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1KA Seaglider™ User's Guide

1. Installation and configuration 4 4 eee eee eee eese entes teneis ttn sinas sta stent ta seins to sense ens en sense tuae PPn iRobot Dive Data Analysis software visualization software eere ee eee eerte 244 Using the dive plot analysis software Run the MATLAB application Set current folder eere eee eret Loading the dive plot GUI 4 eee ee eee eee eee eene entente atenta setas ta sense tassa setas suse tn stessi nano Analyzing dive CL APPENDIXE A Autonomous Self Test esses eene 269 AULONOMOUS Self teSt crercereeserecsersesersesersessrsessrsessssesessesessesersesessesessesessesessesesssessesesseseseesseees 269 APPENDIX F Hardware and Configuration Menus esee 279 a TE EI T PE A E O P A T E E N E 279 ACCESS SUDMENUS cccssreessrserseserseserseserseseseeseseesesessessesessesessesssessssessesesssessssessssersssessssessesers 279 Parameters and Configuration menu sscscsscssessesssssssesesessssssscssescessssscssesssssessessessssessossssseees 281 View the Parameters and Configuration menu eere esee esee teen ente aetas tn stas tn stas tn stan 281 Basic Mission and Seaglider Parameters menu eere eee esee eee eese enean sna tn atas tn aenean 282 View the Basic Mission and Seaglider Parameters menu eres cerent entente tnn 282
2. 16 Field Team Steams back to port 17 Properly cleans the Seaglider and all sensors 18 Puts the Seaglider into travel mode and properly stows it away 1KA Seaglider User s Guide 341 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix I Pilot and Field Team Checklist 342 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities APPENDIX J Sample Field Kit Checklist Field kit checklist Check complete Field kit checklist task 1KA Seaglider Self Tested with known Transducer Frequency 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 cra
3. eee e eee ee eese eee ene eee eoe e eene see en osse ense een sese sense een ee esaesa asa XX C stomer SUppDOFt uei eeees esos eee vo eese teo Gee ut eo pe see pe erect eese nep stes Severe oinas secet ese Peres es petes posee ARA NE nte REESE e 1 CHAPTER 1 IKA Seaglider History and Overview esses Se plider EIN ES RE Pc Miss 1 3 Seaglider Sensors eese eese esee tenera seo trae vo siet eas sero eo boc UU sees ova Va SUPE EPA ve UV ea ee Ulo Pepe bb be Uo ene sens epa eoa topi Standard Seaglider sensor eee eee eee eee eese senses estesa s nsn se tassa enses sess sos ensenssnssseesese dd 4 Optional S nSOTSursuie es eee tient eoo tone ve eee eb seek ud euo een 19 eMe pese Teva eut ae ee eae ed Tess SeussessesssesosbsosndesensSeeussnd CHAPTER2 Checking Out Crate Contents eese Inspecting Seaglider system shipping container eee eee sees e eerte eene tn seen senses esses sens enseuua D IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Contents CHAPTER3 Setting Up the System essen 7 Setting Up the basestation
4. Step Responsibility Action 1 Field Team Ensures the antenna is fully tightened If antenna was uninstalled ensures that O ring is present before reinstalling 2 Ensures all cables and connectors are secure 3 Assembles Seglider s wings rudder and antenna 4 Pilot Logs into the basestation via secure shell method 5 Pilot and Field Goes through Self Test process Team 6 Pilot Approves a successful self test and then gives the Field Team approval to go into Sea launch mode 7 Field Team Puts Seaglider into Sea launch mode and waits to click Yes to the question Is Seaglider ready for Sea launch Throughout the Sea launch setup watches to assure bladder inflates fully the Seaglider finishes one call and the Seaglider picks up the Quit command 8 Pilot Checks PRM file closely to ensure the parameters are set correctly If changes are necessary and applicable to being picked up directly before the dive makes changes in common file 9 Gives the OK for sea launch 10 Field Team Types Y for yes and presses Enter to go into Sea launch Continues watching to assure bladder inflates fully Seaglider finishes one call and the Quit command came through 11 Disconnects the comms cable and installs the dummmy plug in its place 12 Travels to designated deployment site 13 Removes sensor covers 14 Requests permission to deploy the Seaglider with a tether attached 15 Pilot Approves the deployment 16 Field Team Launches
5. sese 150 Figure 7 26 Battery status fuel gauges sess nennen ens 150 Figure 7 27 Checking capture Vector oec tere rte eem RU e Ee eee 151 Figure 7 28 Checking flash nette eee peb renean Rete 151 Figure 7 29 Iridium communications and transmission check ssessesses 152 Figure 7 30 Self test pass fail status essere eene nete 152 Figure 7 31 LOS Pers menu mee ERROR d basse este quee S 153 Figure 7 32 Set MinCondFreq eese nennen enne EEEE EEEE i Es 154 Figure 7 33 Example excerpt from GPCTD cal sheet 155 Figure 7 34 Position of Seaglider during a simulated dive sess 159 Figure 7 35 Seaglider start up on the laptop seen 160 Figure 7 36 Main menu and Launch menu sess 160 Figure 7 37 Pitch roll and pump maneuvers sese 161 Figure 7 38 Reset dive run number sess eene ens 161 Figure 7 39 File upload to Seaglider seen 162 Figure 8 1 Main plots ss tet ie lett AS RO AER GAS et Sa Da erus 166 Figire 8 2 Dive I pitchiplotz au eene eet rrr ree e rent intende as 167 Figur 8 3 8M CC values iege ene ee UR e SER RUD 168 Fipuie 8 4 ROI center values i pote e on AO e E ESEN E 169 Figure 9 1 Example cmdfile esses enne enne terere trennen 172 Figure 9 2 Example tafgets file eine e e eet Eee 173 Figure 9 3
6. hrnupuvuiluicu hrnuruvugsu Internet CONFIQUIAtION Setting up the basestation directories and files Setting up a Seaglider interface computer Setting up the field laptop eere eere eene Assembling the Seaglider cradle eene eee e eee ee ee eese teen enses etnia tensa stessa sun Assembling the Seaglier Stowing moving Seaglider cccccsccccssccscsssccccscesecssscscccssssccescescssssscssesssssesessesesssssssessssesssessees Checking out the Seaglider SyStenssssssssssssesssrossspesssssssssssssssesossssossessosssossossso sssr vosossss osos tosses Checking Seaglider communication with the field laptOp s seseseesesesesosoeseoesosesecosoesecosoeseoseesoe 19 Checking the primary and alternate phone numbers eee eese eee eee eee enean 22 Checking the pump motors and basestation communication eese eese eee enean 24 CHAPTER4 Operating Principles esses eene 27 Seaglider COMPONENIS essess Isopycnal pressure hull Inside the pressure hull Outside the pressure hull P uono 30 Inside and outside the pressure hull e ssseseeesesosesoeoesesesosoeseocsosesocosoesesosoroeoseosesososoesesosorssossesoe 31 Principles of Seaglider operation esssesssessssessssseseosusesesonsuceossossssoosossossnososossosessessoss
7. Engineering files eese eost en si set ot T vo eco feed ao pea Po PER OVN ee V Seseslsessvsbesecbuedsasausseesesdescedecesases leigCBU pr Pr cesse d fil s cache TIlE Jess tereti tese eb ae epu ens Fe eet ao tua go re gove uta ea Pee agus cov o segue to ace eene adul Mailers Files stored on Seaglider eres Bathymetry map files rusas RE CapVec Tile iem Md Compass Calibration file Js ieieeisrc o ecco eina ias eee o eo ipea etr Ove ve Ve toe iva bp ooo o Pose du Do see Ue deed gS CHAPTER 10 Recovery and Disassembly essen 185 Ivo sari M M 185 Recovery Phas i0 csi lt sissussensvecsesaveseessensendecasonsoccs cdsousouannsssusensoecseueseasocsddenseaescasse aS SE torsos iorn ES 186 CHAPTER 11 Operator Level Maintenance eese 189 S PANTS ISI DNE 189 Deep cleaning Seaglider 1 eere e eee eee eee resessie ee eee seen eese ta etas ta seta sense tae ta asees dorina risien 191 Installing and configuring the AD2CP sensor eee eee eren eene eene ee etant en sense tn etas to aetas toss eae estne 192 Verifying AD2CP sensor communications e sesessessesessesoesesseseosesoesesoosecsossesoesessesossesoesessoseesosoesse 194 CHAPTER 12 KA Seaglider Refurbishment eese 195 iRobot refUrbishMENt 4 eere eee esee e eese teste tenen atenta peissos tss tn eta sensn setae
8. PC_RECORDAPOGEE A GPCTD command that specifies 1 0 1 whether or not the sensor should be sampled during apogee or turned off If the value is set to 1 the current profiler will sample through apogee If the value is set to 0 the GPCTD will be turned off during apogee PC_RECORDCONTINUOUS A GPCTD command that specifies 0 0 1 whether or not to turn off the sensor during apogee and start a new cast If the value is set to 1 the glider will not turn off the sensor during apogee If the value is set to 0 the glider will turn off the sensor at the start of apogee or after apogee as defined by PC_RECORDAPOGEE If PC_RECORDCONTINUOUS is set to 1 it overrides PC_RECORDAPOGEE and PC_PROFILE 1KA Seaglider User s Guide 85 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 5 Piloting Parameters Table 5 4 Parameters in alphabetic order Parameter Nominal Min Definition value value Max value SPC STARTS A diagnostic value output by the GPCTD that keeps track of the number of times the sensor restarts during a mission There should be two restarts per dive one for the downcast and one for the upcas
9. T TURN The maximum amount of time seconds allowed to complete a turn during the active G amp C mode If this timeout is reached before the heading is reached Seaglider rolls back to neutral and continues 225 10 720 T TURN SAMPINT 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 120 1KA Seaglider User s Guide IMPORTANT NOTICE 99 WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 5 Piloting Parameters Table 5 4 Parameters in alphabetic order Nominal Min Max Parameter Definition value value value T WATCHDOG The value to which the watchdog timer 10 Set by manufacturer Do not change is set minutes This is an information only parameter so the Seaglider software knows the watchdog timer value The watchdog timer itself is set with DIP switches on the main board If the watchdog timer expires the main processor is reset and Seaglider goes into recovery This will not happen during normal operation and is meant as a fail safe against unexpected software or hardware fa
10. 5 Take one of the magnetic wands from the shipping case Figure 3 11 Figure 3 11 Seaglider magnetic wand CAUTION Do not attempt to turn the glider ON or OFF using two magnetic wands together This may adversely affect the compass calibration 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 CAUTION Ensure that you keep the wand within 3 inches of the ON OFF marking Moving the magnetic wand further forward can interfere with the compass calibration 7 Make sure that the wand is touching the fairing while moving it over the ON symbol Figure 3 12 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 Figure 3 12 Move wand on on starboard side 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 1KA Seaglider User s Guide 21 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are
11. Flight PrOCESS OM iiis Recovery process eres sees eene eene en stent tn sense tn sensns APPENDIX J Sample Field Kit Checklist sess 343 Field Kit CHECKISt ui ccccssc E 343 APPENDIX K Standard Limited Warranty to Original Purchaser 345 SEAGLIDER ONE 1 YEAR WARRANTY TO ORIGINAL PURCHASER ssssssssssssseseees 345 xii 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities List of Figures Figure 1 1 1KA Seaglider system overview ssesessessssseeeeeeeee rennen ene 3 Figure 2 1 1KA Seaglider system in open shipping case essere 5 Figure 3 1 Launch and recovery cradle components essen 11 Figure 3 2 Cradle bolts handle and rail assembly seen 12 Figure 3 3 Assembled cradle essent entente 13 Figure 3 4 Position of Seaglider in the cradle see 14 Figure 3 5 Sensor port locations on aft endcap sse nnne 16 Figure 3 6 Fully assembled Seaglider seen enne 18 Figure 3 7
12. Installing and configuring the AD2CP sensor Equipment Required AD2CP sensor AD2CP to Seaglider data power cable Computer terminal with TeraTerm installed 1 Install the AD2CP to Seaglider cable from port R of the AD2CP to port F on the aft end cap of the Seaglider 2 Power on the Seaglider The console port displays the output from the main board 3 Press Enter when the otherwise will go to recovery message is displayed 4 Press Enter when prompted for the date and time 5 Enter y when the Are you running on external bench power N message is displayed The Note tracking power consumption message is displayed followed by the list of the Main menu options 6 From the Main menu type param or 1 and press Enter The Edit parameters menu is displayed 7 From the Edit Parameters menu type config or 12 and press Enter The Edit Hardware Configuration Parameters menu is displayed 8 From the Edit Hardware Configuration Parameters menu type 1ogdev or 11 and press Enter A list of the Current user logger files and the User logger number 0 1 CR prompt are displayed 9 At the prompt type the first number in the list where empty is displayed The cnf file for new logger promptis displayed 10 Type NCP cnf at the prompt and press Enter The Edit Hardware Configuration Parameters menu is displayed 11 Press Enter The Re initialize hardware configuration N promptis displayed 12 Type v and then p
13. CP PROFILE A current profiler command that specifies when the current profiler 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 CP RECORDABOVE A current profiler command that sets the depth in meters above which the sensor will sample A value of 0 turns the sensor off Make sure and set this parameter to below the maximum depth the vehicle will go if the intent is to sample all the way through apogee 1000 1100 CP RECORDAPOGEE A current profiler command that specifies whether or not the sensor should be sampled during apogee or turned off If the value is set to 1 the current profiler will sample through apogee If the value is set to 0 the current profiler will be turned off during apogee 1KA Seaglider User s Guide IMPORTANT NOTICE 65 WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 5 Piloting Parameters Table 5 4 Parameters in alphabetic order Nominal Min Max Parameter Definition value value value CP RECORDCONTINUOUS A current profiler command that 1 0 1 specifies whether or not to turn off the sensor durin
14. 1KA Seaglider User s Guide 67 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 5 Piloting Parameters Table 5 4 Parameters in alphabetic order Parameter Definition Nominal Min Max value value value D FINISH 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 80 NOTE If a 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 The depth meters at which a dive is 0 0 1000 D FLARE flares to the computed pitch 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 As soon as Seaglider reaches D FLARE new G amp C action is initiated Pitch is adjusted firs
15. 34 If the self test returns the message Warning No bathymetry file covers the current locations Continue self test N do one of the following e Ifthe 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 maps are loaded for the present area type Y for Yes and press Enter Figure 7 12 e fbathymetry 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 the inability to find the maps Check the filenames The format must be bathymap nnn where nnn is the map s number Figure 7 12 Checking bathymetry data 35 After the bathymetry check compass and calibration file checks are done 1KA Seaglider User s Guide 143 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 7 Prelaunch Procedures 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 Ferree Figure 7 13 Compass calibration 36 Verify that the critical operational parameters are OK Figure 7 14 na
16. 6 9109 Roll Control 0 588827 T Roll pp 6 9109 Roil Control 0 700005 Dive Climb 49 CL i i i i i i i 50 40 30 2 10 0 10 20 30 4 50 Rot Control Figure 8 4 Roll center values Continue to monitor the 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 1KA Seaglider User s Guide 169 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 8 Tuning Your Seaglider 170 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties CHAPTER 9 Files for Operations To be a successful pilot gathering high quality data during the mission and bringing Seaglider home safely
17. 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 1eve1 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 noninteractively via extended PicoDOS You access functions in the menu tree via extended PicoDOS by using the menu command picoDOS menu hw pressure selftest sea level 1 Using the pdoscmds bat provides a powerful mechanism for accessing test functionality while the Seaglider vehicleis 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 an exclamation mark For example typing the following command displays the directory of the compact flash card Enter selection 1 5 CR dir You can also reach the extended PicoDOS prompt picoDOS from any menu by typing pdos Parameters can be viewed or changed simply by typing their full name preceded by a dollar sign The following command displays the value of T DIVE Enter selection 1 5 CR T_DIVE The following command changes the value of T DIVE to 30 Enter selection 1 5 CR T DI
18. If NAV MODE is 0 1 or 2 and the value of SHEADING is between 0 0 and 360 0 the glider will use this value to synthesize a waypoint 20 km distant on the specified bearing from the current location If NAV MODE is 3 HEADING 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 1 360 HEAPDBG Set by manufacturer Do not change A Boolean value set during fabrication 0 or building that is only used for debugging ID Set by manufacturer Do not change Seaglider identification serial number Set at factory This is an integer between 1 and 999 2500 Leading zeros are not required This identification number is used in many ways including creating Seaglider login on the basestation in filenaming conventions and as a serial number for manufacturing purposes 1 999 76 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Alphabetized parameters Table 5 4 Parameters in alphabetic order Parameter Min value Max value Nominal Definition value INT PRESSURE SLOPE
19. Set by manufacturer Do not change CAUTION An error in the pitch could lead to the loss of Seaglider 100 PITCH MIN Set by manufacturer Do not change 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 NOTE Value determined by the software minimum of the system Obtain actual value from the vehicle s trim sheet 100 PITCH TIMEOUT Set by manufacturer Do not change Pitch mass timeout seconds If the mass shifter does not achieve the desired pitch position before PITCH TIMEOUT seconds a pitch error occurs 16 15 25 88 IMPORTANT NOTICE 1KA Seaglider User s Guide WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Alphabetized parameters Table 5 4 Parameters in alphabetic order Parameter Nominal Min Definition value value Max value SPITCH VBD SHIFT Set by manufacturer Do not change The pitch compensation cm cm 0 00005 0 required to balance the mass of the hydraulic oil moving forward and aft with the change in buoyancy as a result of VBD changes When flying a
20. T_GPS minutes Bottom and top detection ALTIM_TOP_PING_RANGE 0 off or meters SALTIM TOP TURN MARGIN off or meters SALTIM TOP MIN OBSTACLE O0 off or meters ALTIM_FREQUENCY kHz ALTIM_PULSE milliseconds A LTIM_SENSITIVITY integer XPDR_VALID integer XPDR INHIBIT 10 seconds Flight model and environment HD_A value HD_B value HD_C value RHO gm cc 1KA Seaglider User s Guide 51 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 5 Piloting Parameters Table 5 3 Parameters listed by category and frequency of modification Continued Modification frequency Category Parameter Less frequent CAUTION Continued Use caution when changing these parameters Safety N_NOCOMM integer D_NO_BLEED meters T_NO_W seconds TGT_AUTO_DEFAULT Boolean PITCH_MAXERRORS integer ROLL_MA XERRORS integer VBD_MAXERRORS nteger CF8_MAXERRORS integer UNCOM_BLEED AD counts RELAUNCH integer Seaglider modified DIVE integer GC LAST COLLECTION dive number MISSION integer T GPS ALMANAC ninutes T GPS CHARGE seconds R PORT OVSHOOTAAD counts R_STBD_OVSHOOT AD counts During fabrication CA
21. The surface phase begins at the end of the climb phase data acquisition 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 C ROLL CLIMB and pumped to VBD 8M CC If Seaglider surfaces with VBD gt SM CC no bleeding is done to force VBD SM 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 ST MISSION min utes have elapsed from the start of the dive without achieving D SURF in climb phase 42 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Features of control The first test in the surface phase is to check whether the depth of Seaglider is less than D SURF e Ifit is Seaglider pitches fully forward and pumps to SM_CC e 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 sur
22. 5 HEAPDBG 0 In depth heap debugging zoff l on 6 CF8 MAXERRORS 20 Number of CF8 errors allowed before entering recovery CR Return to previous menu Figure F 3 Basic Mission and Seaglider Parameters menu Change the value for a parameter 1 Enter the number preceding the parameter name and press Enter 2 When prompted type the value and press Enter 3 To return to the Parameters and Configuration menu press Enter Example If the mission number must be edited from 2 to 3 select 2 MISSION and press Enter Seaglider displays the following response 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 Seaglider displays the following response New value 2 00 type 3 and press ENTER Seaglider acknowledges the update and you are returned to the Basic Mission and Seaglider Parame ters menu Figure F 4 MISSION New value 2 00 3 I 1373 601 HTT8 N Updating parameter MISSION to 3 Figure F 4 Checking or changing the Seaglider mission number 282 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal pen
23. SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix G Ballasting 7 Install rubber pad to central lead position according to the supplied Ballast Pin Wheel diagram SEAGLIDER SN Top PC 4 Top PC 5 STAGE VOLMAX DATE THRUST Top PC 1 C_VBD Port PC 1 C_PITCH C_ROLL Port PC 2 Starboard PC 1 Port PC 3 Starboard PC 2 Port PC 4 Starboard PC 3 Port PC 5 Starboard PC 4 Port PC 6 Starboard PC 5 Port PC 7 Starboard PC 6 Starboard PC 7 SEAGLIDER CALCULATED FINAL MASS SEAGLIDER WEIGHED FINAL MASS Port PC 8 Port PC 9 Starboard PC 8 FAIRING DENSITY WATER DENSITY Bottom Pe 1 Starboard PC 9 Bottom PC 2 Bottom PC 9 NOSE WEIGHT PLATES INSTALLED Y N PAD MASS 7 Bottom PC 3 Bott PC 8 TOTAL NOSE WEIGHT PLATE MASS ottom PC TOTAL LEAD MASS TOTAL NUMBER OF NOSE WEIGHT PLATES Bottom PC 6 Bottom PC 4 TOTAL FOAM MASS Bottom PC 5 Bottom PC 7 Pinwheel diagram showing ballast locations Figure G 1 1KA Seaglider User s Guide 322 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these
24. Set by manufacturer Do not change The slope psia per A D count 0 009766 0 001 1 calibration of the internal pressure sensor The sensor has a span of 0 to 30 psia with a 90 mV output at full scale at 12 V excitation The output is proportional to the supply The Seaglider excitation is 4 096 V 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 slope is 0 009766 psia per A D count INT_PRESSURE_YINT Set by manufacturer Do not change The y intercept of the linear calibration 5 of the internal pressure sensor KALMAN_USE 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 0 Reset the Kalman state vector and origin of local Kalman coordinate system to 0 and restart the filter 1 Run the Kalman filter 2 Do not run the Kalman filter Examples If KALMAN_USE is 0 or 1 and NAV_MODE is 1 the SKALMAN USE filter results are used to determine the Seaglider head ing If NAV MODE is 1 and KALMAN USE is 2 not being run Seaglider will choose the head ing directly to the target it is attempt ing to achieve and fly on that heading without attempting to make any cor rections for curre
25. TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix C Extended PicoDOS Reference Manual v66 07 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 required arguments The menu is specified by menu names separated by forward slashes The arguments are specified in a whitespace separated list arg1 valt arg2 vale 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 picoDOS on the TT8 CF8 quit Exits the Seaglider extended picoDOS mode and returns to the Seaglider main menu readnv varname 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 depth device
26. Violations of these export laws are subject to severe criminal penalities Chapter 3 Setting Up the System CAUTION Be sure to tighten serial connections prior to deployment The serial connections should be hand tight DO NOT over tighten Over tightening serial connections can cause water leakage connectivity and communications issues CT sail Pressure relief valve PRV Port A Port F Antenna Connector Port B Port C Port E Figure 3 5 Sensor port locations on aft endcap Table 3 1 Port locations and allowed sensors on aft endcap Port Sensors A COMMS B PAR WET Labs Aanderaa DO GPCTD C PAR WET Labs Aanderaa DO GPCTD D Free Flow Sea Bird DO 16 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Assembling the Seaglider Table 3 1 Port locations and allowed sensors on aft endcap Port Sensors E ADCP 24V Echosounder 24V Aanderaa DO GPCTD PAR WET Labs F ADCP 24V Echosounder 24V Aanderaa DO GPCTD PAR WET Labs NOTE If E and F ports are configured for 24V plugging any sensor other than the Echosounder sensor or A
27. 15 char max length CR to leave unchanged 19193612847 6725 312 SUSR N Changing altnum to 19193612847 Figure 3 15 Verify alternate telephone number 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 279 Checking the pump motors and basestation communication Check the proper operation of the VBD pump pitch and roll motors and Iridium communication with the basestation Disconnect the communication cable from the laptop and the Seaglider 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 To make it easier to move the Seaglider outside detach the antenna mast mount from the aft end see Checking out the Seaglider system on page 19 DO NOT disconnect the antenna cable for this procedure Once outside reinstall the antenna if necessary following the steps on page 15 3 Connect the communication cable to Seaglider 24 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Checking out the Seaglider system 4 Posit
28. 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 2 Bathymap When the bathymetry map reading function of the glider is enabled this file contains the map It is usually uploaded to the Seaglider system s compact flash before deployment but may be uploaded 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 required for gliders to fly For more details on how bathymetry maps are used see Bathymetric files on page 115 226 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities 2 3 On board glider information In addition to bathymetry maps the glider can carry ice maps which indicate a spatially and tempo rally varying climatology of ice cover The glider can use this information to make decisions about sur
29. 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities APPENDIX K Standard Limited Warranty to Original Purchaser SEAGLIDER ONE 1 YEAR WARRANTY TO ORIGINAL PURCHASER 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 acceptance 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 unqualified 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 1 year after acceptance 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 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 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 acco
30. APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix I Pilot and Field Team Checklist Obtain pilot contact information Step Responsibility Action 1 2 Pilot Phone Number 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 Self test schedule Step Responsibility Action 1 Pilot 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 2 Team Date 3 Mission planning details should be organized see Chapter 6 Predeploy ment Tasks on page 107 4 Pilot targets science sg_calib_constants m and command files generated Field Team Time Field Team plans to be at deployment site 6 Deployment Vessel being used 336 IMPORTANT NOTICE 1KA Seaglider User s Guide WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to seve
31. APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Alphabetized parameters Table 5 4 Parameters in alphabetic order Parameter Nominal Min Max Definition value value value PITCH ADJ DBAND This parameter degrees with 1 0 40 PITCH_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 gt PITCH_ADJ_DBAND NOTE A value of 0 disables automatic pitch adjustment PITCH_ADJ_GAIN This parameter with 0 02 0 0 1 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 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 If the glider is driven into pitch oscillation by adjustments during dive reduce PITCH_ADJ_GAIN until the system becomes stable If the glider is not achieving the desired pitch d
32. Example science file nenene a A a E nennen nennen neret rennen 176 Figure 11 4 Postdeployment Seaglider cleaning eee 190 Figure B 1 Description of timing of sampling of OSI sensors recorded in eng file 215 Figure D 1 Example of MATLAB Integrated Development Environment 245 Figure D 2 Current folder set to Dive Plot folder sere 246 Figuie D 3 Type Command coder Ue peregi ees ues 247 xiv 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities List of Figures Figure D 4 Initial view of Dive Data Analysis graphical user interface sse 248 Figure D 5 Initial invalid path notification seeesseeeeeeeeee eene enne 249 Figure D 6 Specify the data folder oo eee eee nesine inenen teoei e S ES I S 249 Figure D 7 Select dive data for analysis sss 250 Figure D 8 Example of Auto tile Plot function essent 252 Figure D 9 Plot 1 Composite plot ener rennen nene 253 Figure D 10 Plot27 CTD plot iae eerie oi tere eee esr 254 Figure D 11 Plot 3 T S plot se
33. Figure F 50 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 7 dump Dump captured registers 8 walk Heap walk CR Return to previous Enter selection 1 5 CR Figure F 50 Miscellaneous Hardware Functions menu When you select 1 Prepare for travel Seaglider automatically 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 you select 4 Read set time of day the same procedure is the same as when Seaglider is first turned on see Interactive self test step 11 on page 136 2 To return to the Hardware menu press Enter 1KA Seaglider User s Guide 313 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix F Hardware and Configuration Menus Developer Tests menu The Developer Tests menu is for Seaglider developers
34. Figure F 6 Flight Parameters menu eesessseseeeeeeeeeeene eee reeeo Sissu esposi 284 Figure F 7 Surface Parameters menu sss eene eren 285 Figure F 8 RAFOS Parameters MENU senres enne nennen nennen enne trennen 286 Figure F 9 Verify the Seaglider password 286 Figure F 10 Verify the basestation telephone number in Seaglider 287 Figure F 11 Verify the basestation alternate telephone number in Seaglider 287 Figure F 12 Pitch Parameters mentr nnen esien enne n a nennen neret eren 288 Figure F 13 Roll Parameters menu sese eene nene nenne enne 288 Figure F 14 VBD Parameters menu sois eao apeten meen ee tnnt teen ennennen 289 Figure F 15 Hardware Configuration Parameters menu sese 290 Figure F 16 External Pressure Parameters menu esee eene 290 Figure F 17 Internal Pressure Parameters menu essere 291 Figure F 18 Compass Parameters menu nennen ener 291 Figure F 19 Altimetry Parameters menu ssesesseeeeeeeenen rennen nennen nene nennen enne 292 Figure F 20 Sea Bird CT Calibration Coefficients Menu seen 292 Figure F 21 Power Parameters menu essere nennen nnne nnne nennen 293 Figure F 22 Edit All Parameters Menu eee cseecsecseeesececeseeseceeeeeseaseseseaeeseecaesnaeeaees 295 Figure F 23 Save Parameters By Na
35. Maximum Value 1 Recommended Value 1 Additional parameters can be defined using param x param y and param z For example specify ing param x RATE and specifying xx_RATE 1 2 in the cmdfile will cause the interpreter to expand x 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 com plex multi command interactions or to provide a pilot control of a device during a mission For exam ple a start command might become start X script x device bat where the contents of device bat are or Mpvalue 1 17 0 r Yopvalue2 0 05 r Yopstart Yor 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 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 and is closer to 7 seconds with many sensors installed If only the conductivity and temperature sensors are sampled it can be possible to sample every 4 seconds but with
36. NH SOH STX 245 SSURF N EOT 578 SSURF N Received MB4B SSURF H Transmission succeeded 383 SSURF M Logged in ing cmd lax k t158 cadf ile Step 19 Oxi ex xi sectire secSize sectire received received received 8x1 received secSize Bxl received secSize 8x4 received secSize 128 cmdfile 573 bytes 128 HTT8 N Updating 228 HTT8 H llpdat ing 313 HTT8 HN Updat inq 406 HTTR M Upedat ing 499 HTT8 HN Updat inq 588 HTTS H U at iny 681 SUSR H RNING 865 HTTR M peat ing 1898 HTT8 N Updat ing 998 HTTS M Updat ing 084 HTT8 N U pdat inq 158 HTTR M Updat ing 9 0042812955 8 889861992655 2 244I7770 05 2 3337197 M6 92 947016 parameter SS ERBIRI parameter SERBIRD parameter SEABIRD parameter PSEABIRD_ parameter RD parameter 1 1498449 5FABIRD C I Recommended range SPARI RD c 1 to 9 315474 TSPABIRD C J to 0 008010132478 PRESSURE SLOPE to 8 9911485742 2UBD MIN to 435 UHD MAX to 3963 Figure 7 39 File upload to Seaglider to is between 0 0050 and 0 000 pareneter parameter parameter parameter parameter 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 Irid ium satellite was shaded at the time However after the dives are complete inve
37. SUSR N 194 249 SUSR N 194 311 SUSR N 194 358 SUSR N 194 397 SUSR N 194 441 SUSR N 194 485 SUSR N 194 526 SUSR N 194 5 T SUSR N 194 617 SUSR N 194 664 SUSR N 194 704 SUSR N 194 753 SUSR N 194 792 SUSR N 194 841 SUSR N 194 881 SUSR N 194 929 SUSR N 194 969 SUSR N 195 018 SUSR N 195 056 SUSR N 195 103 SUSR N 195 149 SUSR N 195 196 SUSR N 195 245 SUSR N 195 293 SUSR N 195 345 SUSR N 195 617 SUSR N XPDR INHIBIT 90 INT PRESSURE SLOPE 0 0097660003 INT PRESSURE YINT O DEEPGLIDER O DEEPGLIDERMB 0 MOTHERBOARD 4 DEVICE1 2 DEVICEIINSTANCE 1234 DEVICE2 1 DEVICE2INSTANCE 1 DEVICE3 1 DEVICE3INSTANCE 1 DEVICEA 1 DEVICEAINSTANCE 1 DEVICES 1 DEVICESINSTANCE 1 DEVICEO6 1 DEVICEGINSTANCE 1 LOGGERS 7 LOGGERDEVICEI 1 LOGGERDEVICE2 1 LOGGERDEVICE3 1 LOGGERDEVICEA 1 COMPASS DEVICE 33 COMPASS2_DEVICE 1 PHONE_DEVICE 48 GPS_DEVICE 32 195 660 SUSR N RAFOS_DEVICE 1 195 708 SUSR N 195 750 SUSR N 195 787 SUSR N 195 833 SUSR N 195 892 SUSR N 195 952 SUSR N 196 012 SUSR N 196 063 SUSR N 196 108 SUSR N 196 153 SUSR N 196 214 SUSR N 196 271 SUSR N 196 313 SUSR N XPDR DEVICE24 SIM WO SIM PITCH 20 SEABIRD T G 0 0043000001 SEABIRD T H 0 00063999998 SEABIRD T 12 4999999e 05 SEABIRD T J 4 3e 06 SEABIRD C G 10 SEABIRD_C_H 1 SEABIRD_C_I 0 0020000001 SEABIRD_C_J 0 00019999999 EBE_ENABLE GC WINDOW 196 354 SUSR
38. amp 11 5 021 399 03 6 0210 0 00006 Figure 7 33 Example excerpt from GPCTD cal sheet e Find the numbers circled in Figure 7 33 where Siemens m is 0 indicating freshwater response The frequency 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 in Figure 7 33 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 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 Findthe 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 Confirm the pump is running if the value you entered was 0 The pump may not run if the value is non zero 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 Q to exit direct communications with the GPCTD Figure 7 32 Once back at the GPCTD menu type 2 and press Enter to turn off the GPCTD m Press Enter until you return to the main menu and wand off the Seaglider before continuing onto o
39. cm 2 0 10 SVBD MAX Set by manufacturer Do not change Variable Buoyancy Device VBD position A D counts software limit 4000 when the internal reservoir is almost full external bladder fully bled minimum Seaglider buoyancy The Seaglider operating software closes the VBD main bleed valve Skinner valve when this value is reached NOTE Value determined by the software maximum of the system Obtain actual value from the vehicle s trim sheet SVBD MAXERRORS CAUTION Loss of VBD function can result in the loss of Seaglider Number of VBD errors allowed before 1 0 5 entering recovery phase This is a critical error parameter SVBD MIN Set by manufacturer Do not change Variable Buoyancy Device VBD position A D counts software limit 460 when the internal reservoir is almost empty external bladder fully pumped The Seaglider operating software stops the VBD pump when this value is reached NOTE Value determined by the software minimum of the system Obtain actual value from the vehicle s trim sheet 104 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties A
40. ct Select Select Figure D 5 Initial invalid path notification 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 quickly 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 246 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 Figure D 6 GPCTDVis_gui File Edit View Insert Tools Desktop Window Help iRobot Seaglider Dive Data Analyzer SeagiderID c H Data SBS1s9548 20111214 548 ShilsholeProductionCheckout Figure D 6 Specify the data folder 1KA Seaglider User s Guide 249 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix D Dive Data Visualization Software Selecting dive data for analysis The Dive Data Analysis GUI has a field titled Dive Numbers Figure D 7 Once the folder contain
41. entering SD passive 29 509 SSENSOR N P 2847 1ms 0 04m 79 8 6 33 086 SUSR N entering SD active 34 712 SSENSOR N A 33068ms 0 03m 80 3 7 37 136 SUSR N entering SD passive 38 752 SSENSOR N P 37715ms 0 02m 80 5 8 42 329 SUSR N entering SD active 43 955 SSENSOR N A 42311ms 0 07m 80 2 9 46 381 SUSR N entering SD passive 47 996 SSENSOR N P 46960ms 0 04m 80 2 10 51 573 SUSR N entering SD active 53 198 SSENSOR N A 51555ms 0 05m 80 2 11 55 047 SUSR N entering SD passive 56 661 SSENSOR N P 55626ms 0 02m 80 1 12 60 239 SUSR N entering SD active 61 865 SSENSOR N A 60220ms 0 02m 80 2 13 64 288 SUSR N entering SD passive 65 902 SSENSOR N P 64868ms 0 02m 80 2 14 69 483 SUSR N entering SD active 71 110 SSENSOR N A 69465ms 0 02m 80 4 15 74 002 SUSR N Writing internal sensors to log 74 546 SUSR N internal humidity 1987 counts 52 436680RH 74 764 SUSR N internal pressure 16 631498 psia 74 864 SUSR N internal pressure is high 1KA Seaglider User s Guide IMPORTANT NOTICE 273 WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Appendix E Autonomous Self Test 74 960 SUSR N Checking altimeter 75 429 HXPDR N ping response R010 191ms 75 4
42. number Check the list of parameters and the value assigned to each Dothe parameter values look okay 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 Table 6 5 shows some commonly returned messages along with their mean ing Table 6 5 Error messages for phone calls Error message Description 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 UNABLE TO LOGIN There was a problem logging into the basestation This could be due to corruption in the communications channel a phone call that dropped prematurely the Seaglider may be commis sioned incorrectly or the password might be incorrect NO REPSONSE TO INITIAL AT The Seaglider determines if the modem is awake and powered on by ATTEMPTS sending AT and then expecting OK in response If it does not receive the AT a failure occurs This can indicate a mode
43. prior to a measurement and an addi tional 2 1 seconds during the mea surement In between sampling intervals the pump is off and the CTD is in low power state 84 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Alphabetized parameters Table 5 4 Parameters in alphabetic order Parameter Nominal Min Max Definition value value value SPC MINCONDFREQ Minimum conductivity frequency detected to cause the GPCTD pump to run This value is only transmitted to the sensor when a single sample operation is performed such as a self test or a manual execution from the ALI menu The value of this parameter should be 500 Hz greater than the frequency response of the sensor in freshwater This value is listed in the sensor calibration sheet S PC PROFILE A GPCTD command that specifies 3 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 Downcast and upcast PC RECORDABOVE A GPCTD command that sets the depth 1000 0 1100 in meters above which the sensor will turn sample A value of 0 turns the sensor off
44. uD0 B 0 0099999998 Glider nyarocymam e drag 8 uD C 9 99999972 06 Glider hydrodynamic induced drag C HEADING 1 Heading degrees true to steer 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 195 TGT DEFAULT LAT 4808 Default target latitude 20 TGT DEFAULT LON 12223 Default target longitude 21 TGT AUTO DEFAULT 0 Automatically update default target CR Return to previous menu Enter selection 1 21 cR ws VERRE A Auveawrr CO wu0 OS Suh Ff w VS H He 00 wN ww Figure F 6 Flight Parameters menu 2 To edit a parameter value follow the procedures under Basic Mission and Seaglider Parameters menu 284 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Surface parameters Surface parameters 1 From the Parameters and Configuration menu select 4 Surface parameters and press Enter Figure F 7 10 11 12 13 14 an Vbw JeCcuo ON vw LAMQUE LACAN E LIAE w NNN NNN
45. 003 HD B 0 0099999998 HD C 9 9999997e 06 HEADING 1 ESCAPE_HEADINGO ESCAPE_HEADING_DELTA 10 TGT_DEFAULT_LAT 21 TGT_DEFAULT_LON 158 3 TGT_AUTO_DEFAULT 0 SM_CC 400 N_FILEKB 4 FILEMGR 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 1 206 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities 2 1 Processed files CALL TRIES 5 CALL WAIT 60 CAPUPLOAD O CAPMAXSIZE 100000 T GPS 15 N GPS 20 T GPS ALMANAC O See Parameter Reference Manual for information on T GPS CHARGE 47579 566 parameters reported in the log file 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 O VBD MIN 704 VBD MAX 3940 C VBD 2956 VBD_DBAND 2 VBD_CNV 0 24
46. 17 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 3 Setting Up the System 15 Slide Seaglider forward in the cradle until the nose is touching the front of the cradle Figure 3 6 The configuration of your Seaglider system may differ depending on what you ordered NOTE The cradle is the same on both ends The front and back of the cradle are determined by the position of Seaglider in the cradle Figure 3 6 Fully assembled Seaglider 16 Connect the nylon straps and tighten to secure Seaglider in the cradle 17 To store or move Seaglider in its cradle the antenna mast should be detached from the aft fairing as in the following steps a Remove the rudder screws b 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 Figure 3 6 c Fold the antenna mast next to the Seaglider d Seaglider should look like the one in Figure 3 7 Figure 3 7 Seaglider with antenna mast removed from the aft fairing 18 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control
47. 191 281 SUSR N 191 329 SUSR N 191 376 SUSR N 191 421 SUSR N 191 465 SUSR N 191 513 SUSR N 191 556 SUSR N 191 600 SUSR N 191 644 SUSR N 191 693 SUSR N 191 742 SUSR N 191 790 SUSR N 191 842 SUSR N 191 890 SUSR N 191 939 SUSR N 191 987 SUSR N 192 034 SUSR N 192 078 SUSR N 192 120 SUSR N 192 167 SUSR N 192 214 SUSR N 192 452 SUSR N 192 494 SUSR N 192 534 SUSR N 192 578 SUSR N 192 628 SUSR N 192 676 SUSR N 192 739 SUSR N 192 797 SUSR N 192 855 SUSR N 192 905 SUSR N 192 949 SUSR N 192 995 SUSR N 193 043 SUSR N 193 085 SUSR N 193 125 SUSR N 193 166 SUSR N 193 203 SUSR N 193 242 SUSR N 193 284 SUSR N 193 331 SUSR N 193 389 SUSR N 193 451 SUSR N 193 496 SUSR N 193 542 SUSR N 193 593 SUSR N 193 635 SUSR N COMM_SEQ 0 KERMIT 0 N_NOCOMM 1 N_NOSURFACE 0 UPLOAD_DIVES_MAX 1 CALL TRIES 5 CALL WAIT 60 CAPUPLOAD 1 CAPMAXSIZE 100000 HEAPDBGO T GPS 15 N GPS20 T GPS ALMANAC O T GPS CHARGE 20734 646 T_RSLEEP 1 STROBE O RAFOS_PEAK_OFFSET 1 5 RAFOS_CORR_THRESH 60 RAFOS_HIT_WINDOW 3600 PITCH_MIN 600 PITCH_MAX 3300 C PITCH 2700 PITCH DBAND 0 0099999998 PITCH CNV 0 003125763 P OVSHOOT 0 039999999 PITCH GAIN 30 PITCH TIMEOUT 16 PITCH AD RATE 175 PITCH MAXERRORS PITCH ADJ GAIN O PITCH ADJ DBAND 0 ROLL MIN 300 ROLL MAX 3750 ROLL DEGA40 C ROLL DIVE2025 C ROLL CLIMB 2025 HEAD ERRBAND 10
48. 201 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 6 175551212 cingularME com gps Setting up an ATT phone for gps alerts recov comp 6 175551212 cingularME com gps alerts recov Note the address for each phone service that is ATT Verizon differs For a real contact address remove the 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 5 Ifthe 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 1KA Seaglider User s Guide 159 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 7 Prelaunch Procedures 8 Wand on Seaglider see Chapter 3 Checking Seaglider communication with the field laptop page 21 9 When the output starts scrolling on the laptop pre
49. 22mA 177mA peak 23 7V min 224 AD sec 482 ticks 3307887 946 HPITCH N TRACK b 612 0 a 609 0 d 3 o 17 3307888 061 SUSR N Backing off pitch mass 3307888 279 HPITCH N Pitch control position 6 59 cm AD 591 3307888 545 HPITCH N Pitch commanded from 6 59 cm 591 to 4 59 cm 1230 3307889 538 HPITCH N 6 3 cm ad 687 MOTOR DONE ticks 17 max 24v 4 6mA avg 24v 3 8mA minV 24v 23 8V 3307892 705 SMOTOR N GC TICKS TIME 134 136089 3307892 800 HPITCH N done 3307892 947 HPITCH N Pitch completed from 6 59 cm 592 to 4 57 cm 1237 took 2 8 sec 25mA 179mA peak 23 7Vmin 226 AD sec 114 ticks 3307893 348 HPITCH N TRACK b 1218 0 a 1220 0 d 3 o 17 3307893 466 SUSR N Checking roll motor 3307893 567 SUSR N Roll to port 3307893 779 HROLL N Roll commanded from 0 03 deg 2024 to 39 97 deg 3439 3307894 722 HROLL N 5 4 deg ad 2217 no progress madeno progress made MOTOR DONE ticks 19 max 24v 3 8mA avg 24v 3 8mA minV 24v 23 8V 3307897 993 SMOTOR N GC TICKS TIME 138 140234 3307898 089 HROLL N done 3307898 213 HROLL N Roll completed from 0 00 deg 2025 to 40 45 deg 3456 took 2 8 sec 29mA 183mA peak 23 7V min 502 AD sec 114 ticks 3307898 638 HROLL N TRACK b 3419 0 a 3423 0 d 3 o 33 3307898 753 SUSR N Roll to starboard 3307898 980 HROLL N Roll commanded from 40 43 deg 3455 to 40 00 deg 610 3307899 573 HROLL C no progress made36 3 deg ad 3308 no progre
50. 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 346 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities SEAGLIDER ONE 1 YEAR WARRANTY TO ORIGINAL PURCHASER 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 this Agreement 2 5 U N Convention on Contracts iRobot and Customer expressly agree that the United Nations Convention on Contracts for the International Sale of Goods or its successor shall not apply to this Warranty Problems within the Warranty Period To make a Warranty claim contact iRobot Government amp Industrial Logistics Department by sending an email to maritimesupport irobot com or call 1 781 430 3030 for technical support Provide the technical support representative with the Seaglider serial number and obtain a return merchandise authorization number RMA and instructions for shipping to a designated repair facility Non Warranty Repairs Refurbishments When n
51. 9000 00 9000 00 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 TGT_DEFAULT_LON Floating point value degrees decimal 7043 18000 000 18000 000 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 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 UNCOM_BLEED The uncommanded change in A D 60 0 400 counts of VBD bleed that triggers the following actions in an attempt to save Seaglider Set by manufacturer Do not change 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 102 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by th
52. 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 Atthe prompt Number of samples to collect and average 11 press Enter to accept the default of 11 Figure 7 17 c Atthe prompt Show all samples N press Enter to accept the default N Figure 7 17 The results from the sea level calibration display 1KA Seaglider User s Guide 145 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 7 Prelaunch Procedures d At the prompt If truly at sea level this data suggests it should be xx x psig Accept new value N do one of the following e If Seaglider is at sea level and you want to accept the new value type Y for Yes and then press Enter e 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 otherwise 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
53. C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Interactive self test 50 Verify that the gauge is working properly The right column is the cumulative number of the seconds each system has been on since the bat tery packs were replaced The gauge is working properly if the time sec in the right column since power up is reading mostly non zero values while Seaglider is running on battery power If Seaglider is running on bench power all values in the right column are near zero If the right col umn reads all zeros while Seaglider is on battery power the self test fails 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 following e If this self test is just before a planned launch press Enter to accept the default answer No The self test fails e Otherwise type v 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 53 Seaglider runs a self test on the persistor
54. Change the value for a parameter eese eese esses eerte ene tn sette tasa sns tn aetates tns tn sensns enean 282 Dive PALAMEtETls iscccsctecestsesscsdusssaseccbesassessauccascenssseasessstseasdceenseses skespavasocessessessbsssnaesestaatesscussiesese 283 1KA Seaglider User s Guide ix IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Contents Flight parameters eese esses seen eene entente natns tn natns tn un Surface parameters eeeee esee eese eee enses a sesta sinat n an RAFOS parameters PasSWOIC y Pitch parameters Roll parameters VBD parameters Hardware configuration parameters Pressure external parameters eee eerte Pressure internal parameters 4 esee eese ente eese eee eterne tassa setas atentos stas setas etos s etas essa ense Sooko fonnrtdbri uii Altimetry parameters sees eene eee eene ee nennen nena sn natns tn nn Sea Bird CT calibration coefficients Power parameters eere eese eee eee etes enean tn seen tn netus en nn Edit Al
55. ET SEQ Violations of these export laws are subject to severe criminal penalities APPENDIX H AD2CP Compass Calibration Procedure If you receive your Seaglider with the ADCP sensor already installed at the factory the compass cali bration procedure has already been performed If you are installing the ADCP on your own you must procure the same equipment to calibrate the Seaglider internal compass Personnel Required Equipment Required Continued 2 procedure operators Calibration stand support pipe with heading marks aligned to true north permanently installed in an area with low magnetic interference see Figure H 1 S00708 Dry lubricant spray Rags or paper towels Equipment Required Seaglider pressure hull Wand to power on off Seaglider 50 foot Seaglider communications cable Laptop computer with Tera Term installed Dioital inclinometer Nortek AD2CP sensor if sensor is to be installed 9 Ogive aft fairing kit to hold AD2CP if sensor is to nclinometer mount be installed Pressure hull compass calibration stand PVC spacer for calibration stand Preconditions Assembled Seaglider pressure hull successfully completed hardware test and verification AD2CP sensor if applicable Compass Calibration Site Inside wooded area inside the Kidney Parkinglot area Past the Motorcycle parking hut there is a mostly open clearing Building 2 1 2 Figure H 1 Polaris compass calibration site 327 IMPORTAN
56. 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 Seaglider 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 47 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 48 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 4 1 1 ms T MT Figure 7 25 Reporting targets and science specifications 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 E Figure 7 26 Battery status fuel gauges If running off external power a message will appear that battery consumption is not being tracked 150 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S
57. Investigate and correct the cause of the discrepancy before continuing with the testing A Seaglider cannot call the basestation unless the password is the same on both the basestation and Seaglider 27 Set the primary telephone number At the prompt New telnum 15 char max length CR to leave unchanged verify 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 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 Do one of the following e Ifthe telephone numbers match press Enter to accept without making changes Figure 7 10 e Ifthe telephone numbers do not match enter the correct number and press Enter Figure 7 10 28 Set the alternate telephone number At the prompt New altnum 15 char max length CR to leave unchanged verify that the value displayed matches the number of the telephone line going into the second basestation modem Figure 7 10 The alternate number is unique to that phone line Do one of the following e Ifthe telephone numbers match press Enter to accept without making changes Figure 7 10 e Ifthe telephone numbers do not match enter the correct number and press Enter Figure 7 10 29 Put S
58. Mechanical features Isopycnal pressure hull No external moving parts Low drag flooded fairing Table A 6 Electrical features Ultra lower power micro processor High capacity compact FLASH memory 4 open serial channels for sensors 1 open frequency 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 systems for near bottom dives Bathymetry map system for low energy dives 198 IMPORTANT NOTICE 1KA Seaglider User s Guide WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix A System Specifications Table A 8 Operational modes Mode Description Transect survey Profiles using a sequence 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 Subsurface porpoise Profiles a specified depth range without surfacing 1KA Seaglider User s Gu
59. PackBot are registered trademarks 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 amp IKA Seaglider It provides access to the DOS FAT file system on the Compact Flash as well as some simple file manipulation utilities The TOMS and PicoDOS commands are documented in the PicoDOS 9 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 IKA 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 IM
60. S8OSee4 B O08 ef BEEE laa y 55090 208 so dude s 09v AGH Z s 29e 3DU Uu howe er weer em EN ees Pet Pt nm et Dattu P Sutra Oen s Poen Pt ew Figure D 8 Example of Auto tile Plot function 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 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 the sg calib constants m file is missing or the input format is incorrect the plots may not plot as intended 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 252 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export A
61. SESRATTIOSOg 81101 A LEG 1 9 TRO c mw 1 104722 yeas C h coefficten TROT ot ay Seabird C coefficient SEABIRD C HIER Seabird C coeffictent CR Return to CA p Enter selection 1 Mol Figure F 22 Edit All Parameters menu 1KA Seaglider User s Guide 295 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix F Hardware and Configuration Menus Validate parameters 1 Parameters and Configuration menu select 20 Validate Parameters and press Enter The parameters are written to NVRAM When the write is complete you are automatically returned to the Parameters and Configuration menu 2 To return to the Main Menu press Enter Show parameter details 1 From the Parameters and Configuration menu select 21 Show parameters and press Enter A table listing all Seaglider parameters the group each parameter is in basic dive surface flight etc the nominal min and max values and a brief definition is displayed No edits can be made in this menu After the table is displayed you are automatically returned to the Parameters and Configuration menu 2 To return to the Main menu press Enter Show changed parameters 1 From th
62. Seaglider configured with Ogive fairings it is recommended to use this parameter when trimming pitch Old style mass shifter 0 00123 0 0 01 SPRESSURE SLOPE Set by manufacturer Do not change Slope of linear fit between psig and pressure sensor output after digitization to A D counts through AD7714 The fit is 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 SPRESSURE YINT Y intercept of linear fit between psig 50 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 at Om depth 50 1KA Seaglider User s Guide IMPORTANT NOTICE 89 WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 5 Piloting Parameters Table 5 4 Parameters in alphabetic order Parameter Nominal Min Max Definition value value value R PORT OVSHOOT Roll mass overshoot A D counts to 25 100 100 port
63. 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 208 IMPORTANT NOTICE 1KA Seaglider User s Guide WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities 2 1 Processed files GPS1 191808 1910 592 15645 222 55 1 0 59 CALLS I _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 WPTS TGT_LATLONG 2000 0 00 15640 000 TGT_RADIUS 1852 000 poa 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 first fix in seconds Longitude as dddmm mmm sign only minuses are shown positive East degrees minutes and decimal minutes These values are from the first of two GPS fixes prior to the start of the current dive Latitude as ddmm mmm 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 sur facing Total number of transfers
64. WetLabs and Dissolved Oxygen every 30 seconds Guidance amp Control interval 180 Between 500 m 1000 m sample Conductivity amp Temperature every 10 seconds and WetLabs and Dis solved Oxygen every 60 seconds Guidance amp Control interval 180 Table 6 2 Endurance examples based on specific configurations Buoyancy 100m 500 m 1000 m engine duration 100m duration 500m _ duration 1000 m Sensors option days limiter days limiter days limiter Seabird Standard 55 24V 124 10V 206 10V Conductivity amp buoyancy Temperature Sail engine WetLabs Sensor Seabird Enhanced 69 24V 121 24V 184 24V Conductivity amp buoyancy Temperature Sail engine WetLabs Sensor Seabird Standard 55 24V 153 10V amp 221 24V Conductivity amp buoyancy 24V Temperature Sail engine Seabird Dissolved Oxygen Sensor Seabird Enhanced 69 24V 121 24V 183 24V Conductivity amp buoyancy Temperature Sail engine Seabird Dis solved Oxygen Sensor Glider Payload Standard 54 24V 96 10V 118 10V Conductivity buoyancy Temperature amp engine Depth Sensor WetLabs Sensor Glider Payload Enhanced 68 24V 96 10V 118 10V Conductivity buoyancy Temperature amp engine Depth Sensor WetLabs Sensor 1KA Seaglider User s Guide 111 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amende
65. 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 the Seaglider 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 R STBD OVSHOOT Roll mass overshoot A D counts to 25 100 100 starboard after motor is turned off For more details see R PORT OVSHOOT RELAUNCH Set by manufacturer Do not change CAUTION Do not change default value of 0 Loss of Seaglider can result if this parameter is changed The RELAUNCH parameter controls 0 the behavior of the Seaglider when a reboot condition occurs When RELAUNCH is 0 and a reboot occurs the Seaglider will enter Recovery When RELAUNCH is 1 and a reboot occurs the Seaglider will continue its current missions 90 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 197
66. and SIM W reset to 0 fall looks good to the pilot the pilot tells the Field Team that they have permission to launch Seaglider 1KA Seaglider User s Guide 123 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 6 Predeployment Tasks If any 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 sequence Watch the file transfer in the comm log file tail f comm log Were file transfers successful Was a GPS fix obtained Is the QUIT 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 pro gram takes over Figure 6 7 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 Step 10 Figure 6 7 Final OK to launch 11 Bo
67. and the other supply to 10V with a 2 amp current limit Connect the banana plugs on the powered communications cable to the power supplies 6 Connect the communication cable to the DB9 connector on the laptop and power up the laptop if it has not already been done Communication cable m e Figure 7 3 Connecting the communication cable to the laptop 7 Start the terminal emulation program and start a screen capture file or a session log file on the lap top 8 Tum on the power supplies if Seaglider is being powered externally 9 Wand on Seaglider See page 21 for instructions on wanding on Seaglider 1KA Seaglider User s Guide 135 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 7 Prelaunch Procedures 10 When the output starts scrolling on the computer screen press Enter within one minute 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 After any query press Enter for the default answer value shown in brackets after the question Wersion 66
68. 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 pro cessed 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 1KA Seaglider User s Guide 25 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 3 Setting Up the System 10 11 st0007kz r st0007kz x The basestation processes the output files and produces the files listed below The pt portion of the filename stands for processed test The next three digits are the number of the Seaglider system and 0007 is the number of the self test For an explanation of each file see Seaglider generated files on page 178 pt5130007 cap pt5130007 eng pt5130007 log Do
69. apart Replacing the QUIT directive with a RESUME directive will cause Seaglider to initiate a new dive with the existing set of parameters Table 5 2 outlines the effect of each directive on Seaglider in each of the autonomous run states diving and recovery Table 5 2 Effect of directive on dive or recovery state Directive State GO RESUME QUIT Diving Diving Diving Recovery Recovery Recovery Diving Recovery 48 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Piloting parameters Piloting parameters 1KA Seaglider parameters are changeable by the pilot via the command file using the convention NAME value example SM_CC 475 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 The Parameters by category section lists the parameters in order of frequency used Parameters by category For complete details on the use of the parameters and how they interact with one another see A phabetized parameters on page 56 Table 5 3 Parameters listed by category and fr
70. basestation cannot process a file it sends an alert to any contact listed in the pagers file 1KA Seaglider User s Guide 225 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix B Seaglider File Formats Manual 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 3 1 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 st00071u 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 st0010kz
71. c J o wv 27 333 CR Ent Figu Parameters current value in 2 o suRF 4 Surface depth m 0 FINISH 10 Dive finish depth m o PITCH 0 Depth to achieve before surface maneuver pitch m 0 C LL 0 Depth to achieve before antenna is assumed to be out of water m SSURFACELURGENCY 0 Number of dives to accumulate before trying extra surfacings SSURFACE_LURGENCY_TRY fo Dive number modulo for extra surfacing attempts SSURFACE_URGENCY_FORCE 0 Dive number modulo for forced extra surfacing attempts 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 sM cC 520 VBD volume for surfacing cc N FILEKB 4 File segment size for upYoad KBytes 216 O no split negativezno gzip SFILEMGR 0 File geegenent aggressiveness Osnone lzonly store compressed 2zdelete splits on failed phone call CALL NDIVES 1 of dive climb cycles before calling Porte 0 Comm sequence to use O default l ctl only 2 no oggers KERMIT 0 Use of kermit 0 none 1 data only 2 data only batch 3 data and control 4 data and control data batch SN 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 SCALL TRIES 5 of calls to try at each
72. 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 22 Field Team Notify the pilot when Seaglider leaves the surface 23 Pilot Change the directive in the cmdfile from RESUME to QUIT so that when Seaglider completes its first dive it remains on the surface 1KA Seaglider User s Guide 125 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 6 Predeployment Tasks Setting up and installing the Argos SPOTS tag Equipment Required Equipment Required Continued 9 64 hex key In Line Finmount Transmitter 258A Configuration Kit Argos Wildlife computers for standard long Kit Argos short antenna antenna Assembly Argos bracket short antenna Brackets Argos in line finmount transmitter 258A Screws socket head configuration Lubricant TEF GELS anti corrosion anti seize The Argos SPOTS transmitter attaches to the antenna with two saddle brackets and attaching screws Prior to installation the SPOTS operating settings and user parameters must be set The Argos kit provided by iRobot contains only the attaching hardware required to mount th
73. 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 state 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 47 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Chapter 5 Piloting Parameters Table 5 1 Directives Continued Directive Definition RESUME 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 RESUME 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 QUIT 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 T RSLEEP 2 minutes
74. command to jump to its description Use the Back button to return to the previous location 1 3 PicoDOS PicoDos 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 simple file manipulation utilities The TOM8 and PicoDOS commands are documented in the Pico DOS 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 Seaglider specific functions 1KA Seaglider User s Guide 235 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix C Extended PicoDOS Reference Manual v66 07 Chapter 2 List of Extended PicoDOS Commands Help and exit 2 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 lt file gt gzip lt file gt zipped file md5 lt signature gt lt file gt ren rename lt file1 gt lt file2 gt resend dive I d c t dive fragm
75. counts 4094 4094 20212 912 MHVBD N VBO bladder position 230 09 cc CAD 4094 20214 212 HVBD N vBD lin pot AD counts 4094 4095 20214 365 HVBO N VBO bladder position 230 09 cc CAD 4094 Figure F 34 VBD valve cycling At the conclusion of the test Seaglider returns to the VBD menu 1KA Seaglider User s Guide 305 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix F Hardware and Configuration Menus Pump and bleed cycles This test is done in a pressure chamber It is not recommended that this test be done outside of the iRo bot factory 1 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 0 Maximum pressure 535 1500 000000 350 2 Set the maximum pressure For this example pressure is set to 350 Time to rest max pressure secs 5 3 If5 is okay press Enter if not type in a new value and press Enter Minimum pressure psi 0 000000 4 If O is okay press Enter if not type a new value and press Enter Time
76. detent pin that sets the pitch angle and pitch the nose of the pressure hull down to 30 degrees then reinsert the detent pin Rotate the heading around 360 degrees starting at 000 and coming back to 000 330 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix H AD2CP Compass Calibration Procedure e With the pressure hull still pointed at 000 remove the detent pin that sets the pitch angle and pitch the nose of the pressure hull down to 60 degrees then reinsert the detent pin Rotate the heading around 360 degrees starting at 000 and coming back to 000 e With the pressure hull still pointed at 000 remove the detent pin that sets the pitch angle and pitch the nose of the pressure hull up to 30 degrees then reinsert the detent pin Rotate the heading around 360 degrees starting at 000 and coming back to 000 e With the pressure hull still pointed at 000 remove the detent pin that sets the pitch angle and pitch the nose of the pressure hull up to 60 degrees then reinsert the detent pin Rotate the heading around 360 degrees starting at 000 and coming back to 000 e With the pressure hull still pointed at 000 p
77. ea sosta setas s ens tn sen snue 195 What you need to provide 4 eese essen ee eee eene eee ener ena etta etas sebos rossore sssps tsss s vSro Ssss siese 195 viii 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Contents APPENDIXA System Specifications eene 197 APPENDIXB Seaglider File Formats Manual sss 201 LG PTUS dien EE seuss sebaeduasasconenses Conventions and introduction Chapt6t 2 deer ttetote es eet penus tee aveo tane Eee Eget File Cescriptions 2 1 Processed files p0 X 2 2 Processing control files 2 3 On board glider information 2 4 Command and control files sccsccssccssssscsesecevsessssssssessssssessesseessesssssesssesesssesseesseees APPENDIXC Extended PicoDOS Reference Manual v66 07 233 APPENDIXD Dive Data Visualization Software esses 243 jnnn o Acronyms abbreviations and definitions Required tools ceres e eee eese eene eene eee sitire z jr
78. file between factory refurbishments If edits are deemed necessary do so with caution For an example of a sg calib constants m file see Appendix B Seaglider File Formats Manual on page 201 The values in the sg calib constants file for your Seaglider differ from the values listed Seaglider generated files Seaglider generates the following files e Capture cap e 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 the performance of Seaglider 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 CAPUPLOAD controls this feature Chapter 5 Piloting Parameters on page 47 The format of the capture file is not as hard and fast as other file formats but it usually conforms to the following format time service output level text For an example of a cap file see Appendix B Seaglider File Formats Manual on page 201 178 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2
79. for later transfer and incrementing the N_NOCOMM param eter 4 Measure surface depth and angle After the communications session Seaglider computes the average of 10 pressure readings and then the average of 10 pitch angles to obtain a measurement of the surface position of the Seaglider system 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 acquired This fix is the most recent position of Seaglider prior to diving 6 Navigation and flight calculations The final component of the surface phase is the calculation of the parameters to determine the flight path during the next profile buoyancy pitch angle and heading These computations include the dive calculations and the digital bathymetry table lookup if enabled On completion of the calculations the surface phase is finished and a new dive phase and new profile are started Dive phase The dive phase begins on completion of the navigation and flight calculations that conclude the sur face phase Initially pitch is in the full forward position and the VBD volume is equal 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 quickly and with as much vertical velocity as possible Recall that pitch is still in the
80. in the operational environ ment 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 To complete the predelivery ballasting iRobot requires the following parameters 1 Estimated bottom water density in either kg m or g cm 2 Estimated surface water density in either kg m or g cm 3 Expected current in the deployment area kts or m s or the desired thrust cc Based on the customer provide information iRobot calculates and affixes the appropriate weights to the outside of the pressure hull and provides the customer with the calculated C VBD C PITCH C ROLL DIVE and C ROLL CLIMB for the mission environment The pilot fine tunes these values at the beginning of the deployment 319 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix G Ballasting Reballasting in the field If the glider needs to be reballasted for a different environment between deployments contact iRobot for assistance iRobot provides new weight estimates and the positions on the glider where the weights should be changed Equipment Require
81. info 3 direct Direct comm with unit 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 Figure F 41 GPS menu 2 To return to the Hardware menu press Enter Modem menu Use the Modem menu options to check the basic functionality of the Iridium phone 1 Select 8 Modem and press Enter Figure F 42 T 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 I 7 uploadst Exercise uploadData self t_st 8 current Measure modem current CR Return to previous Enter selection 1 8 CR results only Figure F 42 Iridium Phone menu 2 To return to the Hardware menu press Enter Internal Pressure menu The internal pressure parameters are set at the factory It is not recommended that the user edit these values without consulting iRobot Customer Service 1 Select 9 Internal Pressure and press Enter Figure F 43 The self test outputs internal pressure and relative humidity measurements until you enter Control Q Internal pressure menu 1 selftest Basic sel
82. 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 atmo spheric 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 Figure 7 23 Seaglider has failed the self test 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 46 If the message Sensor idx x not found in installed sensors appears it indicates that there are sensors in slots 0 through x 1 Verify the number of installed sensors in the respective Seaglider notebook 1KA Seaglider User s Guide 149 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 7 Prelaunch Procedures
83. is updated by Seaglider during selftest It is not recommended that the user change any of the values in this menu without consulting iRobot Customer Service 1 From the Parameters and Configuration menu select 13 Pressure external parameters and press Enter Figure F 16 The current value for each parameter is in brackets to the right of the parameter name Pressure current value in 2 PRESSURE YINT 43 606201 Pressure Y intercept psig 2 PRESSURE SLOPE 0 00011645618 Pressure slope psig AD 3 aD7714ChOGain 128 AD7714 pressure chan gain l simulation 64 Druck 4020 128 Paine CR Return to previous menu Enter selection 1 3 cR Figure F 16 External Pressure Parameters menu 2 To return to the Parameters and Configuration menu press Enter 290 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Pressure internal parameters Pressure internal parameters Initial setup 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 From the Parameters and Configu
84. maximum forward position When 1KA Seaglider User s Guide 43 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 4 Operating Principles 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 the glider s speed is too fast on the dive section of the profile too heavy VBD pumping is not allowed to correct the speed error The reasoning behind this energy conserving measure is two fold First as Seaglider descends into denser water it becomes less negatively buoyant and slows down Second if corrective pumping were allowed on the dive it is possible that additional bleeding would be required to compensate as Seaglider reached denser water That would then mean more pumping and more energy expenditure 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
85. mnm mee 1326 581 HVBD N 336 1 Ge ad 2030 2027 2D65 1 xzcn en mantra inn 1337 796 HVBD N 271 5 cc ad 2303 2304 2310 Figure 6 3 Travel mode menu 2 10 When the good to go message appears wand Seaglider off Ensure that Seaglider is off by repeatedly pressing Enter on the laptop keyboard If there is no response Seaglider is turned off 118 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Transporting Seaglider to the field Packing 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 facilitated if the rudder section is outside of the cradle see Figure 6 1 Fold the antenna mast back next to the Seaglider Remove the wings Store the screws in the spare parts kit Place the wings in their compartment in the shipping case N O Ov des Put Seaglider in the shipping crate securing the antenna Be careful not to damage the antenna or stress the cables that connect the ante
86. occurs anywhere else in the sequence lead and lag times cannot be estimated accurately due to the fact that interruptions are aperiodic and vary in duration In addition there is no information that is recorded by the glider that can help ascertain when these aperiodic interruptions occur Consequently attempts to calculate lead and lag times of sensors relative to the recorded time sequence are at best estimates only and will have associated error that cannot be accurately quantified The following is an example to illustrate the process above iRobot operated a glider on 1000 meter dives in which the sampling rate was configured to be the same throughout numerous dives During the mission 97 of samples were completed in 5 7 seconds From this use case it is reasonable to assume that 2 second accuracy of sample times is achievable for the vast majority of data points 1KA Seaglider User s Guide 215 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix B Seaglider File Formats Manual The following chart shows the expected time after the timestamp each step will take to complete Note individual systems will vary as each sensor will have a slightly different
87. on coastal or estuarine missions Seaglider is rated to 1000 m but the maximum depth that should be used for deep dives D_TGT is 990 m to allow for the apogee maneuver 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 sequentially once per profile until the end of the mission During the surface phase GPS positions are acquired communication with the basestation is 1KA Seaglider User s Guide 41 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 4 Operating Principles accomplished and navigation calculations for the next dive are made Depth time and functional trig gers exist to cause Seaglider to move from one phase to the next Data acquisition is done in the dive apogee and climb phases of an autonomous run During each of these phases it is possible for the data acquisition to be interrupted by other high priority glider func tions such as when the mass shifter moves to change the glider s attitude Although other actions are performed during these phases the data collection process is never interrupted Another periodic actio
88. on top for exam ple causes approximately 30 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 34 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Principles of Seaglider operation Hydrodynamic model A hydrodynamic model for Seaglider is used by pilots to help with buoyancy trim and is used to eval uate depth averaged currents The model has three parameters traditionally called a b and c e Lift e Drag e Induced drag For our purposes it is convenient to think of the hydrodynamic model as a black box that produces estimates of the velocity of the Seaglider system as a function of computed buoyancy observed pitch and water density Vmodel F buoyancy computed gt Pitchobserved water density The Vinode Can be resolved into horizontal and vertical components In particular the horizontal component Umodel can be used with the observed 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
89. one of the following e If there are no warnings or errors in any of the files expected outcome the test is complete Go to step 11 e If there is a problem during the testing the final lines from the self test are Self test FAILED or ABORTED Review the self test to find the reason e Ifthere 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 automated self test iterations there are still errors with the gps Iridium or file transfer contact iRobot customer service Turn off Seaglider by moving the magnetic wand over the OFF symbol on the port side of Sea glider 20 aft of the nose for at least 1 second while simultaneously pressing Enter or have some one 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 Assembling the Seaglider step 17 on page 18 For
90. port after motor off D amp ST8D OvSHOOT 28 Roll mass overshoot to stbd after motor off D ROLL AD RATE 400 Roll motor AD count per sec ROLL MAXERRORS 1 Number of roll errors allowed before entering recovery ROLL ADJ GAIN 1 5 Gain for auto adjusting roll center deg battery roll deg sec turn rate ROLL ADJ DBAND 9 025 Deadband for auto adjusting roll center deg sec Return to previous menu Figure F 13 Roll Parameters menu 288 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities VBD parameters For a description and acceptable range of values for each parameter see Chapter 5 Piloting Parameters on page 47 For the exact values of SROLL MIN ROLL MAX and C ROLL see the trim sheets in the notebook shipped with the Seaglider vehicle 2 To change a parameter value follow the procedures under Basic Mission and Seaglider Parame ters menu VBD parameters 1 From the Parameters and Configuration menu select 11 VBD parameters and press Enter Figure F 14 e VBO Current value in 12 1 SVBO_MIN 430 654 9 cc VBD bladder position limit minimum D3 2 v
91. 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 APOGEE 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 of OSI sensors continues throughout the apogee phase Data sampling of the ALI sensors during apogee is sensor specific and dependent on the settings in the specific sensor s configu ration file 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 acquisition and G amp C continue at the intervals specified in the science file OSI sensors or in the configuration file of the ALI sensor If Seaglider system 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 t
92. sample time Step Action Time To Complete Step 1 TT8 Sleep N A Step 2 Record System Time millisecond Step 3 Read the Paine pressure sensor installed onthe 25 millisecond glider Step 4 Read the SP3004D compass installed on the 1425 millisecond glider Step 5 Sample CT Sail 875 millisecond Step 6 Sample SBE DO 1250 millisecond Step 7 Sample Aanderaa Optode 2125 millisecond Step 8 Sample PAR 175 millisecond Step 9 Sample WetLabs Triplet BB2FL BBFL2 1825 millisecond FL3 or BB3 Step 10 Empty slot N A Step 11 Write data out to compact flash card 100 millisecond Based upon the sensor configuration above a single sensor sample cycle would take approximately 8 seconds So for example if we have a vehicle with the following configuration aCT sail in slot 1 an Aanderaa in slot 2 an SBE DO in slot 3 and aWL BB2FL in slot 4 and the times are recorded e Start time from eng file file 8 22 112 11 11 11 e Second column of sensor sample is elapsed seconds since start time 156 356 We can then estimate the specific times of each sample as described in the following table Step Action Time Sample Taken Step 2 Record System Time 8 22 2012 11 13 47 365 UTC Step 3 Read the Paine pressure sensor 8 22 2012 11 13 47 381 UTC installed on the glider Step 4 Read the SP3004D compass 8 22 2012 11 13 48 806 UTC installed on the glider Step 5 Sample CT Sail 8 22 2012 11 13 49 681 UTC Step 6 Sampl
93. science file for Seaglider with sensors CT WET Labs BB2FL VMT SBE 43 DO Table 6 4 Sample science for North Carolina coast depth time sample gcint 50 5 111 30 200 5 121 60 300 5 103 120 e Column 1 The bottom of the depth bin in meters for that sampling protocol e Column 2 Base sampling interval in seconds Column 3 The order of the sensors in the science file is defined by what port they are each config ured to This information is in the cap file of the respective glider s self test For example from the following cap file output 59 976 SUSR N Reporting hardware configuration 60 110 SUSR N Sensor in slot 1 is SBE CT on port 2 TPUOA TPUOS nominally CT 60 275 SUSR N Sensor in slot 2 is WL BB2FLVMT on port 3 TPU06 TPU07 nominally Optics 1 60 455 SUSR N Sensor in slot 3 is SBE O2 on port 4 TPUOS TPUOO nominally O2 The first multiplier would be applied to the CT sail the second multiplier to the WET Labs BB2FL and the third multiplier to the SBE DO e 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 b
94. sec 87 515 SPOWER N VBD pump during surface 56 50 amp sec 95 97 sec 87 976 SPOWER N VBD valve 0 00 amp sec 0 00 sec 88 152 SPOWER N Iridium during init 2 84 amp sec 0 00 sec 88 330 5POWER N Iridium during connect 3 65 amp sec 0 00 sec 88 516 SPOWER N Iridium during xfer 59 79 amp sec 0 00 sec 88 712 SPOWER N Transponder ping 0 84 amp sec 1 00 sec 88 864 SPOWER N GUMSTIX 24V 0 00 amp sec 0 00 sec 89 038 SPOWER N 24V total 0 035 AmpHr 89 244 SPOWER N GPS 2 86 amp sec 62 73 sec 89 457 SPOWER N TT8 3 74amp sec 114 31 sec 89 664 SPOWER N LPSleep 0 11 amp sec 29 12 sec 89 877 SPOWER N TT8_Active 4 91 amp sec 172 76 sec 90 090 SPOWER N TT8_Sampling 18 16 amp sec 87 80 sec 90 300 SPOWER N TT8_CF8 3 62 amp sec 29 15 sec 90 452 SPOWER N TT8_Kalman 0 00 amp sec 0 00 sec 90 663 SPOWER N Analog circuits 4 95 amp sec 204 39 sec 90 815 SPOWER N GPS charging 0 00 amp sec 0 00 sec 91 022 SPOWER N Compass 4 58 amp sec 56 06 sec 91 175 SPOWER N RAFOS 0 00 amp sec 0 00 sec 91 374 SPOWER N Transponder 0 43 amp sec 7 01 sec 91 527 SPOWER N Compass2 0 00 amp sec 0 00 sec 91 729 SPOWER N SBE CT 0 47 amp sec 9 71 sec 91 905 SPOWER N 10V total 0 012 AmpHr 92 265 HBATT N 24V batt pack voltage 23 75V 92 394 HBATT N 10V batt pack voltage 9 42V 95 762 SUSR N Checking capture vector 95 868 SUSR N all capture settings at def
95. sequence 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 e Were file transfers successful e Was a GPS fix obtained e Did the motors move as expected 1KA Seaglider User s Guide 119 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 6 Predeployment Tasks eng file ptnnnxxxx eng where p processed t self test nnn Seaglider number xxxx self test number e Check the science data as best as possible Does the file header line match the sensors that are installed e 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 e For the optical sensors are there no NANs and is the data expected data 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
96. starboard side Figure 4 3 Battery pack rotates and causes the Seaglider to roll which produces a turn Figure 4 3 Mass shifter causing roll change 1KA Seaglider User s Guide 29 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 4 Operating Principles Main electronics assembly with 10VDC battery pack The microprocessors and electronics that control the flight acoustic transponder pitch roll buoyancy communications GPS and science sensors are located on the main electronics board on Seaglider A 10 VDC lithium primary battery pack is installed underneath the electronics assembly This battery which weighs approximately 2600 g powers the pressure and science sensors processor GPS tran sponder and main electronics Outside the pressure hull The acoustic transponder fairing rudder wings antenna and science sensors are located outside of the isopycnal pressure hull Acoustic transponder The transponder located on the front end of the pressure housing is used for two separate functions e Seaglider location during recovery e Altimetry during dives External fairing The outer shell which includes the for
97. 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 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 will start its apogee maneuver NOT the actual bottom depth For more information on bathymetry maps see Chapter 6 Predeployment Tasks on page 107 Battery file The battery file is used by Seaglider to keep track of power consumption throughout the time Sea glider is using the battery pack This file is NOT intended to be edited by the user Capvec file The Capvec file is parsed by Seaglider and updates one or more elements of the Capture Vector Nor mally this file is not used except for Seaglider provisioning For details on updating the Capture Vec tor see the capvec and parse capvecfile commands in Appendix C Extended PicoDOS Reference Manual v66 07 on page 233 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 see the capvec command in the Appen dix C Extended PicoDOS Refer
98. subject to severe criminal penalities Chapter 3 Setting Up the System 8 Within one minute of seeing output on the screen press Enter 9 In response to the date and time 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 10 When prompted Are you running on external bench power do one of the following e If you are running on internal Seaglider power press Enter to accept the default answer N for No f you are running on external bench power type v for Yes and press Enter The Main Menu with five numbered items displays Figure 3 13 Figure 3 13 Seaglider set date time and power source Checking the primary and alternate phone numbers Check the primary and alternate telephone numbers that Seaglider calls to connect to the basestation 1 Type 1 Parameters and Configuration and then press Enter 2 Type 7 and then press Enter 3 If the primary telephone number is absent or incorrect enter the primary basestation telephone number Figure 3 14 The phone number includes the country code area code exchange and number For example In the US the country code is 1 If the primary number of the basestation in the United States is 919 123 4567 input 19191
99. surface However the oT versus VBD cc plot shows what the SM_CC setting currently is and what the setting could be changed to Figure 8 3 shows an example plot The current setting is located in the upper left corner of the plot CCgyy 700 and the statement CC min 370 shows what the SM_CC value could be changed to to get the full antenna mast out of the water 66173 PortSusan dive 1 buoyancy contoured 9 3960cts 440cts 882275 3 r Y o 18 2A ab E n SEFER F P P ao P27 a dcc T e i ja Cet 370 20 7 E A Cale E J j S j o e T ae 5 BS 2 SRN x 8 d g S 300 200 100 0 100 200 300 400 500 600 700 VBD cc SG173 scale mass 251 221 kg Cod impbed mass apogee 51 137 Figure 8 3 SM_CC values 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 necessary corrections Remember the rule of thumb for making changes and only make half of the correction desired at a time Figure 8 4 shows an example of a roll plot 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 drast
100. surfacing CALL wAIT 60 Delay between phone tries sec CAPUPLOAD 1 Upload capture file 0sno lsyes CAPMAXSIZE 200000 Maximum capture file size to upload before compression T GPS B GPS timeout min N GPS 20 Max valid GPS readings CUTE S ALMANAC 0 Time to wait to reacquire the GPS almanac mins Tues CHARGE 10258 504 How long to trickle charge the GPS secs T_RSLEEP p Sleep interval during recovery ry sTrose 0 Strobe control snever lerecovery 2 surface Return to previous menu er selection 1 28 CR re F 7 Surface Parameters menu 2 To edit a parameter value follow the procedures under Basic Mission and Seaglider Parameters menu 1KA Seaglider User s Guide 285 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix F Hardware and Configuration Menus RAFOS parameters 1 From the Parameters and Configuration menu select 5 RAFOS parameters and press Enter Figure F 8 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 1KA Seaglider software Parameters Current value in 2 1 RAFOS PEAK O
101. teeth deett e ee dece Rbere dete 198 Electrical feat res 25e itte tete o tree lae meet icis 198 Guidance and Control G amp C esses ener 198 Operational nodes eene oue EID Bie Mis 199 Available services for Capturing ssessseseseseeeeeenre ener eene 237 Levels at which output can be captured for a given service sss 238 IMPORTANT NOTICE xvii WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities List of Tables Table C 3 Available destinations for capture output of any service sssse 238 Table G 1 Quantity of screws to attach nose plates ssseeeeeeneenene 320 xviii 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Introduction Audience The 7 KA Seaglider User s Guide is for qualified and authorized Seaglider pilots and field personnel only It provides an overview of the opera
102. terminal that is emulated CAUTION Do not use Windows Hyper Terminal a serial terminal emulation program under any circumstance It does not function well with Seaglider 10 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Assembling the Seaglider cradle Assembling the Seaglider cradle NOTE The configuration of the cradle may differ depending on what you ordered If your configuration includes the Ogive compatible cradle use the second from the top and bottom screw holes for assembling the rails 1 Make sure that you have all the parts shown in Figure 3 1 and the components listed in Inspecting Seaglider system shipping container on page 5 Carrying handles Bolts Yellow cradle mesh Figure 3 1 Launch and recovery cradle components 2 Insert two of the top rails through the side hems of the yellow mesh one rail per side NOTE The four top rails are interchangeable 3 Put a female strap on each end of one of the top rails and a male strap on each end of the other top rail 1KA Seaglider User s Guide 11 IMPORTANT NOTICE WARNING This Document contains Technical Data whose ex
103. the scientific instruments Comment lines are indicated by a and columns are separated by tabs Example Science file Science for Port Susan The bottom limit of each depth bin The most frequent sample interval in this depth bin Each digit in this column corresponds to one sensor Sensors and sensor order vary by Seaglider Consult SENSORS 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 control algorithms are run depth time sample gcint p peg This row indicates that from the surface 0 meters to 20 meters the first sensor should sample every 6 seconds 20 6 100 60 The second and third sensors should be turned off During Guidance and Control all sensors should sample every 60 seconds 50 12 100 180 5 sec l 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 200 12 120 300 sensors should sample every 300 seconds 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 software See the Extended Pi
104. the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Autonomous self test 3307934 795 HVBD N 34 8 cc ad 1142 1226 1066 MOTOR DONE ticks 12 max 24v 1052 6mA avg 24v 91 8mA minV 24v 23 8V 3307944 303 SMOTOR N GC TICKS TIME 1250 1252199 3307944 401 HVBD N done 3307944 559 HVBD N Bleed completed from 110 63 cc 549 to 89 78 cc 1366 1436 1297 took 30 9 sec OmA 892mA peak 23 8Vmin 26 AD sec 1235 ticks 3307944 968 HVBD N TRACK b 1435 1296 a 1435 1296 d 70 o 69 3307945 153 HVBD N VBD lin pot AD counts 1436 1297 3307945 306 HVBD N VBD bladder position 89 78 cc AD 1366 3307945 439 SUSR N Pumping 100cc on boost alone 3307945 683 HVBD N Pump commanded from 90 02 cc 1367 to 10 30 cc 958 3307946 664 HVBD N 89 5 cc ad 1365 1429 1298 3307957 439 HVBD N 66 5 cc ad 1271 1327 1212 3307968 214 HVBD N 41 9 cc ad 1171 1227 1113 3307978 989 HVBD N 17 2 cc ad 1070 1126 1012 s 3307989 789 HVBD N 8 1 cc ad 967 1022 910 MOTOR_DONE ticks 17 max 24v 5 4mA avg 24v 3 8mA minV 24v 23 8V 3307991 399 S MOTOR N GC TICKS TIME 1797 1798868 3307991 497 HVBD N done 3307991 655 HVBD N Pump completed from 90 02 cc 1367 to 11 28 cc 954 1011 897 took 44 4 sec 109mA 2489mA peak 23 6V min 9 AD sec 1777 ticks 3307992 096 HV
105. the Seaglider with tether attached 17 Acoustically pings the Seaglider with a transducer and deckbox 18 Reports back to Pilot the buoyancy quality of the Seaglider by describing how the Seaglider is sitting in the sea surface 19 Pilot Instructs the Field Team to release the tether if buoyancy is correct and all systems are good 20 Prepares the Seaglider to dive 338 WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export 1KA Seaglider User s Guide IMPORTANT NOTICE Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Deployment process 21 Field Team Reports to the Pilot once the Seaglider has submerged and is diving 22 Remains onsite while the Pilot analyzes the dive data 23 Pilot Ensures the Seaglider is operating correctly 24 Informs the Field Team that they are clear to leave the sea launch site area 1KA Seaglider User s Guide 339 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act
106. the current Seaglider position If USE_BATHY 0 then bathymetry maps are not used during the dive If USE_BATHY 7 then use the bathymetry file called bathymap 007 to get D GRID No other map will be used VBD BLEED AD RATE 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 8 0 20 1KA Seaglider User s Guide IMPORTANT NOTICE 103 WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 5 Piloting Parameters Table 5 4 Parameters in alphabetic order Parameter Definition Min value Max value Nominal value VBD_CNV Set by manufacturer Do not change VBD position conversion factor from 0 245296 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 SVBD DBAND VBD position deadband
107. 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 1KA Seaglider User s Guide 175 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 9 Files for Operations Figure 9 3 shows an example science file and Table 9 3 describes the columns For another example see Appendix B Seaglider File Formats Manual on page 201 Science for North Carolina Coast ledit for Individual Seaglider w CT SBE 43F oxy WET Labs BB2FL VMT depth time sample gcint 50 5 111 30 200 5 121 60 1000 5 103 120 Figure 9 3 Example science file Table 9 3 Description of columns in science file Column Description 1 The deepest depth in meters for this depth bin Every depth bin is defined by a row in the science file 2 Base sampling interval in seconds 3 Multipliers for each of the installed sensors applied to the base sampling interval The order is dependent on the number of the slot each sensor is installed in 4 Guidance and Control G amp C sampling i
108. 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 e Sampling depths between 200 and 1000 m 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 The G amp C sampling between 200 and 1000 m occurs once every 120 seconds NOTE 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 basesta tion and changing targets out of sequence Examples of pdoscmds bat files are below If Seaglider is flying toward the target called WPONE in the example on page 241 under the targets description and the pilot wants to re
109. to leave unchanged 23 299 SUSR N Current telnum 1s 19195726671 New telnum 15 char max length CR to leave unchanged 25 8 4 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 Figure 7 10 Seaglider ID verification and communications set up NOTE This answer is critical The answer Yes means that the Seaglider 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 ID number by comparing the ID on the aft fairing just forward of where the antenna mast is bolted into the fairing with the number 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 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 the serial number is based on the ID 25 Verify the Mission Number and then press Enter to accept the default O for the first self test Figure 7 10 Subsequent self tests are numbered sequentially by Seaglider Yo
110. to the Seaglider through the communications cable and launch a terminal program TeraTerm preferred To return to the main menu press Enter 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 tar c temp tar 4 Enter into extended PicoDOS picoDOS gt gt pdos When asked Really exit to pdos N type y 6 Change the baud rate to 38400 PicoDOS baud 38400 7 Change TeraTerm s baud rate to 38400 using the drop down menu Setup Serial Port 8 Start the xmodem transfer on the Seaglider PicoDOS xs temp tar 9 Start the xmodem transfer on TermTerm using the drop down menu File gt Transfer gt xmodem gt Receiv 10 Move the tar file from your laptop to the Seaglider directory sgxxx on the basestation with file transfer software WinSCP 11 Navigate to the Seaglider directory on the basestation with a terminal emulator Putty 12 Unzip the tar file where tar file name the name of the tar file xxxx base sgxxx tar xf Temp tar file name 13 Enter the touch command xxxx base sgxxx touch comm log 14 Enter the script to change the file extension xxxx base sgxxx for file ls A do newfile file 0 8 newfile echo S newfil awk print tolower 0 x00 cp file Snewfile don 15 Force the basestation data processing xxxx base sgxxx python usr local basestation 2 05 Base py m force verbose Your
111. to the laptop connected to Seaglider through the serial communications cable select 4 Upload Self Test Results and press Enter For an example of the output see Figure 7 30 on page 152 At the end of the upload that Seaglider returns to the Launch menu Reset Dive Run Number menu 1 Select 5 Reset Dive Run Number and press Enter Seaglider responds with the present dive number 2 Ifthe value of the dive number is correct press Enter if not type a new dive number and press Enter Seaglider returns to the Launch menu Test Launch menu 1 To run simulated dives with Seaglider select 6 Test Launch and press Enter 2 Follow the simulated dives procedure in Chapter 7 Prelaunch Procedures on page 133 At the end of the test Seaglider returns to the Launch menu Sea Launch menu 1 To run the last launch sequence before deploying a Seaglider select 7 Sea Launch and press Enter 2 Follow the sea launch procedure in Chapter 7 Prelaunch Procedures on page 133 316 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Serial Port Data Transmission menu Serial Port Data Transmission menu Directly connect
112. 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 shorter G amp C inter vals use more processor and sensor power than do fewer samples and longer G amp C intervals Point to point variability may be seen in the WET Labs data due to the differences in sampling frequency 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 frequency is no faster than 1 4Hz once every 4 seconds and is dependent on the number of sensors being sampled The frequency 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 varia tion in the WET Labs data 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 t
113. up and forward see Figure 3 6 on page 18 3 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 4 Install the starboard wing by inserting 8 8 32 x 1 2 screws through the starboard wing and into the starboard side 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 5 Check the wing orientation The wings are correctly installed if the aft edges form a straight line across the fairing that is per pendicular to the axis of the Seaglider see Figure 3 6 on page 18 14 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Assembling the Seaglider 6 In preparation for installing the antenna and rudder slide Seaglider back in the cradle so that the slot i
114. vehicle NOTE When making roll movements in degrees negative degree values roll the vehicle to port and positive degree values roll the vehicle to starboard 2 To return to the Hardware menu press Enter 302 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities VBD menu VBD menu The method for accessing options 1 4 is the same as it is for Pitch Control Pitch Control menu Options 5 12 are used for Seaglider development e Select 3 VBD control and press Enter Figure F 31 mmm m m VBD menu read Current position 2 ad Move to position AD counts 3 eu o position cc 4 param bd parameters 5 timing Characterize valve 6 noise valve noise test Y open Open valve 4 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 Figure F 31 VBD Control menu The method for accessing options 1 4 is the same as it is for Pitch Control Pitch Control menu For instructions on making edits to
115. x01 0x0 Sun Dec 2 19 19 23 2007 sg123 Exiting 128 Disconnected at Sun Dec 2 19 19 39 PST 2007 Connected at Sun Dec 2 19 21 39 PST 2007 159 0 2 0 GPS 031207 031455 1855 179 12237 359 41 1 3 41 2 1 ver 66 03 rev 1243M frag 4 Iridium bars 5 geolocation 1846 424805 12241 375977 031207 070746 Sun Dec 2 19 21 58 2007 sg123 cmdfile XMODEM 128 Bytes 14 BPS Received cmdfile 17 bytes Sun Dec 2 19 22 28 2007 sg123 sector number 1 block length 1024 Sun Dec 2 19 22 33 2007 sg123 sector number 2 block length 1024 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 In this case the glider realizes that the basestation did not receive a complete file The glider will automatically resend the file on the next call If no error is reported but the basestation does not receive a complete file the pilot can command the glider to resend the dive by using a Pdos command see resend_dive in the Extended PicoDos Reference Manual 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 Sun Dec 2 19 22 53 2007 sg123 sector number 1 block length 1024 Sun Dec 2 19 22 58 2
116. you need to understand the intricacies of the files that must be generated to fly Seaglider as well as the contents of the files that are generated by Seaglider during the mission 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 e Targets file targets e Science file science e PicoDOS Commands Batch File pdoscmds bat These files are sent to Seaglider during a surfacing However unless there are changes 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 The basestation makes a copy of the cmdfile named cmdfile 1 Seaglider is still at the surface calls in again The cmdfile is uploaded to Seaglider The basestation makes a copy of the cmdfile named cmdfilel 1 Seaglider is still at t
117. 0 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Appendix E Autonomous Self Test 268 404 SSURE N Sending st0063lu x01 268 486 SSUREN block 1 size 293 blkSize 1024 attempt 1 274 409 SSURE N EOT sent 279 623 SSUREN recieved ACK attempt 0 281 246 SSUREN Transmission succeeded 281 348 SSUREN Sending cmd Irx y c t200 st0063du x00 283 072 SSURE N Sending st0063du x00 283 158 SSUREN block 1 size 675 blkSize 1024 attempt 1 289 255 SSURE N EOT sent 294 470 SSUREN recieved ACK attempt 0 296 006 SSURE N Transmission succeeded Compressing THISDIVE KAP to st0063kz x 299 269 SSURE N Sending cmd Irx y c t200 st0063kz x 300 977 SSUREN Sending st0063kz x 301 1 313 0 330 74 4 SSUREN block 307 163 SSUREN block 1 SSUREN block 318 863 SSUREN block 324 803 SSUREN block 3 SSUREN block 336 682 SSUREN block 342 621 SSUREN block 350 367 SSUREN block 356 2 6 SSUREN block 1 size 2 size 3 size 4 size 5 size 6 size 7 size 8 size 9 size 362 073 SSUREN EOT sent 367 375 SSUREN recieved ACK attempt 0 370 823 SSUREN Transmission succeeded 372 418 SSUREN logout 382 482 SPOWER N powerOFF 7 Iridium during xfer without corresponding powerON 1024 blkSize 1024 blkSize 1024 blkSize 1024 blkSize 1024 blkSize 1024 blkSize 1024 blkSize 1024 bl
118. 0 000000 0 000000 33078 15 540 HCOMPASS N soft iron 1 000000 0 000000 0 000000 3307815 693 HCOMPASS N 0 000000 1 000000 0 000000 3307815 845 HCOMPASS N 0 000000 0 000000 1 000000 3307817 362 HCOMPASS N compass filter disabled ok 3307818 111 HCOMPASS N ceeceeseecsseteeeeseeeeeseeeeeeeseeeees 1 SP3003 Hdg 80 78 deg Rol 3 84 deg Pit 1 88 deg Tmp 26 42 C 330785 1 951 SUSR N Reporting hardware configuration 3307852 097 SUSR N Sensor in slot 1 is SBE CT serial number 1234 on port 2 TPU04 TPU0S nominally CT 3307852 277 SUSR N Sensor in slot 2 is not installed 3307852 388 SUSR N Sensor in slot 3 is not installed 3307852 824 SUSR N Sensor in slot 4 is not installed 3307852 935 SUSR N Sensor in slot 5 is not installed 3307853 046 SUSR N Sensor in slot 6 is not installed 3307853 160 SUSR N Logger Sensor in logger slot 1 is not installed 3307853 293 SUSR N Logger Sensor in logger slot 2 is not installed 3307853 426 SUSR N Logger Sensor in logger slot 3 is not installed 270 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Autonomous self test 3307853 559 SUSR N Logger Sensor in logger slot 4 is not installe
119. 0 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Setting up and installing the Argos SPOTS tag 3 Slide the tag into position so that the edge of the aft bracket is 1 inch 25 4 mm from the forward edge of the reflective tape Figure 6 10 Aft Reflective tape 1 inch 25 4 mm Figure 6 10 Positioning SPOTS transmitter on antenna 1KA Seaglider User s Guide 131 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 6 Predeployment Tasks 132 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties CHAPTER 7 Prelaunch Procedures The b
120. 007 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 2007 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 The file was successfully resent Sun Dec 2 19 23 10 2007 sg123 sg0055dz x02 XMODEM 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 coun terpart on the Seaglider Except for the compass all of the 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 wil
121. 01 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 4 Operating Principles 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 the 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 Figure 4 4 Linear potentiometers on either side of the internal reservoir measure the position of the reservoir s rolling diaphragm The mean of the two values is 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 desig nated 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 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 Predeployment
122. 04 9 03 15 4 5 00008 08 13 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 S gt Logger device test menu on 1 Turn on 2 off Turn off 3 selftest selftest 4 sample Report a sample ec lk Synchronize device clock to TT3 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 CR 2 Figure 7 6 Turning off the GPCTD SerialNumber 70100016 SerialNumber 70100016 Press 11 and press Enter to go into direct serial communications with the GPCTD Press Enter until a S gt prompt appears 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 Type MinCondFreq 10000 and press Enter Type GetCD and press Enter 138 IMPORTANT NOTICE 1KA Seaglider User s Guide WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to sever
123. 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 MMOOEM 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 Jmtop Ox2fefff mbot Ox28cdbB mcur 0x28e000 glmalloc init glmalloc data init 0x0 glmalloc init avail bytes 434175 requested bytes 358400 Imalloc init Allocated 358400 bytes d w 9 777 SSURF N Hit CR within 1 minute to start otherwise will go to recovery urrent date and tim CR for default 03 29 2011 10 40 48 Are you running on external bench power N y 130139 252 545 SPOWER N Not tracking power consumption 301395235 048 SSENSOR N reading cnf GPCTODO 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 1301395237 539 SPOWER N Iridium during_connect saved current 0 16000 130139 237 725 SPOWER N Iridium during xfer saved curr
124. 14 PAR sensor data 268 IMPORTANT NOTICE 1KA Seaglider User s Guide WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties APPENDIX E Autonomous Self Test Autonomous self test This appendix contains the autonomous self test Version 66 07 14 18 2975 starting up Aug 3 2012 09 07 53 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 0x290fb0 _mcur 0x292000 glmalloc_init glmalloc_data_init 0x0 glmalloc_init avail_bytes 417791 requested_bytes 358400 glmalloc_init Allocated 358400 bytes 2 363 SSENSOR N reading cnf WLBB2FL cnf 3 123 SSENSOR N reading cnf WLBBFL2 cnf 3 881 SSENSOR N reading cnf qsp2150 cnf 4 575 SSENSOR N reading cnf WLBB2FL cnf 5 427 SSENSOR C reading cnf ncp cnf 5 819 SSENSO
125. 189 693 SUSR N 189 745 SUSR N 189 800 SUSR N 189 854 SUSR N 189 904 SUSR N 189 953 SUSR N 189 992 SUSR N 190 028 SUSR N 190 067 SUSR N RELAUNCH 0 APOGEE PITCH 5 MAX BUOY 50 COURSE BIAS 0 GLIDE SLOPE 30 SPEED FACTOR I RHO 1 026 MASS 52000 LENGTH 1 8 NAV_MODE 1 DIRECT_CONTROL O FERRY MAX 45 KALMAN USE HD A 0 0038360001 HD B 0 010078 HD C 9 8500004e 06 HEADING 1 ESCAPE HEADING ESCAPE HEADING DELTA 10 FIX MISSING TIMEOUT O TGT DEFAULT LAT4212 TGT DEFAULT LON 7043 TGT AUTO DEFAULT O SM CC 800 N FILEKB 4 FILEMGR 0 CALL NDIVES 1 1KA Seaglider User s Guide IMPORTANT NOTICE 275 WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Appendix E Autonomous Self Test 190 107 SUSR N 190 144 SUSR N 190 181 SUSR N 190 218 SUSR N 190 260 SUSR N 190 311 SUSR N 190 353 SUSR N 190 395 SUSR N 190 436 SUSR N 190 481 SUSR N 190 521 SUSR N 190 558 SUSR N 190 593 SUSR N 190 641 SUSR N 190 696 SUSR N 190 733 SUSR N 190 770 SUSR N 190 823 SUSR N 190 877 SUSR N 190 930 SUSR N 190 976 SUSR N 191 022 SUSR N 191 068 SUSR N 191 127 SUSR N 191 182 SUSR N 191 235 SUSR N
126. 19 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 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 1331 7 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 SURFACE_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 iSM_CCo0 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 PSM GC 1 25 11 30 0 00 0 00 0 038 0 000 0 000 424 2272 1263 10 22 0 34 438 35 1KA Seaglider User s Guide 211 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act o
127. 2 5 At the prompt New altnum value if the value shown is for the current altnum is correct check with pilot if necessary press Enter Otherwise type a value and press Enter For the correct phone number format see page 22 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 Figure 6 6 122 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Final launch procedure 7 For Seagliders with ID numbers 515 and lower Type v 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 synchronizes the time onboard Seaglider For Seagliders with ID numbers 516 and higher The Garmin next generation GPS unit i
128. 234567 into Seaglider 22 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Checking out the Seaglider system 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 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 Step 1 T Edit parameters Flight control and mission definition basic Basic mission and glider parameters dive Dive parameters 3 flight Jj AM ai parameters 4 surface Surface parameters 5 rafos RAFOS parameters 6 password Set show glider login password 7 telnum J Set show basestation phone number 8 altnum J Set show basestation alternate phone number Pitch roll VBO 9 pitch Pitch parameters 10 ro11 Roll parameters 11 vbd VBD parameters Sensors and peripherals 12 config Ha
129. 3 Click Generate Report to save a record of the current settings SPOTS initial setup If using SPOTS5Host for the first time follow the steps listed in this section to set up the basic param eters and the testing of the sensors and transmitter This setup may be saved after all parameters are entered This allows the parameters to be recalled for any future SPOTS Setups Setting general information 1 Set Maximum number of transmissions per day to 5760 DO NOT select Add any unused transmissions to the next day s allowance 2 Set Wet Dry threshold to 50 default 3 Click the Set Tag s Time button A new screen opens 1KA Seaglider User s Guide 127 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 6 Predeployment Tasks 4 Use the Automatic Setting from PC s Clock a First ensure the clock on your PC is accurate b Set the number of hours to add to the PC s clock to match GMT 5 Click the Update button 6 Click the Generate Test Transmission button Battery voltage during the transmission will be displayed This should be 2 9V or greater 7 Click the Test Sensors button and confirm the following values Volts greater than 3 0V Tem
130. 3 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 Ox2d 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 0xb7 sector header Sun Dec 2 19 19 07 2007 sg123 finished waiting for next line cnt 875 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 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 wait
131. 4 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 32 Figure F 32 VBD valve characterization At the conclusion of the valve characterization Seaglider returns to the VBD menu Valve noise test 1 To check the VBD valve noise select 6 Valve noise test and press Enter Seaglider responds with the following information Enter time in seconds to have the valve tested 1 2 Press Enter if default answer 1 second is okay if not enter another value and press Enter Open Raise OPN before CLS Y 3 Press Enter if default answer Yes is okay if not enter N and press Enter Close Drop OPN before CLS Y 4 Press Enter if default answer Yes is okay if not enter N and press Enter Offset time Cin ms between valvelsignals 0 5 Press Enter if default answer 0 is okay if not enter another value and press Enter Bleed 4 counts on 1 second open and 21 counts on close Pump back to starting state Y 6 Press Enter if default answer Yes is okay if not enter N and press Enter During the test Seaglider echoes the output to the computer Figure F 33 Figure F 33 Valve noise test At the conclusion of the test Seaglider returns to the VBD menu 304 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by t
132. 51 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Seaglider components Science sensors Seaglider comes standard with a Sea Bird Electronics Conductivity and Temperature CT sensor iRobot also has a growing list of optional sensors that they can install on Seaglider At the time of this guide s publication October 2012 the sensors included WET Labs ECO Pucks Biospherical PAR Aanderaa Optodes SBE DO SBE GPCTD and Nortek AD2CP For an up to date list of sensor options see the Seaglider website at http gisupport irobot com cgi bin irobot_gi cfg php enduser acct_login php 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 Effect on vehicle Action of 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 For more information see Buoyancy on page 33 1KA Seaglider User s Guide 31 IMPORTANT NOTICE WARNING This Document contains Technical Data wh
133. 529999 VBD TIMEOUT 720 PITCH_VBD_SHIFT 0 0020000001 VBD_PUMP_AD_RATE_SURFACE 5 VBD_PUMP_AD_RATE_APOGEE 4 VBD BLEED AD RATE 8 UNCOM BLEED 20 VBD_MAXERRORS 1 CF8_MAXERRORS O 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 1KA Seaglider User s Guide 207 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix B Seaglider File Formats Manual TCM PITCH OFFSETO TCM ROLL OFFSETO ALTIM BOTTOM PING RANGE 0 ALTIM TOP PING RANGE 0 ALTIM BOTTOM TURN MARGIN 0O ALTIM TOP TURN MARGIN O ALTIM TOP MIN OBSTACLE ALTIM PING DEPTH O ALTIM PING DELTA O ALTIM FREQUENCY 13 ALTIM PULSE 2 ALTIM SENSITIVITY XPDR VALID O XPDR_INHIBIT 90 INT_PRESSURE_SLOPE 0 0097660003 INT PRESSURE YINT O MOTHERBOARD 4 DEVICE1 2 DEVICE2 20 DEVICE3 37 DEVICE4 1 DEVICES 1 DEVICE6 1 COMPASS DEVICE 33 PHONE_DEVICE 48 GPS_DEVICE 32 RAFOS_DEVICE 1 XPDR_DEVICE 24 SIM_W O SIM PITCH O SEABIRD T G0 004327164 SEABIRD T H 0 00064159534 SEABIRD T 1 2 4326842e 05 SEABIRD
134. 7 Date and time of communications session 0055 0 1 0 GPS 031207 031455 1855 179 12237 359 41 1 3 41 2 1 Time as hhmmss in UTC Date as ddmmyy after 2000 Calls made Dive number ver 66 04l rev21243M 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 Sun Dec 2 19 17 49 2007 sg123 sector number 1 block length 1024 Sun Dec 2 19 17 54 2007 sg123 sector number 2 block length 1024 Sun Dec 2 19 18 00 2007 sg123 sector number 3 block length 1024 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 Time to first fix in seconds INo comm count number of calls since last complete data transfer TMagnetic variation Total 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 ILongitude 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 Location obtained by the Iridium phone s geolocation property This m
135. 751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Seaglider generated files 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 the Seaglider parameters and their values for that dive For an explanation of each parameter see Chapter 5 Piloting Parameters on page 47 The second section beginning 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 informa tion 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 Not all Seagliders repor
136. 8 Figure 6 4 PrezLaunch iei cep eR I eee p eae etie iuis 122 Figure 6 5 Sea Eauncb uie seine nope Pea e prete rrr reir pee 122 Figure 6 6 GPS fX cente etre rec qu n a de ente eicit cer cete voee le inta 123 Figure 6 7 Final OK to launch suce eoe epe uter teer 124 Figure 6 8 Spot5Host Connection instructions eeseseeeeeeeene eene nennen nenne 127 Figure 6 9 Argos SPOTS installation detail A essere 130 Figure 6 10 Positioning SPOTS transmitter on antenna eese 131 Figure 7 1 Communications cable attached to Seaglider sss 134 Figure 7 2 Seaglider positioned for self test 135 xiii IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities List of Figures Figure 7 3 Connecting the communication cable to the laptop esses 135 Figure 7 4 Seaglider start up on the laptop sseeeeeeeneeeenneeeen ene 136 Fiure 7 5 Loggere menu cune t e eT rie HR t ee entere fes 137 Figure 7 6 Turning off the GPCTD 000 eee eee cececeeeeecseesaecaeceaessecsecseeeceeeeseseaeeaeesaesaes 138 Figure 7 7 Altimeter Check sei ie eese ee e EUR RESET EUER ea
137. 80 IMPORTANT NOTICE 1KA Seaglider User s Guide WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Alphabetized parameters Table 5 4 Parameters in alphabetic order Parameter Definition Nominal Min Max value value value N NOSURFACE Continued 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 As a result NAV MODE 0 and NAV MODE 1 should be used when N NOSURFACE is not equal to zero If NAV MODE is set to 1 set SKALMAN MODE to 2 Only NAV 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 0 the SHEADING parameter must be set to a value between 0 and 360 For example if N_NOSURFACE is set to 5 NAV_MODE is set to 0 and HEADING is set to 90 then Seaglider will surface and acquire 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 posi
138. 80 MAX 3959 210 7 cc VEO bladder position limit maximum C D 3 c vED 3100 ved bladder neutral point 03 4 v80 DBAND 2 00 v8D bladder position deadband cc 5 v80 CNV 0 245296 v60 bladder position conversion factor cc AD 6 vBO_TIMEOUT 720 VBD timeout sec 7 PITCH VED SHIFT 0 0012300001 Pitch offset due to veo cm cc 8 v80 PUMP AD RATE SURFACE 5 VBD pump AD counts per sec at surface 9 vBD PUMP AD RATE APOGEE 4 V80 pump AD counts per sec at apogee v8D BLEED D RATE 8 vBD bleed AD counts per sec at surface SuNCOM BLEED 50 Uncommanded bleed change AD O disabled gt v8D0 MAXERRORS 1 Number of vBD errors allowed before entering recovery ER Return to previous menu 10 1 li Figure F 14 VBD Parameters menu For a description and acceptable range of values for each parameter see Chapter 5 Piloting Parameters on page 47 For the exact values of VBD MIN VBD MAX and C VBD see the trim sheets in the note book shipped with the Seaglider vehicle 2 To change a parameter value follow the procedures in Basic Mission and Seaglider Parameters menu on page 282 1KA Seaglider User s Guide 289 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violat
139. 86602 i m sr Figure D 14 Plot 5 One backscatter plot in triplet configuration 258 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Using the dive plot analysis software Scattering G125 Dive 5 iRobot Port Susan Mission Start Time 15 Jun 2011 18 17 49 0g gp i i it 4 9 700 nm RED Descent i Y 470 nm BLUE Descent if f i 700 nm RED Ascent 5 H d 470 nm BLUE Ascent Pj r4 p D dta Or O 4 D a PT m n Y gt acan gt ee Eg EX Il 30 i i l i ie i i i i 0 889 1 3271 1 7652 22034 26415 3 0796 3 5178 3 9559 4 394 4 8321 5 2703 REJ m sr x 10 Figure D 15 Two backscatter plots in triplet configuration 1KA Seaglider User s Guide 259 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix D Dive Data Visualization Software Plot 6 Fluoro
140. 88 2 991 1624 164 HUBD N T 35 a 435 d oi 1624 278 SUSR CT timeout you have one hour to respond Ready to launch M y Step 17 Figure 7 37 Pitch roll and pump maneuvers 17 At the prompt Ready to launch N type v 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 1643 357 USR M For a fresh start reset the dive nunber to i Reset dive run number to 8 i VVV Step18 Figure 7 38 Reset dive run number 19 Verify that Seaglider logs in Then watch as the parameters cmdfile science and targets files are uploaded 1KA Seaglider User s Guide 161 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 7 Prelaunch Procedures While the files are uploading the laptop display looks like Figure 7 39 132 822 SSURF H Sen 437 SSURF M Receiving cadfile 592 SSU RF H SOH STX 213 SSURF N SOH STX 553 SSU RF H SOH STX 182 SSURF N SOH STX 712 SSURF
141. 9 iRobot Scituate Mission Start Time 19 May 2011 18 25 29 20 p ME p 40 fo E pu E ro amp 60 FP f A f 2 X 80r x Q i 1 100 S Speed of Sound Descent Speed of Sound Ascent I E e L L J 1468 1470 1472 1474 1476 1478 1480 Speed of Sound m s Figure D 23 Plot 13 Speed of sound 1KA Seaglider User s Guide 267 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities 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 Figure D 24 Photosynthetic Active Radiation PAR G524 Dive 6 iRobot Scituate Mission Start Time 19 May 2011 16 12 45 10 fest PAR s n 50132 Descent PAR s n 50132 Ascent I I I 20 E 30 i a 40 60 1 1 1 1 1 1 1 I 0 0151 0 0 0152 0 0303 0 0455 0 0607 0 0758 0 091 0 1062 0 1213 0 1365 0 1517 PAR u mol photonsem es Figure D 24 Plot
142. 9 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Alphabetized parameters Table 5 4 Parameters in alphabetic order Parameter Nominal Min Max Definition value value value RHO The water density kg m 3 used for 1 026 1 1 04 converting buoyancy force in grams to seawater displacement in cm This parameter is also used in the on board performance prediction computations Set this value to match the bottom water density of the environment the glider is operating in ROLL AD RATE The roll rate in A D counts per second 350 100 450 that the operating code of the Seaglider uses as the threshold for retries when rolling If the observed rate is less than this number the roll is stopped and restarted The glider continues to monitor speed and retry if speed dips below the set value until the timeout is reached then an error is declared ROLL ADJ DBAND This parameter in conjunction with 0 0 1000 ROLL ADJ GAIN controls the automatic adjustment of the 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 Iturn ratel gt ROLL_ADJ_DBAND SROLL ADJ DBAND has units of degrees second A value of zero disables auto
143. 92 HXPDR N range was 7 643250 m 75 851 SUSR N Checking transponder 76 328 HXPDR N Tried 1 times to respond to command C1 76 575 SUSR N transponder reply ping count 0 76 679 SUSR N Reporting targets and science specifications 79 402 SNAV N Target Latitude Longitude Radius Depth Finish Timeout Next target Escp target 79 749 SNAV N gt SEVEN 4807 000 12223 000 200 0m 0 1 0 0 SIX none 80 066 SNAV N SIX 4806 000 12222 000 200 0m 0 1 0 0 EIGHT none 80 387 SNAV N FOUR 4804 000 12220 000 200 0m 0 1 0 0 FIVE none 80 706 SNAV N EIGHT 4808 000 12224 000 200 0m 0 1 0 0 KAYAKPT none 81 030 SNAV N KAYAKPT 4808 000 12223 000 100 0m 0 1 0 0 KAYAKPT none 81 353 SNAV N FIVE 4805 000 12221 000 200 0m 0 1 0 0 SIX none 81 804 SSENSOR N NOTE 4 00 sec sample time at depth 40 0 meters is not a multiple of turn sample interval 5 00 secs 82 121 SSENSOR N NOTE 4 00 sec sample time at depth 150 0 meters is not a multiple of turn sample interval 5 00 secs 82 371 SSENSOR N Depth Time G amp C Sensors 82 559 5SENSOR N 40 0m 4 0s 60 0s 111 SBE CT 1 82 807 SSENSOR N 150 0m 4 0s 120 0s 122 SBE CT 1 82 967 SUSR N Reporting battery status 86 662 SPOWER N Fuel gauges Cumulative Amp secs cumulative since power up 86 936 SPOWER N Pitch motor 1 18 amp sec 24 18 sec 87 145 SPOWER N Roll motor 0 83 amp sec 11 35 sec 87 298 SPOWER N VBD pump during apogee 0 00 amp sec 0 00
144. 95 15599 680 HPITCH N Pitch commanded from 8 74 cm 385 to 8 71 cm 3955 15600 932 HPITCH N 8 7 cm ad 385 MOTOR DONE ticks 24 max 24v 4 6mA avg 24v 3 8mA minv 24v 23 6V 15601 402 SMOTOR N GC TICKS TIME 27 28663 15601 492 HPITCH N done Figure F 28 Pitch motor movement by changing A D counts At the end of the motor movement the user is returned to the Pitch Control menu Change the cm centimeters of movement 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 Figure F 27 2 Type a cm value and press Enter A positive value moves the pitch motor toward the aft end of Seaglider a negative value moves the pitch motor toward the nose Seaglider outputs the resulting movement like it did for the A D count change At the end of the motor movement the user is returned to the Pitch Control menu 1KA Seaglider User s Guide 299 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix F Hardware and Configuration Menus Edit pitch parameters 1 Select 4 Edit pitch parameters and press Enter Figure F 12 The current value for each param
145. A Fix Data records within the 2 second timeout The number of spurious interrupts Spurious interrupts may result from divide by zero or memory dereference problems They may also 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 overruns the output is truncated to fit in the buffer resulting in lost logfile output These values are from the most recent GPS fix which corresponds to the end of the current dive 1KA Seaglider User s Guide 213 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix B Seaglider File Formats Manual 2 1 2 Eng file The engineering files eng are created on the Base Station They contain Seaglider control state and attitude observations in engineering units Data from installed sensors may also be present here The first 9 columns are always present The remaining columns vary and are dependent upon the sensors that are installed The sensor serial number which is entered during installation and configuration of the sensor s on the glider is contained in the column
146. A Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Reballasting in the field Adjust lead ballast Remove the forward fairing 2 Take note of lead values and location on the pressure hull pupa see 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 pressure 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 pressure hull If buckles and straps are used as the strapping material release the buckle with a flat blade screwdriver 4 If removing or 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 and clean the area with isopropyl alcohol and a lint free cloth to remove any remaining glue or dirt from the tape 6 Remove protective coating and apply new carpet tape to rubber pad 1KA Seaglider User s Guide 321 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C
147. A Seaglider cannot call in to the bas estation unless the password is the same on both the basestation and Seaglider 286 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Telnum Telnum Altnum Telephone numbers can be no more than 15 digits long For more information see Chapter 3 Setting Up the System on page 7 1 To access the current basestation telephone number from the Parameters and Configuration menu select 7 Telnum and press Enter Figure F 10 6561 080 SUSR N Current telnum is 12062215341 New telnum 15 char max length CR to leave unchanged 19194841429 6605 038 SUSR N Changing tilnum to 19194841429 Figure F 10 Verify the basestation telephone number in Seaglider Verify the telephone number e Ifthe telephone number is correct press Enter The user is returned to the Parameters and Configuration menu Ifthe telephone number is incorrect type the correct number and press Enter Seaglider acknowledges the update and the Parameters and Configuration menu is displayed To access the alternate basestation telephone number from the Parameters and Configuration menu select 8 Altnum an
148. ANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties CHAPTER 3 Setting Up the System Setting up the basestation The Seaglider basestation is the shore side computer end of the Seaglider system It is the computer that gliders call through the Iridium phone system processes Seaglider 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 10 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 iRobot recommends RUDICS service only Basestation configuration The Seaglider basestation runs on a Linux operating system OS The basestation software pack age consists of a collection of python scripts and a patched version of the XMODEM send and receive programs Seaglider pilots need to have write access in those Se
149. Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Stowing moving Seaglider Stowing moving Seaglider See Transporting Seaglider to the field on page 117 Checking out the Seaglider system Now that all of the pieces of the Seaglider system have been set up the Seaglider basestation bases tation interface computer and the field laptop it is time to start testing them together Hardware checkouts are done to make sure Seaglider is 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 communica tions between Seaglider and the basestation Checking Seaglider communication with the field laptop This test can be done in the lab 1 For this test the antenna mast may be bolted into position as it would be for deployment Figure 3 1 or folded next to the Seaglider Figure 3 8 The configuration of your Seaglider system may differ depending on what you ordered Figure 3 8 Antenna in stowed position 1KA Seaglider User s Guide 19 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Vi
150. Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities 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 Figure D 10 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 Orviactut y seperate Depto Mecon Det mm oon Atem t P ae AD sait iis hA a Rut m Free a Teemperatrm Saray Concert Sanity Ascett a Descent T Asport Figure D 10 Plot 2 CTD plot NOTE When CTD data is not present or sg_calib_constants m file is incorrect the message CTD data does not exist for this dive appears 254 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Using the dive plot analysis 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 salin
151. Analyzer SeagiderID 3 05 Ek i S Refresh List C VBD amp D TGT Results 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 3 Using the dive number listbox select the Dive Number of the data to be visualized 4 Click Generate Plots green button to generate the visualization plots iSmve Dive Data KIM Figure D 4 Initial view of Dive Data Analysis graphical user interface 248 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Using the dive plot analysis software Also when running for the first time a notification stating the folder specified does not have the data required to run software This is because the path that appears in the Dive Data Folder field upon star tup 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 Figure D 5 The folder that you specified does not appear to have any or all of the required data files
152. BD N TRACK b 1014 902 a 1014 902 d 56 o 60 3307992 221 SUSR N Pumping up to maximum buoyancy 3307992 472 HVBD N Pump commanded from 11 77 cc 952 to 110 38 cc 550 3307993 444 HVBD N 12 0 cc ad 951 1008 893 3308004 194 HVBD N 24 5 cc ad 900 958 841 3308014 944 HVBD N 35 3 cc ad 856 915 796 3308025 719 HVBD N 53 7 cc ad 781 842 718 3308036 469 HVBD N 79 2 cc ad 677 740 610 no progress made 3308047 244 HVBD N 104 7 cc ad 573 638 504 MOTOR DONE ticks 1 max 24v 5 4mA avg 24v 5 4mA minV 24v 23 7V 3308049 932 SMOTOR N GC TICKS TIME 2267 2269030 3308050 030 HVBD N done 3308050 188 HVBD N Pump completed from 11 53 cc 953 to 110 63 cc 549 616 482 took 51 5 sec 450mA 2586mA peak 23 3Vmin 7 AD sec 2062 ticks 3308050 655 HVBD N TRACK b 617 484 a 617 484 d 67 o 68 0 982 SSUREN lnitializing data file 1 217 SSURE N Initializing log file 3 022 SUSR N Checking sensors and data file creation 0 174 SSURE N Dive started Mon Sep 10 16 02 18 2012 1347292938 5 341 SUSR N entering SD active 6 968 SSENSOR N A 5322ms 0 01m 80 3 1 9 395 SUSR N entering SD passive 11 007 SSENSOR N P 9973ms 0 04m 80 6 2 14 591 SUSR N entering SD active 16 215 SSENSOR N A 14573ms 0 01m 80 3 3 18 648 SUSR N entering SD passive 20 262 SSENSOR N P 19227ms 0 01m 80 2 4 23 841 SUSR N entering SD active 25 467 SSENSOR N A 23823ms 0 03m 80 6 5 27 892 SUSR N
153. 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 54 When prompted to perform the communications check press Enter to accept the default answer Yes Y Seaglider e 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 1KA Seaglider User s Guide 151 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 7 Prelaunch Procedures 55 56 Reposition Seaglider to be sure its antenna has an unobstructed view of the sky and wait for it to make another phone call Figure 7 29 Iridium communications and transmission check 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 curren
154. COMPASS_DEVICE integer 24 1 1023 XPDR_INHIBIT 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 90 99 9 9 seconds 1KA Seaglider User s Guide IMPORTANT NOTICE 105 WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 5 Piloting Parameters Table 5 4 Parameters in alphabetic order Parameter Nominal Min Max Definition value value value XPDR VALID A configuration value specifying the 2 0 6 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 XPDR PINGS This is an output from the glider 0 0 No limit representing the count of t
155. D thin black line and the vertical speed W royal blue line cross zero e If they cross zero at the same time the VBD setting is good and should be left alone e Ifthe VBD line crosses zero before the W line does Seaglider is too heavy and the C VBD A D counts should be reduced 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 following example 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 165 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Chapter 8 Tuning Your Seaglider 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 change
156. D maneuvers and displays their movement on the laptop Figure 7 37 RC slider to pre launch state TT 8 052 4PITCH M Piteh commande ron 6 3M cm 728 to 6 21 cm 7149 tela 232 NPLICH M 6 2 cm Cad 2415 MOTOR DOME ticks 21 max 24v 0 0028 avg 24v 8 00160 1611 742 5MOTOR M GC TICKS TIME 29731084 1611 821 HPITCH M done 1611 973 HPITCH yo Fitch completed from 6 30 cm C728 to 6 24 cm 741 took 8 1 sec W 2968 X 8 3598 peak 1612 212J HPITCH N TRACK b 736 a va 2 40 1 1612 512 HROLI M Rall commanded fro deg 21885 to 4 08 deg 2146 1613 657 HROLL M 1 2 deg Cad 2108 MOTOR DONE ticks 26 max 24v 8 FAT avg 24v 0 0018 1614 127 5MOTOR N GC TICKS TIME 29730489 1614 216 HROLL M done 1614 284 HROLL M Ho11 Mo motion occurred 1614 511 H PITCH M aay sennae gren 6 24 cn 741 to 8 21 cn 11 gt 1615 693 HPITCH N cn Cad MOTOM DOME ticks 3 max 24v M BAZA aug 24u B PBZA TUE 315 SHOTOR a e Tens TIMES ree yt 4 ER Se WPITCH M Pitch conpleted fron 6 24 cn lt 741 gt to 0 29 cm 1 4 gt took 1 8 sec 8 0878 8 2368 peak 17 88V9 MPITCH M THACK bi 11H a 112 d IM o 8 1618 095 IUD N Punp sentanane irea 3 X X495 te oa 98 cc 435 gt 1619 251 HUB Cad 472 ISPI 9 ccccces OR DONE ticks 15 max 24u M MM3R aug 24v MH 1623 598 SMOTO R N ee TickeTInk 1847106414 1623 689 HUBD N done 1623 882 HUDD N N Punp completed fron a 81 cc 475 to 0 00 cc 435 473 39815 took 4 2 sec 0 29
157. DCP sensor into these ports will damage the sensor If iRobot installed an ADCP or Echosounder sensor ports E and F will be configured for 24V 8 Remove the rudder from the packing case and 2 4 20 screws from the spares kit and put in a secure place near Seaglider 9 Slide the antenna mast rudder boot into the back end of the aft fairing orienting the round side of the boot away from the countersunk holes in the fairing As the antenna mast is lowered into the fairing reach through the hatch opening and guide the antenna and serial communication cables around the bladder and sensor cables 10 When the antenna mast is in place insert the rudder sweeping toward the rear of Seaglider 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 11 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 12 Tighten the screws to hand tight 13 Arrange the antenna and sensor cables in the area normally covered by the black hatch cover so that they do not impede the operation of the external bladder 14 Replace the black hatch cover starting all the screws before tightening them down to hand tight 1KA Seaglider User s Guide
158. E 1KA Seaglider User s Guide WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities 2 4 Command and control files 2 3 4 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 tem2mat 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 5 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 use capture files The Capvec file is a line oriented format Lin
159. EDUT pol ass timeout Croll rollback sec PORT il ee Bol mass cverahost to port after miter off ya STED OVSWOOT mass overihoot to stbd after motor off AAD RATE 350 pos eli motor count per sec of roll errors a1 before entering ne recovery 3 CAIN d ven r aie bon raban rot center deg batteey qe ALADI oe auto adjusting rol een QM VEO MIN DUE 19 eo bla position limit SUE nri cc veo bla aoe pire i eg max bladder neutra vno bladder N deasbod cc vo Pacte PA or aia conversion factor cc AD T london FRI iA offset due to wio fon ec pump AD counts per sec at surface Ned ae per sec at apogee TS t AD Counts per sec at surface A rA bleed change AD O disabled f VEO errors allowed before entering recovery 1 Norber t ces fm allowed before entering recovery deg sec turn rate BEH pack d M Erg ion oe mint mum vo fue gauge comeunot on ay fe La 1 es iis Battery tion fies battery for adum onde gov 224v rM ts 21 reassure Y intercept amp SSURK SLOPE des Roi 18 Pressure slope pt Dp Piatra testetht Se e ee EUER I tt kts a AM bt top tetstetone mee eee eee eee d 7714ChOGa n 127 pens pretiuee chan 5 tieu lett on 64eOreck 4020 12821 0 Pi ch sensor offset w i 1 er sensor offset age te A yoo ange Ine eres teat returns a depth to Initiate botton pings Cm T TOP PINO RANGE fe LE td Miet top p pinga TIM BOTTOM TURN MARGIN 12 Olstance from obstacle to Initiate bottom turn m TIM TOF TU4M MAR
160. EQ Violations of these export laws are subject to severe criminal penalities Chapter 3 Setting Up the System e After you have entered the last telephone number press Enter twice to exit to the Main menu Figure 3 15 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 gt Lrafos RAFOS parameters 6 password Set show glider login password 7 telnum Set show basestation phone number 8 altnum J Set show basestation alternate phone number Pitch roll v8D 9 pitch Pitch parameters 10 roll Roll parameters 11 vbd VBO 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 J Seabird CT calibration 18 power Power parameters utility 19 a11 Edit a1 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
161. F 19 Altimetry Parameters menu 2 To change a parameter value follow the procedures Basic Mission and Seaglider Parameters menu on page 282 Sea Bird CT calibration coefficients 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 1 From the Parameters and Configuration menu select 17 SBE CT coefficients and press Enter Figure F 20 The current value for each parameter is in brackets to the right of the parameter name T Parameters current value in 2 SEABIRD T G 0 004302992 Seabird T g coefficient SEABIRD T M 0 00062119117 Seabird T h coefficient SEABIRD T 1 2 2739867e 05 Seabird T i coefficient SEABIRD T 3 2 4046174e 06 Seabird T j coefficient SEABIRD C G 9 8404341 Seabird C g coefficient SEABIRD C H 1 104722 Seabird C h coefficient SEABIRD C I1 0 0022409143 Seabird C i coefficient SEABIRD C J 0 00025927747 Seabird C j coefficient CR Return to previous menu Enter selection 1 8 cR 00 Oh vn a uu he Nu LANI V M ur Figure F 20 Sea Bird CT Calibration Coefficients Menu 292 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administrat
162. F 25 Pitch Control menu for fwd I Run pitch amp roll duty cycles CTL Q to quit Current motor position To determine the current position of the pitch motor select 1 Current position and press Enter A reply similar to Figure F 25 is returned Note that the pitch control position is given both in cm and A D counts 15313 427 HPITCH N Pitch control position CAD 365 j 8 80 cm Figure F 26 Current pitch control position information The Pitch Control menu is displayed 298 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Move to position AD counts and cm 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 1 Select 2 Move to position AD counts and press Enter Figure F 27 15582 616 HPITCH N Pitch control position 8 74 cm CAD 385 Move to AD 385 Figure F 27 Current AD count for pitch motor 2 Type an A D value and press Enter Figure F 28 shows an example with the A D count changed to 395 and the resulting motor move ment Move to AD 385 3
163. FFSET 1 5 internal delay of RAFOS receiver seconds 2 SRAFOS_CORR_THRESH 60 threshold correlation value for hits used in navigation J RAFOS HIT WINDOw 3600 window length seconds in which to search for hits to use in navigation ER Return to previous menu Enter selection 1 3 cR Figure F 8 RAFOS Parameters menu 2 To return to the Parameters and Configuration menu press Enter Password The password assigned to a Seaglider at the factory is 6 digits long The first three digits are the ID number for the Seaglider vehicle The last three digits are either 680 if ID is even or 791 if the ID is odd However passwords can be any alphanumeric string up to 15 characters long Passwords cannot contain punctuation or special characters The password must be the same on the Seaglider vehicle and its basestation 1 To access the current password from the Parameters and Configuration menu select 6 Password and press Enter Figure F 9 6477 808 SUSR N Current password is 506680 New password 15 char nee length CR to leave unchanged Figure F 9 Verify the Seaglider password 2 Verify the password e Ifthe password is correct press Enter The Parameters and Configuration menu is displayed e Ifthe password is incorrect enter the correct password and press Enter Seaglider acknowledges the update and the Parameters and Configuration menu is displayed If there are any questions contact iRobot Customer Support
164. GIN 0 Distance from obstacle to inftiate top turn m picem or 1 Minimum c stacle MN to honor in initiating a subsurface finish m steterat jore uem de sur fd er Co D Op oq hum de st 80 Depth at which to begin pinging for bottom m TIM PING DELTA Depth increment when pinging for bottom m west to use for ACA he hr K o ute for T iener genittt Y f 15 4 in r ae font T validity lenth 0 5 en et ie eq 100 of m 0 INT PRESSURE LN A Prestaore slope see priorem Serra tor 0 am C77 Eo ddl Ma ng iier IE with high cerrent sensors Ostio 1 vet Dl Red revision NOPP 1 A 1 2 B i C1 Attached device i flagz Attached device 2 flags Attached device flagz I Attached device 4 flags Attac device flags Attac ice 6 fl 6 1 s devices trad lefaisable ihe LOGGER d Attached logger device OG ROE VICE Attached logger Seyice Flags dede duda OGGEKOK VICE Attached d Savie ce fees OOGEROE VICES Attached Te device 4 Flags OMP E dr epus ce fle Jr agi Lene s HN meme eme eme eme eet eee em eme eem eee DEVICE hi Pur f 06 DEVICE di RAFOG e PEFS sa DEVICE 24 0 amp device flags A Sim larag e 3 0 use pressure gauge to compute dep Te TE A dive Fech e 9 70 degrees 0 use Cad to report pitch Zu eabird T g coefficient troth 9 Hi febird h coefficient ADIRO TI 2 2 4 05 Seabird T coeffictent K5 1 1 2 4046374 abied T eeffictent TRO 341 Seabird C g coefficient
165. GPS N set 2012 09 10 15 57 54 3307789 603 HGPS N confirm GPRMC 155754 A4 3556 3576 N 07854 1092 W 000 0 000 0 100912 008 7 W 73 3307789 746 HGPS N 100912 155752 3556 356689 7854 109863 0 900000 36 36 seconds 3307790 362 HTT8 N Updating parameter ST GPS CHARGE to 20734 646 3307793 043 SUSR N Checking Iridium phone 3307793 152 SUSR N Checking bathymetry data 3307793 264 SUSR N Normal Heap 0 57343 bytes 3307793 425 SGLMALLOC N glheap walk 353464 bytes free 1 blocks free 3784 bytes alloc 47 blocks alloc 3307796 259 SBATHY N Loaded bathymap 001 101 100 100m LL 47 8833 122 4000 UR 47 9742 122 2658 3307802 107 SBATHY N Loaded bathymap 002 102 112 100m LL 47 9500 122 3833 UR 48 0418 122 2328 3307806 349 SBATHY N Loaded bathymap 003 47 174 100m LL 48 0333 122 4667 UR 48 0756 122 2325 3307813 924 SBATHY N Loaded bathymap 004 112 137 100m LL 48 0667 122 4833 UR 48 1675 122 2988 3307814 275 SBATHY N WARNING No bathymetry file covers the current location 3556 356689 7854 109863 3307814 519 SGLMALLOC N glheap_walk 322528 bytes free 2 blocks free 34648 bytes alloc 49 blocks alloc 3307814 708 SUSR N Checking compass and calibration files 3307814 920 HCOMPASS N Compass 1 SP3003 3307815 052 HCOMPASS N pitch A B C D 0 000000 1 000000 0 000000 0 000000 3307815 229 HCOMPASS N roll A B C D 0 000000 1 000000 0 000000 0 000000 3307815 379 HCOMPASS N hard iron P Q R 0 000000
166. 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 Wi qe can be compared with Wopserveq dp dt to adjust the VBD trim and then to estimate vertical velocities in the water column 1KA Seaglider User s Guide 35 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 4 Operating Principles 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 linear potentiometers digitized by 4096 count analog to digital A D converters 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 the Seaglider operating software will not command that particular system Associated with each system are the follow
167. GT 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 Ordinary Serial Interface OSI and Autonomous Logger Interface ALI to allow a variety of sensors to be connected to the vehicle via the serial ports Ordinary Serial Interface 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 BBFL2 BB2FL BB3 and FL3 Aanderaa Dissolved Oxygen Free Flowed Sea Bird Dissolved Oxygen and CT Sail Autonomous Logger Interface ALI 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 is used exclusively for sensors with the ability to log data to an internal file system iRobot currently provides
168. ING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 5 Piloting Parameters Table 5 4 Parameters in alphabetic order Nominal Min Max Parameter Definition value value value NAV MODE Continued 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 P OVSHOOT The distance cm by which the pitch 0 04 0 1 0 1 mass is allowed to overshoot its target after the pitch motor is turned off PC_INTERVAL A pumped CTD command that specifies 1 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 How ever memory usage decreases with increasing sampling interval e 5 14 second sampling intervals The CTD is in Fast Sampling Mode The pump runs continuously and measurements are made at the chosen interval e 15 3600 second sampling intervals The CTD is in Slow Interval Sam pling Mode In this mode CTD sam ples are taken but DO samples are not The pump runs for 11 3 seconds
169. Main menu Figure H 4 2 Atthe Main menu select 2 Hardware Tests amp Monitoring and press Enter 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 02 13 wetlabs 14 par 15 optode Other 16 batt 17 lowlevel 18 misc 19 develop CR Hardvare Menu Pitch control Roll control VBD control Pressure sensor Compass temz GPS Modem xmoderm mode Internal pressure Altimeter C T sensors NULL C T sensors O2 sensor WETLabs VSF amp fluorometer QSP 2150 PAR sensor Optode Batteries and fuel gauges Low level hardware IO A D CF Miscellaneous travel timeouts Developer tests date time Return to previous Enter selection 1 19 CR 18 Step 8 Figure H 4 Travel mode menu 1 3 Type 18 misc Miscellaneous travel timeouts date time and press Enter 332 WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities 1KA Seaglider User s Guide IMPORTANT NOTICE Appendix H AD2CP Compass Calibration Procedure 4 When Miscellaneous Hardware Functions appears ty
170. Manual v66 07 Table C 1 Available services for capturing Continued Service Description SSENSOR Software controlling all sensors primarily data sam pling 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 interac tion primarily tests and menus SGLMALLOC Seaglider s heap implementation Table C 2 Levels at which output can be captured for a given service Output Level Description CRITICAL Only trigger output thaty is critical in nature usually associated with an extreme hardware problem such as motor errors or a critical software problem such as buffer or heap overrun NORMAL The vast majority of Seaglider output falls into this cate gory currently DEBUG Extended diagnostics This output can be quite volumni ous and it is recommended that this only be set on spe cific 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 output level Table C 3 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 co
171. N GC LAST COLLECTION 2 198 088 SSURE N Sending cmd Isx k t200 targets 208 165 SSURE N No targets file on basestation Isx k t200 targets sg123 212 029 SSURE N Sending cmd Isx k t200 science 222 105 SSURE N No science file on basestation Isx k t200 science sg123 222 292 SSENSOR N NOTE 4 00 sec sample time at depth 40 0 meters is not a multiple of turn sample interval 5 00 secs 222 454 SSENSOR N NOTE 4 00 sec sample time at depth 150 0 meters is not a multiple of turn sample interval 5 00 secs 224 268 SSURE N Sending cmd Isx k t200 pdoscmds bat 234 355 SSURE N No pdoscmds bat file on basestation Isx k t200 pdoscmds bat sg123 234 574 SSURE N Sending cmd Irx y c t200 st00631u x00 236 358 SSURE N Sending st0063lu x00 236 459 SSUREN block 1 size 1024 blkSize 1024 attempt 242 357 SSUREN block 2 size 1024 blkSize 1024 attempt 248 205 SSUREN block 3 size 1024 blkSize 1024 attempt 254 055 SSUREN block 4 size 1024 blkSize 1024 attempt 259 829 SSURE N EOT sent 265 044 SSUREN recieved ACK attempt 0 266 575 SSUREN Transmission succeeded 266 676 SSUREN Sending cmd Irx y c t200 st00631u x01 1KA Seaglider User s Guide 277 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 5
172. NG Release of toxic gases materials due to battery exposure to fire can cause death or injury XX 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Registration Hegistration 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 website at http gisupport irobot com app utils login form iRobot contact information Customer support For iRobot Maritime Applications Support send an e mail to maritimesupport irobot com Sales To obtain pricing information or to order spares options accessories or training send an e mail to maritimesales irobot com or call 888 776 2687 Toll free in the USA or 1 781 430 3090 International customers 1KA Seaglider User s Guide xxi IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Intr
173. NG This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities 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 dis played As seen below the first triplet only has 1 backscatter in the triplet configuration Figure D 14 whereas the second plot below has 2 backscatter in the triplet configuration Figure D 15 Depth m 20 30 40 0 60 5357 8 Scattering SG 548 Dive 19 Seattle Mission Start Time 14 Dec 2011 03 42 19 ee Eg rm m 28 g H oe a ce i t Ner ll wee i M E 5 A 0 lt SS m er TE uy eo E 9 532 nm Descent 532 nm Asc Ascent 5633 5908 2 61834 64586 67338 7009 72842 75594 7834 6 8109 8 8385
174. O device device2 device3 telnum 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 mainnew run for example and issue the reboot command as reboot mainnew f 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 file1 file2 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 240 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix C Extended PicoDOS Reference Manual v66 07 resend dive I d c t dive fragment The mechanism by which the pilot can ask the Seaglider to resend ind
175. ORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix F Hardware and Configuration Menus Hardware menu for tests and monitoring To view the Hardware Menu used for tests and monitoring select 2 and press Enter Figure F 24 Hardware Menu Motors and VBD 1 pitch Pitch control 2 rol Roll control 3 vbd VBD control Fixed Devices 4 super Supervisor 5 pressure Pressure sensor 6 compass Compass Ctcr2 7 gps GPS l 8 modem Modem xmodem mode 9 intpress Internal pressure 10 altim Altimeter ll 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 Figure F 24 Hardware menu Pitch Control menu e Select 1 Pitch Control Menu and press Enter Figure F 25 Pitch Control Menu read ad eu edit cycle Nor pitch CR 3 4 5 6 cyclepr 7 R Current position Move to position AD counts Move to position Ccm Edit pitch parameters Run pitch duty cycles ome RT IL Pitch test Return to previous Figure
176. P 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix G Ballasting Apply or adjust syntactic foam ballast 1 2 Remove the forward fairing Take note of foam values and location on the pressure hull pupa see 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 Remove the installed wraps of vinyl tape making sure that none of the foam pieces are lost If the foam falls off remove all the foam in order and then remove the strip of carpet tape Clean the pressure hull with isopropyl alcohol to remove any remaining glue or dirt from the tape Dry with a lint free cloth Apply a new strip of carpet tape that is long enough to accommodate all the foam to the pressure hull pupa Figure G 4 High density foam Double sided adhesive Figure G 4 Applying syntactic foam ballast to pressure hull Reapply the required amount of syntactic foam to the carpet tape Apply Scotch Super 88 1 5 wide vinyl tape in three sections around pupa One in the middle of the foam one on each end of the foam covering half on the pupa and half on the foam to secure the foam in place The tape is applied partially on the foam and partially on the pressure hull to create a sealed pocket for the foam to sit in Figure G 5 Black electrical tape Black electrical ta
177. PORTANT NOTICE 59 WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 5 Piloting Parameters Table 5 4 Parameters in alphabetic order Nominal Min Max Parameter Definition value value value SALTIM TOP TURN MARGIN The distance in meters from an 0 0 100 altimeter detected obstacle at which to initiate the subsurface finish A value of 0 disables the use of the altimeter to determine the start of the sub surface finish APOGEE PITCH Intermediate pitch position of the pitch 5 20 0 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 observes a depth of greater than the apogee depth whether by D TGT or D_GRID or a bottom detection from the altimeter The apogee maneuver also includes pumping the VBD to 0 cc After the apogee maneuver the climb is initiated by changing both pitch and VBD to the opposite signed values from the dive C PITCH The center neutral or flat position A D 2700 Actual Software Software counts for pitch initial value minimum maximum obtained of system of system from obtained obtained vehic
178. PORTANT NOTICE iWARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties IV IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Contents AUIGIEN CE E o d Typographical conventions eee e ener ee eene enean aerae to sense tn sense ene en sense essen ss ens esse sess seseeeseeso XIX Safety CONVENUONS EE D Safety INTOPMALION J eceseeue esee eint posee oe soos seus sesesssanesndes LOVE Yea V eec e Pee Tha eos ede ela ow e sese Lib soii sobsssuenssaboba EX Personal safety information 4 eee eee ee esee eese eese seen eene ease eos s esas sees s ense se Soissa XX Moulujicvc a RID KX Battety Salety sssssesssssssssasesvassansasassecastonsssnnsscusasonsasescessavanssessdenaseseabdsvalaasesvasseueseunsssessseanesoosasase KX IEEE A M 0 1 iRobot contact informatiOn
179. R N assigned SBE CT serial number 1234 to sensor slot p 2 6 705 SPOWER N lridium during init saved current 0 10300 6 874 SPOWER N lridium during connect saved current 0 16000 7 047 SPOWER N lridium during xfer saved current 0 22300 7 217 SPOWER N GPS saved current 0 02696 71 365 SPOWER N TTS saved current 0 01496 7 513 SPOWER N TTS Active saved current 0 01421 7 672 SPOWER N TT8 Sampling saved current 0 03743 7 833 SPOWER N TT8_CF8 saved current 0 04717 7 988 SPOWER N TT8_Kalman saved current 0 05915 8 149 SPOWER N Analog_circuits saved current 0 01200 8 315 SPOWER N Compass saved current 0 01573 8 515 HCOMPASS N Active compass is SP3003 8 721 SSYS N Changing capture file 12 317 SUSR N Glider 123 mission 0 dive 12 booted Thu Jan 1 00 00 12 1970 boot 1623 13 381 HXPDR N max range 60 000000 m timeout 80 ms 13 677 SSUREN Hit CR within 1 minute to start otherwise will go to recovery Set current date and time CR for default 08 03 2012 09 07 53 Are you running on external bench power N 269 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Appendix E Autonomous Self Test Main Menu 1 param Pa
180. RESSLY 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 INDIRECT 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 EQUIP MENT 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 For the sale of devices made to Customers within the United States note that some states do not allow limitations on how long an implied warranty lasts or the exclusion or limitation of incidental or consequential damages so the above limitations or exclusions may not apply to you This Warranty gives you specific legal rights and you may also have other rights which vary from state to state 2
181. ROLL CNV 0 028270001 ROLL TIMEOUT 15 R PORT OVSHOOT24 R_STBD_OVSHOOT 19 ROLL_AD_RATE 350 ROLL_MAXERRORS ROLL_ADJ_GAIN O ROLL_ADJ_DBAND O ROLL GAIN P0 5 VBD MIN 550 VBD MAX 3500 C VBD 1000 VBD_DBAND 2 VBD_CNV 0 245296 VBD_TIMEOUT 720 PITCH_VBD_SHIFT 4 9999999e 05 VBD PUMP AD RATE SURFACE 5 VBD PUMP AD RATE APOGEEA VBD BLEED AD RATE 8 UNCOM_BLEED 60 VBD_MAXERRORS CF8 _MAXERRORS 20 AHO_24V 145 AHO_10V 95 MINV 24V 19 MINV_10V 8 FG_AHR_10V 0 FG_AHR_24V 0 PHONE_SUPPLY 2 PRESSURE_YINT 46 17355 PRESSURE_SLOPE 0 0001159254 AD7714Ch0Gain 128 TCM_PITCH_OFFSET O TCM_ROLL_OFFSET 0 COMPASS_USE 641 ALTIM_BOTTOM_PING_RANGE 0 276 IMPORTANT NOTICE 1KA Seaglider User s Guide WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Autonomous self test 193 690 SUSR N 193 746 SUSR N 193 803 SUSR N 193 857 SUSR N 193 914 SUSR N 193 964 SUSR N 194 016 SUSR N 194 065 SUSR N ALTIM TOP PING RANGE 0 ALTIM BOTTOM TURN MARGIN 12 ALTIM TOP TURN MARGIN 0O ALTIM TOP MIN OBSTACLE 1 ALTIM PING DEPTH 80 ALTIM PING DELTA 5 ALTIM FREQUENCY 13 ALTIM PULSE 3 194 108 SUSR N SALTIM SENSITIVITY 2 194 158 SUSR N XPDR_VALID 2 194 201
182. Seaglider via the communication cable All actions areFfound under the Main menu The following figures show the content of each submenu of the Main menu 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 Appendix C Extended PicoDOS Reference Manual v66 07 on page 233 Main menu The Main menu is characteristic of all menus on the Seaglider vehicle Figure F 1 Main Menu 1 param Parameters and configuration 2 Hardware tests and monitoring 3 modes Test operation modes and files 4 pdos PicoDOS commands and exit 5 launch Pre launch Figure F 1 Main menu Make selections numerically or by typing the name of the shortcut inside the The advantage to using names instead of numbers is that names do not typically change when the menu items are rear ranged or items are added when the software version changes Using names also facilitates navigating multiple menus with a single command Access submenus Enter the number preceding the parameter name and press Enter or e Add a slash and the name of the submenu 279 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 a
183. Seaglider with antenna mast removed from the aft fairing sseusss 18 Figure 3 8 Antenna in stowed position nennen nennen trees 19 Figure 3 9 Connect the cable to the antenna mast sseseeeeeeeeeeeneeeeeeenen 20 Figure 3 10 Connecting the cable to the laptop eesesseeeeeeeeeenee nennen 20 Figure 3 11 Seaglider magnetic wand sss eren nennen 21 Figure 3 12 Move wand on on starboard side serene 21 Figure 3 13 Seaglider set date time and power source sssseeeee 22 Figure 3 14 Verify primary telephone number sese 23 Figure 3 15 Verify alternate telephone number sese 24 Figure 3 16 Prelaunch osi diea ie eee ee eer tts 25 Figure 4 1 iRobot IKA Seaglider and its primary components sese 27 Figure 4 2 Mass shifter causing pitch change sse 29 Figure 4 3 Mass shifter causing roll change eese rene 29 Figure 4 4 External bladder inflation and deflation sse 34 Figure 4 5 Canonical dive schematic essere nennen nennen 39 Figure 6 1 Seaglider with antenna mast removed from the aft fairing eee 117 Figure 6 2 Travel mode menu 1 sess eerte nennen nennen nete nne 118 Figure 6 3 Travel mode menu 2 sssssssssesseseseeeee eene trennen nennen tenente enne 11
184. T NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix H AD2CP Compass Calibration Procedure Pressure hull preparation Prior to traveling out to the pedestal stand to perform the compass calibration complete the following tasks 1 2 3 The Seaglider system must be vacuum pulled prior to compass calibration The Seaglider system must be in travel mode during transport to and from compass calibration stand See section 6 6 for instructions on how to place Seaglider in travel mode Install the pressure hull inclinometer mount a Remove the 2 screws located ont eh bulkhead Figure H 2 b Install the longer hex screws into the bulkhead to fix the inclinometer mount in place Screw locations are located at 45 degrees and 45 degrees from the center line Figure H 2 Inclinometer mount assembly Create compass calibration stand Prior to beginning the actual calibration test you must install the pressure hull calibration mount onto the pedestal stand NOTE To perform this task two people are required to lift and affix the mount to the pedestal 1 ao fF CO N Clean the indicator disk surface The indicator disk surface needs to be clean
185. Tasks on page 107 Table 4 3 describes typical VBD ranges and values for Seaglider Table 4 3 Typical VBD Ranges and Values Hardware Limit Software Limit Volume A D counts A D count cm Minis 105 205 SVBD MIN 557 with respect to C VBD V min 3610 3510 VBD MAX 266 with respect to C VBD Range 823 C VBD 2476 NOTE V nax is the maximum displaced volume of Seaglider and V min is the minimum displaced volume of Seaglider When given in cm they are with respect to a given C VBD 38 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Features of control Features 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 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
186. UTION Use caution when changing these parameters Advanced use ID integer MASS grams T_WATCHDOG minutes AH0 24V AmpHours AH0 10V AmpHours EBE ENABLE Boolean FILEMGR integer PRESSURE_YINT value PRESSURE_SLOPE calibration value AD7714Ch0Gain value TCM_PITCH_OFFSET degrees TCM ROLL OFFSET degrees 52 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Parameters by category Table 5 3 Parameters listed by category and frequency of modification Continued Modification frequency Category Parameter During fabrication Advanced use Continued ROLL MIN AD counts Continued ROLL MAX AD counts ROLL CNVAAD counts degree ROLL_TIMEOUT seconds ROLL 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 PITCH_AD_RATE AD counts second VBD_MIN AD counts VBD MAX AD counts VBD DBAND cc VBD CNVAAD counts cc VBD_TIMEOUT seconds PITCH_VBD_SHIFT cm travel cc pumped VBD PUMP AD RATE SURFACEAAD counts second VBD PUMP AD RATE APOGEEA AD counts second VBD BLEED AD RATEAAD c
187. VE 30 280 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Parameters and Configuration menu Parameters and Configuration menu View the Parameters and Configuration menu Select 1 Basic mission and glider parameters and press Enter Figure F 2 Edit parameters Flight control and mission definition basic dive flight surface rafos password telnum Laltnum Pitch roll VB 9 pitch 10 roll 11 vbd Sensors and peri 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 CON On cn wne SLL O LLL IL CIL JL JL JL LLL CIL CIL CIL CIL JL JL JL DIL IL IL CIL JL JL Y 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 int
188. XMITPROFILE An echo sounder command that 3 0 3 specifies how many samples are taken at the surface and transmitted to the basestation 0 none 1 one sample 2 one sample 3 two samples ESCAPE_HEADING The base heading the Seaglider will 0 steer in an escape recovery situation when either no position fix is available or no escape target was supplied in the targets file 1KA Seaglider User s Guide 73 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 5 Piloting Parameters Table 5 4 Parameters in alphabetic order Parameter Nominal Definition value Min value Max value ESCAPE HEADING DELTA The actual heading steered by the 10 Seaglider in an escape recovery situation will always be ESCAPE HEADING ESCAPE 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 FERRY MAX Maximum correction degrees to apply 45 to the rhumb line to the active next waypoint when NAV MODE 2 This is a safety limit to prevent spurious depth averaged current c
189. acters between country code city area code or number The SALT 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 STEL NUM does not successfully connect after SCALL TRIES tries the phone number is switched to the alternate number for the 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 Appendix C Extended PicoDOS Reference Manual v66 07 writenv on page 242 or through direct connection to Seaglider via the serial communications cable see Checking the primary and alternate phone numbers on page 22 1KA Seaglider User s Guide 57 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 5 Piloting Parameters Table 5 4 Parameters in alphabetic order Nominal Min Max Parameter Definition value value value SALTIM BOTTOM PING RANGE The range in meters f
190. actor from A 0 028270001 D counts to degrees This is a constant determined by the design of the roll gear train motor and potentiometer ROLL_DEG The number of degrees to roll the mass 40 0 60 shifter during a turn 92 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Alphabetized parameters Table 5 4 Parameters in alphabetic order Parameter Nominal Min Max Definition value value value ROLL GAIN P Allows proportional control of roll mass 0 0 5 movement for closed loop heading control If SROLL GAIN P is 0 then it has no effect However if ROLL GAIN P is not equal to zero the following algorithm describes the amount of roll mass movement that will be used for a heading correction if IDesiredHeading deg ActualHeading degl ROLL GAIN P ROLL DEG Roll mass moves to SROLL DEG in desired direction else NewRollMove deg IDesiredHeading deg ActualHeading degl ROLL GAIN P Roll mass moves to NewRollMove deg in desired direction NOTE The operation shown as DesiredHeading deg ActualHeading deg in the glider software accounts for yaw axis singularity For example th
191. ae N SIM PITC Figure 7 14 Critical operational parameters 37 The glider will now report a full listing of all the installed hardware and software Figure 7 15 fuare nf ation avert Figure 7 15 Reporting hardware configuration and software versions 144 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Interactive self test 38 The glider will next report a full listing of all the directory contents Figure 7 16 18158 855 SUSR N BATHYMAP 001 BATMYMAP BATMYMAP BATHYMAP TARGETS MAIN RUN GPCTD CNF TCM2MAT O00 IVE LOG SOIVE WRK 6 RUN RECEIVE RECEIVE RECEIV QsP2150 RECEIVE 003 RECEIVE 004 WLBB2F CNF WLBS2FL CNF Figure 7 16 Reporting directory contents 39 Verify the pressure sensor Figure 7 17 Checking pressure sensor gt v o collect and average 11 As volts Meters Mean 415 0 482591 0 01 RMS 415 0 482592 0 01 Min 414 0 481 0 04 Max 416 0 483492 0 07 Peak to peak 143 1 662571 uv 1497803 705 WPRES N Volts per bit 1 09 1497803 811 WPRES N Y intercept is set correctly Figure 7 17 Checking pressure sensor a At the prompt
192. aglider home directories to modify command and control files At Seaglider login and logout scripts are run to control and record aspects of the bases tation transactions Basestation log in To log into the basestation remotely you need a user name a password and the IP address of the bas estation When the basestation arrives from iRobot the user name is set to pilot and the initial pass word is qazxsw2 It is recommended that you change this password immediately using the passwd command IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Chapter 3 Setting Up the System Internet configuration Connect the basestation properly configured for RUDICS to the internet using a static and public IP address If you need help contact your IT department 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 iRobot offers a turn key solution with a host cloud basestation offering 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 m
193. al penalities 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 al nd 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 Z 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 EP Ll Desired vertical velocity on dive cm s m vehicle pitch angle D
194. al penalities Chapter 5 Piloting Parameters Table 5 4 Parameters in alphabetic order Parameter Nominal Min Definition value value Max value T GPS CHARGE Time to wait seconds before trickle 0 0033 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 T LOITER The time seconds to loiter after going 0 0 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 T_MISSION and T_ABORT need to be adjusted manually to account for the additional dive duration Total dive duration is T_DIVE T_LOITER G amp C and sampling intervals during the loiter state are controlled by the appropriate depth bins in the science file 86400 T_MISSION The maximum mission time minutes 15 10 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
195. alculations from giving Seaglider a heading in the wrong direction 90 FILEMGR Set by manufacturer Do not change An integer parameter that specifieshow 0 aggressively to manage the onboard file system 0 No file management 1 Only store compressed files 2 Delete splits on failed phone call FIX MISSING TIMEOUT Set by manufacturer Do not change An integer used only for debugging 0 GC LAST COLLECTION The GC LAST COLLECTION 1 parameter stores the last dive garbage collection was performed on In general this value is GC_WINDOW dives behind the current dive number This value is set to 1 on sea and test launches Dives which are less than GC LAST COLLECTION will not be garbage collected This parameter should generally be left alone if you wish to modify please contact iRobot for further information Resetting this value to 1 can result in a long delay for garbage collection if a significant number of dives have been performed 9999 74 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Alphabetized parameters Table 5 4 Parameters in alphabetic order Parameter N
196. alities Dive parameters Dive parameters 1 From the Parameters and Configuration menu select 2 Dive parameters and press Enter Figure F 5 ti v c urren SOLFLARE 3 o TGT 10 SD_ABORT 1 0 NO BLEED 0 50051 0 r 80051 0 e u OO ST MISSION r TuRN 22 af bet aC SuSE BATHY 0 OFF GIO SIM x 0 1 5IM PITCH Return to p AA LUE NS PS Re PR PS A REN PR e AE RE S CY c hh a ia poa ih a a p 79 O0 4 Ch vn Fn os r o1ve 15 t value in orve 9 Next dive number Flare depth m Target depth m 090 Abort depth m 500 Depth below which we will not bleed on dives m Depth above which only boost pump is run m Time to run the boost pump before turning off 0 do not turn off Target time per di i in climb c min 15 Maximum mission time per dive climb cycle min T ABORT 1440 Failsafe watchdog mission time change with extreme care min Max time allowed for a turn maneuver sec T TURN SAMPINT 4 Sample interval during a turn int sec gt 4 r NO Ww 60 t ST_LOITER 0 Time to loiter at apogee before climbing secs Time with no vertical velocity w before taking next step secs y 1 use bathymetry map 0 no nnn file number 100 Max target depth if outside bathymap m Simulated w m s 0 use pressure gauge to compute depth f revious menu Enter selection 1 18 CR Figur
197. an cause it to get stuck in the open position D_OFFGRID The depth meters that the bathymetry 100 10 1000 map look up routine returns in the event that the position of Seaglider is outside an area for which Seaglider carries a map This parameter is used with USE_BATHY D_PITCH Depth meters that must be reached 0 0 3 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 1KA Seaglider User s Guide 69 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 5 Piloting Parameters Table 5 4 Parameters in alphabetic order Parameter Nominal Min Max Definition value value value D SAFE The target depth meters to use when 0 0 990 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 D SURF The depth meters at which Seaglider 3 0 5 10 begins its approach to the surface To collect data all the wa
198. ancy during the climb phase 150 0 600 MEM An output from the glider specifying the amount of free RAM in bytes Note This value is not the space on the compact flash card MINV 10V 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 78 IMPORTANT NOTICE 1KA Seaglider User s Guide WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Alphabetized parameters Table 5 4 Parameters in alphabetic order Parameter Definition Nominal value Min value Max value MINV 24V The minimum allowable observed voltage on the 24 volt battery pack before the glider will stop diving and go into recovery A zero disables the check 19 MISSION The current Seaglider mission number This value is intended to be unique for each deployment of a particular Seaglider 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 999 MOTHERBOARD Set by manufacturer Do not change An integer value indicating the mo
199. ansmit frequency for that Seaglider 124 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Final launch procedure The specific transmit and receive frequencies are listed in the Cal sheet of the Seaglider note book 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 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 question of why the external bladder is not fully inflated must be answered before proceeding If the bladder is fully inflated or ne
200. arameters in alphabetic order Parameter Definition Nominal Min Max value value value COMM SEQ The specification of the sequence of file transfer to use A value of zero indicates the standard communication file transfer sequence 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 sequence 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 0 0 1 COMPASS_DEVICE Set by manufacturer Do not change 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 COMPASS_DEVICE 1 16 0 1 The array of available models is specific to each device The compass device must be def
201. arly 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 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 feet below the level of the boat s propeller Transmit a ping The Seaglider system 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 XPDR 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 prob lem with the acoustic locator system and Seaglider should be recovered 20 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 21 Pilot The pilot changes the directive in the cmdfile from QUIT to RESUME and the file is downloaded to Seaglider the next time it
202. asic functions of the Seaglider vehicle are tested by completing an interactive self test and simu lated dives If the Seaglider system was disassembled since completing Chapter 3 Setting Up the System on page 7 reassemble all but the rudder and antenna assembly following the directions in Assembling the Seaglider on page 14 If the Seaglider system 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 from aft fairing on page 117 NOTE Do not disconnect the antenna cable for this procedure Interactive self test Perform a self test after every time Seaglider is shipped or reassembled and before it is launched 1 Locate the calibration and configuration sheets in the notebook or on the CD that was shipped with Seaglider 2 Move Seaglider outside 133 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Chapter 7 Prelaunch Procedures 3 Connect the communications cable Table 7 1 Table 7 1 Method of connecting communications cable Power source for self test Connection External power supply Connect the powered comm
203. ata log files for self test before sea launch N appears WARNING Selecting Yes removes all data files still on Seaglider from prior missions and tests Be sure that those fi whether the files les are saved elsewhere BEFORE selecting Yes If it is unknown have been saved select N 140 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Interactive self test Figure 7 9 shows file removal Remove old data log files for self test before sea launch N y 4 171 SUSR N Removing old data and log files Deleting SGOQOOKZ A Deleting SG0Q00LZ A Deleting SG0001KZ2 A Deleting SG0001DZ A Deleting SGOOOI1LZ 5 files deleted 4 047 SUSR N Tue Mar 29 10 41 06 2011 gt gt Figure 7 9 Removing old data log files 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 ran the antenna be used for GPS and communications Y verify GPS and communications parameters v 10 New value 524 00 MISSION New value 6 00 20 765 SUSR N Current password is 524680 New password 15 char max length CR
204. ation is p 0 m srt Scale Factor Output Dark Counts 1 2Fluorometer Your WET Labs sensor may be equipped with one or more fluorometers e g CDOM Chlorophyll Each of the fluorometers will come with its own calibration sheet containing the calibration constants to be used to convert A D Counts to engineering units These constants are placed into the file sg calib constants m which is provided with your software by our manufacturing facility There should be no need to edit the contents of this file unless your sensor is replaced or recalibrated In such a case please contact technical support for further assistance In addition to the calibration constants on the calibration sheet the calibration sheet also contains the equation that is used by your software to convert from A D Counts to Engineering Units As of the writing of this manual the general form of the equation used by the Visualization software to convert from A D Counts to Engineering Units is Fluorometer Engineering Units Scale Factor Output Dark Counts where Engineering Units will vary depending upon the fluorometer that is delivered with your sensor The following are examples of fluorometers and their engineering units e CDOM ppb e Chlorophyll ug l e Output is the output from the sensor 1KA Seaglider User s Guide 217 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Contr
205. ation menu press Enter 1KA Seaglider User s Guide 293 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix F Hardware and Configuration Menus Edit All Parameters You can also edit the cmdfile to make changes to the Edit All Parameters For how to edit the cmdfile see Command file on page 172 NOTE Any edits you make to the SEABIRD coefficients either through the Edit All Parameters menu or the cmdfile must also be made in the sg calib constants m file For information on this file see Appendix B Seaglider File Formats Manual on page 201 1 From the Parameters and Configuration menu select 19 Edit all parameters and press Enter Figure F 22 shows 169 Seaglider parameters with the current value assigned in brackets 2 To edit a parameter value follow the procedures Basic Mission and Seaglider Parameters menu on page 282 294 IMPORTANT NOTICE 1KA Seaglider User s Guide WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Viol
206. ations of these export laws are subject to severe criminal penalities Edit All Parameters i WAIT 3 oliy dass rec OAD oad ete cases file ei 6 tat ND mm 7 ho Pos Orie sha to wplosd before compression e TOPs ier ps diia uite nmm 65 Max 8 valid pe Jets 67 ST to DM i walt te reacquire the GS almanac eina 63 STOPS CMAROR 3 34 tow long to trickle charge the GS secs 9 T_ASLEEP 3 Sleep int ate during recovery min DL ME ee onteal Oenever Lerecove waurfece Ti r ipee farerne delay of RARUS recelver seconds e E E PE NT ECL d Gs Ed M EE ee i 7 WINDOW n ses nits te use in n vi on Ta 140 ays Por mitch aition Smit fwd 7 Erea ihri tth Eitin imit aft C perce H La A um qe ea pes ot Cvm Toppi HE deldbend to so inide Pitch pe position conversion factor ovn 0VSHOOT Pitch mass overshoot after motor off om TTCH GAIN A Pito angle to mass gain deg cm TTCH TIMEQUT 181 ch mass timeout sec TTCH AD KATE Pitch motor AD cownts per sec ITCH MAXERROMS 1 Number of pitch errors allowed before entering recovery MAD GAIM Ul YN for Agte adlustiog pitch Com deg f Cw ADI fer auto adjusting pitch C LL MIM nu n peas Mii di trite port o DEA eit stbd S enl pe fT hgh t des ad 3213 fe ES MADE E point e di h and testimg 458 KA OLL C uE i d 218 point when cit AD REREAND it iM T Ge ahaa ponding Cease deadband deg LL CNv 0 1 n HB r pe on Serea on Factor seos LL TIM
207. ault values 95 975 SUSR N Checking flash No flash problems detected 106 984 SUSR N EOTD 107 748 SUSR N Checking communications 107 858 SUSR N Testing comms by transmitting self test results 108 322 HCF8 N file st00631u x00 opened 108 739 HCF8 N file st00631u x00 has 4 KB closed 109 240 HCF8 N file st00631u x01 opened 110 433 HCF8 N file st0063du x00 opened 111 404 SGLMALLOC N glheap walk 321288 bytes free 9 blocks free 35120 bytes alloc 74 blocks alloc 274 IMPORTANT NOTICE 1KA Seaglider User s Guide WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Autonomous self test 111 532 SSUREN Trying call 0 111 576 SSURE N Calling phone number 881600005152 115 691 HPHONE N initializing RUDICS connection 137 566 HPHONE N Iridium signal strength 5 137 729 HPHONE N Iridium geolocation 35 736984 78 985580 Mon Sep 10 15 23 38 2012 170 636 SSURE N Logged in 172 348 SSUREN Sending cmd Isx k t200 cmdfile 174 221 SSUREN Receiving cmdfile 175 497 SSURF N SOH STX 0x1 received 3 secSize 128 177 389 SSURE N EOT 0x4 received 1 secSize 128 177 932 SSURE N Received cmdfile 18 by
208. ay be accurate to 20km or more Describes the transmission of the command file from the basestation to the Seaglide These lines describe the glider sending a file to the basestation 1KA Seaglider User s Guide IMPORTANT NOTICE 221 WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities 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 sending ACK Sun Dec 2 19 18 31 2007 sg123 sg0055dz x00 XMODEM 4096 Bytes 189 BPS Sun Dec 2 19 18 31 2007 sg12
209. by the interval at the bottom of the figure NOTE Figure 4 5 is not to scale in either dimension Surface Dive Apogee Climb Surface Time D ABORT Data in Each Dive s Communication Messages Figure 4 5 Canonical dive schematic Control design The Seaglider system 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 The desired 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 T DIVE from surface to surface discounting pumping time at the bot tom of the dive in minutes 1KA Seaglider User s Guide 39 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 4 Operating Principles Therefore the desired vertical velocity in cm sec is wa 2 D TGT 100cm m T DIVE 60s min Seaglider operating software chooses th
210. can be viewed from this plot e Average Speed through water Distance through water Maximum Buoyancy set by pilot e Current Target Glide Slopes Also a V on the plot represents the heading error band The actual track of the glider shows roll maneuvers indicated by the red and green dots Glider Track SG 548 Dive 19 Seattle Mission Start Time 14 Dec 2011 03 42 19 Roll to right Pump sS dd P s us AA i d Pa JA 150 N Magnetic Northward Displacement Through Water m Rolt to left E 5 A 200 Cb mi vet uii uam NR M Avg Spd thru waters 0 24 m s 2028 M 221 8 T Distance thru water 0 31 km 250 Max buoy cmdfile 150 cc Target w 0 06 m s Model glide siope 0 5769 Net glide slope 0 3488 300 i i J 4 L J 120 100 80 60 40 20 0 20 Magnelic Eastward Displacement Through Water m Figure D 22 Plot 12 Glider track plot 266 IMPORTANT NOTICE 1KA Seaglider User s Guide WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Using the dive plot analysis software Plot 13 Speed of sound Figure D 23 shows the plot of the speed of sound in m s at varying depths SG524 Dive
211. 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 e fan active target name from the old targets file is in the new targets file Seaglider retains that active target e fan active target is not in the new targets file then Seaglider goes to the first target in the list e If there is no valid targets file on Seaglider it uses the default target 5TGT 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 lat itude and longitude coordinates of a location where you can recover Seaglider in the event that it loses its targets file ALI sensors ALI sensors are controlled by multiple parameters Table 9 2 The xx is the prefix for a given sensor that is defined by the command prefix in the cnf file The prefix for the GPCTD is PC the prefix for ADCP is CP the prefix for Echosounder is ES For more details see Table 5 3 on page 49 Table 9 2 Parameters for ALI sensors Sensor parameter Description 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 Oznone 1 dive 2 climb 3 both xx_XMITPROFILE Parameters are specfic for each sensor F
212. ce Providing the following information lets iRobot serve you better and prevents delay in the return of the product and or instruments 1 Request a quote service request for refurbishment calibration or repair from iRobot through your sales contact or send e mail directly to maritimesupport irobot com You will receive a Service Request form to fill out 2 Submit the completed Service Request form to iRobot following the instructions on the Service Request form 3 After you receive a quote service request review it for accuracy and approve the quote in writing to maritimesupport irobot com 4 Provide a purchase order or other approved method of payment reflecting amount of quote esti mate provided 5 An iRobot representative will send you a Service Request SR number including shipping instructions Do not ship the items until you have approved the quote estimate from iRobot con tracts department and have issued a purchase order 6 Send an e mail with additional questions to maritimesupport irobot com What you need to provide On the Service Request form you will need to provide owner shipping and billing information Follow the instructions on the form for details about the technical information that you need to provide to maritimesupport irobot com prior to shipment of the unit for service For example you ll need to provide the following information Unit serial number Self test and simulated dive files Latest v
213. ce test menu 1 on Turn on 2 fort Turn erf 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 4 Figure F 47 Loggers menu Batteries and Fuel Gauges menu 1 Select 13 Batteries and Fuel Gauges menu and press Enter Figure F 48 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 Figure F 48 Batteries and Fuel Gauges menu When viewing the battery gauges selection 1 the third column since power up should contain zeros if the Seaglider is running on external power However if Seaglider is running on internal power the third column is populated with non zero values e 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 To return to the Hardware menu press Enter 312 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Tech
214. change the value of VBD and continues to the next part of the surface maneuver 1KA Seaglider User s Guide 95 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 5 Piloting Parameters Table 5 4 Parameters in alphabetic order Nominal Min Max Parameter Definition value value value SSPEED FACTOR A factor to compensate for the inability 1 0 1 1 of Seaglider to dive at the desired horizontal velocity This is a measure of the efficiency of Seaglider s progress along a specified track Factors that lower the efficiency of Seaglider 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 ST ABORT A safety time minutes such that ifthe 720 T DIVE 4320 elapsed time on a given dive exceeds 1 4 this time Seaglider enters the recovery state ST BOOST Time seconds to run the boost pump 0 0 20 in before it turns off when the glider is deeper than D_BOOST T_BOOST must be set to 0 if an EBE is not installed in the glider If T_BOOST is gt 0 and the glider is d
215. cies 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 reject sbe cond freq max 7 95840 kHz 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 hd_a 0 003836 lift hd b 0 010078 drag Seaglider hydrodynamic parameters hd c 9 8541e 6 induced drag by lift 224 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities 2 2 Processing control files rhoO 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 co
216. clusion 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 iRobot factory 1 To test the motor current ambient pressure and potentiometers select 12 Special test 1 Seaglider returns Sample interval ms 1000 2 Ifthe default value is okay press Enter if not type in a new value and press Enter Max Pressure 1500 1 1KA Seaglider User s Guide 307 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix F Hardware and Configuration Menus 3 Set the minimum pressure For this example pressure is set to 1 Max Pressure 1500 500 4 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 5 To start the test press Enter Seaglider starts the test and echoes the activity to the laptop screen Figure F 37 time sec pumpCur linPotl linPot2 linAvg Amb psia 0 621 554 541 3834 3769 3801 377263 0 3 2 121 489 346 3821 3755 3788 377214 0 3 Figure F 37 Special test 1 6 To stop the test at any time press any key At the
217. cnf files for the following ALI sensor Sea Bird GPCTD Pumped Sea Bird Dissolved Oxygen Current Profiler and Echo Sounder All Autonomous Logger Interface ALI devices recognize five cmdfile parameters xx the prefix for a given sensor Example for the GPCTD the prefix PC 1KA Seaglider User s Guide 113 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 6 Predeployment Tasks 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 171 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 opti cal 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 Table 6 4 shows an example
218. co commands Cand exit gt 5 launch 2 Pre launch Enter selection 1 5 0 bi 5 Figure 6 4 Pre Launch 2 Type 7 Sea Launch and then press Enter 3 Atthe prompt Can the antenna be used for GPS and communications Y press Enter to accept the default Y Figure 6 5 Seaglider then resets SSIM PITCH and SIM_W to 0 and removes old data and log files from the persistor CF2 flashcard F Launch Menu l 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 1 7 CR 7 Step 2 Can the antenna be used for GPS and communications Y y 1161 831 SPOWER N Al1l devices are off 1161 882 SUSR N Resetting SIM w and SIM PITCH to 0 0 1161 952 HTT8 N Updating parameter SIM_W to 0 1162 013 HTT8 N Updating parameter SIM PITCH to 0 1162 103 HTT8 N Writing NVRAM done 1169 577 SUSR N Removing old data and log files Deleting STO032DU x00 Deleting STO032KZ X Deleting STOO32LU x00 Deleting STOO32LU X01 Step 3 Figure 6 5 Sea Launch 4 At the prompt New telnum value if the value shown is for the current telnum is correct check with pilot if necessary press Enter Otherwise type a value and press Enter For the correct phone number format see page 2
219. coDOS Reference Manual for information 1KA Seaglider User s Guide 231 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix B Seaglider File Formats Manual 232 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities 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 source filename destination filename Description This command copies a source file to a destination specified 233 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these expor
220. conclusion of the test Seaglider returns to the VBD menu Supervisor menu The Supervisor menu options are used during the manufacture of Seaglider It is not recommended that items in this menu be accessed outside of the iRobot factory 1 Select 4 Supervisor and press Enter Figure F 38 T Supervisor menu l sample Sample A D channel 2 readad Read A D register 3 monitor Dump monitored A D values 4 command Send command 5 show Show gain fuel monitoring heart and watchdog rates 6 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 I 12 read Read register value 13 setrtc Set RTC clock from TTS clock 14 testrtc Set setting RTC clock from TT8 clock 15 rtctott8 Set TT8 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 Figure F 38 Supervisor menu 2 To return to the Hardware menu press Enter 308 IMPORTANT NOTICE 1KA Seaglider User s Guide WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amend
221. cript 23 At the MATLAB prompt type hardiron CalFile SG506 7 25 12 txt include single quotation marks around the filename 24 Write down the resulting 2 lines which should be something like SETUSER HX 19 HY 44 HZ 2 SAVE USER 25 Repeat steps 4 7 26 Enter the 2 lines that came from the MATLAB scripts and press Enter after each line The sensor returns the response OK after each time you press Enter 27 To validate that the sensor accepted the settings from step 24 type GETUSER HX and press Enter Verify that the value returned equals the value of HX that was set in step 24 1KA Seaglider User s Guide 331 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix H AD2CP Compass Calibration Procedure 28 Type GETUSER HX and press Enter Verify that the value returned equals the value of HY that was set in step 24 29 Type GETUSER HZ and press Enter Verify that the value returned equals the value of HZ that was set in step 24 Follow on task After the compass calibration has been completed and passed you must place the Seaglider sytem into travel mode 1 Go to the
222. ct TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Setting up and installing the Argos SPOTS5 tag Preparing tag for shipment 1 If travel to deployment location takes longer than several hours turn off the tag off to conserve battery power This can only be done when the tag is connected to the computer 2 Click Update Tag to upload the parameters entered from the PC to the SPOTS 3 Save This Setup in order to Recall Previous Setup upon connecting all subsequent SPOT5s 4 Click Generate Report to save a record of the current settings Installing SPOT5 tag on antenna 1 Apply TEF GEL to the threads of the 4 socket head screws 2 Using a 9 64 hex key loosely install the SPOTS tag on the antenna with the two brackets Figure 6 9 1KA Seaglider User s Guide 129 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 6 Predeployment Tasks SS w Long antenna AE T Screw 7 Argos SPOT5 Tag Bracket Antenna Figure 6 9 Argos SPOTS installation detail A 13
223. cure 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 systems so use whatever program you want After loading the appropriate soft ware 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 field laptop The Seaglider field laptop is the computer that connects directly to the Seaglider serial communica tions port Like the basestation interface computer there are many possible configurations The Sea glider 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 e Serial terminal emulation program Tera Term Pro latest released version free software terminal emulator Configure the latest released version of Tera Term Pro for 9600 8 N 1 no hardware handshake echo off and CR only VT100 is the
224. cycles esee e e esee ettet ee een ena tn at tn tns tn etas sn se taste tosta seaoil setis 301 Pitch t8 Stisssssssunsoass scessenasessaveswesasssoaaseoasssneseooussoanssosssassaney Roll Control menu lbi Characterize valve Valve noise test eere Open valve iieseeeeese cess cet eb peeHa ee Lee UIN dpi scdeesoussscutssesessnousseesescsesvesevsecssesuodsoudetexestessesesenssscbisdeensos GTI gdec E Cycle valve eeeeeeee eee Pump and bleed cycles eee eerie eee eee ee seen tanta tna en setas enses setae SEDE sensus etae en sns en sens ensn ue 306 Pump and hold at pressure 4 eee eee esee eese esee nete sensns en setas enses stata tne ta seasons tassa sns en sens ensnue 307 SpeCial 1EStH d M 307 SUperVIsOr MENU ssascccasesecoseccesssazceceasasedesscesssucsdseecdsesubscteddusedsedscndesssddussusdesbesceassessecossasedccoseSaducesss 308 oS CANTI MEIST Rm 309 Compass Attitude menu eere eene eee eese etes tn notata tns en sosto enses stesse tne ta sensn Sorok osis VES eatis Seset ki R 309 Sande S 310 x 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Vi
225. d TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 6 Predeployment Tasks 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 ona A Cc Open the last simulated dive s log file and using the Alphabetized parameters on page 56 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 verti cal velocity of the initial dives is usually 10cm s so T DIVE should be set to ST DIVE IS T MISSION should be set to T MISSION 25 If Seaglider is to fly from waypoint to waypoint rather than by heading SHEADING should be HEADING 1 MAX BUOY and SM_CC settings are environment dependent and should initially be set conservatively MAX BUOY 150 and SM CC near maximum 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 Seaglider Turn on the USE_BATHY feature if bathmetric maps are to be used Turn on the Kalman filter if that feature is desired Check that T_RSLEEP 3 has been set Make sure that the last line of the comma
226. d 3307853 686 SUSR N Motherboard is Rev B 1 3307853 777 SUSR N Phone is Iridium9522 3307853 865 SUSR N GPS is Garmin GPSISH 3307853 954 SUSR N Compass is SP3003 3307854 040 SUSR N Spare compass is not installed 3307854 143 SUSR N XPDR is AAE 955 3307854 286 SUSR N External pressure sensor gain 128 000000 consistent with Paine 3307854 439 SUSR N Reporting software version 3307854 549 SUSR N Version 66 07 14 3307854 637 SU SR N Compiled on Aug 3 2012 09 07 53 3307854 744 SUSR N From SVN version 18 2975 3307854 837 SUSR N Compiler gcc 3307854 920 SU 3307855 024 SU 3307855 127 SUSR N Com 3307855 232 SU 3307855 338 SU 3307855 440 SU 3307855 545 SUSR N Com 3307855 654 SU 3307855 761 SU 3307855 874 SU 3307855 988 SU 3307856 105 SU 3307856 222 SU SR N Compiled wit SR N Compiled wit SR N Compiled wit SR N Compiled wit SR N Compiled wit SR N Compiled wit SR N Compiled wit SR N Compiled wit SR N Compiled wit SR N Compiled wit SR N Compiled wit h SCENARIO support hout ICE support piled without RAFOS support hout Kermit support hout ARS support hout PAAM support piled without AQUADOPP support hout SAILCT support hout MicroModem support out DeepGlider support hout Heap Recycle support h Rev C Motherboard support hout LUA support 3307856 334 SUSR N NVRAM 191 parameters 768 bytes 186 bytes in utility storage SR N Buffers static 3307856 560 SUSR N Act
227. d Equipment Required Continued 2 Phillips screwdriver Brass screws and lock washers for nose weight Flat blade screwdriver plates 4 oz ball peen hammer 3 8 ratchet Isopropyl alcohol 36 3 8 extension Lead ballast strips 12 3 8 extension Syntactic foam strips 3 16 hex bit Carpet tape 3 8 hex socket Scotch Super 88 vinyl electrical tape 1 5 wide Nose weight installation tool Box knife Needle nose pliers Large zip ties or plastic banding Tef Gel You add or remove the nose weight plates by removing the two brass socket head cap screws that secure the nose weights to the nose of the forward fairing If you are adding weight plates before installing the nose apply a thin coating of Tef Gel to the plate surfaces that will come in contact with one another Table G 1 lists the quantity of screws needed to attach the nose plates as determined by the number of nose weight plates used Table G 1 Quantity of screws to attach nose plates Qty of 1 4 Qty of 1 8 Screw Length Qty Nose Plates Nose Plates 1 4 20 2 1 2 3 4 2to3 4to6 1 1 2 2 4to5 8 to 10 2 0 Lead ballast on the exterior of the aft segment of the pressure hull is affixed using carpet tape and held in place with the straps around the battery hull Use an EPDM rubber pad to isolate the lead ballast from the hull The rubber pad also protects the pressure hull pupa from anodizing and allows for expansion and contraction of the hull Figure G 2 320 1K
228. d 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 Dive Cycle Sequence SG 548 Dive 19 Seattle Mission Start Time 14 Dec 2011 03 42 19 Heading M 100 1 1 l i I f lo 0 213 426 539 852 1065 1278 1491 1704 1917 213 Time minutes Figure 8 1 Main plot 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 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 Additionally at the bottom of the plot is the calculated pitch gain The initial PITCH_GAIN value should be adjusted by half 166 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws a
229. d press Enter Figure F 11 6699 777 SUSR N Current altnum is 12062217301 New altnum 15 char max length CR to leave unchanged 19193612847 P723 312 SUSR N Changing altnum to 19193612842 Figure F 11 Verify the basestation alternate telephone number in Seaglider To edit a parameter value follow the procedures in Telnum 1KA Seaglider User s Guide 287 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix F Hardware and Configuration Menus Pitch parameters 1 From the Parameters and Configuration menu select 9 Pitch parameters and press Enter Figure F 12 The current value for each parameter is in brackets to the right of the parameter name Pitch current value in 1 PITCH MIN 160 9 4 cm Pitch position limit fwd ADM 2 PITCH MAX 3940 2 4 cm Pitch position limit aft ADE J c PITCH 3180 Pitch neutral point CADE 4 PITCH DBAND 0 10 Pitch position deadband cm 5 PITCH CNV 0 0031257631 Pitch position conversion factor om AD 6 S P_OVSHOOT 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
230. d 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 S5M CC is not sufficient to allow for a good antenna position 1 0 10 N NOSURFACE CAUTION A Use care when using N_NOSURFACE in conjunction with CALL_NDIVES If you set N_NOSURFACE and CALL_NDIVES so that surface dives aren t supposed to call they won t make the call and the glider will be lost until it runs out of battery 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 finishes the dive at depth D_FINISH Other dives finish at the surface For negative values less than 1 this logic is reversed and the values of DIVE 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 D_FINISH must be gt D_SURF for Seaglider to complete a subsurface finish If a subsurface finish is triggered by N_NOSURFACE and D FINISH lt D_SUREF the dive ends at the surface Values of 1 and 1 are not allowed A value of 0 disables this behavior 10 10
231. d with a Chlorophyll fluorometer ser Chlsig1 ug l in A D Counts and only If equipped with this Chlorophyll fluorometer ser temp1 Temperature in degrees C Recorded but not used by Visualization software ser Chlref1 Chlorophyll signal output 1 reference in A D counts ser Chlsig1 Chlorophyll signal output 1 backscatter in A D counts ser Cdomref1 CDOM signal output 1 reference in A D counts ser Cdomsig1 CDOM signal output 1 backscatter in A D counts aa ser 02 O2 Concentration in uM aa ser AirSat Air Saturation in Recorded but not used by Visualization software aa ser 1t Temp Temperature in degrees C Recorded but not used by Visualization software aa ser CalPhase Recorded but not used by Visualization software aa ser TCPhase Recorded but not used by Visualization software qsp ser PARuV quantum response in Volts output units configured at factory 2222222222222 214 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities 2 1 Processed files Figure B 1 Description of timing of sampling of OSI sensors recorded in eng file OSI sensors are sampled by
232. de lets you program Seaglider to go through a series of pitch roll and or VBD maneuvers You determine the amount of motor or pump movement made during each step and the length of the scenario 1 Select 1 Set Scenario Mode and press Enter Follow the protocols shown with each step when designing the scenario At the end of the scenario Seaglider returns to the Scenario menu 2 To return to the Pre Launch menu press Enter Perform Interactive Self Test Mode menu 1 Select 2 Perform Interactive Self Test and press Enter 2 Follow the interactive self test directions in Chapter 7 Prelaunch Procedures on page 133 At the end of the interactive self test Seaglider returns to the Launch menu 1KA Seaglider User s Guide 315 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix F Hardware and Configuration Menus Perform Autonomous Self Test menu 1 Select 3 Perform Autonomous Self Test and press Enter 2 Follow the autonomous self test directions in Appendix E Autonomous Self Test on page 269 At the end of the autonomous self test Seaglider returns to the Launch menu Upload Self Test Results menu 1 To upload self test results
233. deck box was pinged Seaglider returns to the Altimeter XPDR menu Send another If there is stil If there is no response to the ping do the following ping 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 invest critical to the igate and resolve the problem however the acoustic locator system is not 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 16 Type 5 Pre launch Main Menu Main menu appears Figure 7 7 options and then press Enter Figure 7 8 The Launch Menu appears 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 Launch Menu l scene Set scenario mode 2 selftest Perform interactive self test 3 autotest Perform autonomous self tele 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 Figure 7 8 Interactive self test 17 Type 2 Perform interactive self test and then press Enter Figure 7 8 18 The prompt Remove old d
234. der files from the top directory to that subdirectory was installed at the factory 1 Type usr local basestation movedata sh subdirectory name of your choice NOTE The name basestation depends on the version of basestation software that your system uses 2 Press Enter 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 1KA Seaglider User s Guide 9 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 3 Setting Up the System Setting up a Seaglider 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 se
235. der 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 C 1 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 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 1KA Seaglider User s Guide 237 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix C Extended PicoDOS Reference
236. direct it to head toward WPTHREE at the next surfacing the pdo scmds 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 241 1KA Seaglider User s Guide 177 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 9 Files for Operations 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 see Appendix C Extended PicoDOS 9 Reference Manual v66 07 on page 233 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
237. dive apogee and climb phases 4320 98 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Alphabetized parameters Table 5 4 Parameters in alphabetic order Parameter Definition Nominal value Min value Max value T NO W 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 of a dive This is primarily used to move from the dive phase to the climb phase initiate an apogee maneuver when Seaglider unexpectedly encounters the bottom NOTE This protection is only in place at depths below D FLARE and VBD is already at MAX BUOY or below 120 30 86400 T RSLEEP 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 2 minutes of overhead so that Seaglider calls are about 8T RSLEEP 2 minutes apart in practice 14400
238. dive intermediate files dat make dive intermediate files nc make dive netCDF QZ make_dive_netCDF mission ts nc make mission timeseries mission pro nc make mission profile pro make dive pro bpo make dive bpo dn kkyy make dive kkyy up kkyy make dive kkyy 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 to the Seaglider home directory on the basestation This file is the first place to look when debugging problems with the data conversion If the basesta tion cannot process a file it sends an alert to any contact listed in the pagers file who requested alerts For more information see Pagers file on page 181 The naming convention for the baselogX X X XXXY Y YY YY com file is e XXXXXX the date in ddmmyy format e YYYYYY the time in hhmmss in the timezone on the basestation 180 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Basestation generated files Communications file The communications comm log file is resident in the Seaglider home dir
239. dle safety line Marine radio check batteries Power inverter w spare fuses and 12V battery charged Optional Extension cord Plug strip Communication cable 50 feet Communication cable 10 feet 2x Sensor rinse water bottles one with dionized water one with 50 1 water to bleach solution Gallon of distilled water 2x Magnetic wand Notebook and pencils or pens Extra screws rudder fairing wings Phillips screwdriver 3x Quick clamps Foul weather gear Life preservers 343 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix J Sample Field Kit Checklist Check complete Field kit checklist task Binoculars Boots 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 Spare rudder wings or antenna Optional 344 IMPORTANT NOTICE 1KA Seaglider User s Guide WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP
240. dministration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Using the dive plot analysis software Plot 1 Composite plot Plot 1 Figure D 9 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 is presented as a magnitude in the z direction perpen dicular to the horizon Dive Depth e Buoyancy e 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 is 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 Dive Cycle Sequence SG 548 Dive 19 Seattle Mission Start Time 14 Dec 2011 03 42 19 s 2 6 E di iT urit A ES m i i Time minutes Figure D 9 Plot 1 Composite plot 1KA Seaglider User s Guide 253 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export
241. e horizontal speeds through the water The speed limits and dive times fix the range of possibilities for the dis tance through the water Choose a glide slope that gets Sea glider closest to the target maximum speed if the target is distant mini mum speed if the target is too close At this point Seaglider has a bearing and glide slope in hand If NAV MODE 0 NAV MODE 1 or NAV_MODE 3 then these are the heading and slope for this dive If NAV MODE 2 calculate set ferry angle correction and we have calculated a valid DAC we apply SPEED FACTOR to the speed limits to account for the fact that Sea glider 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 the Seaglider system 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 com putation If neither limit applies we iterate via bisection to settle on the best speed 1KA Seaglider User s Guide IMPORTANT NOTICE 83 WARN
242. e 1970s transponding versions running at 3 4 kHz had extended shipboard detec tion ranges to 50 km and a 200 Hz version used the Sound Fixing and Ranging SOFAR sound chan nel Stommel s original idea to remove the requirement 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 seawa ter 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 buoy ancy 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 sys
243. e Aanderaa Optode 8 22 2012 11 13 51 806 UTC Step 7 Sample SBE DO 8 22 2012 11 13 53 056 UTC 216 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities 2 1 Processed files Step Action Time Sample Taken Step 8 Sample WetLabs BB2FL 8 22 2012 11 13 54 881 UTC Step 11 Write data out to compact flash 8 22 2012 11 13 54 991 UTC card Sensors Equations Convert Sensor Output to Engineering Units R wET Labs 1 1Scattering Meter The scattering meter comes with a calibration sheet containing the calibration constants to be used to convert A D Counts to engineering units These constants are placed into the file sg_calib_constants m which is provided with your software by our manufacturing facility There should be no need to edit the contents of this file unless your sensor is replaced or recalibrated In such a case please contact technical support for further assistance In addition to the calibration constants on the calibration sheet the calibration sheet also contains the equation that is used by your software to convert from A D Counts to engineering units As of the writing of this manual the general form of the conversion equ
244. e Argos tag to the Seaglider antenna Separate kits are available for the standard antenna and the short antenna Customers may purchase their SPOTS transmitter separately and set up their own account or procure directly from iRobot User parameters are programmed into the SPOTS via a Windows based program provided by Wildlife Computers called SPOTSHost 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 soft ware It sends and receives commands to the SPOTS Parameters are downloaded from SPOTS to the PC SPOTSHost allows modification of those parameters After the parameters are set they can be uploaded to the SPOTS Installing the software to a PC 1 Install SPOT5HostInstaller on your PC from the distribution disk following the prompts This version is specific to this application and was tested on Windows 2000 and Windows XP Earlier versions of Windows may or may not work depending on the configuration of your PC Other operating systems e g UNIX or Windows emulators are not supported 2 Install the USB Blue Driver from www wildlifecomputers com downloads aspx NOTE Prior to connecting for the first time the driver must be installed 3 Start SPOT5Host A Welcome screen appears 4 Select USB Port 126 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restrict
245. e Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Alphabetized parameters Table 5 4 Parameters in alphabetic order Parameter Definition Nominal Min Max value value value UPLOAD DIVES MAX 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 NOTE If the RESEND_DIVE command is issued in the pdoscmds bat file all available dives that have not been previously uploaded will be sent as if the setting was 1 Also note that the setting will not be effective until the communications session after the one in which the parameter is first processed 1 1 9999 USE_BATHY If 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 USE BATHY is a positive integer then search for that particular on board bathymap If SUSE 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
246. e F 5 Dive Parameters menu 20 Simulated dive pitch e g 20 degrees 0 use TCM2 to report pitch 2 To edit a parameter value follow the procedures under Basic Mission and Seaglider Parameters menu 1KA Seaglider User s Guide IMPORTANT NOTICE 283 WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix F Hardware and Configuration Menus Flight parameters 1 From the Parameters and Configuration menu select 3 Flight parameters and press Enter Figure F 6 T Flight current value in 2 dais 0 Safety dive depth for emergency escape maneuvers m APOGEE PITCH 8 Intermediate pitch angle apogee deg Smax 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 Cg NAv MODE 1 Navigation mode Ozdirect lzKalman 2zSet correct JeCurrent relative Ferny JU 45 Ferry angle bound For set correction navigation eg KALMAN_USE 27 Kalman filter Ozreset lzenable 2askip H0 0 003 Glider hydrodynamic lift
247. e P pressure obtained from a GPCTD or a Microcat C T Recorder SBE 37 SM e Oxsat T S the oxygen saturation calculated per Weiss 1970 WEISS R F 1970 The solubility of nitrogen oxygen and argon in water and seawater Deep Sea Res 17 721 735 2 1 3 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 the reason fo 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 for 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 quite voluminous and it is recommended
248. e 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 2 To return to the Main menu press Enter Clear changed parameters 1 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 orig inal value After all parameter values are reverted back to original value the Parameters and Configuration menu is displayed 2 To return to the Main menu press Enter 296 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Save parameters by name to a file Save parameters by name to a file To access the Save Parameters By Name To A File option from the Parameters and Configuration menu 1 From the Parameters and Configuration menu select 24 Save parameters by name to a file and press Enter The parameters and their r
249. e buoyancy and pitch used on any individual dive to achieve the best results on that dive The choices are bounded by the parameters MAX BUOY the maximum negative buoyancy allowed on a dive GLIDE 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 GLIDE 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 if possible Once the pitch angle is chosen the buoyancy is chosen to achieve the desired vertical velocity in the densest deepest water The main energy draw on Seaglider is pumping hydraulic oil from the internal reservoir to the exter nal bladder at depth where the pump has to overcome the seawater pressure acting on the bladder Since the pump can consume as much as 70 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 vertica
250. e criminal penalties Interactive self test Find the value labeled MinCondFreq and confirm it has been set to 10000 k 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 m 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 Q 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 2 Uo g n 14 Test the Seaglider altimeter transponder Main Menu Parameters and configuration Hardware tests an oni toring T operation es and files 5 commands Cand exit h launch Enter selection Hardware Menu Motors and VED Supervisor dem Ganodem mode 9 intpress Internal pressure 10 altim timeter Other I 3 Batteries and fuel gauges E Low level hardware 1IO A D CF 15 Miscellaneous travel timeouts date time 16 el p De loper tests CR Return to previou Enter selection 1 16 cR IxPDR Menu Ping the altimeter Upload configuration to altimeter Query the transponder ping count Update POR configuration from parameters Direct comms wi
251. e ee soco e eee ee eese testante S oss s Sorset osos osoo io SoS 117 Packing Seaglider in its shipping case 4 ceres eese e ences eese eee eene n senate ene t testata soa sno 119 Sinirnurasictuisqhe T 119 Assembling TS Pis od 119 Performing the interactive self test esee eee ee eee eene e sees eee nennen enses tosta ttes tte sesto soo 119 Communication messages ee eee seen eee enses ena stata sors tta sense ta sense brotos oss sovis e sss seisoon 120 Final ED dC 122 Setting up and installing the Argos SPOTS tag 4 eee ee reete eee ee tentatus eats tns tn stas en aenean 126 Installing the software to a PC ceeeeee eese esee esee sette eene en aeta sense tn tasto aetas etas taste testes east 126 Initiating communications with the SPOTS tag ceres eese esee esee ee eene netos essen eset nato 127 Setting SPOTS parameters R S SPOTS initial Setup Preparing tag for shipment eese Installing SPOTS tag on antenna CHAPTER 7 Prelaunch Procedures esee 133 Interactive Tidi I 133 Simulated GIVES e rroi iesise 157 Locate and move files to directory eese eee eee eese eee ee eene tensa staat rosters sosu tosis 157 ZNHG ONE 163 CHAPTER8 Tuning Your Sea
252. e error between DesiredHeading deg of 5 and ActualHeading deg of 355 is not 350 rather it is 10 degrees In other words error can be no larger than 180 degrees or it must be adjusted by adding or subtracting 360 degrees ROLL MAX Set by manufacturer Do not change Roll position software limit A D 4000 counts to starboard The glider s operating software stops the mass shifter at this value when rolling to starboard NOTE Value determined by the software maximum of the system Obtain actual value from the vehicle s trim sheet ROLL MAXERRORS Set by manufacturer Do not change The number of roll motor errors allowed 1 0 100 before Seaglider goes into recovery phase An error occurs when the ROLL TIMEOUT expires prior to achieving the commanded roll A D position 1KA Seaglider User s Guide 93 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 5 Piloting Parameters Table 5 4 Parameters in alphabetic order Parameter Nominal Definition value Min value Max value ROLL MIN Set by manufacturer Do not change Roll position software limit A D 50 counts to port The Seaglider opera
253. e sensor 3307860 565 HPRES N A D Volts Meters 3307860 815 HPRES N Mean 398732 7 0 463258 0 03 3307861 086 HPRES N RMS 398732 8 0 463258 0 03 3307861 298 HPRES N Min 397845 0 462226 0 04 3307861 510 HPRES N Max 399471 0 464115 0 09 3307861 687 HPRES N Peak to peak 1626 1 889127 uV 3307861 854 HPRES N Volts per bit 1 161825e 09 3307861 960 HPRES N Y intercept is set correctly 3307862 088 SUSR N Checking pitch roll and VBD 3307862 207 SUSR N Checking pitch motor 3307862 308 SUSR N Pitching up 3307862 513 HPITCH N Pitch commanded from 4 57 cm 1239 to 1 88 cm 3300 3307863 523 HPITCH N 4 3 cm ad 1334 MOTOR DONE ticks 12 max 24v 3 8mA avg 24v 3 1mA minV 24v 23 8V 3307872 993 SMOTOR N GC TICKS TIME 3 88309 3307873 089 HPITCH N done 3307873 233 HPITCH N Pitch completed from 4 57 cm 1239 to 1 88 cm 3301 took 9 3 sec 26mA 183mA peak 23 7V min 222 AD sec 371 ticks 3307873 630 HPITCH N TRACK b 3284 0 a 3287 0 d 0 o 14 3307873 744 SUSR N Pitching down 3307873 953 HPITCH N Pitch commanded from 1 88 cm 3300 to 6 56 cm 600 3307874 933 HPITCH N 1 6 cm ad 3203 3307885 708 HPITCH N 6 0 cm ad 792 MOTOR DONE ticks 17 max 24v 5 4mA avg 24v 3 8mA minV 24v 23 8V 3307887 305 SMOTOR N GC TICKS TIME 502 504305 3307887 400 HPITCH N done 3307887 543 HPITCH N Pitch completed from 1 88 cm 3301 to 6 59 cm 592 took 12 1 sec
254. e subject to severe criminal penalties System overview System overview Seaglider is an Unmanned Underwater Vehicle UUV designed for use in oceanographic missions lasting multiple months and covering up to 4600 km at depths ranging from 50 to 1000 m Seaglider travels underwater in a sawtooth pattern The vertical velocity component of the sawtooth pattern comes from the onboard buoyancy engine changing the density while the horizontal velocity component comes from the lift provided by the wings and to a much lesser extent the body Seaglider runs on the PicoDOS operating system and can be reprogrammed and redirected from its basestation at any time receiving the new commands when it surfaces Figure 1 1 shows the parts land side and field side of the Seaglider system and how they communi cate with one another via Iridium satellite vut Iridium RUDICS i Additional basestation f to Iridium connections Launch and recovery vessel options available Iridium network CES account QU field laptop Connected via the internet m Pilot s console and R team via Iridium phone f s j A Multiple launched Seagliders Connected to pilot via Iridium phone Connected to as needed as needed Figure 1 1 1KA Seaglider system overview The field side consists of the following e Seaglider e Field laptop used to check out Seaglider before deployment Field team T
255. eaglider in position for communications if it is not already there Seaglider should be out doors nose down with the antenna pointed to within 40 degrees of vertical 30 When Seaglider is in position press Enter Figure 7 10 142 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Interactive self test 31 At the prompt Allow the GPS to acquire the almanac N should press Enter to accept the default No Ipdating parameter T GPS acquire the almanac iri Fi Figure 7 11 Checking GPS and Iridium NOTE Seaglider has 15 minutes T_GPS to acquire 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 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
256. eak 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 surface maneuver Vertical velocity when surface depth reached Surface depth 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 2 2 1 Communications log comm log The comm log file is appended during each communication session and so is a complete record of the Seaglider system s communications over an entire deployment It is a plain text file that resides in the Seaglider home directory Running tail f comm log in the Seaglider home directory during or while waiting for communication sessions is a useful monitor 220 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities 2 2 Processing control files Example comm log Connected at Sun Dec 2 19 17 03 PST 200
257. ean MEM Lbytes FG_AHR_10V amp hr FG_AHR_24V amp hr FG_AHR_24Vo amp hr FG_AHR_10Vo amp hr 54 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Parameters by category Table 5 3 Parameters listed by category and frequency of modification Continued Modification frequency Category Parameter During fabrication CAUTION Continued Use caution when changing these parameters Advanced GPCTD Glider Payload Conductivity Temperature and Depth parameters PC_RECORDABOVE meters PC_PROFILE integer PC_XMITPROFILE integer PC_UPLOADMAX bytes PC_STARTS integer PC_INTERVAL seconds PC RECORDCONTINUOUS integer PC_RECORDAPOGEE integer Advanced ADCP Acoustic Doppler Current Profiler parameters CP_RECORDABOVE meters CP_PROFILE integer CP_XMITPROFILE integer CP_STARTS integer CP_INTERVAL seconds CP RECORDCONTINUOUS integer CP_RECORDAPOGEE integer Advanced Echosounder parameters ES_RECORDABOVE meters ES_PROFILE integer ES_XMITPROFILE integer ES_UPLOADMAX bytes ES_STARTS integer ES_INTERVAL seconds ES_RECORDCONTINUOUS integer ES_RECORDAPOGEE intege
258. eat step 3 5 When finished type exit and then press Enter NOTE DO NOT stay logged in as root 8 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Setting up the basestation Checking the contents of Seaglider 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 1 Type cd sgXXX and then press Enter where XXX is the Seaglider serial number Type 1s and then press Enter to check the directory s contents If there are any old data files cap eng log prm move them to a new subdirectory with a descriptive name For more information see Chapter Moving data files on page 9 The cmdfile science targets pagers urls and sg calib constants m files should remain in the sgXXX home directory For a description of the contents of the files see Chapter 9 Files for Operations on page 171 Moving data files The program movedata sh that creates a subdirectory named by the user and moves ol
259. echnical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Using the dive plot analysis software 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 Plot Options Save Plot s Auto save Plots Close Plots Auto close Plots Tile Plots Auto tile Plots L Annotate Plots Auto save plots creates a folder containing all visualization plots in jpeg format for the specified dive number If the Auto save Plots box is checked and you then click the Generate Plots button a folder is auto matically placed within the DivePlot folder where all mission dive data has been stored containing all selected plots The 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 Generate Plots button is selected the plots can still be saved after they are generated by selecting Save Plot s button The Auto close plot automatically closes any open plots The Close Plots button can be clicked to close plots or if the Auto close Plots box is checked as in example above the plots wi
260. ecified 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 D_TGT In either case the vertical velocity specified by the combination of D_TGT and T_DIVE is retained by appropriate scaling of T_DIVE The apogee maneuver is not started until a depth greater than D_TGT or other depth trigger is detected DEEPGLIDER Indicates whether the glider is a standard Seaglider or a Deepglider A zero indicates the glider is standard 1 indicates the glider is a deep glider NOTE All Seagliders produced by iRobot Corporation are standard gliders with a maximum depth capability of 1000 m DEEPGLIDERMB A Boolean value that indicates whether the main board is intended for use in Deepglider A zero indicates the motherboard is intended for a standard glider 1 indicates the motherboard is intended for a deep glider NOTE All Seagliders produced by iRobot Corporation are standard gliders with a maximum depth capability of 1000 m 1KA Seaglider User s Guide 71 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal pe
261. ectory 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 the Seaglider system s communications over an entire deployment it can become quite large To monitor the end of the file for any new additions type tail f comm log on the command line in the Seaglider home directory For an example of a comm log file see Appendix B Seaglider File Formats Manual on page 201 Engineering files The eng or engineering files are created on the basestation For a description of the column titles see Appendix B Seaglider File Formats Manual on page 201 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 alerts message indicates that a file may be corrupt and have to be resent by Seaglider to the bases tation using the pdoscmds bat file For details see PicoDOS commands batch file on page 177 The recov message is s
262. ed TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Pressure Sensor menu Pressure Sensor menu In the Sealevel test Seaglider takes a number user determined of pressure samples and calculates what the pressure y intercept should be You have the option of accepting or rejecting the new y inter cept value You can also edit the pressure parameters although this is not recommended iRobot Customer Service should be consulted before any pressure parameter values are changed through option 3 1 Select 5 Pressure Sensor and press Enter Figure F 39 Pressure menu 1 selftest Basic self test 2 sealevel Sealevel test 3 param Edit pressure parameters CR Return to previous Enter selection 1 3 CR Figure F 39 Pressure Sensor menu The Basic self test outputs pressure measurements and an equivalent depth m value until you enter Control Q 2 To return to the Hardware menu press Enter Compass Attitude menu The Compass Attitude menu is used to set up the compass at the factory It is not recommended that you change any of the values in this menu or attempt a recalibration without consulting iRobot Cus tomer Service 1 Select 6 Compass and press Enter Figure F 40 T Compass attitude Menu 1 selftest Basic self test 2 active Toggle active compass 3 Ldispraw Display raw bearing pitch amp roll 4 dispca
263. ed by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Setting up and installing the Argos SPOTS tag Initiating communications with the SPOT5 tag 1 Click Connect to Tag 2 Follow the instructions displayed on the Connection Screen In this case Blue box indicates USB Blue Spot5Host Connect tag to Blue box and turn Blue Box on then pass a magnet over the wakeup location Figure 6 8 Spot5Host Connection instructions An LED on the SPOTS glows when the cables between the PC USB Blue and SPOTS are con nected correctly and the magnet is passed over the reset location of the SPOTS The LED must be glowing before clicking the OK button SPOTSHost may display additional prompts if there are difficulties in establishing communications CAUTION Do not leave the SPOTS tag hooked up to the communications hardware any longer than necessary to set up or download the tag Leaving the tag hooked up to the communications hardware for extended periods of time will eventually drain the battery Setting SPOT5 parameters NOTE If the SPOTS initial setup has been completed once and saved follow these steps to upload a previously saved setup 1 Click Recall Previous Setup 2 Verify parameters are entered correctly as noted in the SPOTS initial setup
264. ed on the basestation by the pilot Figure 9 2 shows an example of a targets file and Table 9 1 describes each column For another example see Appendix B Seaglider File Formats Manual on page 201 Sample North Carolina Coast targets NCSPONE 1at23357 4 lon 7623 5 radius 200 gotoZWPONE timeout 1 WPONE lat23356 0 lon 76252 radius 200 gotoWPTWO timeout 1 WPTWO lat 3353 9 lon 7625 2 radius 200 goto WPTHREE timeout 1 WPTHREE 1at 3352 2 lon 7621 4 radius 200 goto WPFOUR timeout 1 WPFOUR lat 3356 6 lon 7623 8 radius 200 goto NCSPONE timeout 1 Figure 9 2 Example targets file Table 9 1 Description of columns in target file 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 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 in Figure 9 2 contains all of the fields necessary to direct Seaglider to targets There are also three optional fields which can be added as colum
265. ee NE DUREE RR NEU RUEDAS 308 Figure F 38 Supervisor Mentsen dna e a e e eerte eene entem nren nennen tenen nenne ennenne ens 308 Figure F39 Pressure Sensor menl 45 netter tree ue hidden ee teet 309 Figure F 40 Compass Attitude menu esssssseeseeeeeseeeneen rennen nennen nennen nennen 309 Fipuie E 41 GPS menu aee rete Rte e oce disse Lester eive ee 310 Figure F 42 Iridium Phone menu seen eene entree trennen 310 Figure F 43 Internal Pressure menu essssesseseeeeeeeeer eene enne nete enne 310 Figure F 44 Altimeter XPDR menu essere enne enen nennen trennen enne 311 Figure F 45 Sensors Menu oe qe te eere eerie eec Ne PEERS 311 Figure F 46 Example menu eee eterne tte eerie Peeters 312 Figure E 47 OP Bers Meni er ee t pe eH t e eee tet 312 Figure F 48 Batteries and Fuel Gauges menu sess 312 Figure F 49 Low level Hardware menu sees eene nennen nennen 313 Figure F 50 Miscellaneous Hardware Functions menu esee 313 Figure F 51 Developer Tests menu eei edere hae eine Pedes 314 Figure F 52 Test Operation Modes and Files menu esee 314 Figure F 53 PicoDOS Command menu sess 315 Figure F 54 Pre Launch menu siea n E nennen nennen nete en rennen nete 315 Figure G 1 Pinwheel diagram showing ballast locations eene 322 Figure G 2 Lead ballast affixed t
266. ee these centered around the same velocity throughout the entire dive Ex 15cm s on dive and 15cm s on the ascent Vertical Velocity SG 548 Dive 19 Seattle Mission Start Time 14 Dec 2011 03 42 19 i i t l M T i i I 10 f j j i I I j t 2 5 I I I M I l 20 i gt 4 j i j j I 1 fi i I Si I I I P Pu E 30 bt E i J x i a r7 i I if I I ni EN f i i i 40 K t y T IN 1 B i v I S t c I te 50 gt 4 Based on Pressure Change J Based on Buoyancy and Pitch NA F Upwe lling Descent ei AM ee a 799 I Upwelling Ascent i LH cc biased model C i2538 60 E3 i it 1 t 1 j 33 4 28 22 6 17 2 11 8 64 1 44 98 15 2 20 6 26 314 VB s20 Vertical Velocity cm s t VED biasa71 implies C VBDz2538 volmaxz54715 cc max SM CC2497 max MAX_BUOY 357 Figure D 17 Plot 7 Vertical velocity 1KA Seaglider User s Guide 261 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix D Dive Data Visualization Software Plot 8 Pitch control plot The following pitch control plot displays the current pitch ce
267. eeper than D_BOOST at the start of the pumping maneuver 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 T_BOOST seconds the boost pump turns off while the main pump continues to run NOTE It is recommended that if the desired T_BOOST is gt 0 that the value be at least 3 seconds This allows a 1 second operational overlap of the two pumps before the boost pump turns off T_BOOST_BLACKOUTS Time in seconds to wait after boost 0 0 30 pump is disabled before allowing a retry Set by manufacturer Do not change 96 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Alphabetized parameters Table 5 4 Parameters in alphabetic order Parameter Nominal Min Max Definition value value value T DIVE The time minutes for Seaglider to 10 5 2880 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 the desired vertical velocity in a particular dive using the naive calculation wg cm
268. ence Manual v66 07 on page 233 Compass calibration file The compass calibration file is generated when the compass is calibrated inside the assembled Sea glider 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 1KA Seaglider User s Guide 183 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 9 Files for Operations 184 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties CHAPTER 10 Recovery and Disassembly Recovery loop In recovery Seaglider enters a loop of obtaining a GPS fix and communicating with the basestation 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 T_RSLEEP 2 minutes This recovery loop can be exited by sending a RESUME directive
269. end of the verification Figure 7 18 Figure 7 18 Checking GPCTD 41 Check the pitch motor and values Figure 7 19 Figure 7 19 Checking pitch motor a At the prompt Verify pitch SW limits and timeouts Y press Enter to accept the default Y Figure 7 19 b At the prompt PITCH_MIN New value x verify that the value displayed matches the minimum pitch value on the Cal sheet found in respective Seaglider notebook Figure 7 19 c Doone of the following Ifthe 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 is the latest version enter the correct value and then press Enter d At the prompt SPITCH MAX New value x verify that the value on the screen matches the maximum pitch value on the Cal sheet found in respective Seaglider notebook Figure 7 19 146 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Interactive self test e Doone of the following Ifthe maximum pitch value is correct press Enter to accept the defau
270. ent 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 For an example pagers file see Appendix B Seaglider File Formats Manual on page 201 1KA Seaglider User s Guide 181 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 9 Files for Operations 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 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 bodylmsgperfilelkkyy subjectlgzip engl log prol bpol ascl capl comml dn kkyyl up kkyyl ncl mission tsl mission pro all These options are as follows body send the files in the mb
271. ents science split filename strip1a filename lt size gt sumasc file tar c x file lt filespec gt xs put xr get lt filespec gt Control PARAM value clearnv lt passphrase gt dumpnv readnv lt varname gt reboot lt run_file gt lt arguments gt target targets new target lt radius gt writenv varname value Diagnostics capvec service level lt dest gt flash errors menu menuspec lt arguments gt parse capvecfile file usage ver 236 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix C Extended PicoDOS Reference Manual v66 07 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 service 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 Seagli
272. ents0 22300 1301395237 907 SPOWER N GPS saved currents0 02696 1301395238 067 5POWER N TT8 saved current 0 01496 1301395238 227 SPOWER N TT8 Active saved currents0 01421 1301395238 397 SPOWER N TTS_Sampling saved current 0 03743 1301395238 570 SPOWER N TTS_CFS saved current 0 04717 1301395238 737 SPOWER N TTS_Kalman saved currenta0 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 1301395239 5 18 SSENSOR N sensor SBE_CT not found in installed sensors 1301395239 655 SSENSOR N sensor Sai lCTx not found in installed sensors 1301395239 789 SSENSOR N no CT sensor configured 1301395244 621 SUS SRN Glider 24 mission 6 dive 5 booted Tue Mar 29 10 40 44 2011 boot 374 130139 245 510 OPOR N max range 60 000000 m timeout 80 ms 13013952 Set c Main Menu l param Parameters and configuration 2 w Hardware tests and monitoring 3 modes Test operation modes and files 4 m PicoDOS commands and exit 5 launch Pre launch Enter selection 1 5 CR 2 Figure 7 4 Seaglider start up on the laptop 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 wit
273. equency of modification Modification frequency Category Parameter Most frequent Dive profile D TGT meters D ABORT neters T_DIVE minutes T_ABORT minutes T_MISSION minutes Buoyancy limits MAX_BUOY cc NOTE Smaller values for these SM_CC cc parameters save energy by reducing pumping during each dive 1KA Seaglider User s Guide 49 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 5 Piloting Parameters Table 5 3 Parameters listed by category and frequency of modification Continued Modification frequency Category Parameter Second most frequent Flight behavior and improvement thereof C VBD AD counts C PITCH AD counts PITCH GAIN degrees cm C ROLL DIVEA AD counts C ROLL CLIMB AD counts D SURE neters GLIDE SLOPE degrees D BOOST meters T_BOOST seconds Communications T_RSLEEP minutes CAPUPLOAD Boolean Navigation NAV_MODE integer COURSE_BIAS degrees HEAD ERRBAND degrees KALMAN_USE integer FERRY_MAX degrees HEADING 1 or degrees SPEED FACTOR value multiplier TGT DEFAULT LAT degrees decimal minutes TGT DEFAULT LON degrees decimal minutes Bottom determ
274. er for use by the pilot operator and scientist This file is sent at the end of a self test Contains a list of the parameters 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 li there are multiple calls on one surfacing a cmdfile is sent each time and a serial number is added after the dive number 202 WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export 1KA Seaglider User s Guide IMPORTANT NOTICE Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities File descriptions 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
275. ercome 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 or subsurface opposing the travel direction of the glider will necessitate more glider thrust More thrust is supplied by more bleed ing of oil during the dive The bleeding leads to more pumping at apogee to make the glider buoyant enough to climb Pilot controllable factors Seaglider trimming A well trimmed Seaglider will require 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 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 d
276. ere criminal penalties Mission planning 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 1 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 system s turning radius a few tens of meters at typical 25 cm s horizontal speeds is such that a signif icant portion of a shallow water dive can be spent turning onto the desired course For more informa tion see Bathymetry on page 41 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 Seaglider s power consumption The more density layers and the larger the density change present that Seaglider has to ov
277. ernal 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 Figure F 2 Parameters and Configuration menu 1KA Seaglider User s Guide 281 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix F Hardware and Configuration Menus Basic Mission and Seaglider Parameters menu View the Basic Mission and Seaglider Parameters menu Select 1 Basic Mission and Seaglider Parameters and press Enter The current value for each parameter is in brackets to the right of the parameter name Figure F 3 For an explanation of each parameter and the acceptable range of values see Chapter 5 Piloting Parameters on page 47 Enter selection 1 27 CR 1 Basic current value in 2 1 10 506 Glider ID 3 digits max 2 MISSION 2 Current mission number 3 T_WATCHDOG 10 watchdog timer min 4 RELAUNCH 0 Relaunch glider if crash to TOM8 O no l yes
278. ersion of the Seaglider trim sheet List of parameters that have changed from the factory default values List desired services spares and or diagnostics for your Seaglider product List of sensors and serial s to be recalibrated if ordering OEM sensor recalibration service 195 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Chapter 12 1KA Seaglider Refurbishment 196 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties APPENDIX A System Specifications Table A 1 1KA Seaglider specifications Feature Specification Body Size 1 8 2 0 meters long configuration dependent 30 cm max diameter Wing Span 1m Antenna mast length 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 charged batteri
279. es Multiple months mission dependent 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 Table A 2 1KA Seaglider performance specifications Feature Specification Operating Depth Range 50 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 16 to 45 1 3 5 to 1 1 slope 197 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix A System Specifications 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 Pucks Photosynthetically Active Radiation PAR sensor Sea Bird Glider Payload Conductivity Temperature Density GPCTD sensor Acoustic Doppler Current Profiler Nortek AD2CP Glider Imagenex 853ES Echosounder Table A 5
280. es 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 the glider is east of the line Example 2 finish direction of 180 speci fies 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 time out is not specified or is given as zero then the glider will try to achieve the target with no time limit 230 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities 2 4 Command and control files 2 4 2 Science file science This file created by the pilot contains instructions for the Seaglider about when to sample with
281. es may be comment lines in which case the first charac ter 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 96 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 1KA Seaglider User s Guide 229 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix B Seaglider File Formats Manual KAYAKPT 1lat 4808 0 lon 12223 0 radius 100 goto KAYAKPT Target Latitude in Longitude in Radius in meters Next target this tar name ddmm m positive dddmm m positive within which the
282. esesesoe 324 APPENDIXH AD2CP Compass Calibration Procedure 327 Pressure hull preparation esesseseeseseesecoeseesoseeooesesoesee Create compass calibration stand Pressure hull installation into calibration mount Compass calibration test eee eee eee eee ene jn MY YYY Y APPENDIX I Pilot and Field Team Checklist eee 335 Prepare the necessary software on field laptop eere eee eee eerte eene estat ene tn atn tnnena 335 Prepare the necessary software on pilot computer ee eeeee esee eene tenen tenentes nena 335 Obtain pilot and field team contact information eese eee eee teen eene nennen tatnen atn ne ta 335 Obtain pilot contact information eee ee eee eren eee erento etna ta sense tn etas tn aetas eaae tasses etse sene ta 336 U 336 IBS AS TURIS LU S RRRR 336 Recovery eisdem 337 Self test PTOCESS DC 337 1KA Seaglider User s Guide xi IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Contents Deployment process
283. espective 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 the ID number of the Seaglider vehicle 13773 521 SUSR N Saving to SG506PRM TXT Figure F 23 Save Parameters By Name To A File option After the file is written the Parameters and Configuration menu is displayed 2 To return to the Main menu press Enter Dump parameters to screen 1 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 2 To return to the Main menu press Enter Load parameters from a file 1 From the Parameters and Configuration menu select 26 Load parameters from a file and press Enter The SGxxxPRM TXT file is loaded from the laptop onto Seaglider where xxx is the ID number of the Seaglider vehicle After the file is written the Parameters and Configuration menu is displayed 2 To return to the Main menu press Enter Reset to defaults 1 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 2 To return to the Main menu press Enter 1KA Seaglider User s Guide 297 IMP
284. eter is in brackets to the right of the parameter name The explanation for each parameter and the acceptable range of values is located in Chapter 5 Piloting Parameters on page 47 The exact values of SPITCH 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 The instructions for editing a pitch parameter are located under Pitch parameters on page 288 To return to the Pitch Control menu press Enter Run pitch duty cycles 1 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 2 As an example enter 8 5 and press Enter End position of cycle 2 37558d 3 As an example enter 1 5 and press Enter of secs to rest at end of each cycle 1 4 As an example use the default so press Enter of cycles to execute lt 32768 10 5 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 29 300 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations
285. etween 0 and 50m occurs once every 30 seconds Sampling Rate Sample time x respective sensor sample interval Where e Sample time value in column 2 CT interval Ist digit of the value in column 3 e WET Labs interval 3rd digit of value in column 3 114 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Mission planning e SBE 43 interval 2nd 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 occurs once every 60 seconds For depths below 300m Seaglider continues to use this sampling routine Note that the bound on depth interval 1s 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
286. export laws are subject to severe criminal penalities Reballasting in the field 8 Place new lead ballast on the pressure hull using the diagram supplied by iRobot Figure G 1 is an example of the drawing that shows the positioning of the new lead Lead ballasting strips Double sided adhesive Ze Double sided adhesive Rubber backing Lead ballasting strips Figure G 2 Lead ballast affixed to pressure hull 9 Using a ball peen hammer lightly tap the lead until it conforms to the general shape of the battery hull 10 Install two 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 further the buckle offset the better Figure G 3 Tie down straps Tie down straps Figure G 3 Lead ballast secured with straps 11 Record lead values and location on the battery hull See ballast pin wheel the first piece of lead trim is located in the bottom quadrant PC 1 12 Reinstall forward fairing NOTE If lead is moved between deployments to a different location on the pressure hull the pilots have to trim roll during the first few dives 1KA Seaglider User s Guide 323 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C AP
287. f 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities 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 temperature 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 S ALTIM BOTTOM PING 875 1 26 8 Depth of the glider and altimeteter detected distance to bottom 24V AH 23 3 21 710 Ee amp hours consumed on the 24V battery since the last reset of the battery meters usually when new batter 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 meaning
288. f test 2 param Edit internal pressure parameters CR Return to previous Figure F 43 Internal Pressure menu 310 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Altimeter XPDR menu 2 To return to the Hardware menu press Enter Altimeter XPDH menu Use the Altimeter XPDR menu to query the altimeter and the transponder functions The unit is configured at the factory It is not recommended that the user edit the configuration values without consulting iRobot Customer Service 1 Select 10 Altimeter XPDR menu and press Enter Figure F 44 Adjusting the altimeter parameters is done in the field as sensitivity varies with the environment the Seaglider vehicle is in Altimeter XPDR Menu 1 ping Pind the altimeter 2 config Upl ad configuration to altimeter 3 count Query the transponder ping count 4 xpdrcfg Update XPDR configuration from parameters direct 1 Direct comms with altimeter R t a Edit altimetry parameters param o previous CR Return Figure F 44 Altimeter XPDR menu To return to the Hardware menu press Enter Sensors menu 1 Select 11 Sensors menu and p
289. f the year Bits 2 and 3 cover the condition for the next 23 days etc 1KA Seaglider User s Guide 227 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix B Seaglider File Formats Manual 2 3 3 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 Transponder 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 422 228 IMPORTANT NOTIC
290. f these export laws are subject to severe criminal penalities Appendix F Hardware and Configuration Menus Altimetry parameters 1 From the Parameters and Configuration menu select 16 Altimetry parameters and press Enter Figure F 19 The current value for each parameter is in brackets to the right of the parameter name For a description for each parameter and the acceptable range of values see Chapter 5 Piloting Parameters on page 47 T Altimeter current value in 15 1 aALTIM EOTTOM PING RANGE 0 Range from presumed apogee depth to initiate bottom pings m 2 SALTIM TOP PING RANGE 0 Depth to initiate top pi 3 SALTIM BOTTOM TURNLMARGIN 0 Distance from obstac initiate bottom turn m 4 SALTIM TOP TURN MA GIN 0 Distance from obstacle to initiate top turn m 5 SALTIM_TOP_MIN_OBSTACLE 1 Minimum obstacle depth to honor in initiating a subsurface finish m 6 SALTIM PING DEPTH 80 Depth at which to begin pinging for bottom m 7 ALTIM PING DELTA 5 Depth increment when pinging for bottom ngs Cm le to n 8 SALTIM FREQUENCY 13 Frequency to use for pings kHz 9 ALTIM PULSE 3 Pulse length to use for pings ms 10 SALTIM SENSITIVITY 3 Altimeter sensitivity 0 55 11 xPor_vaLIO 2 Transponder interrogate validity length x0 5 ms C0 6 12 xPOR INHISIT 90 Transponder inhibit length x100 of ms 0 995 CR Return to previous menu Enter selection 1 12 CR Figure
291. face in the event of a T MISSION timeout 2 GPSI Once the surface position is attained the GPS receiver is turned on and left on until a satisfactory position is acquired or until T GPS minutes have elapsed This GPS position is called GPS1 When this initial position is acquired Seaglider waits an additional N GPS samples for a GPS position with an HDOP 2 0 at which point acquisition 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 log files 3 Communications Wireless communication via Iridium satellite begins following acquisition or time out of GPS1 Seaglider powers up the Iridium phone waits a specified time for registration with the Iridium sys tem 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 Seaglider See Chapter 9 Files for Operations on page 171 If all file transfers were not accomplished Seaglider waits SCALL WAIT seconds and tries again It tries to call up to SCALL TRIES times and if unsuccessful continues with the surface phase marking files as appropriate
292. facing 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 map 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 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 o
293. ful on a RevC or later motherboard DEVICES Pitch motor Roll motor V BD pump during apogee i F de X aris 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 is listed below 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 given 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 c
294. g apogee and start a new cast If the value is set to 1 the glider will not turn off the sensor during apogee If the value is set to O the glider will turn off the sensor at the start of apogee or after apogee as defined by CP RECORDAPOGEE If CP RECORDCONTINUOUS is set to 1 it overrides CP RECORDAPOGEE and CP PROFILE CP UPLOADMAX The current profiler does not use this parameter CP XMITPROFILE A current profiler command that specifies whether data profiles from a dive should be transmitted to the basestation none transfer all telemetry 0 none 1 transfer all telemetry CURRENT The depth averaged current m s degrees Boolean validity check calculated by the glider when using NAV MODE 2 For example CURRENT 0 035 283 8 1 There are three values Not user defined current magnitude in m s current direction in degrees east of north Boolean value indicates whether cur rent estimate was judged valid by Seaglider D ABORT The maximum depth meters for 1020 0 1020 Seaglider operations If this depth is reached the dive is aborted and Seaglider immediately enters the recovery phase 66 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Vio
295. g the primary phone number 8TEL NUM does not successfully connect after CALL TRIES tries the phone number switches to the alternate number SALT TEL NUM if available for the 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 Appendix C Extended PicoDOS Reference Manual v66 07 writenv on page 242 or through direct connection to Seaglider via the serial communications cable see Checking the primary and alternate phone numbers on page 22 TGT AUTO DEFAULT A Boolean parameter 0 If set to 1 automatically updates the default target in NVRAM If set to 0 does not update the default target in NVRAM 1KA Seaglider User s Guide 101 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 5 Piloting Parameters Table 5 4 Parameters in alphabetic order Nominal Min Max Parameter Definition value value value TGT DEFAULT LAT Floating point value degrees decimal 4212
296. get name must be this can North East Seaglider deter specified in the Tar be any mines it has reached get column string of the target numbers and or letters without whitespac e Above is a typical version 66 targets file 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 spec ifies 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 direc tion degrees and establish
297. gexoust gt COE k ep Can antenna be used for CPS and communication Step 15 1537 415 SPOWER N Al1 devices are off Remove all old data and log files V EE 16 pere J Parameters and configuration MOS INT Figure 7 36 Main menu and Launch menu 160 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Simulated dives 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 elsewhere BEFORE selecting Yes If it is unknown whether the files have been saved select N Figure 7 36 Seaglider performs pitch roll and pump VB
298. glider eee eeseeee eee eeenne nenne 165 jirniATUENICIAG I 165 1KA Seaglider User s Guide vii IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Contents CHAPTER9 Files for Operations eese eene 171 Files placed on the basestation by the pilot 4 ceres sees eee e eerte nette eene en setenta seien stone stas 171 Command file Targets flle sisz scsszssansssoussoseswasecvassansacacseuasounsosnssscasevesdasascenssbansscesdenaseseasecvatasssuvaseounsoussesoassoass N ES o A E N E O aA CL DA ATA PicoDOS commands batch file Factory generated file eere eee eee eene enne Calibration pil Seaglider generated f1les 0cssrssssrsccesserssscoccsnssseccceassnsessseceesssnssscncessssescoensonesssoesennsssessocesenss Capture TIles 45er es eter nnn Ro enl eno oec A9 Dua go ed sseussotessatecepstonsSousscbsassuesesbsesedss I oe 11168 5 eter Te eese ere E T IRTETEA ATT Files generated by the GPCTD Basestation generated files eere eee eene etene Basclos Eessen n lonis
299. glider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties CHAPTER 11 Operator Level Maintenance 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 to prevent salt buildup Equipment Required Consumables Low pressure water hose Deionized water Clean cloth Isopropyl alcohol Compressed air not to exceed 25 psi 3M Silicone Spray Parts None 1 Make sure the vehicle is powered down 2 Remove the dust caps from the science sensors 3 Place the Seaglider cradle combination so that nose of the Seaglider is downward 4 Forcleaning of the CTD sensor Sea Bird recommends flushing the conductivity cell with a dilute bleach solution to eliminate growth of bio organisms and eliminating the use of acid in most cases 5 Remove the rudder and pull out the antenna shoe 6 Wash down the exterior of the Seaglider using fresh water from the low pressure water hose Allow the water to flow through the conductivity and temperature sensor Rinse off the pressure hull pupa and inside of the glider by squirting wa
300. h no miss ing values or extra spaces 12 When prompted Are you running on external bench power Figure 7 4 do one of the fol lowing e Type v 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 communications cable 136 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Interactive self test 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 continue with step 13 otherwise skip to step 14 13 Turn off the GPCTD a On units equipped 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 F Main Menu 1 param Parameters and configura
301. hanism 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 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 picoDOS to the TT8 monitor program TOM8 PicoDOS is started by issuing the command go 2bcf8 at the TOM8 prompt 1KA Seaglider User s Guide 241 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix C Extended PicoDOS Reference Manual v66 07 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 xs 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 i
302. he Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Open valve Open valve To open the 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 1 To cycle the VBD valve select 9 Cycle valve and press Enter Seaglider returns Enter time in ms to have the valve OPEN 1000 2 If 1000ms is okay press Enter if not type a new value and press Enter Number of cycles between reports 20 1 3 If 1 is okay press Enter if not type a new value and press Enter Seaglider then cycles the VBD valve echoing the activity back to the laptop Figure F 34 20147 873 HVBD N Hit any key to abort 20149 171 HVED N VBD lin pot AD counts 3178 3090 20149 315 HVBED N VBD bladder position 5 40 cc CAD 3134 20150 611 HVBD N VBD lin pot AD counts 3202 3114 20150 756 HVBD N VBO bladder position 0 49 cc Df 3158 5 T 20209 852 HVBD N VBO lin pot AD counts 4077 4088 20210 007 HVEBD N VBO bladder position 227 14 cc CAD 4082 20211 305 HVBD N vBD lin pot AD counts 4089 4094 20211 450 HVBD N VBO bladder position 229 15 cc AD z 4091 20212 759 HVBO N vBD lin pot AD
303. he 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 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 e s 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 e s Seaglider flying straight This is dependent upon the roll centers being properly set Normally adjustments to the Seaglider system 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 the 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 is below and compare when the VB
304. he land side consists of the following Hosted cloud basestation running the Linux operating system e RUDICS 1KA Seaglider User s Guide 3 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 1 1KA Seaglider History and Overview e Pilot team Basestation interface computer Seaglider makes a phone call and the signal is picked up by the Iridium satellite The call is down loaded to the civilian Iridium ground station in Arizona The call is then sent by the internet RUDICS to the basestation Seaglider sensors Seaglider can be equipped with third party sensors that measure conductivity temperature pressure dissolved oxygen fluorescence currents photosynthetically active radiation 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 sensor The PAINE strain gauge pressure sensor a third party sensor is installed as standard equipment in Seaglider Optional sensors The following optional third party sensors are installed in select Seagliders e Sea Bird 43F dissolved oxyge
305. he number of times the glider transducer responded to an external stimulus at its frequency setting during a dive During missions this value should be Zero While an occasional ping is acceptable frequent pings are not as this activity consumes battery power If excessive pings are seen in XPDR PINGS tuning can be done using the SXPDR INHIBIT and XPDR VALID parameters 106 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties CHAPTER 6 Predeployment Tasks To get the most out of a Seaglider deployment both duration and data wise Seaglider must be prop erly prepped in the lab self checks must be thoroughly reviewed and 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 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 h
306. he surface calls in again and the cmdfile is uploaded to Seaglider The basestation makes a copy of the cmdfile named cmdfilel 2 Seaglider then dives c w om o NO At the next surfacing a cmdfile is uploaded to Seaglider 171 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Chapter 9 Files for Operations 10 After the upload the basestation makes a copy of the cmdfile named cmdfile 2 The same process is used for the targets science and pdoscmds bat files For more details on these files see the corresponding sections 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 files and log files and produce Seaglider data plots Calibration file Command file The cmdfile is sent to Seaglider at each surfacing The cmdfile configuration comprises the following parts Alist of parameter name new value pairs with no spaces between the parameter name comma and new value The last line of the file is a directive required and can have no newline character after the direc tive The command file may contain only the di
307. he 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 any way In the climb phase Seaglider turns to starboard by banking to starboard and vice versa as in aircraft flight 44 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Features of control 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 acquisi tion Seaglider en
308. he 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 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 40 cm s or 0 8 kts These dives tend to be done with large negative thrust on the dive 350 cc and vertical velocities of 18 cm s The dives take about three hours between surfacing or about eight dives per day in 1000 m of water It has been shown in deployments in the Kuroshio that the Seaglider system 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 equatorial Pacific that would exploit the equatorial under current Sharp vertical shear in the currents can induce turning moments on the Seaglider body Large vertical velocities upwelling or d
309. header associated with that particular sensor line The column titles are described as follows elaps t 0000 Time in seconds since 0000UTC of the current day elaps t Time in seconds since the start of the dive depth Depth in 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 Sbect condFreq Conductivity frequency in Hertz sbect tempFreq Temperature frequency in Hertz Sbe43 O2Freq Oxygen concentration in Hertz ser ref1 Wavelength 1 reference in A D counts ser sig1 Wavelength 1 backscatter in A D counts ser ref2 Wavelength 2 reference in A D counts ser sig2 Wavelength 2 backscatter in A D counts ser ref38 Wavelength 3 reference in A D counts ser sig3 Wavelength 3 backscatter in A D counts ser CDOMref1 ppb in A D Counts and only If equipped with a CDOM fluorometer ser CDOMsig1 ppb in A D Counts and only If equipped with this CDOM fluorometer ser Chlref1 ug l in A D Counts and only If equippe
310. hould determine the likely range of densities to be encountered on a proposed mission and see if there is sufficient VBD range available to accommo date 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 knots For a few individual dives it can go as fast as 50 cm s That performance requires ballasting for 350 cc of negative displacement and 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 Endurance Total endurance is dependent on many factors including depth of dive vertical velocity density strat ification and communications The 24 V lithium primary battery pack services the pump mass shifter and the modem The 10 V lithium primary battery pack services the science sensors Based on the way you re operating the vehicle either battery pack ca
311. iRobot IKA Seaglider User s Guide Part Number 4220126 Revision D IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties 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 N
312. ic the need to park Seaglider on the surface after a dive with the QUIT command while changes to the parameter values are made and then to issue the RESUME directive to continue diving becomes less critical 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 168 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Tuning your Seaglider Remember that with the GO directive if Seaglider encounters a problem and has to surface unex pectedly it remains at the surface until the pilot replaces GO with RESUME DO NOT leave RESUME in your cmdfile longer than necessary It may lead to the loss of your Seaglider SG173 PortSusan dive 1 started 17 Sep 2009 21 07 29 40 30 2 dive cimb _ Ca 2000 CH 2000 cend 2000 Roll control range 50 07 7 to 50 834 d 20 implied C 2383 S ETT CO 2350 i implied rol control range 60 8921 to 40 0126 lt Assumed roll control gain 35 37 counts to stbd 10 9 4 x i 101 20 P R I 6 57249 Roll control 0 607357 Roll
313. icate 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 QUIT 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 1KA Seaglider User s Guide 167 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 8 Tuning Your Seaglider increased remember to edit D TGT T DIVE and T MISSION Remember to check what directive is in the cmdfile and change it if necessary By the third or fourth dive the value for SM_CC set at the beginning should be revisited Ini tially SSM CC is set conservatively to make sure Seaglider gets back to the
314. icted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Alphabetized parameters Table 5 4 Parameters in alphabetic order Parameter Nominal Min Max Definition value value value SIM PITCH Simulated Seaglider pitch angle 20 degrees during the dive phase of a simulated run This parameter is automatically zeroed during the Sea Launch procedure A value of 0 disables this feature For simulated dives a SSIM PITCH value of 20 is often used If non zero this value is used in place of Observed pitch on the dive phase of a simulated run SIM W Simulated Seaglider vertical velocity 0 1 m s This parameter is automatically zeroed during the Sea Launch procedure A value of 0 disables this feature For simulated dives a SIM_W value of 0 1 is often used If non zero this value is used to generate depths so that Seaglider can do simulated dives in the lab or on the deck SM_CC The specified minimum buoyancy value 650 150 700 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 If Seaglider enters the surface maneuver with more than the minimum buoyancy value specified it does not
315. ide 199 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix A System Specifications 200 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities 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
316. ider does not dive again and stays on the surface Pilot Give Seaglider the QUIT command via the cmdfile Field team 1 Transit to the last set of GPS coordinates 2 Search 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 Predeployment Tasks on page 107 to use the transducer 3 Once a visual of Seaglider has been made a Transit to Seaglider Make sure one of the handles of the cradle is tied off to the boat Grab the antenna mast as close to the rear of the aft fairing as possible Put the cradle in the water alongside Seaglider ha Oo g Maneuver the cradle between the boat and Seaglider and hook the rudder of the Seaglider on the top edge of the cradle Pull Seaglider up 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 Put the nose of the Seaglider into the cradle if it is not already inside the cradle i Connect the safety straps on the cradle around Seaglider j Ina two 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
317. ilures TCM PITCH OFFSET Static offset in pitch axis degrees 0 between the compass output and the actual Seaglider body as measured in the lab Set by manufacturer Do not change TCM ROLL OFFSET Static offset in roll axis degrees 0 between the compass output and the actual Seaglider body as measured in the lab Set by manufacturer Do not change 100 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Alphabetized parameters Table 5 4 Parameters in alphabetic order Parameter Nominal Min Max Definition value value value TEL NUM The telephone number Seaglider dials to connect to the basestation 13 digits maximum The pvt file for each dive records the set value for this parameter 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 usin
318. in the Seaglider home directory and want to move the files to a subdirectory of that home directory type the following command shorthand method and then press Enter movedata sh subdirectory filename The follwing examples show some subdirectory naming convention e Selftest 17May06 after self test completed e Simulated dive 17May06 after simulated dive completed e PortSusan 17May06 after open water run in Port Susan If the directory for that Seaglider does not exist on the basestation for more information see Set ting up the basestation directories and files on page 8 3 Edit the command file cmdfile and possibly the targets file targets the science file science and the pagers file pagers for the simulated dives 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 param eters SIM_W 0 1 SIM_PITCH 20 D_TGT 30 T_DIVE 10 T_MISSION 15 1KA Seaglider User s Guide 157 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 7 P
319. ination and altimetry USE_BATHY integer D_OFFGRID meters ALTIM_BOTTOM_PING_RANGE 0 off or meters ALTIM_BOTTOM_TURN_MARGIN 0 off or meters ALTIM_PING_DEPTH 0 off or meters SALTIM PING DELTA O0 off or meters Dynamic flight feedback system PITCH_ADJ_GAIN 0 off or cm deg PITCH_ADJ_DBAND 0 off or degrees ROLL_ADJ_GAIN 0 off or deg seconds ROLL_ADJ_DBAND 0 off or degrees ROLL GAIN PJ off or degrees roll per degree yaw error 50 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Parameters by category Table 5 3 Parameters listed by category and frequency of modification Continued Modification frequency Category Parameter Less frequent Flight behavior and improvement D FLARE meters APOGEE PITCH degrees ROLL_DEG degrees D_FINISH meters N NOSURFACE integer T_LOITER seconds Turn length and data sampling rate during turn T_TURN seconds T_TURN_SAMPINT seconds Communications and files CALL_TRIES integer CALL_WAIT seconds N_FILEKB integer CALL_NDIVES integer UPLOAD_DIVES_MAX integer COMM_SEQ integer CAPMAXSIZE bytes GC WINDOW dives N_GPS seconds
320. ined 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 DEVICE 1 2 3 4 5 6 33 0 1023 COMPASS2_DEVICE Set by manufacturer Do not change Exactly the same as COMPASS_DEVICE except that it defines the second compass 33 0 1023 64 IMPORTANT NOTICE 1KA Seaglider User s Guide WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Alphabetized parameters Table 5 4 Parameters in alphabetic order Parameter Definition Nominal value Min value Max value COMPASS USE Set by manufacturer Do not change This parameter was used in development to assess compass problems It allows for faking inputs and outputs in compass calibration and reporting For normal operations it is set to 641 which yields current behavior of trusting inputs from the compass and using and reporting fully calibrated values 641 COURSE BIAS A heading bias degrees to compensate for an observed tendency of Seaglider to veer to one side This value is subtracted from the desired heading to produce the target heading 360 360
321. information on stowing and moving Seaglider see Transporting Seaglider to the field on page 117 26 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties CHAPTER 4 Operating Principles Unlike an airplane there are no moving external control surfaces on Seaglider Figure 4 1 shows the primary components of Seaglider that control the movement of Seaglider through the water in a sawtooth pattern The configuration of your Seaglider system may differ depending on what you ordered Fixed oa wings CT sensor reely flooded forward fairing Freely floode aft fairing Isopycnal pressure hull Oxygen and other sensors Acoustic External transponder bladder Aft MNT LEE Electronics and 24 VDC lithium primary battery Electronics and 10 VDC lithium primary battery CT sensors Pressure sensor Hydraulic system and internal reservoir eU Rudder shoe Antenna mast Antenna element Figure 4 1 iRobot 1KA Seaglider and its primary components 27 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Co
322. ing Acenter position which is intended to be the vehicle neutral for that system in a particular envi ronment 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 24 V battery pack forward and aft along the longitudinal axis of Sea glider Figure 4 3 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 40 per centimeter of mass travel This SPITCH GAIN is a parameter as it is dependent on the particular sensor suite and trim ballast installed on each Seaglider Table 4 1 shows 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 Full aft nose up 3402 3352 PITCH MAX C PITCH example 2346 Pitch movement cm Pitch Observed counts C PITCH counts x PITCH_CNV cm counts 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 given C_PITCH Pitch is u
323. ing dive data has been selected the Dive Numbers field is 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 iRobot Seaglider Dive Data Dive Data Folder H Data_SBSis95481201 11214_548_ShilsholeProductionCheckout Dive Numbers Analysis Parameters Plot Selection 1 N Vehicle Attitude 2 3 VED Bias cc 0 CTD 4 1 5 Ref C VBD 2700 Denst 5 7 Vol Max 54788 Dissolved Oxygen 3 Leni ig Back Scattering Figure D 7 Select dive data for analysis 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 subsequent sections of this document For now we will use the default values 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 250 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains T
324. ing 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 lridium 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 222 IMPORTANT NOTICE 1KA Seaglider User s Guide WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities 2 2 Processing control files Sun Dec 2 19 19 23 2007 sg123 sg0055dz x01 XMODEM got error Renamed partial file sg0055dz x01 to sg0055dz x01 PARTIAL 1 Sun Dec 2 19 19 23 2007 sg123 processed partial file sg0055dz
325. into the reservoir decreases the displaced volume which decreases the buoyancy of Seaglider Figure 4 4 shows the location of the external bladder 1KA Seaglider User s Guide 33 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 4 Operating Principles External bladder in flooded tail section inflates and deflates to change buoyancy Figure 4 4 External bladder inflation and deflation 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 vertical stabilizer while banked executing turns Drag The shape of the hull was designed to maintain laminar flow over 70 of the hull length between nose and CT sail Eriksen et al 2001 Humphreys Smith et al 2003 Drag is partitioned into two types in the Seaglider flight model Induced drag Allother 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 Temperature sensor
326. ion Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Power parameters NOTE For units with GPCTD installed or no CT Sail these parameters are set to 0 e If changes are made to a SEABIRD coefficient the change should also be made in the sg calib constants m file for that Seaglider vehicle see Appendix B Seaglider File Formats Manual on page 201 2 To return to the Parameters and Configuration menu press Enter Power parameters 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 1 From the Parameters and Configuration menu select 18 Power parameters and press Enter Figure F 21 The current value for each parameter is in brackets to the right of the parameter name Enter selection 1 27 CR 18 T Power current value in 1 1 AH0 150 24v pack capacity CAmpHr 2 A 100 pack capacity CAmpHr 3 MINV 19 pack minimum voltage 4 SMINV 10v 8 lOv pack minimum voltage 5 FG AHR 10v 0 10v fuel gauge consumption 6 rG AHR 24v 0 24v fuel gauge consumption 7 PHONE SUPPLY 2 Specifies battery for Iridium modem Clel0v 2224v CR Return to previous menu Enter selection 1 7 cR Figure F 21 Power Parameters menu 2 To return to the Parameters and Configur
327. ion Seaglider in its 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 Connect the communication cable to the laptop and power up the laptop 6 Start the terminal emulation program and open a capture file Tum on Seaglider and set the date time and power following steps 5 9 on page 21 through page 22 The Main menu with five numbered items displays Figure 3 16 lt lt lt Main Menu l param Parameters and configuration 2 hw Hardware tests and monitoring J modes Test operation modes and files 4 pdos PicoDOS commands and exit 5 launch Pre launch Enter selection 1 5 CR 5 m m mm am a Launch Menu 1 scene Set scenario mode selftest Perform interactive self test 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 1 CR 3 Figure 3 16 Prelaunch Type 5 Pre Launch and then press Enter Figure 3 16 Type 3 Perform Autonomous Self Test and then press Enter For sample output from an autonomous self test see Appendix E Autonomous Self Test on page 269 for sample output from an autonomous self test For information on the interactive self test see Interactive self test on page 133 NOTE You do not have to do
328. ion ts nc mission pro nc e pro bpo 1KA Seaglider User s Guide IMPORTANT NOTICE 203 WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix B Seaglider File Formats Manual dn kkyy up kkyy 2 1 Processed files 2 1 1 Log file p1230055 log One log file is made for each dive The first portion of the data is a list of the parameters and their values for that dive For more information see the Parameter Reference Manual The second section beginning with the entry GPS1 contains information concerning the predive period at the surface The GC labeled lines describe motor actions pitch roll or VBD one line per motor move The information listed 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 Seaglider systems will report all of the lines that appear in the example given here because the devices installed vary among Seaglider systems 204 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Cont
329. ions of these export laws are subject to severe criminal penalities Appendix F Hardware and Configuration Menus Hardware configuration parameters Seaglider hardware configuration 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 1 From the Parameters and Configuration menu select 12 Hardware configuration parameters and press Enter Figure F 15 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 6 7 8 9 Configure phone gps Configure GPS I xpdr Configure XPDR sensor Configure sensor logger Configure logger sensor 10 add 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 Figure F 15 Hardware Configuration Parameters menu 2 To return to the Parameters and Configuration menu press Enter Seaglider responds with the following command Re initialize hardware configuration N 3 Type N unless hardware configuration changes were made with the approval of iRobot Pressure external parameters Initial setup of the External Pressure parameters is done at the factory The Pressure_YINT parame ter
330. ircuits 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 212 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities 2 1 Processed files 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 0 000 103 000 160 000 22 3 000 420 000 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 BB2Fjil 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 877 155 1 421 748 579 0 000 0 000 0 000 SENSOR_MAMPS 724 000 19 000 105 000 0 000 0 000 0 000 DATA_FILE_SIZE 36111 664 The number of da
331. is Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Mission planning Column 4 Distance in meters Seaglider can be from the waypoint and still consider 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 is 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 in the list 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 For the correct syntax to make the change see Appendix C Extended PicoDOS Reference Manual v66 07 on page 233 If there is no valid targets file on Seaglider it uses the default target 8T
332. 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 4 Replace sensor dust caps and covers 186 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Recovery phase 5 Disassemble Seaglider rudder antenna and wings in that order following the directions below If sea conditions are poor disassembly may be better accomplished back on shore a Rudder i Slide Seaglider backward until the rectangular slot on the aft end fairing is clear of the cradle end see Figure 3 6 on page 18 ii Remove the screws holding the rudder in place 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 Working on one wing at a time remove the upper screws holding the wing in place then rotate Seaglider slightly and remo
333. isplayed matches the maximum VBD value on the Cal Sheet found in respective Seaglider notebook Figure 7 21 Ifthe maximum VBD value is correct press Enter to accept the default answer Ifthe 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 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 sys tems and displays the data to the screen Figure 7 22 With the exception of heading values fluc tuating around zero when Seaglider is pointing north the numbers should be nonzero If the values look OK press Enter to continue 148 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Interactive self test Figure 7 22 Checking sensors and data file creation 45 The glider will now report its internal pressure and humidity Generally if the internal pressure
334. istance 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 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 amps roll i Average current used by the roll motor in amps 210 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Tech
335. it may attract contaminates and foul the connector 15 Use low pressure compressed air to remove excess lubricant from the connector 16 Replace the dust caps on all of the science sensors 190 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Deep cleaning Seaglider 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 Remove the wings rudder fore and aft fairings and the antenna Reconnect the antenna to the pressure hull Using a fresh water tank soak all pieces overnight 12 hours Dry with a soft cloth OV qm co rct Put Seaglider back in shipping case if appropriate 1KA Seaglider User s Guide 191 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 11 Operator Level Maintenance
336. ity and den sity Figure D 11 Density is displayed on the plot as isopycnal curves Densities are plotted in differ ent colors for both the dive descent and ascent PSU indicates practical salinity units 936 9 68 o 5 Temperature C 92 9 12 9 04 8 96 Density SG 548 Dive 19 Seattle Mission Start Time 14 Dec 2011 03 42 19 4 S g Ig J S 4 E a 225 A 235 2288 23 Descent gt Ascent SD e kg m I I 2994 3001 g S 22 94 3 NON 52 29 59 29 66 Salinity PSU Figure D 11 Plot 3 T S plot 1KA Seaglider User s Guide WARNING This Document contains Techni 255 IMPORTANT NOTICE ical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities 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 Figure D 12 Oxygen data collected will be plotted using colors to distinguish data gathered on the descent and 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 sens
337. ive 2Mhz 3307856 641 SUSR N PicoDOS version C82 2535 1 63b 3307856 745 SUSR N Launched as MAIN 3307856 835 SUSR N Normal Heap 0 57343 bytes 3307857 002 SGLMALLOC N glheap_walk 322488 bytes free 2 blocks free 34664 bytes alloc 50 blocks alloc 3307857 176 SUSR N Sensors SBE CT 3307857 636 SUSR N MAIN RUN 506484 bytes 3307857 732 SUSR N Reporting directory contents 3307856 479 SU BATHYMAP 001 33792 BATHYMAP 002 38272 BATHYMAP 003 26752 BATHYMAP 004 48896 CURRENTS 220 IES CNF 220 IES GO 286 IES SMP 151 MAIN RUN 506484 NCP CNF 1016 NCP_CS 250 NCP_DL 124 NCP_GO 371 SG001PRM TXT 2785 TCM2MAT 123 192 GPCTD CNF 819 GPCTDDO CNF 853 QSP2150 CNF 128 SCIENCE 139 TARGETS 351 WLBB2F CNF 195 WLBB2FL CNF 222 WLBB3 CNF 194 WLBBFL2 CNF 230 THISDIVE KAP 6252 THISDIVE DAT 677 THISDIVE LOG 4395 THISDIVE WRK 18 BATTERY 449 BG091012 447 CMDFILE 18 ST0062KZ A 10682 STO061LU A 4356 STO061DU A 835 LOGGERS CMD 0 ST0062LU A 4395 ST0062DU A 677 1KA Seaglider User s Guide IMPORTANT NOTICE 271 WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Appendix E Autonomous Self Test 696143 bytes used 37 files 3307859 262 SUSR N Checking pressur
338. ives conserves the energy stored in the 24V battery 1KA Seaglider User s Guide 109 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 6 Predeployment Tasks 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 at 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 frequency 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 frequency at which the sensors are powered on and conserve the energy stored in the 10V battery Remove all unneeded commands Removing all unneeded command files from the basestation will decrease the amount of data transferred and conserve the energy stored in the 24V battery For mission p
339. ividual 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 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 stripla 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 striota chunk U31 1898 sumasc lt file gt 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 SG01 DZ A target targets new target lt radius gt The mec
340. kSize 1024 blkSize 10 size 403 blkSize 382 586 SSUREN Total NAK s 0 timeouts 0 382 764 SGLMALLOC N glheap walk 321180 bytes free 12 blocks free 35180 bytes alloc 73 blocks alloc 382 943 SUSR N Self test FAILED or ABORTED 383 05 Ll SUSR N 1 failures noted 383 129 SUSR N bathymetry maps failed 383 32 SUSR N Restoring original settings 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 7 sea Test Launch Sea Launch CR Return to previous Enter selection 1 7 CR Timed out Going to sleep Try a BREAK to wake 1024 attempt 1024 attempt 1024 attempt 1024 attempt 1024 attempt 1024 attempt 1024 attempt 1024 attempt 1024 attempt 1024 attempt Ree eee ee ee 278 IMPORTANT NOTICE 1KA Seaglider User s Guide WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties APPENDIX F Hardware and Configuration Menus There are a number of functional checks of and changes to configuration that you can do when directly connected to the IKA
341. l Display calibrated bearing pitch amp roll 5 direct Direct comms with unit 6 capture Capture compass serial output command Send command to SP3003 R reset Reset SP3003 9 whirly Whirly calibration display raw sensor outputs 10 whirlraw Whirly calibration C SP3003 only display transducer counts 11 config Configure TCM2 12 calib Calibrate compass 13 calibraw Calibrate compass w SP3003J raw raw reader 14 auto Autocalibrate compass manual cal stand mode 15 insitu J Autocalibrate compass in situ mode 16 coeff Read calibration coefficients 17 power Power cycle test 18 edit Edit compass parameters CR Return to previous Enter selection 1 18 C amp Figure F 40 Compass Attitude menu 2 To return to the Hardware menu press Enter 1KA Seaglider User s Guide 309 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix F Hardware and Configuration Menus GPS menu Use the GPS menu options to check the basic functionality of the GPS unit 1 Select 7 GPS and press Enter Figure F 41 T GPS Menu l selftest GPS self test acquire fix 2 display Display lat long amp sat
342. l 25 cm s horizontal speeds is such that a significant portion of a shallow water dive can be spent turning onto the correct course The most efficient pressure for the pumps differs for a standard buoyancy engine SBE or an enhanced buoyancy engine EBE If an SBE is installed both pumps run continuously at any depth except at the surface iRobot recommends using the boost pump at the surface to decrease the current draw At 10 m or shallower the boost pump pumps 1 9 to 2 5 cc s At a depth of greater than 10 m the boost pump does not move any oil into the bladder and both pumps are required with the flow rate of 1 1 cc s An EBE has three operational modes boost pump only main pump only and both pumps Use the boost pump only at a depth of 120 m or shallower up to 180 psi with a flow rate of 1 9 to 2 5 cc s At a depth of more than 120 m use the main pump mode only to save some battery power this mode also has a flow rate of 1 1 cc s When running both pumps the flow rate is 1 1 cc s when operating in this mode the boost pump uses more power and so decreases battery life 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 The operating guidelines are to operate in water deeper than 200 m on offshore deepwater missions and to try to stay in water deeper than 75 m
343. l Parameters Validate parameters Noredd ci Show changed parameters Clear changed parameters Save parameters by name to a file Dump parameters tO SCIeen eee eese eese ee eene ene en neenon etas tosta test ts sosse Skos SSPR SSS tasso Soses Load parameters from a file 4 eee eee eee eee eee enne ensis tassa sins is tosta setas en sensu sensu an Ine Hardware menu for tests and monitoring eee eee ee ee eee ee eerte eee nete etna tne tn sena etna so setae eese saa 298 PitCh Control inen ois eet orte eins pre bees ebuge ute PeTe esso e ie vous voee Dep esent vases Uses suh e ous bossos TE Pe D S Current motor position eee ee eese ee eene enne nete tenetur asunto Move to position AD counts and cm Change the A D COUNIS s sscsissccssescsssderscensesevesconsnavcososeseasenssconsssunss Pe EE ePe age Uo se ep sa bee o eso enun pn Change the cm centimeters of movemennt eee eere eee ee eee eese eese ta etas tn etas tn seen etas tne 299 Edit pitch parameters 4o eiie eee a de to sea ho peto dedos ioo sa seat pd dE ceo ada LU pe Due dU Ronan de saos sea sa age eo pde sa gea Pipe 300 Run pitch duty cycles 4 eee ee eee esee etes eese senta tna tn tata senses enses tasa sn se neose oE osovi ens tn sensn ue 300 Run pitch and roll duty
344. l result in incorrect scientific data in the plots 1KA Seaglider User s Guide IMPORTANT NOTICE 223 WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix B Seaglider File Formats Manual Example Calibration Constants file 96 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 TM me 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 frequen
345. l 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 For detailed information on the control scheme see Run phases on page 41 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 Sensor interfaces and sampling 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 in Chapter 6 Predeployment Tasks on page 107 Examples of OSI sensors supported by iRobot are SBE CT WET Labs Eco Pucks Aanderaa Optode SBE DO Biospherical PAR Examples of ALI sensors supported by iRobot are SBE GPCTD Nortek AD2CP Sensor sampling intervals for the OSI sensors are specified in the science file The practical lower limit on sampling is 4 seconds if onl
346. lanning on deep dives iRobot recommends using the information in Table 6 1 to esti mate energy usage Table 6 1 Energy budget for a 1000 meter dive Seaglider subsystem Energy consumed Battery used 96 Pump 9 kJ 70 Computer 2 kJ 15 Sensors 1 kJ 7 Telemetry 1 kJ 7 Total 13 kJ 100 NOTE For a deep slow dive of 200 cc of thrust and stratification of 150 cc Mission duration examples The following comparison shows expected endurance for standard and enhanced buoyancy engine gliders carrying the same science sensor payload Conditional assumptions for all examples in Table 6 2 MAX_BUOY 150 SM_CC 350 Calls per dive 1 5 10 cm sec vertical velocity 5 of packs used at beginning of mission 5 of packs left at end of mission No capture files transmitted Call in after every dive 110 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Mission planning Above 100 m sample dissolved oxygen WetLabs and Conductivity amp Temperature Sail every 10 sec onds Guidance amp Control Interval 60 Between 100 m 500 m sample Conductivity amp Temperature Sail every 10 seconds and
347. lations of these export laws are subject to severe criminal penalties Alphabetized parameters Table 5 4 Parameters in alphabetic order Parameter Nominal Min Max Definition value value value D BOOST The depth meters above which only the boost pump will run If SD BOOST O then both the boost pump and the main pump run simultaneously If the value of SD BOOST is greater than zero and the depth of Seaglider is shallower than SD 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 5 0 5 ENGINE SBE is installed in the Seaglider set D_BOOST with values stated here NOTE The boost pump on the standard buoyancy engine is not capable of pumping oil to increase buoyancy below 5 m If an ENHANCED BUOYANCY 120 0 120 ENGINE EBE is installed in the Seaglider SD BOOST is used in conjunction with ST BOOST with values stated here D CALL A depth meters above which the 0 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
348. lder that you created in step 1 244 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Using the dive plot analysis software Using the dive plot analysis software Run the MATLAB application Per the instructions provided by MATLAB 2010a start the MATLAB software When the MATLAB Integrated Development Environment IDE appears on your computer monitor it will look very simi lar to Figure D 1 Figure D 1 Example of MATLAB Integrated Development Environment 1KA Seaglider User s Guide 245 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix D Dive Data Visualization Software 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 Figure D 2 At the t
349. le s fromthe from the trim sheet vehicle s vehicle s trim trim sheet sheet C ROLL CLIMB The center neutral or straight flight 2025 Actual Software Software position A D counts for roll during the initial value minimum maximum climb positive pitch control phase obtained of system of system NOTE The climb and dive roll centers from obtained obtained will probably be different This was vehicle s from the from the implemented to correct for roll biases trim sheet vehicle P vehicle s induced by physical asymmetries in dum d sheet sheet Seaglider 60 IMPORTANT NOTICE 1KA Seaglider User s Guide WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Alphabetized parameters Table 5 4 Parameters in alphabetic order Nominal Min Max Parameter Definition value value value C ROLL DIVE The center neutral or straight flight 2025 Actual Software Software position A D counts for roll during the initial value minimum maximum dive negative pitch control phase obtained of system of system NOTE The climb and dive roll centers from obtained obtained will probably be different This was vehicle 5 from the from the implemented to co
350. led SPOTSHost The SPOTS is connected to a PC via the USB Blue available from Wildlife Computers only SPOT5Host synchro nizes communications with the POSTS s on board software It sends and receives commands to the SPOTS Parameters are downloaded from SPOTS to the PC SPOT5Host allows modification of those parameters After the parameters are set they can be uploaded to the SPOTS For directions on programming SPOTS user parameters see Setting up and installing the Argos SPOTS tag on page 126 1KA Seaglider User s Guide 163 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 7 Prelaunch Procedures 164 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties CHAPTER 8 Tuning Your Seaglider Tuning your Seaglider The pilot is responsible for tuning the glider during a deployment After Seaglider has surfaced from its first dive and transmitted t
351. les to execute 10 1 Seaglider cycles the pitch and roll motors and outputs the movement to the screen as the exercise is happening 3 To stop 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 1 To run the pitch motor from software stop to stop without user input select 7 Pitch Test and press Enter Seaglider then outputs the pitch motor movement on the screen At the conclusion of the test the user is returned to the Pitch Control menu 2 To return to the Hardware Menu one level up press Enter Roll Control menu The method for accessing the roll control options and performing tests is the same as it is for Pitch Control Pitch parameters 1 Select 2 Roll control and press Enter Figure F 30 e Roll control menu 1 read Current position ad Move to position AD counts eu Move to position deg for stbd Edit roll parameters Run roll guty cycles Run pitch amp roll duty cycles CTL Q to quit Roll test to previous Figure F 30 Roll Control menu For instructions on making edits to the roll parameters see Roll parameters For a description for each parameter and the acceptable range of values see Chapter 5 Piloting Parameters on page 47 For the exact values of SROLL MIN ROLL MAX and C ROLL see the trim sheets in the notebook shipped with the Seaglider
352. ll also close if another Dive Number is plotted using the Generate Plots button Auto tile Plots aids in organizing visualization plots on the computer screen If the Auto tile Plots box is checked and you then click the Generate Plots button the plots are automatically organized in a window pane style on the screen If the Auto tile Plots box is not checked when the Generate Plots button is selected the plots are stacked one on top of the other with plot 1 being first but can still be organized after generation by selecting Tile Plots Figure D 8 shows an example of the Auto tile Plot function 1KA Seaglider User s Guide 251 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix D Dive Data Visualization Software w tee I eee a lida 4 59es an0870sn2 Nade V4 V 09ve a208 Z2 BO Din d I re Metas But Ton tf Oyo 2 comme Fe dub 4 tee Dep cde m Jods SOSH 4 AOD eo _ Gumi ee Fat ht n T d m I TE Wr Fe oW 3 e Dm Dem H tm Jade i 54096 BOE 2a Vence heme hres atata dade 4 450904 AA eo sems ENDE Fe ode ceni um been e m JOWd 9 5964 209 eo dee
353. logger sensor slot Then the Edit Hardware Configuration Parameters menus is displayed 19 Press Enter The Re initialize hardware configuration N promptis displayed 20 Type v and then press Enter Software initialization begins and the Edit Parameters menu is displayed 1KA Seaglider User s Guide 193 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 11 Operator Level Maintenance Verifying AD2CP sensor communications 1 Power on the Seaglider vehicle If the Seaglider is already powered on ensure that you are at the Main menu From the Main menu type hw or 2 and press Enter The Hardware menu is displayed From the Hardware menu type 1oggers or 12 and press Enter The Loggers menu is displayed From Loggers menu select the item which corresponds to the NCP The Logger Device Test menu is displayed From Logger Device Test menu type action or 8 and then press Enter The following line is displayed Action 2 Press Enter A line that contains HNCP N sampling started is displayed Then the Logger Device Test menu is displayed 7 Wait 2 minutes for the sensor to collect data 8 From the Logger Device Test me
354. lphabetized parameters Table 5 4 Parameters in alphabetic order Parameter Definition Nominal value Min value Max value VBD PUMP AD RATE APOGEE Set by manufacturer Do not change The pump rate in A D counts per second 4 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 glider continues to monitor speed and retry if speed dips below set value until the timeout limit is reached then an error is declared 1 6 VBD_PUMP_AD_RATE_SURFACE Set by manufacturer Do not change 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 glider continues to monitor speed and retry if speed dips below set value until the timeout limit is reached then an error is declared 5 VBD_TIMEOUT The total time seconds allowed for any commanded change in VBD position If the VBD does not achieve the desired position before VBD_TIMEOUT seconds a VBD error occurs 720 120 900 XPDR_DEVICE Set by manufacturer Do not change A configuration value specifying the model of the attached device These devices have dedicated hardware ports on all motherboard revisions and as such a port specification is not necessary See
355. ls 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 connection 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 158 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Simulated dives to be resent by Seaglider to the basestation using the pdoscmds bat file see Appendix C Extended PicoDOS Reference Manual v66 07 on page 233 The recov message is sent when Seaglider goes into recovery mode This message includes the most recent GPS position and the recovery mode reason The comp message tells the pilot what files completed processing on the basestation An example pagers file is below For an additional example see Appendix B Seaglider File Formats Manual on page
356. lt answer Ifthe maximum 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 is the latest version enter the correct value and then press Enter f Do one of the following e If the default value for nominal pitch timeout appears typical value should be 16 or 17 press Enter e If the nominal value does not appear enter the value 17 and press Enter 42 Check the roll motor and values Figure 7 20 M i 3 Y1M Figure 7 20 Checking roll motor a At the prompt Verify roll SW limits and timeouts Y press Enter to accept the default Yes Figure 7 20 b At the prompt ROLL_MIN New value x verify that the value displayed matches the minimum roll value on the Cal sheet found in respective Seaglider notebook 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 At the prompt 5ROLL MAX New value x verify that the value displayed matches the maximum roll value on the Cal Sheet found in respective Seaglider notebook Figure 7 20 e If the maximum roll value is correct press Enter to accept the default answer Ifthe maximum roll value at the prompt differs from the val
357. lysis software Plot 11 Buoyancy contoured plot The Buoyancy Plot displays VBD in cc s at different or The plot also displays the current C VBD SM CC surface maneuver cc s and the recommended cc s CC 54 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 0 Buoyancy Contoured CC SG 548 Dive 19 Seattle Mission Start Time 14 Dec 2011 03 42 19 2264 T NND 22 68 528 2272 22 76 22 8 22 84 22 88 o kg m 22 92 i 22 96 23 23 04 23 08 23 12 Lil Li i 3 i 361 94 27743 192 92 108 41 23 9 6061 145 12 22963 314 14 398 65 483 16 567 67 VBD ec l Figure D 21 Plot 11 Buoyancy contoured plot 1KA Seaglider User s Guide 265 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix D Dive Data Visualization Software Plot 12 Glider track plot The glider track plot displays the track and heading from an aerial view Figure D 22 Several flight characteristics
358. m is exhibiting faulty behavior the Sea glider is commissioned incorrectly or the password is incorrect 120 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Transporting Seaglider to the field Table 6 5 Error messages for phone calls Continued Error message Description NO LOGIN PROMPT DETECTED See UNABLE TO LOGIN excludes dropped calls BASESTATION NOT READY TO See UNABLE TO LOGIN excludes Seaglider may be commis RECEIVE sioned incorrectly and password might be incorrect 1KA Seaglider User s Guide 121 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 6 Predeployment Tasks Final launch procedure 1 At the Main Menu type 5 Pre Launch and then press Enter Figure 6 4 Hain Menu 1 param Paraneters and configuration 2 thu J Hardware tests and monitoring 3 nodes Test operation modes and files 4 Updos Pi
359. matic adjustment of the roll centers 1KA Seaglider User s Guide 91 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 5 Piloting Parameters Table 5 4 Parameters in alphabetic order Nominal Min Max Parameter Definition value value value SROLL ADJ GAIN This parameter with 0 0 1000 ROLL_ADJ_DBAND controls the automatic adjustment of the Seaglider roll centers based on observed turn rate If climbing the amount of the adjustment is turn rate ROLL_ADJ_GAIN If diving the amount of adjustment is turn rate ROLL_ADJ_GAIN 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 G amp C phase If HEAD ERRBAND is large then several active passive G amp C phases might pass before a turn is initiated and the new roll center is used A new adjustment is computed only after a turn has been completed ROLL_CNV Set by manufacturer Do not change Roll position conversion f
360. me To A File option see 297 Iigure P 24 Hardware Tenue ace eee lee ad tete ree ovens 298 Figure F 25 Pitch Control menu essere nennen tnnt erret eene 298 Figure F 26 Current pitch control position information eee eeeeeeeeeeereeseecsecesecneeaees 298 Figure F 27 Current AD count for pitch motor seen 299 Figure F 28 Pitch motor movement by changing A D counts 299 1KA Seaglider User s Guide xv IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities List of Figures Figure P 29 Pitch Duty Cycling ea sai e mie iie Deep teque ts 301 Figure F 30 Roll Control menu sees enne nennen treten nenne ene 302 Figuie E 3 VBD Controlmenu inerte ep te ee eere 303 Figure F 32 VBD valve characterization sese 304 Fipuie E 33 ValvenoiSe test 2 ie eer eec b ce d pce id coo Oe 304 Figure F 34 VBD valve cycling niesen ee nennen nennen ener ener enne ene 305 Figure F 35 VBD pump and bleed pressure test essere 306 Figure F 36 VBD pump and hold at pressure test sesseeeeeeeeeeeneen 307 FipuieE 37 Specialtest 31 sitet edere be HU ee
361. meter 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 Figure D 16 Fluorescence SG 548 Dive 19 Seattle Mission Start Time 14 Dec 2011 03 42 19 040 5 5081 51215 5162 52025 5243 52035 5324 53645 5405 54455 5486 55265 ppb Pane il Og get HESS gf 20 de SER E t 4 x aj 30 gt SH 40 Eus iy so irm as Chlorophyll 1 Descent ae Chlorophyll 1 Ascent 60b inp See eee E n eeescnnnvanendpronvencananestipet rr 2340 262507 462674 662841 863009 063176 263343 463510 663677 863845 064012 264179 464346 66 ng Figure D 16 Plot 6 Fluorometer data 260 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Using the dive plot analysis 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 Figure D 17 Ideally the pilot would like to s
362. meter to below the maximum depth the vehicle will go if the intent is to sample all the way through apogee 0 1100 72 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Alphabetized parameters Table 5 4 Parameters in alphabetic order Parameter Nominal Min Max Definition value value value ES RECORDAPOGEE An echo sounder command that 0 0 1 specifies whether or not the sensor should be sampled during apogee or turned off If the value is set to 1 the echo sounder will sample through apogee If the value is set to 0 the echo sounder will be turned off during apogee ES_RECORDCONTINUOUS An echo sounder command that 0 0 1 specifies whether or not to turn off the sensor during apogee and start a new cast If the value is set to 1 the echo sounder will not turn off the sensor during apogee If the value is set to 0 the glider will turn off the sensor at the start of apogee or after apogee as defined by ES RECORDAPOGEE If ES RECORDCONTINUOUS is set to 1 it overrides ES RECORDAPOGEE and ES PROFILE ES UPLOADMAX The current profiler does not use this parameter ES
363. mic parameter 9 85E 06 representing the induced drag coefficient determined empirically and used in on board performance prediction and guidance calculations 0 0001 1KA Seaglider User s Guide IMPORTANT NOTICE 75 WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 5 Piloting Parameters Table 5 4 Parameters in alphabetic order Parameter Nominal Definition value Min Max value value HEAD ERRBAND Deadband for heading degrees 10 This value is used to determine if a correction to heading is required 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 equal to HEAD ERRBAND no heading correction is made If the difference is greater than HEAD ERRBAND then a turn is performed until the heading is passed or until the amount of time T TURN has elapsed 0 180 HEADING Floating point value between 1 0 and 1 360 0 true degrees 0 0 and 360 0 are equivalent values Used in conjunction with certain navigation modes controlled by the NAV_MODE parameter to determine the course steered by the Seaglider
364. n 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 243 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties 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 soft ware Hardware e 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 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 2 Copy the visualization files supplied under the Matlab Scripts folder on your CD or via FTP site into the fo
365. n be the limiting factor When you re operating in shallow water resulting in frequent VBD pumping the 24 V battery will likely run out first When you re operating in deeper water doing very little science sensor sampling the 24 V will still likely run out first When you re operating in shallow or deep water and you re sampling the science sensors heavily the 10 V battery will run out first Seaglider 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 108 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to sev
366. n 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 e Pitch adjustment VBD adjustment e Roll adjustment 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 defini tions of active and passive modes refer to G amp C operations only They do not apply to data acquisition intervals or activities Seaglider is acquiring data during all profile phases whether in active or passive G amp C mode In passive G amp C mode the processor enters a low power sleep state between data acquisition 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 For detailed information on the launch procedure see Chapter 6 Predeploy ment Tasks on page 107 At launch Seaglider is in its surface position rolled to neutral pitched fully forward and pumped to 8M CC which is typically the maximum VBD for launch and enters a nor mal surface phase acquiring GPS1 fix and initiating a communication session with the basestation via Iridium satellite Surface
367. n sensor pumped e Sea Bird dissolved oxygen sensor unpumped e Sea Bird CT Sail e Aanderaa dissolved oxygen e WET Labs ECO Pucks e Photosynthetically Active Radiation PAR sensor e Sea Bird Glider Payload Conductivity Temperature Depth GPCTD sensor Acoustic Doppler Current Profiler Nortek AD2CP Glider e Imagenex 853ES Echosounder The pilot controls the frequency of science data collection by specifying sensor sampling intervals 4 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties CHAPTER 2 Checking Out Crate Contents Inspecting Seaglider system shipping container The 1KA Seaglider is shipped in a reusable container that serves as a field transport and storage case Figure 2 1 Your configuration may differ depending on what you ordered Power wands Rudder Wing Antenna mast Cradle rails Spares kit Yellow cradle mesh Seaglider Wing CF sensor straps end plates Figure 2 1 1KA Seaglider system in open shipping case Locate the following components in the shipping case 1KA Seaglider body e Sea Bird Electronics conductivity and temperature CT sensor installed on Seaglider body e Port and s
368. n the rear of the aft fairing is outside of the cradle Figure 3 4 CAUTION 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 The O ring is critical for a watertight seal Failure to install the O ring properly can result in loss of Seaglider 7 Remove the screws from the black hatch cover on the top of the aft fairing and take off the hatch cover to expose the antenna and communication cables and the bulkhead connectors on the aft endcap and check the tightness of the connectors Put the hatch cover and the screws in a secure place near Seaglider Figure 3 5 and Table 3 1 show the location of the bulkhead connectors on the aft endcap and the allowable sensors for each port NOTE Seaglider is shipped from iRobot with the antenna and serial cables attached The serial connections should be hand tight To tighten the antenna use a 3 4 inch wrench to hold the DGO connector while tightening it 1KA Seaglider User s Guide 15 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ
369. nalities Chapter 5 Piloting Parameters Table 5 4 Parameters in alphabetic order Parameter Nominal Definition value Min value Max value DEVICE 1 2 3 4 5 6 Set by manufacturer Do not change 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 the Seaglider software These entries are set through the Seaglider menu system by the builders assemblers 104 DIRECT CONTROL Allows direct control of the pitch and 0 buoyancy settings of the glider If this parameter is set to 1 then buoyancy used will be MAX BUOY and the pitch chosen will be equal to the GLIDE SLOPE for the dive and climb DIVE The number of the next dive 1 9999 EBE_ENABLE Enables Enhanced Buoyancy Engine 0 EBE functionality A value of 1 turns this functionality on ES_PROFILE An echo sounder command that specifies when the current profiler 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 ES RECORDABOVE An echo sounder command that sets the 1000 depth in meters above which the sensor will sample A value of 0 turns the sensor off Make sure and set this para
370. nd file is initially QUIT This holds Seaglider at the surface when it is first put in the water for the deployment If the com mand RESUME is inadvertently left in place Seaglider will dive as soon as it is given permis sion 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 evalu ated 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 informa tion Table shows an example of a targets file and a description of each column Table 6 3 Sample of North Carolina coast targets 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 lat 3353 9 lon 7625 2 radius 200 goto WPTHREE WPTHREE lat 3352 2 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 decimal minutes no spaces between degrees and min utes Column 3 Longitude of waypoint in degrees decimal minutes 112 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING Th
371. neath Internal components of the hydraulic system CAUTION The components inside the pressure hull are user serviceable only by customers who successfully complete Refurbishment Training Any unauthorized opening of the pressure hull voids the one year warranty see Appendix K Standard Limited Warranty to Original Purchaser on page 345 28 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Seaglider components Mass shifter with 24 VDC battery pack The 24 VDC lithium primary battery pack can be moved by the mass shifter mechanism forward and aft to control vehicle pitch Figure 4 2 and side to side to control vehicle roll Figure 4 3 Battery pack moves fore and aft to change glider pitch Figure 4 2 Mass shifter causing pitch change Aside from providing the weight needed to change the pitch of the Seaglider system the approxi mately 9000 g battery pack also powers 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 the Seaglider system roll when the mass shifter is rolled to the port or
372. ng 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 zipped file lt file gt Uncompresses file compressed with gzip Example gunzip chunk GZ MAIN RUN gzip file zipped file Compresses file with gzip Example gzip MAIN RUN MAIN GZ Isleep seconds Pause execution in low power sleep for up to 60 seconds md5 signature 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 reboot new executable code on the Seaglider Example md5 082ab2b608626181e73b17429c55dd8f chunk GZ 1KA Seaglider User s Guide 239 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended
373. nical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities 2 1 Processed files 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 VBD 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 2
374. nical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Low Level Hardware menu Low Level Hardware menu This menu is used during manufacture and if there is an apparent low level hardware failure Do not make changes through this menu except at the direction of iRobot Customer Service 1 Select 14 Low level Hardware and press Enter Figure F 49 Lowlevel hardware functions I O lines 1 io Set and read IO lines 2 watchdog Hang and test the watchdog 3 stroke Repetitively stroke the watchdog A D converters int Internal A D Power control 5 measure Measure device power 6 report Report active devices CompactFlash f Lect CF card evaluation 8 size Report CF card size 9 terminal Serial port terminal mode CR Return to previous Enter selection 1 10 cR Figure F 49 Low level Hardware menu 2 To return to the Hardware menu press Enter Miscellaneous Hardware Functions menu With the exception of the first Prepare for Travel and fourth Read set time of day menu items iRobot recommends that you do not access or change any of the other menu functions without con sulting iRobot Customer Service 1 Select 15 Miscellaneous Hardware Functions menu and press Enter
375. nna to the glider 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 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 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 the Seaglider on page 14 Performing the interactive self test Run the interactive self test Interactive self test on page 133 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 112 targets edits on page 112 and science edits on page 114 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
376. ns in the targets file 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 The depth allows the pilot to define the target as a depth e The finish specifies a direction degrees and establishes a finish line through the target perpen dicular 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 1KA Seaglider User s Guide 173 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 9 Files for Operations Example 1 Finish direction of 90 specifies a north south finish line drawn through the target the tar get 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 Sea glider 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
377. nsole 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 238 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix C Extended PicoDOS Reference Manual v66 07 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 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 wild cards in 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 _really_mean_it clears all utility storage includi
378. nter and gain C PITCH and PITCH GAIN parameters Figure D 18 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 Control SG 548 Dive 19 Seattle Mission Start Time 14 Dec 2011 03 42 19 60 50 1 Coach 2900 Pitch gain 32 cm Pitch control range 8 78965 to 3 20703 cm 40 Himplied pitch center 2917 35 f implied pitch control range 8 84387 to 3 15281 em FA 30 Assumed pitch conversion 319 922 counts cm aft p 20 s 10 J i i y a 10 fos 20 L j 5 30 A y 40 A 50r Actual Pitch Pitch 2 1 9119 Pitch con qm Moe Mea 60 L 1 i i t r j 3 5 3 2 5 2 41 5 1 0 5 0 0 5 1 Pitch Control cm Figure D 18 Plot 8 Pitch control plot 2 25 3 35 262 IMPORTANT NOTICE 1KA Seaglider User s Guide WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Using the dive plot analysis software Plot 9 Roll control Roll control is displayed on plot 9 Figure D 19 The plot displays the roll co
379. nterval Sampling Rate Sample time x respective sensor sample interval where e Sample time value in column 2 e CT 1 digit of the value in column 3 e SBE 43 2 4 digit of value in column 3 e WET Labs 3 digit of value in column 3 The science sampling for this file works as follows looking at the sampling protocol rows e First row of sampling protocol e Sampling in depths from 0 50m e Each of the sensors is sampled once every 5 seconds This value is calculated by multiplying 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 176 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Files placed on the basestation by the pilot e Second row of sampling protocol e 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
380. ntrol Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Chapter 4 Operating Principles 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 pressure hull which is designed to have the same compress ibility as seawater Other gliders have rigid pressure hulls that are designed to maintain a fixed volume at all rated pres sures As gliders with non isopycnal hulls dive any density increase in the surrounding water causes them to acquire positive buoyancy This requires 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 The isopycnal hull of the Seaglider eliminates that need as the pressure hull does not acquire 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 under
381. ntrol on the descent and ascent as well as the current roll centers and gain values The roll center parameters are adjusted by pilots CC ROLL DIVE C ROLL CLIMB Ideally both regression lines should pass through 0 0 Roll Control SG 548 Dive 19 Seattle Mission Start Time 14 Dec 2011 03 42 19 40 C 1963 COM 4900 CB 1825 rot Roll control range 46 to ps 287 implied C 2 1836 ETE CM 1797 implied roll eoio range 45 8667 to 56 0275 Assumed roll control gain 35 37 counts to stbd 10r gt Roll Pron 0 424471 Roll control 0 573165 esci 0 651279 Roll Control 0 582986 Roll se 0 651279 Roll Control 0 571402 od Descent Ascent 40 4 i i i 50 40 30 20 10 0 10 20 30 Roll Control Figure D 19 Plot 9 Roll control 40 50 1KA Seaglider User s Guide IMPORTANT NOTICE 263 WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities 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 c
382. ntrols 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 beginning with a are comment lines and are ignored in processing Joe Smith Joe Smith will receive emails to his APL account and text j0e gmail com gps alerts recov messages to his Sprint phone but will not receive messages jsmith apl washington edu recov 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 every 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 881645559999 msg iridium com gps 2 2 4 Basestation log baselog 000000999999 baselog log Time hhmmss time zone as kept on basestation Date 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
383. nts 1KA Seaglider User s Guide 77 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 5 Piloting Parameters Table 5 4 Parameters in alphabetic order Nominal Min Max Parameter Definition value value value LENGTH Length in meters of the Seaglider direct 1 8 standard Set by manufacturer Do not change control fairing 2 Ogive LOGGERS A bit mask that tells Seaglider which of the autonomous logging devices 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 following bitmask An X means the ALI sensor is running LOGGER value Sensor 1 Sensor 2 0 1 X 2 X 3 X X 7 0 15 MASS Set by manufacturer Do not change The mass of Seaglider in grams This value is used in on board buoyancy and current estimation calculations 52000 500000 54000 MAX BUOY 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 buoy
384. nu type action or 8 and the press Enter The following line is displayed Action 2 Type 4 and then press Enter The following line contains 383 394 HNCP N sampling stopped Then the Logger Device Test menu is displayed 10 From logger device test menu type action or 8 and then press Enter 11 The following line is displayed Action 2 Type 9 and then press Enter The following line contains HNCP N Received bytes and the number of bytes should be greater than 50 397 459 HNCP N downloading file cp3000au x 405 802 HNCP C Received 212 bytes Compressing cp3000au x to cp3000az x 408 157 HNCP N downloading file cp3000bu a 416 505 HNCP C Received 212 bytes Compressing cp3000bu a to cp3000bz a If the number of received bytes is greater than 50 validation is complete If the number of received bytes is 50 or less contact iRobot Maritime Customer Support for guidance 194 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties CHAPTER 12 IKA Seaglider Refurbishment iRobot refurbishment Follow these steps to return your iRobot maritime product for refurbishment calibration or other ser vi
385. number followed by a four digit dive number both with preceding zeros e g p1230055 1og Numerals after the dot in a filename are represented by Os and when additional numerals are needed 9s Because they repre sent 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 users identify and interpret files they will encounter on the basestation 201 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix B Seaglider File Formats Manual 1 2 1 List of files found on the basestation using SG132 dive 55 for example filenames These files are described in the document below processed files cache baselog 080221110101 baselog log sg calib constants m cmdfile comm log p1230055 eng p1230055 log 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 glid
386. o a mode to accept commands 1 Connect the communication cable from Seaglider system to a laptop 2 Open a Tera Term session on the test laptop 3 Wand the Seaglider pressure hull on and enter the current date and time Set current date and time CR for default 04 20 2009 05 25 12 01 29 2010 10 30 00 Are you running on external bench power N 4 From the Seaglider Main menu enter hw loggers cp direct 5 Type CCC 6 Wait a few seconds and type K1W o and press Enter The sensor returns the response OK 7 Type MC and press Enter The sensor returns the response OK 8 Type SETUSER HX 0 HY 0 HZ 0 and press Enter The sensor returns the response OK 9 Type SAVE USER and press Enter The sensor returns the response OK 10 Type COMPASSCONT 5 CalFile SG506 7 25 12 txt include quotation marks where SG506 is the glider number and 7 25 12 is some unique file identifier this example uses the date Press Enter Sensor data streams to the terminal 11 Move the glider as follows Each sequence should be completed smoothly and slowly with each full rotation taking at least 60 seconds to complete All heading rotations can go in either direction to minimize the cable tangling around the stand Keeping the pressure hull level rotate the heading around 360 degrees starting at 000 and coming back to 000 e With the pressure hull still pointed at 000 remove the
387. o 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 apo gee maneuver NOT the actual bottom depth After the files are generated load them onto Seaglider s flashcard following this procedure 1 Connect the laptop to Seaglider via the communication cable 2 Tum on the laptop and start a screen capture or log file 3 Wand on Seaglider 4 Press Enter when Seaglider output appears on the laptop 5 Set the date and time 6 Select appropriate power source 7 Type 4 pdos from the Main Menu and then press Enter 8 At the PIcoDOS prompt type xr bathymap xxx where xxx is the number from 001 999 of the bathymap 1KA Seaglider User s Guide 115 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 6 Predeployment Tasks 10 Select the desired bathymap file 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 from PicoDOS type quit and press Enter pagers file F
388. o 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 express 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 seq or the Export Administration Act of 1979 as amended Title 50 U S C App 2401 et seq 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
389. o pressure hull eee 323 Figure G 3 Lead ballast secured with straps sese 323 Figure G 4 Applying syntactic foam ballast to pressure hull eese 324 Figure G 5 Syntactic foam ballast affixed to pressure hull sese 324 Figure H 1 Polaris compass calibration site seeeseeeneenen eene 327 Figure H 2 Inclinometer mount assembly sess 328 Figure H 3 Calibration stand correctly assembled seen 329 Figure H 4 Travel mode menu liaere rrene nerean nei ares nen enne enne tenens 332 Figure H 5 Travel mode menu 2 sse ener enne nennen nennen 333 xvi 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities List of Tables Table 3 1 Table 4 1 Table 4 2 Table 4 3 Table 5 1 Table 5 2 Table 5 3 Table 5 4 Table 6 1 Table 6 2 Table 6 3 Table 6 4 Table 6 5 Table 7 1 Table 7 1 Table 9 1 Table 9 2 Table 9 3 Table A 1 Table A 2 Table A 3 Table A 4 Table A 5 Table A 6 Table A 7 Table A 8 Table C 1 Table C 2 Port locations and allowed sens
390. oduction xxii 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities CHAPTER 1 IKA Seaglider History and Overview 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 equal 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 submers ibles and in the fixed mass variable volume control systems of small profiling oceanographic instru ments The use of buoyancy control in oceanographic instruments dates from the mid 1950s By 1955 Henry Stommel of the Woods Hole Oceanographic Institution and 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 th
391. ody of the message and not as attachments incompatible with the gZip nc mission ts and mission pro options msgperfile Only send one message per file e kkyy subject Use Navy specified XBTDATA as the subject line instead of informative subject gzip Compress attachments using GZIP e eng Send eng files e log Send log files pro Send pro files bpo Send bpo files asc Send asc files e cap Send cap files comm Send comm log files dn kkyy Send downcast kkyy files e up kkyy Send upcast kkyy files nc Send compressed NetCDF files mission ts Send compressed mission 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 if 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 Example typicaluser billybob com msgperfile body eng cap log 182 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Files stored on Seaglider Files stored on Seaglider The following files are
392. of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix I 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 F 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 f 7 Fills out dive log sheet if needed 8 Plots the Seagliders current GPS coordinates with navigational plot ting software during each surfacing to monitor its current location 9 Monitors the tide and ocean current information to assist with pre dicting waypoint targeting 10 Flies the Seaglider as required between designated waypoints 340 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export la
393. of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Pump and hold at pressure Pump and hold at pressure This test is done in a pressure chamber It is not recommended that this test be done outside of the iRobot factory 1 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 2 Maximum pressure psi 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 if not type a new value and press Enter Display readings Y If the readings should be displayed press Enter if not type new value and press Enter Seaglider starts the pump and hold test and echoes the activity to the laptop screen Figure F 36 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 ccfsec 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 Figure F 36 VBD pump and hold at pressure test To stop the test at any time press any key At the con
394. of any debris such as dirt ice pine combs pine nee dles etc Clean the surface of the PVC spacer Lightly spray the surface of the indicator disk with S00708 lubricant Lightly spray both sides of the PVC spacer with S00708 lubricant Place the PVC spacer on top of the indicator disk and align it such that the PVC spacer does not overlap the inner diameter hole The PVC spacer in combination with the lubricant serves as a way to reduce the friction and allow the stand to rotate easily 328 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix H AD2CP Compass Calibration Procedure 6 Place the pressure hull compass calibration stand on top of the indicator disk with the PVC spacer sandwiched between When the stand is in place rotate it two to three times in both directions to ensure that it is seated properly NOTE Several versions of the calibration stand exist so the appearance of the stand may vary but the assembly method is the similar Figure H 3 Calibration stand correctly assembled Pressure hull installation into calibration mount NOTE To perform this task two people are required to lif
395. of these export laws are subject to severe criminal penalities Run pitch and roll duty cycles Figure F 29 Pitch Duty Cycling To stop 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 Run pitch and roll duty cycles 1 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 which 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 The following example shows user input for a pitch and roll duty cycle 0 p 8 lt r 4 2 p 5 3 55 4 2 The input is complete so press Enter 1KA Seaglider User s Guide 301 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix F Hardware and Configuration Menus 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 of cyc
396. ol Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix B Seaglider File Formats Manual Scale Factor is from the calibration sheet Dark Counts is from the calibration sheet WH Biospherical Instruments Inc 2 1Photosynthetically Active Radiation PAR Sensor The PAR Sensor comes with a calibration sheet containing the calibration constants to be used to convert voltage to engineering units These constants are placed into the file sg_calib_constants m which is provided with your software by our manufacturing facility There should be no need to edit the contents of this file unless your sensor is replaced or recalibrated In such a case please contact technical support for further assistance As of the writing of this manual the general form of the equation used by the Visualization software to convert from voltage to engineering units is Volt uE cm sec Sensor Output Sensor Dark Scale Factor 1000 mV v where e Sensor Output is the data returned by the sensor e Sensor Dark is from the calibration sheet e Scale Factor is the Wet and not the dry scale factor from the calibration sheet e SEA BIRD Se SCIENTIFIC te 4 west 3 1SBE 43F Dissolved Oxygen DO Sensor The SBE 43F DO Sensor comes with a calibration sheet containing the calibra
397. olations of these export laws are subject to severe criminal penalities Chapter 3 Setting Up the System 2 Do the following to connect Seaglider to the laptop via the supplied non powered serial communi cation cable e Connect the 6 pin IE55 end of the cable to the communication port located at the base of the Seaglider antenna mast Figure 3 9 Communication cable Figure 3 9 Connect the cable to the antenna mast e Connect the DB9 end ofthe cable to the laptop serial port Figure 3 10 If the laptop does not have a serial port use a USB to serial adaptor cable to make the connection between the serial communication cable and the laptop Communication cable Figure 3 10 Connecting the cable to the laptop 3 Tum on the laptop and start the terminal emulation program The 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 is not already on The method to do this varies with the terminal emulation program used 20 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Checking out the Seaglider system
398. olations of these export laws are subject to severe criminal penalities Contents Altimetet XPDR MEN e M ass snaois Tro Bets r1 RETE CDU sisss sta Loggers MENU sSso Batteries and Fuel Gauges menu ccsscssscsssssscssscsscesscssssssssessssssesssesessnsssesenessessensessssnsecssoess Low Level Hardware menu e eee eee eee eee Miscellaneous Hardware Functions menu Developer Tests menu eee cesse esee nennen aeneae Test Operation Modes and Files menu PicoDOS Commands Menu ecce eee eee esee eee ee eee esee ene see tn sesenta sesto ese toas een se toes setae seen seen Pre LAUNCH MENU ER M Set Scenario Mode menu 4 eere ee eee eee eee eene ente ssas netten e setae ses toss etas esto eese etos esten esssS sns Perform Interactive Self Test Mode menu Perform Autonomous Self Test menu Upload Self Test Results menu eere Reset Dive Run Number menu ee eeeeeee Test Bn nob d ET E APPENDIX G Ballasfitg iuisese DOR eom E Ra Esa EE FER e REN Rd S 319 Reballasting in the field Adjust lead ballast Apply or adjust syntactic foam ballast ssseseseseesesesososeeoesesesecosoeseeesorecocoesesecoroeseoeeosececoes
399. ominal Definition value Min value Max value GC WINDOW The GC WINDOW parameter 20 configures the garbage collection to retain at most GC WINDOW split files to be transferred to the base station that haven t been successfully transferred up to this point Split files from earlier dives will be removed however the archived data will remain To disable garbage collection set the GC WINDOW to 0 100 GLIDE SLOPE The absolute value of the maximum 30 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 10 90 GPS DEVICE Set by manufacturer Do not change A configuration value specifying the 32 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 1023 HD A The hydrodynamic parameter 0 003836 representing the lift coefficient determined empirically and used in on board performance prediction and guidance calculations 0 001 0 005 HD B The hydrodynamic parameter 0 010078 representing the drag coefficient determined empirically and used in on board performance prediction and guidance calculations 0 001 0 02 HD C The hydrodyna
400. ompass Calibration Procedure 334 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities APPENDIX I 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 Putty software or equivalent recommended 2 Navigational plotting program Goggle Earth or equivalent recom mended 3 MatLab 4 Text Editor 5 SCP Secure Copy Protocol program WinSCP or simialr software recommended Obtain pilot and field team contact information Step Responsibility Action 1 Field Team Phone Number 2 E mail address 3 Sattellite phone if applicable 335 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C
401. on warranty repairs such as damage or a refurbishment are requested contact iRobot and an RMA Number will be issued to the Customer The Customer is responsible for all shipping associated with non warranty repairs Upon receipt of the equipment an evaluation will be performed and a Repair Refurbishment Estimate will be forwarded to the Customer for review approval Prior to non warranty repair work being initiated a Purchase Order or other means of payment will need to be provided by the Customer The limited warranty on repairs or refurbishments is sixty 60 days for labor and parts 1KA Seaglider User s Guide 347 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix K Standard Limited Warranty to Original Purchaser 348 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities
402. only and should not be used by customers 1 Select 16 Developer Tests menu and press Enter Figure F 51 Developer functions 1 lpsleep Test low power sleep 2 report Report memory status j iq Test interrupt contention 4 toggle Toggle clearscreen 5 file Test file creation manipulation CR Return to previous Enter selection 1 5 CR Figure F 51 Developer Tests menu 2 To return to the Hardware Menu press Enter 3 To return to the Main Menu press Enter again Test Operation Modes and Files menu 1 Select 3 Test Operation Modes and Files and press Enter Figure F 52 e Selection 1 Test Bathymetry Files is the check that you 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 e 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 Operational Functions Test Menu 1 bathy Test bathymetry files 2 recovery Test recovery 3 surface Test surface maneuver 4 sample Test sampling and data file creation 5 angle Test surface measurements normal 6 upload Exercise uploadData regular operations 7 uploadst Exercise uploadData self test results only 8 modes Test active passive modes CR Return to previous Enter selection 1 8 CR Figure F 52 Test Opera
403. ontrol 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 Tum Rate SG 548 Dive 19 Seattle Mission Start Time 14 Dec 2011 03 42 19 2 5 1 t 1 T T T T T T T I cheers 4900 CASAN 1825 2 Hmplied COSSCAN 3987 16 CAS 1616 26 Assumed roli control gain 35 37 counts to sibd 15 i e i E i amp 0 5 1 1 4 i d d LI m or re en Lo e H ES Pa i 05 5 3 I E ge 2 1 t 45 Dive Turn Rate s 0 101324 s Roll control counts 2 54125e 005 Dive Tum Rate s 0 0530401 s Roll control 0 00089984 Climb Turn Rate s 0 231432 s Roll control counts 0 000143189 Climb Turn Rate s 0 0238888 s Roll control 0 00506461 25 i 1 1 1 1 1 l 4 J 50 40 30 20 10 0 10 20 30 40 50 Roll Control Figure D 20 Plot 10 Turn rate plot 264 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Using the dive plot ana
404. op 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 De Gh Oeo ede Biche thp J amp dm o C M m E Grm Fide Edid oeste nr reci ue fhurtouts P Porto di 6 What s fee i ditas E Vemm bet rituals afin Ur yah arm pm Fac omm mt thee rif mag lide Data m n x JOHN MS E LEE 2572 4 99 NERELLA BS sa fk BIDEBSD sx d io t ew AEO Click on the button L and use the standard Windows method for browsing to the DivePlot or alternate name given above folder containing the visualization software Figure D 2 Current folder set to Dive Plot folder 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 aglider visualizationitrunk diveplot i e oO a x l mua P de fe gt gt 246 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Using the dive plot analysis softwa
405. or If oxygen data is available the graph will also display oxygen saturation data Figure D 13 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 Figure D 12 Dissolved oxygen plot 256 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Using the dive plot analysis software Mission Start Timo 17 Mar 2011 19 26 53 10 40 Depth m 70 90 f 100 t EI 49 52 Figure D 13 Oxygen saturation data 55 5 8 SBE43 Sat O miM oan gd Sat O Descent Sat o Ascent SBE43 Descent SBE43 Ascent L EED OE D S 6 1 64 67 7 257 1KA Seaglider User s Guide IMPORTANT NOTICE WARNI
406. or details about the parameters for each sensor see PC_XMITPROFILE ES_XMITPROFILE and CP_XMITPROFILE in Table 5 4 xx_UPLOADMAX The maximum file size in bytes limit on uploaded files if file size limi tation is supported by the sensor Currently no supported sensors support file size limitation so this parameter is unused Minimum Value 0 no data uploaded xx_STARTS Running count of the number of sensor restarts that occur during a mis sion 174 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Files placed on the basestation by the pilot Table 9 2 Parameters for ALI sensors Continued Sensor parameter Description xx RECORDCONTINUOUS Specifies whether to stop sensor sampling during apogee and start a new cast on ascent 0 or to continue recording the first cast of data through apogee leaving one file per dive 1 Minimum Value 0 Maximum Value 1 Recommended Value for GPCTD 0 Recommended Value for ES 1 Recommended Value for AD2CP 1 xx RECORDAPOGEE Specifies whether to sample during apogee 1 or not 0 This parameter is only used if xx RECORDCONTINUOUS is 0 Minimum Value 0
407. or directions on setting up a pagers file see Chapter 7 Prelaunch Procedures on page 133 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 has the format smtp mail address bodylmsgperfilelkkyy subjectlgzip engl logl prol bpol csvl ascl capl comml dn kkyyl up kkyyl ncl mission tsl mission pro all where smtp mail address a valid smtp mail address gliderpilot iRobot com For example body send files in the body of the message instead as attachments default Incompatible with gZip nc mission ts and mission pro e msgperfile send each file in its own message instead of sending all files that have been newly created in a single message default e kkyy subject Use the navy specified XBTDATA subject line instead of a more informative sub ject default gzip compress all files before sending e eng log pro bpo csv asc cap dn kkyy up kkyy nc send any newly created files of the speci fied extension comm send the comm log file 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 e Send NAVO kkyy files kkyyuser navo navy mil msgperfile body kkyy_subject dn_kkyy up_kkyy e Send out the typical per dive file
408. oring nodes J Test operation modes and files Pico commands Sand exit launch Pre launch Enter selection lt i S CR Figure 7 35 Seaglider start up on the laptop 10 Set the current date and time GMT Press Enter to accept the default value if that value is any time within 12 hours of actual time because Seaglider gets an accurate time later during the simulated dive from its first GPS fix and resets 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 varavere tests and monitoring Test ration modes and files Pico commands Cand exit launch J Pre launch Enter selection lt 1i 5 CR 5 Step 12 passee Launch nu sat as r 4 scene et scenario node Iselftest Perform interactive self test Step13 Lautotest Perform autonomous self test luploadst Upload self test results reset J Reset dive run nui test Test Launcht sea Sea Launch CR gt Return to previous Enter selection 1 CR gt 6 St 14 puick launch lt skips sone tests and calls very d dan
409. ors on aft endcap ssssseeee 16 Typical pitch ranges and values sess ene 36 Typical roll ranges and values esee 37 Typical VBD Ranges and Values eese eene eene 38 Directives sein Baas HERE ED 47 Effect of directive on dive or recovery state ssssssseeeeeeeereene 48 Parameters listed by category and frequency of modification 49 Parameters in alphabetic order sees 56 Energy budget for a 1000 meter dive sse 110 Endurance examples based on specific configurations eecceeseeeseeceeeeeneeeeeeeee 111 Sample of North Carolina coast targets ssssseseeeeeeeeeeee eene 112 Sample science for North Carolina coast 114 Error messages for phone calls 0 cece eee ceceseceeceeceeeceeeeeeeeaeeeeecaeesaecsecsaecsecssenaeees 120 Method of connecting communications cable esee 134 Actions following review of self test nennen 152 Description of columns in target file 173 Parameters for ALI sensors energetic ees 174 Description of columns in science file sess 176 IKA Seaglider specifications cedet e a eet yateen 197 1KA Seaglider performance specifications eese 197 Standard sensors ise eb rri b RE ee EU I tts 198 Optionalsensofs eio nieder He e e he te d e o aie qure 198 Mechanical fe tures eee ete
410. ose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 4 Operating Principles Principles of Seaglider operation There are 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 sec tions 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 Oceanographers routinely switch between SI mks and cgs units when referring to seawater densities Densities are specified in g cm with a typical 1000 m ocean value of 1 0275 g cm relative to sea surface pressure or kg m with a typical 1000 m ocean value of 1027 5 kg m relative to sea surface pressure Oceanographers have a shorthand notation for density called o which is defined as o p 1000 kg m Thus the typical 1000 m ocean water density in o units is 27 5 In addition we use the unit oz which is defined as o of a sample of water at a specific temperature and salinity in situ at standard atmo spheric pressure Densities discussed in Seaglider operations are typically given in cgs units g cm Stratification Stratification is t
411. osition the pressure hull to a level pitch and roll remove the detent pin that sets the pitch angle and slowly pitch the pressure hull around a full 360 degrees ending with the pressure hull back at the level pitch position then reinsert the detent pin NOTE If the compass calibration stand blocks a full 360 degree pitch maneuver just slowly pitch the pressure hull as far up and then as far down as it will go Position the pressure hull to 090 degrees heading with a level pitch and roll then loosen the clamp and slowly roll the pressure hull 360 degrees concluding with a roll angle visually set back to 0 do not place the inclinometer on the glider during the calibration process 12 Repeat steps 5 7 13 Power down the Seaglider 14 Connect powered ethernet cable w crossover dongle to a computer 15 Set that computer s IP address to 192 168 0 200 and subnet mask to 255 255 255 0 16 Open a browser and go to address 192 168 0 240 17 Click the link to the Nortek instrument 18 Under Filesystem click the Mount button and then the Submit button 19 Click the Data Files link 20 Right click the link to the calibration file that you entered in step 10 and select Save Target As in this example the filename was CalFile SG506 7 25 12 txt 21 Save the calibration file to the folder where you keep the hardiron m Matlab script 22 Open MATLAB and set the current directory to the folder where you keep the hardiron m Matlab s
412. ounts second SHEAPDBG Boolean INT PRESSURE SLOPE calibration value INT_PRESSURE_YINT calibration value 1KA Seaglider User s Guide 53 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 5 Piloting Parameters Table 5 3 Parameters listed by category and frequency of modification Continued Modification frequency Category Parameter During fabrication Advanced use Continued Continued DEVICEL integer DEVICE2 integer DEVICE3 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 SEABIRD T G calibration value SEABIRD T H calibration value SEABIRD T Lcalibration value SEABIRD T J calibration value SEABIRD_C_G calibration value SEABIRD C Hi calibration value SEABIRD C Lcalibration value SEABIRD_C_J calibration value MINV_10V voltage MINV_24V voltage LOGGERS integer LOGGERDEVICE1 integer LOGGERDEVICE2 integer LOGGERDEVICE3 integer LOGGERDEVICE4 integer CURRENT m s degrees Bool
413. ow Seaglider is riding in the water when it is first put in the water e Approximately what angle is the nose pitch down in the water How much of the rudder or antenna is sticking out of the water e On land and in water testing of the transponder system 107 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Chapter 6 Predeployment Tasks 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 the oper ation strengths and weaknesses of the Seaglider system is critical to planning effective science mis sions The general idea is to go far and long by going slow it s the square law dependence of drag on velocity that gets you Half a knot on half a Watt is the 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 required for the flight plan Pilots and or scientists directing the mission s
414. ownwelling 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 Prede ployment Tasks on page 107 32 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Principles of Seaglider operation Static forces Seaglider 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 e Buoyancy is controlled by changing the displaced volume of Seaglider e 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 e 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 cen
415. p current temperature e Cond At least 200 in air conductivity from wet dry sensor Setting transmission hours Use the transmission hours tab to set the hours the SPOTS should transmit This is dependent on mis sion and satellite predictions Click the All On button Setting transmission days Use the transmission days tab to set the days the SPOTS should transmit This is dependent on mission and satellite predictions 1 Select the Apply to entire year option 2 Click the All On button Setting transmission intervals 1 The Fast and slow repetition rates are set by the manufacturer 2 Set the delay to only transmit after 30 more successive dry readings 3 Leave the following parameters on default values Change from Fast to Slow repetition rate after being dry for 99 successive transmissions e Pause transmission after being dry for never hours Restart transmission after being continuously wet for 8 seconds Setting time at temperature and haulout statistics The time at temperature and haulout statistics features are not currently used by the Seaglider vehicle Do not change the default settings e Verify Enable haulout statistics is unchecked it takes approximately one third more battery capacity to transmit Temperature Histograms and or Haulout Statistics 128 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control A
416. pe Figure G 5 Syntactic foam ballast affixed to pressure hull 324 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Reballasting in the field 8 Record foam values and location on the battery hull See the ballast pinwheel the first piece of trim is located in the bottom quadrant PC 1 9 Reinstall forward fairing NOTE If foam is moved between deployments to a different location on the pressure hull the pilots have to trim roll during the first few dives 1KA Seaglider User s Guide 325 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix G Ballasting 326 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401
417. pe 1 Travel Prepare for travel Figure H 5 Seaglider then bleeds the oil from the external bladder into the internal resevoir 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 TOMS 7 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 921 HVBD N 403 5 cc ad 1765 1772 17T71 ks mmm m Rm 1326 521 HVBD N 336 1 cc ad 2040 2027 2065 e rrt nmn 1337 796 HVBD N 271 5 cc ad 2303 2304 2310 Step 9 Figure H 5 Travel mode menu 2 5 When the good to go message appears wand Seaglider off Ensure that Seaglider is off by repeatedly pressing Enter on the laptop keyboard If there is no response Seaglider is turned off 6 Quit the Tera Term session 1KA Seaglider User s Guide 333 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix H AD2CP C
418. penalities Contents CHAPTER5 Piloting Parameters eese eese eene eee eene nnne 47 eC Reed 47 Command file cmdfile state directives eee secre eee eee eee e eee eee ee ee eene seen ae testen aae 47 Pilo ng PAarAMeters ssasscesssscesesssnnscddcensoussoaseodssossens Ure op rbv ra srao sso svasdas ssaveadovessesdswsssesoumcnoesasensesocoasees 49 Parameters DY CALCLOLY E so e 49 Alphabetized parameters cscccssssscccscsccscssscsccssscsessscescsssssecscsssceesessesesseseessessoccsesssssessoesessssoes 56 CHAPTER 6 Predeployment Tasks essen 107 Mission Planning ER 108 I nal cor urs tT C 108 loinlichiucee EE 108 CMALie Ci ts sec C H 112 tateets e dits een eec vive eios em eedebio sos cucsussuesanssassusseusscoseusocessisasegedsacessssasestabasces vaseasousseueces 112 SCieric SensOES safeticcecsecssessunsncuessdcetescdlactondsacsssosrcaccdsessesbecdissvesoseucenscbectdeosdsauasussasstaccsecdoesenives 113 E A EA EAE E T OE EE E T 114 Bath yMetric files do 115 ATALI I STER ITE RA 116 MANETTE RC 116 Transporting Seaglider to the field 4 cerea e eee eee eee eese eene eene tense natns sensa toast ta aeo 117 Detaching the antenna mast from aft fairing e eee e eee eerte stet esten eee en etna teas ena setas ennae 117 Putting Seaglider in travel mode 4 eee ee ee
419. port is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 3 Setting Up the System 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 Figure 3 2 Handle ock washer A a washer olt Rail Figure 3 2 Cradle bolts handle and rail assembly 5 Give the bolts a couple of turns but do not tighten yet 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 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 12 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose e
420. processed data will now be in the Seagliders directory on the basestation 1KA Seaglider User s Guide 317 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix F Hardware and Configuration Menus 318 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities APPENDIX G Ballasting Overview Seaglider is ballasted externally to the pressure hull The ballast areas are the nose of the forward fair ing 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 11 0g 15 0g respectively and or syntactic foam strips Proper ballasting of the Seaglider allows the vehicle to optimally perform
421. r 1KA Seaglider User s Guide 55 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 5 Piloting Parameters Alphabetized parameters Table 5 4 Parameters in alphabetic order Parameter Nominal Definition value Min value Max value AD7714Ch0Gain Set by manufacturer Do not change The gain assigned to the pressure sensor 128 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 AHO 10V Set by manufacturer Do not change The capacity of the 10V low voltage 95 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 state if the total 10V battery pack amp hours used on a mission equals or exceeds this value 100 AHO0 24V Set by manufac
422. r Seaglider is equipped with a GPCTD continue with step 57 otherwise skip to step 58 152 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Interactive self test 57 IMPORTANT You must turn the pump for the GPCTD back on prior to deploying in water on a data gathering mission Figure 7 31 Figure 7 31 Loggers menu Press Enter until you return to the Main menu Figure 7 31 eocsm Press 1 and press Enter to enter the GPCTD menu Figure 7 31 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 1KA Seaglider User s Guide IMPORTANT NOTICE 153 WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 7 Prelaunch Procedures e Press 11 and press Enter to go into direct serial communications with the GPCTD Figure 7 32 Figure 7 32 Set MinCondFreq f Pre
423. r the GPCTD menu F Logger device test menu 1 Turn on 2 off Turn off 3 selftest Selftest 4 sample Report a sample 5 cclk 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 HGPCTO N RX 10 TX 11 36 579 SUSR N Starting breakable loop Ctrl Q to end S GetCD lt ConfigurationData DeviceType SBE Glider Payload CTO lt Samp leDataFormatsHEx engineering lt SampleDataFormat gt lt 2S232ForceOn gt yes RS232ForceOn TxRealTime no c TxRealTime SampleInterval l SampleInterval Sane leMode Continuous lt Samp leMode gt AutoRun no AutoRunz lt SBE4 J yes SBEA 3 MinCondFreq 3212 0 MincondFreq Cus tomPumpMode no Cus tomPumpMode ConfigurationData S mincCondfreqs10000 S GetCD ConfigurationData DeviceType SBE Glider Payload CTD SamoleDataFormat HEX engineering SampleDataFormat RS2 32ForceOn yes RS232ForceOn TxRealTime no TxRealTime SampleInterval l SampleInterval Samp leMode Continuous SampleMode AutoRun no AutoRun SBE4J yes lt SBE43 gt MincondFreq 10000 Mi ncondF req Cus tomPumpMode no Cus tomPumpMode lt ConfigurationData gt S start SE OY s 18 99 5 0 000
424. ra 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 compressed form named sg0055pz 000 using 0055 as a placeholder for dive number and 000 for increment number following execution of the commands The bases tation 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 docu mented here 1 2 Document Conventions Extended PicoDOS 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 234 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix C Extended PicoDOS Reference Manual v66 07 on the name of a
425. rameters 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 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 1 7 CR 3 9 831 SUSR N Beginning selftest 63 on glider SG123 0 115 SUSR N Fri Aug 3 09 08 05 2012 0 207 SUSR N Audible pings to mark start of tests 0 695 HXPDR N ping response R005 731ms 0 756 HXPDR N range was 4 298250 m 2 842 HXPDR N ping response R 2 903 HXPDR N range was 999 000000 m 4 990 HXPDR N ping response R 5 051 HXPDR N range was 999 000000 m 6 988 SUSR N clearing tranponder ping count prev count 0 7 108 SUSR N xpdr ranging can be tested while other tests proceed 7 232 SUSR N Checking GPS 7 315 HGPS N Obtaining GPS fix 28 515 HGPS N 0 recent almanac sentences returned consider acquiring new almanac data 28 632 HTT8 N Updating parameter ST GPS CHARGE to 20733 295 31 300 HGPS N Acquiring GPS fix 33 145 HGPS N VVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVA 3307789 004 HGPS N sync sentence GPRMC 155753 A 3556 3571 N 07854 1086 W 000 0 000 0 100912 008 7 W 76 3307789 134 H
426. ration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties 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 used to complete 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 transmission 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 prior to deploy ment Locate and move files to directory To run simulated dives the pilot needs to first make sure that files generated by Seaglider and trans ferred to the basestation at an earlier time that is during the previously completed interactive self test are preserved on the basestation but not in the main directory 1 On the basestation enter cd home sgNNN the home directory where NNN the Seaglider serial number 2 If there are files in the Seaglider home directory from a past mission or test type the following command to move the files longhand method and then press Enter usr local basestation movedata sh mission dir source dir t target dir If you are
427. ration menu select 14 Pressure internal parameters and press Enter Figure F 17 The current value for each parameter is in brackets to the right of the parameter name Internal Pressure slope psig AD 7 ressure y intercept psig CR Return t Enter selection Figure F 17 Internal Pressure Parameters menu 3 To return to the Parameters and Configuration menu press Enter Compass parameters 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 1 From the Parameters and Configuration menu select 15 Compass parameters and press Enter Figure F 18 The current value for each parameter is in brackets to the right of the parameter name Compass current valueyin 2 1 TCM PITCH OFFSET 0 Pitch sensor offset deg 2 TCM ROLL OFFSET 0 Roll sensor offset deg J COMPASS USE 0 Flags to indicate trust in compass returns CR Return to previous menu Enter selection 1 3 CR Figure F 18 Compass Parameters menu 2 To return to the Parameters and Configuration menu press Enter 1KA Seaglider User s Guide 291 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations o
428. rdance with the iRobot instructions If iRobot is unable to repair or correct the soft ware 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 equipment 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 equipment manufac turer s with respect thereto iRobot will use commercially reasonable efforts to promptly apprise Customer of such warranties following Customer s purchase of the equipment 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 WILL NOT APPLY TO THE DEVICE IF THERE IS A FAILURE OF THE DEVICE OR ANY PART 345 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administra
429. rdware 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 a Edit al 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 27 reset Reset to defaults CR Return to Tr Enter selection 1 27 CR 7 Step 2 6561 080 SuSR N Current telnum is 12062215341 Step New telnum as char max len th CR to leave LAM di 19194841429 6605 038 SuSR N Changing telnum to 19194841429 Figure 3 14 Verify primary telephone number 4 Type 8 and then press Enter Figure 3 15 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 alternate telephone number is available leave the entry blank 1KA Seaglider User s Guide 23 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET S
430. re 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 Lal e Command Window O H fe gt gt run GPCTDVis gui Figure D 3 Type command 1KA Seaglider User s Guide 247 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix D Dive Data Visualization Software 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 Figure D 4 Annotate Plot feature When the annotate plot box is checked labels will be placed on the lines of the Vertical Velocity Plot Plot 7 and on the lines of Vehicle Attitude Plot Plot 1 These labels allow a Seaglider pilot to more easily identify the definitions of these plotted lines File Edit View Insert Tools Desktop Window Help iRobot Seaglider Dive Data
431. re criminal penalities Recovery schedule 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 5 Field Team Recovery vessel being used 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 required 5 Informs the Field Team if all systems are good and the Self Test C passes 6 Saves the Self Test log sheet onto the basestaton 1KA Seaglider User s Guide 337 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix I Pilot and Field Team Checklist Deployment process
432. re subject to severe criminal penalties Tuning your Seaglider of the difference between it and the calculated pitch gain rounded to the nearest whole number and loaded into Seaglider via the cmdfile transfer SG173 PortSusan dive 1 started 17 Sep 2009 21 07 29 Conch 2829 Pitch gain 40 Pitch control range 8 38955 to 3 44772 cm 40 Implied pitch center 2834 81 1 Implied pitch control range 8 40772 to 3 42955 cm 30 Assumed pitch conversion 319 922 counts cnj aft a 20 as 10r 1 z 6 0 f a 10 20 d 30 40 1 Pitch 0 5913 Pitch Control cm 32 5439 cm 50 2 1 a E ES k O d 4 15 1 05 0 0 5 1 15 2 25 3 35 Pitch Control cm i 60 L L 35 3 25 Figure 8 2 Dive 1 pitch plot e Inspect the science data plots and data files Is the data believable 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 RESUME Leave the dive parameters the same as for the first dive When Seaglider calls in again after ST RSLEEP it picks up the new directive and begin the second dive The pilot should commun
433. reater 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 ROLL_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 ROLL_GAIN_P Clipped to ROLL_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 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 40 200 190 350 ROLL_MIN Full Roll to Starboard 3900 4000 3750 3850 ROLL MAX C ROLL DIVE example 2000 C ROLL CLIMB example 2050 1KA Seaglider User s Guide 37 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 24
434. rective 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 surfac ing the command file can only contain the directive QUIT 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 Figure 9 1 shows an example of a cmdfile with parameters and a directive D TGT 150 T_DIVE 50 T_MISSION 60 SM_CC 680 C_ROLL_DIVE 2388 C_ROLL_CLIMB 2321 USE_BATHY 4 ALTIM_SENSITIVITY 4 QUIT Figure 9 1 Example cmdfile Targets file Seaglider navigates using either heading or targets waypoints If heading is used it is turned on in the cmdfile GSHEADING value in degrees see HEADING on page 76 If Seaglider is moving from location to location using targets latitude and longitude also known as waypoints it is getting this information from the targets file 172 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Files plac
435. relaunch Procedures KALMAN_USE 2 SM_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 The format of the file looks like the following example Simple targets SEVEN 1at 4807 0 lon 12223 0 radius 200 goto SIX SIX lat 4806 0 lon 12222 0 radius 200 goto SEVEN For more detail on targets files see Appendix B Seaglider File Formats Manual on page 201 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 done on battery power the sampling rate is often reduced to cut down on battery usage The format of the file looks like the following example 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 For more detail on targets files see Appendix B Seaglider File Formats Manual on page 201 f Save the changes g Using any file editor open the pagers file to edit the notification system provided by the pagers file The pagers file contro
436. ress Enter A menu shows all of the installed science sensors Figure F 45 shows that the SBE CT sensors are the only ones installed DE Sensors menu 1 sbect SBE CT CR Return to previous Figure F 45 Sensors menu When you select a sensor you also specify how many samples the sensor should take The data is then displayed on the screen If there are zeros in the counts column this means that there is no signal and the counter has timed out The user needs to understand the reason for the lack of data and resolve the issue 2 To return to the Hardware menu press Enter 1KA Seaglider User s Guide 311 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix F Hardware and Configuration Menus Loggers menu 1 Select 12 Loggers and press Enter A menu shows all of the installed science sensors Figure F 46 shows that the GPCTD is the only logger device installed F Loggers menu l pc GPCTD 2 E empty CR Return to previous I Enter selection 1 2 CR 1 Figure F 46 Example menu When you select a logger device a list of all the functions available for that device appears Figure F 47 F Logger devi
437. ress Enter Software initialization begins and the Edit Parameters menu is displayed 13 From the Edit Parameters menu type con ig or 12 and press Enter The Edit Hardware Configuration Parameters menu is displayed 14 From the Edit Hardware Configuration Parameters menu type show or 1 and press Enter Several lines are displayed that show the available device slots Then the Edit Hardware Configu ration Parameters menus is displayed 15 From the Edit hardware configuration parameters type 1ogger or 9 and press Enter The Configure device in slot 1 4 CR promptis displayed 192 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Installing and configuring the AD2CP sensor 16 Select one of the slots that begins with Logger Sensor in logger slot and indicates a sensor is not installed A list of attached logger sensors is displayed 17 Type the item number corresponding to the line that lists NCP A list of port numbers 0 through 8 is displayed 18 Select either port 6 or port 7 whichever port does not already have a device assigned to it A few lines are displayed One of them contains the phrase assigned NCP to
438. 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 S ALTIM BOTTOM TURN MARGI N 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 is meant to exclude surface returns NOTE ALTIM PING DEPTH and S ALTIM BOTTOM PING RANGE modes are mutually exclusive If S ALTIM BOTTOM PING RANGE is set it is honored to the exclusion of SALTIM PING DEPTH 80 0 1000 ALTIM_PULSE Pulse width ms of altimeter pings The value must be an integer between 1 and 9 ALTIM SENSITIVITY 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 ALTIM TOP MIN OBSTACLE Minimum obstacle depth in meters to honor in initiating a subsurface finish 1 0 100 ALTIM_TOP_PING_RANGE Range in meters from the surface this is simply depth at which to ping the altimeter A value of 0 disables a ping 0 0 500 1KA Seaglider User s Guide IM
439. rnings Check the science sensor data in the 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 162 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Simulated dives b Copy these files into a date encoded subdirectory of the Seaglider home directory home sgXXX SimulatedDive DDmonthY Y Type the following command to transfer the files longhand method and then press Enter usr local basestation movedata sh mission dir source dir t target dir If you are in Seaglider home directory and want to move it to a subdirectory of that home direc tory type the following command the shorthand method and then press Enter movedata sh subdirectory filename You can also use the UNIX mv command 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 cal
440. rol Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities 2 1 Processed files 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 1KA Seaglider User s Guide 205 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix B Seaglider File Formats Manual MAX BUOY 225 COURSE BIAS 0 GLIDE SLOPE 30 SPEED FACTOR RHO 1 0275 MASS 52202 NAV MODE O FERRY MAX 60 KALMAN USE 1 HD A 0
441. rom the 0 0 1000 presumed apogee depth the nominal depth at which Seaglider begins its apogee maneuver to ping for the bottom A value of 0 disables pinging Only one attempt is made to sound for the bottom unlike with S ALTIM PING DEPTH SALTIM BOTTOM TURN MARGIN The distance in meters from the 12 0 100 altimeter detected sea floor 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 ALTIM FREQUENCY Frequency kHz to use for altimeter 13 10 25 pings SALTIM PING DELTA If the altimeter does not get a successful 5 0 1000 return and confirmation ping return at S ALTIM PING DEPTH it continues to issue pings at depth intervals of S ALTIM PING DELTA meters See ALTIM PING DEPTH 58 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Alphabetized parameters Table 5 4 Parameters in alphabetic order Parameter Definition Nominal Min Max value value value ALTIM PING DEPTH The depth of the first altimeter ping meters if nonzero If the altimeter gets a return and a
442. rrect for roll biases trim sheet vehicle s vehicle s induced by physical asymmetries in mum um Seaglider sheet sheet C VBD The center neutrally buoyant at a 2900 Actual Software Software specified density position A D counts initial value minimum maximum for VBD obtained of system of system from obtained obtained vehicle s from the from the trim sheet vehicle s vehicle s trim trim sheet sheet CALL NDIVES CAUTION 1 1 10 A Use care when using CALL_NDIVES in conjunction with N_NOSURFACE If you set N_NOSURFACE and CALL_NDIVES so that surface dives aren t supposed to call they won t make the call and the glider will be lost until it aborts due to low battery The number of profiles dive climb cycles to perform before attempting communications Seaglider normally surfaces following each dive and GPS fixes and 2 are obtained at each surfacing independent of the value of CALL_NDIVES CALL_TRIES The maximum number of phone calls to 5 1 20 attempt during a surfacing between dives CALL_TRIES is the only parameter that influences the ability to switch to the alternate telephone number 1KA Seaglider User s Guide 61 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are
443. rrents 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 some thing 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 If a valid depth averaged current DAC has been calculated and NAV MODE 3 steer relative to DAC synthesize a heading cur rent direction SHEADING 2 If a 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 82 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Alphabetized parameters Table 5 4 Parameters in alphabetic order Parameter Definition Nominal Min Max value value value NAV MODE Continued 3 Modify the dive time and depth as needed to honor safeties and grids Calculate speed limits Seaglider minimum and maximum possibl
444. rs in alphabetic order Parameter Nominal Min Max Definition value value value CAPUPLOAD A Boolean value that determines if the 1 0 1 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 WARNING If a critical error occurs during a dive the Seaglider will override a CAPULOAD setting of 0 and force an upload of 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 CAPUPLOAD NOTE Turn cap uploads off after dives are underway and going well to conserve energy and reduce Iridium charges CF8_MAXERRORS Set by manufacturer Do not change The maximum number integer of 20 0 500 Compact Flash CF8 errors allowed before Seaglider goes into recovery phase A CF8 error is counted against the CF8 MAXERRORS limit when a CF8 open or write call continues to fail returns an error code after three retries 1KA Seaglider User s Guide 63 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 5 Piloting Parameters Table 5 4 P
445. s 2 D_TGT 100 T_DIVE 60 The wq is combined with MAX_BUOY the range to the target and the Seaglider hydrodynamic model to calculate the Seaglider pitch angle on any given dive T_GPS The maximum allowed time minutes 15 1 30 to obtain a GPS position GPS timeout T GPS is typically set to 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 T GPS ALMANAC Time to wait in minutes to acquire the 0 15 15 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 is negative then the wait only halts after the time has expired A negative value also forces a complete NVRAM reset before the wait starts 1KA Seaglider User s Guide 97 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe crimin
446. s 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 NOTE To comment out a line in the file add a number sign 4 at the beginning o f the line 116 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Transporting Seaglider to the field Transporting Seaglider to the field When 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 Figure 6 1 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 from aft fairing 1 2 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 6 1 Fold the antenna mast back next to the Seaglider Figure 6 1 Seaglider
447. s installed It has the same functionality as the unit installed in earlier Seaglider units however now the firmware automatically acquires the almanacs Therefore when prompted Allow the GPS to acquire the almanac N press Enter to accept the default No If you type v the output looks very different from the output of the earlier model to the point of looking erroneous If the unit is successfully acquiring GPS fixes it is functioning properly Step 7 Figure 6 6 GPS fix 8 Seaglider calls the basestation and uploads the cmdfile and if present the science targets and pdo scmds bat files and downloads the files generated by the sea launch routine 9 Make sure that the directive QUIT 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 e 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 Pilot The pilot MUST check the prm file completely before continuing The prm file starts with a section captured from 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
448. s amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix F Hardware and Configuration Menus For example from the top level menu it is possible to do a compass self test by typing the following text at the Main menu prompt Enter selection 1 5 CR hw compass selftest Navigating one menu at a time requires typing hw or the number 2 which then displays the Hard ware Test menu At the Hardware menu prompt type compass or the number 6 to display the compass menu Finally 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 runs the selftest item from the compass submenu You can display the entire menu structure by typing help at the main menu prompt Typing help at any prompt displays 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 require 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 ques tions asked once the function is selected For example if you select the following pressure sensor self test you are prompted to answer yes or no about whether the glider is at sea level
449. s too long writenv varname value 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 telnum and altnum 2 Top level help command which only displays methods of exiting the Seaglider code s PicoDOS mode and documents the command Extensive help command which displays methods of exiting the Seaglider code s PicoDOS mode lists the available extended PicoDOS commands and gives usage hints Copyright University of Washington 2006 242 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities APPENDIX D Dive Data Visualization Software Introduction This Appendix describes how to execute the software that analyzes dive data acquired from the sen sors 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 Definitio
450. s with the following industry standards for safety notices Danger Indicates a definite hazardous situation which if not avoided will result in death or serious injury to personnel The 1KA Seaglider rarely poses a risk at this level Warning Identifies a clear danger for injury or death to the person doing that procedure Immediate action is required to avoid harm Caution Identifies risk of damage to the equipment Immediate action is required to avoid a potentially hazardous situation NOTE Alerts personnel of an unsafe equipment practice or additional information Safety information AN Be aware of the following types of safety hazards Personal safety information WARNING As shipped the Seaglider 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 Vehicle hazards WARNING Before performing maintenance procedures make sure that the vehicle is powered off Serious injury can occur if the power supply of the 1KA Seaglider is intact while maintenance is being performed Battery safety Seaglider uses 1 24V lithium primary battery pack and 1 10V lithium primary battery pack WARNI
451. seeeeeeeeen eene eren IE ISe at 255 Figure D 12 Dissolved oxygen plot erret RR U UO eiecit ces 256 Figure D 13 Oxygen saturation data sse eene enne nennen 257 Figure D 14 Plot 5 One backscatter plot in triplet configuration sees 258 Figure D 15 Two backscatter plots in triplet configuration see 259 Figure D 16 Plot 6 Fluorometer data seen ener 260 Figure D 17 Plot 7 Vertical velocity seen eene ene 261 Figure D 18 Plot 8 Pitch control plot sese EEEE EEES S eene 262 Figure D 19 Plot 9 Roll control eeeeeeeeeeeeee eene nennen nennen enne 263 Figure D 20 Plot 10 Turn rate plot neret tC RUIS UU dee Recens 264 Figure D 21 Plot 11 Buoyancy contoured plot essent eene 265 Figure D 22 Plot 12 Glider track Plots inisee nsee eneore ennea a ee ae E E iein ast 266 Figure D 23 Plot 13 Speed of sound seen nennen 267 Figure D 24 Plot 14 PAR sensor data insien enren rennen 268 Figuie F 1 Main dnen ic i etiedeie pe eee ope e eter 279 Figure F 2 Parameters and Configuration menu sse enne 281 Figure F 3 Basic Mission and Seaglider Parameters menu ssssee 282 Figure F 4 Checking or changing the Seaglider mission number esses 282 Figure F 5 Dive Parameters menu sseeeeeseeeeeeere rennen ener ene 283
452. 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 sequence number is in the hexidecimal system 1 2 2 Data Flow map Chapter 2 File descriptions st0055du 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 I 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 This section describes the files relevant to the Seaglider user Where appropriate excerpts from real files with explanatory annotation are shown iRobot basestation software has the ability to create the following files however iRobot does not support these files e asc e dat nc e gz miss
453. ss 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 32 154 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Interactive self test Figure 7 33 shows some additional settings for MinCondFreq SEA BIRD ELECTRONICS INC 13431 NE 20th Street Bellevue Washington 98005 2010 USA Phono 425 843 9866 Fax 425 643 9954 Email seabad seabird com SENSOR SERIAL NUMBER 0017 SEF GLIDER PAYLOAD CIT CALIBRATION DATE 07 Dec 10 CONDUCTIVITY CALIBRATION DATA PSS 1978 C 35 15 0 4 2914 Siemens meter COEFFICIENTS 1 0064905e49000 CPcor 2 5700e 066 1 72000 7e 001 CTI cor 2500e 00E i 1 860079e 004 wBoTC e 4 1244e 00 gt 6555216 50 5 BATH TEMP BATHSAL BATHCOND INSTFREO INSTCOND RESIDUAL ITS 90 PSU Srenens m Hz Stemens m Siemens m 2 00 000 i 0 90 4 Bead E T 0 00001 8 534 3 4991 87 607 0 00 15 005 4 491 1 3 1 1 159 G DOON 13 50 48524 4 93 5708 39 4 57862 0 00 24 000 471 0 5983 50 5 1330 0 0020 9 oo 65 65125 29 49 651 0 00 32 800
454. ss Enter within one minute Figure 7 35 Do the following steps watch the process on the laptop and note if there are any errors or warn ings during the test The screen capture file can also be checked at the end of the test for warnings and errors Version 66 04 10 1722M starting up Apr 20 2099 05 25 12 Built with SCEMARIO without ICE without RAFOS without KERM without ARS without MMODEM without AQUADOPP without DLEPGLI DER without HEAP RECYCLE without REV_C aimalloc_init _init M glealloc init avail bytes 487423 requested bytes 358408 malloc init Allocated 358488 bytes 116 SSENSOR M assigned SBE CT to sensor slot 1 Cp 2 193 SSEMSOR M assigned SBE 02 to sensor slot 2 p 285 271 SSENSOR N assigned WL BBFL2UMT to sensor slot 3 Cp 83 351 HCOMPASS HN nos ve senpase is SP3083 418 SSYS N Chan gin gc ape file 528 SUSR NH WIRHING SSEABIRD C 1 8 0001 Recommended range is between 8 8058 and M mnt 1916 SUSR N Glider 585 mission 8 dive 13 booted Thu Jan 1 80 00 81 1978 2 578 SSURF M Hit CR within 1 minute to start otherwise will qo to recovery Step 9 Set current date and tine E E D Step 10 SOn for default 04 20 2009 05 25 12 Are you running on external Chench power UI Step 11 ee ah Main Menu Parameters and configuration 1 Hardware tests and monit
455. ss made no progress made MOTOR DONE ticks 7 max 24v 3 8mA avg 24v 3 8mA minV 24v 23 7V 3307905 815 SMOTOR N GC TICKS TIME 242 245076 3307905 910 HROLL N done 3307906 068 HROLL N Roll completed from 40 45 deg 3456 to 40 31 deg 599 took 5 7 sec 37mA 171mA peak 23 7Vmin 499 AD sec 229 ticks 3307906 494 HROLL N TRACK b 635 0 a 630 0 d 4 o 31 3307906 609 SUSR N Roll to neutral 3307906 802 HROLL N Roll commanded from 40 31 deg 599 to 0 00 deg 2025 3307907 395 HROLL C no progress made 35 4 deg ad 774 MOTOR DONE ticks 17 max 24v 4 6mA avg 24v 3 8mA minV 24v 23 8V 3307910 898 SMOTOR N GC TICKS TIME 132 135483 3307910 993 HROLL N done 3307911 141 HROLL N Roll completed from 40 31 deg 599 to 0 03 deg 2026 took 2 8 sec 42mA 167mA peak 23 7V min 514 AD sec 111 ticks 3307911 564 HROLL N TRACK b 2000 0 a 2006 0 d 0 o 20 3307911 681 SUSR N Checking VBD and valve 3307911 848 HVBD N VBD lin pot AD counts 620 480 3307912 002 HVBD N VBD bladder position 110 38 cc AD 550 3307912 277 HVBD N Bleed commanded from 110 63 cc 549 to 89 53 cc 1365 3307913 245 HVBD N 107 9 cc ad 560 636 493 3307924 020 HVBD N 34 8 cc ad 858 943 781 272 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or
456. sserossssssosesssoss 32 Environmental BEN R 32 Static Orce S GAV Yetis sioe t EEE E euet endet inde evo Teese n n hir Dynamic forces Hydrodynamic model 35 Control of the SCORE 0 RR 36 ANE eT ste cbessbacsectactes T EA A A E ROI T EEE A T TT EAE BUOYANCY sessdsciseucssussesscevavsossvsbadsonasssssesesdanssvesssessssus Features of control ccce e eee e esee e ee eee eerte enean seen Canonical dive Control deS181145 eoe eoe vot epe roso e sss eToro PER ETE SPURS SUE Te bae eive esee EUR e de TP Ve PREIS a PES PEERS ETS Sensor interfaces and sampling eese eee esee eee teen eene te atenta setae ta sense tasto setae toas se sesos 40 sein dep 41 RUT PHASES t 41 IB inde T T 42 S UEEACE 53 dUet ede EO peers deb s perol EE TOTEE ON EAEE 42 DIVE PHASE E M 43 ADOBE etit eie EON IEO EHE Lie pa O AIN eoe io Du een a eT Ue DEA salevouatees ONE 44 Ui o tees orn E T E T 44 R COVBLy IIA OOIT OIE E IEA EO EOE 45 vi 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal
457. stigate the fail ures and make sure that there is a full understanding of the mechanism Repeat the simulated dives if necessary When Seaglider is starting its 5th dive change the directive in the cmdfile on the basestation from GO to QUIT Seaglider uploads the file at the next surfacing and remains on the surface Wand off Seaglider after it is parked on the surface following the fifth dive and all files have 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 moni tor 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 the Seaglider 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 181 23 After the test 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 171 for an explanation of each file Check the log and cap files for errors and wa
458. sually 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 36 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Control of the static forces 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 ROLL_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 distribu tion of trim lead The control strategy is to roll the 24V battery pack a specified amount 40 in the appropriate direc tion when a turn is initiated and then roll back to neutral center when the correct heading is reached Figure 4 3 Setting ROLL_GAIN_P g
459. subject to severe criminal penalities Chapter 5 Piloting Parameters Table 5 4 Parameters in alphabetic order Parameter Nominal Min Max Definition value value value CALL WAIT The wait time seconds between call 60 0 600 attempts during a communication session This is time to allow the Iridium satellite geometry to change and perhaps improve the connection CAPMAXSIZE Maximum size in bytes prior to 100000 1024 400000 compression of the capture file to upload If the capture file is to be uploaded either due to critical output CAPUPLOAD set to 1 or a completed self test and the capture file size exceeds this value Seaglider creates a new capture file that is of the size requested per the following strategy f there are no critical lines of output then the first CAPMAXSIZE bytes are sent f 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 sur rounding each critical line 62 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Alphabetized parameters Table 5 4 Paramete
460. t SPC UPLOADMAX The PC_UPLOADMAX parameter is currently unused by the GPCTD PC XMITPROFILE A GPCTD command that specifies 3 which data profiles from a dive are transmitted to the basestation none downcast only upcast only or both down and upcast 0 None 1 Dive 2 Climb 3 Both SPHONE DEVICE Set by manufacturer Do not change A configuration value specifying the 48 0 model of the attached These devices have dedicated hardware ports on all motherboard revisions and as such a port specification is not necessary 1023 SPHONE SUPPLY Set by manufacturer Do not change A parameter that tells the glider where to attribute Iridium modem power usage to either the 24V or 10V battery 1 10 V battery 2 24 V battery SPITCH AD RATE Set by manufacturer Do not change The pitch rate A D counts second 175 0 used as the threshold for retries when pitching If the observed rate is less than this number the pitch motor is stopped and restarted The glider continues to monitor speed and retry if the speed dips below the set value until the timeout is reached then an error is declared 200 86 WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export 1KA Seaglider User s Guide IMPORTANT NOTICE Administration Act of 1979 as amended TITLE 50 U S C
461. t the flare then VBD is adjusted continued bleed to the target VBD if it was not reached before D FLARE and then roll is actuated to turn Seaglider to the correct heading The depth meters at which Seaglider 3 0 990 68 IMPORTANT NOTICE 1KA Seaglider User s Guide WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Alphabetized parameters Table 5 4 Parameters in alphabetic order Parameter Nominal Min Max Definition value value value D GRID Not user defined The depth meters returned by the bathymetry map look up routine where apogee state begins when USE BATHY does not equal 0 If USE BATHY is 0 D GRID is not used to determine the start of apogee depth Note If D GRID and the altimeter are active the shallowest of the depths specified by D GRID D TGT and the altimeter is used as the start of apogee state This parameter is used with USE BATHY D NO BLEED The depth meters below which 200 1 600 Seaglider will not bleed move oil from the 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 c
462. t 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 unique 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 pca eng pcb eng The files labeled with an a represent the descent phase while the b represents the ascent phase 1KA Seaglider User s Guide 179 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 9 Files for Operations Basestation generated files The basestation generates the following files using data provided by Seaglider Baselog baselogX X X X X XYYYYY Y com Communications comm log Engineering eng e Pagers pagers e Processed files cache processed_files cache e Private pvt URLs urls iRobot basestation software has the ability to create the following files however iRobot does not support these files Variable to add to logout GLIDER_OPTIONS parameter File extension to produce these files asc make
463. t and set the pressure hull in place 1 Position the cart used to transport the pressure hull in place close to the calibration mount 2 Onthe calibration mount open the compass calibration clamp 3 Liftthe pressure hull and place it into the clamp The joiner ring on the pressure hull sits into the recess of the clamp For the beginning of the calibration the Seaglider system should be level with the forward section of the Seaglider directed to a heading of 000 pitch set to the O degree level detent and roll set with the inclinometer indicating 0 0 5 degrees 1KA Seaglider User s Guide 329 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix H AD2CP Compass Calibration Procedure Compass calibration test WARNING Connect transponder before powering up the Seaglider system CAUTION Before continuing remove all magnetic materials and place them well away from the calibration mount for example belt watch cell phone jewelry NOTE If at any point in this procedure the sensor responds with the word ERROR first try repeating the step and then try executing steps 5 7 they describe the break sequence that should get the sensor back int
464. t laws are subject to severe criminal penalities 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 PicoDOS operating system command set imple mented in the Seaglider operating code PicoDOS 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 capa bilities 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 PicoDOS command on to PicoDOS 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 Pico DOS prompt picoDOS gt with an ext
465. t 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 suc cessfully transfer data files at the end of the self test this error can be ignored Figure 7 30 Self test pass fail status Review the files log cap sent to the basestation via the Iridium call and the comm log file for any warnings or errors At a minimum the pilot and preferably one other person should perform this review For more information about reviewing piloting tasks see Chapter 6 Predeployment Tasks on page 107 Table 7 1 Actions following review of self test Result of self test Action There are no warnings or errors seen in any Test is complete You can of the files expected outcome Launch Seaglider see Chapter 6 Predeploy ment Tasks Perform a series of simulated dives see Simulated dives on page 157 e Wand off Seaglider and put it away Go to the next step There is a problem during the testing the Find the problem see Chapter 6 Predeployment final lines from the self test show that the self Tasks test failed or was aborted or the data and log files were not transferred to the basestation NOTE Whether the self test passes or fails the Launch Menu appears If you
466. ta samples taken during the dive E 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 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 SENSOR 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 ERRORS 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Count of how many GPS PPS pulse per second errors is 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 Number of CF8 retries while opening files Number of CF8 errors while closing files Number of CF8 errors while writing files Number of CF8 errors while opening files GPS 170706 231510 1911 874 15644 574 40 1 4 40 9 6 UTC Magnetic variation degrees positive E Number of times the GPS did not provide data from GPRMC Position and time o GPGG
467. tarboard wings labeled e Rudder e Antenna mast attached to rudder shoe e Seaglider notebook containing trim sheets sensor documentation Seaglider serial number and transponder frequency 5 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Chapter 2 Checking Out Crate Contents Two magnetic power on off wands Plastic spare parts box containing e 2 Phillips head screw driver e Spare antenna connector O rings e Two spare lead trim weights 5 long x 34 wide x 1 8 thick e Small vice grips All screws necessary for assembly and spares Optional components Laptop computer for Seaglider communications e 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 screws 4 in a plastic bag If damage to your Seaglider occurred during transit or if your shipment is incomplete contact iRobot Maritime customer support at maritimesupport irobot com 1KA Seaglider User s Guide IMPORT
468. tem By the year 2000 hundreds of this type of float were deployed worldwide both 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 Oceanogra phy Stommel 1989 Stommel imagined a fleet of vehicles that migrate vertically through the IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Chapter 1 1KA Seaglider History and Overview 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 Corpora tion 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 All groups worked with similar design goals e Small enough to be handled by two people Relatively low acq
469. ten 139 Figure 7 8 Interactive self test ener eene nen entree retener 140 Figure 7 9 Removing old data log files seseesesseeeeeeeeeenee nennen 141 Figure 7 10 Seaglider ID verification and communications set up sese 141 Figure 7 11 Checking GPS and Iridi M seiersen iseni eerren soin eraa ise en E E eN EaR 143 Figure 7 12 Checking bathymetry data sess eee 143 Figure 7 13 Compass calibration eessssessesseeeeeeeee nennen nennen ener tne 144 Figure 7 14 Critical operational parameters sese 144 Figure 7 15 Reporting hardware configuration and software versions esee 144 Figure 7 16 Reporting directory contents essere enne nre 145 Figure 7 17 Checking pressure sensor enne nennen nennen nennen 145 Figure 7 18 Checking GPCTD sse enne enne NS nennen trennen enne 146 Figure 7 19 Checking pitch motor eoe ertet ce edite EEKE E ES 146 Figure 7 20 Checking roll motor eese enne emen nene trennen 147 Figure 7 21 Checking VBD motor and value 148 Figure 7 22 Checking sensors and data file creation essere 149 Figure 7 23 Internal pressure and humidity sensors sseeeeenn 149 Figure 7 24 Checking altimeter essesesseeeseeeeeeneeeeneen nennen nennen eren eren ene 150 Figure 7 25 Reporting targets and science specifications
470. ter in the hole that the antenna shoe fits into in the aft fairing CAUTION DO NOT use a power washer near the sensors 8 Flush the conductivity and temperature sensor with deionized water 189 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Chapter 11 Operator Level Maintenance 9 If your Seaglider is configured with additional sensors be sure to rinse thoroughly with deionized water Figure 11 4 Rudder Aft fairing Figure 11 4 Postdeployment Seaglider cleaning 10 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 11 Remove the hatch covers 12 Clean the sensor cable IE55 connectors and bulkhead connectors with soap and water and or alcohol 13 Use low pressure compressed air to dry the connectors CAUTION Use only 3M Silicone Spray lubricant The use of other lubricants such as WD 40 or CorrosionX will result in damage to the connector and subsequent failure of the sensor 14 Lightly lubricate sensor connector mating surfaces with 3M Silicone Spray Do not use silicone grease as
471. ter of gravity of the Sea glider system 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 requirements The addition or removal of science sensors also affects the required ballast weight Buoyancy Buoyancy is the unbalanced positive or negative vertical force on a submerged object arising from the vertical pressure gradient It was Archimedes who as mentioned previously stated that the buoy ant upward force on a submerged object is equal 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 Seaglider vehicles 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 the displaced volume which increases the buoyancy of Seaglider Bleeding oil from the external bladder
472. ters the surface phase Recovery The recovery 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 the Seaglider system s operating software In the recovery phase Seaglider stays on the surface and acquires a series of GPS fixes which are sent to the basestation so that Seaglider can be recovered 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 recov ery 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 1KA Seaglider User s Guide 45 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 4 Operating Principles 46 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the E
473. tes 179 009 SSUREN Transmission succeeded 179 093 HTT8 N Updating parameter T_RSLEEP to 1 179 156 SDIVE N Parsed command QUIT 179 309 HTT8 N Writing NVRAM done 187 463 SUSR N 187 495 SUSR N 187 531 SUSR N 187 565 SUSR N 187 602 SUSR N 187 642 SUSR N 187 681 SUSR N 187 724 SUSR N ID 123 MISSION O DIVE O D SURE3 D FLARE 3 D_TGT 15 D ABORT 1020 D NO BLEED 200 187 765 SUSR N D BOOST O 187 804 SUSR N 187 839 SUSR N 187 888 SUSR N 187 925 SUSR N 187 960 SUSR N T BOOST3 T BOOST BLACKOUT O D FINISH 6 D PITCH 0 D SAFE 0 187 995 SUSR N D CALL O 188 029 SUSR N 188 074 SUSR N 188 124 SUSR N 188 179 SUSR N 188 217 SUSR N 188 261 SUSR N 188 303 SUSR N 188 343 SUSR N 188 392 SUSR N 188 429 SUSR N 188 466 SUSR N SURFACE URGENCY 0 SURFACE URGENCY TRY 0 SURFACE URGENCY FORCE 0 T DIVE 5 T MISSION 15 T ABORT 720 T TURN 225 T TURN SAMPINT 5 T NO W 120 T LOITER O USE BATHY O 188 504 SUSR N USE ICE O 188 545 SUSR N 188 606 SUSR N ICE FREEZE MARGIN 0 30000001 D OFFGRID 100 188 650 SUSR N T_WATCHDOG 10 188 690 SUSR N 188 730 SUSR N 188 776 SUSR N 188 814 SUSR N 188 857 SUSR N 188 901 SUSR N 188 947 SUSR N 188 988 SUSR N 189 030 SUSR N 189 293 SUSR N 189 330 SUSR N 189 377 SUSR N 189 419 SUSR N 189 463 SUSR N 189 514 SUSR N 189 560 SUSR N 189 609 SUSR N 189 645 SUSR N
474. th Pilot and Field Team Immediately after the launch command is given to Seaglider a communication session with the basestation starts 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 sequence 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 equipment needed for the deployment on a boat An example equipment checklist is in Appendix J Sample Field Kit Checklist on page 343 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 b Remove the protective covers from the science sensors Place a light tag line around Seaglider just forward of the rudder so that the line rests in the grooves on the front edge 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 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 tr
475. th altimeter Edit altimetry parameters Altimeter xPDR Menu oi Ping the altimeter Upload configuration to altimeter Query t transp der ing t DR configuration n parameters ms with altimeter Figure 7 7 Altimeter check a 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 c Put the transducer next to the nose of Seaglider touching the fairing 1KA Seaglider User s Guide 139 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 7 Prelaunch Procedures Select 3 Query From the Main Menu type 2 Hardware tests and monitoring and press Enter Figure 7 7 Select 10 Altimeter and press Enter Figure 7 7 the transponder ping count Ping count should be 0 If not select 3 again until ping count is 0 deck box and on the laptop Figur to the number of Send a ping from the deck box to Seaglider The system displays a response on the screen of the the laptop The display on the deck box is automatic To see the ping count on e 7 7 select 3 Query the transponder ping count and the count should go up times the
476. 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 this dive in meters 1KA Seaglider User s Guide 209 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe crimin
477. that this only be set on specific services when itis 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 2770407 140904 4806 097168 12222 047852 1 500000 13 13 seconds 3009 584 HTT8 N Updating parameter T GPS CHARGE to 13320 147 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 1KA Seaglider User s Guide 219 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix B Seaglider File Formats Manual 8771 415 HROLL N 34 5 deg ad 3195 Updating parameter R PORT OVSHOOT to 18 880 082 5MOTOR 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 3774 p
478. the VBD parameters see Chapter F VBD parameters For a description and acceptable range of values for each parameter see Chapter 5 Piloting Parameters on page 47 For the exact values of SVBD MIN VBD MAX and C VBD see the trim sheets in the note book shipped with the Seaglider vehicle 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 Characterize valve 1 To characterize the valve select 5 Characterize valve and press Enter Seaglider responds with the following information Delay in seconds on bleeds before checking progress 2 2 If a 2 second delay the default is acceptable press Enter if not type a new value and press Enter VBD change assumed after how many counts 2 3 If 2 counts the default is acceptable press Enter if not type 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 1KA Seaglider User s Guide 303 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix F Hardware and Configuration Menus
479. the glider sequentially in the order shown in Figure B 1 The sampled data is processed by the base station to create the eng file The sequence is as follows Step Action Step 1 TTS Sleeps if the science file specifies that it is not time to sample yet Step 2 Record system time and save this to log with the data as the timestamp for this line of the engineering file Step 3 Read the Paine pressure sensor installed on the glider Step 4 Read the SP3004D compass installed on the glider Step 5 Step 10 Check each sensor slot sequentially for an installed sensor If that slot has a sensor sample it then proceed to next sensor If the next slot is empty pro ceed directly to Step 11 Step 11 Write out a new row of data to the eng file including the system time pres sure reading compass data vehicle control positions VBD and mass shifter guidance and control phase state and finally the sensor data in each slot sequentially until all sensor data collected is written At any time during the sequence of steps described above it is possible for the processor to be interrupted Interruptions in data sampling occur most often when the mass shifter moves to change the glider s attitude however other tasks carried out by the glider may also cause interruptions in data sampling Interruptions that occur and are completed while the TT8 sleeps will not have a net affect on the sampling lead and lag times However if the interrupt
480. ther tasks 1KA Seaglider User s Guide 155 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 7 Prelaunch Procedures 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 the communication connector on Seaglider 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 Detaching the antenna mast from aft fair ing on page 117 61 Stow Seaglider 156 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administ
481. therboard revision carried by Seaglider N FILEKB An integer value N 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 16 16 N_GPS The maximum number of seconds to wait after the first GPS fix is received for a GPS fix with HDOP that is less than 2 0 If no such fix is acquired the last most recent GPS fix is used which is probably but not necessarily the most accurate fix available in the specified time period 20 60 1KA Seaglider User s Guide IMPORTANT NOTICE 79 WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 5 Piloting Parameters Table 5 4 Parameters in alphabetic order Parameter Definition Nominal Min Max value value value N NOCOMM The number of dives that are allowe
482. timeout sec 9 PITCH AD RATE 175 Pitch motor AD counts per sec 105 PITCH MAXERRORS 1 Number of pitch errors allowed before entering recovery 11 PITCH ADJ 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 Figure F 12 Pitch Parameters menu For a description and acceptable range of values for each parameter see Chapter 5 Piloting Parameters on page 47 For the exact values of PITCH MIN PITCH MAX and C PITCH see the trim sheets in the notebook shipped with the Seaglider vehicle 2 To change a parameter value follow the procedures under Basic Mission and Seaglider Parame ters menu Roll parameters 1 From the Parameters and Configuration menu select 10 Roll Parameters and press Enter Figure F 13 Roll current value in ROLL MIN 180 59 6 deg Roll position limit port D SROLL_MAX 3875 44 8 deg Roll position limit stbd CAD ROLL DEG 45 Roll position normal flight deg SC_LROLL_DIVE 2290 Roll neutral point when diving and testing CADE C ROLL CLIMB 2090 Roll neutral point when climbing AD SHEAD_ERRBAND 10 00 Roll scene Heading Diei deadband deg ROLL CNV O 028270001 Roll position conversion factor deg AD ROLL TIMEOUT 15 Roll mass timeout roll and rollback sec R_PORT_OVSHOOT 18 Roll mass overshoot to
483. ting 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 Typographical conventions The following table explains the typographical conventions used in this manual Typeface Indicates Example UPPERCASE BOLD Parameters used to control the T DIVE operations of the 1IKA Seaglider includes a leading sign bold Items you select such as menu Select 1 from the menu and options and commands or then click Edit choose from a list monospace User input and filenames etc vx tunefstab italic Variables titles first occurrence Variable name of terms Tab Command Group Command Command option paths are writ ten in the order you access a command button from the ribbon Edit gt Insert gt Insert file IMPORTANT NOTICE xix WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Introduction Safety conventions The level of a safety notice is determined by the level of physical harm that could occur the safety critical function and the severity and probability that harm will occur This manual complie
484. ting software stops the mass shifter at this value when rolling to port NOTE 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 Roll maneuver timeout seconds 15 If the mass shifter does not achieve the desired roll position before ROLL TIMEOUT seconds a roll error occurs 10 20 SEABIRD_ C_G C_H C_I C_J T_G T_H T_I T_J Set by manufacturer Do not change Sea Bird Electronics provides calibration coefficients for their free flow 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 the CT sensor and should not be changed 94 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restr
485. tion 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 Menu Motors and VBD 1 pitch Pitch control 2 roll Roll control 3 Lvbd J VBO control tFixed Devices 4 super Supervisor 5 pressure Pressure sensor 6 compass Compass tcm2 7 aps GPS 8 modem Modem xmodem mode 9 intpress Internal pressure 10 altim Altimeter ll sensors Sensors 12 loggers Loggers other 13 batt Batteries and fuel gauges 14 lowlevel Low level hardware C 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 T Loggers menu pc GPCTD L empty CR Return to previous Enter selection 1 2 CR 1 Figure 7 5 Loggers menu b Press 2 and press Enter to enter the Hardware menu C Press 12 and press Enter to enter the Loggers menu 1KA Seaglider User s Guide 137 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 7 Prelaunch Procedures d mop gt Press 1 and press Enter to ente
486. tion Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Appendix K Standard Limited Warranty to Original Purchaser 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 OR SEA STATE IROBOT DOES NOT WARRANT THAT THE FUNCTIONS CONTAINED IN THE DEVICE WILL MEET CUSTOMER S REQUIREMENTS 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 1 Liability for Use or Loss at Sea CUSTOMER SHALL BE SOLEY RESPONSIBLE FOR ANY LIABILITY RESULTING FROM THE USE OR LOSS OF THE DEVICE AT SEA INCLUDING BUT NOT LIMITED TO USE OR LOSS RESULTING RESULTING FROM THE APPLICATION OF THE REGULATIONS OR RESTRICTIONS OF THE MARINE POLLUTION ACT MARPOL THE ENVIRONMENTAL PROTECTION AGENCY THE UNITED STATES COAST 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 OR OF ANY THIRD PARTY STATE OR NATION 2 2 Disclaimer of Damages NOTWITHSTANDING ANYTHING TO THE CONTRARY IN THIS AGREEMENT IT IS EXP
487. tion Modes and Files menu 2 To return to the Main Menu press Enter 314 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities PicoDOS Commands menu PicoDOS Commands menu 1 Select 4 PicoDOS Commands and exit and press Enter Appendix F 53 PicoDOS Command menu 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 Figure F 53 PicoDOS Command menu For more information on picoDOS commands see Appendix C Extended PicoDOS 9 Reference Manual v66 07 It is not recommended that the user exit down to the pdos or TT8 levels Pre Launch menu e Select 5 Pre Launch menu and press Enter Figure F 54 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 2 reset Reset dive run number 7 R test Test Launch sea Sea Launch CR Return to previous I Figure F 54 Pre Launch menu Set Scenario Mode menu Scenario mode is used with Seaglider in a test tank This mo
488. tion constants to be used to convert frequency to engineering units These constants are placed into the file sg calib constants m which is provided with your software by our manufacturing facility There should be no need to edit the contents of this file unless your sensor is replaced or recalibrated In such a case please contact technical support for further assistance NOTE These constants are only used with the Visualization software when the SBE 43F DO sensor is attached directly to the end cap port on Seaglider These constants are NOT used by the Visualiza tion software when the SBE43F DO sensor is attached to the GPCTD As of the writing of this manual the general form of the equation used by the Visualization software to convert from frequency voltage to engineering units is O2 Soc output Foffset 1 0 A T B T2 C T3 Oxsat exp E P T 273 15 where 218 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities 2 1 Processed files Output the frequency output from the SBE 43F sensor Soc A B C E constants from the calibration sheet e T temperature obtained from a GPCTD or a Microcat C T Recorder SBE 37 SM
489. tions need to be obtained on each dive to enable all NAV MODE options yet surface time needs to be minimized CALL_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 communication session with the basestation until the number of dives since the last communication equals CALL_NDIVES 1KA Seaglider User s Guide IMPORTANT NOTICE 81 WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 5 Piloting Parameters Table 5 4 Parameters in alphabetic order Parameter Nominal Min Max Definition value value value NAV MODE An integer value specifying the method 2 0 3 used to choose a heading for Seaglider to maintain on the next dive according to the following values 0 Steer constant heading SHEADING 1 Kalman filter see SKALMAN USE Seaglider uses the past current information gathered by the Kalman filter to correct the flight path for the next dive Use settings NAV_MODE 1 and SKALMAN USE 2 when using N NOSURFACE When NAV MODE 1 and SKALMAN USE 2 the heading is calculated based on GPS and tar get with no correction for cu
490. 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 185 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Chapter 10 Recovery and Disassembly Hecovery 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 acquires 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 the most recent GPS position of Seaglider 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 Seagl
491. to rest min pressure secs 5 5 If 5 is okay press Enter if not type a new value and press Enter Sample report interval secs 1 6 If 1 is okay press Enter if not type a new value and press Enter Display readings Y 7 If the readings should display press Enter if not type a new value and press Enter Number of cycles to run 10 1 8 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 35 20503 396 HVBD N Hit any key to abort 20503 491 HVBD N cycle sec vbdO 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 3834 3773 3803 0 20510 422 HVBD N Waiting for 5 sec 20515 558 HVBD N Cycle 1 completed sid I 20515 661 SPOWER N powerOFF 3 VBD pump during surface without corresponding poweroN Figure F 35 VBD pump and bleed pressure test 9 To stop the test press any key At the conclusion of the test Seaglider returns to the VBD menu 306 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act
492. to the hardware software and all accompanying or subsequently 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 including without limitation special incidental consequential 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 K Standard Limited Warranty to Original Purchaser on page 345 The pressure hull of the iRobot 1KA 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 consequential 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 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Trademarks iRobot and
493. turer Do not change The capacity of the 24V high voltage 145 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 state if the total 24V battery pack amp hours used on a mission equals or exceeds this value 150 56 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Alphabetized parameters Table 5 4 Parameters in alphabetic order Parameter Nominal Min Max Definition value value value SALT TEL NUM 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 The pvt file for each dive records the set value for this parameter 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 char
494. u can override the Seaglider gen erated number with your own number You define subsequent mission numbers either here of through the cmdfile from the basestation The current password appears 26 Verify the current password Figure 7 10 1KA Seaglider User s Guide 141 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 7 Prelaunch Procedures At the prompt New password 15 char max length CR to leave unchanged type a new pass word 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 the ID number of the Seaglider system The last three digits are 680 if the ID is even or 791 if the 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 system s password that was installed at the factory you must also make a corresponding change on the basestation for this Seaglider Changing the password is NOT recom mended If the password is incorrect the test failed CAUTION
495. ue 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 Doone of the following e If the nominal value of 15 appears then press Enter e If the nominal value does not appear enter the value 15 and press Enter 1KA Seaglider User s Guide 147 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 7 Prelaunch Procedures 43 Check the VBD motor and values Figure 7 21 Figure 7 21 Checking VBD motor and value a At the prompt Verify VBD SW limits and timeouts Y press Enter to accept the default Yes Figure 7 21 At the prompt VBD_MIN New value x verify that the value displayed matches the mini mum VBD value on the Cal Sheet found in respective Seaglider notebook Figure 7 21 Ifthe 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 At the prompt 8VBD MAX New value x verify that the value d
496. uisition and operation costs Horizontal speeds of around 30 cm s Endurance of up to a year e 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 developed 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 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 2 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws ar
497. unications cable to Seaglider Figure 7 3 Internal battery packs Connect the 6 pin IE55 end of the non powered commu nications cable to the communications port located at the base of the Seaglider antenna mast Figure 7 1 Communications cable Figure 7 1 Communications cable attached to Seaglider 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 4 Position Seaglider in its cradle nose down tail up and make sure the antenna is within 40 of ver tical and has an unobstructed view of the sky Figure 7 2 134 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Interactive self test 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 5 If Seaglider is being powered externally set up the dual voltage power supply checking both volt age output and current limit Set one supply to 24V with a 2 amp current limit
498. uring the dive adjust PITCH_ADJ_GAIN upward until system becomes stable at desired value over course of dive 1KA Seaglider User s Guide 87 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 5 Piloting Parameters Table 5 4 Parameters in alphabetic order Parameter Definition Nominal Min value value Max value PITCH CNV Set by manufacturer Do not change 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 0 003125763 Old style mass shifter 0 0046 PITCH DBAND The pitch position deadband cm within which no further pitch motion will be commanded 0 01 0 PITCH GAIN The amount of vehicle pitch degrees change corresponding to a 1 cm movement of the pitch mass 40 PITCH MAX Set by manufacturer Do not change Pitch position software limit A D counts aft NOTE Value determined by the software maximum of the system Obtain actual value from the vehicle s trim sheet 4000 PITCH MAXERRORS
499. ust check and set up Verify that Seaglider is commissioned on the basestation 1 Type cd home and then press Enter 2 Type Is and then press Enter If the Seaglider has been commissioned on the basestation a directory with the name for that Sea glider for example sg505 displays All Seaglider names start with sg The three digit number in the name is the serial number for the Seaglider system The name is in the manual shipped with the Seaglider system The serial number is also written in black on the rear of the aft fairing 3 If the Seaglider is not listed create a directory for the Seaglider see Commissioning a Seaglider on the basestation on page 8 Otherwise for more information see Checking the contents of Seaglider directory on page 9 Commissioning a Seaglider on the basestation If using a hosted cloud basestation contact Maritime support otherwise follow these steps 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 i e super user root The initial password is 1qazxsw2 the number one followed by qazxsw 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 4 Type 1s and then press Enter The new directory displays If it does not rep
500. vbd VBD control 4 pressure Pressure sensor 5 compass Compass tcrmz 6 aps GPS 7 modem Modem xmodem mode 8 intpress Internal pressure 9 altim Altimeter Sensors ig ct C T sensors 11 nullct NULL C T sensors 12 o2 92 sensor 13 wetlabs WETLabs VSF amp fluorometer 14 par QSP 2150 PAR sensor 15 optode Optode Other 16 batt Batteries and fuel gauges 17 lowlevel Low level hardware IO A D CF 18 misc Miscellaneous travel timeouts date time 19 develop Developer tests CR Return to previous Enter selection 1 19 CR 18 Step 8 Figure 6 2 Travel mode menu 1 Type 18 misc Miscellaneous travel timeouts date time and press Enter 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 Miscellaneous hardware functions travel Prepare for travel 1 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 TOMG 7 dump Dump captured registers CR Return to previous Enter selection 1 7 CR 1 Step 9 Bleeding down 1314 122 HVBD N Bleed commanded from 405 96 cc 1755 to 15 21 cc 3 1315 2921 HVDD N 4203 5 ec fadi 1765 1772 TTL eek
501. ve the lower screws Repeat for the other wing ii Set the wings aside for packing and put the screws back in the spare parts kit Wash Seaglider see Chapter 12 1KA Seaglider Refurbishment on page 195 Pack Seaglider in its shipping crate see Figure 2 1 on page 5 Wash the launch and recovery cradle Beg mm c Disassemble the launch and recovery cradle a Remove the wing nuts and eye bolts from the small holes in the end plates with carrying han dles Put the hardware in the plastic spares kit b Detach the two top rails from the end plates with carrying handles by removing the large bolts using the 34 wrench Put the hardware in the plastic spares kit c Slide the straps off of the upper rails d Slide the yellow mesh from the upper rails and roll up e Detach the two lower rails from the end plates with carrying handles by removing the large bolts using the 34 wrench Put the hardware in the plastic spares kit f Pack the launch and recovery cradle parts in the shipping crate see Figure 2 1 on page 5 1KA Seaglider User s Guide 187 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 10 Recovery and Disassembly 188 1KA Sea
502. ward 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 1 m produce lift vectors rela tive 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 lati tude longitude position The antenna is then switched to the Iridium modem allowing Seaglider to e 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 30 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 27
503. with antenna mast removed from the aft fairing 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 Sea glider does not have to be outside nor does the antenna have to be fully installed 1 2 3 Connect Seaglider to the laptop via the communication cable Turn on the laptop and start the terminal emulation program and a screen capture 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 queried Are you running on external bench power answer Yes type y or No type N depending on how Seaglider is being powered Go to the Main menu Figure 6 2 1KA Seaglider User s Guide 117 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 6 Predeployment Tasks 7 Atthe Main menu select 2 Hardware Tests amp Monitoring and press Enter CLIE Hardware Menu Motors and VBD 1 pitch Pitch control 2 roll Roll control 3
504. ws are subject to severe criminal penalities Recovery process Recovery process 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 esti mated steam time to be onsite 3 Pilot Changes the necessary parameters to put the Seaglider into shallow dives 0 4 Pilot Ensures the Seaglider arrives at the designated recovery location at the designated time 5 Puts the Seaglider into recovery mode and insures it will remain on the surface 6 Notifies Field Team once the Seaglider is on the surface and in recovery mode 7 Relays the last known GPS coordinates to the Field Team 8 Field Team Arrives at designated recovery location at designated time and informs the Pilot they re onsite 9 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 Cleans up the basestation by putting data from this deploy ment in one folder
505. xport Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties CHAPTER 5 Piloting Parameters Parameter conventions AII parameters have a leading in their name This guide uses boldface font to denote all parameters and italic font for file names Nominal values are given with most parameters and are not default val ues Parameter values associated with a dive that are reported by Seaglider in the log file include all the pilot changeable parameters described in this document Also the values generated on board the Seaglider such as glide angle pitch angle and desired heading are also given parameter like names for consistent parsing during post dive data processing Command file cmdfile state directives Introduction The command file cmdfile directives control the state of autonomous Seaglider operations Table 5 1 The 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 associated values like other cmdfile parameters do Table 5 1 Directives Directive Definition GO 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
506. xport is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Assembling the Seaglider cradle Figure 3 3 shows the assembled cradle Figure 3 3 Assembled cradle NOTE Your cradle may differ depending on whether you ordered a standard or Ogive glider 10 Put the assembled cradle on the floor next to the shipping case 1KA Seaglider User s Guide 13 IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalities Chapter 3 Setting Up the System Assembling the Seaglider NOTE The configuration of your Seaglider system may differ depending on what you ordered 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 Figure 3 4 Figure 3 4 Position of Seaglider in the cradle 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
507. y the conductivity and temperature sensors are sampled however with additional sensors installed 5 seconds is the lower limit The science file also gives the ability to turn off OSI sensors or only energize them every nth sample of other sensors in a given depth range 40 1KA Seaglider User s Guide IMPORTANT NOTICE WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Features of control The sensor sampling intervals for an ALI sensor are controlled by the configuration file for that sensor and are independent of the sampling intervals of any other installed ALI sensors Bathymetry Seaglider can read a digitized bathymetry map to determine how deep to dive or can rely on the on board 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 1000 m water The practical shallow water limit is 50 m It is hard to make progress toward a waypoint in water shal lower than that for several reasons e Turn radius e Pump time e Surface time e Currents The turning radius a few tens of meters at typica
508. y 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 additional 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 70 WARNING This Document contains Technical Data whose export is restricted by the Arms Export Control Act TITLE 22 U S C SEC 2751 ET SEQ or the Export 1KA Seaglider User s Guide IMPORTANT NOTICE Administration Act of 1979 as amended TITLE 50 U S C APP 2401 ET SEQ Violations of these export laws are subject to severe criminal penalties Alphabetized parameters Table 5 4 Parameters in alphabetic order Parameter Nominal Min Max Definition value value value D TGT The nominal depth meters at which 30 1 1000 Seaglider begins the apogee phase the transition from the negatively buoyant pitch down dive to positively buoyant pitch up climb This depth is also used in conjunction with T_DIVE to determine the sp

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