBD 2956 VBD_DBAND 2 VBD_CNV 0 24529999 VBD TIMEOUT 720 PITCH VBD SHIFT 0 0020000001 VBD PUMP AD RATE SURFACE 5 VBD PUMP AD RATE APOGEEA4 VBD BLEED AD RATE 8 UNCOM_BLEED 20 VBD_MAXERRORS 1 CF8_MAXERRORS 0 AHO 24V 91 800003 AHO_10V 61 200001 MINV 24V 19 MINV 10V 8 FG AHR 10V 6 94801 FG_AHR_24V 6 73398 PHONE_SUPPLY 2 PRESSURE YINT 9 1756201 PRESSURE SLOPE 9 1530041e 05 AD7714ChO0Gain 64 See Parameter Reference Manual for information on parameters reported in the log file 280 iRobot amp 1KA Seaglider User s Guide Appendix B Seaglider File Forma
160. Load Parameters From A File and press ENTER The file SGxxxPRM TXT is loaded from the laptop onto Seaglider substitute xxx for Seaglider s ID number After the file is written the Parameters and Configuration menu is displayed To exit from the Parameters and Configuration menu and return to the Main Menu press ENTER Reset To Defaults To access the Reset to Defaults option from the Parameters and Configuration menu Select 27 Reset to Defaults and press ENTER The default value for each parameter is loaded After the file is written the Parameters and Configuration menu is displayed To exit from the Parameters and Configuration menu and return to the Main Menu press ENTER iRobot amp 1KA Seaglider User Guide 393 Appendix F Hardware and Configuration Menus Hardware Menu for Tests and Monitoring To view the Hardware Menu fused or tests and monitoring Figure F 24 Select 2 and press ENTER FIGURE F 24 Hardware Menu E Hardware Menu Motors and VBD 1 pitch Pitch control 2 roll Roll control 3 vbd VBD control Fixed Devices super Supervisor 5 pressure Pressure sensor 6 compass Compass tcmZ 7 gps GPS 1 8 modem Modem xmodem mode 9 intpress Internal pressure 10 altim Altimeter 11 sensors Sensors 12 loggers Loggers Other 13 batt Batteries and fuel gauges 14 lowlevel Low level hardware IO A D CF 15 misc Miscellaneous trav
161. M CC value could be changed to to get the full antenna mast out of the water iRobot amp 1KA Seaglider User s Guide 233 Chapter 8 Tuning Your Seaglider FIGURE 8 3 8M CC Values 9 kg m fw ___ 3960cts SGI ae cites Dacyaney contoured I x A40cts Lid i 3 o 48 Esci MCN e Bae g a 1 a y Csu 700 n7 370 19r f FU f ry 20 p 7 pf a f d S 21 EY f T 4 S rs Ww I X 1 f D NE 5 S g S j l d 8 j A l LZ E ie if ij E i L LZ J 100 0 100 200 300 400 500 600 700 VBD cc SG173 scale mass 51 221 kg Cbd implied mass apogee 51 137 24 t 300 200 After several 100m or greater depth dives look at the roll plot Roll Control deg versus Roll deg and the roll regressions on the plot and make any neces sary corrections Remember the rule of thumb for making changes and only make half of the correction desired at a time An example of a roll plot is shown in Figure 8 4 on page 235 In the example C ROLL CLIMB is currently set at 2000 A D counts The implied desired C ROLL CLIMB A D counts is approximately 2350 Taking the difference between the two values and dividing by two the C ROLL CLIMB value should be changed to 2175 Follow the same procedure for determining the correction to the C ROLL DIVE value As the trimming becomes less drastic the need to park S
162. Menu AOEDD and VBD pitch Pitch control 2 roll Roll control 3 vbd VBD control Fixed Devices 4 super Supervisor 5 pressure Pressure sensor 6 compass Compass tcm2 7 gps GPS 8 modem Modem xmodem mode 9 intpress Internal pressure 10 altim Altimeter 11 sensors Sensors 12 loggers Loggers Other 13 batt Batteries and fuel gauges 14 lowlevel Low level hardware IO A D CF 15 misc Miscellaneous travel timeouts date time 16 develop Developer tests CR Return to previous Enter selection 1 16 CR 12 mcn Loggers menu 1 pc GPCTD 2 empty CR Return to previous Enter selection 1 2 CR 1 a Press ENTER until you return to the main menu Figure 7 31 b Press 2 and press ENTER to enter the Hardware Menu Figure 7 31 Press 12 and press ENTER to enter the Loggers Menu Figure 7 31 d Press 1 and press ENTER to enter the GPCTD menu Figure 7 31 iRobot 1KA Seaglider User s Guide 215 Chapter 7 Pre Launch Procedures FIGURE 7 32 Set MinCondFreg T Logger device test menu on Turn on off Turn off selftest selftest 1 2 3 4 sample Report a sample 5 syncclk Synchronize device clock to TTB 6 clock Read device clock 7 file J Get file from device 8 action Execute logger action 9 config Show configuration 10 edit Edit configuration 11 direct Direct comms CR Return to previous Enter selection 1 11 CR 11 35 883 H
163. N MNSnS CG E cCcC G I SeT 1J GG pesn so3 g 8g8L9I I 60L2 V Z 120005S vct V ZGz0005S S908 XV ZXc000DS LI6L V ZMI0005S 8LZ X ZdI000DS 89S1c V ZN10001S DIE X Zg 0000d IL X ZWE0000d 82v V Z 1860059 G8P V ZX8600DS cc X n06600DS 0 20 ISOdd c 6 W ndatoooLs IOP X Zd6600DS LELS XV ZX6600DS c8cv V OTITOOOLS 69v I182v098 LL9Z V Z 110005S EPP V Z 100005S LOOT V Z 166005S 351 iRobot amp 1KA SeagliderTM User Guide Autonomous Self Test Appendix E A6 9C A c AUTU Vul eed vusgz A6 9C ApyZ AUTU WUT g AO LZ A Pc AUTU VU g lt s SX9OT2 TOT oes QV 8pZ uTMuAG 9C yeed wuogz vutyz oes G Z XOO2 ZPL MO S9 Z O3 VIT WO z9 p Mozy peqeTdwoo Uo3Td N SX9T2 06G 2es dqV 9SZ uTuAG 9Z eed Vupp9 vuogz oes g I X007 898E MO zl L OF 68 WO 69 p WOT po19Iduoo YOITd N HOLIdH P66 9L GE POXO eq IITM OU S SXOT2 294 08 Purdeers c LIIIOCPOSO HWILHLVd Purpues N dLOdDH PL6 PGEGEIE SSWSHSASDSU Apd Bae WWI es Apgz Xew 8 SXOT3 HNOGd MOLOW 6IZ pe uo y N HOLIdH 9L8 06 S Vvuc9 oes Q OI X003 GIT WO I9 p OF LOBE WO II L wory peqeTdwoo uoird N HOLIdH 688 88tS Apd bae WUI Apd XeU SX9T3 HNOGd HOLOW 77777777000000007 80LE pe WO 9 9 N HOLIdH 8G9 8LEGEI ApC DA wug e Apc Xew PT SXOT3 HNOGd MOLON I86C p9 MO P N HOLIdH LV CLEGE o o Z 0 0 P O OPL O LEL Q NOWML N HOLId
164. OWER N 94 615 SPOWER N 94 814 SPOWER N 94 967 SPOWER N 95 182 POWER N 95 406 SPOWER N 95 584 SPOWER N cumulative Pitch motor Roll motor Fuel gauges Cumulat ve Amp secs since power up VBD_pump_during_apogee VBD_pump_during_surface VBD valve Iridium during init Iridium during connect Iridium during xfer Transponder ping GUMSTIX 24V 17 29 amp sec 27 77 sec 1 14 amp sec 6 85 sec 45 86 amp sec 0 00 sec 565 23 amp sec 312 85 sec 0 00 amp sec 34 50 amp sec 122 36 amp sec 285 4 0 EU A 24V total GPS TTB LPSleep TTB Active TT8 Sampling TT8 CF8 TT8 Kalman Analog circuits GPS charging Compass RAFOS Transponder Compass2 WL BBFL2VMT GPCTD 30 COURTS 10v total 9 0 0 9 6 3 1 28 0 7 0 0 0 3 1 95 942 HBATT N 24V batt pack voltage 26 24V 96 077 HBATT N 10V batt pack voltage 10 85V 29 136 1 46 51 00 0 2 0 9 00 sec 00 sec amp sec amp sec amp sec UO sec 99 AmpHr amp sec 65 16 sec amp sec 99 35 sec amp sec 5 90 sec amp sec 351 58 sec amp sec 179 32 sec amp sec 32 80 sec amp sec 00 sec amp sec 395 45 sec amp sec 00 sec amp sec 55 24 sec amp sec 0 00 sec amp sec 7 03 sec amp sec 0 00 sec amp sec 49 64 sec amp sec 65 44 sec 26 AmpHr 0 00 sec If running off external power a message will appear that ba
165. OY 150 SM CC 350 Calls per dive 1 5 10 cm sec vertical velocity 5 of packs used at beginning of mission 590 of packs left at end of mission No capture files being transmitted Call in after every single dive 164 iRobot amp 1KA Seaglider User s Guide Mission Planning Above 100m sample dissolved oxygen WetLabs and Conductivity amp Temperature Sail every 10 seconds Guidance amp Control Interval 60 Between 100m 500m sample Conductivity amp Temperature Sail every 10 seconds and WetLabs and Dissolved Oxygen every 30 seconds Guidance amp Control interval 180 Between 500m 1000m sample Conductivity amp Temperature every 10 seconds and WetLabs and Dissolved Oxygen every 60 seconds Guidance amp Control interval 180 Buoyancy 100m 500m 1000m Engine Duration 100m Duration 500m Duration 1000m Sensors Option Days Limiter days Limiter days Limiter Seabird Conductivity amp Tempera Standard ture Sail Wet Buoyancy Labs Sensor Engine 55 24V 124 10V 206 10V Seabird Conductivity amp Tempera Enhanced ture Sail Wet Buoyancy Labs Sensor Engine 69 24V 121 24V 184 24V Seabird Conductivity amp Tempera ture Sail Sea bird Disolved Standard Oxygen Sen Buoyancy 10V amp sor Engine 55 24V 153 24V 221 24V Seabird Conductivity amp Tempera ture Sail Sea bird Disolved Enhanced OxygenSen Buoyancy sor Engine 69 24V 12
166. Parameters and Configuration menu Select 14 Pressure internal Parameters and press ENTER The menu in Figure F 17 is displayed The present value for each parameter is shown in brackets to the right of the parameter name 382 iRobot amp 1KA Seaglider User Guide Appendix F Hardware and Configuration Menus FIGURE F 17 Internal Pressure Parameters Menu T IntPressure current value in 1 INT PRESSURE SLOPE 0 0097660003 Internal Pressure slope psig AD 2 SINT PRESSURE YINT 0 Internal Pressure y intercept psig CR Return to previous menu Enter selection 1 2 CR Initial set up of the Internal Pressure Parameters is done at the factory It is not recommended that the user change any of the values in this menu without consulting iRobot Customer Service To exit the Internal Pressure Parameters menu and return to the Parameters and Configuration menu press ENTER Compass Parameters To access the Compass Parameters menu from the Parameters and Configuration menu Select 15 Compass Parameters and press ENTER The menu in Figure F 18 is displayed The present value for each parameter is shown in brackets to the right of the parameter name FIGURE F 18 Compass Parameters Menu Compass current valueyin 2 1 TCM PITCH OFFSET 0 Pitch sensor offset deg 2 TCM ROLL OFFSET 0 Roll sensor offset deg 3 COMPASS USE 0 Flags to indicate trust
167. Port Susan Mission Start Time 17 Mar 2011 19 26 53 650 nm RED Descent 650 nm RED Ascent 10 OO cnn dB incessus 40 50r Depth m 60 WO 80 90 100 l l l j l l l J 0 8174 0 9605 1 1035 1 2466 1 3896 1 5327 1 6757 1 8188 1 9618 2 1049 2 2479 6 6 m sr x 10 iRobot amp 1KA Seaglider User Guide 335 Appendix D Dive Data Visualization Software Scattering G125 Dive 5 iRobot Port Susan Mission Start Time 15 Jun 2011 18 17 49 i 5 6 700 nm RED Descent 470 nm BLUE Descent 6 700 nm RED Ascent amp 8 470 nm BLUE Ascent a NF m OR nli 10 Depth m a B 20 Y b y 25 erm FY RYDD ER TP MW Cy FAAN ao PAR Y AAA FFA ENN PENTO a antt men mwn med eem erm emere mitem 0 889 1 3271 1 7652 2 2034 2 6415 prse is jocos i j Va 3 079 3 5178 3 9559 4 394 4 8321 5 2703 pE m sr x10 336 iRobot 1KA Seaglider User Guide Appendix D Dive Data Visualization Software Plot 6 Fluorometer Data WET Labs Triplets The fluorometer plot displays the fluorescent response of substances in the water on the descent and ascent of the dive in different colors In this case CDOM and chlorophyll data are plotted Fluorescence G524 Dive 2 iRobot Port Susan Mission Start Time 17 Mar 2
168. Pressure Hull The acoustic transponder fairing rudder wings antenna and science sensors are located outside of the isopycnal pressure hull The following sections describe these components Acoustic Transponder The transponder located on the front end of the pressure housing is used for two separate functions Seaglider location during recovery e Altimetry during dives iRobot amp 1KA Seaglider User s Guide 63 Chapter 4 Operating Principles External Fairing The outer shell which includes the forward and aft fairings allows Seaglider to move through the water smoothly cutting down on drag and providing maximum energy efficiency Rudder and Wings The rudder and wings are fixed The wings with a combined span of 1m produce lift vectors relative to CG Center of Gravity and CB Center of Buoyancy that turn Seaglider when rolled and cause the glider to move horizontally when net buoyancy is positive or negative and vehicle pitch is not past the stall angle The rudder provides yaw stability as Seaglider moves forward Antenna Mast The antenna mast is attached to the aft end of Seaglider It provides height to the antenna that is located at the top of the mast The antenna serves both the GPS and the Iridium modem When Seaglider first surfaces the antenna is switched to the GPS allowing Seaglider to get a latitude longitude position The antenna is then switched to the Iridium modem allowing Sea
169. Procedures At minimum the pilot and preferably one other person should perform this review The review is discussed under piloting tasks in Chapter 6 Pre Deploy ment Tasks IF THEN there are no warnings or errors the test is complete You can seen in any of the files expected Launch Seaglider Chapter 6 Pre outcome Deployment Tasks on page 153 Perform a series of simulated dives see Simulated Dives on page 219 e Wand off Seaglider and put it away Go to the next step there is a problem during the find the problem testing the final lines from the self test show that the self test failed or was aborted or the data and log files were not transferred to the basestation See Chapter 6 Pre Deployment Tasks on page 153 Note Whether the self test passes or fails the Launch Menu appears If your Seaglider is eguipped with a GPCTD then continue with step 57 other wise skip to step 58 57 IMPORTANT You must turn the pump for the GPCTD back on prior to deploying in water on a data gathering mission 214 iRobot amp 1KA Seaglider User s Guide Interactive Pre launch Self Test FIGURE 7 31 Loggers Menu H Main Menu_ 1 param Parameters and configuration 2 hw Hardware tests and monitoring 3 modes Test operation modes and files 4 pdos PicoDOS commands and exit 5 launch Pre launch Enter selection 1 5 CR 2 Hardware
170. QUENCY kHz SALTIM PULSE milliseconds SALTIM SENSITIVITY integer XPDR VALID integer XPDR INHIBIT seconds Flight Model and Environment HD A value SHD B value SHD C value RHO gm cc iRobot amp 1KA Seaglider User s Guide Parameters by Category Safety A Caution Use caution when changing these parameters N NOCOMM integer D ABORT meters D NO BLEED meters T NO W seconds T ABORT minutes TGT AUTO DEFAULT Boolean PITCH_MAXERRORS integer ROLL MAXERRORS integer VBD MAXERRORS integer CF8 MAXERRORS integer UNCOM BLEED integer RELAUNCH integer Seaglider Modified A Caution Use caution when changing these parameters DIVE integer MISSION integer T GPS ALMANAC minutes T GPS CHARGE seconds R PORT OVSHOOT AD counts R STBD OVSHOOT AD counts Parameters Set During Fabrication Advanced Use Parameters A Caution Use caution when changing these parameters SID integer iRobot amp 1KA Seaglider User s Guide 89 Chapter 5 Piloting Parameters MASS grams T WATCHDOG minutes AHO0 24V AmpHours AHO 10V AmpHours SFILEMGR integer PRESSURE_YINT value PRESSURE_ SLOPE calibration value AD7714Ch0Gain value TCM PITCH OFFSET degrees TCM ROLL OFFSET degrees ROLL MIN AD counts ROLL MAX AD counts SROLL CNV AD counts degree SROLL TIMEOUT seconds
171. Robot amp 1KA Seaglider User s Guide Appendix B Seaglider File Formats Manual SigmaT_v density at the current temperature dive pos lat dd v estimated latitude in decimal degrees It should be noted that this position is a rough estimate based on the position at the surface and the depth averaged current not an actual GPS or other reading dive pos lon dd v estimated longitude see above 2 1 6 Binned Profiles File p1230055 bpo This is the same data as in the pro files but here it is binned or averaged into depth intervals specified by the user 2 1 7 Capture File p1230055 cap The capture file contains information about all of the actions the Seaglider took during the dive It captures the output written to the console while the Seaglider is operating Capture files are a great source of information on the glider s performance especially in error analysis and debugging For more information on the use of capture files please see the Capture File section in the Seaglider Pilot s Guide The format of the capture file is not as hard and fast as other file formats but it usually conforms to that shown below time service output level text Example Capture File 2966 752 N Capture file opened Descriptive text often what action was taken and sometimes thereason for the action Output level There are three letters that can appear in this position N C or D N indicates normal output level C stands fo
172. S DEVICE on page 104 Nominal Value 24 Minimum Value 1 Maximum Value 1023 iRobot 1KA Seaglider User s Guide Parameters by Category XPDR INHIBIT Definition A configuration value specifying the transponder inhibit time in hundreds of milliseconds The inhibit time is the time after a transponder reply during which the transponder does not reply to subsequent interrogation Shorter times mean the transponder can be interrogated more rapidly Nominal Value 90 Minimum Value 0 Maximum Value 99 9 9 seconds XPDR VALID Definition A configuration value specifying the transponder interrogation validation sensitivity in units of 0 5 ms Valid values are from 0 no validation to 6 3 ms The validation value is the total time over a 10 ms window following initial triggering that the detector circuit must remain triggered Longer validation times reduce spurious interrogation replies but could result in decreased range A value of zero results in no validation Nominal Value 1 Minimum Value 0 Maximum Value 6 iRobot amp 1KA Seaglider User s Guide 157 Chapter 5 Piloting Parameters XPDR_PINGS Definition This is an output from the glider representing the count of the number of times the glider transducer responded to an external stimulus at its freguency setting during a dive During missions this value should be zero While an occasional ping is acceptable freguent pings are
173. SD passive 634 SSENSOR N P 18366ms 0 03m 1 558 SUSR N entering SD active 236 SSENSOR N A 22361ms 0 03m 18 516 SUSR N entering SD passive 187 SSENSOR N P 26925ms 0 01m 1 120 SUSR N entering SD active 8 3 3 8 6 1 800 SSENSOR N A 30924ms 0 11m 20 4 092 SUSR N entering SD passive 1765 SSENSOR N P 35499ms 0 06m 19 695 SUSR N entering SD active 373 SSENSOR N A 39498ms 0 06m 18 677 SUSR N entering SD passive 345 SSENSOR N P 44084ms 0 01m 19 278 SUSR N entering SD active 1957 SSENSOR N A 48081ms 0 13m 19 273 SUSR N entering SD passive 1944 SSENSOR N P 52681ms 0 07m 19 874 SUSR N entering SD active 1544 SSENSOR N A 56677ms 0 0lm 18 875 SUSR N entering SD passive 1551 SSENSOR N P 61283ms 0 02m 19 486 SUSR N entering SD active 1164 SSENSOR N A 65289ms 0 07m 19 rsion 66 07 ider 524 ssion 6 lftest 170 art 4 15 111 18 48 42 lumns rec elaps tms depth headin ta 5286 4 192 653 1326 701 2601 586 56677 0 186 61283 2 196 65289 7 193 6 t CR to continu 45 1 88 dot m TT 1 0 2 as 9 4 4 3 45 8 7 6 7 8 9 10 11 12 513 14 15 g pitch roll AD_pitch AD_roll AD_vbd GC_phase wlbbfl2vmt 600ref wlbbfl2vmt 600sig wlbbfl2vmt chlref wlbbfl2v 6 650 106 695 62 460 65 542 98 695 62 460 65 541 695 62 460 64 541 01 695 62 460 65 541 1 695 62 460 64 540 00 695 62 460 65 540 95 62 460 64 540 695 62 460 65 540 Ea 62 460 65 540 0 9 9
174. SERBIRD T H to E 00061992655 149 313 HTI8 N Updating parameter SERBIRD T I to 2 2443779e 05 149 4806 HTT8 N Updating parameter 9 SERBIRD T J to s SAI B6 149 499 HTT8 N Updating paranetor SSEABIRD_C_G to 9 9470 588 HTT8 N Updating 681 SUSR N Uf 885 HTT8 N Updating 9 898 HTT8 N Updating 9 9980 HTT8 N Updating 884 HTT8 N Updating 158 HTT8 N Updating RNING aram eter 8 SERBIRD C parameter parameter parameter parameter parameter SERBIRD C H to I 0 0001 Reco SSERBIRD C I to SSEARBIRD C J to ZF RESSURE 3 SLOPE SUBD_MIN to 435 SUBD_MAX to 3963 1 1498449 mmended range 9 315474e 0b5 9 00010132478 to 0 00011485742 is between 8 88058 and 8 888 20 During the test dives a Monitor the activity Files should be successfully transmitted bi directionally between Seaglider and the basestation If a transfer fails during the test let the test continue through the five dives Perhaps the Iridium satellite was shaded at the time However after the dives are complete investigate the failures and make sure that there is a full understanding of the mechanism Repeat the simulated dives if necessary b When Seaglider is starting its 5th dive change the directive in the cmdfile on the basestation from GO to OUIT Seaglider uploads the file at the next surfacing and remains on the surface c Wand off Seaglider after it is parked on the surface following the fifth dive and all files h
175. ST MISSION and T ABORT need to be adjusted manually to account for the additional dive duration Total dive duration is ST DIVE T LOITER G amp C and sampling intervals during the loiter state are controlled by the appropriate depth bins in the science file Nominal Value 0 Minimum Value 0 Maximum Value 86400 iRobot 1KA Seaglider User s Guide Parameters by Category T_MISSION T NO W Definition The maximum mission time minutes allowed After T MISSION divided by two Seaglider transitions from dive phase to apogee phase then commences the climb phase If T MISSION is reached prior to Seaglider reaching D_SURF Seaglider immediately enters the surface phase This time includes the dive apogee and climb phases Nominal Value 30 Minimum Value 10 Maximum Value 4320 Definition The time seconds for Seaglider to wait with no significantly non zero vertical velocity less than 1 cm s as measured by dP dt before proceeding to the next phase ofa dive This 1s primarily used to move from the dive phase to the climb phase initiate an apogee maneuver when Seaglider unexpectedly encounters the bottom Note that this protection 1s only in place at depths below SD FLARE and VBD is already at SMAX_BUOY or below Nominal Value 120 Minimum Value 30 Maximum Value 86400 iRobot 1KA Seaglider User s Guide 147 Chapter 5 Piloting Parameters T_RSLEEP T_TURN Definiti
176. Step 9 10 When the good to go message appears wand Seaglider off Make sure that Seaglider is off by repeatedly pressing ENTER on the laptop keyboard If there is no response Seaglider is turned off Packing Seaglider in its Shipping Case To pack Seaglider in its shipping case 1 Remove the screws holding the rudder in place and remove the rudder Store the screws in the spare parts kit Place the rudder in its compartment in the shipping case 2 Slide the antenna mast and rudder boot out of the aft fairing can best be facili tated if the rudder section is outside of the cradle as in Figure 6 1 on page 175 3 Fold the antenna mast back onto Seaglider s wing and secure it with protective foam and a bungee cord 4 Remove the wings 5 Store the screws in the spare parts kit being sure to secure the antenna in its slots alongside Seaglider 6 Place the wings in their compartment in the shipping case 7 Put Seaglider in the shipping crate securing the antenna iRobot amp 1KA Seaglider User s Guide 177 Chapter 6 Pre Deployment Tasks 8 Put the laptop communication cable notebook spare parts kit and anything else that originally came out of the shipping case back in it Shipping Seaglider Please be advised that lithium battery shipments are controlled by the Department of Transportation DOT International Civil Aviation Organization ICAO and the International Air Transport Association IAT
177. TA 5 Depth increment when pinging for bottom 8 ALTIM FREQUENCY 13 Frequency to use for pings kHz 9 ALTIM_PULSE 3 Pulse length to use for pings ms 10 ALTIM SENSITIVITY 3 Altimeter sensitivity 0 5 p alee 2 Transponder interrogate validity length x0 5 ms 12 UN ee 90 Transponder inhibit length x100 of ms CR Return to previous menu Enter selection 1 12 CR To change a parameter value follow the procedures Basic Mission and Seaglider Parameters on page 371 384 iRobot amp 1KA Seaglider User Guide Appendix F Hardware and Configuration Menus Sea Bird CT Calibration Coefficients To access the SBE CT Calibration Coefficients menu from the Parameters and Configuration menu e Select 17 SBE CT Coefficients Menu and press ENTER The menu in Figure F 20 is displayed The present value for each parameter is shown in brackets to the right of the parameter name FIGURE F 20 Sea Bird CT Calibration Coefficients Menu Parameters current value in 2 1 SEABIRD T G 0 004302992 Seabird T g coefficient 2 SEABIRD T H 0 00062119117 Seabird T h coefficient 3 SEABIRD T I 2 2739867e 05 Seabird T i coefficient 4 SEABIRD T J 2 4046374e 06 Seabird T j coefficient 5 SEABIRD C G 9 8404341 Seabird C g coefficient 6 SEABIRD_C_H 1 104722 Seabird C h coefficient 7 SEABIRD_C_I 0 0022409149 Seabird C i coefficient 8 SEABIRD C J 0 000259
178. TD f Press ENTER until a S gt prompt appears g Type GetCD and press ENTER Find the value labeled MinCondFreq and record that value so you can use it later to turn the pump back on h Type MinCondFreq 10000 and press ENTER i Type GetCD and press ENTER 194 iRobot amp 1KA Seaglider User s Guide Interactive Pre launch Self Test p q Find the value labeled MinCondFreg and confirm it has been set to 10000 Type Start and press ENTER Wait for 30 secs You may be able to hear the pump is stopped though the sound is hard to hear externally Type Stop and press ENTER to stop system and get prompt back You will not see the word Stop displayed but a message will appear that the logging stopped Press Ctrl O to exit direct communications with the GPCTD Once back at the GPCTD menu type 2 and press enter to turn off the GPCTD Press ENTER until you return to the main menu Wand the glider off Wand the glider back on to continue testing operations 14 Test Seaglider s altimeter transponder iRobot amp 1KA Seaglider User s Guide 195 Chapter 7 Pre Launch Procedures FIGURE 7 7 Altimeter Check F Main Menu 1 param Parameters and configuration 2 hw Hardware tests and monitoring 3 modes Test operation modes and files 4 pdos PicoDOS commands and exit 5 launch Pre launch Enter selection 1 5 CR 2 I Hardware Menu Motors and VBD
179. This allows a one second operational overlap of the two pumps before the boost pump turns off Nominal Value 0 Minimum Value 0 Maximum Value 20 iRobot 1KA Seaglider User s Guide 143 Chapter 5 Piloting Parameters T BOOST BLACKOUTS Definition Time in seconds to wait after boost pump is disabled before allowing a retry Not to be changed by the user Nominal Value 0 Minimum Value 0 Maximum Value 30 T DIVE Definition The time minutes for Seaglider to make one dive climb cycle to the depth D_TGT and back to the surface This value does not include the time for pumping during the apogee phase The value is used to calculate Seaglider s desired vertical velocity in a particular dive using the naive calculation wa cm s 2 D TGT 100 ST DIVE 60 The wg is combined with MAX BUOY the range to the target and Seaglider s hydrodynamic model to calculate Seaglider s pitch angle on any given dive Nominal Value 15 Minimum Value 5 Maximum Value 2880 144 iRobot amp 1KA Seaglider User s Guide Parameters by Category T GPS Definition The maximum allowed time minutes to obtain a GPS position GPS timeout We often run with a ST GPS of longer than 12 5 minutes in order to ensure that the GPS receiver has time to receive a complete set of almanac entries in the event that lack of an almanac prevents getting a timely fix Nominal Value 5 Minimum Value 1 Maximum
180. Value 30 T GPS ALMANAC Definition Time to wait in minutes to acquire the GPS almanac The wait happens the next time the GPS is turned on After the wait the parameter resets to zero and the regular GPS operation presumably a fix will proceed If the parameter is greater than zero then the almanac sentences are checked every minute The wait halts when the time has expired or at least ten satellites have recent almanac sentences If the parameter 1s negative then the wait only halts after the time has expired A negative value also forces a complete NVRAM reset before the wait starts Nominal Value 0 Minimum Value 15 Maximum Value 15 iRobot amp 1KA Seaglider User s Guide 145 Chapter 5 Piloting Parameters T_GPS_CHARGE T LOITER Definition Time to wait seconds before trickle charging the GPS receiver for Garmin GPS25 engines only Negative values mean the GPS25 does not need charging The GPS units now installed in Seagliders run on a button battery so there is no need to charge the system Nominal Value 0 0033 Definition The time seconds to loiter after going neutral at apogee before pitching up and becoming positively buoyant for climb While in the loiter state Seaglider will attempt to maintain zero vertical velocity It will pump but not bleed become heavier to do this Seaglider does not servo on depth in this state All other timeouts and depths are honored in this state
181. XX SimulatedDive DDmonthYY The longhand method to do this is to type usr local basestation movedata sh mission dir source dir t target dir to transfer the files If you are in Seaglider s home directory and want to move it to a subdirec tory of that home directory the shorthand method to move files is to type movedata sh subdirectory filename and press ENTER The UNIX mv command can also be used to move data from the home directory ARGOS tag Prior to deployment user parameters must be programmed into the SPOTS Argos tag to properly fit the application needs for a Seaglider mission User parameters are programmed into the SPOTS via a Windows based program provided by Wildlife Computers called SPOT5Host The SPOTS is connected to a PC via the USB Blue available from Wildlife Computers only SPOT5Host synchronizes communications with the POSTS s on board software It sends and receives commands to the SPOTS Parameters are downloaded from SPOTS to the PC SPOTSHost allows modification of those parameters Once the parameters are set they can be uploaded to the SPOTS For directions on programming SPOTS user parameters see the iRobot Argos SPOTS Tag Setup and Installation document 4335290 iRobot amp 1KA Seaglider User s Guide 227 Chapter 7 Pre Launch Procedures 228 iRobot amp 1KA Seaglider User s Guide CHAPTER 8 Tuning Your Seaglider This chapter describes tuning your Seag
182. a aa i FYN SF varo ea 316 AU RH w al s E ERE EUR S 316 huuc au nan a AIR EE REF GR CN SR 316 Installation and Configuration 316 MATLAB 2010088802 saa asia saan sa tret eet ec 316 iRobot Dive Data Analysis Software Visualization Software 316 Using the Dive Plot Analysis Software 316 Run the MATLAB Application 316 Set Current Folders asas a iq etes nu u Nanas 317 Loading the Dive Plot GUI 318 Analyzing Dive Data esee dec eee rites sete ke seoa 321 APPENDIX E Autonomous Self Test 347 APPENDIX F Hardware and Configuration Menus 367 Parameters and Configuration Menu 370 Basic Mission and Seaglider Parameters 371 DIVE Paratieters usaq esten erae seen eros cases ert eene o Ue eek adeo eo EROF Oo o Flight Parameters Surface Parameters s qa suqus aei eoe ena Teese e gay veg eaae eee vena aen RAFOS Parameters ssccsoccssssesesessrsencesccatavssoscseretessecsnssssseacseccnsseesesonss Password Telnum AAU q evinced Y YN tano eene e e ydd dd ui FF Pitch Paraineters aga y eee sasdecseas DYRY qaa ua akay ee Una over Kasiti Roll Parameters aa eo oie roseo nad
183. a number of factors that affect how a Seaglider operates including the water density and currents in the mission area and the static and dynamic forces acting on Seaglider The following sections describe these factors and how Seaglider is designed to deal with them Environmental Factors Density Density is defined as mass per unit volume p m V Dimensionally this is eguivalent to p m L Oceanographers routinely switch between SI mks and cgs units when referring to seawater densities Densities are specified in g cm with a typical 1000m ocean value of 1 0275g cm relative to sea surface pressure or kg m with a typical 1000m ocean value of 1027 5 kg m Oceanographers have a shorthand notation for density called o which is defined as o p 1000 kg m iRobot 1KA Seaglider User s Guide 65 Chapter 4 Operating Principles Thus the typical 1000m ocean water density in o units is 27 5 In addition we use the unit o3 which is defined as o of a sample of water at a specific temperaturre and salinity at standard atmospheric pressure Densities discussed in Seaglider operations are typically given in cgs units g cm Stratification Stratification is the term used to describe the density layering of the ocean with denser water below lighter water stable stratification Strong stratification means a large change in density between two depths while weak stratification is a small change in density between
184. a subsurface finish has been triggered by N NOSURFACE and D FINISH D SURF the dive will end at the surface Values of 1 and 1 are not allowed A value of 0 disables this behavior Note Other considerations when using N NOSURFACE When N NOSURFACE is not equal to 0 Seaglider will not acquire GPS fixes when it completes a dive subsurface iRobot amp 1KA Seaglider User s Guide 123 Chapter 5 Piloting Parameters As a result SNAV MODE 1 2 and 3 should not be used when N NOSURFACE is not equal to zero as they will not produced the desired results Only SNAV MODE 0 which causes the glider to steer a specific heading should be used when N NOSURFACE is not equal to zero Additionally when NAV_MODE is set to zero the HEADING parameter must be set to a value between 0 and 360 For example if the N NO SURFACE is set to 5 NAV MODE is set to 0 and HEADING is set to 90 then Seaglider will surface and acguire a GPS position and initiate a communication session with the basestation only on dives that are evenly divisible by 5 On all dives the glider will point its nose due east and will not be able to compensate for currents If GPS positions need to be obtained on each dive to enable all NAV MODE options yet surface time needs to be minimized SCALL NDIVES can be set to a value greater than 1 This directs the glider to surface and obtain a GPS fix after each dive but not attempt to establish a commun
185. agnostics This output can be quite vol umnious and it is recommended that this only be set on specific services when it is known that some needed output will be captured Most services do not have output in this level currently but work is ongoing to add extended dignostics under this out put level TABLE 2 4 Available destinations for capture output of any service Destination Description NONE Do no output for this service PRINT Send output only to the operator console FILE Send output only to the capture file BOTH Send output to both the operator console and to the capture file Note that a higher level of output also implies the lower levels For example setting a services output to NORMAL implies that CRITICAL output will also be triggered Example capvec HVBD DEBUG PRINT Sets the hardware VBD service output to debug level most verbose and routes the output for that service to the operators console only By default the Seaglider software sets the output levels to NORMAL and output destination to BOTH for all services As a side effect of this change the capture file is almost always being filled with output iRobot amp 1KA Seaglider User s Guide 309 Appendix C Extended PicoDOS Reference Manual v66 07 cat lt filespec gt gt gt gt lt outfile gt Concatenates files in the same general way as the standard Unix cat command Admits use of wildcards i
186. al velocity on dive cm s E vehicle pitch angle Distance in meters to the target Desired magnetic heading degrees D GRID 990 The depth in meters to the apogee maneuver as read from the currently active bathymetry map GCHEAD st secs pitch ctl vbd ctl depth ob vertv data pts end secs pitch secs roll secs vbd secs vbd i gcphase pitch i roll i pitch ad roll ad vbd ad pitch retries pitch errors roll retries roll errors vbd retries vbd errors st secs Elapsed time from the start of the dive to the start of the GC pitch ctl Position of the pitch mass in centimeters relative to C PITCH positive aft vbd ctl Position of the VBD in cc relative to C VBD positive buoyant depth Depth at the start of GC in meters ob vertv Observed vertical velocity in centimeters per second data pts Number of data records collected thus far in the dive end secs Elapsed time from the start of the dive to the end of the GC pitch secs Number of seconds the pitch motor was on roll secs Number of seconds the roll motor was on vbd secs Number of seconds the VBD was on vbd i Average current used by the VBD in amps iRobot amp 1KA Seaglider User s Guide 283 Appendix B Seaglider File Formats Manual gcphase GC phase encoded as follows 1 Pitch change 2 VBD change 3 Roll 4 Turning passive 5 Roll back to center 6 Passive mode waiting pitch i Average current used by the pitch motor in amp
187. alerts See Pagers File on page 250 for more information The naming convention for the baselogXXXXXXYYYYYY com file is XXXXXX the date in ddmmyy format e YYYYYY the time in hhmmss in the timezone on the basestation Binned Profiles Files The binned profiles bpo files contain the same data as the pro files except that bpo files are binned or averaged into depth intervals specified by the user Communications File The communications comm log file is resident in Seaglider s home directory on the basestation The plain text file is appended to during each communication session with Seaglider So not only is it a complete record of Seaglider s communications over an entire deployment it can become guite large To monitor the end of the file for any new additions type tail f comm log on the command line in Seaglider s home directory See Appendix B Seaglider File Formats Manual on page 275 for an example of a comm log file Engineering Files The eng or engineering files are created on the basestation They restate the data contained in the asc file but converted into engineering units The column titles are described in Appendix B Seaglider File Formats Manual on page 275 iRobot 1KA Seaglider User s Guide 249 Chapter 9 Files for Operations The first 11 columns of data are the same for each dive and Seaglider The content of the remaining columns vary depending upon what sen
188. an extra gt as follows picoDOS gt gt In the latter case results of the extended PicoDOS commands are captured to a file and transferred to the Seaglider basestation in 304 iRobot amp 1KA Seaglider User s Guide Appendix C Extended PicoDOS Reference Manual v66 07 compressed form named sg0055pz 000 using 0055 as a placeholder for dive number and 000 for increment number following execution of the commands The basestation renames this file per the p1230055 000 pdos convention The pdoscmds bat file is a plain text sequence of extended PicoDOS commands one per line Lines that begin with a forward slash are interpreted as comments and are ignored Chapter 2 is a list of the extended PicoDOS commands grouped by functional area Chapter 3 is an alphabetical order reference for each command Note that standard PicoDOS commands are not documented here 1 2 Document Conventions Extended PicoDOS6 commands are shown in bold italic type below Options and arguments are shown on the same line Exposition follows in plain type File names are given in lower case bold font Click on the name of a command to jump to its description Use the Back button to return to the previous location 1 3 PicoDOS PicoDos6 is Persistor Instrument s DOS like operating system for the CF8 TT8 combination used on Seaglider It provides access to the DOS FAT file system on the Compact Flash as well as some sim
189. and G amp C continue at the intervals specified in the science file If Seaglider s speed is too fast on the climb section of the profile Seaglider is too light VBD bleeding is NOT allowed to correct the speed error to conserve energy There are two reasons for this methodology First any oil that is bled needs to be pumped again during the surface maneuver using more energy Second as Seaglider climbs it enters less dense water becoming less positively buoyant and slowing down VBD pumping operations are allowed in the case of Seaglider being too heavy and slowing down The MAX_BUOY restriction does not apply to the climb phase This usually does not affect the amount of energy used during the profile very much because the oil would need to be pumped during the surface maneuver anyway In the climb phase Seaglider turns to starboard by banking to starboard and vice versa as in aircraft flight When Seaglider reaches the depth D_SURF it begins its approach to the surface It computes how many more data samples to take based on the observed vehicle vertical speed depth and the data sample interval The maximum number of data samples Seaglider may take from D_SURF to the surface is 50 When the calculation is complete Seaglider enters the passive G amp C mode and collects the number of scientific data samples based on the above calculation After this period of data acguisition Seaglider enters the surface phase Recovery The r
190. aps are loaded for the present area type Y for Yes and press ENTER Figure 7 12 If bathymetry maps are supposed to have been loaded type N default and press ENTER to not continue the self test The test fails Figure 7 12 Determine the cause for Seaglider s inability to find the map s Check the file names The format must be bathymap nnn where nnn is the map s number FIGURE 7 12 Checking Bathymetry Data 1497750 851 SUSR N Checking bathymetry data 1497750 964 SUSR N Normal Heap 0473727 bytes 1497751 103 SGLMALLOC N glheap walk 354980 bytes free 2 blocks free 2820 bytes alloc 23 blocks alloc 1497755 913 SBATHY N Loaded bathymap 006 156 100 Toc CLL 47 6800 122 5000 UR 47 8204 122 3663 1497758 465 SBATHY N Loaded bathymap 007 56 75 100m LL 47 6500 122 5000 UR 47 7004 122 3998 1497769 116 SBATHY N Loaded bathymap 014 125 147 500m LL 28 4643 89 0336 UR 29 0268 88 2812 1497769 464 SBATHY N WARNING No bathymetry file covers the current location 3556 349365 27854 101562 1497770 524 SGLMALLOC N glheap walk 318024 bytes free 3 blocks free 39704 bytes alloc 25 blocks alloc Continue self test N y 35 After the bathymetry check compass and calibration file checks are done Verify that the values for pitch roll hard iron and soft iron are non zero If the values are zero the test fails Figure 7 13 FIGURE 7 13 Compass Calibration lL497776 543 SUSR N Checki
191. ard altimeter to find the bottom and initiate the apogee maneuver Bathymetry maps show the sea floor terrain as contour lines with associated depths Seaglider is less efficient operating in shallow water and most efficient in deep up to 1000m water The practical shallow water limit is 50m It is hard to make progress toward a waypoint in water shallower than that for several reasons Turn radius Pump time e Surface time e Currents Seaglider s turning radius a few tens of meters at typical 25 cm s horizontal speeds is such that a significant portion of a shallow water dive can be spent 76 iRobot amp 1KA Seaglider User s Guide Features of Control turning onto the correct course Seaglider s pump is optimized for efficiency at pressures eguivalent to 1000 m ocean depth If an enhanced buoyancy engine EBE is installed the glider is also optimized for pumping efficiency at 120 meters and shallower Its rate at shallow water pressures 2cc s at pressures below 10 psi gt 2 3 cc sec at pressures below 200 psi with the EBE 1 2cc s at pressures greater than 10 psi means that a significant portion of a shallow water dive can be spent pumping Finally time on the surface can be a significant percentage of the dive time If surface currents or winds are adverse Seaglider can lose as much or more distance toward a waypoint while on the surface as it gains on the dive Our operating guidelines are to operate in
192. ass 53 3132 kg C od implied mass apogee 51 564 342 iRobot amp 1KA Seaglider User Guide Appendix D Dive Data Visualization Software Plot 12 Glider Track Plot The glider track plot displays the track and heading from an aerial view Several flight characteristics can be viewed from this plot including the Average Speed through water Distance through water Maximum Buoyancy set by pilot Current Target Glide Slopes Also seen on the plot is a V which represents the heading error band The actual track of the glider also shows roll maneuvers indicated by the red and green dots iRobot amp 1KA Seaglider User Guide 343 Appendix D Dive Data Visualization Software Magnetic Northward Displacement Through Water m 250 200 150 100 50 Glider Track G524 Dive 2 iRobot Port Susan Mission Start Time 17 Mdg2011 19 26 53 T T T S T T T i O Avg Spd thru water 0 17 m s 1 2 M 17 8 Distance thru water 0 27 km Sl Max buoy cmdfile 180 cc Target wi 0 10101 m s e Model glide slope 0 7685 L o Net glide slope 0 7278 Roll to Right Roll to Left pump I l 150 i 100 50 0 50 l 100 Magnetic Eastward Displacement Through Water m 150 344 iRobot amp 1KA Seaglider User Guide Appendix D Dive Data Visualization Software Plot 13 Speed of Sound The following plot displa
193. at 3353 9 lon 7625 2 radius 200 goto WPTHREE WPTHREE 1at 33522 lon 7621 4 radius 200 goto WPFOUR WPFOUR lat 3356 6 lon 7623 8 radius 200 goto NCSPONE Column 1 Name of the waypoint Column 2 Latitude of waypoint in degrees minutes decimal minutes no spaces between degrees and minutes Column 3 Longitude of waypoint in degrees minutes decimal minutes Column 4 Distance in meters Seaglider can be from the waypoint and still considere having reached the waypoint Column 5 Name of the next waypoint to go to after it has reached the present waypoint For new missions Seaglider heads to the first waypoint listed in this case the one called NCSPONE To change the waypoints file during a mission the pilot can upload a new waypoints file However use caution when doing this If an active target name from the old targets file 1s in the new targets file Seaglider retains that active target If an active target is not in the new targets file then Seaglider goes to the first target 1n the list iRobot amp 1KA Seaglider User s Guide 167 Chapter 6 Pre Deployment Tasks If the pilot wants to change the waypoint Seaglider is going to in the targets file that is loaded on Seaglider for example Seaglider is heading to NCSPONE in the example above and the pilot wants Seaglider to head to WPTWO instead the pilot sends this change to Seaglider via the pdoscmds bat file See Appendix C Extended PicoDOS Referen
194. ate speed limits Seaglider minimum and maximum possible horizontal speeds through the water The speed limits and dive times fix the range of possibilities for Seaglider s distance through the water 4 Choose a glide slope that gets Seaglider closest to the target maximum speed if the target is distant minimum speed if the target is too close iRobot amp 1KA Seaglider User s Guide 125 Chapter 5 Piloting Parameters 5 At this point Seaglider has a bearing and glide slope in hand I SNAV MODE 0 or NAV_MODE 3 then these are the heading and slope for this dive 6 If SNAV MODE 2 calculate set ferry angle correction and we have calculated a valid DAC we apply SSPEED FACTOR to the speed limits to account for the fact that Seaglider actually won t achieve its ideal speed over the entire dive We then iteratively calculate set corrections as a function of our horizontal speed through the water so that we optimize Seaglider s travel toward the target Just as we chose our slope above At each speed setting the code uses a nonlinear solver to solve for ferry angle First guess at speed is maximum If the predicted distance over ground DOG with the set correction is less than the range to target typical case then the computation is complete Otherwise we try the minimum speed If the resulting DOG is greater than the range to target then the computation can t do any better and it is complete If neither limit applies
195. atssed qs Purzeaue N uSns L06 G upo 0 SWLT96h W N YOSNASS 97G ES eatqoe ds butzejue N Usns 006 67 UgQ 0 SWZPPSh d N YOSNHSS 066 8h 355 iRobot 1KA Seaglider User s Guide Appendix E Autonomous Self Test euou LHOIU euou LdNVAVM suou LdNVAVM suou WAI 9uou FATA euou XIS 3 bzea dosq 3ebae4 axeN 3noeu SS ES LT 99s 89 6 oes 00 0 oes 0 L oes 00 0 99S 2t GG oes 00 0 DOS G9 LOE oes 00 0 oes Gy ct 99S IP PTT 99S Gp G6c oes 66 97 99S IL GSGI oes Ig Sv oes 00 0 oes 0G I oes 00 0 oes 00 0 oes 00 0 oes 00 0 oes 8 9Gc Pye oes 00 0 Se aS ERISQUE ORO AR RSG D LOS OS zHduy 08 0 T2309 AOT oes due g09 p oes due 9T 97ZT oes due 00 0 oes due p6 0 oes due 00 0 oes due po rIrp oes due 000 oes due 09 8p oes due g g oes due GG EZ oes due c pp oes due c 6 p oes due T6 p oes due ZZ T8T oes due gery igduv 1 9 0 T oes due 99 0 oes due zg z oes due 66 9L9 oes due 1 68z oes due 8Tl oes due 00 0 es due 60 666 oes due 62 691 dLOdD SIWAZT4SS TM csseduop zopuodsueign SOJVH sseduop burbzeyo sd9 sy31mnozro boreuy ueurey BLL 84O SLL burrdues gLL 9AT30V SLL deersd I 8LL SdD 9302 Ap AFZ XILSWDD burd zepuodsuezg 2zeJx bDurznp UnIDpIJI 20euuoo burxznp un pII 3rIur burznp unrprzr eAIPA AA eoegans Burznp dund dgA eebode buianp
196. ave been transferred to the basestation Press ENTER on the laptop several times If information displays Seaglider is not off Wand off again If nothing displays after you repeatedly press ENTER Seaglider is off As a double check leave Seaglider outside for 5 10 minutes and monitor the basestation or laptop for any Seaglider activity If Seaglider calls in it is not off and burning battery power Wand it off again and monitor to make sure it is off 21 Disconnect the communication cable from Seaglider and the laptop and reinstall the dummy plug on Seaglider s communication connector 22 If it is easier to store or move Seaglider in its cradle without the antenna mast attached detach it leave the cables attached to aft end cap See pagers file on page 172 23 After the test dives 226 iRobot amp 1KA Seaglider User s Guide Simulated Dives a Review all of the files generated by Seaglider and the basestation during the simulated dives See Chapter 9 Files for Operations on page 237 for an explanation of each file Check the log and cap files for errors and warnings Check the science sensor data in the dat asc and eng file Check the comm log files for communication exchanges between Seaglider and the basestation If anything looks suspect investigate and understand the cause and correct before continuing b Copy these files into a date encoded sub directory of Seaglider s home directory home sgX
197. ave issued a purchase order Reference Chapter 12 1KA Seaglider Refurbishment in the User Guide for addi tional information E mail additional questions to MaritimeSupport iRobot com If returning an entire Seaglider unit for service please perform a one Self Test and 1 Simulated Dive utilizing the internal battery power of the Seaglider and send the following files to maritimesupport irobot com prior to shipment of the unit for service Self Test Files Simulated Dive Files ptxxxxxxx cap pXXXxxxx cap ptxxxxxxx log pxxxxxxx log ptxxxxxxx eng PXXXXXXX eng ptxxxxxxx pvt DXXXXXXX pvt sg calib constants m sg calib constants m pdoscmds bat pdoscmds bat targets targets science science cmdfile cmdfile Also please provide the following items prior to shipment of your iRobot maritime product for service Latest version of the Seaglider s Trim Sheet List of parameters that have changed from the factory default values List desired services spares and or diagnostics for your Seaglider product see tables below List of sensor serial s to be recalibrated if ordering OEM sensor recalibration service 264 iRobot amp 1KA Seaglider User s Guide Contact Information Sensor Type Serial Choose an item Choose an item Choose an item Choose an item Choose an item Contact Information Your Name Institution Company Shipping Delivery A
198. ber is switched back to the primary for the next surfacing Note This parameter is not adjustable from the cmdfile The number can be edited either through the pdoscmds bat file see Extended PicoDOS Reference Manual writenv on page 279 or through direct connection to Seaglider via the serial communications cable see Checking the Primary and Alternate Phone Numbers on page 52 TGT_AUTO_DEFAULT Definition A Boolean parameter If set to 1 automatically updates the default target in NVRAM If set to 0 do not update the default target in NVRAM Nominal Value 0 150 iRobot amp 1KA Seaglider User s Guide Parameters by Category TGT_DEFAULT_LAT Definition Floating point value degrees decimal minutes between 9000 000 and 9000 000 Together with TGT_DEFAULT LON this parameter provides a default target location when the targets file cannot be read For example a latitude of 47 degrees 43 456 minutes would be input as 4743 456 Latitude values in the northern hemisphere will be positive values while latitude values in the southern hemisphere will be negative values Nominal Value 4736 000 Minimum Value 9000 00 Maximum Value 9000 00 TGT DEFAULT LON Definition Floating point value degrees decimal minutes between 18000 000 and 18000 000 Together with TGT DEFAULT LAT this parameter provides a default target location when the targets file cannot be read For example a longitude of
199. ber of the next dive Nominal Value 1 Minimum Value 0 Maximum Value 9999 EBE ENABLE Definition Enables Enhanced Buoyancy Engine EBE functionality A value of 1 turns this functionality on Nominal Value 0 Minimum Value 0 Maximum Value 1 ESCAPE HEADING Definition The base heading the Seaglider will steer in an escape recovery situation when either no position fix is available or no escape target was supplied in the targets file ESCAPE HEADING DELTA Definition The actual heading steered by the Seaglider in an escape recovery situation will always be SESCAPE HEADING SESCAPE HEADING DELTA The sign will switch and thus the heading will toggle when the bottom depth as detected by altimetry or T NO W shallows by 5 relative to the depth at the last toggle iRobot amp 1KA Seaglider User s Guide 113 Chapter 5 Piloting Parameters FERRY_MAX Definition Maximum correction degrees to apply to the rhumb line to the active next waypoint when NAV_MODE 2 This is a safety limit to prevent spurious depth averaged current calculations from giving Seaglider a heading in the wrong direction Nominal Value 45 Minimum Value 0 Maximum Value 90 FILEMGR Set by manufacturer Do not change Definition An integer parameter that specifies how aggressively to manage the onboard file system 0 no file management 1 only store compressed files 2 delete splits on failed
200. c File The Capvec file is parsed by Seaglider and updates one or more elements of the Capture Vector Normally this file is not used except for Seaglider provisioning See the capvec and parse_capvecfile commands in Appendix C Extended PicoDOS Reference Manual v66 07 on page 303 for details on updating the Capture Vector The capvec file format is line oriented Lines can be comment lines in which case the first character must be a All other lines are updates to the Capture Vector and are documented under the capvec command in the Appendix C Extended PicoDOS Reference Manual v66 07 on page 303 iRobot amp 1KA Seaglider User s Guide 253 Chapter 9 Files for Operations Compass Calibration File The Compass Calibration file is generated when the compass is calibrated inside the assembled Seaglider at the factory The calibration corrects for the effects of the metal on the compass readings This file is NOT intended to be edited by the user 254 iRobot amp 1KA Seaglider User s Guide CHAPTER 10 Recovery and Disassembly The following topics are covered Recovery Loop on page 255 Recovery Phase on page 256 Recovery Loop In recovery Seaglider enters a loop of obtaining a GPS fix and communicating with the basestation ST RSLEEP minutes In practice there are about two minutes of overhead in this process so that the actual time between phone calls is closer to T RSLEEP 2 m
201. calls in again after ST RSLEEP it picks up the new directive and begin the second dive The pilot should communicate with the field team what is being done and the field team should let the pilot know when Seaglider leaves the surface on the second dive The pilot can then change the directive in the cmdfile from RESUME to SQUIT so that Seaglider remains on the surface after the second dive When Seaglider surfaces after the second dive the pilot should check the log file plot the data review the plots especially the VBD and pitch plots and make any needed adjustments to the C VBD and C PITCH A D counts and PITCH GAIN If the pilot feels comfortable with Seaglider the field team can be dismissed It is also the pilot s decision whether to have Seaglider do another shallow dive or whether the next dive should be a 100 200m dive If the depth is increased remember to edit SD TGT T DIVE and ST MISSION Remember to check what directive is in the cmdfile and change it 1f necessary By the third or fourth dive the value for SM_CC set at the beginning should be revisited Initially SSM CC is set conservatively to make sure Seaglider gets back to the surface However the o r versus VBD cc plot shows what the SM CC setting currently is and what the setting could be changed to An example plot is below The current setting is located in the upper left corner of the plot CCg 4 700 and the statement CC u rmin 370 shows what the S
202. ce Manual v66 07 on page 303 for the correct syntax to make the change If there is no valid targets file on Seaglider it uses the default target S TGT_AUTO_ DEFAULT TGT DEFAULT LAT TGT_DEFAULT LON It is highly recommended that you enter the latitude and longitude coordinates of a location as DEFAULT where you can recover Seaglider in the event that it loses or cannot read its targets file Science Sensors Seaglider supports two science sensor interfaces to allow a variety of sensors to be connected to the vehicle via the serial ports The two interfaces Ordinary Serial Interface OSI and Autonomous Logger Interface ALI are described below Ordinary Serial Interface OSI OSI is a cnf file configurable serial sensor interface that allows new instruments to be added to the glider without writing new binary drivers or modifying source code OSI is used exclusively for sensors without the ability to log data to an internal file system Note that OSI devices can be configured either through the provided cnf files or via pre established options available in the configuration menus described in Appendix F iRobot currently provides cnf files for the following OSI sensors Biospherical PAR WET Labs BB2F B2FL BFL2 Autonomous Logger Interface ALl ALI is a cnf file configurable serial sensor interface that allows new instruments to be added to the glider without writing new binary drivers or modifying source code ALI
203. centimeters at the start of the sample head Vehicle heading in degrees magnetic pitchAng Vehicle pitch at the start of the sample in degrees positive nose up rollAng Vehicle roll at the start of the sample in degrees positive starboard wing down rolled to starboard pitchCtl Pitch mass position relative to C_PITCH in centimeters positive nose up rollCtl Roll mass position in degrees relative to C ROLL DIVE or C ROLL CLIMB positive starboard wing down vbdCC VBD value relative to C_VBD in cc s positive buoyant O2Freq Oxygen concentration in Hertz redRef Red reference in A D counts redCount Red backscatter in A D counts blueRef Blue reference in A D counts blueCount Blue backscatter in A D counts FluorCount Fluorometer in A D counts VFtemp BB2F temperature in degrees C O2 Aanderaa optode oxygen concentration temp Aanderaa optode temperature dphase Aanderaa optode dphase 2 1 5 Profiles File p1230055 pro The pro files contain the scientific data that was acquired during the dive such as temperature and salinity The column names are as follows elapse time s v time in seconds since the beginning of the dive before the first sample is taken Pressure v pressure in decibars depth m v depth in meters TempC Cor v temperature in degrees C corrected for 1st order time lag response time of sensor Cond Cor v conductivity corrected as above Salinity v salinity calculated 288 i
204. ch parameter as well as the acceptable range of values is located in Chapter 5 Piloting Parameters on page 83 The exact values of PITCH MIN PITCH MAX and C PITCH that should be used for the Seaglider being gueried are located on the trim sheets in the notebook shipped with Seaglider 396 iRobot amp 1KA Seaglider User Guide Appendix F Hardware and Configuration Menus The instructions for editing a pitch parameter are located under Pitch Parameters on page 378 To exit this menu and return to the Pitch Control Menu press ENTER Run Pitch Duty Cycles To run pitch duty cycles Select 5 Run Pitch Duty Cycles and press ENTER As an example Seaglider responds with Enter positions between 9 4 and 2 4 cm Start position of cycle 9 439804 As an example enter 8 5 and press ENTER End position of cycle 2 375580 As an example enter 1 5 and press ENTER of secs to rest at end of each cycle 1 l As an example use the default so press ENTER of cycles to execute lt 32768 10 As an example enter 1 and press ENTER Seaglider then cycles the pitch motor and outputs the movement to the screen as the exercise is happening Figure F 27 To abort the test at any time press any key on the keyboard iRobot amp 1KA Seaglider User Guide 397 Appendix F Hardware and Configuration Menus FIGURE F 27 Pitch Duty Cycling ng between 8 50 and 1 50 cm hit any key to abo
205. column 2 by the first digit 1 in column 3 for CT by the second digit 1 in column 3 for SBE 43F and by the third digit 1 in column 3 for the WET Labs sensor G amp C sampling between 0 and 50m occurs once every 30 seconds Second row of sampling protocol Sampling depths between 50 and 200m The CT and WET Labs sensors are sampled once every 5 seconds This value is calculated by multiplying the 5 in column 2 by the first digit in column three for the CT sensor and multiply the 5 in column 2 by the third digit in column three for the WET Labs sensor The SBE 43F oxygen sensor is sampled once every 10 seconds This value is calculated by multiplying the 5 in column 2 by the second digit in column 3 The G amp C sampling occurs once every 60 seconds Third row of sampling protocol Sampling depths between 200 and 300m The CT sensor is sampled once every 5 seconds This value is calculated by multiplying the 5 in column 2 by the first digit in column 3 The SBE 43F oxygen sensor is not sampled This value is calculated by multiplying the 5 in column 2 by the second digit 0 in column 3 The WET Labs sensor is sampled once every 15 seconds This value is calculated by multiplying the 5 in column 2 by the third digit 3 in column 3 244 iRobot amp 1KA Seaglider User s Guide Files Placed on the Basestation by the Pilot The G amp C sampling between 200 and 300m occurs once every 120 seconds N
206. communications cable Once the Are you running on external bench power question is answered the main Seaglider menu appears Figure 7 4 If your Seaglider is equipped with a GPCTD then continue with step 13 other wise skip to step 14 13 Turn off the GPCTD 192 iRobot amp 1KA Seaglider User s Guide Interactive Pre launch Self Test a On units eguipped with GPCTD it is necessary to turn off the GPCTD pump during self tests and simulated dives The pump may be damaged by running dry so this is necessary to comply with manufacturer s recommended operating procedures Note Do not skip any steps Failure to perform all steps as indicated can result in improper operation and or tracking of power consumption of the GPCTD FIGURE 7 5 Loggers Menu F Main Menu 1 param Parameters and configuration 2 hw Hardware tests and monitoring 3 modes Test operation modes and files 4 pdos PicoDOS commands and exit 5 launch Pre launch Enter selection 1 5 CR 2 EXT Hardware Menu Motors and VBD n pitch Pitch control 2 roll Roll control 3 vbd VBD control Fixed Devices super Supervisor 5 pressure Pressure sensor 6 compass Compass tcm2 7 Lgps GPS 8 modem Modem xmodem mode 9 intpress Internal pressure 10 altim Altimeter 11 sensors Sensors 12 loggers Loggers Other 13 batt Batteries and fuel gauges 14 lowlevel Low level hardware IO A D CF 15 misc Miscellaneou
207. compass headings throughout a dive to determine a dead reckoned Seaglider track through the water This results in a predicted surfacing position based on the GPS determined dive starting point The difference between this predicted surfacing position and the actual GPS determined surfacing position is what provides the estimate for depth averaged current Similarly the vertical component Wmodel can be compared with can be resolved into horizontal and vertical components In particular Wobserved dp dt to adjust the VBD trim and then to estimate vertical velocities in the water column Control of the Static Forces During Seaglider operations the pilot must monitor and control the vehicle pitch roll and buoyancy Positions monitoring systems controlling these three things are encoded by potentiometers digitized by 4096 count analog to digital A D converters iRobot amp 1KA Seaglider User s Guide 69 Chapter 4 Operating Principles The A D counts run from 0 to 4095 Physically attainable limits also called hardware limits for each system are determined empirically at the time of assembly A safety margin is added to these physical limits to arrive at software limits which are the positions in A D counts beyond which Seaglider s operating software will not command that particular system Associated with each system are the following A center position which is intended to be the vehicle neutral for that sys
208. contact listed in the pagers file The baselog log is an accumulation of all of the basestation conversions reported in the baselog files without the timestamps 2 3 On board Glider Information This section includes files that are stored on the Seaglider Most of the information in these files is used by the glider in calculations regarding navigation and energy usage 2 2 6 Processed Files Cache processed files cache This file contains the dives that have been processed and the time of processing To force a file to be re processed delete the corresponding line from this file Comment lines are indicated by a Example processed files cache Written 14 54 28 23 Feb 2008 UTC St0007pz 000 19 05 58 21 Feb 2008 UTC sg0000kl 14 54 28 23 Feb 2008 UTC st0007du 19 05 58 21 Feb 2008 UTC st0007lu 19 05 58 21 Feb 2008 UTC st0009du 19 40 22 21 Feb 2008 UTC st0009kz 19 16 44 21 Feb 2008 UTC st0009lu 19 37 51 21 Feb 2008 UTC st0010du 20 21 33 21 Feb 2008 UTC 296 iRobot amp 1KA Seaglider User s Guide Appendix B Seaglider File Formats Manual st0010kz 20 15 35 21 Feb 2008 UTC st0010lu 20 15 34 21 Feb 2008 UTC st0011du 14 54 28 23 Feb 2008 UTC st0011kz 14 30 35 23 Feb 2008 UTC st0011lu 14 30 35 23 Feb 2008 UTC 2 3 1 Bathymap When the bathymetry map reading function of the glider is enabled this file contains the map It is usually uploaded to the Seaglider s compact flash before deployment but may be uploa
209. ctory Contents 203 Checking Pressure Sensor sse 203 Checking GPCTD sa tie e Ode WR ym 204 Checking Pitch Motor sess 204 Checking Roll Motor t ea RI RR RU 206 Checking VBD Motor and Value 207 Checking sensors and data file creation 209 Internal Pressure and Humidity Sensors 210 Checking AlTtimeter i RL eee pH yd 210 Reporting Targets and Science Specifications 211 Battery Status Fuel Gauges a 211 Checking Capture Vector us au STRIS eei d 212 Checking Elash z iia e DG y y y y tee Wd yn 212 Iridium Communications and Transmission Check 213 Self Test Pass Fail St8luS u ua kananqa p ana 213 Logsgcrs Menil ao a GG 215 SetMinCondFTed s asnata aaa Re 216 Example Excerpt from GPCTD Cal Sheet 217 Position of Seaglider During a Simulated Dive 222 Seaglider Start Up on the Laptop sss 223 iRobot amp 1KA Seaglider User s Guide FIGURE 7 36 Main Menu and Launch Menu a 224 FIGURE 7 37 Pitch Roll and Pump Maneuvers cccceccsccssessesseeeseeseeseeeeeeeseeneens 225 FIGURE 7 38 Reset Dive Run Numb er enne 225 FIGURE 7 39 File Up
210. culates what the pressure y intercept should be The user has the option of accepting or rejecting the new y intercept value The user can also edit the pressure parameters although this is not recommended iRobot Customer Service should be consulted before any pressure parameter values are changed via option 3 Press ENTER to return to the Hardware Menu Compass Attitude Menu To access the Compass attitude Menu Select 6 Compass and press ENTER The menu is Figure F 38 is displayed This menu is used to set up the compass at the factory It is not recommended that the user change any of the values in this menu or attempt a recalibration without consulting iRobot Customer Service 410 iRobot amp 1KA Seaglider User Guide Appendix F Hardware and Configuration Menus FIGURE F 38 Compass Menu Compass attitude Menu 1 selftest 2 active 3 dispraw 4 dispcal 5 direct 6 capture 7 command 8 reset 9 whirly 10 whirlraw JL IL IL JL JL IL IL JL IL Basic self test Toggle active compass Display raw bearing pitch amp roll Display calibrated bearing pitch amp roll Direct comms with unit Capture compass serial output Send command to SP3003 Reset SP3003 whirly calibration display raw sensor outputs whirly calibration SP3003 only display transducer counts 11 config 12 calib 13 calibraw 14 auto 15 insitu 16 coeff 17 power 18 edit JL IL IL
211. cument 4335290 or the Wildlife Computers SPOTS user manual 186 iRobot amp 1KA Seaglider User s Guide CHAPTER 7 Pre Launch Procedures This chapter describes testing of basic functions using the interactive self test and simulated dives The following topics are covered Interactive Pre launch Self Test on page 188 e Simulated Dives on page 219 If your Seaglider has been disassembled since completing Chapter 3 Setting Up the System on page 33 reassemble all but the rudder and antenna assembly following the directions in Assembling Seaglider on page 41 If your Seaglider is fully assembled but moving it outside is easier without the antenna mast mounted to the aft end of Seaglider detach it following the steps in Detaching the Antenna Mast on page 174 Note Do not disconnect the antenna cable for this procedure iRobot amp 1KA Seaglider User s Guide 187 Chapter 7 Pre Launch Procedures Interactive Pre launch Self Test Perform a pre launch self test after every time Seaglider is shipped or reassembled and before it is launched To conduct the interactive pre launch self test 1 Locate the calibration and configuration sheets in the notebook or on the CD that was shipped with Seaglider 2 Move Seaglider outside 3 Do one of the following If Seaglider is going to be Then powered by an external power connect the powered communications s
212. d bathymap If USE_BATHY is 0 the feature is disabled and Seaglider either dives to D_TGT or uses the on board altimeter and its parameters to determine the appropriate depth at which to enter the apogee maneuver Examples If SUSE BATHY 4 then search all on board bathymap nnn files for one that covers the current Seaglider position If SUSE BATHY 0 then bathymetry maps are not used during the dive If SUSE BATHY 7 then use the bathymetry file called bathymap 007 to get D_GRID No other map will be used Nominal Value 4 Minimum Value 4 0 Maximum Value 50 VBD_BLEED_AD_RATE Definition The bleed rate in A D counts per second that the code uses as the threshold for retries when bleeding If the observed rate is less than this number the bleed is stopped and restarted Nominal Value 8 Minimum Value 0 Maximum Value 20 iRobot 1KA Seaglider User s Guide 153 Chapter 5 Piloting Parameters VBD CNV Set by manufacturer Do not change Definition VBD position conversion factor from A D counts to cm This is a constant determined by the geometry of the internal hydraulic fluid reservoir and the potentiometers The sign is negative meaning that the higher A D counts reflect more oil in the internal reservoir hence a less inflated external bladder hence a lower Seaglider displacement and thus a lower Seaglider buoyancy Nominal Value 0 2453 VBD_DBAND Definition VBD
213. d then tighten all of the screws until hand tight Note DO NOT over tighten the screws Rotate Seaglider slightly to attach the lower screws Check the wing orientation The wings are correctly installed if the aft edges form a straight line across the fairing that is perpendicular to the axis of the Seaglider see Figure 3 7 on page 45 In preparation for installing the antenna and rudder slide Seaglider back in the cradle so that the slot in the rear of the aft fairing is outside of the cradle Figure 3 4 on page 41 Note Seaglider is shipped from iRobot with the antenna and serial cables attached The serial connections should be hand tight The antenna connection should be wrench tight finger tight then a 1 4 turn using the wrench To access the connectors to check their tightness follow step 7 below Note The serial connections should be hand tight DO NOT over tighten A Caution Over tightening can cause water leakage connectivity and communications issues A Caution Be sure to tighten serial connections prior to deployment If they are not tightened a loss of eguipment could result If you ever need to disconnect the antenna cable from the aft endcap make sure when reattaching the cable to the endcap that the O ring is present inside the cable end of the antenna If the O ring is not present find the spare O ring in the plastic spares kit lubricate it with silicon grease such as DC4 and install T
214. d and is diving 15 Remains onsite while the Pilot analyzes the dive data 16 Pilot Insures the Seaglider is operating correctly 17 Informs the Filed Team they are clear to leave the sea launch site area iRobot amp 1KA Seaglider User s Guide 435 Appendix H Pilot and Field Team Checklist Flight Process Step Responsibility Action 1 Pilot Transfers dive data from the basestation onto their piloting computer for each dive 2 Plots the dive data with MatLab software 3 Trims the Seaglider as needed by analyzing the MatLab plots and making the required parameter changes 4 Looks for any odd flight behavior 5 Makes sure the science data is present and each sensor is producing good quality data 6 Makes sure the altimeter can find the bottom and is correctly tuned T Fills out dive log sheet if needed 8 Plots the Seagliders current GPS coordinates with navigational plotting software during each surfacing to monitor its current location 9 Monitors the tide and ocean current information to assist with predicting waypoint targeting 10 Flies the Seaglider as required between designated waypoints 436 iRobot amp 1KA Seaglider User s Guide Appendix H Pilot and Field Team Checklist Recovery Process
215. d dud eve eiae ean ev Eo ae eR e esee noeud iRobot amp 1KA Seaglider User s Guide VBD Para Me terSissvcasesesseeccsnenssossseeasssasvonsccnsesnendsvasenses cusssennenes Hardware Configuration Parameters Pressure external Parameters Pressure internal Parameters Compass Parameters ccccccscssrcsscssscsecsssssssssssesssssessscesessssessessees Altimetry Parameters ssssccssssssssssssssssscssssssssssssssessesssesesserssesesees Sea Bird CT Calibration Coefficients Power Parameters m Cn Edit AllsParameterss sscnosccssasinrsecesdeseoreovencdnvsvonvesdescssncsecs sont vns tbe ooa US Validate Parameters ssseisssocsasscesosssesoseseevsesesevsesvessvesvecssenvssnesassonsseesons Show Parameter Details Show Changed Parameters Clear Changed Parameters Save Parameters By Name To A File Dump Parameters To Screen Load Parameters From A Fille Reset To Defaults gs aqa wa oro dn nyn DYN YG ddd Hardware Menu for Tests and Monitoring
216. d then press ENTER At the PicoDOS prompt type xr bathymap xxx 99 NC a9 oor cs 0 INC s where xxx 1s the number from 001 999 of the bathymap 9 From the terminal emulator for example Tera Term menu choose File gt Trans fer gt XMODEM gt Send 10 Select the desire bathymap file o The bathymap file is downloaded to Seaglider The watchdog timer may cause Seaglider to reboot if more than 10 minutes are spent in PicoDOS If this happens and you are not finished loading bathymap files repeat steps 8 10 11 To exit PicoDOS type guit and press ENTER iRobot amp 1KA Seaglider User s Guide 171 Chapter 6 Pre Deployment Tasks pagers file For directions on setting up a pagers file see Chapter 7 Pre Launch Procedures on page 187 mailer file This file controls the sending of data products created during basestation processing via email Mail is formatted as a MIME document and sent via SMTP Each line of this file is of the format smtp mail address body msgperfile kkyy_subject gzip eng log pro bpo csv asc cap comm dn kkyy up_kkyy nc mission ts mission _pro all where smtp mail address a valid smtp mail address gliderpilot apl washington edu For example body send files in the body of the message instead as attachments default Incompatible with gzip nc mission ts and mission pro msgperfile send each file in its own message instead of sending all files
217. ddress Phone ff Fax ff E mail Address Service Information Desired Ship Date Unit Ouantity Unit Serial Number s Desired Return Date iRobot amp 1KA Seaglider User s Guide 265 Chapter 12 1KA Seaglider Refurbishment Standard Services Service Description Part Number Ouantity Refurbishment Service ElectroChem 24V batteries Refurbishment Service Saft 24V batteries Includes the factory based replacement of lithium pri mary batteries inspection of internal components and re ballasting Reguires ship ping Seaglider to iRobot Includes the factory based replacement of lithium pri mary batteries inspection of internal components and re ballasting Reguires ship ping Seaglider to iRobot 4255726 4249888 OEM Sensor Recalibration Ocean Re Trim and Ballast Recalibration of Seaglider sensors at OEM Service is ordered separately for each sensor Includes re installa tion and testing Re trim and re ballast of Seaglider after refurbish ment to enable faster re deployment Process requires an ocean launch piloting and recovery prior to delivery to the customer 4249889 4255839 266 iRobot amp 1KA Seaglider User s Guide Upgrade Services Upgrade Services Service Description Part Number Ouantity Enhanced Buoyancy Engine The Enhanced Buo
218. ded in the field if necessary Map files provide the glider with geographic and sometimes temporal environmental information A bathymetry map provides the glider with bathymetry data about a given region of the ocean The glider may carry up to 999 bathymetry maps the files are named bathymap 000 but in practice far fewer are on board These maps are not reguired for gliders to fly For more details on how bathymetry maps are used see the Navigation section of the Seaglider Pilot s Guide In addition to bathymetry maps the glider can carry ice maps which indicate a spatially and temporally varying climatology of ice cover The glider can use this information to make decisions about surfacing Both kinds of maps contain a fixed size header followed by a variable length data section The header is defined as follows 117 225 123 00000 36 00000 500 0 0 0 0 TOptional entry end date in decimal yeardays for period of map use When blank or 0 0 no date checking is performed Optional entry start date in decimal yeardays for period of map use When blank or 0 0 no date checking is performed Integer distance between grid points in meters Longitude of the lower left corner of the map specified in decimal degrees positive East Latitude of the lower left corner of the map specified in decimal degrees positive North Number of columns in the data section Number of rows in the data section For a bathymetry ma
219. ding without limitation special incidental conseguential or indirect damages for personal injury loss of business profits or business interruption Warranty This product comes with a one year limited warranty See Appendix J Warranty and Disclaimers on page 441 The pressure hull of the iRobot amp IKA Seaglider does not contain any user serviceable items Any unauthorized opening of the pressure hull by customers voids this one year warranty Special Note Because some states jurisdictions do not allow the exclusion or limitation of liability for conseguential or incidental damages the above limitations may not apply to you The warranty gives you specific legal rights and you may also have other rights which vary from state jurisdiction to state jurisdiction Trademarks iRobot and PackBot are registered trademarks and SUGV is a trademark of iRobot Corporation Iridium and the Iridium logo are registered trademarks and or service marks of Iridium Satellite LLC MAC Mac and Mac OS are trademarks of Apple Inc registered in the U S and other countries PAINE is a registered trademark of Paine Electronics LLC PicoDos is Persistor Instrument s DOS like operating system for the CF8 TT8 combination used on iRobot 1KA Seaglider It provides access to the DOS FAT file system on the Compact Flash as well as some simple file manipulation utilities The TOM8 and PicoDOS commands are documented in the PicoDOS
220. ditionally at the bottom of the plot is the calculated pitch gain The initial SPITCH GAIN value should be adjusted by half of the difference between it and the calculated pitch gain rounded to the nearest whole number and loaded into Seaglider via the cmdfile transfer FIGURE 8 2 Dive 1 Pitch Plot SG173 PortSusan dive 1 started 17 Sep 2009 21 07 29 60 T T T T T T T T T T T Pitch gain 40 Pitch control range 8 38955 to 3 44772 cm 40 Implied pitch center 2834 81 s i J Implied pitch control range 8 40772 to 3 42955 cm 30 Assumed pitch conversion 319 922 counts cn aft pe e cel 20r 10r 8 or i E 10 e 20 el 30r 4 40 e 60 I i i i i i l i i i l 35 3 25 2 15 1 05 0 0 5 1 1 5 2 2 5 3 3 5 Pitch Control cm Inspect the science data plots and data files Is the data believable 232 iRobot amp 1KA Seaglider User s Guide Tuning Your Seaglider If there is a problem with the science data Seaglider may have to be recovered If the science data looks good and the cmdfile has been updated with the latest C VBD C PITCH and C PITCH GAIN it is time to start the second dive Check that the new C_VBD C PITCH and C PITCH parameters have been transferred to Seaglider and are correct If they are change the directive in the cmdfile from QUIT to SRESUME Leave the dive parameters the same as for the first dive When Seaglider
221. dt View Insert Tools Desktop Window we ida h amp 99x FAE Ogas asook a ngem Mission Start Time 17 Scattering SG512 Dive 4 Robot Port EOM ERI C EE eel 75 77 8 0 23 5 6 9 222 94 9397 800 306 3809132 03 48 7 7EDOE 3 426 3 Sat O Descent SaiO Ascent p30 A AA4330 Descent AA4330 Ascent Chlorophyll Descent Chiorophyll Ascent 278 8056 13332 18608 28006 33699 38513 43927 4614 BO m sch Figure 8 Plot 8 Sele Figure 9 Plot_9 File Edit View Insert Tools Desktop Window Help File Edit View Insert Tools Desktop Window Help aqe hk lt s oea a Dan em Odi s h sS a OF Pitch Control Roll Control idt View Insert Tools Desktop Window Help ida s SsoSwAZ a UE am Vertical Velocty S0512 Dive 4 iRobot Port Susan Mission Stert Time 17 Dec 2009 20 18 16 S0512 Dive 4 iRobot Port Susan 50512 Dive 4 iRobot Conon 2483 Mission Start Time 17 Dec 2008 20 18 18 Port Susan Ca 2390 C a Y IE Pitch gain 317m Fe Based on Pressure Change 40 pete Ca oN p Ka Ds So i Er Based on Buoyancy and Pitch EJ t pap Has 7 264 BABB YS 47 D839 20 Upweling on Descent 0 spuned conto gio 3537 cou CH 3 230 Upweling on Ascent 4 UN 109 coined model Cy 2107
222. dund dggA N uaMOdS 00 0 N uaMOdS 078 ZO N uaMOdS 668 20 N uaMOdS T8 ZO N uaMOdS L ZZ ZO N MHMOdS 9c0 cO N MHMOdS CL8 IO N HMOdS LG9 IO N MHMOdS 0G TIO N HHMOdS T8 lt IO N MHMOdS TOT IO N MHMOdS P88 00 N MHHMOdS 8G9 00 N MHMOdS L P 00 N MHMOdS 0 2c 00 N uaMOdS 800 00 N MHMOdS C08 66 N HHMOdS 92c9 66 N u3MOdS LT 66 N HHMOdS 6LC 66 N MHMOdS 6GL 86 N MHMOdS TILG 86 N MHMOdS 98 86 N uuMOdS 677 86 N HHMOdS L66 L6 oes 08 L oes dwe 0 7 z030u ION N MHMOdS 608 L6 oes 0E LC 9es dwe 9g ce 3030U yo3Td N HHMOdS 909 L6 dn zemod eours oa413eI numo a ci soes duy oar3emnun sebneD Teng N MHMOdS ICE L6 snjeis zoj3eg Durjzodou N usns 6L6 c26 L LWAClIddd TM LLL SO OCI S0 G U0 0GI N uOSN3SS I8 26 S I1WAZI3Hd IM SSS SO OZI S0 G woog N MOSNHSS 8GG C6 I LWACI4dd IM TIT S0 09 S0 G Uo GI N HOSN3SS 90 26 S1osueg 255 ourL uadeq N HOSN3SS SII 26 070 Ts O uo ooc 000 Icccli 000 G08P GAIA N ANNS S99 T6 Uo Te 0 uo oor 000 ccctI 000 808 LdNVAVM N ANNS ZVE 16 Q U Te 8 uo ooc 000 vzzcI 000 808P LHOIH N ANNS 810 16 0 0 T 0 uo ooc 000 0c44cI 000 708P uno N ANNS 66906 079g T Q uo ooc 000 ccccI 000 908 XIS N AVNS 6L 06 070 I 0 uo ooc 000 cccl 000 L08 P NWAHS lt N AXNS 290 06 TL UsrTurg uad
223. e 14 ROLL_ADJ_DBAND 0 025 Deadband for auto adjusting roll center deg sec CR Return to previous menu iRobot amp 1KA Seaglider User Guide 379 Appendix F Hardware and Configuration Menus VBD Parameters To access the VBD Parameters menu from the Parameters and Configuration menu Select 11 VBD Parameters and press ENTER The menu in Figure F 14 is displayed The explanation for each parameter as well as the acceptable range of values is located in Chapter 5 Piloting Parameters on page 83 The exact values of VBD MIN VBD MAX and C VBD that should be used for the Seaglider being queried are located on the trim sheets in the notebook shipped with Seaglider To change a parameter value follow the procedures in Basic Mission and Seaglider Parameters on page 371 FIGURE F 14 VBD Parameters Menu VBD current value in 12 1 ON 430 654 9 cc VBD bladder position limit minimum AD 2 VBD MAX 3959 210 7 cc VBD bladder position limit maximum CAD 3 c_vBD 3100 VBD bladder neutral point CAD 4 VBD_DBAND 2 00 VBD bladder position deadband cc 5 vBD CNV 0 245296 vBD bladder position conversion factor cc AD 6 vBD TIMEOUT 720 VBD timeout sec 7 PITCH VBD SHIFT 0 0012300001 Pitch offset due to VBD Ccm cc 8 VBD PUMP AD RATE SURFACE 5 VBD pump AD counts per sec at surface 9 VBD PUMP AD RATE APOGEE 4 VBD pump AD counts per s
224. e Data Visualization Software Depth m 0 1 0 2 SG515 Dive BU UCM Clean Sweep 03 Mission Start Time 94Aug 2010 60 17 29 am 0 8 0 9 0 9 0 8r 0 7r 04r 03 0 2r CTD data does not exist for this dive 1 L 1 1 0 1 0 2 1 0 3 04 0 5 0 6 0 7 Salinity PSU c kg m 0 8 0 9 0 9 0 8 0 7 0 6 0 5 04 0 3 0 2 0 1 iRobot amp 1KA Seaglider User Guide 329 Appendix D Dive Data Visualization Software Plot 3 T S Plot from Sea Bird CT Sail or Sea Bird GPTCD The Temperature Salinity T S Plot displays the relationship between temperature salinity and density Density is displayed on the plot as isopycnal curves Densities are plotted in different colors for both the dive descent and ascent PSU indicates practical salinity units Temperature C Density G524 Dive 2 iRobot Port Susan Mission Start Time 17 Mar 2011 19 26 53 Be mega I i Descent Ascent o ei AN N S 85r ar Ty 7 VU CIIme S 75r 7 l i i l 27 27 5 28 28 5 29 30 Salinity PSU 330 iRobot amp 1KA Seaglider User Guide Appendix D Dive Data Visualization Software Plot 4 Dissolved Oxygen Plot SBE DO and or Aanderaa DO Sensor The dissolved oxygen plot will plot all oxygen data collected during the dive Oxygen data collected will be plotted using colors to distinguish data gathered on the descent a
225. e F 5 is displayed To edit a parameter value follow the pro cedures under Basic Mission and Seaglider Parameters on page 371 FIGURE F 5 Dive Parameters Menu Hive current value in DIVE 9 Next dive number D_FLARE 3 Flare depth m 0 TGT 10 Target depth m 0 ABORT 1090 Abort depth m 0 NO BLEED 500 Depth below which we will not bleed on dives m D_BOOST 0 Depth above which only boost pump is run m T_BOOST 0 Time to run the boost pump before turning off 0 do not turn off T DIVE 15 Target time per dive climb cycle min T MISSION 15 Maximum mission time per dive climb cycle min T ABORT 1440 Failsafe watchdog mission time change with extreme care min T TURN 225 Max time allowed for a turn maneuver sec T TURN SAMPINT 4 Sample interval during a turn int sec gt 4 T NO w 60 Time with no vertical velocity w before taking next step secs T LOITER 0 Time to loiter at apogee before climbing secs USE_BATHY 1 Use bathymetry map 0 no nnn file number D_OFFGRID 100 Max target depth if outside bathymap m SIM_W 0 1 Simulated W m s 0 use pressure gauge to compute depth 18 sIM PITCH 20 Simulated dive pitch e g 20 degrees 0 use TCM2 to report pitch CR Return to previous menu Enter selection 1 18 CR uo OO C ca f co n3 EA pa papa p MS ww S NISI NS bw uw g en para
226. e VBD Pitch and roll centers are needed the rule of thumb is to only adjust half the amount suggested by the plot regression for Implied Using this approach look at the first plot an example 1s below and compare when the VBD thin black line and the vertical speed W royal blue line cross Zero If they cross zero at the same time the VBD setting is good and should be left alone e If the VBD line crosses zero before the W line does Seaglider is too heavy and the C_VBD A D counts should be reduced e If W crosses zero before the VBD line crosses zero Seaglider is too buoyant and the C VBD A D counts should be increased In the example below the W line crosses zero before the VBD line so Seaglider is too buoyant To figure out how much to increase the C VBD by in the example below determine the number of units that separates the W line from the VBD line where the W crosses zero In the example it is approximately 4 units Multiply that value by the number of cc s in parentheses next to VBD in the legend In the example it is 10cc So 4 10cc 40 cc Now convert the 40cc to A D counts using the conversion factor 4 0767 A D counts cc to get an A D counts change of approximately 160 Following the rule of thumb to only make half of the adjustment at a time the C VBD would be changed from the original A D counts of 3276 80 3356 and the parameter value would be changed in the cmdfile to read C VBD 3356 230 iR
227. e button and use the standard the dive data or Windows dialog box to navigate to the folder containing the dive data Selecting Dive Data for Analysis The Dive Data Analysis GUI has a field titled Dive Numbers Once the folder containing dive data has been selected the Dive Numbers field will be populated with the available dives This is a typical Windows type field where you use the scrollbar to scroll up or down the list to the dive number to be analyzed and then click on the dive number in the field to select the dive for analysis GPCTDVis_gui File Edit View Insert Tools Desktop Window Help Seaglider ID P P o iRobot Seaglider Dive Data Analyzer Reed render Dive Data Folder E eagliderData sg51 8 PortSusan_24 25SMAR2010 Browse Ranges Pressure Temperature Salinity Density max 0 MAX O MAX OO Max 0 _ Once you have specified the folder the Dive Numbers field will be containing the dive data files populated with a list of available dives 322 iRobot amp 1KA Seaglider User Guide Appendix D Dive Data Visualization Software Performing the Analysis The Dive Data GUI provides the capability to customize the actions of the software when the data analysis is performed These options will be discussed in more detail in subseguent sections of this document For now we will use the default value
228. e capture files The Capvec File is a line oriented format Lines may be comment lines in which case the first character must be a All other lines are updates to the Capture Vector and are documented under the capvec command in the Extended PicoDOS Reference Manual 2 4 Command and Control Files These files are created by the pilot to control the Seaglider mission characteristics Formats are given here but usage of these files is discussed in the Seaglider Pilot s Guide 2 4 1 Targets File targets The Pilot creates the targets file One target is listed per line and the target name must be listed first The order of the other fields does not matter Comments can be included preceded by a SEVEN lat 4807 0 lon 12223 0 radius 200 goto SIX SIX lat 4806 0 lon 12222 0 radius 200 goto FIVE FIVE lat 4805 0 lon 12221 0 radius 200 goto EIGHT FOUR lat 4804 0 lon 12220 0 radius 200 goto EIGHT iRobot 1KA Seaglider User s Guide 299 Appendix B Seaglider File Formats Manual KAYAKPT Target name this can be any string of numbers and or letters without whitespace North positive East lat 4808 0 lon 12223 0 radius 100 Latitude in Longitude in Radius in meters ddmm m positive dddmm m within which the Seaglider determines it has reached the target goto KAYAKPT Next target this target name must be specified in the Target column Above is a typical version 66 targets file
229. e dive phase while the b represents the climb phase Basestation Generated Files The basestation generates the following files using data provided by Seaglider ASCII asc Baselog baselogX XX XXXY Y Y YY Y com Binned profiles bpo Communications comm log Engineering eng netCDF nc e Pagers pagers pro e Processed files cache processed files cache Private pvt URLs urls ASCII Files asc The asc or ASCII files are created on the basestation They are the reconstituted uncompressed reassembled and differentially summed versions of the data dat files created on Seaglider See Appendix B Seaglider File Formats Manual on 248 iRobot amp 1KA Seaglider User s Guide Basestation Generated Files page 275 for a description of the column names The entry NaN indicates that there was no sample returned for that sensor Either the sensor was not installed or the sensor was not enabled for that sample deployment as controlled by the science file Baselog File The baselog file is produced by the basestation and logs the output from the scripts that perform the conversion and notification functions of the basestation It is written during each invocation This file is the first place to look when debugging problems with the data conversion If the basestation cannot process a file it sends an alert to any contact listed in the pagers file who reguested
230. e glider will automatically Disconnected at Sun Dec 2 19 19 39 PST 2007 resend the file on the next call Connected at Sun Dec 2 19 21 39 PST 2007 If no error is reported but the 159 0 2 0 GPS 031207 031455 1855 179 12237 359 41 1 3 41 2 1 basestation does not receive a ver 66 03 rev 1243M frag 4 complete file the pilot can Iridium bars 5 geolocation 1846 424805 12241 375977 031207 070746 command the glider to resend Sun Dec 2 19 21 58 2007 sg123 cmdfile XMODEM 128 Bytes 14 BPS the dive by using a Pdos Received cmdfile 17 bytes command see resend_dive in Sun Dec 2 19 22 28 2007 sg123 sector number 1 block length 1024 the Extended PicoDos Sun Dec 2 19 22 33 2007 sg123 sector number 2 block length 1024 Reference Manual Sun Dec 2 19 22 37 2007 sg123 sector number 3 block length 1024 Sun Dec 2 19 22 42 2007 sg123 sector number 4 block length 1024 Sun Dec 2 19 22 45 2007 sg123 received EOT and read timed out Sun Dec 2 19 22 45 2007 sg123 sector number 10 block length 1024 Sun Dec 2 19 22 45 2007 sg123 done sending ACK Sun Dec 2 19 22 45 2007 sg123 sg0055dz x01 XMODEM 4096 Bytes 186 BPS Sun Dec 2 19 22 45 2007 sg123 Exiting 0 The file was successfully Sun Dec 2 19 22 53 2007 sg123 sector number 1 block length 1024 resent Sun Dec 2 19 22 58 2007 sg123 sector number 2 block length 1024 Sun Dec 2 19 23 03 2007 sg123 sector number 3 block length 1024 Sun Dec 2 19 23 07 20
231. e hull which is designed to have the same compressibility as seawater Other gliders have rigid pressure hulls that are designed to maintain a fixed volume at all rated pressures As gliders with non isopycnal hulls dive any density increase 60 iRobot amp 1KA Seaglider User s Guide Seaglider Components in the surrounding water causes them to acguire positive buoyancy This reguires compensation subtraction of displaced volume to maintain a constant buoyancy difference That same compensation has to be recovered by pumping to achieve positive buoyancy when Seaglider ascends Seaglider s isopycnal hull eliminates that need as the pressure hull does not acguire positive buoyancy from the compression of the surrounding seawater For dives to 1000 m this results in about a 10 energy savings in the 24V energy budget Inside the Pressure Hull The following components are located inside the isopycnal pressure hull Mass shifter with the 24 VDC lithium primary battery Main electronics board assembly with the 10 VDC lithium primary battery attached underneath nternal components of the hydraulic system A Caution The components inside the pressure hull are NOT user serviceable Any unauthorized opening of the pressure hull voids the one year warranty See Appendix J Warranty and Disclaimers on page 441 Mass Shifter with 24 VDC Battery Pack The 24 VDC lithium primary battery pack can be moved by the mass shif
232. e line is the timeout to wait for a response to the GET It is separated by a whitespace from the URL Comments in the file are indicated by Example 1 http mydomain edu glider cgi bin update cgi iRobot 1KA Seaglider User s Guide 173 Chapter 6 Pre Deployment Tasks Transporting Seaglider to the Field When Seaglider s deployment time is close transport Seaglider to the field If it is a short trip Seaglider may be able to be transported in its cradle Remove the antenna from the aft end of Seaglider leaving the cables attached see below It may also be necessary to remove the wings If getting Seaglider to the field involves a longer trip and or commercial shipping put Seaglider in Travel Mode and use the shipping crate Detaching the Antenna Mast To detach the antenna mast from the aft fairing 1 Remove the rudder screws 2 Slide the antenna mast and rudder boot out of the aft fairing can best be facili tated if the rudder section is outside of the cradle as in Figure 6 1 on page 175 3 Fold the antenna mast back onto Seaglider s wing and secure it with protective foam and a bungee cord 4 Leave the rudder in its aft fairing slot and put in the rudder screws to hold it in place Figure 6 1 shows Seaglider with the antenna mast removed 174 iRobot amp 1KA Seaglider User s Guide Transporting Seaglider to the Field FIGURE 6 1 Seaglider with Antenna Mast Removed from the Aft Fa
233. e plots and the log files each time Seaglider surfaces until the trimming looks good and Seaglider is diving to the desired mission depth As the pilot becomes comfortable with how Seaglider is flying plot and file checks can be reduced if desired to several times a day iRobot amp 1KA Seaglider User s Guide 235 Chapter 8 Tuning Your Seaglider 236 iRobot amp 1KA Seaglider User s Guide CHAPTER 9 Files for Operations To be a successful pilot gathering high guality data during the mission and bringing Seaglider home safely one needs to understand the intricacies of the files that must be generated to fly Seaglider as well the contents of the files that are generated by Seaglider during the mission The following topics are covered e Files Placed on the Basestation by the Pilot on page 237 e Factory Generated File on page 246 e Seaglider Generated Files on page 246 e Basestation Generated Files on page 248 e Files Stored on Seaglider on page 253 Files Placed on the Basestation by the Pilot To command and control Seaglider the pilot interacts with four files on the basestation Command file cmdfile Targets file targets iRobot amp 1KA Seaglider User s Guide 237 Chapter 9 Files for Operations e Science file science e PicoDOS Commands Batch File pdoscmds bat These files are sent to Seaglider during a surfacing However unless there are change
234. e query set the current date and time Any setting within 12 hrs of the correct time is acceptable because Seaglider gets an accurate time from its first GPS fix and resets the internal clock Note The format for setting the date and time is mm dd yyyy hh mm ss with no missing values iRobot amp 1KA Seaglider User s Guide 51 Chapter 3 Setting Up the System 9 When prompted Are you running on external bench power do one of the following If you are running on internal Seaglider power press ENTER to accept the default anser N for No If you are running on external bench power type Y for Yes and press ENTER The Main Menu with five 5 numbered items displays see Figure 3 14 FIGURE 3 14 Seaglider Set Date Time and Power Source Mersion 66 07 18 775 starting up Mar 29 2011 10 36 24 Seaglider operating software developed and maintained by Applied Physics Laboratory University of Washington Copyright 2003 2010 University of washington Built with SCENARIO without ICE without RAFOS without KERMIT without ARS without MMODEM without PAAM without AQUADOPP without SAILCT without DEEPGLIDER without HEAP RECYCLE with REV C without LUA with serial and logger device sensor integration facilities developed by Integrative Observational Platforms Group APL UW mtop Ox2fefff _mbot O0x28cdb8 _mcur 0x28e000 glmalloc init glmalloc data init 0x0 glmalloc init avail bytes
235. e teo ine e eoo ete eoo ren ren ee ien Y ond Seaglider Generated Files Capture Files ee ette epe eoa eee Na Un eee eine e Pe eee E es een CDd no Data Files LOG gil Files Generated by the GPCTD 248 Basestation Generated Files 248 ASCII Files asc Baselog File tue ee eene tod ete et enne enun eee sa Binned Profiles Files see Oeae RHAN anra Communications File Engineering Files eee eese eee eese teen toasts netCDF Files viii iRobot amp 1KA Seaglider User s Guide Files Stored on Seaglider eee eee eee eerte tenente teua 253 Bathymetry Map Files 253 Battery File ce 253 CAP Vee gr M FF 253 Compass Calibration F iie 254 CHAPTER 10 Recovery and Disassembly 255 Recovery Loop q eese eee esee esten enses tn etnia stas insta seinen nennen 255 Recovery Pliasez aaa sF Yw enyd FY wdn tasso paie ie e ado 256 CHAPTER 11 Operator Level Maintenance 259 Cleaning Seaglider eere errare ruo rna rhe ra rne eon aon eu Pone Pa ehe ON nau 259 Deep C
236. eaglider on the surface after a dive with the SQUIT command while changes to the parameter values are made and then to issue the SRESUME directive to continue diving becomes less critical 234 iRobot amp 1KA Seaglider User s Guide Tuning Your Seaglider At this point if Seaglider is diving the directive should be changed from RESUME to GO and any changes made to a parameter are picked up at the next surfacing Remember that with the GO directive if Seaglider encounters a problem and has to surface unexpectedly it remains at the surface until the pilot replaces GO with SRESUME DO NOT leave RESUME in your cmdfile longer than necessary It may lead to the loss of your Seaglider FIGURE 8 4 Roll Center Values SG173 PortSusan dive 1 started 17 Sep 2009 21 07 29 40 T T T T T T T T T T T 30r 3 a dive _ climb _ Cai 2000 Cio 72000 CW 2000 Roll control range 50 0707 to 50 834 TS 20 Implied C j 2383 e 2415 cM 2350 Implied roll control range 60 8921 to 40 0126 Assumed roll control gain 35 37 counts to stbd 10r s OF 1 a 10 al 20 a Us R l 6 57249 Roll control 0 607357 lt Rolls 6 9109 Roll Control 0 588827 ur 7 77 Roll 5 2 6 9109 Roll Control 0 700005 a climb Dive T Z Climb 40 s g j l l i l i i l T T 50 40 30 20 10 0 10 20 30 40 50 Roll Control Continue to monitor th
237. eaglider s on board performance prediction and guidance calculations Nominal Value 0 010078 Minimum Value 0 001 Maximum Value 0 02 Definition The hydrodynamic parameter representing the induced drag coefficient determined empirically and used in Seaglider s on board performance prediction and guidance calculations Nominal Value 0 00000985 Minimum Value 0 Maximum Value 0 0001 Definition Deadband for heading degrees This value is used to determine if a correction to heading is reguired during an active guidance and control G amp C mode If the absolute value of the difference between the actual heading and the desired heading is less than or egual to HEAD_ERRBAND no heading correction is made If the difference is greater than SHEAD ERRBAND then a turn is performed until the heading is passed or until the amount of time T_ TURN has elapsed Nominal Value 10 Minimum Value 0 Maximum Value 180 iRobot amp 1KA Seaglider User s Guide Parameters by Category HEADING HEAPDBG Set by Definition Floating point value between 1 0 and 360 0 true degrees 0 0 and 360 0 are eguivalent values Used in conjunction with certain navigation modes controlled by the NAV_MODE parameter to determine the course steered by the Seaglider If SNAV_MODE is 0 1 or 2 and the value of HEADING is between 0 0 and 360 0 the glider will use this value to synthesize a waypoint 20 km distant on the sp
238. eatures of Control Canonical Dive Seaglider performs its mission by repeating a canonical dive until either it is commanded to stop or until an abort condition is reached Numerous aspects of the canonical dive are under the control of the pilot through an extensive set of parameters A few are indicated in Figure 4 5 Many more are not shown but explanations for them can be found in Chapter 5 Piloting Parameters on page 83 The run phases of the dive are indicated by the intervals at the top of Figure 4 5 and the profile data boundaries are indicated by the interval at the bottom of the figure Note Figure 4 5 is not to scale in either dimension iRobot amp 1KA Seaglider User s Guide 73 Chapter 4 Operating Principles FIGURE 4 5 Canonical Dive Schematic Surface Dive Apogee Climb Surface lt l o o i sf o o S SQ e g o E S y Qu g P O A OX Z cy Q G Depth Time D ABORT Data in Each Dive s Communication Messages SEAG 022 09 Control Design Seaglider s flight control scheme has two guiding principles Maintain constant vertical velocity during a dive Minimize the total energy expenditure during a dive Constant vertical velocity is desired because Seaglider samples its sensors evenly in time Constant vertical velocity then implies that the samples are equally spaced in depth Sample intervals are specified by the pilot through the science file
239. ec at apogee 10 vBD BLEED AD RATE 8 VBD bleed AD counts per sec at surface 11 UNCOM BLEED 50 Uncommanded bleed change AD 0 disabled 12 vBD MAXERRORS 1 Number of VBD errors allowed before entering recovery CR Return to previous menu 380 iRobot amp 1KA Seaglider User Guide Appendix F Hardware and Configuration Menus Hardware Configuration Parameters To access the Hardware Configuration Parameters menu from the Parameters and Configuration menu Select 12 Hardware Configuration Parameters and press ENTER The menu in Figure F 15 is displayed Seaglider hardware configuration 1s done at the factory It is not recommended that the user change any of the values in this menu without consulting iRobot Customer Service FIGURE F 15 Hardware Configuration Parameters Menu F Edit hardware configuration parameters l show Show current hardware configuration 2 motherbo Configure motherboard 3 compass Configure compass 4 compass2 Configure spare compass 5 phone GT 7 8 9 h Configure phone gps Configure GPS I xpdr Configure XPDR sensor Configure sensor logger Configure logger sensor 10 add J Add device file to hardware library 11 logdev Add logger file to hardware library 12 pressure Configure external pressure sensor 13 param Edit parameters directly CR Return to previous To exit the Hardware Configuration Parameters menu and return
240. ecified bearing from the current location If SNAV MODE is 3 SHEADING is added to the depth averaged current calculated for the previous dive to give a Seaglider heading that is the specified amount to the right of the current Note If heading is not being used by Seaglider to navigate make sure that SHEADING 1 is used Nominal Value 1 Minimum Value 1 Maximum Value 360 manufacturer Do not change Definition A Boolean value set during fabrication or building that is only used for debugging iRobot amp 1KA Seaglider User s Guide 117 Chapter 5 Piloting Parameters lD Set by manufacturer Do not change Definition Seaglider identification serial number This is an integer between 1 and 999 Leading zeros are not reguired This identification number is used in many ways including creating Seaglider s login on the basestation in file naming conventions and as a serial number for manufacturing purposes Nominal Value Set at factory gt 500 Minimum Value 1 Maximum Value 999 INT PRESSURE SLOPE Set by manufacturer Do not change Definition The slope psia per A D count calibration of the internal pressure sensor The sensor has a span of 0 to 30 psia with a 90mV output at full scale at 12V excitation The output is proportional to the supply Seaglider s excitation is 4 096V and the gain is 100 so 30 psia 90 4 096 12 100 1 Full scale 90 4 096 gain counts mV so the nominal slo
241. ecovery phase is entered either by command of the pilot when it is necessary or desirable to keep Seaglider at the surface or by an error condition detected by Seaglider s operating software In the recovery phase Seaglider stays on the surface and acguires a series of GPS fixes which are sent to the basestation so that Seaglider can be recovered iRobot amp 1KA Seaglider User s Guide 81 Chapter 4 Operating Principles In recovery Seaglider enters a loop of obtaining a GPS fix and communicating that position with the basestation every T RSLEEP minutes In practice there are about two minutes of overhead in this process so that the actual time between phone calls is closer to ST RSLEEP 2 minutes This recovery loop may be exited by sending a RESUME directive to Seaglider via the cmdfile Once the RESUME directive is received by Seaglider it will start diving again 82 iRobot amp 1KA Seaglider User s Guide CHAPTER 5 Piloting Parameters This chapter describes the command directives and parameters that govern the operation of the 1KA Seaglider The following topics are covered Parameter Conventions on page 83 Piloting Parameters on page 85 e Parameters by Category on page 86 Parameter Conventions All parameters have a leading in their name Parameters are displayed in bold font file names in italic Nominal values are given with most parameters and are not default values Paramet
242. ed commanded from 602 20 cc 545 to 592 39 cc 585 741 HVBD N 600 0 cc ad 554 606 513 MOTOR DONE ticks 8 max 24v 1076 4mA avg 24v 138 5mA minv 24v 23 7V 376 SMOTOR N GC TICKS TIME 73 74931 1468 HVBD N done 631 HVBD N Bleed completed from 602 20 cc 545 to 592 14 cc 586 631 541 took 1 5 sec OmA 927mA peak 23 8Vmin 26 AD sec 62 ticks 655 HVBD N VBD lin pot AD counts 632 544 809 HVBD N VBD bladder position 591 65 cc CAD 588 077 HVBD N Bleed commanded from 591 65 cc 588 to 401 06 cc 1365 7 max 24v 421 5mA avg 24v 64 3mA minV 24v 23 7V L025 HVBD N TRACK b 630 540 a 631 540 d 46 o 45 0 260 SSURF N Initializing data file 0 542 SSURF N Initializing log file a At the prompt Verify VBD SW limits and timeouts Y press ENTER to accept the default Yes See Figure 7 21 b At the prompt 53VBD MIN New value x verify that the value displayed matches the minimum VBD value on the Cal Sheet found in respective Seaglider notebook See Figure 7 21 fthe minimum VBD value is correct press ENTER to accept the default answer Ifthe minimum VBD value at the prompt differs from the value on the Cal sheet make sure that the Cal sheet is up to date If the Cal sheet is the latest version enter the correct value and then press ENTER c Atthe prompt VBD MAX New value x verify that the value displayed matches the maximum VBD value on the Cal Sheet fo
243. ed on the Basestation To verify whether the Seaglider you are working with has been commissioned on the basestation 1 Type ed home and then press ENTER 2 Typels and then press ENTER If the Seaglider has been commissioned on the basestation a directory with that Seaglider s name for example sg505 displays All Seaglider names start with sg The three digit number in the name is Seaglider s serial number Seaglider s name is in the manual shipped with Seaglider In addition the serial number is written in black on the rear of the aft fairing 3 If the Seaglider is not listed create a directory for the Seaglider see Commis sioning a Seaglider on the Basestation on page 35 Otherwise see Checking the Contents of Seaglider s Directory on page 36 for more information Commissioning a Seaglider on the Basestation To create a directory on the basestation 1 Type su and then press ENTER Note You must be logged in as super user root to create a directory 2 When prompted type the password for super user 1 e super user root The initial password is 1gazxsw2 the number one followed by gazxsw and then the number 2 3 Type python usr local basestation Commission py XXX and then press ENTER where XXX is the serial number of the Seaglider being commissioned iRobot amp 1KA Seaglider User s Guide 35 Chapter 3 Setting Up the System 4 Type ls and then press ENTER The new directory displays
244. ees eene 400 VBD Control Menu 5 eae ee e eet 401 VBD Valve Characterization sees 402 Valve Noise Test s dede e ag e RR e ARE 403 VBD Valve Cycling dente tute e Hn TA RS 405 VBD Pump and Bleed Pressure Test 406 VBD Pump and Hold at Pressure Test sss 407 Special Test ets wasasapa ate eec qa e ES 409 Supervisor Menu oce tege ee a etie HH 409 Pressure Sensor Menu ihe oed e te pb Pets 410 Compass Menu s a rne e eee E e Se ee eee 411 GPS Menu ia iii oes cotto eite Re eect RU cob Ee cete Hee tust S 412 Iridium Phone Men n sess 413 Internal Pressure Menu ERES T ERR UR TIRE 413 Altimeter XPDR Menu nasus nnn 414 Sensors Menu se eret erre eet Ru Or ER ERE 414 Example Menu eponegued tete OR etus 415 Logegets Menu ee sy TR ST REPE TERES 415 Batteries and Fuel Gauges Menu aa 416 Low level Hardware Menu sese 417 Miscellaneous Menu cine naqa ie dert 418 Developer Tests Menus dine ted ertet pedi 419 Test Operation Modes and Files a 420 Pre Launch Menu en Ga ee RE REUS SR 421 FIGURE A 1 Ballast Location Pin wheel LI ILA I I LL FF Leu 428 xviii iRobot amp 1KA Seaglider User s Guide Preface This section provides an overview of the iRobot 1KA Seaglider Unmanned Underwater Vehicle The following topics are covered W
245. el timeouts date time 16 develop Developer tests CR Return to previous Pitch Control Menu To access the Pitch Control Menu Select 1 Pitch Control and press ENTER The menu in Figure F 25 is displayed FIGURE F 25 Pitch Control Menu Pitch Control Menu 1 read Current position 2 ad Move to position AD counts 3 eu Move to position cm for fwd 4 edit Edit pitch parameters I 5 cycle Run pitch duty cycles 6 cyclepr Run pitch amp roll duty cycles CTL O to quit 7 pitch Pitch test CR Return to previous 394 iRobot amp 1KA Seaglider User Guide Appendix F Hardware and Configuration Menus Current Motor Position To determine the present position of the pitch motor Select 1 Current Position and press ENTER A reply similar to the one below is returned Note that the pitch control position is given both in cm and A D counts 15313 427 HPITCH N Pitch control position 8 80 cm AD 365 A The user is returned to the Pitch Control Menu Move to Position AD counts and cm There are two options to move the pitch motor Change the A D counts Change the cm centimeters of movement Change the A D counts To use this method Select 2 Move to Position AD counts and press ENTER Seaglider responds with 15582 616 HPITCH N Pitch control position 8 74 cm AD 385 Move to ADF 385 Type an A D value and pres
246. ems for near bottom dives Bathymetry map system for low energy dives TABLE A 8 Operational Modes Mode Description Transect survey Profiles using a seguence of waypoints Virtual mooring Continuously profiles at a single location Surface drift Stays on the surface with the antenna up for GPS and data telemetry Bottom loiter Loiters at designated depth for a specified amount of time before surfacing Sub surface porpoise Profiles a specified depth range without surfacing iRobot amp 1KA Seaglider User s Guide 273 Appendix A System Specifications 274 iRobot amp 1KA Seaglider User s Guide APPENDIX B Seaglider File Formats Manual SCHOOL OF OCEANOGRAPHY and APPLIED PHYSICS LABORATORY UNIVERSITY OF WASHINGTON Version 66 07 December 2009 Chapter 1 Conventions and Introduction 1 1 Conventions Example files are given in bold Courier font Direct annotations of files are given in smaller font Parameters are in UPPER CASE BOLD font and have a preceding File names that are used in Seaglider command control or operations are given in lowercase bold font Documents and sections of documents are italicized 123 is used throughout this document as a placeholder for Seaglider serial number and 55 is used as a placeholder for dive number Many file names include a three digit Seaglider serial number followed by a four digit dive number both with preceding z
247. ended that the user exit down to the pdos or TT8 levels 420 iRobot amp 1KA Seaglider User Guide Appendix F Hardware and Configuration Menus Pre Launch Menu To view the Pre Launch Menu Figure F 51 Select 5 and press ENTER FIGURE F 51 Pre Launch Menu Launch Menu 1 scene Set scenario mode 2 selftest Perform interactive self test 3 autotest Perform autonomous self test 4 uploadst Upload self test results 5 reset Reset dive run number 6 test Test Launch 7 sea Sea Launch CR Return to previous Set Scenario Mode To access the Set Scenario Mode menu e Select 1 Set Scenario Mode and press ENTER Scenario mode is used with Seaglider in a test tank This mode allows the user to program Seaglider to go through a series of pitch roll and or VBD maneuvers The user determines the amount of motor or pump movement made during each step and the length of the scenario Follow the protocols shown with each step when designing the scenario At the end of the scenario Seaglider returns to the Scenario menu To exit the Scenario menu and return to the Pre Launch Menu press ENTER iRobot amp 1KA Seaglider User Guide 421 Appendix F Hardware and Configuration Menus Perform Interactive Self Test To access the Interactive Self Test Mode menu Select 2 Perform Interactive Self Test and press ENTER Follow the interactive self test directions in Chapter
248. ension kxxxx base sgxxx for file in Is A do newfile file 0 8 newfile echo newfile awk print tolower 0 x00 cp file newfile done Force the basestation data processing xxxx base sgxxx python usr local basestation 2 05 Base py m force verbose Your processed data will now be in the Seagliders directory on the basestation 424 iRobot 1KA Seaglider User Guide APPENDIX G Ballasting This section describes ballast of your Seaglider Overview Seaglider is ballasted externally to the pressure hull The ballast areas are the nose of the forward fairing the circumference of the electronics hull and the rearmost battery hull Ballast for the Seaglider is typically located in the nose and rearmost battery hull The area around the electronics hull is rarely used The ballast medium in the nose of the fairing is brass plates The rearmost ballast can be in the form of lead strips 100g 180g respectively and or syntactic foam strips Proper ballasting of the Seaglider allows the vehicle to optimally perform in the operational environment Initially based upon customer input the Seaglider is delivered to the customer ballasted for the approximate bottom water density and maximum stratification in the deployment area The parameters needed by iRobot to complete the pre delivery ballasting are 1 estimated bottom water density in either kg m or g cm 2 estimated surface water density
249. ents the command 2 Extensive help command which displays methods of exiting the Seaglider code s PicoDOS6 mode lists the available extended PicoDOS6 commands and gives usage hints Copyright University of Washington 2006 314 iRobot amp 1KA Seaglider User s Guide APPENDIX D Dive Data Visualization Software Introduction This Appendix will describe how to execute the software that analyzes dive data acquired from the sensors installed on a Seaglider also to indicate to the user the basic description of each plot displayed when the visualization scripts are run Acronyms Abbreviations and Definitions Term Definition CT Conductivity Temperature Depth sensor GPCTD Glider Payload Conductivity Temperature Depth sensor PAR Photosynthetically Active Radiation GUI Graphical User Interface UI User Interface IDE Integrated Development Environment iRobot amp 1KA Seaglider User Guide 315 Appendix D Dive Data Visualization Software Required Tools Software MATLAB 2010a Other versions may work but are not supported or recommended e iRobot Seaglider Dive Data Analysis Software with Seawater Library 1 2d visualization software Hardware Any computer or portable device capable of running MATLAB2010a and displaying plots Installation and Configuration MATLAB 2010a Install MATLAB 2010a per the instructions that are provided with the MATLAB
250. enu 1 read Current position 2 ad Move to position AD counts 3 eu Move to position cc 4 param Edit vbd parameters 5 timing Characterize valve 6 noise Valve noise test 7 open Open valve I 8 close Close valve 9 cycle Cycle valve 10 pump Pump amp bleed cycles pressure chamber or AD 11 soak Pump and hold at pressure pressure chamber or AD 12 special Special test 1 motor current amb pressure amp pot CR Return to previous The method for accessing options 1 4 is the same as it is for Pitch Control in Pitch Control Menu on page 394 The instructions for making edits to the VBD parameters are located in VBD Parameters on page 380 The explanation for each parameter as well as the acceptable range of values is located in Chapter 5 Piloting Parameters on page 83 The exact values of VBD MIN VBD MAX and C_VBD that should be used for the Seaglider being gueried are located on the trim sheets in the notebook shipped with Seaglider Note When making VBD moves in AD counts increasing the count moves oil into the internal reservoir When making VBD moves in cc negative values mean oil is moving into the internal reservoir Options 5 12 are used for Seaglider development Most users will never have a need to use any of these options Should the user be interested brief discussions of these options follow iRobot amp 1KA Seaglider User Guide 401 A
251. er if crash to TOM8 0 no l yes APOGEE PITCH 9 Intermediate pitch angle apogee deg MAx BUOY 200 Max buoyancy force allowed apogee g COURSE BIAS 0 Course bias to subtract from the computed deg cw GLIDE SLOPE 30 Max glide slope allowed deg SPEED FACTOR 1 Fudge factor for glider speed RHO 1 023 water density Cgrams cc MASS 53373 Glider mass g NAV MODE 2 Navigation mode O direct l Kalman 2 Set correct 3 Current relative FERRY MAX 45 Ferry angle bound for set correction navigation deg KALMAN USE 0 Kalman filter 0 reset l enable 2 skip HD_A 0 003 Glider hydrodynamic lift A HD B 0 0142 Glider hydrodynamic drag CB HD_C 9 9999997e 06 Glider hydrodynamic induced drag C HEADING 1 Heading degrees true to steer C 1 disable ESCAPE HEADING 0 Escape heading degrees magnetic to steer in emergency ESCAPE HEADING DELTA 10 Escape heading offset degrees in emergency FIX MISSING TIMEOUT 0 Time days without fix before activating escape heading TGT DEFAULT LAT 4743 75 Default target latitude TGT DEFAULT LON 12224 15 Default target longitude TGT AUTO DEFAULT 0 Automatically update default target sM CC 375 VBD volume for surfacing cc N FILEKB 4 File segment size for upload KBytes 16 O no split negative no gzip FILEMGR 0 File management aggressiveness O none l only store compressed 2 delete splits on failed phone call CALL NDIVES 1
252. er s Guide Appendix C Extended PicoDOS Reference Manual v66 07 reboot new executable code on the Seaglider Example md5 082ab2b60d626181e73b17429c55dd8f chunk GZ menu lt menuspec gt lt arguments gt Execute commands from the Seaglider code menu tree by specifying the absolute menu path to the command and any reguired arguments The menu is specified by menu names separated by forward slashes The arguments are specified in a whitespace separated list arg1 val1 arg2 val2 Example menu hw ct PARAM value Changes the specified parameter to the specified value Parameters are specified by three digit numbers nnn and are in lineal order as they appear in the Seaglider menus or in the code source file parms h Example T_DIVE 330 parse_capvecfile lt file gt Parses a capture vector file and updates the capture vector This command is normally used during glider provisioning or testing the preferred way to set the capture vector is through the capvec command Example parse_capvecfile capvec new pdos Exits the Seaglider code to native picoDOS6 on the TT8 CF8 guit Exits the Seaglider extended picoDOS mode and returns to the Seaglider main menu readnv lt varname gt Read the value of the specified variable where the variable is one of the following target_name password selftest count boot count last known lon last known lat last last fix time magvar fly escape route fly safe
253. er values reported by Seaglider in the log file associated with a dive include all the pilot changeable parameters described in this document In addition the values generated on board Seaglider such as glide angle pitch angle and desired heading are also given parameter like names for consistency of parsing during post dive data processing iRobot amp 1KA Seaglider User s Guide 83 Chapter 5 Piloting Parameters Command File cmdfile State Directives Introduction The command file cmdfile directives control the fundamental state of autonomous Seaglider operations The diving state is the normal repeating seguence of canonical dives The recovery state is when Seaglider is held at the surface calling in to the basestation at pilot specified intervals with an updated position and receiving instructions Command file cmdfile directives are given as the last and perhaps only line of the command file and are stored on the basestation and transferred to Seaglider during its communication session Directives do not have changeable values Directives GO Definition This command will cause Seaglider to continue in its current mode of operation If in an autonomous run doing repeated dives it will continue to dive according to its current set of parameters If a GO command is received while Seaglider is in the recovery state Seaglider will stay in the recovery state If received while Seaglider is in the diving s
254. eros e g p1230055 log Numerals after the dot in a file name are iRobot amp 1KA Seaglider User s Guide 275 Appendix B Seaglider File Formats Manual represented by 0 s and when additional numerals are needed 9 s Because they represent various meanings numerals after the dot are always annotated the first time the file name appears and in the file description heading 1 2 Introduction This manual is designed to help the Seaglider user identify and interpret files he or she will encounter on the basestation It is to be used in conjunction with the Seaglider Pilot s Guide Parameter Reference Manual and Extended PicoDOS Reference Manual 1 2 1 List of Files Found on the Basestation using SG132 dive 55 for example file names processed files cache baselog 080221110101 baselog log sg calib constants m cmdfile comm log These files are described in the p1230055 asc p1230055 cap p1230055 dat p1230055 eng p1230055 log p1230055 pro p1230055 bpo p1230055 pvt Jocument below p1230000 prm cmdedit log targedit log sciedit log comm merged log history log cmdfile 0 targets 0 science 0 p1230055 000 pdos p indicates that these files have been processed by the basestation They are the files that contain information from the glider for use by the pilot operator and scientist This file is sent at the end of a self test Contains a list of the paramet
255. ers and their settings at the time of the self test and some information about the transmission of files during the self test These files are made by the basestation and document each change made to the command file targets file and science file using cmdedit targedit and sciedit Merged comm log and history Record of shell commands Every time a cmdfile targets file or science file is taken up by the glider it is saved on the basestation and renamed to include the dive number PDOS command files are also saved but already include the dive number so they are saved with a serial number H there are multiple calls on one surfacing a cmdfile is sent each time and a serial number is added after the dive number 276 iRobot amp 1KA Seaglider User s Guide Appendix B Seaglider File Formats Manual These files are intermediates found on the basestation They are used to create the processed files documented in this manual Characters in the file names indicate the following st The file is from a self test If from a normal dive this prefix will be pt b has had duplicate sections removed Bogue Syndrome processing 1a has been stripped of the padding characters added for transmission from the Seaglider u uncompressed z zipped r raw a reconstruction of the raw ASCII text file on the glider x The following seguence number is in the hexidecimal system 1 2 2 Data Flow Map st0055du
256. erste uenis ce ehe ne eis se aee sten eve sese Syd ddo Control Design Sampling hia Bathymetry Run Phases Surface Dive Phase Recovery e eene vi iRobot amp 1KA Seaglider User s Guide CHAPTER 5 Piloting Parameters 83 Parameter ConventiOns x s sersesssescoasscasoevosrssosesvesterssennvessvesessnsecsesnssastes 83 Command File cmdfile State Directives 84 Piloting Parameters u oi ette tnter oroso ADDO bu aeta pas buen eus Parameters by Category Most Frequently Modified Parameters 86 Second Most Frequently Modified Parameters 86 Less Frequently Modified Parameters 87 Parameters Set During Fabrication 89 Alphabetized Parameters 92 CHAPTER 6 Pre Deployment Tasks 159 Mission Planning 5 A a CYFFRO NOD O eere eh TY Er Do sr esie erae done y uio ud DX VOTE DITE emgfile Edils eee sai ne Ier n erue ea euo inne eon Y OO MAN p M Science Sensors science Edits ias Transporting Seaglider to the Field Detaching the Antenna Mast
257. es ST 3de2193UI A N SWHdH L 0 8P G 60 eGc8I9I I arg Zed SITOA N SWHdH T 6 LPEGEIE An 008L96 0 eeg xeed oj xeed N SWHdH E9L LPEGEIE L0 0 IG0CEG O PP6LGU IXEN N SHHdH 98S LPEGEIE IO 0 80I G 0 IIILSY uTW N SHWdH 9L LPEGEIE 0 0 0SI G 0 Z cLVLGY SWH N SHHdH OLI LPEGEIE 0 0 0SIEG 0 CLULGU ueew N SHHdH C06 9P GEIE S1939W S3T10A d V N SHHdH PG9 9PEG I peadeooe Arreor3euojne enreaA Mou N SWTHdH G6L GPEGEIE 9UOD WVMHAN BUTOIXZM N 8LLH LPO LEEGEIE PSG900 6 OF INIA WHnSswNd ze3euezed burgepdn N 8LLH CIL 9 S I iRobot 1KA Seaglider User s Guide 352 Autonomous Self Test Appendix E te en n I8EZ 9L Z OEZ pe OD G IET N OgAH 60v 68vS 80Sc 96SZ PSSZ pe OD I IOI N GHAH P 9 8LPGE SZ9Z 8ZLZ 8L9C pe OD 9 0L N GGAH vEB8 L9vGE 6 Lc S987 P08C pe OD L 6E N GHAH PEO LSPSE tttttt0011117777777 ZL8Z 9862 TE6Z PP OD 9 G N GHAH P8C 9vYSE te e e n 16y 99 II L09 OF GE6C 99 09 L uozy pepueuuoo dund N d8AH 0ZE SPPGE WUPET Oes G g FOOT 088z 9662 8 67 99 L8 9 OF 8PEE 99 0L 6 uozy pojorduoo dund N ddA A8 9Z ApZ AUTU vug p ApZ bae vuU9 p ApZ XeU p SxOT3 3NOG MOLOW 688Z G00 6P6C pe 99 Z p N OHAH V9l EvvGE 0v62 99 8 9 OF LPEE SXOT2 Z6 o9s QV I9 UTUAL 9Z eed vugzz Vuc oes c z X007 66LZ bep vl 0 o3 L8EI bep 90 0p uozg po19Iduoo IIOH N TIONH GGCZ 80PSE eu
258. es and log files and produce Seaglider data plots See Calibration File on page 246 238 iRobot amp 1KA Seaglider User s Guide Files Placed on the Basestation by the Pilot Command File The cmdfile is sent to Seaglider at each surfacing The cmdfile configuration is e The listing of the parameters one per line A comma The new value for each with no space between the comma and the value e The last line of the file is a directive required The command file may contain only the directive So if no changes are needed in the cmdfile and Seaglider is to continue diving after the next surfacing it can contain the only the directive GO If no changes are needed in the cmdfile and Seaglider is to remain at the surface after the next surfacing the command file can only contain the directive OUIT If parameters are left in the cmdfile from dive to dive they are sent each time Seaglider surfaces even though the value of the parameter has not changed between dives An example of a cmdfile with parameters and a directive is below D TGT 150 T DIVE 50 T MISSION 60 SM CC 680 C ROLL DIVE 2388 C ROLL CLIMB 2321 SUSE BATHY 4 SALTIM SENSITIVITY 4 OUIT Targets File Seaglider navigates using either heading or targets waypoints If heading is used it is turned on in the cmdfile SHEADING value in degrees See SHEADING on page 117 If Seaglider is moving from location to location
259. ess ENTER iRobot amp 1KA Seaglider User Guide 391 Appendix F Hardware and Configuration Menus Save Parameters By Name To A File To access the Save Parameters By Name To A File option from the Parameters and Configuration menu Select 24 Save Parameters By Name To A File and press ENTER The parameters and their respective current values are written to a file on the computer connected to Seaglider Figure F 23 The filename format is SGxxxPRM TXT where xxx is Seaglider s ID number FIGURE F 23 Save Parameters By Name To A File 13773 521 SUSR N Saving to SG506PRM TXT After the file is written the Parameters and Configuration menu is displayed To exit from the Parameters and Configuration menu and return to the Main Menu press ENTER Dump Parameters To Screen To access the Dump Parameters To Screen option from the Parameters and Configuration menu Select 25 Dump Parameters To Screen and press ENTER All of the parameters and their respective current values are written to the screen After the file is written the Parameters and Configuration menu is displayed To exit from the Parameters and Configuration menu and return to the Main Menu press ENTER 392 iRobot amp 1KA Seaglider User Guide Appendix F Hardware and Configuration Menus Load Parameters From A File To access the Load Parameters From A File option from the Parameters and Configuration menu Select 26
260. estation at any time receiving the new commands when it surfaces Figure 1 1 shows the parts land side and field side of Seaglider s system and how they communicate with one another via Iridium satellite The field side consists of the following e Seaglider Pre flight diagnostic laptop used to check out Seaglider before deployment Field team The land side consists of the following e Basestation CPU running the Linux operating system Modem Pilot team Basestation interface computer Seaglider makes a phone call and the signal is picked up by the Iridium satellite The call is then downloaded to the civilian Iridium ground station in Arizona where it is then sent via landline phone line connected to the modem to the basestation iRobot amp 1KA Seaglider User s Guide Seaglider Sensors FIGURE 1 1 1KA Seaglider system overview Iridium XMODEM ad Additional Basestation to Iridium Eaunchand Recovery Vessel Connections Options Available Basestation L Landline Via Iridium Account Connected to Pilot Via jg m 1 Iridium Phone Pre launch Connected Via the As Needed Diagnostics Laptop Internet ndn m L and R Team Via A Launched Seagliders As Needed Iridium Phone SEAG 025 09 Seaglider Sensors Seaglider is equipped with third party sensors that measure conductivity temperature pressure dissolved oxygen fluorescence Ch
261. ew Insert Tools Desktop Window Help iRobot Seaglider Dive Data Analyzer Ver 2 4 3 0 Dive Data Folder r Analysis Parameters click the Browse button to select a data folder VBD Bias cc Data Ranges Ref C VBD Pressure pm p ku ar cox a MAX 0 MAX Regression VBD Auto save Plots s Auto close Plots Em Auto tile Plots Ea Perform VBD ABC Plots A default settings files does not exist for the dive data Velich Attitude Salh tyus Depth Salh tyus Temperature DissobedOnges analysis program 1 Click the Browse button to browse and select the folder containing the Seaglider data to be visualized 2 Use the Select checkbox under each plot to add or remove it from visualization n 3 Using the dive number listbox select the Dive Select Select Select Select Number of the data to be visualized WETLate Scaterhg WETLate Fluorescence vertical veket Piti Control 4 Click Generate Plots green button to generate the visualization plots Select Select Select Select RollCortrolus Roll RollCortrolus Tan Rate Baos Magrete Dep meit v Select v Select Select Select SeagliderlD _ Save Dive Data Also when running for the first time a notification stating the folder specified does not have the data reguired to run software the notification may be hidden behind the GUI screen This is because the path that appears in the
262. eyboard when CR and Configuration and appears on the screen then press ENTER 18 iRobot amp 1KA Seaglider User s Guide Safety Conventions Safety Conventions Seaglider is designed to be as safe as possible to the user and the operating environ ment Common sense and good judgment will help prevent injuries and damage to the eguipment Make sure to read the Warnings Cautions and Notes carefully Warning This symbol indicates a potential hazard to personnel Caution This symbol indicates that the user should refer to the instruc tion manual in order to protect the apparatus from damage Note Note statements contain information that reguires special attention from the operator Safety Information Be aware of the following types of safety hazards Personal Safety Information A Warning As shipped Seaglider s chassis weighs approximately 120 Ibs 52 kg dry and is capable of inflicting personal injury to body parts When removing Seaglider from the shipping container use extreme caution to avoid personal injury or equipment damage Seaglider should be carried by two people Each person should hold one end of the cradle To prevent back injury lift with your legs instead of your back iRobot amp 1KA Seaglider User s Guide 19 Preface Vehicle Hazards A Warning Before performing maintenance procedures make sure that the vehicle is powered off Serious injury can occur if the IKA Seag
263. f another Dive Generate Plots Number is plotted using the button Auto tile Plots aids in organizing visualization plots on the user s computer screen If the Auto tile Plots box is checked and the user then clicks the button the plots will be automatically organized in a window pane style on the user s screen automatically If the Auto tile Plots box 1s not checked when the Generate Plots button is selected the plots will be stacked one on top of the other with plot 1 being Tile Plots first but can still be organized after generation by selecting Auto tile Plot function is seen below An example screen shot of the 324 iRobot amp 1KA Seaglider User Guide Appendix D Dive Data Visualization Software BA MH Figure 2 Plot_2 BEH ll Figure 3 Plot_3 dt View Insert Tools Desktop Window Help File Edit View Insert Tools Desktop Window Help File Edit View Insert Tools Desktop Window Help Idol b SS oed a D g mm DGgwe n SSeOSeZ a n gem D mg h s s o A a 08 20 Temperature C pa 56512 Dive 4 iRobot Pt egit am E Mission Start Time 17 Dgc 2 w S 50512 Dive 4 Robot Port Susan E s Mission Start Time 17 Dec 2009 20 18 16 Be me ar Salinty Ascent EE mr 9 Descent a LEES 9 Ascent m H ri E Time minutes Figure 6 Plot 6 idit View Insert Tools Desktop Window Help i Fie E
264. final component of the surface phase is the calculation of the parameters to determine Seaglider s flight path during the next profile buoyancy pitch angle and heading These computations include the Kalman filter if enabled and the digital bathymetry table lookup if enabled Upon completion of the calcula tions the surface phase is finished and a new dive phase and new profile is started iRobot amp 1KA Seaglider User s Guide 79 Chapter 4 Operating Principles Dive Phase The dive phase begins upon completion of the navigation and flight calculations that conclude the surface phase Initially pitch is in the full forward position and the VBD volume is egual to the endpoint of the surface maneuver At the start of the dive phase a VBD adjustment bleed is executed during the first guidance and control G amp C operation to get Seaglider off the surface as guickly and with as much vertical velocity as possible Recall that pitch is still in the maximum forward position When Seaglider reaches a prescribed depth D_FLARE it goes into a regular G amp C operation pitch VBD roll to move to the desired pitch VBD position and course computed for the profile If Seaglider s speed is too fast on the dive section of the profile too heavy VBD pumping is not allowed to correct the speed error to conserve energy As Seaglider descends into denser water it becomes less negatively buoyant and slows down If corrective pumping
265. firmware automatically acguires the almanacs Therefore the user when prompted Allow the GPS to acguire the almanac N should press ENTER to accept the default No Should the user type Y the output looks very different from the output of the earlier model to the point of looking erroneous If the unit is successfully acguiring GPS fixes it is functioning properly FIGURE 6 6 GPS Fix 599 HGPS N cking almanac 944 HGPS N sate 135 HGPS N sate 325 HGPS N sate 516 HGPS N sate 706 HGPS N sate 342 HGPS N sate 534 HGPS N sate 24 HGPS N sate 916 HGPS N sate 110 HGPS N sate 301 HGPS N sate 492 HGPS N sate 682 HGPS N sate 8 4 HGPS N sate 089 HGPS N sate 370 HGPS N 9 811 HGPS N DeviceUp 9 927 HTT8 N Updating parameter T GPS CHARGE to 10322 999 ow the GPS to acquire the almanac N y 5 944 HTT8 N Updating parameter T GPS ALMANAC to 12 5 6 041 HTT8 N Writing NVRAM done 5 427 HGPS N Acquiring GPS almanac for 12 50 minutes 8 258 HGPS N Obtaining GPS fix No data from device Garmin GPS15H on TPUO after 1500 msecs Step 3 ite 2 almanac is 6 weeks old ite 3 almanac is 6 weeks old ite 4 almanac is 6 weeks old ite 5 almanac is 6 weeks old ite 6 almanac is 6 weeks old ite 7 almanac is 6 weeks old ite 8 almanac is 6 weeks old I ite 9 almanac is 0 weeks old ite 10 almanac is 5 weeks old ite 11 almanac is 0 weeks old ite 12 almanac is 0 weeks old ite 13 almanac is 6 week
266. for Seaglider by looking for the antenna sticking out of the water Binoculars may be helpful Use the acoustic recovery system to ping Seaglider if visual conditions are poor Follow the instructions in Chapter 6 Pre Deploy ment Tasks on page 159 to use the transducer 3 Once a visual of Seaglider has been made a Transit to Seaglider b Make sure one of the handles of the cradle is tied off to the boat c Grab Seaglider s antenna mast as close to the rear of the aft fairing as possible d Put the cradle in the water alongside Seaglider e Maneuver the cradle between the boat and Seaglider f Pull Seaglider up and put the nose into the cradle iRobot amp 1KA Seaglider User s Guide Recovery Phase g Hold on to both Seaglider and the cradle and pull both up out of the water just far enough so that the water can drain out of the nose of Seaglider h When Seaglider has finished draining pull Seaglider and the cradle the rest of the way out of the water i Connect at least one of the safety straps on the cradle around Seaglider j In atwo person lift put the glide cradle in a safe place on the deck of the boat k Secure Seaglider to the boat Wand Seaglider off m Since the field laptop is not connected to Seaglider have the pilot continue to monitor Seaglider for more phone calls to the basestation If Seaglider is calling the basestation it is not powered down and needs to be wanded off again
267. g comm log The comm log file is appended during each communication session and so is a complete record of the Seaglider s communications over an entire deployment It is a plain text file that resides in the Seaglider s home directory Running tail f comm log in the Seaglider s home directory during or while waiting for communication sessions is a useful monitor Example comm log Connected at Sun Dec 2 19 17 03 PST 2007 Date and time of communications session 0055 0 1 0 GPS 031207 031455 1855 179 12237 359 41 1 3 41 2 1 TMagnetic variation Tot al time to acquire fix See N GPS in the Parameter Reference Manual for details HDOP Horizontal Dilution Of Precision a measure of the strength of the figure used to compute the fix Time to first fix in seconds Longitude as dddmm mmm sign only minuses are shown positive East degrees minutes and decimal minutes Latitude as ddmm mmm only minuses are shown positive North Time as hhmmss in UTC Date as ddmmyy after 2000 No comm count number of calls since last complete data transfer Calls made Dive number verz66 04l rev 1243M frag 4 launch 110908 151311 Iridium bars 5 geolocation 1846 424805 12238 228516 031207 020210 Sun Dec 2 19 17 20 2007 sg123 cmdfile XMODEM 128 Bytes 17 BPS Received cmdfile 17 bytes Describes the transmission of the command file from the basestation to the Seaglide Location obtained by
268. g the fairing d From the Main Menu type 2 Hardware tests and monitoring and press ENTER Figure 7 7 e Select 10 Altimeter and press ENTER Figure 7 7 f Select 3 Query the transponder ping count Ping count should be 0 If not select 3 again until ping count is 0 g Senda ping from the deck box to Seaglider The system displays a response on the screen of the deck box and on the laptop The display on the deck box is automatic To see the ping count on the laptop Figure 7 7 select 3 Query the transponder ping count and the count should go up to the number of times the deck box was pinged Seaglider returns to the Altimeter XPDR menu 196 iRobot amp 1KA Seaglider User s Guide Interactive Pre launch Self Test h If there is no response to the ping do the following Send another ping If there is still no response move the transducer around the nose a bit If there still is no response after several more ping attempts there may be an issue with the acoustic locator system or there could just be an air gap between the two transducers You should investigate and resolve the problem however the acoustic locator system is not critical to the rest of the self test so you may choose to continue the testing and investigate the acoustic system problem separately 15 Press ENTER until the Main Menu appears Figure 7 8 16 Type 5 for Pre launch options and then press ENTER Figure 7 8 The Lau
269. given C PITCH Pitch is usually trimmed so as to have 70 of the pitch travel available for pitching down forward of C PITCH and 30 available for pitching up aft of C PITCH This is to ensure a good surface position with Seaglider sufficiently pitched down to fully expose the antenna Roll Roll is controlled by rotating the 24V battery pack inside the hull The pack is axially asymmetric and weighted 1100g brass weight on its ventral face as normally installed An electric motor and gear train rotate the mass such that 35 37 A D counts is equivalent to 1 degree of battery mass rotation SROLL CNV Seagliders typically respond to the rotation of the battery pack by rolling 1 2 for every 1 of battery pack rotation The response to the battery pack rotation is also dependent on the amount and distribution of trim lead The control strategy is to roll the 24V battery pack a specified amount 40 in the appropriate direction when a turn is initiated and then roll back to neutral center when the correct heading 1s reached See Figure 4 3 on page 63 Setting SROLL GAIN P greater than 0 will enable the proportional roll controller This algorithm allows for smaller roll mechanism movements which yield lower power use and finer heading control The following equation shows how SROLL GAIN P is used by the proportional roll controller during a dive to figure out how much to move the roll mechanism Roll Desired Head Actual Head
270. glider goes into recovery This will not happen during normal operation and is meant as a fail safe against infinite loops in the software TCM PITCH OFFSET Set by manufacturer Do not change Definition Static offset in pitch axis degrees between the compass output and the actual Seaglider body as measured in the lab Nominal Value 0 TCM ROLL OFFSET Set by manufacturer Do not change Definition Static offset in roll axis degrees between the compass output and the actual Seaglider body as measured in the lab Nominal Value 0 iRobot amp 1KA Seaglider User s Guide 149 Chapter 5 Piloting Parameters TEL_NUM Definition The telephone number Seaglider dials to connect to the basestation 13 digits maximum This is the PSTN number for the phone line connected to the first modem on a basestation for Seaglider operations Format of the number It starts with the international country code without leading zeros for example 1 for the US then city area code and number There are no spaces or other interrupting characters between the country code city area code or number If a communication session using the primary phone number TEL_NUM does not successfully connect after SCALL_ NDIVES tries the phone number is switched to the alternate number if available SALT TEL NUM for the next surfacing If a communication session completes successfully on the alternate phone number the phone num
271. glider to Call the basestation e Upload data files including its current position to the basestation Download new command target science and pdos files from the basestation Once the communication session with the basestation is complete the antenna is switched back to the GPS and a GPS fix is obtained before beginning the next dive Science Sensors Seaglider comes standard with a Sea Bird Electronics Conductivity and Temperature CT sensor You can purchase additional sensors for installation on Seaglider Other sensors that customers have had installed are WET Labs ECO Pucks PAR GPCTD Aanderaa and dissolved oxygen sensors pumped by Sea Bird 64 iRobot amp 1KA Seaglider User s Guide Principles of Seaglider Operation Inside and Outside the Pressure Hull The Variable Buoyancy Device VBD is located both inside and outside of the isopycnal pressure hull The VBD is a hydraulic system that achieves a specified total vehicle displacement by varying the size of an oil filled bladder external to the pressure hull To make the vehicle The VBD more buoyant pumps oil from a reservoir located inside the pressure hull into the bladder to increase the displacement of the vehicle less buoyant bleeds oil from the bladder back into the reservoir to decrease the vehicle s displacement See Buoyancy on page 67 for more information Principles of Seaglider Operation There are
272. h x0 5 ms 0 6 xPDR INHIBIT 90 Transponder inhibit genet x100 of ms 0 99 INT PRESSURE SLOPE 0 0097660003 Internal Pressure slope psig AD INT PRESSURE YINT 2 3 Internal Pressure y intercept RS DEEPGLIDER 0 Am I a Deep Glider 0 No 1 Yes DEEPGLIDERMB 0 Motherboard stuffed with high current sensors No 1 Yes MOTHERBOARD 4 Motherboard revision NOPP 1 A 1 2 B 1 3 C 5 DEVICE1 1 Attached device 1 flags DEVICE2 1 Attached device 2 flags DEVICEJ 1 Attached device 3 flags DEVICE4 1 Attached device 4 flags DEVICE5 1 Attached device 5 flags DEVICE6 1 Attached device 6 flags LOGGERS 1 Logger devices enable disable control LOGGERDEVICE1 85 Attached logger device 1 flags LOGGERDEVICE2 1 Attached logger device 2 flags LOGGERDEVICE3 0 Attached logger device 3 flags LOGGERDEVICE4 1 Attached logger device 4 flags COMPASS DEVICE 33 Compass device flags COMPASS2 DEVICE 1 Compass 2 device flags PHONE DEVICE 48 Phone device flags GPS DEVICE 32 GPS flags RAFOS DEVICE 1 RAFOS device flags xPDR DEVICE 24 XPDR device flags SIM_W 0 Simulated W m s 0 use pressure gauge to compute depth sIM PITCH 0 Simulated dive pitch e g 20 degrees 0 use TCM2 to report pitch SEABIRD_T_G 0 004302992 Seabird T g coefficient SEABIRD_T_H 0 00062119117 Seabird T h coefficient SEABIRD_T_I 2 2739867e 05 Seabird T i coefficient SEABIRD T J 2
273. h ends The front and back of the cradle are determined by the position of Seaglider in the cradle 16 Connect the nylon straps and tighten to secure Seaglider in the cradle iRobot amp 1KA Seaglider User s Guide 45 Chapter 3 Setting Up the System 17 To store or move Seaglider in its cradle the antenna mast should be detached from the aft fairing following the steps below a b Remove the rudder screws Slide the antenna mast and rudder boot out of the aft fairing can best be facilitated if the rudder section is outside of the cradle as in Figure 3 7 on page 45 Fold the antenna mast back onto Seaglider s wing and secure it with protective foam and a bungee cord Leave the rudder in its aft fairing slot and reinstall the rudder screws to hold it in place Seaglider should look like the one in Figure 3 8 Your configuration may differ depending on what you ordered FIGURE 3 8 Seaglider with Antenna Mast Removed from the Aft Fairing SEAG 031 10 Stowing Moving Seaglider See Transporting Seaglider to the Field on page 174 46 iRobot amp 1KA Seaglider User s Guide Checking Out the Seaglider System Checking Out the Seaglider System Now that all of the pieces of the Seaglider system have been set up the Seaglider basestation basestation interface computer and the field laptop it is time to start testing them together Hardware checkouts are done to make sure Seaglider is
274. h pitch and roll can be moved and the format for the desired duty cycles Pitch limits 9 4 and 2 4 cm for pitch Roll limits 59 6 and 44 8 deg for roll Enter moves as p cm r deg or s milliseconds one per line Ctrl C aborts blank line terminates entry 398 iRobot 1KA Seaglider User Guide Appendix F Hardware and Configuration Menus An example of user input for a pitch and roll duty cycle is 0 p 8 1 r 3 2 p 6 ji Spd 4 at this step input is complete so press ENTER Seaglider responds with what it thinks it heard p 8 000000 r 35 000000 6 000000 5 000000 and asks for the number of cycles f of cycles to execute 10 1 Seaglider cycles the pitch and roll motors and outputs the movement to the screen as the exercise is happening To abort the test at any time press any key on the keyboard At the end of the motor movement the user is returned to the Pitch Control Menu Pitch Test To run the pitch motor from software stop to stop without user input Select 7 Pitch Test and press ENTER Seaglider then outputs to the screen the pitch motor movement At the conclusion of the test the user is returned to the Pitch Control Menu To return to the Hardware Menu one level up press ENTER iRobot amp 1KA Seaglider User Guide 399 Appendix F Hardware and Configuration Menus Roll Control Menu To access the Roll control menu Select 2 Roll Contr
275. h regression lines should pass through 0 0 Roll Control G524 Dive 2 iRobot Port Susan Mission Start Time 17 Mar 2011 19 26 53 Cy 2595 cr ee 2595 EL 2595 Descent Roll control ran e 66 5818 to 35 M07 Ascent Implied C 2901 LES 711 Ch 2689 305 Implied roll eera ams 69 5693 to 32 55325 S C 7 ices V dd Assumed roll control gain 35 37 counts to stbd 7 20 10r s 9r e 10 20r 30 H E Roll 6 2 1 8786 Roll control 0 6288 yD Roll any 2 08613 Roll Control 633587 aiit Roll 2 08613 Roll Control 0 598724 40 l l l l i 50 40 30 20 10 0 10 20 30 40 50 Roll Control 340 iRobot 1KA Seaglider User Guide Appendix D Dive Data Visualization Software Plot 10 Turn Rate Plot The turn rate plot displays Turn Rate deg sec vs Roll Control deg Roll centers and gain are also displayed on this plot This plot is used frequently in pilot control Ideally the descent and ascent should create an X pattern crossing at 0 0 The red and blue dots should be offset equally from the turn rate 0 line The red and blue lines should also run through the center of the red and blue dots respectively Turn Rate G524 Dive 2 iRobot Port Susan Mission Start Time 17 Mar 2011 19 26 53 25 T T T T T Descent _ Ascent _ Col 2595 Coll 2595 N 1 5 eo o o
276. he O ring is critical for a watertight seal Failure to install the O ring properly can result in loss of Seaglider Remove the screws from the black plate on the top of the aft fairing and take off the plate to expose the antenna and communication cables and the bulkhead connectors on the aft endcap and check the tightness of the connectors See Figure 3 5 on page 43 and Figure 3 6 on page 44 respectively for the loca tion of the bulkhead connectors on the aft endcap 42 iRobot amp 1KA Seaglider User s Guide Assembling Seaglider 8 Put the plate and the screws in a secure place near Seaglider FIGURE 3 5 Bulkhead Connector Locations on Aft Endcap iRobot amp 1KA Seaglider User s Guide 43 Chapter 3 Setting Up the System FIGURE 3 6 Sensor Port Locations on Aft Endcap PRV Pressure Relief Valve Port F Spare moe Serial Sensor Sensor N _ Sensor PAR COMMS only WET Labs Port B Antenna Connector Sensor PAR WET Labs Aanderaa DO Sea Bird GPCTD Port E Spare Sensor PAR WET Labs Aanderaa DO Sensor PAR Sea Bird POND spa i WET Labs GPCTD Serial Sensor Sensor Sea Bird DO ONLY SEAG 024 09 Port C mw Serial Sensor 9 Remove the rudder from the packing case and 2 4 20 screws from the spares kit and put in a secure place near Seaglider 10 Slide the antenna mast rudder boot into the back end of the aft fairing orienting the round s
277. he Seaglider is running on external power However if Seaglider is running on internal power the third column should be populated with non zero values Resetting the battery gauges selection 2 is not recommended This is a record of the usage and remaining life of the installed batteries Backup battery gauges selection 3 are not installed in iRobot gliders The battery voltages option selection 4 lists the present voltage on the 24V and 10V battery packs FIGURE F 46 Batteries and Fuel Gauges Menu Battery Functions 1 read view battery gauges 2 reset Reset battery gauges 3 backup Backup battery gauges 4 voltage Battery voltage CR Return to previous To exit the Batteries and Fuel Gauges menu and return to the Hardware Menu press ENTER Low Level Hardware Menu To view the Low level hardware functions menu Select 14 Low level Hardware and press ENTER The menu is Figure F 47 is displayed This menu is used during manufacture and if there is an apparent low level hardware failure Most users will never need to access this menu If access is deemed necessary it should be done at the direction of iRobot Customer Service 416 iRobot amp 1KA Seaglider User Guide Appendix F Hardware and Configuration Menus FIGURE F 47 Low level Hardware Menu Lowlevel hardware functions I O lines 1 io Set and read IO lines 2 watchdog Hang and test the wa
278. he bladder into the internal reservoir on dives This parameter is important during the deep dives because opening the bleed valve when there is a lot of pressure can cause it to get stuck in the open position Nominal Value 200 Minimum Value 1 Maximum Value 600 Definition The depth meters that the bathymetry map look up routine returns in the event Seaglider s position is outside an area for which Seaglider carries a map Nominal Value 100 Minimum Value 10 Maximum Value 1000 Definition Depth meters that must be reached before the surface pitch maneuver is executed If a depth shallower than this value is not reached then execute a subsurface maneuver A value of 0 means the surface pitch maneuver is executed at the surface Nominal Value 0 iRobot amp 1KA Seaglider User s Guide 109 Chapter 5 Piloting Parameters D SAFE D SURF Definition The target depth meters to use when flying an escape route and limiting the dive depth for VBD safety reasons The escape is triggered by either VBD max errors exceeded or uncommanded bleed If set to 0 the parameter is disabled Nominal Value 0 Definition The depth meters at which Seaglider begins its approach to the surface To collect data all the way to the surface at D SURF Seaglider computes how many more data samples to take based on the observed vehicle vertical speed depth and the data sample interval The number of additio
279. he first few dives iRobot amp 1KA Seaglider User s Guide 429 Appendix G Ballasting 430 iRobot amp 1KA Seaglider User s Guide APPENDIX H Pilot and Field Team Checklist Prepare the necessary software on field laptop Step Responsibility Action 1 Field Team Terminal Program 2 Text Editor Prepare the necessary software on pilot computer Step Responsibility Action 1 Pilot Secure shell program 2 Navigational plotting program 3 MatLab 4 Text Editor iRobot amp 1KA Seaglider User s Guide 431 Appendix H Pilot and Field Team Checklist Obtain Pilot and Field Team contact information Step Responsibility Action 1 2 3 Field Team Phone Number E mail address Sattellite phone if applicable Obtain Pilot contact information Step Responsibility Action 1 Pilot Phone Number 2 E mail address Obtain Basestation information Step Responsibility Action 1 Pilot and Field Telnum 2 Team Altnum 3 Pilot IP address 4 Username 5 Password 432 iRobot amp 1KA Seaglider User s Guide Appendix H Pilot and Field Team Checklist Self Test Schedule Step Responsibility Action 1 Pi
280. he self test are Self test FAILED or ABORTED Review the self test to find the rea son If there is a problem with the pitch roll or VBD contact iRobot customer service e If there is a problem with the gps or with the Iridium connection or transfer of files over Iridium reposition Seaglider by changing its location and or its angle toward the sky and then re run the automated self test If after several auomated self test iterations there are still errors with the gps Iridium or file transfer contact iRobot customer service 11 Turn off Seaglider by moving the magnetic wand over the OFF symbol on the port side of Seaglider 20 aft of the nose for at least I second while simulta neously pressing ENTER or have someone else press ENTER on the laptop keyboard Continue moving the wand around the OFF symbol and pressing ENTER until the laptop screen shows no response to pressing ENTER Note Make sure that the wand is touching the fairing 12 Disconnect the communication cable from Seaglider and the laptop and reinstall the dummy plug on Seaglider communication connector 13 Detach the antenna mast from the aft fairing before storing or moving Seaglider in its cradle See step 17 on page 46 For information on stowing and moving Seaglider see Transporting Seaglider to the Field on page 174 iRobot amp 1KA Seaglider User s Guide 57 Chapter 3 Setting Up the System
281. he telephone numbers match press ENTER to accept without making changes Figure 7 10 If the telephone numbers do not match enter the correct number and press ENTER Figure 7 10 29 Put Seaglider in position for communications if it is not already there Seaglider should be outdoors nose down with the antenna pointed to within 40 degrees of vertical 30 When Seaglider is in position press ENTER Figure 7 10 31 At the prompt Allow the GPS to acguire the almanac N should press ENTER to accept the default No FIGURE 7 11 Checking GPS and Iridium B2 064 SUSR N Checking GPS 32 149 HGPS N Obtaining GPS fix 53 340 HGPS N 0 recent almanac sentences returned consider acquiring new almanac data 53 456 HTTB N jUpdating parameter T GPS CHARGE to 6158 4648 Allow the GPS to acquire the almanac N 115 910 HGPS N Acquiring GPS fix 117 756 HGPS N VVVVVVVVVVVVVA 1001 GPS N sync sentence GPRMC Tarh A 3556 3498 N 07854 1015 w 000 0 000 0 150411 008 7 w 7D 1497732 131 HGPS N set 2011 04 15 18 43 1497732 572 HGPS N confirm GPRMC 184314 A 3556 3499 N 02854 1015 w 000 0 000 0 150411 008 7 w 7B 1497732 718 HGPS N 150411 184312 3556 349365 7854 101562 1 700000 16 16 seconds 1497733 333 HTTB N Updating parameter T GPS CHARGE to 6159 09 1497735 786 SUSR N Checking Iridium phone 1497737 068 HPHONE D Copyright c 2009 1497737 162 HPHONE D NAL Research Corporation Freee aaa AGH D Iridiu
282. ho Should Use this Manual on page 17 e Typographical Conventions on page 18 Safety Conventions on page 19 e Safety Information on page 19 Registration on page 20 jRobot Contact Information on page 20 Who Should Use this Manual This manual is for qualified and authorized Seaglider pilots and field personnel only It provides an overview of the operating principles and instructions for assembling testing and piloting Seagliders as well as basic guidelines for launching and recovering Launch and recovery methods vary with company and facility iRobot amp 1KA Seaglider User s Guide 17 Preface Typographical Conventions The following table explains the typographical conventions used in this manual Typeface Indicates Example UPPERCASE Parameters used to ST DIVE BOLD control the operations of the IKA Seaglider includes a leading sign bold Items you select such as Type cmdfile and then menu options and click Edit commands type on screen or choose from a list monospace User input and filenames etc vx tunefstab italic Variables titles first Variable name occurrence of terms CAPITALS Names of keys on the SHIFT CTL or ALT keyboard Tab gt Command Command option paths Edit gt Insert gt Insert file Group gt Command are written in the order you access a command button from the ribbon ENTER Press the Enter key on the Type 1 for Parameters k
283. ical velocity in the densest deepest water The main energy draw on Seaglider is pumping hydraulic oil from the internal reservoir to the external bladder at depth where the pump has to overcome the seawater pressure acting on the bladder Since the pump can consume as much as 7090 of the energy budget of Seaglider control during flight is generally designed to minimize the total amount of pumping required on a dive In particular no additional bleeding post initial bleed is allowed on descent dive to maintain the vertical velocity Pumping as necessary is allowed on the climb to maintain the vertical velocity Pitch is essentially steady during each phase of the operation with the exception of slight pitch maneuvers on the climb to compensate for the changes in mass distribution and buoyancy due to pumping oil from the internal reservoir into the bladder See Run Phases on page 77 for detailed information on the control scheme Seaglider can cover up to 20 km day through the water and can station keep within a factor of two of the dive depth 2 km horizontal distance on 1 km vertical distance dives 200 m on 100 m dives The navigation system on Seaglider is waypoint based not track based meaning the system decides on the most efficient way to reach the next waypoint but does not attempt to stay on a given track Track based navigation can be approximated by using more waypoints along a track iRobot amp 1KA Seaglider User s Gu
284. ication session with the basestation until the number of dives since the last communication eguals CALL NDIVES Nominal Value 0 Minimum value 10 Maximum Value 10 124 iRobot amp 1KA Seaglider User s Guide Parameters by Category NAV MODE Definition An integer value specifying the method used to choose a heading for Seaglider to maintain on the next dive according to the following O Steer constant heading SHEADING 1 Kalman filter see SKALMAN USE Seaglider uses the past current information gathered by the Kalman filter to correct Seaglider s flight path for the next dive 2 Ferry angle correction with respect to the calculated depth averaged current 3 Steer relative to the depth averaged current Note If heading is set to something other than 1 it WILL be used instead of waypoint in ANY mode If the pilot wants to fly by waypoint rather than heading SHEADING must be set to 1 Navigation flow proceeds as follows 1 Ifa valid depth averaged current DAC has been calculated and NAV MODE 3 steer relative to DAC synthesize a heading current direction SHEADING 2 Ifa synthesized heading exists from 1 or SHEADING gt 0 synthesize a target 20 km away at a true bearing given by that heading Otherwise choose a target based on the usual selection process Calculate range and bearing to the target 3 Modify the dive time and depth as needed to honor safeties and grids Calcul
285. ices configured with the Autonomous Logger Interface ALI to use When LOGGERS is set to 0 no ALI devices will be run during self tests or dives When LOGGERS is set to gt 0 the installed ALI sensors are turned on according to the bitmask below An X means the ALI sensor is running SLOGGER value Sensor 1 Sensor 2 0 1 2 X 3 X X MASS Set by manufacturer Do not change MAX BUOY Definition The mass of Seaglider in grams This value is used in on board buoyancy and current estimation calculations Nominal Value 52000 Minimum Value 50000 Maximum Value 54000 Definition The absolute value of the maximum negative thrust in cc that Seaglider is allowed to develop during the dive phase There is no restriction on buoyancy during the climb phase Nominal Value 150 Minimum Value 0 Maximum Value 600 iRobot amp 1KA Seaglider User s Guide Parameters by Category MEM MINV_10 MINV_24 MISSION Definition An output from the glider specifying the amount of free memory in bytes Definition The minimum allowable observed voltage on the 10 volt battery pack before the glider will stop diving and go into recovery A zero disables the check Nominal Value Definition The maximum allowable observed voltage on the 24 volt battery pack before the glider will stop diving and go into recovery A zero disables the check Nominal Value 19 Defin
286. ide 364 Appendix E Autonomous Self Test iNOzeMod burpuodserzoo jnouy3rm sbur3j3es ITeurbrzo burzogjsou N uMSDS 9cL perreg sdeu Azyjou Ay3jeg lt N MSDS 0 9 peqou sexnrrejy I N HSDS cGG idHIMOHV IO GATIVA 2892 JI9S N usnsS vvv OOTTE SYOOTG Lp OOTTE se3 g 09IP eez3 sxoo q ZI eea3 sea q pZ8ZZE XIeM deourDb N DOOTIVWIOS G9C 0 sanoeurl 0 S NVN IP3OL N SHnSS III 1e3x Burznp unrpr1I ggOZeMOd N HHMOdS LO0 3nobDoT N mTHOSS P6 89 G9 G9 G9 S9 S9 vS9 v9 365 iRobot amp 1KA SeagliderTM User s Guide Appendix E Autonomous Self Test 366 iRobot amp 1KA Seaglider YM User s Guide APPENDIX F Hardware and Configuration Menus There are a number of functional checks of and changes to configuration that can be done when directly connected to the IKA Seaglider via the communication cable All actions are found under the Main Menu The content of each sub menu of the Main Menu are shown in the figures below along with a brief description Note These menus can also be accessed through the pdoscmds bat file which is uploaded by Seaglider when it calls into the basestation For information on how to use the pdoscmds bat file method see the Extended PicoDOS Reference Manual v66 07 on page 303 To access one of the sub menus of the Main Menu Figure F 1 enter the number found in front of the parameter name and press ENTER FIGURE F 1 Main Menu
287. ide Parameters by Category COURSE BIAS degrees SHEAD ERRBAND degrees KALMAN USE integer SFERRY MAX degrees HEADING 1 or degrees SPEED FACTOR value multiplier TGT DEFAULT LAT degrees decimal minutes TGT DEFAULT LON degrees decimal minutes Bottom Determination and Altimetry USE_BATHY integer D OFFGRID meters SALTIM BOTTOM PING RANGE 0 or meters SALTIM BOTTOM TURN MARGIN 0 or meters SALTIM PING DEPTH 0 or meters SALTIM PING DELTA 0 or meters Dynamic Flight Feedback System SPITCH ADJ GAIN 0 off or cm deg SPITCH ADJ DBAND 0 off or degrees SROLL ADJ GAIN 0 off or deg seconds SROLL ADJ DBAND 0 off or degrees Less Frequently Modified Parameters Flight Behavior and Improvement Thereof D FLARE meters SAPOGEE PITCH degrees SROLL DEG degrees D FINISH meters N NOSURFACE integer T LOITER seconds iRobot amp 1KA Seaglider User s Guide 87 Chapter 5 Piloting Parameters Turn Length and Data Sampling Rate during Turn T TURN seconds T TURN SAMPINT seconds Communications and Files CALL TRIES integer SCALL WAIT seconds N FILEKB integer CALL NDIVES integer SUPLOAD DIVES MAX integer COMM SEO integer CAPMAXSIZE bytes N GPS seconds T GPS minutes Bottom and Top Detection SALTIM TOP PING RANGE 0 or meters SALTIM TOP TURN MARGIN 0 or meters SALTIM TOP MIN OBSTACLE meters SALTIM FRE
288. ide 75 Chapter 4 Operating Principles Sampling Sensor sampling intervals are specified in the science file The practical lower limit on sampling is 4 seconds if only the conductivity and temperature sensors are sampled but with additional sensors installed 5 seconds is the lower limit The science file also gives the ability to turn off sensors or only energize them every nth sample of other sensors in a given depth range or ranges Sensor Interfaces Prior to firmware version 66 07 science sensors SBE CT Aanderaa DO SBE DO WL BB2FL WL BBFL2 etc were integrated by creating a driver that had to be written in the source code to accommodate the new sensor Starting with firmware 66 07 a new serial sensor interface the Autonomous Logger Interface ALI became available This interface which can only be used for sensors with the ability to log data to an internal file system is cnf configurable meaning that a new binary driver does not have to be written nor does the source code have to be modified each time a new type of smart sensor is added The Sea Bird pumped CTD GPCTD Glider Pumped CTD is an example of a smart sensor connected to an ALI Another sensor interface named Ordinary Serial Interface OST is also used to incorporate streaming serial sensors into the glider through the use of cnf files Bathymetry Seaglider can read a digitized bathymetry map to determine how deep to dive or can rely on the on bo
289. ide of the boot away from the countersunk holes in the fairing As the antenna mast is lowered into the fairing reach through the plate opening and guide the antenna and serial communication cables around the bladder and sen sor cables 11 When the antenna mast is in place insert the rudder flat edge to the rear of Sea glider notches toward the wings through the slit just forward of the back end of the aft fairing making sure that the antenna and serial communication cables are not in the way 44 iRobot amp 1KA Seaglider User s Guide Assembling Seaglider 12 Do the following a Insert 2 1 4 x 20 2 screws through the countersunk holes in the fairing and into the threads in the rudder base b Double check the position of the antenna cables and rearrange if they are in the way of the rudder or screws c Tighten the screws to hand tight 13 Arrange the antenna and sensor cables in the area normally covered by the black plate so that they do not impede the operation of the external bladder 14 Replace the black plate starting all the screws before tightening them down to hand tight Figure 3 7 shows the fully assembled Seaglider Your configuration may differ depending on what you ordered FIGURE 3 7 Fully Assembled Seaglider SEAG 006 09 15 Slide Seaglider forward in the cradle until the nose is touching the rubber at the front of the cradle Note The cradle is the same on bot
290. ider User s Guide 185 Chapter 6 Pre Deployment Tasks ARGOS tag Prior to deployment the SPOTS tag will have to be switched into Deployed mode You can display and change the mode of the SPOTS after exiting communications by using a magnet Swipe a magnet once across the center of the SPOTS s controller board The LED will flash in a sequence that displays the mode of the SPOTS tag e Standby mode LED pattern 2 blinks a 3 second pause and 2 more blinks e Deployed mode LED pattern 10 blinks Once the mode is displayed the LED will stay on for 2 seconds If you keep the magnet away from the SPOTS while the LED is on the SPOTS will stay in its current mode If you swipe a magnet across the board while the LED is on you will toggle the mode If the SPOTS was toggled to the Standby mode the LED will blink as described in Standby mode above If the SPOTS was toggled to the Deployed mode the LED will blink as described in Deployed mode above In summary a single swipe of the magnet displays the mode of the SPOTS It takes two specifically timed swipes of the magnet to change the mode The Argos SPOTS transmitter attaches to the GPS antenna with two saddle brackets and attaching screws Prior to installation the SPOTS operating settings and user parameters must be set For directions on Argos tag installation operator settings and user parameters see the iRobot Argos SPOTS Tag Setup and Installation do
291. ider back in shipping case if appropriate 262 iRobot amp 1KA Seaglider User s Guide CHAPTER 12 1KA Seaglider Refurbishment The following topics are covered iRobot Refurbishment on page 263 iRobot Refurbishment A Seaglider refurbishment is necessary after the lithium primary battery pack s have been depleted or there is not enough battery power remaining to complete the next mission Replacement can only be performed by the original eguipment manufacturer OEM trained personnel at iRobot To return your iRobot maritime product for refurbishment calibration or other service please provide the information below so we can serve you better and prevent delays in the return of the product and or instruments 1 Request a guote service request for refurbishment calibration or repair from iRobot through your sales contact or e mail directly to maritimesupport iro bot com 2 Once you receive a guote service reguest please review for accuracy and approve the quote in writing to maritimesupport irobot com iRobot 1KA Seaglider User s Guide 263 Chapter 12 1KA Seaglider Refurbishment Provide a purchase order or other approved method of payment reflecting amount of guote estimate provided You will receive a Service Reguest SR number from iRobot including ship ping instructions Do not ship the items until you have approved the guote esti mate from iRobot contracts department and h
292. if there are any errors or warnings during the test The screen capture file can also be checked at the end of the test for warnings and errors 222 iRobot amp 1KA Seaglider User s Guide Simulated Dives FIGURE 7 35 Seaglider Start Up on the Laptop Uersion 66 04 10 1723M starting up pr 20 2009 05 25 12 Built with SCENARIO without ICE without RAFOS without KERM without ARS without MMODEM without ROURDOPP without DE PGLIDER without HEAP RECYCLE without REU C glmalloc init init 8 Slmalloc init avail bytes 487423 requested bytes 358400 glmalloc init Allocated 358408 bytes 1 116 SSENSOR N assigned SEE Cl to sensor slot i lt p 25 1 193 SSENSOR N assigned SBE to sensor slot 2 lt p 205 1 271 SSENSOR N assigned UL BBFLZUMI to sensor Slot 3 lt p 83 gt 1 351 HCOMPASS N Active compass is SP3003 8 SSYS N Changing capture file i 1528 SUSR N WARNING SSERBIRD C I 8 8881 Recommended range is between 0 0050 and 0 0005 1 916 SUSR N Glider 585 mission 8 dive 13 booted Thu Jan 1 00 00 01 1978 2 578 SSURF N Hit e within 1 minute to start otherwise will go to recovery Step 9 Set current date an Ste 10 lt CR gt for default 04 20 2009 05 25 12 _ VOIVoS I l lt TV p fire you running on external bench power N AaUPSMmGKLT P Step 11 1 Parameters and configuration 2 hw 1 Hardware tests and monitoring 3 modes
293. iguration 2 hw Hardware tests and monitoring 3 modes Test operation modes and files 4 pdos PicoDOS commands and exit 5 launch Pre aunch Enter selection 1 5 CR 2 Checking the Primary and Alternate Phone Numbers To check the primary and alternate telephone numbers that Seaglider calls to connect to the basestation 1 Type 1 for Parameters and Configuration and then press ENTER 2 Type 7 and then press ENTER 3 Ifthe primary telephone number is absent or incorrect enter the primary bases tation telephone number see Figure 3 15 on page 53 The phone number includes the country code area code exchange and number 52 iRobot amp 1KA Seaglider User s Guide Checking Out the Seaglider System For example In the US the country code is 1 If the primary number of the bas estation in the United States is 919 123 4567 input 19191234567 into Sea glider In the UK the country code is 44 For example if the telephone number of the basestation is 020 1234 5678 input 4402012345678 into Seaglider Note DO NOT include 00 at the beginning of the phone number to signify an international call Seaglider adds this automatically FIGURE 3 15 Verify Primary Telephone Number F Main Menu 1 param Parameters and configuration 2 hw Hardware tests and monitoring 3 modes Test operation modes and files 4 pdos PicoDOS commands and exit 5 launch Pre launch
294. in compass returns CR Return to previous menu Enter selection 1 3 cR Compass calibration is done at the factory It is not recommended that the user change any of the values in this menu without consulting iRobot Customer Service To exit the Compass Parameters menu and return to the Parameters and Configuration menu press ENTER iRobot amp 1KA Seaglider User Guide 383 Appendix F Hardware and Configuration Menus Altimetry Parameters To access the Altimetry Parameters menu from the Parameters and Configuration menu Select 16 Altimetry Parameters and press ENTER The menu in Figure F 19 is displayed The present value for each parameter is shown in brackets to the right of the parameter name The explanation for each parameter as well as the acceptable range of values is located in Chapter 5 Piloting Parameters on page 83 FIGURE F 19 Altimetry Parameters Menu Altimeter current value in ALTIM BOTTOM PING RANGE 0 Range from presumed apogee depth to initiate bottom pings m 2 ALTIM TOP PING RANGE 0 Depth to initiate top pings m 3 SALTIM BOTTOM TURN MARGIN 0 Distance from obstacle to 4 ALTIM TOP TURN MARGIN 0 Distance from obstacle to initiate top turn m 5 ALTIM TOP MIN OBSTACLE 1 Minimum obstacle depth to honor in initiating a subsurface finish m 6 ALTIM PING DEPTH 80 Depth at which to begin pinging for bottom m I 7 SALTIM PING DEL
295. in either kg m or g cm3 3 expected current in the deployment area kts or m s or the desired thrust cc s iRobot amp 1KA Seaglider User s Guide 425 Appendix G Ballasting Based upon the customer provide information iRobot will calculate and affix the appropriate weights to the outside of the pressure hull and provide the customer with the calculated C VBD C PITCH C ROLL DIVE and C ROLL CLIMB for the mission environment The pilot will fine tune these values at the beginning of the deployment Re ballasting in the field Should the glider need to be re ballasted for a different environment between deployments contact iRobot for assistance iRobot will provide new weight estimates and the positions on the glider where the weights should be changed Tools amp Material Required for Re ballasting 2 Phillips Screwdriver Flat Blade Screwdriver 4ozball peen hammer Isopropyl Alcohol Lead Ballast Strips e Syntactic Foam Strips e Carpet Tape Scotch Super 88 Vinyl Electrical Tape 1 5in wide Box Knife Pupa Straps either large zip ties or plastic banding Tef Gel Brass Screws and Lock Washers for Nose Weight Plates e 3 8in Ratchet 36in 3 8in extension 12in 3 8in extension 3 16in allen with 3 8 socket Nose weight installation tool e Needle Nose Pliers The nose weight plates can be added or removed by removing the two brass socket head cap screws securing the nose weight s
296. iner that serves as a field transport and storage case Your configuration may differ depending on what you ordered FIGURE 2 1 1KA Seaglider in Open Shipping Case Antenna Mast Power Wands Rudder Wing Cradle Rails am Spares Yellow Cradle Mesh Kit Straps End Plates Seaglider Wing CT Sensor SEAG 011A 10 Locate the following in the shipping case 1KA Seaglider body Sea Bird Electronics conductivity and temperature CT sensor installed on Seaglider body Port and starboard wings labeled Rudder Antenna mast attached to rudder shoe Seaglider notebook containing trim sheets sensor documentation Seaglider serial number and transponder freguency Two magnetic power on off wands Plastic spare parts box containing 2 Phillips head screw driver 30 iRobot amp 1KA Seaglider User s Guide Inspecting the Basestation Container Spare antenna connector o rings Two spare lead trim weights 5 long x 4 wide x 1 8 thick Small vice grips All screws necessary for assembly and spares Optional Components Laptop computer for Seaglider communications 50 ft non powered communications cable Powered communications cable Launch and recovery cradle components Figure 3 1 Four aluminum rails Yellow mesh Two 2 end plates with carrying handles Four 4 nylon straps 2 male 2 female Assembly screws 8 washers 8 lock washers 8 wing nuts 4 eye
297. ing help at the main menu prompt Typing help at any prompt will display the menu structure below that point in the menu tree Typing help search will display all menu entries below that point in the tree containing the word search in their names or labels Many menu system functions reguire additional user input These inputs can generally be provided as either arguments to the selection command entered at the menu prompt or as answers to separate guestions asked once the function is selected For example if you select the pressure sensor self test as shown below you will be prompted to answer yes or no as to whether the glider is at sea level Enter selection 1 5 CR hw pressure selftest Alternatively you could provide this information at the menu prompt as follows Enter selection 1 5 CR hw pressure selftest sealevel 1 In this case sea level 1 indicates that the glider is at sea level A value of 0 would indicate the negative response Using optional arguments to the menu selection prompt is the only way to provide information to menu functions when using the menu system non interactively via 368 iRobot amp 1KA Seaglider User Guide Appendix F Hardware and Configuration Menus extended PicoDOS Functions in the menu tree can be accessed via extended PicoDOS using the menu command as shown in this example picoDOS gt gt menu hw pressure selftest sea level 1 Using the pdoscmds bat provides a powerful mechanism fo
298. inutes This recovery loop can be exited by sending a SRESUME directive to Seaglider in the cmdfile Seaglider then continues diving Note The following recovery procedures were developed by the University of Washington and adopted by iRobot as a method for recovering Seaglider from a small vessel Seaglider missions and or weather conditions can dictate a modified or even completely different method of recovery iRobot amp 1KA Seaglider User s Guide 255 Chapter 10 Recovery and Disassembly Recovery Phase The recovery phase is entered either by the QUIT command issued by the pilot via the cmdfile to Keep Seaglider at the surface or by an error condition detected by Seaglider operating software In recovery phase Seaglider stays on the surface and acguires a series of GPS fixes which are sent to the basestation so that Seaglider can be recovered To begin recovery the field team must in the vicinity of the anticipated surfacing location of Seaglider with all support equipment receiving Seaglider s most recent GPS position via text message or voice contact with the pilot Field team When the field team arrives in the recovery area they should instruct the pilot to give Seaglider the QUIT command so Seaglider does not dive again and stays on the surface Pilot Give Seaglider the QUIT command via the cmdfile Field team Complete the following steps 1 Transit to the last set of GPS coordinates 2 Search
299. ion ranges to 50 km and a 200 Hz version used the Sound Fixing and Ranging SOFAR sound channel Stommel s original idea to remove the reguirement for ship based tracking By the 1980s Tom Rossby at URI had developed the inverse of the SOFAR float called RAFOS SOFAR spelled backwards that relied on moored sound sources and an acoustic receiver on the float By adding a compressee an object whose compressibility is approximately the same as that of seawater these floats could also be ballasted to follow a particular density surface rather than a pressure surface About the same time John Dahlen s group at Charles Stark Draper Laboratory developed a moored profiler that used a variable buoyancy device to propel itself up and down along the mooring wire measuring temperature conductivity and currents In the 1990s Russ Davis and his group at Scripps Institution of Oceanography added a variable buoyancy device to a neutrally buoyant float to create profiling floats These floats called Autonomous Lagrangian Current Explorers or ALACE had the ability to inflate an external bladder thereby changing their displaced volume but not their mass The resulting buoyancy force allowed the float to make profile measurements from its neutrally buoyant depth to the surface At the surface position and profile data were transmitted via the Service ARGOS satellite system By the year 2000 hundreds of this type of float were deployed worldwide both
300. ion ts files mission pro transmit compressed mission profile data all send all files listed above Only files that have been generated will be transmitted For instance 1f NetCDF or Dive profile data has not been configured to be generated there will be no files to send even if the nc and pro options are chosen An example line can be found below kkyyuser billybob com msgperfile body kkyy_subject dn_kkyy up_kkyy 252 iRobot 1KA Seaglider User s Guide Files Stored on Seaglider Files Stored on Seaglider The following files are stored on Seaglider Bathymetry Map Files Map files provide Seaglider with geographic environmental information specifically bathymetry about a given region of the ocean Seaglider can carry up to 999 bathymetry maps the files are named bathymap nnn where nnn is the map number but in practice far fewer are typically on board These maps are not reguired for Seagliders to fly but provide a low energy means to determine apogee depth Note that the values in the bathymap files represent the depth at which Seaglider will start its apogee maneuver NOT the actual bottom depth For additional information on bathymetry maps see Chapter 6 Pre Deployment Tasks on page 159 Battery File The Battery file is used by Seaglider to keep track of power consumption throughout the time Seaglider is using the battery pack This file is NOT intended to be edited by the user Capve
301. iring SEAG 033 10 Putting Seaglider in Travel Mode When you put Seaglider in travel mode you bleed most of the hydraulic oil from the external bladder to the internal reservoir making it safe for travel and move the battery to its most stable position Seaglider does not have to be outside nor does the antenna have to be fully installed To put Seaglider in travel mode 1 2 Connect Seaglider to the laptop via the communication cable Turn on the laptop and start the terminal emulation program and a screen cap ture or log file Wand on Seaglider When output from Seaglider appears on the computer screen press ENTER within one minute Accept the default when prompted for DATE and TIME When gueried Are you running on external bench power answer Y or N depending upon how Seaglider is being powered Go to the Main Menu seen in Figure 6 2 At the Main Menu select 2 Hardware tests amp Monitoring and press ENTER iRobot amp 1KA Seaglider User s Guide 175 Chapter 6 Pre Deployment Tasks FIGURE 6 2 Travel Mode Menu 1 Hardware Menu Motors and VBD 1 pitch 2 roll 3 vbd 4 pressure 5 compass 6 gps 7 modem 8 intpress 9 altim Sensors 10 ct 11 nullct 12 o2 13 wetlabs 14 par 15 optode Other 16 batt 17 lowlevel 18 misc 19 develop Pitch control Roll control VBD control Pre
302. isted after the GC lines are data collected at the end of the dive surface maneuver data final temperature reading etc Some of this data is from the previous surfacing before the start of the current dive Not all Seagliders will report all of the lines that appear in the example given here because the devices installed vary among Seagliders Example Log File version 66 06 Seaglider operating code glider 123 Seaglider serial number mission 1 counter settable by pilot or launch operator dive 055 dive number start 7 17 106 19 24 20 day and time UTC of start of dive second UTC starting with 0 minute UTC starting with 0 hour UTC starting with 0 year after 1900 day of month month data 1D 123 MISSION 1 DIVE 55 D_SURF 2 D_FLARE 3 D_TGT 990 D_ABORT 1090 D_NO BLEED 500 D_FINISH O T_DIVE 220 T_MISSION 275 T_ABORT 1440 T_TURN 225 T_TURN_SAMPINT 5 T_NO_W 120 USE BATHY O USE_ICE 1 D_OFFGRID 1001 T WATCHDOG 10 RELAUNCH 1 APOGEE_PITCH 5 278 iRobot amp 1KA Seaglider User s Guide Appendix B Seaglider File Formats Manual MAX BUOY 225 COURSE_BIAS 0 GLIDE_SLOPE 30 SPEED_FACTOR 1 RHO 1 0275 MASS 52202 NAV_MODE 0 FERRY MAX 60 KALMAN USE 1 HD A 0 003 HD_B 0 0099999998 HD_C 9 9999997e 06 HEADING 1 ESCAPE_HEADING O ESCAPE HEADING DELTA 10 TGT DEFAULT LAT21 TGT DEFAULT LON 158 3 TGT AUTO DEFAULT O SM_CC 400 N_FILEKB 4 FI
303. it aft ADF c PITCH 2765 Pitch neutral point CAD PITCH DBAND 0 10 Pitch position deadband cm PITCH CNV 0 003125763 Pitch position conversion factor cm AD P_OVSHOOT 0 039999999 Pitch mass overshoot after motor off cm PITCH GAIN 29 Pitch angle to mass gain deg cm PITCH TIMEOUT 16 Pitch mass timeout sec PITCH AD RATE 175 Pitch motor AD counts per sec PITCH MAXERRORS 1 Number of pitch errors allowed before entering recovery PITCH ADJ GAIN 0 Gain for auto adjusting pitch cm deg PITCH_ADJ_DBAND 0 Deadband for auto adjusting pitch deg ROLL_MIN 177 57 6 deg Roll position limit port CAS ROLL MAX 3873 46 9 deg Roll position limit stbd ADF ROLL_DEG 40 Roll position normal flight deg C_ROLL_DIVE 2215 Roll neutral point when diving and testing CAD C ROLL CLIMB 2180 Roll neutral point when climbing CAD HEAD ERRBAND 10 00 Roll scene Heading auto deadband deg ROLL CNV 0 028270001 Roll position conversion factor deg ADf ROLL TIMEOUT 15 Roll mass timeout roll and rollback sec R PORT OVSHOOT 50 Roll mass overshoot to port after motor off AD R sTED OvSHOOT 51 Roll mass overshoot to stbd after motor off AD ion t ROLL AD RATE 350 ROLL MAXERRORS 1 ROLL ADJ GAIN O ROLL_ADJ_DBAND Roll motor AD count per sec Number of roll errors allowed before entering recovery Gain for auto adjusting roll center deg battery roll
304. ition The current Seaglider mission number This value is intended to be unigue for each of a particular Seaglider s deployments It has no effect on Seaglider operations but is reported back in data files for the purpose of data file distinction from other missions a Seaglider may have performed Nominal Value 0 Minimum Value 0 Maximum Value 999 iRobot amp 1KA Seaglider User s Guide 121 Chapter 5 Piloting Parameters MOTHERBOARD Set by manufacturer Do not change N_FILEKB N GPS Definition An integer value indicating the motherboard revision carried by Seaglider This value is set at the factory by the builder or assembler Definition An integer value SN FILEKB which is the size in kilobytes and type gzip compressed or uncompressed of file used for data uploading Positive numbers direct Seaglider to first use gzip to compress the data file then split it into N_FILEKB sized pieces Negative values for N FILEKB disable the gzip compression but still cause the non gzipped binary data file to be split into N FILEKB sized pieces before transmission A value of 0 means no splitting or compression is performed The maximum allowed value of this parameter is currently set to 16 Nominal Value 4 Minimum Value 16 Maximum Value 16 Definition The maximum number of seconds to wait for a GPS fix with HDOP 2 0 or less If no such fix is acquired the last most recent GPS fi
305. leaning Seaglider eere eerte ertet tnnnne 261 CHAPTER 12 IKA Seaglider Refurbishment 263 iRobot Refurbishment eese crees ee eene eee sassa nest ense etna Contact Information Service InformactiOn secvsvcecssvevossssedesvescecdeveeseueccevssnesescocvessenes Standard Services teiee ciertas etes aede ees auos ieser a NY ndd Upgrade ServIGes estere ene ete erar era ne rb a ea RY NE DYRO nah Replacement Spares Sensors amp Accessories DA drain APPENDIX A System Specifications 271 APPENDIX B Seaglider File Formats Manual 275 Chapter lc uy ua n S series quet bv YR NYRS FAR AF ADO 275 Conventions and Introduction 275 Chapter p IERI emo 2 1 Processed Files 2 2 Processing Control Files iRobot amp 1KA Seaglider User s Guide ix 2 3 On board Glider Information 296 2 4 Command and Control Files 299 APPENDIX C Extended PicoDOS Reference Manual v66 07 303 APPENDIX D Dive Data Visualization Software 315 Introduce s pawa PET 315 Acronyms Abbreviations and Definitions 315 Required Tools s aa
306. lider Tuning Your Seaglider To tune your Seaglider Pilot After Seaglider has surfaced from its first dive and transmitted the data files to the basestation review the log file and the capture file if it is sent recommended at the beginning of a mission and analyze the data When reviewing the log file look at the time in the GPS line Is it current Is the GPS fix believable Are the internal pressure and humidity values within range Are there any retries or errors Plot the data from the eng and log files using the MATLAB scripts provided on the CD shipped with Seaglider Look at the main plot Figure 8 1 on page 231 Interpretation of the plot is a major subject in training class Does the dive velocity match the desired velocity sthe buoyancy VBD set properly for water density at the prescribed depth iRobot amp 1KA Seaglider User s Guide 229 Chapter 8 Tuning Your Seaglider Is Seaglider pitched properly If the pitch setting is incorrect it affects the vertical velocity If the VBD and the pitch are both set correctly Seaglider has a symmetrical dive pattern Is Seaglider flying straight This is dependent upon the roll centers being properly set Normally adjustments to Seaglider s flight path are made in the order VBD and Pitch during the early shallow dives then the roll is adjusted during the deeper dives when Seaglider has time to glide between motor movements If any changes to th
307. lider has completed open ocean missions more than nine months long in conditions of small stratification NE Pacific where power conservation was the guiding factor Missions north of Oahu Hawaiian Ocean Time Series Station typically lasted four months due to stratification and the science requirement to resolve tides Seaglider missions in the highly stratified Fjord estuary of the Puget Sound are typically planned for only a few months Using the information gathered on the environment in the study area depth stratification currents as well as how long Seaglider is to be deployed what horizontal distance it should cover in that time frame and what the scientific objectives are determines overall mission length The VBD sub system is the predominant energy consumer Proper system trimming will allow for greatest energy efficiency Seaglider flies half a knot on half a watt 2 knot 25 cm s 1 km hr Depth and Efficiency Seaglider is least efficient operating in shallow water and most efficient in deep up to 1000 m water The practical shallow water limit is about 50 m It is hard to make progress toward a waypoint in water shallower than that for three main reasons turn radius pump time and surface time Seaglider s turning radius a few tens of meters at typical 25 cm s horizontal speeds is such that a significant portion of a shallow water dive can be spent turning onto the desired course Seaglider s standard buoyancy p
308. lider s power supply is intact while maintenance is being performed Battery Safety Seaglider uses 1 24V lithium primary battery pack and 1 10V lithium primary battery pack A Warning Release of toxic gases materials due to battery exposure to fire can cause death or injury Registration To access user information on the iRobot web site you must register your Seaglider To register your product and establish a user ID and a password go to the iRobot web site at http gisupport irobot com app utils login_ form iRobot Contact Information Customer Support For iRobot Customer Support call the Support Phone Line 1 781 430 3030 The Support Team is available by phone during normal business hours Monday through Friday 0800 1700 EST After normal business hours leave a voicemail message the Support Team responds to all voicemail messages the next business day Access the iRobot Customer Support web site at the following address http gisupport irobot com cgi bin irobot_gi cfg php enduser acct_login php 20 iRobot 1KA Seaglider User s Guide iRobot Contact Information Sales To obtain pricing information or to order spares options accessories or training send an e mail to sales irobot com or call 888 776 2687 Toll free in the USA or 1 781 430 3090 International customers iRobot amp 1KA Seaglider User s Guide 21 Preface 22 iRobot amp 1KA Seaglider User
309. load to Seaglider sss 226 FIGURE 8 1 Main Plot 21 eene eene nennen ener 231 FIGURE 8 2 Dive 1 Pitch Plot nennen nennen innen 232 FIGURE 8 3 SM CC Values cenone en ena ie eene nennen nenne 234 FIGURE 8 4 Roll Center Values enne 235 FIGURE 11 1 Post Deployment Seaglider Cleaning see 261 FIGURE F 1 Main Menu eren nennen nnne tnter 367 FIGURE F 2 Parameters and Configuration nn 370 FIGURE F 3 Basic Mission and Seaglider Parameters Menu 371 FIGURE F 4 Checking Changing Seaglider s Mission Number 372 FIGURE F 5 Dive Parameters Menu a eene 372 FIGURE F 6 Flight Parameters Menu sse eene 373 FIGURE F 7 Surface Parameters Menu sess 374 FIGURE F 8 RAFOS Parameters Menu sse nennen nenne 375 FIGURE F 9 Seaglider Password Check essent 376 FIGURE F 10 Verifying Basestation Telephone Number in Seaglider 376 FIGURE F 11 Verifying Basestation Alternate Telephone Number in Seaglider 377 FIGURE F 12 Pitch Parameters Menu a 378 FIGURE F 13 Roll Parameters nn entente 379 FIGURE F 14 VBD Parameters
310. locity This is a measure of the efficiency of Seaglider s progress along a specified track Factors that lower Seaglider s efficiency are turns leaving the surface at arbitrary headings and reduced horizontal speed during the apogee maneuver SSPEED LIMITS are multiplied by this factor and SKALMAN CONTROL components are divided by it Nominal Value 1 Minimum Value 0 1 Maximum Value 1 iRobot amp 1KA Seaglider User s Guide Parameters by Category T ABORT Definition A safety time minutes such that if the elapsed time on a given dive exceeds this time Seaglider enters the recovery state Nominal Value 1440 Minimum Value 720 Maximum Value 4320 T BOOST Definition Time seconds to run the boost pump in The boost pump can either operate by itself in water depths less than 120 m or prime the main pump for pumping operations in the complete glider operating depth range This parameter is used in conjunction with SD BOOST T BOOST must be set to zero if an EBE is not installed in the glider T BOOST 0 then the boost pump is used for the entire pumping operation If T BOOST is gt 0 the boost pump runs by itself for the first 2 seconds Then both pumps run simultaneously for the remainder of T BOOST seconds At the end of ST BOOST seconds the boost pump turns off while the main pump continues to run Note It is recommended that if the desired ST BOOST is 70 that the value be at least three seconds
311. log in as normal dial up users and then send and receive files to from their home directory on the basestation Seaglider pilots need to have write access in those Seaglider home directories to modify command and control files At Seaglider login and logout scripts are run to control and record aspects of the basestation transactions Basestation Log In To log into the basestation remotely you need a user name a password and the IP address of the basestation When the basestation arrives from iRobot the user name is set to pilot and the initial password is gazxsw2 It is recommended that you change this password immediately using the passwd command 34 iRobot amp 1KA Seaglider User s Guide Setting Up the Basestation Internet Configuration To connect the basestation to the internet you need a static IP address Set up the basestation on the local network assign it an IP address and connect it to a dedicated phone line no extensions through the modem If you need help contact your IT department If RUDICS is being used the RUDICS port configured by the user will need to be opened through the firewall on the local machine as well as any firewalls between the basestation and the wide open internet Setting Up the Basestation Directories and Files After logging in to the basestation and connecting it to the internet there are several things that you must check and set up Verify that Seaglider is Commission
312. lot and Field Location 2 Team Date 3 Field Team Time self test will be ready for review 4 Pilot Time self test need to be completed Deployment Schedule Step Responsibility Action 1 Pilot and Field Location Team Date Mission planning details should be organized refer to Pre Deployment Tasks on page 159 4 Pilot targets science and command files generated 5 Field Team Time Field Team plans to be at deployment site 6 Deployment Vessel being used Recovery Schedule Step Responsibility Action 1 Pilot and Field Location 2 Team Date 3 Field Team Time Field Team plans to be at recovery site 4 Pilot Time and location Pilots will plan to have the Seaglider on the surface and ready for recovery 8 Field Team Recovery vessel being used iRobot amp 1KA Seaglider User s Guide 433 Appendix H Pilot and Field Team Checklist Self Test Process Step Responsibility Action 1 Pilot Logs into basestation and prepares to analyze Self Test data files 2 Field Team Performs a Self Test on the Seaglider at the designated time 3 Informs the Pilot when the Self Test has completed 4 Pilot Analyzes the Self Test data and fills out the Self Test log sheet as reguired 5 Informs the Field Team if all systems are good and the Self Test passes 6 Saves
313. lue 1 Minimum Value 0 Maximum Value 100 ROLL MIN Set by manufacturer Do not change Definition Roll position software limit A D counts to port Seaglider s operating software stops the mass shifter at this value when rolling to port Typical Value 50 Value determined by the software minimum of the system Obtain actual value from the vehicle s trim sheet ROLL TIMEOUT Set by manufacturer Do not change Definition Roll maneuver timeout seconds Nominal Value 15 Minimum Value 10 Maximum Value 20 iRobot amp 1KA Seaglider User s Guide Parameters by Category SEABIRD C G C H C I C J T G T H TV T J Set by manufacturer Do not change Definition Sea Bird Electronics provided calibration coefficients for their conductivity and temperature sensor on Seaglider These values are used to compute calibrated temperature and salinity for hardware test purposes and in situ density for self trimming applications Currently used for subsurface finish maneuvers in which Seaglider attempts to become neutral at a fixed depth below the surface Parameters that begin with SSEABIRD may be flagged by Seaglider during self test as being out of range The acceptable parameter ranges have changed since ranges used for the check were written into the software For the Sea Bird parameters ONLY this warning can be ignored The parameters are installed at the factory based on the calibration sheets delivered with
314. m Modem Model A3LA XG 1497737 3 34 HPHONE N error collecting signal strength from phone 1497738 417 HPHONE D lat 0 000000 lon 0 000000 time Thu Jan 1 00 00 00 1970 1497740 554 HPHONE D AT CREG 1497740 620 HPHONE D CREG 000 004 aa Ao Aa RONE AN WARNENG Phone reported 4 stat on CREG 1497740 748 HPHONE 1497740 780 HPHONE N CREG failed phone not registered Continue self test N y m WN o bed Een m x E o Note Seaglider has 15 minutes T_GPS to acguire a GPS position If it does not once the test is started the test fails Seaglider then tests the Iridium phone connection to the satellites Often this fails because the code does not wait long enough to measure signal strength or register on the Iridium system At this time you can ignore the failed CREG because the self test tries to make another Iridium call at the end of the self test procedure 200 iRobot amp 1KA Seaglider User s Guide Interactive Pre launch Self Test 32 At the prompt Continue to Self Test N type Y for Yes and then press ENTER Figure 7 11 33 Seaglider checks for bathymetry maps Figure 7 12 34 If the self test returns the message Warning No bathymetry file covers the cur rent locations Continue self test N do one of the following If the test is being conducted on land where there are no bathymetry files available or if on the water but it is known that no bathymetry m
315. m the end of the self test You can see the statement the field team saw on their laptop connected to Seaglider Next it shows a list of every parameter and the value assigned to it Are ALL of the parameters set correctly Were SIM_PITCH and SIM W reset to 0 If all looks good to the pilot the pilot tells the Field Team that they have permission to launch Seaglider Ifany changes must be made to parameter values do so in the cmdfile If the pilot feels confident that the necessary changes have been made to the cmdfile the pilot grants permission to the field team to launch The updated cmdfile is transferred to Seaglider at the beginning of the launch seguence Watch the file transfer in the comm log file tail f comm log Were file transfers successful e Was a GPS fix obtained Is the SOUIT directive at the end of the command file that was sent 10 When the pilot gives permission to launch and the field team types Y Seaglider autonomous program takes over It puts Seaglider in surface position rolled to neutral pitched fully forward pumped to SM_CC typically maximum VBD for launch and enters a normal surface phase acquiring GPS1 and initiating a communication session via Iridium satellite telephone FIGURE 6 7 Final OK to Launch Setting glider to pre launch state 1681 94 HROLL N Ro11 commanded from 2 52 deg 2381 to 0 00 deg 2470 HROLL N 0 2 deg ad 2464 MOTOR DONE ticks 24 max 24v 4 6m
316. monitored A D values 4 command Send command 5 show Show gain fuel monitoring heart and watchdog rates 5 setup Setup gain fuel monitoring heart and watchdog rates 7 readcfg Read configuration registers 8 accum Read accumulators 9 clear Clear accumulators 10 minmax Clear min max values 11 write write register value 12 read Read register value 13 setrtc Set RTC clock from TT8 clock 14 testrtc Set setting RTC clock from TT8 clock 15 rtctott8 Set TTS clock from RTC 16 readrtc Read RTC clock 17 status Read status bytes 18 zerochk Check current zero points 19 zeroset Set current zero points CR Return to previous Enter selection 1 19 CR To exit the Supervisor menu and return to the Hardware Menu press ENTER iRobot amp 1KA Seaglider User Guide 409 Appendix F Hardware and Configuration Menus Pressure Sensor Menu To access the Pressure Sensor menu Select 5 Pressure Sensor and press ENTER The Pressure menu options appear Figure F 37 FIGURE F 37 Pressure Sensor Menu Pressure menu 1 selftest Basic self test 2 sealevel Sealevel test 3 param Edit pressure parameters CR Return to previous Enter selection l Jj CR The Basic self test outputs pressure measurements and an equivalent depth m value until a Crtl Q is received In the Sealevel test Seaglider takes a number user determined of pressure samples and cal
317. moving lead strips use a flat screwdriver to pry up one side of the lead from the tape and pull off 5 Remove the old carpet tape clean the area with isopropyl alcohol and a lint free cloth to remove any remaining glue or dirt from the tape and apply new tape iRobot amp 1KA Seaglider User s Guide 427 Appendix G Ballasting 6 Place new lead ballast on the pupa using the diagram supplied by iRobot An example of the drawing showing positioning of the new lead is shown in Figure A 1 7 Using the ball peen hammer lightly tap the lead until it conforms to the general shape of the battery hull 8 Install 2 new zip ties or buckled straps Make sure that the straps are pulling opposite one another and that the buckles are offset from one another The fur ther the buckle offset the better 9 Record lead values and location on the battery hull See ballast pin wheel 1 e Ist piece of lead trim is located in the bottom quadrant PC 1 10 Re install forward fairing Note Iflead is moved between deployments to a different location on the pupa the pilots will have to trim roll during the first few dives FIGURE A 1 Ballast Location Pin wheel If syntactic foam rather than lead is needed to ballast the glider affix it to the Seaglider using carpet tape and secure in place using Scotch Super 88 Vinyl Tape 1 5in wide The carpet tape is applied to the battery hull in a thin strip The foam is stuck to the tape i
318. mp 1KA Seaglider User s Guide 203 Chapter 7 Pre Launch Procedures d Atthe prompt If truly at sea level this data suggests it should be xx x psig Accept new value N do one of the following If Seaglider is at sea level and you want to accept the new value type Y for Yes and then press ENTER If Seaglider is not at sea level press ENTER to accept the prior value If your Seaglider is equipped with a GPCTD then continue with step 40 other wise skip to step 41 40 The GPCTD configuration is now verified Values for clock sync string is and fmt into strftime are read from the configuration file loaded for the GPCTD sensor The raw data for the sensor is returned in the form of the hex string at the end of the verification Figure 7 18 FIGURE 7 18 Checking GPCTD 1L497803 925 SUSR N CRECHTH GPCTD 1497804 018 HGPCTD N syncing clock clock sync string is BOs Teese Tt oeeruGr confi rm n RESETLO0GGING r S gt DATETIME m d Y H M S S gt fmt into strftime DATETIME m dJ Y H2 M S 1497810 688 HGPCTD N sending DATETIME 04152011184435 sleeping 92176 ticks sync will be 0x0d 1497816 247 HGPCTD N sample TS 003cD571540138C0BADD 41 Check the pitch motor and values FIGURE 7 19 Checking Pitch Motor B gt Checking pitch roll and VBD Hit ctl Q to interrupt current test and continue 1497817 346 SUSR N Checking pitch motor Verify pitch S
319. mp 1KA Seaglider YM User s Guide 441 Appendix J Warranty and Disclaimers not operating in accordance with the Warranty and upon inspection by iRobot shall be determined to not have met the Warranty provided the Device was not abused or operated other than in accordance with the iRobot instructions If iRobot is unable to repair or correct the Software in a reasonable amount of time in accordance with this Section 1 iRobot will refund to Customer the amount paid for such Device in which case Customer shall return the Device to iRobot 1 3 Assignment iRobot HEREBY ASSIGNS TO CUSTOMER ALL OF THE MANUFACTURERS WARRANTIES RELATING TO THE EOUIPMENT WHICH iRobot IS PERMITTED BY THE EQUIPMENT MANUFACTURER S TO ASSIGN TO CUSTOMER SUCH ASSIGNMENT IS SUBJECT TO ALL OF THE TERMS AND CONDITIONS IMPOSED BY THE EOUIPMENT MANUFACTURER S WITH RESPECT THERETO iRobot WILL USE COMMERCIALLY REASONABLE EFFORTS TO PROMPTLY APPRISE CUSTOMER OF SUCH WARRANTIES FOLLOWING CUSTOMER S PURCHASE OF THE EOUIPMENT 1 4 Disclaimers EXCEPT FOR THE FOREGOING EXPRESS WARRANTY SPECIFIED ABOVE iRobot GRANTS NO WARRANTIES EITHER EXPRESS OR IMPLIED iRobot EXPRESSLY DISCLAIMS THE WARRANTIES OF MERCHANTABILITY FITNESS FOR A PARTICULAR PURPOSE TITLE AND NONINFRINGEMENT FOR THE DEVICE S IN WHOLE AND IN PART iRobot DOES NOT ASSUME LIABILITY FOR LOSS DAMAGE OR OTHER RESULTS OF OPERATING THE DEVICE IN WATER OR DUE TO LEAKAGE IMPLOSION OR EXPLOSION The warranty
320. n active target name from the old targets file is in the new targets file Seaglider retains that active target Ifan active target is not in the new targets file then Seaglider goes to the first target in the list If there is no valid targets file on Seaglider it uses the default target TGT AUTO DEFAULT TGT_DEFAULT LAT TGT DEFAULT LON specified in the cmdfile Though specification of a default target is optional it is highly recommended that you enter the latitude and longitude coordinates of a location where you can recover Seaglider in the event that it loses its targets file iRobot amp 1KA Seaglider User s Guide 241 Chapter 9 Files for Operations ALl Sensors ALI sensors are controlled via 5 different parameters as listed below The xx is the prefix for a given sensor which is defined by the command prefix in the cnf file For example the prefix for the GPCTD is PC xx RECORDABOVE depth in meters above which the logger is on A value of 0 turns the sensor off Minimum Value 0 Maximum Value 1000 xx PROFILE which half of the profile to run the logger 0 none 1 dive 2 climb 3 both xx_XMITPROFILE which half of the profile to transmit data back via Iridium 0 none 1 dive 2 climb 3 both xx_UPLOADMAX the maximum file size in bytes limit on uploaded files Minimum Value 0 no data uploaded xx_STARTS running count of the number of sensor restarts that occur during a mis
321. n and the recovery mode reason The comp message tells the pilot what files completed processing on the basesta tion An example pagers file is below An additional example is in Appen dix B Seaglider File Formats Manual on page 275 Examples Setting up an email account for gps alerts recov comp someone mydomain edu gps alerts recov comp Setting up a phone for gps updates only 6175551212 cingularME com gps Setting up an ATT phone for gps alerts recov comp 6175551212 cingularME com gps alerts recov iRobot 1KA Seaglider User s Guide 221 Chapter 7 Pre Launch Procedures Note the address for each phone service that is ATT Verizon differs For a real contact address remove the ff 4 If Seaglider is not outside assembled communication cable attached and the antenna pointing up within 40 of vertical with an unobstructed view of the sky do that now Figure 7 34 FIGURE 7 34 Position of Seaglider During a Simulated Dive SEAG 016 09 5 If the laptop is not already on and a terminal emulator running do that now 6 Open a screen capture or log file 7 Connect the communication cable to the DB9 connector on the laptop Figure 7 1 8 Wand on Seaglider following the procedure on page 50 9 When the output starts scrolling on the laptop press ENTER within one minute Figure 7 35 Follow the steps below watch the process on the laptop and note
322. n pre defined positions based on the diagram provided by iRobot 428 iRobot 1KA Seaglider User s Guide Appendix G Ballasting The tape is applied partially on the foam and partially on the pupa to create a sealed pocket for the foam to sit in Steps to apply or adjust Syntactic foam ballast 1 Remove Forward Fairing 2 Take note of foam values and location on the pupa Refer to the lead worksheet tab on Trim Sheet When changing ballast by adding or subtracting foam the changes must be made according to the diagram provided by iRobot 3 Remove the installed wraps of vinyl tape making sure that none of the foam pieces are lost 4 Ifthe foam falls off remove all the foam in order and then remove the strip of carpet tape 5 Clean the pupa with isopropyl alcohol and dry with a lint free cloth This will remove any remaining glue or dirt from the tape 6 Install a new strip of carpet tape that is long enough to accommodate all the foam 7 Reapply the required amount of syntactic foam to the carpet tape 8 Reapply the vinyl tape keeping half the tape on the foam and half on the pupa Make three complete wraps 9 Record foam values and location on the battery hull See ballast pin wheel 1 e 1 piece of trim is located in the bottom quadrant PC 1 10 Reinstall forward fairing Note If foam is moved between deployments to a different location on the pupa the pilots will have to trim roll during t
323. n the file specification Example cat chunk U30 chunk U31 gt gt chunk GZ clearnv lt passphrase gt Clears contents of non volatile RAM utility storage The passphrase must exactly match one of the strings hard coded in epdos c I really mean it clears all utility storage including password and telephone numbers mean it only clears latched target and flight state information del rm v lt filespec gt Extends the standard delete del command by admitting use of wildcards in the file specification Example del SGO1 LZ A dumpnv Dumps contents of non volatile RAM flash_errors Reports CF8 file open write and close retries and errors gunzip lt zipped_file gt lt file gt Uncompresses file compressed with gzip Example gunzip chunk GZ MAIN RUN gzip lt file gt lt zipped_file gt Compresses file with gzip Example gzip MAIN RUN MAIN GZ Isleep seconds Pause execution in low power sleep for up to 60 seconds md5 lt signature gt lt file gt Generates 128 bit md5 hashes of the specified file If a signature hash is specified md5 compares the specified signature hash with the one it generates for the file and generates an error if they are not identical in the character by character sense Used to verify the integrity of files uploaded to the Seaglider In particular md5 is the verification part of the protocol used to upload verify and 310 iRobot amp 1KA Seaglider Us
324. nV 24v 23 5V 15896 880 SMOTOR N GC TICKS TIME 700 702177 15896 972 HPITCH N done 15897 111 HPITCH C Pitch completed from 8 54 cm 449 to 1 07 cm 3521 took 17 0 sec 273mA 304mA peak 23 1vmin 180 AD sec 6t 15897 541 HPITCH N TRACK b 3511 0 a 3511 0 d 135 o 10 15898 284 HPITCH N Pitch commanded from 1 06 cm 3520 to 8 50 cm 460 15899 494 HPITCH N 0 7 cm ad 3391 15900 244 HPITCH N 0 1 cm ad 3161 15900 994 HPITCH N 0 8 cm Cad 29293 15901 744 HPITCH N l 5 cm Cad 2687 15902 519 HPITCH N 2 3 cm Cad 24499 15903 269 HPITCH N 3 0 cm Cad 2210 15904 019 HPITCH N 3 8 cm ad 1962 15904 794 HPITCH N 4 6 cm ad 1722 15905 544 HPITCH N 5 3 cm ad 1475 15906 319 HPITCH N 6 1 cm ad 1236 15907 094 HPITCH N 6 8 cm ad 991 15907 844 HPITCH N 7 6 cm ad 755 15908 594 HPITCH N 8 3 cm ad 511 MOTOR DONE ticks 2 max 24v 3 8mA avg 24v 3 8mA minv 24v 23 5V 15909 137 SMOTOR N GC TICKS TIME 394 396216 15909 229 HPITCH N done 15909 369 HPITCH N Pitch completed from 1 07 cm 3521 to 8 50 cm 462 took 9 7 sec 79mA 321mA peak 23 4vmin 314 AD sec 389 15909 765 HPITCH N TRACK b 473 0 a 469 0 d 3 o 7 Cycle 1 completed At the end of the motor movement the user is returned to the Pitch Control Menu Run Pitch and Roll Duty Cycles To run pitch and roll duty cycles at the same time Select 6 Run Pitch and Roll Duty Cycles and press ENTER Seaglider responds with the limits within whic
325. nal points is limited to 50 Seaglider then goes into passive guidance and control G amp C mode and collects that number of data points at the appropriate sample interval for the depth range When complete Seaglider enters the surface phase Note This approach occasionally results in the last few data samples being taken when the conductivity sensor is actually in air giving unrealistic conductivity values These samples can be removed in shore side processing if necessary Nominal Value 2 Minimum Value 0 5 Maximum Value 10 iRobot amp 1KA Seaglider User s Guide Parameters by Category D TGT DEEPGLIDER Definition The nominal depth meters at which Seaglider begins the apogee phase the transition from the negatively buoyant pitch down dive to positively buoyant pitch up climb This depth 1s also used in conjunction with ST DIVE to determine the specified vertical velocity for the dive and climb The actual depth of the starting point of the apogee maneuver can be determined by reading a digital bathymetric map D_GRID the altimeter or the pressure sensor In either case the vertical velocity specified by the combination of SD TGT and T DIVE is retained by appropriate scaling of ST DIVE The apogee maneuver is not started until a depth greater than D_TGT or other depth trigger 1s detected Nominal Value 45 Minimum Value 1 Maximum Value 1000 Definition Indicates whether the glider
326. nce easily before putting Seaglider in the water 12 Field Team If the communication session is acceptable the field team should disconnect the communications cable at base of antenna and replace it with the water proof dummy plug 13 Field team Seaglider is now ready for deployment in the ocean If not already on a ship at sea load Seaglider and all ancillary eguipment needed for the deployment on a boat An example eguipment checklist is in Appendix I Sam ple Field Kit Checklist on page 439 14 Field Team Transit to the predetermined launch site Keep the pilot informed of your progress and estimated time of arrival at the launch site 15 Field Team As the deployment site nears a Remove the protective covers from the science sensors There are two caps on the conductivity cell one covering the WET Labs sensor two caps on the Sea Bird dissolved oxygen sensor pumped Note Not all sensors are installed on all gliders b Place a light tag line around Seaglider just forward of the rudder so that the line rests in the grooves on the front edge c Place a safety line on the cradle and tie it off to the boat This prevents its loss should someone let go of it during the deployment d Set up the acoustic deck unit including putting a safety line on the transducer and tying it off to the boat and setting the correct transmit freguency for that Seaglider The specific transmit and receive freguencies are listed in the
327. nch Menu appears FIGURE 7 8 Interactive Self Test UNE Main Menu 1 param Parameters and configuration 2 hw Hardware tests and monitoring 3 modes Test operation modes and files 4 pdos PicoDOS commands and exit 5 launch Pre aunch FER selection 1 5 CR 5 ERU ER Launch Menu 1 scene Set scenario mode 2 selftest Perform interactive self test 3 autotest Perform autonomous self te 4 uploadst Upload self test results 5 reset Reset dive run number 6 test Test Launch 7 sea Sea Launch CR Return to previous Enter selection 1 7 CR 2 17 Type 2 Perform interactive self test and then press ENTER Figure 7 8 18 The prompt Remove old data log files for self test before sea launch N appears Zeus Selecting Yes removes all data files still on Seaglider from prior missions and tests Be sure that those files are saved elsewhere BEFORE selecting Yes If it is unknown whether the files have been saved select N Figure 7 9 shows file removal iRobot amp 1KA Seaglider User s Guide 197 Chapter 7 Pre Launch Procedures FIGURE 7 9 Removing Old Data Log Files Remove old data log files for self test before sea launch N y 4 171 SUSR N Removing old data and log files Deleting SG0000KZ A Deleting SG0000LZ A Deleting SG0O01KZ A Deleting SG0001DZ A Deleting SG0001LZ A 5 files deleted 4 047 SUSR N Tue Mar 29 1
328. nd ascent Examples of plots below one plot is a configured glider with two dissolved oxygen DO sensors one plot is a configured glider with 1 DO sensor and 1 is a configured glider with no DO sensor If oxygen data is available the graph will also display oxygen saturation data as well Oxygen saturation data is calculated using the Seawater library part of the MATLAB scripts The Seawater library uses salinity temperature and pressure for this calculation and does not require oxygen data acquired from DO sensor It is simply added to the DO plot as it is more relevant here than on the CTD plot therefore the oxygen saturation data will only be plotted if oxygen data is available to plot If no oxygen data is available the plot will read Oxygen data does not exist for this dive and the oxygen saturation will not be plotted iRobot amp 1KA Seaglider User Guide 331 Appendix D Dive Data Visualization Software Depth m 100 200 300 400 500 600 Dissolved Oxygen G515 Dive 10 iRobot Operation Clean Sweep Mission Start Time 14 Aug 2010 05 32 22 SBE43 ml 55 6 I SBE43 Descent SBE43 Ascent 1 1 L 1 Sat O Descent Sat O Ascent AA4330 Descent AA4330 Ascent I 3 3 5 4 4 5 5 5 5 AA4330 Sat O mA 6 5 7 100 200 300 400 500 600 Depth m 332 iRobot amp 1
329. ned messages along with their meaning NO CARRIER Phone call has dropped The modem returns this string when a call has ended REGISTRATION CHECK FAILED The AT CREG command has returned that it is not registered on the satellite network This is not a fatal error the glider will continue with operations skipping the geo registration If the Seaglider is still able to make a phone call this is not a major issue in order to make a phone call you must be registered on the satellite network iRobot amp 1KA Seaglider User s Guide 179 Chapter 6 Pre Deployment Tasks UNABLE TO LOGIN There was a problem logging into the basestation This could be due to corruption in the communications channel or a phone call that dropped prematurely NO REPSONSE TO INITIAL AT ATTEMTS The Seaglider determines if the modem is awake and powered on by sending AT and then expecting OK in response If it does not receive the AT a failure occurs This can indicate a modem is exhibiting faulty behavior NO LOGIN PROMPT DETECTED See unable to login above BASESTATION NOT READY TO RECIEVE See unable to login above i e corruption in the comms channel or a dropped call Final Launch Procedure If the pilot has given the field team permission to start a SeaLaunch the field team needs to 1 At the Main Menu type 5 Pre Launch and then press ENTER FIGURE 6 4 Pre Launch 1 param Parameters and configuration
330. ng ACK Sun Dec 2 19 18 31 2007 sg123 sg0055dz x00 XMODEM 4096 Bytes 189 BPS Sun Dec 2 19 18 31 2007 sg123 Exiting 0 Sun Dec 2 19 18 38 2007 sg123 sector number 1 block length 1024 Sun Dec 2 19 18 43 2007 sg123 sector number 2 block length 1024 Sun Dec 2 19 18 49 2007 sg123 timeout trying to read next sector Sun Dec 2 19 18 50 2007 sg123 finished waiting for next line cnt 999 Sun Dec 2 19 18 50 2007 sg123 got 0x2d sector header Sun Dec 2 19 18 53 2007 sg123 finished waiting for next line cnt 746 Sun Dec 2 19 18 54 2007 sg123 got 0x40 sector header Sun Dec 2 19 18 57 2007 sg123 finished waiting for next line cnt 787 Sun Dec 2 19 18 59 2007 sg123 sector number 3 block length 128 Sun Dec 2 19 19 02 2007 sg123 timeout trying to read next sector Sun Dec 2 19 19 03 2007 sg123 finished waiting for next line cnt 999 Sun Dec 2 19 19 04 2007 sg123 got 0xe6 sector header Sun Dec 2 19 19 06 2007 sg123 finished waiting for next line cnt 1 Sun Dec 2 19 19 06 2007 sg123 got Oxb7 sector header Sun Dec 2 19 19 07 2007 sg123 finished waiting for next line cnt 875 nr PA Cr PM Sun Dec 2 19 19 08 2007 sg123 sector number 4 block length 128 Sun Dec 2 19 19 10 2007 sg123 sector number 4 block length 128 Sun Dec 2 19 19 10 2007 sg123 received dup sector 4 Sun Dec 2 19 19 12 2007 sg123 timeout trying to read next sector Sun Dec 2 19 19 13 2007
331. ng compass and calibration files 1497776 746 HCOMPASS N Compass 1 sP3003 1497776 991 HCOMPASS N pitch A B C D 0 004800 1 012200 0 008200 0 002100 1497777 293 HCOMPASS N roll A B C D 0 006700 7 096700 8 482200 0 001000 1497777 586 HCOMPASS N hard iron P O R 22 632999 51 560799 36 951199 1497777 834 HCOMPASS N soft iron 1 002400 0 015200 0 004200 1497778 069 HCOMPASS N 0 001000 1 062200 0 002400 1 1497778 307 HCOMPASS N 0 011000 0 017500 1 060800 1497779 828 HCOMPASS N compass filter disabled ok 1497780 659 HCOMPASS N l SP3003 Hdg 20 00 deg Rol 134 96 deg Pit 65 32 deg Tmp 24 70 C iRobot amp 1KA Seaglider User s Guide 201 Chapter 7 Pre Launch Procedures 36 Verify that the critical operational parameters are ok Figure 7 14 FIGURE 7 14 Critical Operational Parameters L497780 843 SUSR N Verifying critical operational parameters 1497781 002 SUSR N RELAUNCH 1 OK 1497781 131 SUSR N AD 714ch0Gain 128 OK 1497781 226 SUSR N SIM PITCH 0 OK 37 The glider will now report a full listing of all the installed hardware and soft ware Figure 7 15 FIGURE 7 15 Reporting Hardware Configuration and Software Versions 497781 315 SUSR N Reporting hardware configuration 1497781 456 SUSR N Sensor in slot 1 is WL BBFL2VMT on port 3 TPU06 TPUO07 nominally Optics 1 1497781 625 SUSR N Sensor in slot j is not installed 1497781 736 SUSR N Sensor in slot 3 is
332. ning with the entry GPS1 contains information concerning the pre dive period at the surface what target Seaglider is heading to during the next dive Kalman filter information and D_ GRID information if bathymetry maps are being used The GC labeled lines describe motor actions pitch roll or VBD one line per motor move The information listed after the GC lines is data collected at the end of the dive for example surface maneuver data final temperature reading Some of this data is from the previous surfacing before the start of the current dive The SM_ CC labeled lines contain information on the surface maneuver The remaining lines of the log contain information on internal humidity pressure and temperature battery power available and amp hours used ending with a summary of errors encountered during the dive and the GPS position immediately after surfacing iRobot amp 1KA Seaglider User s Guide 247 Chapter 9 Files for Operations Not all Seagliders report all of the lines that appear in the example because the devices installed vary among Seagliders Files Generated by the GPCTD ALI devices will generate unigue output files which can be recognized by the prefix for that sensor as defined in the cnf file For example the GPCTD generates the following four files per every dive which use the prefix pc pc a dat pca eng pc b dat pcb eng The files labeled with an a represent th
333. nition Sensitivity volts of the envelope detector on the altimeter The value must be an integer between 0 and 5 A value of 0 disables the envelope detector causing the altimeter to trigger on any return at the right frequency Values between 1 and 5 require that the return signal be above that voltage for the duration of a pulse width before triggering Nominal Value 2 Minimum Value 0 Maximum Value 5 ALTIM TOP MIN OBSTACLE Definition Minimum obstacle depth in meters to honor in initiating a subsurface finish Nominal Value 2 Minimum Value 0 Maximum Value 100 iRobot amp 1KA Seaglider User s Guide 97 Chapter 5 Piloting Parameters ALTIM TOP PING RANGE Definition Range in meters from the surface this is simply depth at which to ping the altimeter A value of 0 disables a ping Nominal Value 0 Minimum Value 0 Maximum Value 500 ALTIM TOP TURN MARGIN APOGEE PITCH Definition The distance in meters from an altimeter detected obstacle at which to initiate the sub surface finish A value of 0 disables the use of the altimeter to determine the start of the sub surface finish Nominal Value 0 Minimum Value 0 Maximum Value 100 Definition Intermediate pitch position of the pitch mass that Seaglider pitches to between the dive and climb phases to prevent stalling Seaglider changes from whatever pitch angle it used for the dive phase to SAPOGEE PITCH when it
334. nition The number of pitch motor errors allowed before Seaglider goes into recovery phase An error occurs when the PITCH_TIMEOUT expires prior to achieving the commanded pitch A D position A Caution An error in the pitch could lead to loss of Seaglider Nominal Value 1 Minimum Value 0 Maximum Value 100 iRobot amp 1KA Seaglider User s Guide Parameters by Category PITCH_MIN Definition Pitch position software limit A D counts forward This is also the value to which the pitch mass moves during the surface maneuver fully forward for maximum pitch down Typical Value 100 Value determined by the software minimum of the system Obtain actual value from the vehicle s trim sheet PITCH_TIMEOUT Set by manufacturer Do not change Definition Pitch mass timeout seconds Nominal Value 16 Minimum Value 15 Maximum Value 25 PITCH VBD SHIFT Set by manufacturer Do not change Definition The pitch compensation cm cm required to balance the mass of the hydraulic oil moving forward and aft with the change in buoyancy as a result of VBD changes Nominal Value 0 00123 Minimum Value 0 Maximum Value 0 01 iRobot amp 1KA Seaglider User s Guide 133 Chapter 5 Piloting Parameters PRESSURE SLOPE Set by manufacturer Do not change Definition Slope of linear fit between psig and pressure sensor output after digitization to A D counts through AD7714 The fit is
335. not bleed on dives m D_BOOST 0 Depth above which only boost pump is run m T_BoosT 0 Time to run the boost pump before turning off 0 do not turn off D_FINISH 0 Dive finish depth m D_PITCH 0 Depth to achieve before surface maneuver pitch m D_SAFE 0 Safety dive depth for emergency escape maneuvers m D CALL 0 Depth to achieve before antenna is assumed to be out of water m SURFACE URGENCY 0 Number of dives to accumulate before trying extra surfacings SURFACE URGENCY TRY 0 Dive number modulo for extra surfacing attempts SURFACE URGENCY FORCE 0 Dive number modulo for forced extra surfacing attempts T DIVE 42 Target time per dive climb cycle min T MISSION 55 Maximum mission time per dive climb cycle min T ABORT 1440 Failsafe watchdog mission time change with extreme care min T TURN 225 Max time allowed for a turn maneuver sec T TURN SAMPINT 5 Sample interval during a turn int sec gt 4 T NO W 120 Time with no vertical velocity w before taking next step secs T_LOITER 0 Time to loiter at apogee before climbing secs usE BATHY 0 Use bathymetry map no nnn file number USE_ICE 0 Use ice map for surfacing decisions 0 no nnn file number ICE FREEZE MARGIN 0 30000001 Margin degC in freezing point check for surfacing D_OFFGRID 100 Max target depth if outside bathymap m T wATCHDOG 10 watchdog timer min RELAUNCH 1 Relaunch glid
336. not installed 1497781 847 SUSR N Sensor in slot 4 is not installed 1497781 958 SUSR N Sensor in slot 5 is not installed 1497782 069 SUSR N Sensor in slot 6 is not installed 1497782 206 SUSR N Logger sensor in logger slot 1 is GPCTD on port 5 TPULO TPU11 mux channel 0 nominally Optics 2 1497782 410 SUSR N Logger Sensor in logger slot 2 is not installed 1497782 561 SUSR N Logger sensor in logger slot 3 is empty on port 0 TPU 1 TPU 1 nominally null 1497782 739 SUSR N Logger Sensor in logger slot 4 is not installed 1497782 865 SUSR N Motherboard is Rev B 1 1497782 957 SUSR N Phone is Iridium9522 1497783 045 SUSR N GPS is Garmin GPS15H 1497783 134 SUSR N Compass is SP3003 1497783 220 SUSR N Spare compass is not installed 1497783 322 SUSR N XPDR is AAE_955 1497783 466 SUSR N External pressure sensor gain 128 000000 consistent with Paine 1497784 468 SUSR N Reporting software version 1497784 613 SUSR N Version 66 07 1497784 697 SUSR N Compi led on Mar 29 2011 10 36 24 1497784 804 SUSR N From SVN version 18 775 1497784 896 SUSR N Compiler gcc 1497784 978 SUSR N Compiled with SCENARIO support 1497785 083 SUSR N Compiled without ICE support 1497785 185 SUSR N Compiled without RAFOS support 1497785 291 SUSR N Compiled without Kermit support 1497785 397 SUSR N Compiled without ARS support 1497785 499 SUSR N Compi led without PAAM support 1497785 603 SUSR N Compi led without AQUADOPP support 1497785 713 SUSR N
337. obot amp 1KA Seaglider User s Guide Tuning Your Seaglider FIGURE 8 1 Main Plot SG173 PortSusan dive 1 started 17 Sep 2009 21 07 29 80 360 J ey MOEN NAE A HIR poene Da AIE ARAA Jesse Rhet e tton A TSR EAE ot teo Se bro NDS DU ROI RISE ae NER UAM 340 Heading M Height 1m W dz dt cm s Horiz Speed W pitch Bo E rr cr SE A A eL Mu a Vert Speed buoy pitch Horiz Speed buoy pitch Pitch Up deg w Pitch Control mm Vehicle Roll Stbd deg Roll Control deg Glide Angle buoy pitch 1 5 Buoyancy g VBD 10 cc 100 Time minutes 01 Sep 2009 22 44 35 VBD bias 0 cc Look below at the pitch plot Pitch Control versus Pitch deg and the regression analysis located on the plot showing what the present pitch center C PITCH is and what the recommended pitch center is Figure 8 2 Following the rule of thumb for making changes to the parameter value the present C PITCH value is 2829 and the Implied desired C PITCH is iRobot 1KA Seaglider User s Guide 231 Chapter 8 Tuning Your Seaglider 2835 so the correction put into the cmdfile would be C PITCH 2832 This change in the C PITCH parameter value is very small and is actually in the noise Generally if the difference in A D counts between the actual and implied C PITCH values is less than 15 20 counts no adjustment is made Ad
338. observes a depth of greater than the apogee depth whether by altimeter SD TGT or D GRID The apogee maneuver also includes pumping the VBD to Occ After the apogee maneuver the climb is initiated by changing both pitch and VBD to the opposite signed values from the dive Nominal Value 5 Minimum Value 20 Maximum Value 0 iRobot amp 1KA Seaglider User s Guide Parameters by Category C_PITCH C ROLL CLIMB Definition The center neutral or flat position A D counts for pitch Nominal Value 2700 Actual initial value obtained from vehicle s trim sheet Minimum Value The software minimum of the system obtained from the vehicle s trim sheet Maximum Value The software maximum of the system obtained from the vehicle s trim sheet Definition The center neutral or straight flight position A D counts for roll during the climb positive pitch control phase Note The climb and dive roll centers will probably be different This was implemented to correct for roll biases induced by physical asymmetries in Seaglider Nominal Value 2025 Actual initial value obtained from vehicle s trim sheet Minimum Value The software minimum of the system obtained from the vehicle s trim sheet Maximum Value The software maximum of the system obtained from the vehicle s trim sheet iRobot amp 1KA Seaglider User s Guide 99 Chapter 5 Piloting Parameters C ROLL DIVE C VBD Definition
339. of dive climb cycles before calling COMM SEQ 0 Comm sequence to use 0 default l ctl only 2 no loggers KERMIT 0 Use of kermit 0 none 1 data only 2 data only batch 3 data and control 4 data and control data batch N NOCOMM 1 dives without communications before max surface N NOSURFACE 0 modulo for dives to finish under surface UPLOAD_DIVES_MAX 1 maximum of dives to upload at each surfacing 1 all available CALL TRIES 5 of calls to try at each surfacing 387 iRobot amp 1KA Seaglider User Guide Menus CALL WAIT 60 Delay between phone tries sec caPUPLOAD 1 Upload capture file 0 no 1 yes CAPMAXSIZE 100000 Maximum capture file size to upload before compression HEAPDBG 0 In depth heap debugging 0 off l on T_GPS 5 GPS timeout min N GPS 20 Max valid GPS readings T GPS ALMANAC 0 Time to wait to reacquire the GPS almanac mins T GPS CHARGE 14853 346 How long to trickle charge the GPS secs T RSLEEP 3 Sleep interval during recovery min sTROBE 0 Strobe control 0 never l recovery 2 surface RAFOS PEAK OFFSET 1 5 internal delay of RAFOS receiver seconds RAFOS CORR THRESH 60 threshold correlation value for hits used in navigation S RAFOS_HIT WINDOW 3600 window length seconds in which to search for hits to use in navigation PITCH MIN 160 8 1 cm Pitch position limit fwd ADF PITCH MAX 3940 3 7 cm Pitch position lim
340. of the Scripps design and a design from Webb Research Corporation now Teledyne Webb Research of East Falmouth Massachusetts Today s gliders share a common heritage Henry Stommel s vision published in 1989 in Oceanography Stommel 1989 Stommel imagined a fleet of vehicles that migrate vertically through the ocean by changing ballast and they can be steered horizontally by gliding on wings During brief moments at the surface they transmit their accumulated data and receive instructions Their speed is about 0 5 knot A prototype gliding vehicle was fielded as early as 1991 by Webb Research Corporation WRC This vehicle demonstrated the basic configuration of future gliders A few years later the Office of Naval Research sponsored Autonomous Ocean Sensing Network AOSN program led by Tom Curtin sponsored three groups to develop autonomous underwater gliders 24 iRobot amp 1KA Seaglider User s Guide System Overview All groups worked with similar design goals Small enough to be handled by two people Relatively low acquisition and operation costs Horizontal speeds of around 30 cm s Endurance of up to a year GPS positioning Two way data telemetry at the surface Basic sensor payloads including a Conductivity Temperature and Density By the year 2000 all groups had operational models that addressed these design goals e Slocum developed by Webb Research Corporation e Spray de
341. ol and press ENTER The menu in Figure F 28 is displayed FIGURE F 28 Roll Control Menu Roll control menu 1 read Current position 2 ad Move to position AD counts 3 eu Move to position deg for stbd 4 edit Edit roll parameters 5 cycle J Run roll uty cycles 6 cycle pr Run pitch amp roll duty cycles CTL O to quit 7 rolls Roll test CR Return to previous The method for accessing these options and performing tests is the same as it is for Pitch Control discussed in Pitch Parameters on page 378 The instructions for making edits to the roll parameters are located in Roll Parameters on page 379 The explanation for each parameter as well as the acceptable range of values is located in Chapter 5 Piloting Parameters on page 83 The exact values of SROLL MIN ROLL MAX and C ROLL that should be used for the Seaglider being queried are located on the trim sheets in the notebook shipped with Seaglider Note When making roll movements in degrees negative degree values roll the vehicle to port and positive degree values roll the vehicle to starboard To return to the Hardware Menu one level up press ENTER 400 iRobot amp 1KA Seaglider User Guide Appendix F Hardware and Configuration Menus VBD Menu To access the VBD menu Select 3 VBD Control and press ENTER The menu in Figure F 29 is displayed FIGURE F 29 VBD Control Menu ci VBD m
342. oll Stbd deg Roll Control deg Glide Angle buoy pitch 1 5 Buoyancy g VBD 10 cc m Time minutes VBD bias 0 cc 360 340 320 300 280 260 240 220 200 180 160 140 120 100 80 60 40 20 Heading M iRobot amp 1KA Seaglider User Guide 327 Appendix D Dive Data Visualization Software Plot 2 CTD Plot from Sea Bird CT Sail or Sea Bird GPTCD Plot 2 presents CTD data as Depth vs Salinity and Temperature on both the descent and ascent The depth data is measured through the glider s pressure sensor Several colors are used to denote temperature and salinity on descent and ascent PSU indicates practical salinity units SG524 Bener Susan o u Mission Start Time ff Mar 2011 19 26 53 9 10 40 4 E E i i 10 20 30 t4 i Uu 40 A UM 40 50 sd A 7 J50 O 60H 160 70 470 80 H a f 80 n n gai q salin piye t 99 Salin Climb i G Dive 100 H _ Temp Dive DA l Temp Climb o Climb T i i O 21 21 9 228 23 7 24 6 25 5 264 273 28 2 29 1 30 Salinity PSU c kg m Note When CTD data is not present orsg calib constants m file is incorrect the message CTD data does not exist for this dive will appear as seen in example below 328 iRobot amp 1KA Seaglider User Guide Appendix D Div
343. on The sleep time interval minutes during the recovery phase During the recovery phase Seaglider first gets a GPS fix then calls the basestation up to SCALL TRIES times to upload the GPS fix then goes into low power sleep for T RSLEEP length of time The surface evolution has about two minutes of overhead so that Seaglider calls are about ST RSLEEP 2 minutes apart in practice Nominal Value 3 Minimum Value 0 Maximum Value 14400 Definition The maximum amount of time seconds allowed to complete a turn during the active guidance and control G amp C mode If this timeout 1s reached before the heading is reached Seaglider rolls back to neutral and continues Nominal Value 225 Maximum Value 10 Maximum Value 720 T TURN SAMPINT Definition The sample interval during active and passive G amp C while turning This should be short enough so that Seaglider cannot pass entirely through the heading deadband without sampling Nominal Value 5 Minimum Value 4 Maximum Value 120 iRobot 1KA Seaglider User s Guide Parameters by Category T WATCHDOG Set by manufacturer Do not change Definition The value to which the watchdog timer is set minutes This is an information only parameter so Seaglider s software knows the watchdog timer value The watchdog timer itself 1s set with DIP switches on the main board If the watchdog timer expires the main processor is reset and Sea
344. one on battery power the sampling rate is often reduced to cut down on battery usage 220 iRobot 1KA Seaglider User s Guide Simulated Dives The format of the file looks like the example below See Appendix B Sea glider File Formats Manual on page 275 for more detail on targets files Science for Port Susan edit for Individual Seaglider w CT SBE 43F oxy WET Labs BB2FL VMT depth time sample gcint 10 4 122 60 40 4 144 120 f Save the changes g The simulated dives test is a good time to test the notification system provided by the pagers file The pagers file controls the automatic email pager and text message notification system The file allows any of four types of messages gps alerts recov comp to be sent to any valid email address or phone number This service is run by the data conversion script which is invoked by a Seaglider logout or disconnection Lines beginning with a ff are comment lines and are ignored in processing The gps message is sent after every connection and is the most recent GPS position The alerts message is sent when the basestation has a problem con verting a file or files The file may be corrupt and have to be resent by Sea glider to the basestation using the pdoscmds bat file see Appendix C Extended PicoDOS Reference Manual v66 07 on page 303 The recov message is sent when Seaglider goes into recovery mode This message includes the most recent GPS positio
345. ontrol algorithms are run depth time sample gcint 20 6 100 60 This row indicates that from the surface 0 meters to 20 meters the first sensor 50 12 100 180 should sample every 6 seconds The second and third sensors should be turned off During Guidance and Control all sensors should sample every 60 seconds 420 300 This row indicates that from 50 to 200 meters the first sensor should Sample every 12 seconds the second should sample every 24 seconds and the third sensor should be turned off During Guidance and Control all sensors should sample every 300 seconds 200 12 2 4 3 Command File cmdfile Refer to the Pilot s Guide for more information on the Command File 2 4 4 Pdos Commands File pdoscmds bat The file pdoscmds bat is created by the pilot and uploaded to the Seaglider It is used to deal with the Seaglider s software See the Extended PicoDOS Reference Manual for information iRobot amp 1KA Seaglider User s Guide 301 Appendix B Seaglider File Formats Manual 302 iRobot amp 1KA Seaglider User s Guide APPENDIX C Extended PicoDOS Reference Manual v66 07 This appendix contains the Extended PicoDOS Reference Manual v66 07 revised December 2009 You can use the copy command in addition to the commands in this reference copy lt source filename gt lt destination filename gt Description This command copies a source file to a destination specified
346. ook 37 5 sec 345mA 2623mA peak 22 9vmin 7 AD sec 1501 20446 560 HVBD N TRACK b 3830 3770 a 3831 3770 d 31 o 33 At the conclusion of the valve characterization Seaglider returns to the VBD menu 402 iRobot amp 1KA Seaglider User Guide Appendix F Hardware and Configuration Menus Valve Noise Test To check the VBD valve noise Select 6 Valve Noise Test and press ENTER Seaglider responds with Enter time in seconds to have the valve tested 1 Press ENTER if default answer 1 second is okay or enter another value and press ENTER Open Raise OPN before CLS Y Press ENTER if default answer Yes is okay if not enter N and press ENTER Close Drop OPN before CLS Y Press ENTER if default answer Yes is okay if not enter N and press ENTER Offset time in ms between valvelsignals 0 Press ENTER if default answer 0 is okay or enter another value and press ENTER Bleed 4 counts on 1 second open and 21 cbunts on close Pump back to starting state Y Press ENTER if default answer Yes is okay or enter N and press ENTER During the test Seaglider echoes the output to the computer Figure F 31 FIGURE F 31 Valve Noise Test 19952 303 HVBD N Pu 19953 8649 HVBD N 4 3136 3181 19954 449 HVBD N 6 n 19955 224 HVBD N 8 6 cc ad 3121 3165 19956 049 HVBD 19956 614 SMOTOR N Gc TICKS TIME 127 1290 19956 706 HVBD N done 19956 855 HVBD N Pump completed from 3
347. op N TTOWHH POT 80PSE ZIEGII ETI HWIL SMNOIL OD N MOLONS 800 80PGE AO LZ vZ AUTU VUT tApz bae Wug ApZ Xew BT SjOT3 HNOG MOLOW N MOLOWS 0G8 L0PG 61 O3 LOOHSAO qgIS us ze3euezed Hutjepdas Ic9I pe Dep P N TIONH 90Z SOPSE gt te 7087 Pep 00 0 93 L8ET SEP 90 0 uozy pepueuuoo TIOu N TIONH 0PC POPGE Te43neu O3 ITOw N MSDS 0G0 POPGE Z O I iP 0 OlLPI P O GIPL G NOVUL N TIOWH ZE6 0vGE SYOTI GGT O S GV 619 UTUAL 9 Greed wugez vug9 oes 6 YOOX L8 I Pep 90 0v 93 88LE Pep c8 LC uoag po3oIduoo TIOHW N TIONH 0EG 0PGE euop N I IONH PLE 0PGE O608LT 9LT HWIL SMNOIL OD N MOLOWS 6LC 0PGE AO0 LZ ApZ AUTU YWT E Apg Bae vug t Apg XU gl 9XOT3 SNOQ HOLOM 777 195 pe bep p IZ N TTIOHH 060 66 6 68 I bep 00 0P OF 88LE bep z8 Lz uoag pepueuuoo ONH N TIOWH 60 86 GS paeoqaeas OF I IOu N MSOS CL8 L6EGE 61 O T P 0 69L 0 S9LE MOVML N TIONH 9GL L6EGE SX2T3 G9 OeS dV 809 UTUAL 9C Qxeed vurcc WWOL oes 9 I 4002 88LE bep z8 Lz OF 0082 Pep II 0 uoag po3oIduoo TIOH N TIOHH T9 L6ESE A6 9Z ApC AUTU WUI ApC BAe VWUT Apc Xew SXOT2 3NOG HOLOW Z 0 ipe bep p 9 N TION AoueAong unurxeu oj dn Burdund N MSDnS 8L0 GPPG T9 O 6G P 2882 66672 2887 66672 d NOVNL N GHAH TG6 PPPGE SX9T3 OPET OeS dV ZT UTUAG 97Z eed vuseg GOG VPVGE euop N IgAH vGE YVVGE PPC6PEI LPEI HWIL SNOIL OD N MOLOWS OG
348. or closed toe shoes Tide chart for date of launch recovery Sensor plugs covers Rinse hose Paper towels Tie down straps and bungee cords Sunscreen Drinking water Sunglasses 440 iRobot amp 1KA SeagliderTM User s Guide APPENDIX J Warranty and Disclaimers Seaglider YM Warranty and Disclaimers 1 Warranty Exclusive Remedies and Warranty Disclaimers 1 1 Warranty iRobot WARRANTS THAT DEVICES SOLD HEREUNDER SHALL BE FREE FROM DEFECTS IN MATERIALS AND WORKMANSHIP UNDER NORMAL USE AND SERVICE WHEN CORRECTLY OPERATED IN ACCORDANCE WITH THE iRobot INSTRUCTIONS AND TRAINING FOR A PERIOD OF ONE 1 YEAR FROM DATE OF CUSTOMER ACCEPTANCE THE WARRANTY iRobot RESERVES THE RIGHT AND SOLE DISCRETION TO MODIFY THIS WARRANTY AT ANY TIME WITH WRITTEN NOTICE CUSTOMER S RECEIPT OF ANY DEVICE DELIVERED HEREUNDER SHALL BE AN UNOUALIFIED ACCEPTANCE OF AND A WAIVER BY CUSTOMER OF THE CUSTOMER S RIGHT TO MAKE A CLAIM WITH RESPECT TO SUCH DEVICE UNLESS CUSTOMER GIVES iRobot WRITTEN NOTICE OF ANY CLAIM WITHIN ONE YEAR AFTER THE RECEIPT OF SUCH DEVICE 1 2 Exclusive Remedy The sole obligation of iRobot and Customer s sole and exclusive remedy for a breach of the warranty in Section 1 shall be that iRobot shall use commercially reasonable efforts to repair and correct or at iRobot s option replace the Device which shall have been promptly reported in writing as iRobot a
349. ormation Custome SUDDONE n ny assays CHAPTER IKA Seaglider 23 Seaglider History a a tue cen th o SPS ia rs ove puede fep essaie System OVET VIE o H Seaglider Sensors iere eti eerte postenessdssscssencccesasersueseeessuescntesedsueee Standard Seaglider Sensors Optional Sensors 4s eee eee eoe RH CHAPTER2 Checking Out Crate Contents 29 Inspecting Seaglider s Shipping Container 30 Inspecting the Basestation Container 31 CHAPTER 3 Setting Up the System 33 Setting Up the Basestation I eene nennen enata sn nenann 34 Basestation Configuration 34 Basestation LOG IAuis as eee eee eee eet oan ea enne eee yea PE LY nd ened 34 Internet Configuration 35 Setting Up the Basestation Directories and Files 35 Setting Up Seaglider s Interface Computer 37 iRobot amp 1KA Seaglider User s Guide CHAPTER 4 Setting Up the Pre Flight Diagnostic Laptop 37 Assembling Seaglider s Cradle
350. ot amp 1KA Seaglider User s Guide Setting Up Seaglider s Interface Computer Setting Up a Visualization Site If you have a visualization site for the Seaglider data set up the communication and data transfer between the basestation and the visualization site Edit the url file on the basestation to send data to the visualization site This set up is site user specific Your IT department can set it up Setting Up Seaglider s Interface Computer The basestation interface computers are ones that pilots can use to connect to the basestation over the internet Compared to the basestation there is much more flexibility in how they are set up Any OS is acceptable including Linux Windows or Mac OS X Any software that provides Secure Shell SSH and Secure File Transfer Protocol SFTP is acceptable as well Note The program SSH Secure Shell is a secure replacement for telnet and the Berkeley r utilities rlogin rsh rcp and rdist It provides an encrypted channel for logging into another computer over a network executing commands on a remote computer and moving files from one computer to another SSH provides strong host to host and user authentication as well as secure encrypted communications over an insecure Internet iRobot usually uses Windows for the OS PuTTY open source for the SSH client and Windows Secure CoPy WinSCP as the SFTP client However there are dozens of programs that you can use on all three operating s
351. ot m E dveplot func asy Fe diveplot_func m fe getPlotFigureHandles m Fe gide_stope m FE eecrovism EH eecrpvis mat E GPCTDVIs mat cld B GPCTDVIs_gui asv GPCTDVis_oui fig fe GPCTDVis gum E icense bt s gt fiet so bathym load so bathy m E8 losdePCTD asv fe loadcPCTO m Fe mkbathymap m Fe mkbathyset m Fe netedf m Fe parsecfg m z E 3 lt Select a file to view details este Set Current Folder Once the MATLAB IDE is displayed on your computer monitor the current folder must be set to the folder created called Dive Plot or alternate name given above containing the visualization software Below is an illustration iRobot amp 1KA Seaglider User Guide 317 Appendix D Dive Data Visualization Software At the top of the MATLAB IDE the Current Folder field must contain the path to where you extracted the visualization software One method is to type in the path An alternate method is to MATLAB 7 10 0 R2010a Fie Edit Debug Desktop Window Help D Ll Ha a 9 w ae ia g o Current Folder E Seaglider visualization trunk diveplat v c amp Shortcuts Howto Add A What s New Editor E Seaglider visualization trunk diveplot commonFiles readSeagliderData m AA m OS mcm ksmmBOC 9O M 9 F PJ 8X
352. ote The bound on the depth interval is dependent on pressure sensor resolution Choices made in the science sampling have an impact on the energy use of Seaglider More samples and shorter G amp C intervals use more processor and sensor power than do fewer samples and longer G amp C intervals PicoDOS Commands Batch File This file contains picoDOS direct actions such as resending dive files from Seaglider to the basestation and changing targets out of seguence Examples of pdoscmds bat files are below If Seaglider is flying toward the target called WPONE in the example on page 312 under the targets description and the pilot wants to redirect it to head toward WPTHREE at the next surfacing the pdoscmds bat file looks like target WPTHREE If the pilot wants Seaglider to resend all files from dive 2 to the basestation the pdoscmds bat looks like resend dive 2 See resend dive on page 312 Multiple commands can be sent in the same pdoscmds bat file For example if the pilot wants dive 2 resent and wants to change the waypoint Seaglider is heading to to WPTHREE the pdoscmds bat file looks like target WPTHREE resend dive 2 Order of the commands in the pdoscmds bat file is not critical For a full list of commands that can be included in the pdoscmds bat file refer to the Appendix C Extended PicoDOS Reference Manual v66 07 on page 303 iRobot amp 1KA Seaglider User s Guide 245 Chapter 9 Files for Operations
353. owth of bio organisms and eliminating the use of acid in most cases Wash down the exterior of the Seaglider allowing the water to flow through the conductivity and temperature sensor A Caution DO NOT use a power washer near the sensors Place the Seaglider cradle combination so that Seaglider s nose is downward Flush the conductivity and temperature sensor with deionized water If your Seaglider is configured with additional sensors be sure to rinse thor oughly with deionized water 260 iRobot amp 1KA Seaglider User s Guide Deep Cleaning Seaglider FIGURE 11 1 Post Deployment Seaglider Cleaning SEAG 030 10 8 Flush the CTD sensor with deionized water The conductivity cell should be left moist but not filled with water Should the water freeze inside the cell the glass tubing could crack 9 Replace the dust caps on all of the science sensors Deep Cleaning Seaglider If there is more than one week between missions if Seaglider has been deployed for multiple months or if there are signs of biofouling on the fairing you must deep clean Seaglider by completing the following steps 1 Remove the wings rudder fore and aft fairing so that only the antenna remains attached to the pressure hull iRobot amp 1KA Seaglider User s Guide 261 Chapter 11 Operator Level Maintenance 2 Using a fresh water tank soak all pieces overnight 12 hours 3 Dry with a soft cloth 4 Put Seagl
354. p the data section contains the depth of the bottom at each grid point expressed in integer meters The data is stored in column major order For an ice map the data section contains ice condition values for the time period between the start and end dates at each grid point Ice condition values are stored as 2 bit integers packed sequentially together into sixteen equal length periods spanning the dates between start date and end date Valid condition codes are 0 always surface 1 possibly ice 2 probably ice 3 always ice As an example for a start date 0 0 iRobot amp 1KA Seaglider User s Guide 297 Appendix B Seaglider File Formats Manual and end date 365 0 the lowest two bits of the value at any grid point encode the ice condition for the first 23 days of the year Bits 2 and 3 cover the condition for the next 23 days etc 2 3 2 Battery File BATTERY The Battery File is used by the glider to keep track of power consumption throughout the time the glider is using the battery pack The Battery File is not intended to be edited by the user Pitch_motor 3041 069 Amp seconds drawn by this device since the battery pack power tracking was initiated See DEVICES and SENSORS in the Log File section of this document Roll motor 990 029 VBD pump during apogee 216074 641 VBD pump during surface 82015 531 VBD valve 0 000 Iridium during init 17540 021 Iridium during connect 9597 448 Iridium during xfer 48699 711 T
355. pe is 0 009766 psia per A D count Nominal Value 0 009766 Minimum Value 0 001 Maximum Value 1 INT PRESSURE YINT Set by manufacturer Do not change Definition The y intercept of the linear calibration of the internal pressure sensor Nominal Value 0 Minimum Value 5 Maximum Value 5 iRobot amp 1KA Seaglider User s Guide Parameters by Category KALMAN_USE LENGTH Definition The control parameter for the run state of the Kalman filter navigation program The NAV_MODE parameter controls whether the Kalman filter output heading is used to control Seaglider This separation of functions allows the Kalman filter to be run but not used while it learns the currents O Resetthe Kalman state vector and origin of local Kalman coordinate system to 0 and restart the filter 1 Runthe Kalman filter 2 Do not run the Kalman filter Examples If KALMAN USE is 0 or 1 and SNAV MODE is 1 the SKALMAN USE filter results are used to determine Seaglider s heading If SNAV MODE is 1 but KALMAN USE is 2 not being run Seaglider acts as though NAV_MODE is 0 Nominal Value 1 Minimum Value 0 Maximum Value 2 Definition Length in meters of the Seaglider direct control Not to be changed by the user iRobot amp 1KA Seaglider User s Guide 119 Chapter 5 Piloting Parameters LOGGERS Definition A bit mask that tells Seaglider which of the autonomous logging dev
356. phone call Nominal Value 0 Minimum Value 0 Maximum Value 2 FIX MISSING TIMEOUT Set by manufacturer Do not change Definition An integer used only for debugging iRobot amp 1KA Seaglider User s Guide Parameters by Category GLIDE_SLOPE GPS_DEVICE Set HD_A Definition The absolute value of the maximum glide slope degrees allowed for Seaglider The glide slope is calculated on board Seaglider to best achieve the goals of the next dive The stall angle provides the lower limit this parameter is the upper limit Nominal Value 30 Minimum Value 10 Maximum Value 90 by manufacturer Do not change Definition A configuration value specifying the model of the attached GPS device These devices have dedicated hardware ports on all motherboard revisions and as such a port specification is not necessary A GPS device must be defined cannot be 1 Nominal Value 32 Minimum Value 0 Maximum Value 1023 Definition The hydrodynamic parameter representing the lift coefficient determined empirically and used in Seaglider s on board performance prediction and guidance calculations Nominal Value 0 003836 Minimum Value 0 001 Maximum Value 0 005 iRobot amp 1KA Seaglider User s Guide 115 Chapter 5 Piloting Parameters HD_B HD_C HEAD_ERRBAND Definition The hydrodynamic parameter representing the drag coefficient determined empirically and used in S
357. ple file manipulation utilities The TOM8 and PicoDOS commands are documented in the PicoDOS User s Guide of November 2000 which is incorporated into this document by reference The extensions below provide additional functionality either to extend PicoDOS6 generally or to provide Seaglider specific functions iRobot amp 1KA Seaglider User s Guide 305 Appendix C Extended PicoDOS6 Reference Manual v66 07 Chapter 2 List of Extended PicoDOS Commands Help and exit pdos tom8 quit File manipulation and data bathycat lt filespec gt gt gt gt lt outfile gt del rm v lt filespec gt gunzip zipped file file gzip file lt zipped_file gt md5 lt signature gt lt file gt ren rename lt file1 gt lt file2 gt resend dive I d c t dive lt fragment gt science split filename strip1a filename lt size gt sumasc lt file gt tar c x lt file gt lt filespec gt xs put xr get lt filespec gt Control PARAM value clearnv lt passphrase gt dumpnv readnv lt varname gt reboot run file arguments target targets new target lt radius gt writenv varname value Diagnostics capvec lt service gt level lt dest gt flash errors menu menuspec lt arguments gt 306 iRobot amp 1KA Seaglider User s Guide Appendix C Extended PicoDOS Reference Manual v66 07
358. port settings for the emulation program are 9600 8 N 1 no hardware handshake local echo off and ENTER to CR 4 Turn on the screen capture on the laptop if it 1s not already on The method to do this varies with the terminal emulation program used 5 Take one of the magnetic wands from the shipping case Figure 3 12 iRobot 1KA Seaglider User s Guide 49 Chapter 3 Setting Up the System FIGURE 3 12 Seaglider Magnetic Wand cg YP alb SEAG 021 09 6 Slowly move the magnetic wand over the ON symbol on the starboard side of Seaglider 20 aft of the nose for at least 1 second to turn Seaglider on Make sure that the wand 1s touching the fairing while moving it over the ON symbol see Figure 3 13 on page 51 Several seconds after being turned on Seaglider responds by sending lines of output to the laptop screen If you do not see any output on the laptop screen move the wand slowly around the mark making a slight outward spiral until you do 50 iRobot amp 1KA Seaglider User s Guide Checking Out the Seaglider System FIGURE 3 13 Wanding Seaglider On Starboard ON SEAG 028 10 Note Hold the wand on the starboard side to turn Seaglider on and on the port side to turn Seaglider off Use the mnemonic Right ON to remember which side is On and Off 7 Within one minute of seeing output on the screen press ENTER 8 In response to the date and tim
359. position deadband cm Nominal Value 2 Minimum Value 0 Maximum Value 10 VBD MAX Set by manufacturer Do not change Definition Variable Buoyancy Device VBD position A D counts software limit when the internal reservoir is almost full external bladder fully bled minimum Seaglider buoyancy Seaglider s operating software closes the VBD main bleed valve Skinner valve when this value is reached The builder or assembler typically sets this Typical Value 4000 Value determined by the software maximum of the system Obtain actual value from the vehicle s trim sheet 154 iRobot 1KA Seaglider User s Guide Parameters by Category VBD MAXERRORS Definition Number of VBD errors allowed before entering recovery phase This is a critical error parameter Loss of VBD function can result in the loss of Seaglider Nominal Value 1 Minimum Value 0 Maximum Value 5 VBD MIN Set by manufacturer Do not change Definition Variable Buoyancy Device VBD position A D counts software limit when the internal reservoir is almost empty external bladder fully pumped Seaglider s operating software stops the VBD pump when this value is reached The equipment manufacturer or assembler typically sets the VBD Typical Value 460 Value determined by the software minimum of the system Obtain actual value from the vehicle s trim sheet VBD PUMP AD RATE APOGEE Set by manufacturer Do not change
360. ppendix F Hardware and Configuration Menus Characterize Valve To characterize the valve e Select 5 Characterize Valve and press ENTER Seaglider responds with Delay in seconds on bleeds before checking progress 2 If a 2 second delay the default is acceptable press ENTER Otherwise type in a new value and press ENTER VBD change assumed after how many counts 2 If 2 counts the default is acceptable press ENTER Otherwise type in a new value and press ENTER 47 Valve opened at 0 ms 45 44 44 43 42 42 43 0 valve closed at 7 ms Pump back to starting state Y Press ENTER to continue test To stop the test type N and press ENTER Seaglider echoes the valve activity to the screen Figure F 30 FIGURE F 30 VBD Valve Characterization 19727 304 HVBD N Pump commanded from 122 65 cc 3656 to 10 55 cc 3113 19728 636 HVBD N 121 9 cc ad 3653 3692 3611 19729 461 HVED N 119 7 cc ad 3644 36 36031 19730 286 HVBD N 117 7 cc ad 3636 3676 3595 20442 731 HVED N 163 1 cc ad 3821 3850 3791 20443 581 HVBD N 161 4 cc ad 3814 3842 3783 I 20444 406 HVBD N 159 2 cc ad 3805 3833 3775 20445 206 HVBD N 157 7 cc ad 3799 3829 3769 MOTOR DONE ticks 20 max 24v 6 1mA avg 24v 3 8mA minv 24v 23 5V 20445 830 SMOTOR N GC TICKS TIME 1725 1730380 20445 925 HVBD N done 20446 086 HVBD N Pump completed from 230 09 cc 4094 to 157 48 cc 3798 3829 3768 t
361. proximately what angle is the nose pitch down in the water How much of the rudder or antenna is sticking out of the water On land and in water testing of the transponder system Mission Planning Mission planning is an important part of Seaglider piloting and the initial plan should be developed well before the vehicle is transported into the field for deployment A basic understanding of Seaglider s operation strengths and weaknesses is critical to planning effective science missions The general idea is to go far and long by going slow it s the sguare law dependence of drag on velocity that gets you Half a knot on half a Watt Seaglider motto The following sections give the operating limits of Seaglider Environment The range of stratification in which a Seaglider can operate normally is constrained by the total amount of VBD change available and the amount of negative buoyancy reguired for the flight plan Pilots and or scientists directing Seaglider s mission should determine the likely range of densities to be encountered on a proposed mission and see if there is sufficient VBD range available to accommodate it A typical Seaglider can operate over a density range of 1007 Compromises can be made by reducing maximum operating depth at the expense of duration or by reducing thrust at apogee at the expense of horizontal speed The maximum sustained depth averaged current that Seaglider can stem is 40 cm s or 0 8 kno
362. r 3 Setting Up the System Note You do not have to do anything during the self test but you should monitor the process on the laptop for any warnings or errors An example of the files sent to the basestation via Iridium at the end of the self test as well as the output after the files are processed on the basestation are listed below Carefully review the processed files for any warnings or errors In the following example files generated by Seaglider during a self test and sent to the basestation via Iridium st stands for self test and 0007 means this is the seventh self test done on this Seaglider st0007du b 1a x00 st0007du b x00 st0007du r st0007du x00 st0007du x00 st0007du x00 st0007kz r st0007kz x The basestation processes the output files and produces the files listed below The pt portion of the file name stands for processed test The next three digits are Seaglider s number and the 0007 is the number of the self test See Sea glider Generated Files on page 246 for an explanation of each file pt5130007 asc pt5130007 cap pt5130007 dat pt5130007 eng pt5130007 log pt5130007 asc iRobot amp 1KA Seaglider User s Guide Checking Out the Seaglider System 10 Do one of the following IE THEN There are no warnings or errors in any of the files expected outcome the test is complete Go step 11 There is a problem during the testing the final lines from t
363. r accessing test functionality while the glider is operating in the field In addition to menu selections you can also execute extended PicoDOS commands and parameter changes at any menu prompt PicoDOS commands are preceded by a 1 For example tying the command below displays the directory of the compact flash card Enter selection 1 5 CR dir You can also reach the extended PicoDOS prompt picoDOS gt gt from any menu by typing pdos Parameters can be viewed or changed simply by typing their full name with leading This command would display the value of T_DIVE Enter selection 1 5 CR ST DIVE While this command would change the value of T DIVE to 30 Enter selection 1 5 CR ST DIVE 30 iRobot amp 1KA Seaglider User Guide 369 Appendix F Hardware and Configuration Menus Parameters and Configuration Menu To view the Parameters and Configuration menu Figure F 2 Select 1 and press ENTER FIGURE F 2 Parameters and Configuration Edit parameters Flight control and mission definition basic dive flight surface rafos password telnum altnum Pitch roll VB 9 pitch 10 roll 11 vbd Sensors and per 12 config 13 pressure 14 intpress 15 compass 16 altim 17 seabird 18 power Uti lity 19 all 20 validate 21 details 22 show 23 clear 24 save 25 dump 26 load 27 reset COW O cn PF co J E LLL UL JL CIL CIL CIL L L LU CJ LIL
364. r critical and means that only output considered critical to glider function will be printed For the most part this consists of dire problems with hardware or software like motor errors or buffer overruns D stands for Debug and is used for extended diagnostics This output can be guite voluminous and it is recommended that this only be set on specific services when it is known that some needed output will be captured Most services do not have output in this level currently but work is ongoing to add extended diagnostics under this output level Time in seconds since the start of the dive 2967 080 HTT8 N Writing NVRAM done 2995 325 HGPS N Acquiring GPS fix 2998 197 HGPS N VVVVA 270407 140904 4806 097168 12222 047852 1 500000 13 13 seconds 3009 584 HTT8 N Updating parameter T GPS CHARGE to 13320 147 iRobot amp 1KA Seaglider User s Guide 289 Appendix B Seaglider File Formats Manual The capture file gives the following information regarding every pitch roll and VBD maneuver 876 356 HROLL N Roll commanded from 39 80 deg 3384 to 0 00 deg 1976 877 415 HROLL N 34 5 deg ad 3195 Updating parameter R_PORT_OVSHOOT to 18 880 082 SMOTOR N MOTOR_ DONE ticks 1 max 24v 0 006A avg 24v 0 006A 880 215 SMOTOR N GC TICKS TIME 117 119500 880 304 HROLL N done If problems occur they are reported here 132 434 HPITCH N Pitch completed from 8 87 cm 1472 to 1 24 cm 3130 took 17 0 sec 0 292A 0 37
365. ransponder ping 873 774 Mmodem TX 0 000 Mmodem RX 0 000 GPS 5227 668 TT8 11375 065 LPSleep 3565 161 TT8 Active 9204 906 TT8 Sampling 30932 490 TT8 CF8 25142 061 TT8 Kalman 2861 964 Analog circuits 10045 106 GPS charging 0 000 Compass 5552 722 RAFOS 0 000 Transponder 126 060 SBE CT 5738 196 SBE O2 4966 481 WL BB2F 59876 422 298 iRobot amp 1KA Seaglider User s Guide Appendix B Seaglider File Formats Manual 2 3 3 Compass Calibration File TCM2MAT 123 Seaglider serial number The compass is calibrated in the assembled glider to account for effects of the metal on the compass readings This file is stored on the glider by the assembler and is not intended to be edited by the user Example Compass Calibration File tcm2mat sparton_SN100 sg123 080807 Date of last calibration ddmmyy Seaglider serial number compass type and serial number 0 0184 0 8424 0 1660 0 0466 0 0133 0 9603 0 0447 0 0185 0 0984 0 0018 0 0018 0 0010 0 1054 0 0004 0 0008 0 0012 0 1040 53 9472 17 3493 5 8241 compass calibration values 2 3 4 Capvec File The Capvec File is parsed by the glider and updates one or more elements of the Capture Vector Normally this file is not used except for glider provisioning See the capvec and parse_capvecfile commands in Extended PicoDOS Reference Manual for details on updating the Capture Vector and the section Capture Files in the Seaglider Pilot s Guide for details how and when to us
366. red OZI O3 M ON L ie3eueied GI O3 SdD L z93euezred 90 e9 Z O3 DP L QHIGVHS 1e3euezred S0 9100000v Z OF I L QHIGVHSS ze3ewezed 0000009000 0 92 H L QHIGVHSS 1e3eueied c000000P00 0 OF 9 QuigVHs ze3euezed G0 9L666666 6 OF C O GHIGdVHS 1e3euezed v 100 0 O3 I O QuIGVSS Teqewered Z0000009 0 92 H O qwWIgVs8S ze3euezed TI 92 9 O dulavass zejewered IEZ O3 NIW TIONS zejewezred Z6LE O3 XVW TIONS ze3euezred I000L2820 0 O3 ANO TION zejeuezed OSE O3 HLY QV TIONS ze3euezed PP8L6SIT000 0 O3 HdOTS mHHOSSHNd Iojeuezed 91 O3 IDOHWIL HOLId 2e3euezed burae burae burae burae burae burae but je burae burae bute burae burae but je but ze burae pute but ze burae but je but ze bute bute bute burae burae but ze pueuuoo pesreg N HAICS SZT pdn N 8LlH 8S0 pdn N 8LlH ZzZv pdn N 8LlH Svt pdn N 8LLH GC pdn jN 8LLH TI8I pda N 8LLH 90T Pdn N 8LLH Pc0 Ddn N 8LLH 8P6 pdn N 8LlH tL8 pdn N 8LLIH v08 pdn N 8LIH vEL pdn N 8LlH 999 pdn N 8LlH vtt pdn N 8LlH lvZ pdn N 8LlH Lvl pdn N 8LlH 9S0 pdn N 8LlH t96 Pdn N 8LLH GL8 Pdn N 8LLH G8L Pdn N 8LLH OL pDdn N 8LLH 92c9 pdn N 8LLlH 0SS pdn N 8LlH g9v pdn N 8LlH g8t pdn N 8LLH C6c Pdn N 8LLH IIC Pc Pc cr cr vev cr Pc yc Pc cv cr vev cr Pc wo i wm OO A ee Se lt m s eer d Oy 0 LA MD Sul i a bM lt p lt lt i I i i MPO MPO MD MP XP lt
367. rmation see Chapter 3 Setting Up the System on page 33 Seaglider acknowledges the update and the user is returned to the Parameters and Configuration menu FIGURE F 10 Verifying Basestation Telephone Number in Seaglider 6561 080 SUSR N Current telnum is 12062215341 New telnum 15 char max length CR to leave unchanged 19194841429 6605 038 SUSR N Changing t lnum to 19194841429 376 iRobot amp 1KA Seaglider User Guide Appendix F Hardware and Configuration Menus Altnum To access the Alternate Basestation Telephone Number from the Parameters and Configuration menu Select 8 Altnum and press ENTER The present alternate basestation telephone number is displayed Figure F 11 FIGURE F 11 Verifying Basestation Alternate Telephone Number in Seaglider 6699 777 SUSR N Current altnum is 12062217301 New altnum 15 char max length CR to leave unchanged 19193612847 a ss Dg altnum to 19193612847 To edit a parameter value follow the procedures in Telnum on page 376 iRobot amp 1KA Seaglider User Guide 377 Appendix F Hardware and Configuration Menus Pitch Parameters To access the Pitch Parameters menu from the Parameters and Configuration menu Select 9 Pitch Parameters and press ENTER The menu in Figure F 12 is displayed The present value for each parameter is shown in brackets to the right of the parameter name The explanation for each parameter as well a
368. rn off the GPCTD m Press ENTER until you return to the main menu and wand off the Seaglider before continuing onto other tasks 58 Turn off Seaglider a Move the magnetic wand over the OFF symbol on the port side of Seaglider about 20 aft of the nose for at least 0 5 seconds Make sure that the wand is touching the fairing b While moving the wand over the OFF symbol press or have someone else press ENTER on the laptop keyboard c Continue moving the wand around the OFF symbol and pressing ENTER until the laptop screen shows no response to pressing ENTER 59 Disconnect the communication cable from Seaglider and the laptop and reinstall the dummy plug on Seaglider s communication connector 60 If it is easier to store or move Seaglider in its cradle without the antenna mast attached you can detach it leave the cables attached to aft end cap See the section Detaching the Antenna Mast 61 Stow Seaglider iRobot amp 1KA Seaglider User s Guide Simulated Dives Simulated Dives Simulated dives are so named because they are done without Seaglider being in the water They should be done outside so that the antenna mast has a clear view of the sky Simulated pressure and pitch observations SIM_W and SIM_PITCH respectively are generated to allow test dives This is a valuable way to test the end to end data path because the basestation is not only involved but has to deal with bi directional file transmis
369. romophoric Dissolved Oxygen Matter CDOM and optical backscatter Using satellite based communications the system transmits collected data to the basestation each time it surfaces The following sections describe the sensing devices Standard Seaglider Sensors The following third party sensors are installed as standard equipment in Seaglider PAINE strain gauge pressure sensor iRobot 1KA Seaglider User s Guide 27 Chapter 1 1KA Seaglider Optional Sensors The following optional third party sensors have been installed in select Seagliders Sea Bird 43F dissolved oxygen sensor pumped Sea Bird dissolved oxygen sensor unpumped Sea Bird CT Sail Aanderaa dissolved oxygen WET Labs ECO Pucks Photosynthetically Active Radiation PAR sensor Payload Conductivity Temperature Density GPCTD sensor The pilot controls the freguency of science data collection by specifying sensor sampling intervals 28 iRobot amp 1KA Seaglider User s Guide CHAPTER 2 Checking Out Crate Contents This chapter introduces the 1KA Seaglider standard components and optional eguipment The following topics are covered e Inspecting Seaglider s Shipping Container on page 30 e Inspecting the Basestation Container on page 31 iRobot amp 1KA Seaglider User s Guide 29 Chapter 2 Checking Out Crate Contents Inspecting Seaglider s Shipping Container Seaglider is shipped in a reusable conta
370. rt 935 HPITCH N Pitch commanded from 8 74 cm 385 to 8 50 cm 460 053 HPITCH N 8 5 cm ad 449 MOTOR DONE ticks 8 max 24v 3 8mA avg 24v 3 lmA minv 24v 23 5V 551 SMOTOR N GC TICKS TIME 26 28391 77 641 HPITCH N done 877 783 HPITCH N Pitch completed from 8 74 cm 385 to 8 54 cm 449 took 0 4 sec 284mA 302mA peak 23 1vmin 170 AD sec 15 15878 176 HPITCH N TRACK b 446 0 a 448 0 d 1 o 1 15878 403 HPITCH N Pitch commanded Prom 8 54 cm 449 to 1 50 cm 3659 15879 585 HPITCH N 8 3 cm ad 15880 335 HPITCH N 7 9 cm ad 668 15881 110 HPITCH N 7 4 cm ad 815 15881 860 HPITCH N 7 0 cm ad 953 15882 635 HPITCH N 6 5 cm Cad 1094 15883 410 HPITCH N 6 1 cm ad 1234 15884 160 HPITCH N 5 7 cm ad 1371 15884 935 HPITCH N 5 2 cm ad 1513 15885 710 HPITCH N 4 8 cm ad 1657 15886 460 HPITCH N 4 3 cm ad 1796 15887 210 HPITCH N 3 9 cm ad 1938 15887 985 HPITCH N 3 5 cm ad 2075 15888 760 HPITCH N 3 0 cm ad 2215 15889 510 HPITCH N 2 6 cm Cad 2352 15890 285 HPITCH N 2 2 cm Cad 2491 15891 035 HPITCH N l 7 cm Cad 2626 I 15891 785 HPITCH N l 3 cm Cad 2765 15892 560 HPITCH N 0 9 cm Cad 28959 15893 310 HPITCH N 0 5 cm Cad 30299 15894 060 HPITCH N 0 1 cm ad 31599 ad 15894 835 HPITCH N 0 3 cm ad 3288 15895 585 HPITCH N 0 8 cm ad 3422 Pitch motor timeout 15896 235 HPITCH N 15896 385 HPITCH N 1 1 cm ad 3521 MOTOR DONE ticks 17 max 24v 3 8mA avg 24v 3 8mA mi
371. ry dive send the most recent GPS position and if the glider is in recovery the recov code 2063335555 vtext com gps alerts recov 2061239999 vtext com gps alerts lridium Phone 88 1645559999 msg iridium com gps 2 2 4 URLS urls The Dot URLs file is read by the basestation following processing of dive data triggered by a Seaglider logout It specifies URLs on which to run GET for each processed dive This can be used for any supported httpd function and is mainly used to poll for data transfers to support visualization servers The first entry on iRobot amp 1KA Seaglider User s Guide 295 Appendix B Seaglider File Formats Manual the line is the timeout in seconds to wait for a response to the GET It is separated from the URL by a tab convert pl adds arguments instrument name sg amp dive with the proper separator Comments in the file are indicated by a Example urls file 1 http iop apl washington edu glider cgi bin update cgi 2 2 5 Basestation Log baselog 000000999999 baselog log Time hhmmss time zone as kept on basestation D ate ddmmyy The baselog file is produced by the basestation and logs the output from the scripts that perform the data conversion and notification functions of the basestation It is written during each invocation This file is the first place to look when debugging problems with the data conversion If the basestation cannot process a file it sends an alert to any
372. ry to direct Seaglider to targets There are also three optional fields which can be added as columns in the targets file They are escape WPONE depth 100 finish 90 where The escape target specifies what target to move to if Seaglider has been unable to navigate for a specified length of time stuck under an object The escape target must be a valid named target 240 iRobot amp 1KA Seaglider User s Guide Files Placed on the Basestation by the Pilot The depth allows the pilot to define the target as a depth The finish specifies a direction degrees and establishes a finish line through the target perpendicular to the direction specified The target is considered achieved when the difference between the bearing to the target and the finish direction is greater than 90 or less than 90 degrees Example 1 Finish direction of 90 specifies a north south finish line drawn through the target the target is achieved when Seaglider is east of the line Example 2 Finish direction of 180 specifies an east west finish line target is achieved when Seaglider is south of the line A value of 1 or no specification of finish means that no finish line is tested For new missions Seaglider heads to the first waypoint listed in this case the one called NCSPONE To change the waypoints file during a mission the pilot can upload a new targets file when Seaglider surfaces However use caution when doing this Ifa
373. s 3 Communications Wireless communication via Iridium satellite begins following acguisition or time out of GPS1 Seaglider powers up the Iridium phone waits a specified time for registration with the Iridium system and then attempts a data call to the basestation Once the connection is established Seaglider logs into the basestation as a dial up user and uses a modified XMODEM protocol to transfer files Data and log files are transferred from Seaglider to the basestation and command control diagnostic and special purpose files are transferred from the basestation to Sea glider See Chapter 9 Files for Operations on page 237 If all file transfers were not accomplished Seaglider waits SCALL WAIT sec onds and tries again It tries to call up to SCALL_ TRIES times and if unsuc cessful continues with the surface phase marking files as appropriate for later transfer and incrementing the N NOCOMM parameter 4 Measure Surface Depth and Angle After the communications session Seaglider computes the average of 10 pres sure readings and then the average of 10 pitch angles to obtain a measurement of Seaglider s surface position These values are written into the log file for the next dive 5 GPS2 After the surface pressure and pitch angle averages are completed a second GPS fix GPS2 is acguired This fix is the most recent position of Seaglider prior to diving 6 Navigation and Flight Calculations The
374. s roll i Average current used by the roll motor in amps pitch ad Position of the pitch motor in AD counts at the end of the motor move roll ad Position of the roll motor in AD counts at the end of the motor move vbd ad Position of the VBD in AD counts at the end of the motor move pitch retries number of retries instantaneous AD rate of move less than PITCH AD RATE during this motor move pitch errors number of pitch motor errors timeouts during this motor move roll retries number of retries instantaneous AD rate of move less than ROLL AD RATE during this motor move roll errors number of roll motor errors timeouts during this motor move vbd retries number of retries instantaneous AD rate of move less than SVBD PUMP AD RATE APOGEE VBD PUMP AD RATE SURFACE or VBD BLEED RATE as appropriate during this motor move vbd errors number of VBD errors timeouts during this motor move GC 15 1 70 218 4 0 0 0 0 0 59 0 00 0 00 41 92 0 000 2 0 000 0 000 326 2165 2436 0 0 0 0 0 0 GC 60 1 70 219 0 3 2 3 9 7 115 11 95 2 45 34 53 0 000 4 0 180 0 062 2341 3533 3851 0 0 0 0 0 0 GC 275 1 70 219 0 47 8 22 3 47 281 0 00 2 28 0 00 0 000 6 0 000 0 025 2341 2181 3853 0 0 0 0 0 0 GC 596 1 70 219 0 120 2 20 3 108 601 0 00 2 50 0 00 0 000 4 0 000 0 045 2341 759 3854 0 0 0 0 0 0 GC 665 1 70 219 0 134 5 21 4 114 672 0 00 2 33 0 00 0 000 6 0 000 0 023 2342 2149 3855 0 0 0 0 0 0 lines omitted GC 13111 2 12 489 2 70 3 12
375. s travel timeouts date time 16 develop Developer tests CR Return to previous Enter selection 1 16 CR 12 Loggers menu d ipe GPCTD 2 empty CR Return to previous Enter selection 1 2 CR 1 b Press 2 and press ENTER to enter the Hardware Menu c Press 12 and press ENTER to enter the Loggers Menu d Press 1 and press ENTER to enter the GPCTD menu iRobot amp 1KA Seaglider User s Guide 193 Chapter 7 Pre Launch Procedures FIGURE 7 6 Turning off the GPCTD F Logger device test menu 1 on Turn on 2 off Turn off 3 selftest Selftest 4 sample Report a sample 5 syncclk Synchronize device clock to TT8 6 clock Read device clock 7 file Get file from device 8 action Execute logger action 9 config Show configuration 10 edit Edit configuration 11 direct Direct comms CR Return to previous Enter selection 1 11 cR 11 35 883 HGPCTD N RX 10 Tx 11 36 579 SUSR N Starting breakable loop Ctrl O to end S GetCD ConfigurationData DeviceType SBE Glider Payload CTD SerialNumber 70100016 gt lt SampleDataFormat gt HEX engineering lt SampleDataFormat gt RS232ForceOn yes lt RS232ForceOn gt lt TxRealTime gt no lt TxRealTime gt lt SampleInterval gt l lt SampleInterval gt lt SampleMode gt Continuous lt SampleMode gt lt AutoRun gt no lt AutoRun gt lt SBE43 gt yes lt SBE43 gt MinCondFreq 3212 0 MinCondFreq
376. s ENTER Below is an example showing and A D count change to 395 and the resulting motor movement Figure F 26 iRobot amp 1KA Seaglider User Guide 395 Appendix F Hardware and Configuration Menus FIGURE F 26 Pitch Motor Movement By Changing A D Counts Move to AD 385 395 15599 680 HPITCH N Pitch commanded from 8 74 cm 385 to 8 71 cm 395 15600 932 HPITCH N 8 7 cm ad 385 MOTOR DONE ticks 24 max 24v 4 6mA avg 24v 3 8mA miny 24v 23 6V 15601 402 SMOTOR N GC TICKS TIME 27 28663 15601 492 HPITCH N done At the end of the motor movement the user is returned to the Pitch Control Menu Change the cm centimeters of movement To use this method 1 Select 3 Move to Position cm and press ENTER The response to this command is the same as the response to changing the A D counts 2 Type a cm value and press ENTER A positive value moves the pitch motor towards the aft end of Seaglider a nega tive value moves the pitch motor towards the nose Seaglider outputs the result ing movement like it did for the A D count change above At the end of the motor movement the user is returned to the Pitch Control Menu Edit Pitch Parameters To access the Pitch Parameters menu for editing Select 4 Edit Pitch Parameters and press ENTER The menu shown in Figure F 12 is displayed The present value for each parameter is shown in brackets to the right of the parameter name The explanation for ea
377. s cradle nose down antenna pointing up within 40 of vertical and make sure the antenna has an unobstructed view of the sky Note Secure Seaglider so that it cannot fall over 5 Connect the communication cable to the laptop and power up the laptop 6 Start the terminal emulation program and open a capture file 7 Turn on Seaglider and set the date time and power following steps 5 9 on page 49 through page 52 The Main Menu with five 5 numbered items displays see Figure 3 17 8 Type 5 for Pre Launch and then press ENTER see Figure 3 17 FIGURE 3 17 Pre Launch 1 param Parameters and configuration 2 hw Hardware tests and monitoring 3 modes Test operation modes and files 4 pdos PicoDOS commands and exit 5 launch Pre launch Enter selection 1 5 CR 5 m Launch Menu 1 scene Set scenario mode 2 selftest Perform interactive self test 3 autotest Perform autonomous self test 4 uploadst Upload self test results 5 reset Reset dive run number 6 test Test Launch 7 sea Sea Launch CR Return to previous Enter selection l CR 3 9 Type 3 for Perform Autonomous Self Test and then press ENTER See Appendix E Autonomous Self Test on page 347 for sample output from an autonomous self test Note See Interactive Pre launch Self Test on page 188 for information on the interactive self test iRobot amp 1KA Seaglider User s Guide 55 Chapte
378. s old ite 14 almanac is 0 weeks old ite 15 almanac is 0 weeks old ite 16 almanac is 0 weeks old 341 HGPS N Almanac updated almanac status 418 HTT8 N Updating parameter T_GPS_ALMANAC to 0 513 HTT8 N writing NVRAM done 299 HGPS N Acquiring GPS fix AAAAAA 3556 347412 7 check ok 001 HGPS N sync sentence GPRMC 230737 A 3556 3475 N 07854 1011 w 000 0 000 0 200110 008 7 w 76 127 HGPS N set 2010 01 20 23 07 38 422 HGPS N confirm GPRMC 230738 A 3556 3476 N 07854 1012 w 000 0 000 0 200110 008 7 w 79 563 HGPS N 200110 230736 173 HTT8 N Updating parameter T GPS CHARGE to 10323 622 854 101074 1 500000 1 6 seconds 8 Seaglider calls the basestation and uploads the cmdfile and if present the sci ence targets and pdoscmds bat files and downloads the files generated by the sea launch routine 9 Make sure that the directive SQUIT is the last line of the cmdfile Field team Seaglider gets a GPS fix then call the basestation After it logs out it asks the operator Do you have permission to launch Call the pilot e Standby while the pilot checks the pnnn000 prm p processed nnn Seaglider number 0000 dive 0 file The field team cannot launch until the pilot grants the permission to launch 182 iRobot 1KA Seaglider User s Guide Final Launch Procedure Pilot The pilot MUST check the prm file completely before continuing The prm file starts with a section captured fro
379. s provided by the software Performing the analysis of the dive data for the Dive Number selected is accomplished by simply clicking the Generate Plots button on the Dive Data GUI Upon clicking the button the software will begin analyzing the data and generating the graphs to visualize the data for analysis Auto Save Auto Close and Auto Tile Plots The following section of the Seaglider Dive Data GUI allows you to perform several actions once you begin to generate plots Auto save Plots Auto close Plots Rene Auto tile Plots Mi danc Auto save plots will create a folder containing all visualization plots in jpeg format for the specified dive number If the Auto save Plots box is checked and the user then clicks the button a folder will be automatically placed within the DivePlot folder where all mission dive data has been stored containing all selected plots T he folder is titled pxxxyyyy DivePlots where xxx is the Seaglider serial number and yyyy is the dive number e g p5050002 DivePlots If the box was not checked when the button is selected the Save Plot s plots can still be saved after they are generated by selecting iRobot amp 1KA Seaglider User Guide 323 Appendix D Dive Data Visualization Software The Auto close plot automatically closes any open plots The button can be clicked to close plots or if the Auto close Plots box is checked as in example above the plots will also close i
380. s the acceptable range of values is located in Chapter 5 Piloting Parameters on page 83 The exact values of PITCH MIN PITCH MAX and C PITCH that should be used for the Seaglider being queried are located on the trim sheets in the notebook shipped with Seaglider FIGURE F 12 Pitch Parameters Menu Pitch current value in 2 PITCH MIN 160 9 4 cm Pitch position limit fwd CAD 2 PITCH MAX 3940 2 4 cm Pitch position limit aft ADF 3 c PITCH 3180 Pitch neutral point AD 4 PITCH_DBAND 0 10 Pitch position deadband cm 5 PITCH CNV 0 003125763 Pitch position conversion factor Ccm AD 5 e mE 0 039999999 Pitch mass overshoot after motor off cm 7 PITCH GAIN 26 Pitch angle to mass gain deg cm 8 PITCH TIMEOUT 17 Pitch mass timeout sec 9 PITCH AD RATE 175 Pitch motor AD counts per sec 10 PITCH MAXERRORS 1 Number of pitch errors allowed before entering recovery 11 PITCH_ADI_GAIN 0 Gain for auto adjusting pitch cm deg 12 PITCH_ADJ_DBAND 0 Deadband for auto adjusting pitch deg CR Return to previous menu Enter selection 1 12 CR To change a parameter value follow the procedures under Basic Mission and Seaglider Parameters on page 371 378 iRobot amp 1KA Seaglider User Guide Appendix F Hardware and Configuration Menus Roll Parameters To access the Roll Parameters menu from the Parameters and Configuration menu Select 10
381. s to the target science or pdoscmds bat files they do not have to be sent to Seaglider at each surfacing Only the cmdfile must be sent to Seaglider at each surfacing After one of these files has been uploaded to Seaglider the number of the dive is appended to the file name on the basestation If Seaglider calls in to the basestation more than once while at the surface the files are uploaded each time if they are present on the basestation and after each upload not only is the dive number appended as a number but the upload number is appended as a number to the dive number The following example shows when the file is uploaded and how it is named A cmdfile is uploaded to Seaglider e The basestation renames the file cmdfile 1 e Seaglider is still at the surface calls in again The cmdfile is uploaded to Seaglider e The basestation renames the file cmdfilel 1 Seaglider is still at the surface calls in again and the cmdfile is uploaded to Seaglider e The basestation renames the file cmdfile1 2 e Seaglider then dives e At the next surfacing a cmdfile is uploaded to Seaglider e After the upload the basestation renames the file as cmdfile 2 The same process is used for the targets science and pdoscmds bat files More details on these files is below A fifth file the sg_calib_constants m file is generated at the factory It is not sent to Seaglider Instead it is used shore side by MATLAB to process the eng fil
382. sh one rail per side Note The four aluminum rails are interchangeable 38 iRobot amp 1KA Seaglider User s Guide Assembling Seaglider s Cradle 3 Put a female strap on each end of one of the upper rails and a male strap on each end of the other upper rail 4 Attach the top rails to the carrying handles by sliding a lock washer and then a flat washer in that order onto the large bolt and then inserting the bolt from the exterior side of the bolt hole in the handle into threaded hole in the rail see Figure 3 2 FIGURE 3 2 Cradle bolts handle and rail assembly Lock Washer Flat Washer Bolt SEAG 029 10 5 Give the bolts a couple of turns but do not tighten yet 6 Attach the lower rails to the handles using the same bolt lock washer flat washer combination as for the upper rails 7 Tighten all four rails to the handles using a 3 4 wrench not provided 8 From the inside of the carry handles insert the four eye bolts into the small holes on the carrying handles and secure with the wing nuts 9 Thread the free ends of the strings attached to the mesh through their respective eye bolt and knot in place The strings should be tight enough to keep the mesh from sliding more than a couple of inches in either direction but the mesh should not be taut iRobot 1KA Seaglider User s Guide 39 Chapter 3 Setting Up the System Figure 3 3 shows the assembled cradle FIGURE 3 3
383. shorter G amp C intervals use more processor and sensor power than do fewer samples and longer G amp C intervals 170 iRobot amp 1KA Seaglider User s Guide Mission Planning Bathymetric Files Map files provide Seaglider with geographic environmental information specifically bathymetry about a given region of the ocean Seaglider can carry up to 999 bathymetry maps the files are named bathymap nnn where nnn is the map number but in practice far fewer are typically on board These maps are not required for Seagliders to fly but provide a low energy means to determine apogee depth Note that the values in the bathymap files represent the depth at which Seaglider starts its apogee maneuver NOT the actual bottom depth Bathymap files of the mission area can be generated from several sources iRobot is obtaining the files used in its gliders from the University of Washington s web site http iop apl washington edu Seaglider bathy php The files generated are zipped They must be unzipped and named following the bathymap nnn protocol After the files are generated load them onto Seaglider s flashcard following the procedure below Connect the laptop to Seaglider via the communication cable Turn on the laptop and start a screen capture or log file Wand on Seaglider Press ENTER when Seaglider output appears on the laptop Set the date and time Select appropriate power source Type 4 pdos from the Main Menu an
384. sion Additional parameters can be defined using param x param y and param z For example specifying param x RATE and specifying xx_RATE 1 2 in the cmdfile will cause the interpreter to expand Vox in a command string to the value 1 2 Lines in script files x y and z are fully interpreted The script mechanism is intended to allow complex multi command interactions or to provide a pilot control of a device during a mission For example a start command might become start 9oX script x device bat where the contents of device bat are r pvaluel 17 0 r Y pvalue2 0 05 r pstart r The pilot could change the values of the parameters valuel and value2 by creating a new file device bat on the basestation That file will be transferred to the glider CF card during a call and the logdev driver will send the commands changing those values the next time it issues a start command 242 iRobot amp 1KA Seaglider User s Guide Files Placed on the Basestation by the Pilot Science File The science file controls how often any OSI science sensors and the G amp C sensors are sampled The sample rate for each science sensor is independent of the other science sensors The sampling protocol is specified by depth bins and each bin can have a different sampling protocol The practical lower limit on sampling is 4 seconds If only the conductivity and temperature sensors are sampled it can be possible to sample every 4 seconds but wi
385. sion multiple times The operator can do as few or as many simulated dives as they would like iRobot recommends that at least 5 are done To run simulated dives the pilot needs to first make sure that files generated by Seaglider and transferred to the basestation at an earlier time that is during the recent self test are preserved on the basestation but not in the main directory Follow the steps below to check for files and if any are present move them to a self describing directory 1 On the basestation enter cd home sgNNN a k a the home directory where NNN Seaglider s serial number 2 If there are files present on Seaglider s home directory from a past mission or test enter the following The longhand method to do this is to type usr local basestation movedata sh mission_dir lt source_dir gt t target_dir gt to transfer the files If you are in Seaglider s home directory and want to move it to a subdirec tory of that home directory the shorthand method to move files is to type movedata sh subdirectory_filename and press ENTER Some subdirectory naming convention examples are Selftest 17May06 after self test completed Simulated dive 17May06 after simulated dive completed PortSusan_17May06 after open water run in Port Susan If the directory for that Seaglider does not exist on the basestation see Setting Up the Basestation Directories and Files on page 35 for more information 3
386. sors are installed in that particular Seaglider netCDF Files The netCDF nc file captures all processed files and is self documenting Read write access to netCDF is provided by the software libraries supplied by UCAR University Corporation for Atmospheric Research The netCDF file is meant primarily for sharing data between scientific users Pagers File The pagers file controls the automatic email pager and text message notification system The file allows any of four types of messages gps alerts recov comp to be sent to any valid email address or phone number This service is run by the data conversion script which is invoked by a Seaglider logout or disconnection Lines beginning with a are comment lines and are ignored in processing The gps message is sent after every dive and is the most recent GPS position The alerts message is sent when the basestation has a problem converting a file or files The file may be corrupt and have to be resent by Seaglider to the basestation using the pdoscmds bat file see PicoDOS Commands Batch File on page 245 for details The recov message is sent when Seaglider goes into recovery mode This message includes the most recent GPS position and the recovery mode The comp message is sent when processing of the lastest files received from Seaglider is completed by the basestation An example pagers file is shown in Appendix B Seaglider File Formats Manual on page 275
387. ssure sensor Compass tcrm2 GPS Modem xmoderm mode Internal pressure Altimeter C T sensors NULL C T sensors O2 sensor WETLabs VSF amp fluorometer QSP 2150 P R sensor Optode Batteries and fuel gauges Low level hardware IO A D CF Miscellaneous travel timeouts date time Developer tests CR Return to previous Enter selection 1 19 CR 18 T TA Step 8 8 Type 18 misc Miscellaneous travel timeouts date time and press ENTER 176 iRobot 1KA Seaglider User s Guide Transporting Seaglider to the Field 9 When Miscellaneous Hardware Functions appears type 1 Travel Prepare for travel Figure 6 3 Seaglider then bleeds the oil from the external bladder into the internal resevoir FIGURE 6 3 Travel Mode Menu 2 Miscellaneous hardware functions 1 travel Prepare for travel 2 iotime Change user IO timeout 3 timeout Change watchdog time mins 4 date Read set time of day 5 zerost Reset self test counter to zero 6 fault Force a fault WARNING CRASHES to TOM8 dump Dump captured registers CR Return to previous Enter selection 1 7 CR 1 Bleeding down 1314 122 HVBD N Bleed commanded from 405 96 cc 1755 to 15 21 cc 3 1315 321 HVBD N 403 5 cc mau 1765 I1778 17711 ix enar nrc erar Rr Roc 1326 521 HVBD N 336 1 cc ad 20430 2027 2065 wau araara aD Ro 1337 796 HVBD N 271 5 cc ad 2303 2304 2310 J
388. st ssssnssssesessesssosseasessessestssosesnovnessossscogspsasscssses secs 439 iRobot amp 1KA Seaglider User s Guide APPENDIX J Warranty and Disclaimers 441 SeagliderTM Warranty and Disclaimers 441 1 Warranty Exclusive Remedies and Warranty Disclaimers 441 2 Limitations of Liability and Disclaimer of Damages 442 iRobot amp 1KA Seaglider User s Guide xiii xiv iRobot amp 1KA Seaglider User s Guide List of Figures FIGURE 1 1 IKA Seaglider in Open Shipping Case eiii Hn 30 FIGURE 2 1 IKA Seaglider system overview r 27 FIGURE 3 1 Launch and Recovery Cradle Components 38 FIGURE 3 2 Cradle bolts handle and rail assembly a 39 FIGURE 3 3 Assemble Cradle orc GY WG Y CWT CF FWG FFY FE 40 FIGURE 3 4 Position of Seaglider in the Cradle sse 41 FIGURE 3 5 Bulkhead Connector Locations on Aft Endcap 43 FIGURE 3 6 Sensor Port Locations on Aft Endcap 44 FIGURE 3 7 Fully Assembled Seaglider sse 45 FIGURE 3 8 Seaglider with Antenna Mast Removed from the Aft Fairing 46 FIGURE 3 9 Antenna in stowed position
389. successful e Was a GPS fix obtained Did the motors move as expected eng file ptnnnxxxx eng where p processed t self test nnn Seaglider number xxxx self test number 178 iRobot amp 1KA Seaglider User s Guide Transporting Seaglider to the Field e Check the science data as best as possible Does the file header line match the sensors that are installed Are the temperature values from the CT sensor realistic e Are the conductivity values very close to zero There should be some oxygen trapped in the DO sensor Is there a dissolved oxygen reading greater than zero For the optical sensors are the values of counts greater than zero and in the expected data columns e Are the reference values the expected reference value and are they in the correct columns log file ptnnnxxxx log where p processed t self test nnn Seaglider number xxxx self test number The list of parameters and the value assigned to each Do the parameter values look okay pvt file ptnnnxxxx pvt where p processed t self test nnn Seaglider number xxxx self test number Check that Seaglider s ID password and phone numbers are as expected If all of the data in the files looks good the pilot gives the field team permission to Launch Communication Messages When attempting to make a phone call with the Seaglider it is very common to see different types of error messages returned Below are some commonly retur
390. t 87 365 SNAV N 87 682 SNAV N 87 998 SNAV N 88 315 SNAV N 88 630 SNAV N 88 947 SNAV N 89 822 SSENSOR N 90 013 SSENSOR N 90 266 SSENSOR N 90 525 SSENSOR N science specifications Target Latitude Longitude Radius Depth Finish NW 4744 400 12224 500 00 1 0 NE 4744 400 12223 700 200 0 1 0 SE 4743 000 12223 700 200 0m 0 1 0 SW 4743 000 12224 500 200 0m 0 1 0 T 4745 500 12224 200 200 0m 0 1 0 cl 4744 200 12223 600 200 0m 0 1 0 B 4743 100 12223 600 200 0m 0 1 O c2 4744 200 12223 600 200 0m 0 1 0 Depth Time G amp C Sensors 15 0m 5 0s 60 0s 1 CWL BBFL2VMT 1 50 0m 10 0s 120 0s 1 WL_BBFL2VMT 1 150 0m 15 0s 120 0s 1 WL_BBFL2VMT 1 cocoooooo Timeout Next target Escp target NE none SE none SW none NW none Cl none B none C2 none T none 49 Next the glider will report the battery status voltage as well as individual fuel gauges for all motors sensors and the main processor Figure 7 26 FIGURE 7 26 Battery Status Fuel Gauges B5 615 SUSR N Reporting battery status 89 866 SPOWER N 90 151 SPOWER N 90 351 SPOWER N 90 535 SPOWER N 90 761 SPOWER N 90 917 SPOWER N 91 099 SPOWER N 91 286 SPOWER N 91 904 SPOWER N 92 099 SPOWER N 92 252 SPOWER N 92 428 SPOWER N 92 631 SPOWER N 92 847 SPOWER N 93 050 SPOWER N 93 269 SPOWER N 93 492 SPOWER N 93 707 SPOWER N 93 882 SPOWER N 94 102 SPOWER N 94 255 SPOWER N 94 463 SP
391. t below the level of the boat s propeller Transmit a ping Seaglider s transponder should respond The range to Seaglider shows up on the screen of the acoustic deck unit If Seaglider does not respond to the ping try several more times slightly altering the depth of the transducer and the distance between Seaglider and the transducer If the transponder still does not reply to the interrogation pings contact the pilot The parameter SXPDR VALID may have to be adjusted by the pilot with the new value sent to Seaglider via the cmdfile If the transponder still does not respond to the transducer s interrogation there may be a problem with the acoustic locator system and Seaglider should be recovered Pilot and Field Team If Seaglider is riding well in the water and the acoustic ranging system test went well the pilot instructs the filed team to remove the tag line from Seaglider and standby while Seaglider makes its first dive s Pilot The pilot changes the directive in the cmdfile from OUIT to RESUME and the file is downloaded to Seaglider the next time it calls the basestation T_RSLEEP from the last time it called in After Seaglider receives the new command file it starts the first shallow dive Field Team Notify the pilot when Seaglider leaves the surface Pilot Change the directive in the cmdfile from RESUME to OUIT so that when Seaglider completes its first dive it remains on the surface iRobot amp 1KA Seagl
392. t it usually conforms to the following format time service output level text See Appendix B Seaglider File Formats Manual on page 275 for an example of a cap file 246 iRobot amp 1KA Seaglider User s Guide Seaglider Generated Files Data Files Seaglider generates the dat file an ASCII text file and transmits it to the basestation for further processing The first line is the only actual value all of the following lines are differences The dat file serves as the primary conduit for the science data collected by Seaglider The format is designed to minimize transmission size and while clear text is not intended for direct use by users Each data file covers one dive of information The numbers in the data file can be interpreted by the column titles listed in the header line at the top of the file The first 10 columns of data are the same for each dive and Seaglider The content of the remaining columns vary depending upon what sensors are installed in that particular Seaglider See Appendix B Seaglider File Formats Manual on page 275 for an example of a dat file Log Files The log file serves as a summary record of what happened during the dive One log file is made for each dive The first portion of the data is a list of Seaglider s parameters and their values for that dive See Chapter 5 Piloting Parameters on page 83 for an explanation of each parameter The second section begin
393. t the surface for an extended period of time while its contents are transferred to the Basestation via Iridium G amp C interval Increasing the G amp C interval value in the science file decreases the freguency at which the guidance and control is checked conserving the energy stored in the 10V battery resulting in fewer attitude and buoyancy corrections which conserves the energy in the 24V battery Science file Increasing the number of seconds between science sensor samples will decrease the freguency at which the sensors are powered on and conserve the energy stored in the 10V battery iRobot amp 1KA Seaglider User s Guide 163 Chapter 6 Pre Deployment Tasks Remove all unneeded commands Removing all unneeded command files from the basestation targets science pdoscmds bat will decrease the amount of data transferred and conserve the energy stored in the 24V battery For mission planning on deep dives we recommend using the below table to estimate energy usage Energy Budget for a 1000 Meter Dive Seaglider Subsystem Energy Consumed Percent of Battery Used Pump 9kJ 70 Computer 2kJ 15 Instruments 1kJ 7 Telemetry 1kJ 7 Total 13kJ 10096 For a deep slow dive of 200cc of thrust and stratification of 150cc Mlssion Duration Examples Below are some examples of expected endurance based on some conditional assumptions Base conditions for all dives MAX BU
394. tants File sg_calib_constants m establishes glider calibration constants id str 128 Seaglider serial number mission title Port Susan Aug 15 2007 pilot or operator specified calibcomm SBEs n0041 calibration 25 April 2006 Sensor serial number found in SG notebook Sea Bird Electronics t g 4 37369092e 03 t h 6 48722213e 04 SBE temperature sensor calibration coefficients ti 2 63414771e 05 t_j 2 83524759e 06 Minimum and maximum frequencies kHz for reasonable oceanographic values of temperature from SBE calibration for C T s n 041 sbe temp freq min 3 214274 kHz From SBE sensor calibration Basestation processing will reject sbe_temp_freq_max 6 081845 kHz observed temperature frequencies outside of this range C_g 9 97922732e 00 c_h 1 12270684e 00 c_i 2 35632554e 03 c_j 2 37469252e 04 SBE conductivity sensor calibration coefficients Minimum and maximum frequencies kHz for reasonable oceanographic values of conductivity SBE calibration for C T s n 041 sbe_cond_freq_min 2 98792 kHz From SBE sensor calibration Basestation processing will sbe_cond_freq_max 7 95840 kHz reject observed temperature frequencies outside of this range cpcor 9 57e 08 ctcor 3 25e 06 calibcomm_oxygen 0106 Soc 2 1921e 04 Boc 0 0 Foffset 825 6362 TCor 0 0017 PCor 1 350e 04 mass 52 173 measured mass of glider Ex z 010100
395. tate it will continue in that state Note that error conditions that occur during a dive may cause the operating code to change the state of Seaglider from diving to recovery RESUME Definition This command will cause Seaglider to resume diving from within the recovery phase using its current set of parameters If Seaglider is in dive state at the time the SRESUME command is received it will continue diving If Seaglider is in recovery state at the time it receives a RESUME it will start diving with existing parameters 84 iRobot amp 1KA Seaglider User s Guide Piloting Parameters GUIT Definition This command will cause Seaglider to go immediately to the recovery state Seaglider will hold at the surface sleeping T_RSLEEP minutes between the end of one communication session and the start of the next There are about two minutes of communication overhead associated with each session so the sessions are approximately 8T RSLEEP 2 minutes apart It also fully inflates the bladder This takes a couple minutes and conseguently makes the time before the next transmission longer Replacing the OUIT directive with a RESUME directive will cause Seaglider to initiate a new dive with the existing set of parameters Table 5 1 outlines the effect of each directive on Seaglider in each of the two autonomous run states diving and recovery TABLE 5 1 Effect of Directive on Dive or Recovery State
396. tch angle following the initial dive from the surface The guidance and control G amp C action at the start of the dive phase maintains full pitch forward as VBD bleeding takes place If the desired VBD has already been reached the bleed is skipped A new G amp C action is initiated as soon as a Seaglider reaches D FLARE pitch is adjusted first the flare then VBD is adjusted continued bleed to the target VBD then roll is actuated to turn Seaglider to the correct heading Nominal Value 3 Minimum Value 0 Maximum Value 990 D GRID not user defined Definition This parameter is calculated on board Seaglider during each dive based on the position and bathymetry data but only if USE_BATHY is set If S USE_BATHY is 4 search for an on board bathymap nnn appropriate for the current position of Seaglider This would be the standard usage in operating areas covered by more than one map If SUSE BATHY is a positive integer then search for that particular on board bathymap Examples If USE BATHY 4 then search all on board bathymap nnn files for one that covers the current Seaglider position If USE_ BATHY 7 then use the bathymetry file called bathymap 007 to get D_GRID No other map will be used 108 iRobot amp 1KA Seaglider User s Guide Parameters by Category D NO BLEED D OFFGRID D PITCH Definition The depth meters below which Seaglider does not bleed move oil from t
397. tchdog 3 stroke Repetitively stroke the watchdog A D converters 4 int Internal A D Power control 5 measure Measure device power 6 report Report active devices CompactF lash 7 cf CF card evaluation 8 size Report CF card size TPU 9 terminal Serial port terminal mode CR Return to previous Enter selection 1 10 CR e To exit the Low level hardware functions menu and return to the Hardware Menu press ENTER iRobot amp 1KA Seaglider User Guide 417 Appendix F Hardware and Configuration Menus Miscellaneous Hardware Functions Menu To view the Miscellaneous hardware functions menu Select 15 Miscellaneous Menu and press ENTER The menu in Figure F 48 is displayed With the exception of the first Prepare for Travel and fourth Read set time of day menu items it is not recommended that the user access or change any of the other menu functions without consulting iRobot Customer Service FIGURE F 48 Miscellaneous Menu Miscellaneous hardware functions 1 travel Prepare for travel 2 iotime Change user IO timeout 3 timeout Change watchdog time mins 4 date Read set time of day 5 zerost Reset self test counter to zero I 6 fault Force a fault WARNING CRASHES to TOMS 7 dump Dump captured registers 8 walk Heap walk CR Return to previous Enter selection 1 5 CR When the user selects 1 Prepare for travel Seaglider au
398. tem in a particular environment e A factor that converts A D counts to physical displacement based on the mechanical design Again that relates movement of each system to the effect it has on the Seaglider Pitch Pitch is controlled by moving the 24V battery pack forward and aft along the longitudinal axis of Seaglider See Figure 4 1 on page 60 The motion is accomplished by an electric motor geared to drive a worm gear in such a way that 319 92 A D counts equals 1 cm of battery mass travel SPITCH CNV Seagliders typically respond to movement of the battery pack in the longitudinal axis by pitching 25 32 per centimeter of mass travel This PITCH_ GAIN is a parameter as it is dependent on the particular sensor suite and trim ballast installed on each Seaglider The following are some typical pitch ranges and values for Seaglider TABLE 4 1 Typical Pitch Ranges and Values Hardware Limit Software Limit A D Counts A D Counts Full forward nose down 20 70 SPITCH MIN Fullaft noseup 340 3352 SPITCH MAX C PITCH example 2346 Pitch movement cm Pitch Observed counts C PITCH counts x PITCH_CNV cm counts iRobot amp 1KA Seaglider User s Guide Control of the Static Forces Where C PITCH pitch center position PITCH_ CNV pitch position conversion factor While A D counts are always positive displacement can be positive or negative relative to a
399. ter mechanism forward and aft to control vehicle pitch and side to side to control vehicle roll See Figure 4 2 on page 62 iRobot amp 1KA Seaglider User s Guide 61 Chapter 4 Operating Principles FIGURE 4 2 Mass Shifter Causing Pitch Change Battery Pack Moves Fore and Aft to Change Glider Pitch SEAG 018 09 Aside from providing the weight needed to change the pitch of the vehicle the approximately 9000g battery pack also powers Seaglider s pumps motors communications and transponder A brass weight is attached to the bottom of the 24 VDC battery pack This weight provides the axial asymmetry necessary to make Seaglider roll when the mass shifter is rolled to the port or starboard side See Figure 4 3 62 iRobot amp 1KA Seaglider User s Guide Seaglider Components FIGURE 4 3 Mass Shifter Causing Roll Change Battery Pack Rotates and Causes the Seaglider to Roll Which Produces a Turn SEAG 019 09 Main Electronics Assembly with 10VDC Battery Pack The microprocessors and electronics that control Seaglider s flight acoustic transponder pitch roll buoyancy communications GPS and science sensors are located on the main electronics board A 10 VDC lithium primary battery pack is installed underneath the electronics assembly This battery which weighs approximately 2600g powers the pressure and science sensors processor GPS transponder and main electronics Outside the
400. ter is used A new adjustment is computed only after a turn has been completed Nominal Value 1 0 Minimum Value 0 Maximum Value 1000 ROLL CNV Set by manufacturer Do not change Definition Roll position conversion factor from A D counts to degrees This is a constant determined by the design of the roll gear train motor and potentiometer Value 0 02827 iRobot amp 1KA Seaglider User s Guide Parameters by Category ROLL DEG ROLL GAIN P Definition The number of degrees to roll the internal roll mass during a turn Nominal Value 40 Minimum Value 0 Maximum Value 60 Definition Allows proportional coefficient for closed loop heading control Nominal Value 0 Minimum Value 0 Maximum Value 5 ROLL MAX Set by manufacturer Do not change Definition Roll position software limit A D counts to starboard Seaglider s operating software stops the mass shifter at this value when rolling to starboard Typical Value 4000 Value determined by the software maximum of the system Obtain actual value from the vehicle s trim sheet iRobot amp 1KA Seaglider User s Guide 139 Chapter 5 Piloting Parameters ROLL MAXERRORS Set by manufacturer Do not change Definition The number of roll motor errors allowed before Seaglider goes into recovery phase An error occurs when the ROLL_ TIMEOUT expires prior to achieving the commanded roll A D position Nominal Va
401. ternal reservoir measure the position of the reservoir s rolling diaphragm The mean of the two values 1s reported as the position of the diaphragm which can be interpreted as the amount of oil in the internal or external reservoir The geometry of the system results in 4 0767 A D counts per cm of oil SVBD_CNV The point of neutral buoyancy is designated C VBD and is set relative to the densest water to be encountered on a mission VBD control is calculated to achieve specific results which depend on the pilot specified quantities e Seaglider vertical velocity Distance to next waypoint Maximum glide slope Rho density 72 iRobot amp 1KA Seaglider User s Guide Features of Control VBD control is the gas pedal or throttle that controls vehicle horizontal velocity Specific VBD control issues are discussed in more detail in Chapter 6 Pre Deployment Tasks on page 159 Typical VBD ranges and values for Seaglider are described in Table 4 3 TABLE 4 3 Typical VBD Ranges and Values Hardware Limit Software Limit Volume A D counts A D count em V max 105 205 SVBD MIN 557 with respect to C VBD Wu 3610 3510 SVBD MAX 266 with respect to C VBD Range 823 C VBD 2476 Note Vmax is the maximum displaced volume of Seaglider and Vmin is the minimum displaced volume of Seaglider When given in cm they are with respect to a given C VBD F
402. tesosedecseaness 414 Loggers Men 415 Batteries and Fuel Gauges Menu 416 Low Level Hardware Menu Miscellaneous Hardware Functions Menu 418 Developer Tests Menu a eene teen en tenen neusten tns tn sensn sunu 419 Test Operation Modes amd Files 419 PicoDOS Comnimands e edente eio eaaet eroe NWYN etna o enano g oen en 420 lucu nri RE 421 Set Scenario Mod 45 YY inni evo EGe ne ero FE ee uaa ODYNA CH nyn re FYNN yen 421 Perform Interactive Self Test aan eee esee eee eren esee ene n 422 Perform Autonomous Self Test 422 Upload Self Test R6esults eere reete sesoses eee entente ntt 422 Reset Dive Run NUmbGr sioe a eost eon vo chavo ra aero E eon rav VE VER GYN Ee YNAD oo 423 Test Launch sa s asa sao eese toes eroe nie eate eo Ud rev bass Y Yn esee eon esu ST 423 Sea LAUNCH EE RP 423 Serial Port Data Transmission 424 APPENDIX G Ballasting 425 OMAN ss PD 425 Re ballasting in the figl d _J a 1 l eere eere eee eet 426 APPENDIX H Pilot and Field Team Checklist 431 APPENDIX I Sample Field Kit Checklist 439 Field Kit Checkli
403. th the oxygen and BBFL2 or BB2FL optical sensors also being sampled 5 seconds is the lower limit The science file also provides the ability to turn off sensors or only energize them every n sample in a given depth range or ranges An example science file is below Another example can be found in Appendix B Seaglider File Formats Manual on page 275 Science for North Carolina Coast edit for Individual Seaglider w CT SBE 43F oxy WET Labs BB2FL VMT depth time sample gcint 50 5 111 30 200 5 121 60 300 5 103 120 Column Description 1 The depth bin in meters for that sampling protocol 2 Base sampling interval in seconds 3 Multipliers for each of the three sensors listed on line 2 of the file in the order listed applied to the base sampling interval 4 Guidance and Control G amp C sampling interval Sampling Rate Sample time x respective sensor sample interval Where e Sample time value in column 2 e CT I digit of the value in column 3 iRobot amp 1KA Seaglider User s Guide 243 Chapter 9 Files for Operations SBE 43 2 digit of value in column 3 WET Labs 3 d digit of value in column 3 The science sampling for this file works as follows looking at the sampling protocol rows First row of sampling protocol Sampling in depths from 0 50m Each of the sensors is sampled once every 5 seconds This value is calculated by multiplying the 5 in
404. the iridium phone s geolocation property This may be accurate to 20km or more Sun Dec 2 19 17 49 2007 sg123 sector number 1 block length 1024 These lines describe the Sun Dec 2 19 17 54 2007 sg123 sector number 2 block length 1024 glider sending a file to the Sun Dec 2 19 18 00 2007 sg123 sector number 3 block length 1024 basestation Sun Dec 2 19 18 05 2007 sg123 sector number 4 block length 1024 Sun Dec 2 19 18 07 2007 sg123 received EOT and read timed out End of transmission Sun Dec 2 19 18 07 2007 sg123 sector number 10 block length 1024 Indicates end of file iRobot amp 1KA Seaglider User s Guide 291 Appendix B Seaglider File Formats Manual Sun Dec 2 19 18 07 2007 sg123 done sending ACK Acknowledgement that file was sent Sun Dec 2 19 18 07 2007 sg123 sg0055lz x00 XMODEM 4096 Bytes 178 BPS The name of the file is printed after the glider has finished sending it Sun Dec 2 19 18 07 2007 sg123 Exiting 0 Sun Dec 2 19 18 14 2007 sg123 sector number 1 block length 1024 Sun Dec 2 19 18 19 2007 sg123 sector number 2 block length 1024 Sun Dec 2 19 18 23 2007 sg123 sector number 3 block length 1024 Sun Dec 2 19 18 28 2007 sg123 sector number 4 block length 1024 Sun Dec 2 19 18 31 2007 sg123 received EOT and read timed out Sun Dec 2 19 18 31 2007 sg123 sector number 10 block length 1024 Sun Dec 2 19 18 31 2007 sg123 done sendi
405. the CT sensor and should not be changed SIM PITCH Definition Simulated Seaglider pitch angle degrees during the dive phase of a simulated run If non zero this value is used in place of observed pitch on the dive phase of a simulated run For simulated dives a SSIM PITCH value of 20 is often used A value of 0 disables this feature This parameter is automatically zeroed during the Sea Launch procedure SIM W Definition Simulated Seaglider vertical velocity m s If non zero this value is used to generate depths so that Seaglider can do simulated dives in the lab or on the deck For simulated dives a SSIM W value of 0 1 is often used A value of 0 disables this feature This parameter is automatically zeroed during the Sea Launch procedure iRobot amp 1KA Seaglider User s Guide 141 Chapter 5 Piloting Parameters SM_CC SPEED FACTOR Definition The specified minimum buoyancy value of the VBD cm that Seaglider attains at the surface If Seaglider enters the surface maneuver with less than the minimum buoyancy value of VBD it pumps to this value However if Seaglider enters the surface maneuver with more than the minimum buoyancy value specified it does not change the value of VBD and continues to the next part of the surface maneuver Typical Value 250 Minimum Value 150 Maximum Value 700 Definition A factor to compensate for Seaglider s inability to dive at the desired horizontal ve
406. the Seaglider Each data file covers one dive of information The format is designed to minimize transmission size and while clear text is not intended for direct use by users The numbers in the data file can be interpreted by the column titles listed in the columns line The meaning of each column title is summarized below The first 10 columns rec through GC phase are always present The remaining columns depend on the sensors installed on the individual glider rec the record number of the individual sample elaps t time since the start of the dive depth depth in centimeters at the start of the sample heading vehicle heading at the start of the sample in degrees magnetic times 10 pitch vehicle pitch angle at the start of the sample in degrees times 10 positive up roll vehicle roll at the start of the sample in degrees times 10 positive starboard wing down AD pitch Pitch mass position in A D counts AD roll roll mass position in A D counts AD vbd VBD position in A D counts GC phase GC phase encoded as follows 1 Pitch change 2 VBD change 3 Roll 4 Turning 5 Roll back to center 6 Passive mode TempFreq Temperature in cycle counts of 4 MHz in 255 cycles of signal frequency CondFreq Conductivity in cycle counts of 4 MHz in 255 cycles of signal frequency redRef red reference in A D counts redCount red backscatter in A D counts blueRef blue reference in A D counts blueCount blue
407. the Self Test log sheet onto the basestaton 7 Gives the Filed Team approval to put the Seaglider into sea launch mode 8 Pilot and Field Can now begin to prepare for sea launch Team 434 iRobot amp 1KA Seaglider User s Guide Appendix H Pilot and Field Team Checklist Deployment Process Step Responsibility Action 1 Pilot Logs into the basestation via secure shell method O 2 Field Team Arrives at designated sea launch site 3 Ensures the antenna O ring is present and fully tightened 4 Ensures all cables and connectors are secure 5 Assembles Seglider s wings rudder and antenna 6 Removes sensor covers M T Requests permission to sea launch the Seaglider with a tether attached 8 Pilot Approves the sea launch 9 Field Team Launches the Seaglider with tether attached 10 Acoustically pings the Seaglider with a transducer and deckbox 11 Reports back to Pilot the buoyancy quality of the Seaglider by describing how the Seaglider is sitting in the sea surface 12 Pilot Prepares the Seaglider to dive if buoyancy is correct and all Ll systems are good 13 Instructs the Field Team to release the tether 14 Field Team Reports to the Pilot once the Seaglider has submerge
408. the value on the trim sheet make sure that the trim sheet is up to date If the trim sheet is the latest version enter the correct value and then press ENTER f Do one of the following Ifthe default value for nominal pitch timeout appears typical value should be 16 or 17 press ENTER Ifthe nominal value does not appear enter the value 17 and press ENTER 42 Check the roll motor and values iRobot amp 1KA Seaglider User s Guide 205 Chapter 7 Pre Launch Procedures FIGURE 7 20 Checking Roll Motor 1497883 880 SUSR N Checking roll motor Verify roll Sw limits and timeouts Y SROLL MIN New value 240 00 SROLL M MAX New FEES 3845 00 14978 742 SUSR N ROLL TIMEOUT 15 OK 1497894 831 SUSR N Roll to port 1497895 037 HROLL N Roll commanded from 0 14 deg 2600 to 35 34 deg 3845 1497896 403 HROLL N 6 0 deg ad 2809 MOTOR DONE no ticks 1497898 345 SMOTOR N GC TICKS TIME 93 94947 1497898 438 HROLL N done 1497898 590 HROLL N Roll completed from 0 14 deg 2600 to 35 22 deg 3841 took 2 2 sec 57mA 237mA peak 23 6Vmin 551 AD sec 90 ticks 1497898 994 HROLL N TRACK b 3817 0 a 3828 0 d 1 o 13 1497899 110 SUSR N Roll to starboard 1497899 329 HROLL N Roll commanded from 35 22 deg 3841 to 40 00 deg 1180 1497900 714 HROLL N 29 2 deg Cad 3628 so cows as MOTOR DONE ticks 8 max 24v 2 3mA avg 24v 2 3mA minV 24v 23 8V 1497905 405 SMOTOR N GC TICKS TIME 197
409. the value shown is for the current tel num is correct check with pilot if necessary press ENTER Otherwise type a value and press ENTER See page 199 for the correct phone number format 5 At the prompt New altnum value if the value shown is for the current alt num is correct check with pilot if necessary press ENTER Otherwise type a value and press ENTER See page 199 for the correct phone number format 6 Seaglider tries to obtain a gps fix The message DeviceUp No data from device Garmin GPS 15H on TPUO after 1500 msecs is to be expected The GPS unit on average needs 4 seconds after startup to obtain a fix and output data The value 1500 msecs is hard coded into the software and changing it requires a re compile of the code The response time will be increased from 1500 msec on the next code release Seaglider prompts Allow the GPS to acquire the almanac N 7 For Seagliders with ID numbers 515 and lower Type Y and then press ENTER Seaglider acquires the almanac writes the results to NVRAM and obtains a gps fix Seaglider obtains a GPS fix updates the almanacs and syn chronizes the time onboard Seaglider For Seagliders with ID numbers 516 and higher The Garmin next genera tion GPS unit is installed It has the same functionality as the unit installed in iRobot amp 1KA Seaglider User s Guide 181 Chapter 6 Pre Deployment Tasks 5 earlier Seaglider units however now the
410. this dive in meters 282 iRobot amp 1KA Seaglider User s Guide Appendix B Seaglider File Formats Manual KALMAN_CONTROL 0 082 0 346 The glider s desired speed to the north in m s The glider s desired speed to the east in m s Desired heading is derived from these speeds KALMAN_X 194116 0 264 0 95 2 71195 6 1396 7 isplacement from present position to predicted position due to mean diurnal and semidiurnal components of the model East position relative to initial position in meters at time tk due to glider speed through water East position relative to initial position in meters at time tk due to semidiurnal current East position relative to initial position in meters at time tk due to diurnal current East position relative to initial position in meters at time tk due to mean current KALMAN_Y 194116 0 264 0 95 2 71195 6 1396 M Y displacement from present position to predicted position due to mean diurnal and semidiurnal components of the model North position relative to initial position in meters at time tk due to glider speed through water North position relative to initial position in meters at time tk due to semidiurnal current North position relative to initial position in meters at time tk due to diurnal current North position relative to initial position in meters at time tk due to mean current MHEAD RNG PITCHd Wd 337 1 92079 20 1 15 000 BE Ls Desired vertic
411. thout ARS without MMODEM without PAAM without AQUADOPP without SAILCT without DEEPGLIDER without HEAP RECYCLE with REV C without LUA with serial and logger device sensor integration facilities developed by Integrative Observational Platforms Group APL UW mtop Ox2fefff _mbot 0x28cdbB _mcur 0x28e000 glmalloc init glmalloc data init 0x0 glmalloc init avail bytes 434175 requested bytes 358400 glmalloc init Allocated 358400 bytes 1301395235 048 SSENSOR N reading cnf GPCTDDO cnf 1301395235 409 SSENSOR N assigned WL BBFL2VMT to sensor slot 1 p 83 1301395235 594 SSENSOR N assigned GPCTD to logger sensor slot 1 p 85 1301395235 750 SSENSOR N assigned empty to logger sensor slot 3 p 0 1301395237 358 SPOWER N Iridium during init saved current 0 10300 P e i oa RS GONE ui ME HO CD E saved current 0 16000 13013952 725 SPOWER N Iridium during xfer saved current 0 22300 1301395237 907 SPOWER N GPS saved current 0 02696 1301395238 067 SPOWER N TTB saved current 0 01496 1301395238 227 SPOWER N TT8 Active saved current 0 01421 1301395238 397 SPOWER N TT8 Sampling saved current 0 03743 1301395238 570 SPOWER N TTB_CFB saved current 0 04717 1301395238 737 SPOWER N TT8_Kalman saved current 0 05915 1301395238 908 SPOWER N Analog_circuits saved current 0 01200 1301395239 085 SPOWER N Compass saved current 0 01573 1301395239 242 HCOMPASS N Active compass is SP3003 1301395239 413 SSYS N Changing capture file 130
412. tical stabilizer while banked executing turns Drag The shape of Seaglider s hull was designed to maintain laminar flow over 70 of the hull Iength between nose and CT sail Eriksen et al 2001 Humphreys Smith et al 2003 Drag is partitioned into two types in Seaglider s flight model Induced drag All other types of drag for example skin friction form drag Drag is caused by anything projecting from Seaglider Drag produced by sensor protrusion creates a large portion of total vehicle drag The CT Conductivity and 68 iRobot amp 1KA Seaglider User s Guide Control of the Static Forces Temperature sensor on top for example causes approximately 3096 of the vehicle s drag Drag is proportional to the square of speed so reducing vehicle speed will increase the efficiency of thrust used relative to distance traveled Hydrodynamic Model A hydrodynamic model for Seaglider is used by pilots to help with buoyancy trim and is used to evaluate depth averaged currents The model has three parameters traditionally called a b and c e Lift Drag e Induced drag For our purposes it is convenient to think of the hydrodynamic model as a black box that produces estimates of Seaglider s velocity as a function of computed buoyancy observed pitch and water density Vmodel 7 F buoyancy computed pitch pserved water density The Vinode the horizontal component Umodel can be used with the observed
413. ting Principles When G amp C operations occur Seaglider is said to be in active guidance and control mode When G amp C corrections are not being made Seaglider is said to be in passive G amp C mode These definitions of active and passive modes refer to G amp C operations only They do not apply to data acguisition intervals or activities Seaglider is acguiring data during all profile phases whether in active or passive G amp C mode In passive G amp C mode Seaglider s processor enters a low power sleep state between data acguisition points Seaglider flies in the state specified in the previous active G amp C mode Launch The launch phase begins when the field operator has initiated the Sea Launch procedure and all launch dialogue has completed See Chapter 6 Pre Deployment Tasks on page 159 for detailed information on the launch procedure At launch Seaglider is in its surface position rolled to neutral pitched fully forward and pumped to SSM CC which is typically the maximum VBD for launch and enters a normal surface phase acguiring GPS1 fix and initiating a communication session with the basestation via Iridium satellite Surface The surface phase begins at the end of the climb phase data acguisition During the surface phase the following steps occur 1 Surface Maneuver The surface position of Seaglider is pitched fully forward to the software limit rolled to neutral SC ROLL CLIMB and pumped to
414. to the Parameters and Configuration menu press ENTER Seaglider responds with Re initialize hardware configuration N Type N unless hardware configuration changes have been made with the blessing of iRobot iRobot amp 1KA Seaglider User Guide 381 Appendix F Hardware and Configuration Menus Pressure external Parameters To access the External Pressure Parameters menu from the Parameters and Configuration menu Select 13 Pressure external Parameters and press ENTER The menu in Figure F 16 is displayed The present value for each parameter is shown in brackets to the right of the parameter name FIGURE F 16 External Pressure Parameters Menu Pressure current value in 2 1 PRESSURE_YINT 43 606201 Pressure Y intercept psig 2 PRESSURE SLOPE 0 00011645618 Pressure slope psig AD 3 AD7 l4ch0Gain 128 AD 14 pressure chan gain 12simulation 64zDruck 4020 128 Paine CR Return to previous menu Enter selection 1 3 CR Initial set up of the External Pressure Parameters 1s done at the factory Pressure YINT is updated by Seaglider during self test It is not recommended that the user change any of the values in this menu without consulting iRobot Customer Service Toexit the External Pressure Parameters menu and return to the Parameters and Configuration menu press ENTER Pressure internal Parameters To access the Internal Pressure Parameters menu from the
415. tomatically puts itself into travel mode It bleeds the external bladder pitches fully forward rolls to neutral and finishes the process with the statement You are good to go Each step of this process is echoed to the laptop screen When the user selects 4 Read set time of day the same procedure is used here as it is when Seaglider is first turned on See step 11 on page 192 To exit the Miscellaneous menu and return to the Hardware Menu press ENTER 418 iRobot amp 1KA Seaglider User Guide Appendix F Hardware and Configuration Menus Developer Tests Menu To view the Developer Tests menu Select 16 Developer Tests menu and press ENTER The menu in Figure F 49 is displayed This menu is for Seaglider developers and should not be used by customers FIGURE F 49 Developer Tests Menu Developer functions lpsleep Test low power sleep report Report memory status irg Test interrupt contention toggle Toggle clearscreen file Test file creation manipulation CR Return to previous Enter selection 1 5 CR vn A oo NJ ES To exit the Developer Tests menu and return to the Hardware Menu press ENTER To exit the Hardware Menu and return to the Main Menu press ENTER again Test Operation Modes amd Files To view the Test Operation Modes and Files Menu Select 3 Test Operation Modes and Files and press ENTER The menu in Figure F 50 is displayed Selection
416. ts For a few individual dives it can go as fast as 50cm s That performance reguires ballasting for 350cc of negative displacement specifying vertical velocities of almost 20 cm s Dives to 1000m last about three hours in that case and total mission length is on the order of six weeks Remember that it is the average current over the full depth of the profile dive that counts Surface currents can also be a problem especially when doing shallow dives see below Plans for crossing strong currents such as the Kuroshio or Gulf Stream should be carefully considered and contain both return upstream and bail out plans 160 iRobot amp 1KA Seaglider User s Guide Mission Planning Endurance Total endurance is dependent on many factors including depth of dive vertical velocity density stratification and communications The 24V lithium primary battery pack services the pump mass shifter and the modem The 10V lithium primary battery pack services the science sensors Based on the way you re operating the vehicle either battery pack can be the limiting factor When you re operating in shallow water resulting in freguent VBD pumping the 24V battery will likely run out first When you re operating in deeper water doing very little science sensor sampling the 24V will still likely run out first When you re operating in shallow or deep water and you re sampling the science sensors heavily the 10V battery will run out first Seag
417. ts Manual TCM PITCH OFFSETO TCM ROLL OFFSET ALTIM BOTTOM PING RANGE O ALTIM TOP PING RANGE O ALTIM BOTTOM TURN MARGIN O ALTIM TOP TURN MARGIN O ALTIM TOP MIN OBSTACLE 1 ALTIM PING DEPTH O ALTIM PING DELTA ALTIM FREQUENCY 13 ALTIM PULSE 2 ALTIM_SENSITIVITY 4 XPDR VALID O XPDR INHIBIT 90 INT PRESSURE SLOPE 0 0097660003 INT PRESSURE YINT O MOTHERBOARD 4 DEVICE1 2 DEVICE2 20 DEVICE3 37 DEVICEA 1 DEVICES 1 DEVICE6 1 COMPASS_DEVICE 33 PHONE_DEVICE 48 GPS_DEVICE 32 RAFOS_DEVICE 1 XPDR_DEVICE 24 SIM WO SIM PITCH O SEABIRD_T_G 0 004327164 SEABIRD_T_H 0 00064159534 SEABIRD_T_1 2 4326842e 05 SEABIRD_T_J 2 4823044e 06 SEABIRD_C_G 10 256908 SEABIRD_C_H 1 181479 SEABIRD C 1 0 0036624616 SEABIRD C J 0 00030102869 iRobot amp 1KA Seaglider User s Guide 281 Appendix B Seaglider File Formats Manual GPS1 191808 1910 592 CALLS 1 _XMS_NAKs 0 _XMS_TOUTs 0 SM DEPTHo 2 36 SM ANGLEo 58 8 GPS2 192327 1910 511 15645 083 18 1 5 19 9 6 SPEED LIMITS 0 260 0 356 TGT NAME WPT5 TGT_LATLONG 2000 000 15640 000 TGT_RADIUS 1852 000 15645 222 55 1 0 59 ee time to acquire fix See N_GPS in the Parameter Reference Manual for details HDOP Horizontal Dilution Of Precision a measure of the strength of the figure used to compute the GPS fix Time to firstiix in seconds These values are from the first of t
418. ts max 2 MISSION 2 Current mission number 3 T w amp TrcHDOG 10 watchdog timer min 4 RELAUNCH 0 Relaunch glider if crash to TOMB O no l yes 5 HEAPDBG 0 In depth heap debugging O off l on 6 CF8 MAXERRORS 20 Number of CF8 errors allowed before entering recovery CR Return to previous menu To change the value for a parameter Enter the number found in front of the parameter name and press ENTER When prompted type in the desired value and press ENTER Example If the mission number needs to be edited from 2 to 3 select 2 MISSION and press ENTER Seaglider responds with New value 2 00 Press ENTER if correct The user is returned to the Basic Mission and Seaglider Parameters menu If the value is incorrect when Seaglider responds with New value 2 00 type 3 and press ENTER Figure F 4 iRobot amp 1KA Seaglider User Guide 371 Appendix F Hardware and Configuration Menus Seaglider acknowledges the update and the user is returned to the Basic Mission and Seaglider Parameters menu FIGURE F 4 Checking Changing Seaglider s Mission Number MISSION New value 2 00 3 I 1373 601 HTT8 N Updating parameter MISSION to 3 To exit the Basic menu and return to the Parameters and Configuration menu press ENTER Dive Parameters To access the Dive Parameters menu from the Parameters and Configuration menu Select 2 Dive Parameters and press ENTER The menu in Figur
419. tside of the iRobot factory To perform pump and hold at pressure cycles Select 11 Pump and Bleed Cycles Seaglider returns Do you want to specify pressure Y or VBD AD N limits Y In this example pressure the default is the limit 20642 025 HVBD N current pressure 0 Maximum pressure ers 1500 000000 1 Set the maximum pressure For this example pressure is set to 1 Sample report interval secs 1 If 1 is okay press ENTER otherwise type in a new value and press ENTER Display readings Y Ifthe readings should be displayed press ENTER otherwise type in a new value and press ENTER Seaglider starts the pump and hold test and echoes the activity to the laptop screen Figure F 34 To stop the test at any time press any key FIGURE F 34 VBD Pump and Hold at Pressure Test 20661 682 HVBD N Hit any key to abort 20661 777 HVBD N cycle sec vbdO vbdl avg mA P psi 20662 137 HVBD N 1 Pressure start 0 end 1483 yee start 3803 end 3803 Time 0 cc sec 0 00 avg mA 0 000 20662 343 HVBD N pumped to 3833 3772 3802 0 20662 483 SPOWER N powerOFF 3 VBD_pump_during_surface without corresponding powerON iRobot amp 1KA Seaglider User Guide 407 Appendix F Hardware and Configuration Menus At the conclusion of the test Seaglider returns to the VBD menu Special Test 1 This test is done in a pressure chamber It is not recommended that this test be done outside of the
420. ttery consumption is not being tracked 50 Verify that the gauge is working properly The right hand column is the cumulative number of the seconds each system has been on since the battery packs were replaced The gauge 1s working properly if the time sec in the right hand column since power up is reading mostly non zero values while Seaglider is running on bat tery power If Seaglider is running on bench power all values in the right hand column are near zero If the right hand column reads all zeros while Seaglider is on battery power the self test fails iRobot amp 1KA Seaglider User s Guide 211 Chapter 7 Pre Launch Procedures Determine the problem with the battery packs before proceeding 51 The battery voltage display shows the amount of battery voltage left in the 10V and 24V battery packs If prompted Battery voltage is low Continue Self Test N do one of the fol lowing fthis self test is just before a planned launch press ENTER to accept the default answer No The self test fails Otherwise type Y and press ENTER if it is safe to do so Note Often if Seaglider is attached to the powered comms the battery voltage appears out of range 52 The capture file check settings are checked and the findings are displayed Figure 7 27 FIGURE 7 27 Checking Capture Vector B9 541 SUSR N Checking capture vector 99 648 SUSR N all capture settings at default values
421. ture reading taken from the compass in degrees C XPDR_PINGS 8 Number of times the transponder commanded a ping on the dive This could be altimeter pings or pings in response to something that sounded like an interrogation ALTIM_BOTTOM_PING 875 1 26 8 Depth of the glider and altimeteter detected distance to bottom 24V_AH 23 3 21 710 Total amp hours consumed on the 24V battery since the last reset of the battery meters usually when new batteries are installed The minimum measured battery voltage measured during active phase on the 24V battery pack in volts 10V AH 10 0 17 969 Same as 24V AH but for 10V battery pack FG AHR 24Vo 6 819 Cumulative A hr consumed from the 24V battery pack as tracked by the supervisor fuel gauge and recorded at the end of the dive Only meaningful on a RevC and later motherboard FG AHR 10Vo 6 967 Same as FG_AHR_24Vo but for 10V battery pack Only meaningful on a RevC or later motherboard DEVICES Pitch motor Roll motor VBD pump during apogee i e Y i Provides the titles of the numbers in the next VBD_pump_during_surface VBD_ valve lridium during init two lines SDEVICE_SECS and Iridium during connect lridium during xfer Transponder ping DEVICE MAMPS The meaning of each title Mmodem_TX Mmodem_RX GPS TT8 LPSleep TT8_Active TT8_Sampling TT8 CF8 TT8 Kalman Analog circuits GPS charging Compass RAFOS Transponder Pitch motor All use of the pitch motor in the units gi
422. two depths Currents The depth averaged current over the course of a dive influences the distance covered over the ground DOG by Seaglider The depth averaged aspect is important Seaglider can make progress towards a waypoint even in the presence of strong adverse surface currents by diving through deeper waters with more favorable currents The maximum depth averaged current that Seaglider can stem is 40cm s or 0 8kts These dives tend to be done with large negative thrust on the dive 350cc and vertical velocities of 18cm s The dives take about three hours between surfacing or about eight dives per day in 1000m of water It has been shown in deployments in the Kuroshio that Seaglider can make crossings of a strong western boundary current This is typically done in a triangular track with an inshore and then an offshore transect of the strong current followed by a return upstream in the calmer water offshore of the strong current One might imagine interesting tracks in the eguatorial Pacific that would exploit the eguatorial undercurrent Sharp vertical shear in the currents can induce turning moments on Seaglider s body Large vertical velocities upwelling or downwelling can introduce large changes in vertical velocity and in some cases cause dives to truncate or abort prematurely For information on strategies for dealing with the environmental conditions see Chapter 6 Pre Deployment Tasks on page 159 Static Forces
423. ue 100 Maximum Value 100 R STBD OVSHOOT Definition Roll mass overshoot A D counts to starboard after motor is turned off See R PORT OVSHOOT for more detail Nominal Value 25 Minimum Value 100 Maximum Value 100 iRobot amp 1KA Seaglider User s Guide 135 Chapter 5 Piloting Parameters RELAUNCH Do not change Default value of 0 set by manufacturer Loss of glider could result if this parameter is changed Definition The SRELAUNCH parameter controls the behavior of the Seaglider when an reboot condition occurs When SRELAUNCH is 1 and a reboot occurs the Seaglider will continue its current missions When SRELAUNCH is 0 and a reboot occurs the Seaglider will enter Recovery RHO Definition The water density kg L used for converting buoyancy force in grams to seawater displacement in cm This parameter is also used in the on board performance prediction computations Nominal Value 1 0275 Minimum Value 1 Maximum Value 1 04 ROLL AD RATE Definition The roll rate in A D counts per second that Seaglider s operating code uses as the threshold for retries when rolling If the observed rate is less than this number the roll is stopped and restarted The retries continue until the roll motor timeout limit is reached then an error is declared Nominal Value 350 Minimum Value 100 Maximum Value 450 136 iRobot amp 1KA Seaglider User s Guide Parameters by Category
424. uedo 00X zqd 0009d 9TTI N 84OH 6PO IC peuedo 00X Zze 0002d 9ITJ N 84OH 6PL 6I sarns rxr 3se3 J es uT USULI Aq suuoo DurjseL N uNSnS 0OGC 6LI suora3eorunuuoo Buryxo uo N NSDS 0OPL 6I xxx OLOF xx N usns GLZ 8T p932939p suergozd ysery ON Use jJ burTj0eU N VHSDS LII LO Sen eA 3ImejyJep 42e sbur33es eagnadeo r N usns 800 L0 303984 rznadeo Buryo uo N usns 006 90 A90 II ee3 IOA xoed 33eg AOL N LLVdH L6P 0 AZ 9Z ebe IoA xoed 33eg APC N LLVGH I9 0 357 iRobot IKA Seaglider YM User s Guide Appendix E Autonomous Self Test ooTl SAIOTA 0G TTO BT EPLE v 001Ie Se3 q OLIVE iNOZemod burpuodsezzoo 3noyarM TIO 81 Iv LT V SII O3 NIW HOLId 6L8 O3 XVW HOLId 9L821 00 0 OF ANO HOLId GLI O3 LYH QV HOLId I O3 HGOW AVN 0 02 ASN NVWIVMS o3 guns d 00c OF dwWIE ON as ZI 92 NIDHVN NHOL WOLLOS WILTV 08 O3 HIdHd ONId WILTY S 93 VLTSGd 9NId WILTV OST O3 Ave OHWS 001 O3 AOT OHWS SI O3 NOISSIW L OT O3 SAIC L 008 03 22 WS 9c0 I O3 OHN 0 O3 NIVD HOLId OST O3 AONE XVW 88I GS O3 SSVNS 0 o3 LOL ag 9962 O3 GEA 2 P08Z O3 HAIG TION O PO8c O3 dWITO TION O I6SI O3 HOLId O I o3 avodanavos zojeuezed xzojeuered ze3euezed zejowezed zejowezed zo3euezed z q uezed xzo3euezed ze3euezed zo3euezed z2o2euezed z03euezed zo3euezed 1o3euezed zejowezed ze3euezed zejoewezed re je
425. uezed rejeuezed zojeuezed x1o3euezed ze3euezed zejewezed zejowezed iojeueied xzojeuezed burae burae bute burae burae but ze bute bute bute burje burae burae but je burae bute burje burae burae burae buraqae burae burye burae burae but je bute pda N sia pda N sii pdn N 8LL pdn N g1LL pdn N g1LL pdn N 8LL Pdn N 8LL pdn N 8LL pdn N 8LL pdn N g81LL pdn N 8LL pdn N 8LL pdn N 8LL pdn N 8LL Pdn N 8LL Pdn N 8LL pdn N 8LL Pdn N 8LL pdn N g1LL pdn N g81L pPdn N 8LLH pPdn N 8LLH pPdn N 8LLH Pdn N 8LLH pPdn N 8LLH Pdn N 8LLH GSEI E 8S0 cL6 c T68 Z 078 Zz 6PL C 989 c PTOZ 9cs c Thy Zz 09e c LEZ STC TEE ELZ 900 2 8 6 798 ZEL IFTE egg 9857 SoS bcw 8ST S807 pepoooons UOTSSTUWSULIL N AANSS 866 O se3 g IZOI T JPUO poATOOOH N mTHDSS C 0 0 p lt 0OlL ezrsoes T p9ATOOOI pX0 PZOT eztsoes p AT O r1 ZXxQ 9IIJDUO DUTATODOW N mTHDSS PPcC 0P TTJpuo 00Z3 X XST puo burpues N mHDSS T8 IOP ur peDDOTI N 4TNnSS TIL9 66 KeW POM I6 68L 0L 9I968P IP uor3e00T09D unrpr4I N SNOHdH ZvV GvE G uabu zas reubrs unrprII N HNOHdH LLC GP uor3oeuuoo NISd PUTZIT PIOIUI N WNOHdH 82 I LvY8219 616T1 xogumu euoud burrIIeo N mSHOSS LIC IIE Z Teo butAazL N aunss ELT ITE xIem deourD N OOTIVWIOS GPO I
426. ump is optimized for efficiency at pressures equivalent to 1000 m ocean depth its rate at shallow water pressures about 2 cm s means that a significant portion of a shallow water dive can be spent pumping Seaglider s iRobot amp 1KA Seaglider User s Guide 161 Chapter 6 Pre Deployment Tasks enhanced buoyancy pump is optimized for efficiency at pressures eguivalent to lt 120m and 1000m ocean depth By limiting the freguency with which the VBD pump operates you conserve energy Finally the time on the surface can be a significant percentage of the dive time and if surface currents or winds are adverse Seaglider can easily lose as much distance toward a waypoint while on the surface as it gains on the dive Standard guidelines are to operate deeper than 200 m on offshore deepwater missions and to try to stay deeper than 50 m on coastal or estuarine missions Uncontrollable Environmental Factors Stratification The number of density layers and their magnitude in the water column will affect Seagliders power consumption The more density layers and the larger the density change present that Seaglider has to overcome the more energy it will use when pumping to achieve the needed buoyancy Temperature Operating in colder environments can reduce the total amount of energy available from the batteries Ocean Currents An environment with strong ocean currents surface and or subsurface will necessitate more thrust which
427. und in respective Seaglider notebook See Figure 7 21 Ifthe maximum VBD value is correct press ENTER to accept the default answer iRobot amp 1KA Seaglider User s Guide 207 Chapter 7 Pre Launch Procedures If the maximum VBD value at the prompt differs from the value on the Cal sheet make sure that the Cal sheet is up to date If the Cal sheet is the latest version enter the correct value and then press ENTER d Do one of the following Ifthe nominal value of 720 for VBD timeout appears then press ENTER Ifthe nominal value does not appear enter the value 720 and press ENTER 44 Seaglider runs a self test on the sensors both flight and science and the pitch roll and VBD systems and displays the data to the screen Figure 7 22 With the exception of heading values fluctuating around zero when Seaglider is pointing north the numbers should be non zero If the values look OK press ENTER to continue 208 iRobot amp 1KA Seaglider User s Guide Interactive Pre launch Self Test ve gl mi se st co wo io ui uni oo E 12 13 14 Hi FIGURE 7 22 Checking sensors and data file creation 2 SUSR N Checking sensors 4 SSURF N Dive started Fri Apr 02893324 3 SUSR N entering SD active 3 SSENSOR N A 5286ms 0 04m 19 2 5 SUSR N entering SD passive 085 SSENSOR N P 9822ms 0 04m 19 015 SUSR N entering SD active 690 SSENSOR N A 13819ms 0 02m 19 958 SUSR N entering
428. upply for these tests cable to Seaglider running on its internal battery connect the 6 pin IE55 end of the non packs for these tests powered communications cable to the communications port located at the base of Seaglider s antenna mast 188 iRobot amp 1KA Seaglider User s Guide Interactive Pre launch Self Test FIGURE 7 1 Communications Cable Attached to Seaglider Communications Cable SEAG 027 10 A Caution Be sure to line up the connector in the proper orientation Slide the connector in slighty to ensure that the pins are aligned and the connector is properly seated before tightening the knurled metal ring iRobot 1KA Seaglider User s Guide 189 Chapter 7 Pre Launch Procedures 4 Position Seaglider in its cradle nose down tail up and make sure the antenna is within 40 of vertical and has an unobstructed view of the sky Figure 7 2 Make sure that Seaglider is secure in this position Tying it to the secured fixture it is leaning against is recommended FIGURE 7 2 Seaglider Positioned for Self Test SEAG 016 09 5 If Seaglider is being powered externally set up the dual voltage power supply checking both voltage output and current limit Set one supply to 24V with a 2 amp current limit and the other supply to 10V with a 2 amp current limit Con nect the banana plugs on the powered communications cable to the power sup plies 190
429. urs once every 60 seconds Point to point variability may be seen in the WET Labs data due to the differences in sampling freguency between the WET Labs puck and the glider The WET Labs puck samples at 1Hz one sample second The default sample averaging by the puck is also once second However the glider sampling freguency is no faster than 1 4Hz once every 4 seconds and is dependent on the number of sensors being sampled The freguency that the glider interrogates the WET Labs puck as well as any other science sensor for a data point is set by the user in the science file and is often between 1 5Hz once every 5 seconds and 1 10Hz once every 10 seconds This means that only 1 5th to 1 10th of the WET Labs data samples are recorded by the glider which can accentuate any point to point variation in the WET Labs data To decrease the point to point variation seen in the WET Labs data the user can increase the averaging interval for the WET Labs sensor to 2 seconds For depths below 300m Seaglider continues to use this sampling routine Note that the bound on depth interval is dependent on pressure sensor sampling and Seaglider vertical velocity The pressure is only sampled at the base interval so if that is large and Seaglider is going fast the switch to the next regime may be deeper shallower than expected Choices made in the science sampling have an impact on the energy use of Seaglider especially the 10V battery pack More samples and
430. using targets latitude and longitude also known as waypoints it is getting this information from the targets file iRobot amp 1KA Seaglider User s Guide 239 Chapter 9 Files for Operations An example of a targets file and a description of each column is below Another example can be found in Appendix B Seaglider File Formats Manual on page 275 Example targets file Sample North Carolina Coast targets NCSPONE 1at 3357 4 1lon 7623 5 radius 200 goto WPONE timeout 1 WPONE lat 3356 0 lon 7625 2 radius 200 goto WPTWO timeout 1 WPTWO lat 3353 9 lon 7625 2 radius 200 goto WPTHREE timeout 1 WPTHREE 1at 33522 lon 7621 4 radius 200 goto WPFOUR _ timeout 1 WPFOUR 1lat 3356 6 lon 7623 8 radius 200 goto NCSPONE timeout l Column Description 1 Name of the target Seaglider is heading to 2 Latitude of the target Seaglider is heading to in degrees minutes decimal minutes 3 Longitude of the target Seaglider is heading to in degrees minutes decimal minutes 4 Distance in meters Seaglider can be from the target and still be considered having reached the target 5 Name of the next target to go to after it has reached the present target 6 After the timeout is exceeded the glider will proceed to the next waypoint as though it had just reached the current waypoint The timeout if a floating point value and is specified in days The file above contains all of the fields necessa
431. ut The user needs to understand the reason for the lack of data and resolve the issue To exit the Sensors menu and return to the Hardware Menu press ENTER Loggers Menu To view the Sensors menu Select 12 Loggers and press ENTER A menu showing all of the installed science sensors is displayed In the example below Figure F 44 the GPCTD is the only logger device installed FIGURE F 44 Example Menu l Loggers menu dy pe GPCTD 2 E empty CR Return to previous Enter selection 1 2 CR 1 When the user selects a logger device a listing of all the functions available for that device will appear Figure F 45 FIGURE F 45 Loggers Menu F Logger device test menu 1 on Turn on 2 off Turn off 3 selftest Selftest 4 sample Report a sample 5 syncclk Synchronize device clock to TT8 6 clock Read device clock 7 file Get file from device 8 action Execute logger action 9 config Show configuration 10 edit Edit configuration 11 direct Direct comms CR Return to previous iRobot amp 1KA Seaglider User Guide 415 Appendix F Hardware and Configuration Menus Batteries and Fuel Gauges Menu To view the Batteries and Fuel Gauges menu Select 13 Batteries and Fuel Gauges Menu and press ENTER The menu in Figure F 46 is displayed When viewing the battery gauges selection 1 the third column since power up should contain zeros if t
432. ve Seaglider notebook For example if the message Sensor idx 3 not found in installed sensors appears this indicates there are sensors in slot 0 slot 1 and slot 2 creating a total of 3 installed sensors CT DO and Optics 1 If the number of sensors Sea glider says are installed differs from what is listed in the respective Seaglider notebook the discrepancy needs to be understood and corrected The self test result is a fail until the error is corrected The altimeter and transponder checks appear Figure 7 24 If any error is present the self test fails Determine the problem with the altimeter transponder and correct before proceeding Note that the altimeter transponder does not always get a response in air FIGURE 7 24 Checking Altimeter 81 81 82 82 83 48 SUSR N Checking altimeter HXPDR N ping response R005 031ms 6 L 34 HXPDR N range was 3 773250 m 5 SUSR N Checking transponder liHxPDR N Em ed 1 times to respond to Fes T 054 SUSR N transponder reply ping count 1 The glider will now report the list of targets from the currently loaded targets file and the settings from the currently loaded science file Figure 7 25 210 iRobot amp 1KA Seaglider User s Guide Interactive Pre launch Self Test FIGURE 7 25 Reporting Targets and Science Specifications 83 159 SUSR N Reporting targets and 86 385 SNAV N 86 731 SNAV N 87 048 SNAV N g
433. veloped by a team of scientists from Scripps Institution of Oceanography Russ Davis and Woods Hole Oceanographic Institution Breck Owens e Seaglider developed at the University of Washington Charlie Eriksen The development of the autonomous Seaglider has greatly extended the density of hydrographic observations at orders of magnitude lower cost than is possible with ships and moorings The construction cost of a Seaglider is equivalent to a few days of a UNOLS open ocean ship time and its annual operational cost is less than a day of the same This user guide describes operating Seaglider the vehicle developed by the University of Washington School of Oceanography and the Applied Physics Laboratory now licensed to iRobot Corporation for manufacture System Overview Seaglider is an Unmanned Underwater Vehicle UUV designed for use in oceanographic missions lasting up to 10 months and covering up to 6000km at depths ranging from 50 to 1000m Seaglider travels underwater in a sawtooth pattern The vertical velocity component of the sawtooth pattern comes from the onboard buoyancy engine changing iRobot amp 1KA Seaglider User s Guide 25 Chapter 1 1KA Seaglider Seaglider s density while the horizontal velocity component comes from the lift provided by Seaglider s wings and to a much lesser extent Seaglider s body Seaglider runs on the PicoDOS operating system and can be reprogrammed and redirected from its bas
434. ven in the next two lines Roll motor All use of the roll motor in the units given in the next two lines VBD pump during apogee Use of the VBD pump during active mode VBD pump during surface Use of the VBD pump outside of the dive VBD valve Any use of the VBD valve Iridium during init Use of the phone related to turning the phone on Iridium during _ connect Use of the phone while connecting to the basestation Iridium during xfer Use of phone during a file transfer Transponder ping Use of the transponder during an active ping Mmodem TX Mmodem RX GPS All use of the GPS for fix acquisition TT8 Use of the TT8 at 2 MHz LPSleep Use of the TT8 under low power sleep TT8 Active Use of the TT8 in active mode TT8 Sampling Use of the TT8 while sampling sensors TT8 CF8 Use of the TT8 while accessing the flash TT8 Kalman Use of the TT8 while running the Kalman filter code Analog circuits Use of the analog circuitry including the pressure sensor GPS charging Use of the auxiliary GPS charging circuit Compass Use of the compass RAFOS Use of the RAFOS receiver Transponder Total use of the transponder including ping time iRobot amp 1KA Seaglider User s Guide 285 Appendix B Seaglider File Formats Manual DEVICE_SECS 28 900 130 775 625 775 0 000 0 000 32 521 48 298 129 845 2 000 81 068 563 712 9134 856 711 991 3431 997 344 516 33 374 1911 731 0 000 3107 613 0 000 0 186 DEVICE_MAMPS 180 245 87 438 1307 735 0 000 0
435. ver passwords can be any alphanumeric string up to 15 characters long Passwords cannot contain punctuation or special characters The password in Seaglider must be the same as what is on the basestation for this Seaglider iRobot amp 1KA Seaglider User Guide 375 Appendix F Hardware and Configuration Menus 2 One of the following occurs If the password is correct press ENTER The user is returned to the Parameters and Configuration menu e If the password is incorrect enter the correct password and press ENTER Seaglider acknowledges the update and the user is returned to the Parameters and Configuration menu If there arc any guestions contact iRobot Customer Support A Seaglider cannot call in to the basestation unless the password is the same on both the basestation and Seaglider FIGURE F 9 Seaglider Password Check 6477 808 SUSR N Current password is 506680 New password 15 char ma length CR to leave unchanged Telnum To access the Basestation Telephone Number from the Parameters and Configuration menu 1 Select 7 Telnum and press ENTER The present basestation telephone number is displayed Figure F 10 Do one of the following If the telephone number is correct press ENTER The user is returned to the Parameters and Configuration menu e If the telephone number is incorrect type the correct number and press ENTER Telephone numbers can be no more than 15 digits long For more info
436. volmax 50875 cc max SM_CC 476 max MAX_BUOY 0 338 iRobot amp 1KA Seaglider User Guide Appendix D Dive Data Visualization Software Plot 8 Pitch Control Plot The following pitch control plot displays the current pitch center and gain C PITCH and PITCH GAIN parameters Ideally the pilot would want the cm per degree regression line to cross through 0 0 The recommended pitch center and gain is also calculated and displayed on the plot In the example below changes are not necessary The pitch center is off by 14 counts and the pitch gain is off by 0 6 Pitch 60 5 4 o 30 20 Pitch Control G524 Dive 2 iRobot Port Susan Mission Start Time 17 Mar 2011 19 26 53 Coin 1834 Pitch gain 29 cm Pitch control range 5 48259 to 6 31092 cm implied pitch center 1810 23 Implied pitch control range 5 4083 to 6 38521 cm Assumed pitch conversion 319 922 counts cm aft m tet Pitch 2 1082 Pitch Control cm 28 3776 cm i i j i l i i l i l i i j j 0 5 0 0 5 1 1 5 2 25 3 3 5 Pitch Control cm iRobot amp 1KA Seaglider User Guide 339 Appendix D Dive Data Visualization Software Plot 9 Roll Control Roll control is displayed on plot 9 The plot displays the roll control on the descent and ascent as well as the current roll centers and gain values The roll center parameters are adjusted by pilots C ROLL DIVE C ROLL CLIMB Ideally bot
437. w limits and timeouts Y PITCH_MIN New value 80 00 PITCH MAX New value 3853 00 PITCH_TIMEOUT New value 16 00 1497845 650 SUSR N Pitching up 1497845 851 HPITCH N Pitch commanded from 3 63 cm 689 to 6 26 cm 3853 1497847 206 HPITCH N 3 4 cm ad 778 1497857 981 HPITCH N 3 4 cm ad 2933 Pitch motor timeout 1497863 102 SMOTOR N MOTOR DONE ticks 5 max 24v 3 lmA avg 24v 2 3mA minv 24v 23 7V 1497863 259 SMOTOR N GC TICKS TIME 648 650661 1497863 354 HPITCH N done 1497863 500 HPITCH C Pitch competed from 3 63 cm 689 to 6 20 cm 3835 took 16 0 sec 252mA 822mA peak 23 5vmin 196 AD sec 640 ticks 1 errors 1497863 934 HPITCH N TRACK 3824 0 a 3824 0 d 16 o 11 1497864 050 SUSR N Pitching dins 1497864 254 HPITCH N Pitch commanded from 6 20 cm 3835 to 5 53 cm 80 1497865 629 HPITCH N 5 8 cm ad 3701 smi rata sear sana a 1497876 379 HPITCH N 5 2 cm Cad 1823 MOTOR DONE ticks 17 max 24v 3 1mA avg 24v 2 3mA minv 24v 23 8V 1497877 423 SMOTOR N GC TICKS TIME 480 482298 1497877 519 HPITCH N done 1497877 665 HPITCH N Pitch ur ge from 6 21 cm 3830 to 5 55 cm 73 took 11 5 sec 66mA 793mA peak 23 7vm n 327 AD sec 460 ticks 1497878 068 HPITCH N TRACK 94 0 a 90 0 d 2 o 1497878 181 SUSR N B cki ng E pitch mass 1497878 369 HPITCH N Pitch control position 5 56 cm AD 72 1497878 623 HPITCH N Pitch commanded from 5 56 cm 72 to 3 56 cm 711 1497879
438. were allowed on the dive it is possible that additional bleeding would be reguired to compensate as Seaglider reached denser water That would then mean more pumping to eventually reach the buoyancy endpoint of the surface maneuver Excess speed is tolerated on the dive to help minimize the total energy expenditure on the profile In the dive phase Seaglider turns to starboard by banking to port and vice versa opposite to upright aircraft flight Apogee When the target depth is reached Seaglider enters the apogee phase The apogee phase is a two G amp C cycle procedure to smoothly transition from the dive phase to the climb phase without stalling During the first G amp C cycle of this phase Seaglider is pitched to an intermediate angle SAPOGEE PITCH rolled to neutral and the VBD is pumped to 0 cc The course adjustment and passive G amp C mode are skipped A second G amp C cycle is then executed and Seaglider is first pitched then VBD is pumped both to the inverse positions of the dive pitch pitch VBD VBD Data sampling continues throughout the apogee phase 80 iRobot amp 1KA Seaglider User s Guide Features of Control Climb The climb phase begins at the completion of the second G amp C cycle of the apogee phase Seaglider is positively buoyant and pitched up headed for the surface at the same target vertical rate as achieved on the dive phase of the profile As in the dive phase data acguisition
439. will not apply to the Device if there is a failure of the Device or any part thereof which is attributable to a inappropriate or unauthorized use of the Device b accident neglect misuse or abuse of the Device c exposure of the Device to potentially harmful environmental power and operating conditions d customer specific modifications not performed by iRobot without receipt of applicable training iRobot does not warrant that the functions contained in the Device will meet Customer s requirements that the operation of the Device will be uninterrupted or error free or that all defects will be corrected 2 Limitations of Liability and Disclaimer of Damages 2 I LIABILITY FOR USE OR LOSS AT SEA CUSTOMER SHALL BE ENTIRELY RESPONSIBLE FOR ANY LIABILITY RESULTING FROM USE OR LOSS OF DEVICE AT SEA INCLUDING REGULATIONS AND RESTRICTIONS OF THE MARINE POLLUTION ACT MARPOL THE ENVIRONMENTAL PROTECTION AGENCY THE UNITED STATES COAST 442 iRobot amp 1KA Seaglider YM User s Guide Appendix J Warranty and Disclaimers GUARD ANY ACT THAT ENABLES THE EXISTENCE OF MARINE PROTECTED AREAS BOTH U S AND OTHER AND ANY OTHER STATE REGIONAL COUNTY OR LOCAL REGULATIONS 2 2 DISCLAIMER OF DAMAGES NOTWITHSTANDING ANYTHING TO THE CONTRARY IN THIS AGREEMENT IT IS EXPRESSLY AGREED THAT iRobot AND ITS SUPPLIERS SHALL IN NO EVENT BE LIABLE FOR TORTIOUS CONDUCT INCLUDING BUT NOT LIMITED TO NEGLIGENCE OR STRICT LIABILITY OR IND
440. wo GPS fixes prior to the start of Longitude as dddmm mmnm sign only minuses the current dive are shown positive East degrees minutes and decimal minutes Latitude as ddmm mmnm only minuses are shown positive North L Time in hhmmss UTC Total number of calls that were made in an attempt to connect on the previous surfacing Total number of transfers that ended with a NAK No Acknowledgements on the previous surfacing Total number of transfers that ended without a timeout on the previous surfacing Glider measured depth in meters while the glider is at the surface at the end of the previous dive Glider measured angle at the surface at the end of the previous dive in degrees These values are from the second GPS fix prior to the start of the current dive See the Canonical Dive Profile in the Seaglider Pilot s Guide for further details on where the GPS fix is taken The minimum and maximum horizontal speed attainable by the Seaglider on this dive in meters per second These values are based on the minimum and maximum dive angles and the allowable buoyancyforce The minimum speed corresponds to the maximum dive angle the maximum speed is obtained as the minimum value of the horizontal speed The name of the active target of this dive See theTargets File section for details The latitude and longitude in ddmm mmm and dddmm mmm format for the target of this dive The radius for the active target for
441. word is NOT recommended If the password is incorrect the test failed ie Investigate and correct the cause of the discrepancy before 27 continuing with the testing A Seaglider cannot call the basestation unless the password is the same on both the basestation and Seaglider Set the primary telephone number At the prompt New telnum 15 char max length CR to leave unchanged ver ify that the number displayed matches the number of the telephone line going into the first basestation modem Figure 7 10 The telephone number is unique to that phone line It starts with the interna tional country code without leading zeros for example 1 for the US then city area code and number There are no spaces or other interrupting characters between the country code city area code or number Do one of the following If the telephone numbers match press ENTER to accept without making changes Figure 7 10 If the telephone numbers do not match enter the correct number and press ENTER Figure 7 10 iRobot amp 1KA Seaglider User s Guide 199 Chapter 7 Pre Launch Procedures 28 Set the alternate telephone number At the prompt New altnum 15 char max length CR to leave unchanged ver ify that the value displayed matches the number of the telephone line going into the second basestation modem Figure 7 10 The alternate number is unigue to that phone line Do one of the following If t
442. x is used which is probably but not necessarily the most accurate fix available in the specified time period Nominal Value 20 Minimum Value 1 Maximum Value 60 iRobot amp 1KA Seaglider User s Guide Parameters by Category N_NOCOMM N_NOSURFACE Definition The number of dives that are allowed to occur without a complete and successful data communication session before the surface buoyancy parameter SM_CC is set to the maximum allowed by the software limits This is a safety provision in the event SM_ CC is not sufficient to allow for a good antenna position Also after N NOCOMM is reached Seaglider will use the alternate phone number to call the basestation Nominal Value 1 Minimum Value 0 Maximum Value 10 Definition An integer value that determines when the Seaglider will finish the dive at D_FINISH and when it will finish at the actual surface For values greater than 1 the rule is that when the remainder of DIVE divided by N NOSURFACE is zero Seaglider will finish the dive at depth SD FINISH Other dives finish at the surface For negative values less than 1 this logic is reversed and the values of SDIVE divisible by the absolute value of N NOSURFACE finish at the surface all others will be subsurface finishes In addition to N_NOSURFACE not having a remainder for the maneuver to be initiated SD FINISH must be gt D SURF for Seaglider to complete a subsurface finish If
443. xpress written permission from iRobot Corporation 8 Crosby Drive Bedford MA 01730 USA EXPORT CONTROL The exportation of this product falls under the jurisdiction of the U S Commerce Department Bureau of Industry and Security and is subject to the Export Administration Regulations WARNING This document contains technical data whose export may be restricted by the Arms Export Control Act Title 22 U S C Sec 2751 et seg or the Export Administration Act of 1979 as amended Title 50 U S C App 2401 et seg VIOLATIONS OF THESE EXPORT LAWS ARE SUBJECT TO SEVERE CRIMINAL PENALTIES Limits of Liability Although every precaution has been taken in the preparation of this documentation iRobot Corporation assumes no responsibility whatsoever for errors or omissions or for damages resulting from the use of the information contained herein To the maximum extent permitted by applicable law iRobot Corporation its officers employees and contractors and their suppliers disclaim all warranties either expressed or implied including but not limited to implied warranties of merchantability and fitness for a particular purpose with regard to the hardware software and all accompanying or subseguently supplied written materials and documentation To the maximum extent permitted by applicable law in no event shall iRobot Corporation its officers employees or contractors or their suppliers be liable for any damages whatsoever inclu
444. y to veer to one side This value is subtracted from the desired heading to produce the target heading Nominal Value 0 Minimum Value 360 Maximum Value 360 CURRENT not user defined D ABORT Definition The depth averaged current m s degrees Boolean validity check calculated by the glider when using NAV MODE 2 Definition The maximum depth meters for Seaglider operations If this depth is reached the dive is aborted and Seaglider immediately enters the recovery phase Nominal Value 1050 Minimum Value 0 Maximum Value 1100 iRobot amp 1KA Seaglider User s Guide 105 Chapter 5 Piloting Parameters D BOOST Definition The depth meters above which only the boost pump will run If D_BOOST 9 then both the boost pump and the main pump run simultaneously If the value of D_BOOST is greater than zero and Seaglider s depth is less than D BOOST when VBD begins pumping only the boost pump will be used If Seaglider VBD starts pumping at a depth greater than SD BOOST then the SD BOOST parameter is ignored and both pumps are used If the VBD engine is retried both the boost and main pumps will be turned on during retry If a STANDARD BUOYANCY ENGINE is installed in the Seaglider D_BOOST must be set as follows Nominal Value 0 Minimum Value 0 Maximum Value 120 Note The boost pump on the standard buoyancy engine is not capable of pumping oil to increase buoyancy below 5m
445. y unused by the GPCTD Minimum Value 0 no data uploaded Definition A diagnostic value output by the pumped CTD that keeps track of the number of times the sensor restarts during a mission There should be 2 restarts per dive one for the downcast and one for the upcast 128 iRobot amp 1KA Seaglider User s Guide Parameters by Category PC INTERVAL Definition A pumped CTD command that specifies the sampling interval in seconds 1 4 second sampling intervals The CTD is in Continuous Sampling Mode The pump and all sampling circuitry remain on continuously Power consumption for any of these sampling intervals is the same However memory usage decreases with increasing sampling interval 5 14 second sampling intervals The CTD is in Fast Sampling Mode The pump runs continuously and measurements are made at the chosen interval 15 3600 second sampling intervals The CTD is in Slow Interval Sampling Mode In this mode CTD samples are taken but DO samples are not The pump runs for 11 3 seconds prior to a measurement and an additional 2 1 seconds during the measurement In between sampling intervals the pump is off and the CTD is in low power state Nominal Value 1 PHONE DEVICE Set by manufacturer Do not change Definition A configuration value specifying the model of the attached device set by the assembler or builder These devices have dedicated hardware ports on all motherboard revisions and
446. yancy Engine supports single pump operation in water depths shallower than 120 meters resulting in a signifi cant reduction in power con sumption Does not include ocean re trim and ballast Requires shipping Seaglider to iRobot 4270717 Upgrade to Seaglider IKA Upgrades a Seaglider pur chased from University of Washington before July 2009 to the current configu ration ofthe iRobot IKA Seaglider Includes an updated mass shifter an ElectroChem 24V lithium primary battery and a 10V lithium primary battery Does not include an upgrade to Ogive fairings 4261537 Sea Bird Electronics GPCTD Upgrade from a Sea Bird CT sail to a Sea Bird GPCTD Replaces older CT sail with a Sea Bird Conductivity Temperature and Depth sen sor Requires Ogive Fair ings Upgrade 4292639 Ogive Fairings Replacement of fairings to the larger capacity Ogive fairings allowing for greater sensor payload capacity and improved endurance Man datory with Sea Bird GPCTD upgrade 4339550 iRobot amp 1KA Seaglider User s Guide Chapter 12 1KA Seaglider Refurbishment Replacement Spares Sensors amp Accessories WETLabs BB2FL VMT 532 CDOM CHL A Part Part Number Ouantity Standard Antenna Mast Kit 4199332 00001 4199332 00002 Short Antenna Mast Kit 4277576 00001 4277576 00002 Forward Fairing Kit 4249893 4294322 00001 Aft
447. ys the speed of sound in m s at varying depths G524 Dive 9 iRobot Scituate Mission Start Time 19 May 2011 18 25 29 0 gena 40 2 60 a 80r Speed of Sound Descent Speed of Sound Ascent I 1 1 1 L l 1468 1470 1472 1474 1476 1478 1480 Speed of Sound m s iRobot amp 1KA Seaglider User Guide 345 Appendix D Dive Data Visualization Software Plot 14 PAR Photosynthetically Active Radiation Sensor Data The PAR sensor measures the spectral range of solar radiation 400 700nm used by aquatic plants and algae for photosynthesis At deeper depths you will see the par sensor decrease to zero as solar radiation diminishes with depth Photosynthetic Active Radiation PAR SG524 Dive 9 iRobot Scituate Mission Start Time 19 May 2011 18 25 29 3 lt o a PAR Descent PAR Ascent 120 l l l i I J 0 0 1 0 2 0 3 04 0 5 0 6 0 7 PAR millivolts 346 iRobot amp 1KA Seaglider User Guide APPENDIX E Autonomous self Test This appendix contains the autonomous self test iRobot amp IKA Seaglider YM User s Guide 347 Appendix E Autonomous Self Test ouoyd umrpu Supjo uO N MSDS 0 0 8CSET L1C98 FI O HDWVHO SdD L 1ojourered Sunepd N S LLH P P8CS T spuooos ce ce 00000t I LPSS 9 9v0L PL0109 cT LOCELT 11SOPO N SdOH 8CL 8CS T GLAN 6 P10 119090 0100
448. ystems so use whatever program you want After loading the appropriate software on the interface computer access the basestation using the SSH and SFTP clients Your IT department provides the host name and password Setting Up the Pre Flight Diagnostic Laptop Seaglider s pre flight diagnostic laptop hereafter referred to as the field laptop is the computer that connects directly to Seaglider s serial communications port Like the basestation interface computer there are many possible configurations The Seaglider field laptop must have a serial port or USB serial port adapter and a serial terminal emulation program iRobot uses the following Operating system OS Windows iRobot amp 1KA Seaglider User s Guide 37 Chapter 3 Setting Up the System e Serial terminal emulation program Tera Term Pro 2 3 free software terminal emulator Configure Tera Term Pro 2 3 for 9600 8 N 1 no hardware handshake echo off and CR only VT100 is the terminal that is emulated A Caution Do not use Windows Hyper Terminal a serial terminal emulation program under any circumstance It does not function well with Seaglider Assembling Seaglider s Cradle To assemble the cradle 1 Make sure that you have all the parts shown in Figure 3 1 and listed on page 31 FIGURE 3 1 Launch and Recovery Cradle Components Yellow Cradle Mesh 2 Insert two of the aluminum rails through the side hems of the yellow me

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iRobot® 1KA Seaglider™ User's Guide