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Slocum Glider Operators Manual.book

1. 10 11 0 300 300 read from mafiles surfac10 ma BAW SCI SURFACE 0 quit 1 wait for C quit resume 2 resume T gt report all sensors once F gt just gps how long to wait for gps how long to wait for control C The following behavior surface instructs the glider to come up every 10 minutes In this particular case mission it is commented out and therefore not active behavior surface 3b arg b_arg b arg 3b arg 3b arg b_arg b_arg b_arg args_from_file enum start_when enum when_secs s when_wpt_dist m end_action enum report_all bool gps_wait_time s keystroke_wait_time s read from mafiles surfac10 ma 0 immediately 1 stack idle 2 depth idle 6 when secs 7 when wpt dist 8 when hit waypoint 9 every when secs How long between surfacing only if start when 6 or 9 how close to waypoint before surface 0 quit 1 wait for C quit resume 2 resume T gt report all sensors once F gt just gps how long to wait for gps how long to wait for control C The following behavior goto list tells the glider where its waypoints are For this case we have again used the ma convention which allows us to write a more general mission and insert the particular waypoints coordinates behavior goto list b arg args from file enum b arg start when enum TELEDYNE WEBB RESEARCH read from mafiles goto_110 ma 0 immediately 1 stack
2. Slocum G2 Glider Operators Manual E Ancillary Equipment E 2 TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 About FreeWave Transceivers Slocum G2 Glider Operators Manual F FreeWave Configuration Following are excerpts from the FreeWave Technologies Inc Spread Spectrum Users Manual Refer to www FreeWave com for complete details About FreeWave Transceivers FreeWave transceivers operate in virtually any environment where RS232 data communications occur The transceivers functions on a nine pin null modem cable If the FreeWave transceivers are to be used in an application where a null modem cable is used such as communication between two computers then the FreeWave transceivers can be connected directly If FreeWave transceivers are to be used to replace a straight through RS232 cable then a null modem cable must be placed between the transceiver and the DCE instrument to which it is connected Setting up the Glider Shoreside FreeWave This mode allows a shoreside Free Wave to communicate with several slaves 1 Connect the transceiver to the serial port of your computer through a serial cable 2 Open a HyperTerminal session Use the following settings to connect with HyperTerminal e Connect to COMx depending on which COM port your cable is connected to e Set data rate to 19 200 data bits 8 parity none stop bits 1 flow control none 3 Press the setup button next to the serial port on the back of the radio e The three
3. DATE mdy hms alp IEUMCP dellog DELLOG ALL MLG DBD SBD del DEL drv pth name P devices Prints device driver information df Prints disk space used and disk space free dir DIR d p fn PWBLV4A a dump DUMP file start end erase ERASE drv pth name P exit exit nofin poweroff reset pico pbm get GET sensor name hardware heap HARDWARE v hardware configuration Reports free memory help Prints help for commands highdensity HIGHDENSITY for help lab mode LAB MODE onloff list Displays all sensor names loadmission Loads mission file logging logging onjoff during GliderDOS longterm put LONGTERM PUT sensor name gt new value TELEDYNE WEBB RESEARCH M 25 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual M 26 P N 4343 Rev B 1 12 Command Name M G2 Glider Science Simulator User s Guide Table 13 12 Device Commands Syntax and or Description longterm LONGTERM for help LS path list a file system branch MBD for help MKDIR drive path MV src path dest path copy a file system branch path PATH Show search path PATH d path P prompt prompt text P prunedisk purgelogs Prunes expendable files to free space on disk Deletes sent log files p
4. PicoDOS is the operating system that ships with the Persistor CF1 Typing help accesses the many DOS like functions and their command lines GliderDOS The operating shell GliderDOS is a superset of PicoDOS GliderDOS is an application that performs most of the PicoDOS functions and has knowledge of the glider Typing help or lists the functions available Sensors make up all of the variables in the glider and are defined in Masterdata on page M 23 Behaviors then use these values to operate the vehicle The glider lists all of its sensors names with the 1ist command GliderDOS is an application that is loaded onto the Persistor glider app When it is configured correctly it boots up and calls an autoexec mi file containing all of the glider s calibration coefficients Certain devices are set automatically to ensure the best possible surface expression e Ballast pump assembly full extension e Pitch full forward e Air Pump on e ARGOS on e FreeWave on e GPS on The reasons to go to PicoDOS are to e Load new source code for GliderDOS e Work in the file structure without the device drivers being called WARNING The glider should never be deployed while in PicoDOS or set to boot pico TELEDYNE WEBB RESEARCH M 21 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual M G2 Glider Science Simulator User s Guide For detailed description of how to load a glider and science bay with a new release of glider production code
5. Software Architecture describes the structure of the glider s software software control hierarchy folder structure commands and masterdata prefixes Section 7 Science Data Logging provides an introduction to science data logging and how this functionality works Section 8 Flight Data Retrieval is a guide for retrieving data from the glider during a mission surfacing and when a mission has ended Section 9 Dockserver Data Visualizer provides a brief description of the Data Visualizer and a link to documentation on how to use it Section 10 Missions provides instructions for loading mission files onto a glider and running missions Appendix A Abbreviations and Acronyms provides a list of abbreviations and acronyms related to glider maintenance and operations Appendix B Code Theory and Operation provides details on the software used to operate the glider Topics include a description of the operating systems used the code design abort sequences general control structure for glider deployments and sample code for a mission Appendix C Abort Codes contains a list of codes used to abort glider tasks and operations Appendix D Glider Software Website provides instructions for downloading the glider code from the repository Appendix E Free Wave Configuration includes excerpts from FreeWave Techonologies Spread Spectrum Users Manual on how to set up FreeWave transceiver communications on a glider Appendix F
6. neve RR e E en dm ER TE E de SR ERR Gs M 13 Simulating the Iridium Modem 0 00 cece en M 14 Simulating the FreeWave Modem 00 cece ence eee eee M 14 Simulating Bad Input eee eee M 14 Simulation Details eee n M 16 Setting Initial Simulation Parameters 0 0 0 0c eee eee eee M 17 Simulation in the Science Bay 0 0 cece eee nee M 17 Software Control Hierarchy 0 0 0 2 cece eee eee M 18 Glider Computer 2 2 232348 Abg iR REIR ac gp EE M 18 PicoDOS 2 5 REL ER EUR es ie eue ta M EAT GliderDOS u ns na pen PA eR PME ebrii M 21 M sterdat i elige He 4 en Sy Ee ep sew das M 23 Science Computer vds ib ehren As M 27 Science Data Logging 06 0 2 ee edron ce eee ene ren M 30 System Requirements cerre anini aiir ai eee Rr hene M 30 Performance nen deer Eee naw eu a M 30 Logfile Lypes eee eU ee er tete oe nen M 31 Transparency suse eri ee xu in es YR DR WIRE RR E gis M 32 Control ee Dee puru Peale seed Duis iet Wee dies te Histo M 32 Code Theory and Operation 0 0 0 eee ene M 35 Operating Systems llle M 35 C de Destin oni 2 ara Br mania iS M 35 Control Stacks States and Abort Sequences 02000 e eee M 36 General Control Structure llle nennen M 37 Sample Mission and Comments 0 0 e eee eee ee eee eee M 39 Glider Software Website 0 0 0 eee ec cence eens M 44 TELEDYNE WEBB RESEARCH M 5 P N 4343 R
7. nofin poweroff reset pico pbm GET get lt sensor name gt HARDWARE hardware v hardware configuration HEAP Reports free memory ELP Prints help for commands HIGHDENSITY highdensity for help LAB_MODE lab mode onloff li ion Need description here LIST Displays all sensor names loadmission Loads mission file logging logging onloff during GliderDOS LONGTERM PUT longterm put sensor name gt new value LONGTERM longterm for help TELEDYNE WEBB RESEARCH 6 9 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual 6 10 P N 4343 Rev B 1 12 6 Software Architecture Table 6 10 Device Commands In this table all commands listed in all caps are executable during a mission when preceded by an exclamation point The commands in lower case cannot be used during mission Commands are not case sensitive when you are entering them in the glider software Command Name Syntax and or Description Ipstop O 60 secs puts the Persistor into low power mode for the specified amount of time Will use 30 seconds as the low power time if none is specified Is path list a file system branch mbd for help mkdir drive path mv src path dest path copy a file system branch path Shows search path path d path p prompt prompt text p PRUNEDISK Prunes expendable files
8. be downloaded to confirm satellite coverage at http gpredict oz9aec net Relevant Sensors m_iridium_signal_strength nodim iridium received signal where 0 equals no signal and 5 best See each vehicle s autoexec mi file for the primary and alternate numbers to be dialed by the Iridium phone To view the other sensors relevant to the Iridium phone refer to the masterdata at ftp ftp glider webbresearch com glider windoze production masterdata Radio Frequency RF Modem Telemetry When connected to the flight Persistor the FreeWave 900 MHz radio modem is used for local high speed communications with the glider Due to its very high baud rate no cable is used for communication and all in lab communications are facilitated through RF comms See FreeWave Configuration on page F 1 How to Configure The FreeWave slave in the Slocum glider is factory configured to call all master FreeWave transmitters The FreeWave Master shipped with each glider is configured to communicate with only one glider To configure a master to another glider connect the master unit to a computer with a terminal program such as ProComm or HyperTerminal configured for 19200 N 8 1 Power on the master and press the button on the back of the master From the FreeWave menu edit the call book option 2 and enter the seven digit slave number from the autoexec mi file from the desired glider into one of the 10 available slots From the FreeWave m
9. during data transfer the data is transferred via Iridium only if Free Wave is not available The option to force transfer through Iridium while FreeWave is connected is also available WARNING Never enter PicoDOS outside of a lab environment e To test Iridium while in PicoDOS change the Dockserver to serial perspective and type talk iridium refer to PicoDOS on page 6 2 e To leave talk type cont rol c Pause for a moment then type cont rol c again TELEDYNE WEBB RESEARCH 5 1 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual 5 Glider Communications To dial a number using a commercial card type AT 001 number to be dialed To dial a number using a military card type AT 00697 number to be dialed e ata answers an Iridium phone call e ath hangs up the phone after an Iridium call Alternately cont rol c can be used to hang up the phone Communicating with RUDICS Refer to section 12 of the GMC Manual which is located at ftp ftp glider webbresearch com glider windoze production src gliderMissionControl Documentation gmcUserGuide pdf 5 2 P N 4343 Rev B 1 12 TELEDYNE WEBB RESEARCH Slocum G2 Glider Operators Manual 6 Software Architecture The controller code is written in C and architecturally is based on a layered single thread approach where each task is coded into a behavior and behaviors can be combined in almost any order to achieve flexible and unique missions These behaviors can also be cons
10. http www glider doco webbresearch com software howto updating all glider software txt M 44 TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Index Symbols command 8 2 command 6 5 M 21 A abbreviations list A 1 to A 2 abend argument l 1 abort codes C 1 to C 2 abort sequences B 2 to B 4 M 36 to M 38 aborting missions 6 11 C 1 to C 2 l 1 to 1 2 M 27 accessing flight data 8 1 to 8 2 GliderDOS 2 1 operating mode FreeWave transceivers F 1 F 2 acoustic modems 6 12 to 6 13 M 29 acronym list A 1 to A 2 adtest run 6 3 M 19 aft batteries location of 1 5 aft hulls architecture of 1 5 aft tail cones architecture of 1 5 air bladders 1 5 1 16 1 24 to 1 25 air pumps 1 5 1 16 to 1 17 1 19 2 1 air activating burn wire in 1 25 alkaline batteries dangers of 1 29 alkaline battery voltage monitoring l 1 to l 2 alloff run 6 3 M 19 almanacs GPS locations 2 1 altimeters 1 10 to 1 12 amconnct run 6 12 M 29 angles composite wings 1 3 anodes sacrificial 1 27 antennas FreeWave transceivers F 3 appcmd dat 6 13 M 29 M 30 architecture gliders 1 3 to 1 6 science data logging SDL 7 1 to 7 5 M 30 to M 34 software GliderDOS 6 5 to 6 6 M 21 to M 22 masterdata 6 6 to 6 11 M 23 to M 27 overview 6 1 Persistor 6 11 to 6 14 M 27 to M 30 PicoDOS 6 2 to 6 5 M 18 to M 21 simulators M 18 to M 30 Argos contact information G 1 data format of transmitters H 2 establishing satellite service an
11. when wpt dist m 10 how close to waypoint before surface b_arg end_action enum 1 0 quit 1 wait for C quit resume 2 resume b_arg report all bool 0 T gt report all sensors once F gt just gps b arg gps wait time s 300 how long to wait for gps 3b arg keystroke wait time s 300 how long to wait for control C TELEDYNE WEBB RESEARCH M 41 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual M G2 Glider Science Simulator User s Guide The following behavior goto_list tells the glider where its waypoints are For this case we have again used the ma convention which allows us to write a more general mission and insert the particular waypoints coordinates to where the glider will glide behavior goto list b arg args from file enum 10 read from mafiles goto_110 ma b arg start when enum 0 0 immediately 1 stack idle 2 heading idle The corresponding ma file is displayed below behavior name goto list 3t Written by gen goto list ma ver 1 0 on GMT Tue Feb 19 18 56 54 2002 07 Aug 02 tcODinkumSoftware com Manually edited for spawars 7aug02 op in buzzards bay 07 Aug 02 tc DinkumSoftware com Changed from decimal degrees to degrees minutes decimal minutes goto_110 ma Flies a hexagon around R4 startb arg b arg num legs to run nodim 1 loop b arg start when enum 0 BAW IMMEDIATELY b arg list stop when enum T BAW_WHEN_WPT_DIST b arg initial wpt enum 2 closest b arg num wa
12. with this risk should seal or operate the instrument TELEDYNE WEBB RESEARCH 1 29 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual 1 Introduction 1 30 Desiccant The glider should be opened and sealed in a controlled dry environment if possible Desiccant packs should be installed to absorb internal moisture and should be replaced for each deployment When the glider is open for long periods the desiccant should be stored in sealed plastic bags to prevent it from being saturated by atmospheric moisture A fully saturated dessicant bag can increase in mass by 40 grams and can therefore also affect ballasting How to Configure Keep dry When the glider is open desiccant will gradually gain mass from the atmosphere Increase in mass can effect glider ballasting and cause desiccant to become ineffective How to Test Desiccant weight can be monitored The desiccant pouches provide by Teledyne Webb research weigh 114 grams when fully dried out Pick Point The payload or science bay can be outfitted with a lifting point Recovery System optional How to Configure See the Slocum G2 Glider Maintenance Manual for installation and configuration How to Test Disconnect the supply lead to the recovery system at the Mecca connector Connect the digital voltmeter between the supply lead and the forward anode Type put c recovery on 1 Verify that the voltage is at least 5 volts Type put c recovery on 0 sap
13. 2 General Control Structure llle B 3 Synchronous Abort setya berari tee t B 3 Out of Band Abort tse kn s B 4 Hardware Generated Abort llle B 4 Sample Mission and Comments 0 0 cece eee B 4 C Abort Codes iis xor vx who dead Ea erba a ada dE C 1 D Glider Software Website leeeeu D 1 E Ancillary Equipment os cea tite ees Wer AA E 1 F FreeWave Configuration 0000 eee eee eee eee F 1 About FreeWave Transceivers lesse F 1 Setting up the Glider Shoreside FreeWave o oooooococoocoonconnoccno F 1 Setting up the Glider FreeWave Slave internal to the glider F 2 Choosing a Location for the Transceivers 0 0 0 0 cee eee eee rom F 3 G Iridium Service and the SIM Card G 1 H Argos Satellite Service and ID Lse H 1 Instructions for Completing the Argos Technical Information Form H 1 Argos Data ForMat oooo ooooccononor ehh H 2 I How to Determine Mission Battery Longevity l 1 J How to Edit a Proglets dat File o oooo J 1 K Quick Reference and Checklists K 1 L Glider Wiring Diagram lleeeeerrniziznse L 1 M G2 Glider Science Simulator User s Guide M 1 Introductiom onse een vcr ente Des e p E Ein M 7 Format Notes olo b m ER Rx eh ee end a ERE IT M 7 Conn ct
14. 3 software architecture of GliderDOS 6 5 to 6 6 M 21 to M 22 masterdata 6 6 to 6 11 M 23 to M 27 overview 6 1 Persistor 6 11 to 6 14 M 27 to M 30 PicoDOS 6 2 to 6 5 M 18 to M 21 simulators M 18 to M 30 glider downloading D 1 M 44 speed science processors 7 1 M 30 srf display command 6 10 M 26 srtest run 6 3 M 19 stability air bladders 1 24 stacks B 2 to B 4 M 36 to M 38 states B 2 to B 4 M 36 to M 38 stock missions starting 2 2 Stratos contact information G 1 strobe command 6 11 strobes 1 31 surface expressions GliderDOS 6 5 M 21 switchboards science and payload computers 1 23 synchronous abort B 3 to B 4 M 38 sync time command 6 11 M 26 system requirements science processors 7 1 M 30 T tail caps shape of 1 3 tail cones aft 1 5 tail fins fins tail 1 5 1 26 to 1 27 talk arg command 6 2 talk att command 6 2 talk gps command 6 2 talk help command 6 3 M 20 talk iridium command 5 1 6 2 talk run 6 3 M 20 tbd files 7 1 M 31 tbdlist dat 7 2 M 31 tcm3 command 6 11 M 26 telemetry Iridium satellite 1 21 to 1 22 radio frequency RF modems 1 22 temperature vacuum fluctuation and 1 13 testing air bladders 1 25 air pumps 1 17 altimeters 1 10 to 1 11 Argos satellite transmitter PTT 1 15 attitude sensors 1 20 ballast pump assemblies 1 7 1 8 battery packs 1 29 IX 18 P N 4343 Rev B 1 12 TELEDYNE WEBB RESEARCH burn wires 1 25 carbon
15. 6 7 M 23 report all command 6 7 M 24 report clearall command 6 7 M 24 report command 6 10 M 26 report list command 6 7 M 24 reset setting M 10 results from tests troubleshooting 1 6 RF modems See radio frequency modems rm command 6 10 M 26 rmdir command 6 10 M 26 RS232 cables F 1 RUDICS glider communications with 5 2 run command 6 10 M 26 run ini commands 2 2 run status mi command 2 1 2 2 run stock mi command 2 2 S s command 7 3 M 32 fs prefix 6 7 M 23 TELEDYNE WEBB RESEARCH Slocum Glider Operators Manual IX 15 P N 4343 Rev B 1 12 Slocum Glider Operators Manual sacrificial anodes 1 27 sam device 6 12 M 28 sampling 6 12 M 29 satellite service establishing with Argos H 1 to H 2 satellite telemetry Iridium 1 21 to 1 22 satellite transmitters PTT 1 15 to 1 16 1 19 saving energy during emergency recovery operations 4 1 sbd command 6 10 M 26 sbd files 6 4 7 1 8 1 M 20 M 21 M 31 sbdlist dat 6 3 6 4 7 2 M 19 M 20 M 31 SBE Seabird Electronics pumped CTDs running dry 1 14 sci_ prefix 6 7 M 23 sci setting M 10 SciDOS commands 7 2 to 7 3 M 31 to M 32 science bay computers 1 13 to 1 14 science bay sensors 1 13 to 1 14 science bays simulation in M 17 science computer See Persistor science data logging SDL 7 1 to 7 5 M 30 to M 34 science processors 7 1 to 7 5 M 30 to M 34 science sensors 1 5 science variable prefix 6 7 M 23 sci m disk free command
16. C to select the glider to which this slave will communicate e Press 0 to select entry 0 1 to select entry 1 etc or A for all radios on the list e Press Esc to return to the Main menu Press Esc to exit set up Choosing a Location for the Transceivers Placement of the FreeWave transceiver is likely to have a significant impact on its performance Height is key In general FreeWave units with a higher antenna placement will have a better communication link In practice the transceiver should be placed away from computers telephones answering machines and other similar equipment The six foot RS232 cable included with the transceiver usually provides ample distance for placement away from other equipment To improve the data link FreeWave Technologies offers directional and omnidirectional antennas with cable lengths ranging from three to 200 feet When using an external antenna placement of that antenna is critical to a solid data link Other antennas in close proximity are a potential source of interference use the radio statistics to help identify potential problems It is also possible that an adjustment as little as two feet in antenna placement can solve noise problems In extreme cases such as when the transceiver is located close to pager or cellphone transmission towers the standard and cavity band pass filters that FreeWave offers can reduce the out of band noise TELEDYNE WEBB RESEARCH F 3 P N 4343 Rev B 1 12 Slocum
17. Commands are not case sensitive when you are entering them in the glider software Command Name Syntax and or Description ATTRIB attrib rash d p name ballast ballast for help boot boot pico pbm app callback callback minutes til callback capture capture d p fn Dx B N E CD Change directory CHKDSK chkdsk d p fn F T CLR_DRIFT_TABLE Re initializes neutral ballast vs depth table CLRDEVERRS Zero device errors consci consci f rflirid console to science TELEDYNE WEBB RESEARCH Masterdata Slocum G2 Glider Operators Manual Table 6 10 Device Commands In this table all commands listed in all caps are executable during a mission when preceded by an exclamation point The commands in lower case cannot be used during mission Commands are not case sensitive when you are entering them in the glider software Command Name Syntax and or Description copy source dest V cp src path dest path copies a file system branch Computes CRC on memory date date mdy hms a p IEUMCP DELLOG dellog all mlg dbd sbd DEL del drv pth name p DEVICES Prints device driver information DF Prints disk space used and disk space free digifin digifin dc fc Ir pr rc rr rs sa sc st wr DIR dir d p fn pwblv4a a DUMP dump file start end ERASE erase drv pth name P exit exit
18. Iridium Service and the SIM Card contains a list of companies who sell the Iridium SIM card general billing and activation information and how to determine which usage plan is the best option TELEDYNE WEBB RESEARCH vii P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual Appendix G Argos Satellite Service and ID provides instructions on how to set up Argos satellite service and an ID number e Appendix H Argos Data Format provides links to reference material with the Argos data format for the gliders along with tools to automate unpacking the Argos data e Appendix I How to Determine Mission Battery Longevity provides information about how the length of a mission battery is determined and details on how to monitor the battery voltage Appendix J How to Edit a Proglet dat File provides instructions for making changes to proglet dat Appendix K Storage Conditions provides the temperature ranges for storing gliders Appendix L Quick Reference and Checklists contains a link to the latest copy of the Slocum G2 Glider Operators Manual along with the quick reference guide and checklists used in operating the glider Appendix M G2 Glider Science Simulator User s Guide contains a copy of this document Notes and Warnings Where applicable special notes and warnings are presented as follows NOTE A referral to another part of this manual or to another reference a recommendation to check that cer
19. Iridium phone and SIM card are configured at the factory using the PicoDOS command talk iridium Contact glidersupport webbresearch com for assistance depinning SIM cards or checking phone configuration gt NOTE Depinning SIM cards for the Iridium phone is normally a factory configuration and is only provided to users installing their own card or changing services For more information on depinning see the Slocum G2 Maintenance Manual The primary and alternate phone number to dial are entered into the glider s autoexec mi file in the config directory The put command can be used to change and test a phone number temporarily For Rudics connections the dockserver must also be configured for network connections as described in section 12 of the GMC Users Guide at ftp ftp glider webbresearch com glider windoze production src gliderMissionControl Documentation gmcUserGuide pdf TELEDYNE WEBB RESEARCH 1 21 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual 1 Introduction 1 22 How to Test Place the glider outside with a clear view of the sky Type callback 0 0 to dial the primary number immediately Type callback 1 1 to call the alternate number in one minute When satisfied type callback 30 0 to call back the primary number in 30 minutes Thirty minutes is the maximum allowable callback time How to Evaluate Data Connection time can vary depending on cloud cover and availability of satellites A utility can
20. M 32 date command 6 9 M 25 dbd files 6 4 7 1 8 1 M 20 M 21 M 31 deactivating PINs Iridium SIM cards G 2 deep pumps service life of 1 6 default values finding 1 6 del command 6 9 M 25 deleting files before flights 6 3 6 13 M 19 M 30 dellog command 6 9 7 2 7 3 M 25 M 31 M 32 deployment commands to avoid during 1 6 2 1 gliders 3 1 6 6 M 21 desiccants 1 30 designs gliders 1 1 M 7 device commands 6 8 to 6 11 M 24 to M 27 devices checking for errors 2 1 connected to science computer 6 12 M 28 flotation deploying gliders with 2 2 devices testing during glider deployment 1 6 devices command 6 9 M 25 df command 6 9 7 2 M 25 M 31 digifin digital tail fin 1 5 1 26 to 1 27 IX 6 P N 4343 Rev B 1 12 TELEDYNE WEBB RESEARCH digifin command 6 9 digital tail fin digifin 1 5 1 26 to 1 27 Dinkum binary data files dbd 8 1 Dinkum binary data files See dbd files 6 4 M 20 dir command 6 9 M 25 direct science connection M 9 disk operating system DOS compatibility with PicoDOS B 1 M 35 displacement pumps running 1 7 Dockserver behavior comparison simulators vs gliders M 12 callback 30 script 4 1 connecting simulators to M 11 to M 12 Data Visualizer 9 1 glider communications with 5 1 to 5 2 retrieving flight data from 8 1 to 8 2 sending data files to 7 3 M 32 domes nose 1 4 done M 13 DOS disk operating system compatibility with PicoDOS B 1 M 35 downloadi
21. MAX WORKING DEPTH how often to check MS ABORT OVERTIME 0 disables 0 disables how often to check secs abort mission if watchdog not tickled this often 0 disables The following behavior surface instructs the glider to come up if it hasn t had communication for a given period of time in this case 20 minutes behavior surface b arg args from file enum 10 The corresponding ma file is displayed below behavior names surface surfac10 ma climb to surface with ballast pump full out pitch servo ed to 20 degrees Hand Written 3t 08 Apr 02 tcODinkumSoftware com Initial startb arg arguments for climb to b arg c use bpump enum b arg c bpump value X b arg c use pitch enum b arg c pitch value X end b arg b arg start when enum b arg when secs sec b arg when wpt dist m b arg end action enum b arg report all bool b arg gps wait time sec TELEDYNE WEBB RESEARCH 1000 0 0 3491 12 1200 10 120 read from mafiles surfac10 ma 1 battpos 2 setonce 3 servo in rad rad gt 0 climb 3t 20 deg BAW NOCOMM SECS 12 when have not had comms for WHEN SECS secs 20 min How long between surfacing only if start when z 6 9 or 12 how close to waypoint before surface only if start when 7 In this example this b arg is not active 0 quit 1 wait for C quit resume 2 resume 3 drift til end wpt dist T gt repor
22. User s Guide Teledyne Webb Research 82 Technology Park Drive East Falmouth MA 02536 U S A Tel 1 508 548 2077 Fax 41 508 540 1686 www Webbresearch com I TELEDYNE WEBB RESEARCH A Teledyne Technologies Company Y O Copyright 2011 Teledyne Webb Research The material in this document is for information purposes only and is subject to change without notice Teledyne Webb Research assumes no responsibility for any errors or for consequential damages that may result from the use or misrepresentation of any of the material in this publication FreeWave is a registered trademark of FreeWave Technologies Iridium is a registered trademark of Iridium Communications Inc Persistor and PicoDOS are registered trademarks of Persistor Instruments Inc Slocum G2 Glider Operators Manual Contents licuit M 7 Format Notes ice IRR e An M 7 Connections nn ee en in a ea etl ea RE SER WEN d M 8 Front Panel red Lee de een ee aa lea ni M 10 Connecting the Simulator to the Dockserver Hardware M 11 Connecting the Simulator with a Direct Serial Cable M 11 Connecting the Simulator with a FreeWave Transceiver M 11 Connecting the Simulator with an Iridium Modem M 12 Differences between a Simulator and a Glider 0 00 0 0005 M 12 Smulatiom 6 291 er En Ha ead vs Sew ss M 13 Levels ot Simulation 4e pepe e Bee hr M 13 Simul sim file
23. Users Guide to change the factory delivered serial port configuration Connecting the Simulator with a FreeWave Transceiver To connect a shoebox simulator to a Dockserver with a FreeWave transceiver 1 Connect one end of a serial cable to the RS232 port of the Master FreeWave corresponding to the simulator s connected Slave FreeWave Connect the other end to a serial port on the Dockserver machine 2 Position the simulator s Carrier Detect Source switch to CD External This position forces the simulator to read the CD line of the connected Slave FreeWave transceiver TELEDYNE WEBB RESEARCH M 11 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual M G2 Glider Science Simulator User s Guide gt NOTE For shoebox simulators connected by Freewave transceiver to the Dockserver machine a serial port configured as a Freewave device must be used Serial ports 2 and 3 on the four port USB serial adaptor is factory configured as a Freewave device Refer to section 2 6 ofthe GMC Users Guide to change the factory delivered serial port configuration Connecting the Simulator with an Iridium Modem To connect a shoebox simulator to a Dockserver with an Iridium modem connect a U S Robotics model 3453B modem configured as described in section 1 3 ofthe GMC Users Guide to a Dockserver machine serial port using the 25 pin to 9 pin cable supplied with the modem NOTE For shoebox simulators connect
24. WEBB RESEARCH 1 9 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual 1 Introduction 1 10 Pump and Battery Configuration f battpos safety max inches 1000 m lithium 0 9 1000 m alkaline 1 6 200 m lithium 1 1 200 m alkaline 1 6 How to Evaluate Data With a properly ballasted glider positive pitch battery movement will result in decreased angle of attack and negative pitch battery movement will result in increased angle of attack 1 e moving the battery toward the aft of the vehicle will lift the nose and moving the battery forward will bring the nose down Relevant Sensors Sensor Name Description m battpos Measured position of the battery in inches c battpos Commanded position of the battery in inches m pitch Measured vehicle pitch ep beh Commanded vehicle pitch Altimeter The Airmar altimeter with a 0 100 m range transducer is mounted on the front of the ballast pump assembly and its electronics are supported on the cylinder of the ballast pump assembly The transducer leads feed through a bulkhead connector on the front end cap The transducer is oriented so that it is parallel to a flat sea bottom at a nominal dive angle of 26 degrees How to Configure Factory configured Please contact glidersupport webbresearch com for assistance How to Test In the lab 1 Type put c alt time 0 to ensure that the altimeter is updating as freq
25. and Operation Slocum G2 Glider Operators Manual Sample Mission and Comments The following is from an actual glider mission called gy10v001 mi Black text denotes mission behaviors and behavior arguments b arg s and is what appears in the mission text and or masterdata Blue text denotes comments regarding what each b arg actually does Red text denotes ma files which are discussed as they are presented The following behavior describes the conditions under which the glider must abort Any text preceded by is a comment and will not be recognized by the glider code behavior abend b arg overdepth m 1000 0 lt 0 disables clipped to F MAX WORKING DEPTH b arg overdepth sample time s 10 0 how often to check b arg overtime s 1 0 MS ABORT OVERTIME lt 0 disables b arg samedepth for s 120 0 lt 0 disables b_arg samedepth_for_sample_time s 30 0 how often to check b_arg no_cop_tickle_for s 7000 0 secs abort mission if watchdog not tickled this often lt 0 disables The following behavior surface instructs the glider to come up if it hasn t had communication for a given period of time in this case 20 minutes behavior surface b_arg args_from_file enum 10 read from mafiles surfac10 ma The corresponding ma file is displayed below behavior_name surface surfac10 ma climb to surface with ballast pump full out pitch servo ed to 20 degrees Hand Written 08 Apr 02 te Dinku
26. are primarily generated when the driven device is not moving therefore the device is taken out of service as a protective measure Table 13 11 Use Command Options Command Option Description Prints help Lists all devices that are installed and in use dev name Puts device s in service device name Takes device s out of service all Puts all installed devices in service none Takes all devices out of service From a GliderDOS prompt the help command lists all commands available to the user These commands are also listed in the table below Table 13 12 Device Commands Command Name Syntax and or Description CHKDSK CHKDSK d p fn F CLRDEVERRS Zero device errors attrib ATTRIB RASH d p name ballast BALLAST for help boot boot PICO PBM APP callback callback minutes til callback M 24 TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Software Control Hierarchy Slocum G2 Glider Operators Manual Table 13 12 Device Commands Command Name Syntax and or Description capture cd capture d p fn Dx B N E Change directory chkdsk CHKDSK d p fn FIA clrdeverrs Zero device errors consci consci f rflirid console to science copy copy source dest V cp CP lt src_path gt lt dest_path gt copies a file system branch crc Computes CRC on memory date
27. attaches to the center of the aft end cap This area can be modified to include additional devices such as a strobe light and or science sensors The digital tail fin digifin which protrudes from the aft end cap through the aft tail cone contains antennas for the GPS system Iridium system Argos transmitter and radio frequency transmitter The digifin is sturdy enough so that the glider can be lifted by it However it should be noted that the aft channel which is located just below the digifin is not sturdy and can be bent if grasped while liftin ghte glider TELEDYNE WEBB RESEARCH 1 5 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual 1 Introduction 1 6 Wings The standard carbon fiber wings for the G2 Slocum Glider are designed with a sweep angle of 45 which is suitable for both shallow and deep gliders The G2 s wings are located aft of the center of buoyancy and provide pitch stability during flight Wings are attached to the glider via a quick release system that clicks into place The quick release mechanism is located near the aft end of the wing rail Adjustable ballast wing rails designed to expedite the field ballasting process are now available for purchase These wing rails are slotted to accommodate up to ten 14g stainless steel masses Components CAUTION Some devices and equipment cannot or should not be tested while the glider is deployed and can only be tested in the lab The glider should n
28. commented out to remove it from service Original document partial text Aanderaa Oxygen Optode 3835 proglet 2 oxy3835 uart 3 U4Soem Pins T 2 R 3 we only use receive bit 34 power control for sensor start snsr c_oxy3835_on sec Aanderaa Oxygen Optode 3835 proglet 2 oxy3835 uart 3 U4Soem Pins T 2 R 3 we only use receive bit 34 power control for sensor start snsr c oxy3835 on sec TELEDYNE WEBB RESEARCH Slocum G2 Glider Operators Manual K Quick Reference and Checklists To download or review the most recent Slocum G2 Glider Operators Guide the quick reference and checklists used to operate the glider visit ftp ftp glider webbresearch com glider windoze production src doco MANUAL TELEDYNE WEBB RESEARCH K 1 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual K Quick Reference and Checklists K 2 TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual L Glider Wiring Diagram To receive the latest version of the Slocum G2 Glider s wiring diagram contact glidersupport webbresearch com TELEDYNE WEBB RESEARCH L 1 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual L Glider Wiring Diagram L 2 TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual M G2 Glider Science Simulator User s Guide This document is attached to this appendix TELEDYNE WEBB RESEARCH M 1 P N 4343 Rev B 1 12 G2 Glider Science Simulator
29. file name root i e the xxxxxxxx in xxxxxxxx bd lg If science is not running at the time a flag is set to turn on science logging when science is started Whenever logging is turned off on the glider a clothesline message is sent to turn it off on science If science is not running at the time a flag is set that cancels the start logging flag Logfile names on science and glider are kept synchronized Science has no idea of these names itself the glider furnishes the names when it tells science to start logging each time Sending data files to the Dockserver is transparent Issuing the send command from GliderDOS or the s command from the surface dialog causes logfiles to be sent first from science and then from the glider The same command line is processed by each processor in turn For example if the command as typed is send num 3 sbd tbd then science will send three tbd files finding no match for sbd and the glider will send three Sbd files finding no match for tbd The lack of matching files for some of the filespecs is not considered an error The num 3 limits the number of files sent by each processor alone In this case the total number of files sent by two processors together is six Sites using Data Server and Data Visualizer can view data as before Other shoreside software tools will likely require changes to view science data A merge tool has been developed to combine ASCII files to appear as t
30. files and operations Missions Folder Missions are stored in this folder as mi files These are text files that when run by the glider determines the behavioral parameters Sentlogs Folder This folder stores dbd sbd and mig files from log folders that were sent successfully 6 4 TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 GliderDOS Slocum G2 Glider Operators Manual Autoexec bat The autoexec bat file is a DOS system file whose function is to automatically execute commands on system startup NOTE Do not confuse autoexec bat with autoexec mi See the config directory for a description of autoexec mi Typically the autoexec bat file contains path bin prompt GPico P G alloff GliderDOS The operating shell GliderDOS is a superset of PicoDOS GliderDOS is an application that performs most of the PicoDOS functions and has knowledge of the glider Typing help or lists the functions available within GliderDOS All of the variables used in GliderDOS are referred to as sensors and are defined in the Masterdata file see Masterdata on page 6 6 The glider lists all of its sensors names with the 1i st command Behaviors then use these values to operate the vehicle gt NOTE The production copy of masterdata can be found here ftp ftp glider webbresearch com glider windoze production masterdata GliderDOS is an application that is loaded onto the Persistor glider app When it is configured corr
31. help menu are not available during a mission 8 2 TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual 9 Dockserver Data Visualizer Dockserver release versions 6 33 Ashumet and later include a Data Visualizer The Data Visualizer plots all sensors from any data file transmitted to the Dockserver For more information on how to use the Data Visualizer see the GMC Users Guide at ftp ftp glider webbresearch com glider windoze production src gliderMissionControl Documentation gmcUserGuide pdf TELEDYNE WEBB RESEARCH 9 1 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual 9 Dockserver Data Visualizer 9 2 TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 mi Files Slocum G2 Glider Operators Manual 10 Missions NOTE The Teledyne Control Center a software glider interface used for mission planning has an online help system that describes how to use this product For more information see this help system in the Control Center Missions can be loaded to or drawn off the glider by using FTP and referring to Section 3 of the GMC User Guide Alternatively below is the method used to manipulate files directly while using a terminal program and the FreeWave modem To load a finalized mission file into the glider you must first have it ready on your computer Open a Glider Terminal and apply power to the glider If the glider boots to GliderDOS and attempts to sequence a mission exit
32. lights on the board should all turn green indicating setup mode e The Main menu will appear on the screen 4 Press 0 to access the Operation Mode menu e Press 0 to set the radio as a point to point master Press Esc to return to the Main menu 5 Press 1 in the Main menu to change the baud rate e The baud rate in setup mode is always 19200 e The baud rate must be changed to match the baud rate of the device to which the radio is attached e Press 1 to set the radio communication baud rate to 115 200 Press Esc to return to the Main menu 6 Atthe Main menu press 3 e Set the frequency key e Press 0 to set or change the frequency key e Press 5 to set or change the frequency key to 5 e Press Esc to return to the Main menu TELEDYNE WEBB RESEARCH F 1 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual F FreeWave Configuration At the Main menu press 2 e Press 0 0 through 9 may be used to add the serial number of the FreeWave in the glider e Press C to select the glider to which this master will communicate e Press 0 to select entry 0 1 to select entry 1 etc or A for all radios on the list for this master to communicate with e Press Esc to return to the Main menu Press Esc to exit set up Setting up the Glider FreeWave Slave internal to the glider F 2 P N 4343 Rev B 1 12 This mode allows a slave to communicate with several shoreside Free Waves Connect the transceiver to the serial por
33. m disk free Mbytes Science How much space is currently free on science Sci m disk usage Mbytes Science How much space is currently used on science Sci m present secs into mission sec Science Analog of m present secs into mission on science sci m free heap bytes Science Analog of m free heap on science sci m min free heap bytes Science Analog of m min free heap on science Sci m min spare heap bytes Science Analog of m min spare heap on science Sci m spare heap bytes Science Analog of m spare heap on science Sci x disk files removed nodim Science Count of files removed by last science processor s prune command Sci x sent data files nodim Science N A Count of files successfully transmitted by last Science processor s sent command u Sci cycle time secs Glider 1 0 Tells the science processor how fast to run u sci dbd sensor list xmit control enum Glider 0 Always transmit the header to tell the science processor what to do X science logging state enum Glider N A Indicates the science processor s logging state TELEDYNE WEBB RESEARCH M 33 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual M G2 Glider Science Simulator User s Guide Table 13 18 Sensors Added to the Glider Simulator Sensor Name Processor u Description Setting u science send time limit adjustment Science send is implemented as a pre facto
34. meter gliders and 7 inHg for 100 meter gliders For more details on adjusting the vacuum see Checking and Setting the Vacuum in Section 4 of the Slocum G2 Glider Maintenance Manual gt NOTE The vacuum will fluctuate with the temperature How to Evaluate Data The vacuum should be monitored Note that the vacuum is affected by temperature increases with cooling and decreases with warmth Relevant Sensors m vacuum Measured internal vaccuum Science Bay Computers and Sensors How to Configure A proglet controls each science sensor The proglet sets the power bit and uart on the science bay controller and expects formatted data from each sensor How to Test From GliderDOS type 1oadmission sci on mi All science bay sensors will be turned on and their data will be printed to the terminal When it has been determined that all sensors are reporting data properly type loadmission sci off mi to turn off the science sensors Each sensor can be addressed directly using u4stalk Contact glidersupport webbresearch com for details TELEDYNE WEBB RESEARCH 1 13 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual 1 Introduction gt 1 14 How to Evaluate Data The method of evaluating the data is unique to the sensors contained within each payload bay Relevant Sensors The relevant sensors are unique to each payload bay Conductivity Temperature and Depth CTD A Slocum glider d
35. mission files See mlg files M 20 mission log files mlg 6 4 8 1 missions aborting 6 11 C 1 to C 2 l 1 to 1 2 M 27 adjusting cycle frequency 4 1 battery longevity l 1 to l 2 changes to 6 1 TELEDYNE WEBB RESEARCH Slocum Glider Operators Manual IX 11 P N 4343 Rev B 1 12 Slocum Glider Operators Manual countdowns to resuming 8 2 end of confirmation messages 2 1 pre written 6 1 retrieving flight data from 8 1 to 8 2 running 10 1 to 10 2 sample of B 4 to B 9 M 39 to M 43 stock starting 2 2 testing gliders before 2 1 to 2 2 missions folder 6 4 M 20 mkdir command 6 10 M 26 m leakdetect voltage sensor 1 24 m leakdetect voltage forward sensor 1 24 mlg files 6 4 7 1 8 1 M 20 M 21 M 31 m lithium battery relative charge command 1 29 m lithium battery relative charge sensor l 1 m mission start time command 7 4 M 33 mobile phone transmission towers F 3 modem cables F 1 modem parameter M 17 modems acoustic 6 12 to 6 13 M 29 connections M 9 FreeWave configuration of F 1 to F 3 connecting simulators with M 11 to M 12 glider communications with 5 1 simulating M 14 telemetry 1 22 Iridium connecting simulators with M 12 simulating M 14 locations of 1 5 on communications board assemblies 1 5 radio frequency RF configuration of F 1 to F 3 glider communications with 5 1 6 3 M 19 location of 1 5 telemetry 1 22 modes operation FreeWave transceivers F 1 F 2
36. on gt Reconnect the recovery system supply lead Relevant Sensors c_recovery_on A value of 1 will activate the recovery system Unlike the jettison weight it will require several minutes to release TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Architecture and Components Slocum G2 Glider Operators Manual Strobe optional How to Configure Factory configured How to Test From GliderDOS or 1ab mode or during a mission preceded by type strobe on to activate and strobe off to deactivate The strobe can also be controlled autonomously during a glider surfacing behavior Relevant Sensors c strobe ctrl m strobe ctrl TELEDYNE WEBB RESEARCH 1 31 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual 1 Introduction 1 32 TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 On the Beach Boat or Bench Slocum G2 Glider Operators Manual 2 Pre mission Testing These procedures should be followed to qualify a glider before delivery or with new or modified software gt NOTE These tests need to be done outside because the gliders need a clear view of the sky to get a GPS fix and to make Iridium communications On the Beach Boat or Bench PO N Power on the glider and enter GliderDOS by typing ctrl c when instructed Type put c air pump 0 to stop the air pump from running Type callback 30 to hang up the Iridium phone Test the GPS by typing put c gps on 3 This
37. payload bays architecture of 1 5 payload computers switchboards 1 23 pbm reset setting M 10 performance science processors 7 1 M 30 Persistor described B 1 M 35 hardware interface boards 1 19 software architecture 6 11 to 6 14 M 27 to M 30 See also GliderDOS Persistor Instruments B 1 M 35 TELEDYNE WEBB RESEARCH Slocum Glider Operators Manual IX 13 P N 4343 Rev B 1 12 Slocum Glider Operators Manual Persistor Instruments Card Or Disk Operating System See PicoDOS phone transmission towers F 3 phones Iridium 2 1 5 1 to 5 2 pick points 1 30 3 1 Pico mode command avoiding during deployment 2 1 PicoDOS architecture of 6 2 to 6 5 M 18 to M 21 compability with DOS B 1 M 35 described 6 1 B 1 M 18 M 35 editing proglet dat files J 1 to J 2 reasons to use 6 5 M 21 sending flight data files in 8 2 setting boot commands in M 22 testing Iridium in 5 1 when to enter 5 1 PINs for unlocking Iridium SIM cards G 2 pitch vernier 1 4 1 9 to 1 10 pitch control of 1 4 plots alkaline battery voltage data l 2 points pick 1 30 poles hooks and lassos on 3 1 ports testing 6 12 M 29 power on off science selection settings M 10 power umbilicals 1 26 power umbilicals location of 1 5 prefixes masterdata 6 7 M 23 pre mission testing 2 1 to 2 2 pressure transducers 1 23 to 1 24 pressure transducers micron location of 1 5 printing help 6 7 M 23 sensor names and values 6 7 M 23
38. point only Lower the cart with nose ring into water and manipulate the glider by the tail boom into position on the cart Lift and tilt the glider onto the ship s deck TELEDYNE WEBB RESEARCH 3 5 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual 3 Deployment and Recovery 3 6 TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual 4 Emergency Recovery Contact glidersupport webbreseach com for specifics for the particular emergency however some or all of the following may need to be done in an emergency recovery scenario Callback time can be increased significantly by changing these glider sensors e u iridium max time til callback sec 1800 0 This is the maximum legal value for c iridium time til callback e If the glider has blown the ejection weight or you feel safe change u max time in GliderDOS from 900 to 3600 This will increase how often the glider cycles into a mission and tries to call in to save energy while it is stuck at the surface Consider running special scripts to conserve energy e A pilot might change toa callback 30 script on the Dockserver e Contact service Argos and turn on Argos ALP all location processing Determine the best known position with the available data TELEDYNE WEBB RESEARCH 4 1 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual 4 Emergency Recovery 4 2 TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Commun
39. probability text line M 14 processing command line 7 3 M 32 processors science 7 1 to 7 5 M 30 to M 34 proglet dat editing J 1 to J 2 proglets dat 1 5 6 12 to 6 13 M 28 M 29 programming languages C 6 1 B 1 M 35 prompt command 6 10 M 26 propellers 1 2 propulsion gliders 1 2 prune command 7 4 prunedisk command 6 10 7 2 7 3 M 26 M 31 M 32 PTT Argos satellite platform transmitter terminal 1 15 to 1 16 1 19 pumps air 1 5 1 16 to 1 17 1 19 2 1 ballast configuring 1 7 1 8 described 1 6 1 8 evaluating data 1 7 1 8 sensors 1 8 1 9 IX 14 P N 4343 Rev B 1 12 TELEDYNE WEBB RESEARCH testing 1 7 1 8 displacement running 1 7 service life of 1 6 testing 2 1 purchasing Iridium SIM cards G 1 to G 2 purgelogs command 6 10 M 26 putc air pump 0 command 2 1 putc gps on commands 2 1 put command 6 10 7 2 l 2 M 26 M 32 put c recovery on 1 command 3 1 put sensor name value command 6 7 M 23 Q quick references downloading K 1 R radio frequency RF modems configuration of F 1 to F 3 glider communications with 5 1 6 3 M 19 location of 1 5 telemetry 1 22 raw voltages 6 3 M 19 recovery systems 1 30 recovery gliders 3 1 4 1 l 2 reinitialization of sensor values forcing 2 2 removing wings 1 3 rename command 6 10 M 26 report sensor name command 6 7 M 23 report command 6 7 M 23 report sensor name command 6 7 M 23 report sensor name command
40. pumped Commanded volume of buoyancy pumped in cc s 1000 meter Ballast Pump Assembly The 1000 meter ballast pump is a rotary displacement design that moves oil from an internal reservoir to an external bladder to change the vehicle s buoyancy It is necessary that the glider be under vacuum while operating the ballast pump because the force of the internal vacuum is used to draw oil from the bladder back into the body of the glider Although an operator will not damage the pump by running it without a vacuum the bladder will be damaged A rotary valve is used to control the flow of oil from the bladder to the reservoir Ratio Pmax 7 Amp Rated Pressure Flow No Load N A 1240 dbar 1000 dbar 5 cc sec How to Configure Factory configured Please contact glidersupport webbresearch com for assistance How to Test From 1ab mode 1 Typewiggle on Type report m de oil vol Make sure that the ballast pump successfully completes a full extension m ballast pumped 270 cc and full retraction nm ballast pumped 270 cc without errors 4 Typewiggle off How to Evaluate Data With a properly ballasted glider positive cc s should result in a positive buoyancy and a climb Negative cc s will result in a negative buoyancy and a dive 1 8 TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Architecture and Components Slocum G2 Glider Operators Manual Relevant Sensors Se
41. seia E E eee ens M 37 Synchronous Abort e sereu ee e eect a eee M 38 Outof Band Abat nn PER R M 38 Hardware Generated ADOTt oooooooooroooorrr n M 38 Sample Mission and Comments 0 0c eese M 39 Glider Software Website iur dee eee IER CR ERE DESEE eher M 44 TELEDYNE WEBB RESEARCH v P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual vi TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Preface Slocum G2 Glider Operators Manual This manual provides the information required to operate the Slocum Glider G2 System This manual is used in conjunction with the Slocum Glider Maintenance Manual It is divided into the following sections Section 1 Introduction provides a general description of the Slocum G2 glider and an overview of its architecture and components Section 2 Pre mission Testing describes the in and out of water tests that should be conducted to qualify a glider before delivery or with new or modified software Section 3 Deployment and Recovery provides tips and reference material to assist in deploying and recovering gliders Section 4 Emergency Recovery provides tips for recovering a glider during an emergency Section 5 Glider Communications includes steps for setting up communications with the glider from various sources such as a radio frequency RF modem Argos Iridium and RUDICS Steps for setting up direct communication with the glider are also provided Section 6
42. setup activating on FreeWave transceivers F 1 F 2 verbose 2 1 Motocross B 1 M 35 Motorola B 1 M 35 motors testing 2 1 motors moving 6 11 M 27 moving motors 6 11 M 27 m pitch sensor 1 10 1 20 m present time value 7 2 M 31 m raw altitude sensor 1 11 IX 12 P N 4343 Rev B 1 12 TELEDYNE WEBB RESEARCH m roll sensor 1 20 m science readiness for consci command 7 4 M 33 m strobe ctrl sensor 1 31 mv command 6 10 M 26 m vacuum sensor 1 17 m water depth sensor 1 12 N NAL Research contact information G 1 names of sensors printing 6 7 M 23 navigation devices testing 6 2 navigation gliders 1 3 nbd files 7 1 M 31 nbdlist dat 7 2 M 31 nlg files 7 1 M 31 no_electronics simulation level M 13 M 17 noise problems with Free Wave transceivers causes of F 3 nose domes architecture of 1 4 nose end caps shape of 1 3 null modem cables F 1 null_modem parameter M 14 M 17 O ocean pressure zero 6 11 M 27 oceans deploying and recovering gliders in 3 1 off setting M 10 on setting M 10 on_bench open argument M 16 on_bench simulation level M 13 M 16 Operating systems See specific operating system names Operation mode menu accessing F 1 F 2 out of band abort B 4 M 38 outdoors conducting tests in 2 1 overhead cranes 3 1 P packs battery 1 28 to 1 29 pager transmission towers F 3 parameters simulation M 17 path command 6 10 M 26
43. simulated inputs to all A Ds and shift registers TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Simulation Slocum G2 Glider Operators Manual e Simulate all of the uarts except science and Iridium e Simulate modem responses if null modem is specified e Remove Iridium from service if neither null modem or modem are specified no electronics e Requires only a Persistor e Computes all the S xxx variables e Supplies simulated inputs to all A Ds shift registers and uarts Setting Initial Simulation Parameters To begin a mission set the origination point of the glider by Put s ini lat xxxx xxxx lt gt Put s ini lon xxxx xxxx lt gt A file named loadsim mi is available in the missions directory This mission file allows the user to define all of the simulated values and set them by using the loadmission command Simulation in the Science Bay The following text file must be present on the Science Flash Card config appcmd dat containing a single line supersci nog sim echo_uart echo_cl e nog No glider is attached sim No sensors attached simulate them e echo_uart Show send recv lines from sensor uarts e echo cl Show send rev lines from clothesline glider TELEDYNE WEBB RESEARCH M 17 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual M G2 Glider Science Simulator User s Guide Software Control Hierarchy The components of the simulator s software
44. specific value names variables glider See masterdata science 6 7 M 23 simulated state 6 7 M 23 vehicle controllers 1 17 to 1 18 vehicle status gliders 8 2 ver command 6 11 M 27 IX 20 P N 4343 Rev B 1 12 TELEDYNE WEBB RESEARCH verbose mode 2 1 verifying device and sensor errors 2 1 vernier pitch 1 4 1 9 to 1 10 voltage batteries l 1 to l 2 raw 6 3 M 19 W warnings battery hazards 1 29 deploying and recovering gliders 3 1 running SBE pumped CTDs dry 1 14 when to enter PicoDOS 5 1 water effects of currents on voltage l 1 setting currents to zero 2 2 testing gliders in 2 2 weights ballast location of 1 4 ejection 4 1 jettison 1 5 1 19 1 25 to 1 26 where command 6 11 M 27 whgpbm device 6 12 M 28 whoru command 6 11 M 27 whpar device 6 12 M 28 why command 6 11 M 27 wiggle command 6 11 M 27 wiggle off command 2 1 wiggle on command 2 1 wings architecture of 1 6 buoyancy of 1 3 composite angle and replacement of 1 3 removing and installing 1 3 wires burn 1 5 1 19 1 25 to 1 26 wiring diagrams L 1 X x_ prefix 6 7 M 23 X cat transmitters H 2 X science logging state command 7 4 M 33 Y yo B 8 Z zero ocean pressure 6 11 M 27 zero setting water currents to 2 2 zero_ocean_pressure command 1 23 6 11 M 27 zmext dat 6 3 6 13 M 19 M 29 TELEDYNE WEBB RESEARCH Slocum Glider Operators Manual IX 21 P N 4343 Rev B 1 12 Slocum Glid
45. to a GliderDOS prompt by typing cont rol c lItis advisable to load all missions before starting field operations However when necessary you can load missions from GliderDOS using the same procedure while the glider is deployed mi Files The main mission files that are run are mi files These files contain all the main behaviors and sensor values for the glider These files can be run independently or they can call mission acquisition ma files The autoexec mi file is an important and unique mi file that resides in the config directory This file controls many of the individual settings particular to each glider This is where calibrations for motors are stored where the hardware expected to initialize is drawn from where the phone number for Iridium dialing to a Dockserver is stored and from where the glider draws its name ma Files The mission acquisition ma files called by mi files can contain modified behaviors waypoint lists surface instructions or even sensor values These files cannot be run independently and are always called from mi files Typically they are referenced by a number in the mi files and the behavior calling For example for a list of waypoints the behavior used is goto list and it calls a file reference number of 07 Then the ma file should be called goto 107 ma and should contain just a list of latitudes and longitudes TELEDYNE WEBB RESEARCH 10 1 P N 4343 Rev B 1 12 Slocum G2
46. to zero by using the put command followed by an exit reset To estimate battery longevity use the 4347 Rev 02 Glider Endurance Tool which is found at ftp ftp glider webbresearch com glider windoze production src doco how to calibrate A 1 2 4 5 3 10 12 14 16 18 20 22 24 26 28 30 Time days Above is an actual alkaline battery voltage data plot from a 27 day glider deployment You would typically begin monitoring available recovery scenarios as the voltage approaches 12 volts In this deployment recovery became critical as voltage dropped below 11 volts on day 25 In this deployment while using the factory settings the glider began to abort all missions for under voltage beginning at day 27 If you find yourself in a position where recovery is not possible as the voltage drops below 11 5 volts contact glidersupport webbresearch com for recommendations for battery preservation including termination of science sampling limiting dive depth limiting communication and or drifting at a shallow depth until recovery is possible TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual J How to Edita Proglets dat File In order to communicate with the science Persistor From PicoDOS type consci from GliderDOS type consci e From a mission type ct rl t The science Persistor s folder file structure is shown below bin config autoexec bat A single science program with a standar
47. visit ftp ftp glider webbresearch com glider windoze production src doco software howto updating all glider software txt When in GliderDOS or as noted from PicoDOS use the basic control commands in the table below Table 13 8 Basic Glider Control Commands Command Name Description control c Takes control of the glider exit pico Sends the glider to PicoDOS from GliderDOS exit reset Return to GliderDOS as long as Persistor is set to boot app Commands the glider to start in PicoDOS when reset or the power is recycled Use this when loading an application glider app Never deploy a glider leftto boot pico Commands the glider to start in GliderDOS when reset or the power is recycled Use this after loading an application glider app gt NOTE The boot commands must be set in PicoDOS M 22 TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Software Control Hierarchy Slocum G2 Glider Operators Manual Masterdata Masterdata contains all of the sensors or variable definitions and default values Unlike mission files masterdata cannot be changed as a text file The application is inclusive of the sensor values represented by the text version of masterdata found at ftp ftp glider webbresearch com glider windoze production Prefixes The prefixes in masterdata are described in the table below Table 13 9 Masterdata Prefixes Prefix Name Description Measured Comma
48. voltage is 0 TELEDYNE WEBB RESEARCH 1 25 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual 1 Introduction 1 26 8 Reconnect the drop weight supply lead Relevant Sensors Sensor Name Description c weight drop bool On zero gt drop the weight u_abort_min_burn_time sec During the abort sequence when a glider is having trouble getting to the surface never drop the weight before this time u_abort_max_burn_time sec During the abort sequence when a glider is having trouble getting to the surface always drop the weight after this time f crush depth m When the glider gets crushed this is used to determine when to eject the weight Power Umbilical An impulse cable is used to switch or supply power to the glider When the stop plug red is inserted or the connector end is empty there is no power applied to the vehicle This is done so that power can be removed from the system without special tooling By powering the glider via the umbilical there is no need for an internal switch which could generate a spark To power the glider on either use the provided external power cable or insert the go plug green Do not exceed 16 volts The umbilical is accessible external to the glider aft tail cone How to Test The glider is activated by inserting either wall power or the green plug Removing the green plug and installing the red plug powers off the glider and should only be
49. zr for help zs Zmodem Send zs for help not often used by average user Science Computer To transfer to communication with the science Persistor Type consci from PicoDOS or Type c from GliderDOS This folder and file structure is found in the science Persistor s PicoDOS bin config autoexec bat TELEDYNE WEBB RESEARCH M 27 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual M G2 Glider Science Simulator User s Guide A single science program with a standard configuration for each instrument allows the run time selection of which instruments are actually in a given glider The wiring and configuration of the science Persistor is controlled by a file in the config directory called proglets dat There is a proglet for each device connected to the science computer Some of these devices are listed below Table 13 13 Selected Devices Connected to the Science Computer Device Name Description ctd41cp Sea bird CTD SBE 41CP continuous profiling ctd41 Sea bird CTD SBE 41 old pulsed style bb2f Wet labs bb2f fluorometer backscatter sensor bb2c Wet labs bb2c sensor bb2lss Wet labs light scatter sensor gt NOTE The science computer must always be set up to boot app so that the science application runs the proglets WARNING The Seabird Electronics SBE pumped CTD should not be run dry for more 30 seconds at a time The Slocum Glider data page is located at http w
50. 12 Slocum G2 Glider Operators Manual 1 Introduction 1 20 P N 4343 Rev B 1 12 How to Test The compass is very susceptible to interference caused by ferrous materials and magnetic fields that can be present in electronics vehicles and buildings for this reason the calibration procedure should be performed as far as possible from any of these sources of interference Type report m heading m pitch m roll rotate the vehicle and independently verify output How to Evaluate Data The relevant sensors should reflect the orientation of the vehicle at all times Relevant Sensors e c att time sec 40 turns on as fast as possible if off 1 m heading m pitch m roll Global Positioning System GPS The glider s GPS updates the unit s position every five seconds while the vehicle is on the surface Output from the GPS is in the RMC NMEA 0183 format The GPS can also be used to update the system s internal clock if necessary How to Configure Factory configured How to Test The glider must be outside with a clear view of the sky If the vehicle has moved a great distance or has not been turned on for some time a new GPS fix may require 5 10 minutes to be acquired Type put c gps on 3 to print GPS data to the screen for verification How to Evaluate Data At each surfacing or when the command where is issued the glider will print the surface display Four types of locations are printed with t
51. 3 p20 ma climb 3 5m dive 10m alt 20m pitch 20 deg Hand Written 3t 18 Feb 02 tc DinkumSoftware com Initial 13 Mar 02 tcODinkumSoftware com Bug fix end action from quit 0 to resume 2 3t 03 aug 02 tc DinkumSoftware com DREAO1 at ashument went to depth only startb arg b arg start when enum 2 pitch idle see doco below b arg num half cycles to do nodim 1 Number of dive climbs to perform lt 0 is infinite i e never finishes arguments for dive_to b_arg d_target_depth m S b arg d target altitude m 1 TELEDYNE WEBB RESEARCH Sample Mission and Comments b arg d use pitch enum 3 b arg d pitch value X 0 3491 arguments for climb to b arg c target depth m 3 5 b arg c target altitude m 1 b arg c use pitch enum 3 b arg c pitch value X 0 3491 b arg end action enum 2 end b arg Slocum G2 Glider Operators Manual 1 battpos 2 setonce 3 servo in rad rad lt 0 dive 20 deg 1 battpos 2 setonce 3 servo in rad rad gt 0 climb 20 deg 0 quit 2 resume The following behavior prepare_to_dive instructs the glider to get ready to dive after waiting for as long as 12 minutes for a gps fix behavior prepare to dive b_arg start_when enum 1 b_arg wait_time s 720 0 immediately 1 stack idle 2 depth idle 12 minutes how long to wait for gps The following behavior sensors_in turns on most of the input sensors behavior senso
52. 6 12 M 28 IX 2 P N 4343 Rev B 1 12 TELEDYNE WEBB RESEARCH bb2f device 6 12 M 28 bb2lss device 6 12 M 28 beaches testing gliders on 2 1 to 2 2 behavior arguments B 1 B 5 to B 9 M 39 to M 43 benches testing gliders on 2 1 to 2 2 billing Iridium SIM card services G 2 bin folder 6 3 6 12 to 6 13 M 19 to M 20 M 29 bits turning on and off 6 3 M 19 bladders air 1 5 1 16 1 24 to 1 25 blast run 6 12 M 29 boards hardware interface 1 19 sensor leak detect 1 24 switchboards science and payload computers 1 23 boats testing gliders aboard 2 1 to 2 2 boot app 6 12 boot app command 6 6 M 22 boot command 6 8 M 24 boot pico command 6 6 M 21 M 22 brakes latching 1 7 buoyancy air bladders 1 24 wings 1 3 burn wires 1 5 1 19 1 25 to 1 26 buying Iridium SIM cards G 1 to G 2 C c command M 27 c_ prefix 6 7 M 23 C programming language 6 1 B 1 M 35 cables for communications F 1 serial connecting simulators with M 1 1 c air pump sensor 1 17 callback 30 command 2 1 callback 30 script 4 1 callback command 6 8 M 24 caps nose end and tail 1 3 capture command 6 8 M 25 carbon fiber hulls 1 13 cards Iridium SIM purchasing G 1 to G 2 c argos on sensor 1 16 carrier detect selection settings M 10 carrier detection loss of 6 3 M 19 carts 3 1 catalysts 1 5 1 16 c att time sensor 1 20 c ballast pumped sensor 1 8 c battpos sensor 1 10 cd command 6 8 M 25 c de oil v
53. 7 4 M 33 sci m disk usage command 7 4 M 33 sci m free heap command 7 4 M 33 sci m min free heap command 7 4 M 33 sci m min spare heap command 7 4 M 33 sci m present secs into mission command 7 4 M 33 sci m present time value 7 2 M 31 sci m spare heap command 7 4 M 33 sci water cond sensor 1 15 sci water pressure sensor 1 15 1 23 sci water temp sensor 1 15 Sci x disk files removed command 7 4 M 33 Sci x sent data files command 7 4 M 33 scripts conserving energy with 4 1 SDL science data logging 7 1 to 7 5 M 30 to M 34 Seabird Electronics SBE pumped CTDs running dry 1 14 seas deploying and recovering gliders in 3 1 Seimac X Cat PTT See Argos satellite transmitter send command 6 10 7 2 7 3 7 5 8 2 M 26 M 32 M 34 sensor assemblies CTD 1 14 to 1 15 sensor boards leak detect 1 24 sensor commands 6 7 M 23 to M 24 sensor names printing 6 7 M 23 sensor values forcing reinitialization of 2 2 sensors air bladders 1 25 air pumps 1 17 altimeters 1 11 to 1 12 IX 16 P N 4343 Rev B 1 12 TELEDYNE WEBB RESEARCH Argos satellite transmitter PTT 1 16 attitude 1 19 to 1 20 attitude location of 1 5 ballast pump assemblies 1 8 1 9 battery packs 1 29 burn wires 1 26 checking for errors 2 1 coulomb counter 1 29 for monitoring battery voltage l 1 glider undefined 1 6 global positioning system GPS 1 21 Iridium satellite telemetry 1 22 labeling of 6 1 leak detect sensor boa
54. Ahr total about 4 times the alkaline capacity Typical battery configurations 3 in series 78 total DD in G2 lithium primary design pitch 36 aft 42 as well as 3 C cells in the emergency battery Shipping info UN3091 21 kg How to Evaluate Data See How to Determine Mission Battery Longevity on page I 1 Relevant Sensors m battery m battery inst m coulomb amphr total m coulomb current m lithium battery relative charge WARNING f the glider contains alkaline batteries there is a small but finite possibility that batteries of alkaline cells will release a combustible gas mixture especially if the batteries are exposed to water or sea water and or shorted This gas release generally is not evident when batteries are exposed to the atmosphere as the gases are dispersed and diluted to a safe level When the batteries are confined in a sealed instrument the gases can accumulate and an explosion is possible Teledyne Webb Research has added a catalyst inside of the glider to recombine hydrogen and oxygen into water and the glider has been designed to relieve excessive internal pressure buildup by having the hull sections separate under internal pressure Teledyne Webb Research knows of no way to completely eliminate this hazard The user is warned and must accept and deal with this risk in order to use this instrument safely as so provided Personnel with knowledge and training to deal
55. Controller The glider s functions are controlled by a Persistor CF1 single board miniature computer that is based on a Motorola 68338 processor This board has low current consumption capability and supports the use of compact flash cards and miniature hard drives that are able to store large amounts of data Controller code is written in C and architecturally is based on a layered single thread approach where each task is coded into a behavior Behaviors can be combined in almost any order to achieve flexible unique missions Each device is labeled as a sensor and is logged every time that the value changes during a mission Data is retrieved from the glider as a binary file and is post parsed into a matrix that allows the user to easily construct graphical views of vehicle performance or scientific data A subset of the sensors can be chosen as a science data package so as to reduce surface radio transmission time The Persistor can have any number of pre written missions text files in its memory that can be called or new missions can be written transmitted to the glider and run Missions can be altered to change the depth of inflections send new GPS waypoints to the glider or for many other reasons For additional reading regarding the construction of binary data or the dbd family of files and their contents visit ftp ftp glider webbresearch com glider windoze production src doco specifications dbd file format txt ftp ftp glider webbr
56. G2 Glider Operators Manual F FreeWave Configuration F 4 TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual G Iridium Service and the SIM Card To obtain an Iridium SIM card locate and choose a provider Iridium charges can be a significant expense so it is worth shopping for a good rate There are many different plans and providers and you can use any provider you wish Teledyne Webb Research uses Joubeh Paul Hill Sales Manager JouBeh Technologies Inc 2 Thornhill Dr Dartmouth Nova Scotia B3B 1R9 Canada 902 405 4428 x203 http www joubeh com Stratos 800 563 2255 toll free in North America 709 748 4226 worldwide support G stratosglobal com http www stratosglobal com CLS America or Argos 301 925 4411 userservices clsamerica com http www clsamerica com NAL Research offers competitive rates 703 392 1136 contact nalresearch com http www nalresearch com Airtime html Infosat Communications 888 524 3038 info infosat com http www infosat com Specify data only service No equipment is needed except for a commercial Iridium SIM card TELEDYNE WEBB RESEARCH G 1 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual G Iridium Service and the SIM Card Billing for the service is monthly The SIM card is required during the manufacturing process and must be activated 30 days before shipment Teledyne Webb Research will need the actual card
57. Glider Operators Manual 10 Missions Running Missions Before running a mission there are a few steps to follow to ensure that everything is functioning 10 2 P N 4343 Rev B 1 12 properly 1 Connect the FreeWave radio to the antenna and a computer 2 Runa glider terminal program on you computer 3 Power the glider by inserting the go plug green 4 Checkthat the glider is not in Simulation Mode simul sim in the glider Persistor flash card config directory and appemd dat in the Science Persistor flash card config directory must be deleted 5 Run Status mi and check the following e Everything is working properly e There is a GPS fix e The batteries are at an acceptable level e No errors appear on the computer screen Missions can be run singly or sequenced by typing Run mission mi Sequence mission mi mission2 mi mission3 mi missionX mi Sequence mission mi n where nis number of time to run that mission TELEDYNE WEBB RESEARCH Slocum G2 Glider Operators Manual A Abbreviations and Acronyms ABBREVIATION OR ACRONYM AC or ac Alternating Current ASSY Assembly BAM Beam Attenuation Meter CTD Conductivity Temperature Depth COTS Commercial Off The Shelf DC or dc Direct Current DG Dangerous Goods GLMPC Glider Mission Planning and Control GMC Glider Mission Control Global Positioning System DESCRIPTION Infrared International Organization for Standar
58. L is an architectural change that addresses the clothesline s limited throughput In the new system using SDL the science sensors do not have to be transmitted over the clothesline which eliminates the bottleneck System Requirements To fully implement this release it is important to upgrade the glider processor s software to version 7 0 or greater and the science processor to version 3 0 This is absolutely necessary because the baud rate for operating the clothesline has changed from 9600 to 4800 With science 3 0 it is still possible to fall back to the old method of operation without SDL though this is not recommended SDL can only be used with release 7 0 or greater and science 3 0 or greater will be required going forward The division between glider 6 38 and 7 0 is tied to the division between science 2 x and 3 0 and elements of old and new across this division must be consistent either all old or all new for the glider to operate successfully Performance The science processor primarily collects and logs data and although it can maintain a high cycle rate it runs at reduced CPU speed by default Of course the actual attainable throughput depends on the installed sensor load and sensor data stream parsing overhead Logfile Types Science now has a parallel logfile type for each logfile type on the glider as shown in the table below Each pair is formatted the same i e ebd files are formatted the same as dbd files Ta
59. N ep Re oes M 19 Logs Folder a as a CR epe uM Missions Folder 2 een HET Ee Se OE ess M 20 Matiles Folder 2er heh eee e ne kegs MO sentlogs Folder Leere ne en Vene etes M 21 Autoexecibat iu ee erp erp beer i pe pee MZ PicoDOS osi VEDO VB ae ata athe ya hy eT T P Edo tum M 21 GhiderDOS 4 252 Ria 3 222 322 ae Bea EARS ELS NUES Pru Bas M 21 Masterdata i nn a esee e beu bte Rn RI el M 23 Pretixes 2 ets pe en Ben ee M 23 Sensor Commands n seen nenne M 23 Device Commands sn see e RR LR ELTE ds M 24 SCIENCE Computer cueste Base he tae a rae Se M 27 BIN FOLJE i set A A ln M 29 Contig Folderc s oan E unbpRS WERDE eddie sdb beber ase M 29 AutoexecDatus cess nempe edes d MNS AE Sune A Poe REY PRIUS M 30 Science Data Logon gi dest te Ae ED a pee Regie M 30 System Requirements 0 0 0 eee eee eee M 30 Performance iesea cr tnia gta ea 4 Goran eet ia db M 30 Logtile Types aur reet Eres dae Be M 31 Transpateney c dee Ee Ete epe aan M 32 Exceptions to Transparency 2 0 0 eee I M 32 Controls s Le be pa OL dee 2 M 32 Code Theory and Operation lssleeleeee ee M 35 Operating Systems sued eben beds eet petro deterius M 35 Code Desi veais sis calce ass yaa dea ee M 35 Control Leyels cui a eb eR edes M 36 iv TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual Control Stacks States and Abort Sequences 0 0002 eee ee M 36 General Control Structure
60. Or Disk Operating System PicoDOS is smaller than but very similar to DOS and many DOS commands will work in PicoDOS Uploads of new glider controller code and mission files and retrievals of data files are all done in PicoDOS GliderDOS is an application that is loaded into the Persistor This resident operating system is a superset of PicoDOS which is used to run the glider controller code Missions are executed from within GliderDOS It is written in C C compiled using Metrowerks CodeWarrior and then post linked and uploaded to the glider via Motocross Code Design The user commands the glider by writing mission files text files with an mi extension and loading them onto the Persistor The mission is then executed from within GliderDOS Mission files are based on a layered single thread approach where tasks are coded into behaviors behavior _ which are composed of behavior arguments b arg During a mission the glider is continually updating a large number 1800 of variables These variables are referred to as sensors sensor In the simplest terms sensors are defined as any variable whose value is changing or set over the duration of a mission Some examples of sensor values are GPS fixes piston displacement pump position and CTD values All sensor definitions behavior arguments and behaviors are defined in a file called masterdata which is located at ftp ftp glider webbresearch com glider windoze productio
61. RESET Hold down and press RESET to force the glider or science Persistor to reset to PBM persistor boot monitor Power on off science OFF Simulator is off selection ON Glider and science are on SCI Science is on M 10 TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Connecting the Simulator to the Dockserver Hardware Slocum G2 Glider Operators Manual Connecting the Simulator to the Dockserver Hardware The glider simulator can be connected to the Dockserver hardware by direct serial cable FreeWave wireless data transceiver or Iridium modem However to connect using a FreeWave transceiver or an Iridium modem the simulator must have the FreeWave or modem physical device installed Connecting the Simulator with a Direct Serial Cable To connect a shoebox simulator to a Dockserver machine with a direct serial cable connect one end of a serial cable to the RS232 port labeled Glider Comms on the simulator and the other end to a serial port on the Dockserver machine gt NOTE For shoebox simulators directly connected by serial cable to the Dockserver machine i e no Freewave or Iridium involved a serial port configured as direct ignores CD Switch setting or FreeWave follows CD switch setting may be used Serial port 4 on the four port USB serial adaptor is factory configured as a direct device and serial ports 2 and 3 are factory configured as FreeWave Refer to section 2 6 of the GMC
62. Sensor Commands ooo 6 7 Device Commands aaie et A a IVA 6 8 Science COMputers iusso eene uve E es DH es 6 11 Bim POLED i uos eere ntes Dy Sy Id euer en es 6 12 Config Folder aras da Ee eL es ees 6 13 Autoexec Dat i sisse eae see de te EIER rece epe des 6 14 7 Science Data Logging 0 cece eee ee eee eee eens 7 1 System Requirements us ere oad wie ea eae ice dd 7 1 Performance a eae ae ve tee Ee eed ds 7 1 Bbogtile Lypes za esse de pei ep Ree a Ec aa t ic dyes 7 1 Configuration Files see eMe E ER ann e ses 7 2 Transparency say 2 80 ea WURPEDLM LVEUPDF OUVRIR VETE Ve eee 7 2 Exceptions to Transparency sse 7 3 Control Lom Seo epe MER READS eI Me I 7 4 8 Flight Data Retrieval exe Rock cen E re ae Ren 8 1 Vehicle Status Glider on Surface Counting Down to Resume Mission 8 2 9 Dockserver Data Visualizer oooooooocooommmmmmm 9 1 ii TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual 10 MISSION SS nut terre ela 10 1 An Elles ici a ea ka dahin andl hdd eens 10 1 ma FINES TT 10 1 Running Missions o ooooooccoco e 10 2 A Abbreviations and Acronyms eesesslleess A 1 B Code Theory and Operation ssesee B 1 Operating Systems odes ei de FIR tS rein B 1 Code Design RET RERUM Ue La B 1 Control Levels aussen Veterem el TES PI B 2 Control Stacks States and Abort Sequences 0000 ee eee B
63. Slocum G2 Glider Operators Manual P N 4343 Rev B January 2012 Teledyne Webb Research 82 Technology Park Drive East Falmouth MA 02536 U S A Tel 1 508 548 2077 Fax 1 508 540 1686 www webbresearch com wa TELEDYNE WEBB RESEARCH A Teledyne Technologies Company P O Copyright 2011 Teledyne Webb Research The material in this document is for information purposes only and is subject to change without notice Teledyne Webb Research assumes no responsibility for any errors or for consequential damages that may result from the use or misrepresentation of any of the material in this publication FreeWave is a registered trademark of FreeWave Technologies Iridium is a registered trademark of Iridium Communications Inc Persistor and PicoDOS are registered trademarks of Persistor Instruments Inc Slocum G2 Glider Operators Manual Contents TAntroductloDo as iso skr v kx d Ra Ead akt rc n xd D ch ERES 1 1 Porward Propulsion feed utente Pide eer emp 1 2 Navigation and Ehght osse dE Een A ee 1 3 Safety and Handling Procedures 20 0 eee eee nenn 1 3 Architecture and Components 2 0 0 0 eee cee eens 1 3 Architecture 12e A SEES ae MESE IM GENS 1 3 Nose Dome bo A A eu e EE IE dU 1 4 F rward Hull S ction 25 cree Ce RR UR C a Re UR 1 4 Payload Bay Mid Hull Section 0 0 0 eee eee eee 1 5 Aft Hull Section so ln a an a gee IR 1 5 Aft Tail Cone ec A ete eee Re e R
64. T 1 30 Pick Point 4 2 S264 rS ee REI Rm CE ehe Ee 1 30 Recovery System optional oooooooccoococcoco ee 1 30 Strobe optional se eec ene E Rr er 1 31 2 Pre mission Testing sae eee wee nn hn 2 1 On the Beach Boat or Bench o oooooooooooooooooooonn S 2 1 Ini the Water A en eben ees 2 2 TELEDYNE WEBB RESEARCH i P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual 3 Deployment and Recovery 0000 eee e eee eee ees 3 1 Deploying the lider 2 342 A ae ae etudes a qe 3 1 Large Ship Deployment 0 eee eee eee eee 3 4 Recovering the Glider 3 5 4 Emergency Recovery 200 cece eee eee eee eee eee 4 1 5 Glider Communications 0000 c cece eee e ees 5 1 Communicating with the RF Modem 0 0 cece eee eee eee 5 1 Communicating with Argos 0 0 ee een ene eens 5 1 Communicating with Iridium 0 0 eee eee eee 5 1 Communicating with RUDICS 0 0 eee 5 2 6 Software Architecture 00 ccc eee eee eee 6 1 PICODOS 6 ites seg td hate HU Babee a he bes ee 6 2 Contig Folder ric na Ai TU ai eee eai ede 6 2 Bin Polder vu Ue Rte eee 6 3 Logs Foldet zu retis fa ate a p ees 6 4 Missions Folde t usa idet eu Sb di 6 4 Sentl gs Foldet casi ces soie la eerte e reget dos 6 4 A toexeeb t uds e Lees e t tee b Vae Ve Vt 6 5 CO COR Res EHE don Un DU XS 6 5 Masterdata eo 20 43 MR SERERE RN ea a ecd ee dies 6 6 Prefixes are eai ia TE Eu a ie 6 7
65. X 19 P N 4343 Rev B 1 12 Slocum Glider Operators Manual turning on bits 6 3 M 19 tvalve command 6 11 M 27 type command 6 11 M 27 U fu prefix 6 7 M 23 u4talk run 6 13 M 29 u abort max burn time sensor 1 26 u abort min burn time sensor 1 26 u alt filter enabled sensor 1 11 u alt min depth sensors 1 11 u alt reduced usage mode sensor 1 12 u alt reqd good in a row sensor 1 11 uart drivers 6 3 M 20 uarttest run 6 3 M 20 u_iridium_max time til callback sec 1800 0 value 4 1 u_max_time command 4 1 u_max_water_depth_lifetime sensor 1 12 umbilicals power 1 5 1 26 undervolts argument l 1 unlocking Iridium SIM cards G 2 u sci cmd max consci time sensor 7 5 M 34 u sci cycle time command 7 4 M 33 u sci dbd sensor list xmit control command 7 4 M 33 u science send time limit adjustment factor sensor 7 5 M 34 u science send time limit adjustment factor nodim sensor 7 5 use device name command 6 8 M 24 use Iridium command M 14 use command 6 8 M 24 use dev name command 6 8 M 24 use all command 6 8 M 24 use command 6 8 6 11 M 24 M 27 use none command 6 8 M 24 user defined before run time prefix 6 7 M 23 u use ctd depth for flying sensor 1 14 V vacuum temperature fluctuation and 1 13 values default finding 1 6 sensors commands for viewing and changing 6 7 M 23 forcing reinitialization of 2 2 See also
66. accordingly Teledyne Webb Research can provide data format information upon request If your glider is missing and Argos transmissions are needed to find it contact Service Argos and ask that ALP processing All Location Processing be activated Data Format The Argos transmitter in the glider will dictate the Argos data format If your glider is equipped with the newer X cat transmitter the following data format will be transmitted at a 90 second repetition rate while the glider is on the surface To determine the transmitter type refer to autoexec mi and the following sensor and sensor notes sensor f argos format enum Below is the data format for gliders with X cat ptts and 28 bit Argos IDs http www glider doco webbresearch com specifications index html There are tools for automating the unpacking of the Argos data available at ftp ftp glider webbresearch com glider windoze production windoze bin prntargo exe and prntargo rev1 exe should be put in the c drive and run from a command prompt to work properly Please contact glidersupport webbresearch com if you are having trouble using this tool while searching for your glider TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual How to Determine Mission Battery Longevity Mission battery longevity is estimated by considering a number of factors including the type of battery style of pump science sensor types and sampling strategy sur
67. and the unlocking PIN so that the card can be unlocked and the PIN code deactivated permanently gt NOTE Iridium usage based on one of our users averaged 90 minutes per day per glider using some of the data reduction techniques that we provide This cost is roughly 108 day Expect significantly larger usage for your first deployment because you will be monitoring testing and learning After that plan on 75 90 minutes per day per glider gt NOTE Depinning SIM cards for the Iridium phone is normally a factory configuration and is only provided to users installing their own card or changing services For more information on depinning see the Slocum G2 Maintenance Manual G 2 TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Instructions for Completing the Argos Technical Information Form Slocum G2 Glider Operators Manual H Argos Satellite Service and ID Glider users must provide IDs in both decimal and hexadecimal The standard repetition rate is 90 seconds To establish Argos service submit a program application form to the Argos User Office They will respond with an acknowledgement and user manual To contact Service Argos http www argosinc com North American users useroffice argosinc com Australia and New Zealand users clsargos bom gov au All other nations useroffice cls fr Instructions for Completing the Argos Technical Information Form Processing A2 hex output Re
68. are described in the table below Table 13 4 Components of the Simulator s Software Component Name Description PicoDOS Persistor s operating system GliderDOS Glider s operating system masterdata Defines the sensors better known as the glider variables Three are approximately 1400 variables longterm dat Maintains the sensors variables on a power cycle autoexec mi Defines glider specific variables mi files Mission files define mission variables ma files Mission acquisition file define mission behavior variables Glider Computer PicoDOS and GliderDOS contain the following folder and file structure Volume in drive C is NONAME Volume Serial Number is 75E1 51B6 Directory of CA CONFIG BIN LOG MISSION SENTLOGS STATE AUTOEXEC BAT M 18 TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Software Control Hierarchy Slocum G2 Glider Operators Manual Config Folder The files in the config folder are described in the table below Table 13 5 Files in the Config Folder File Name Description autoexec mi Configuration file for calibration constants and factory settings config sci Specifies which sensors are sent to the glider and when sbdlist dat Specifies which sensors are recorded for a short binary data file mbdlist dat Specifies which sensors are recorded for a medium binary data file simul sim Can convert the glider into several versions of a sim
69. ate Data See the air pump system test Relevant Sensors See the air pump system test Burn Wire and Jettison Weight The glider is equipped with an emergency abort system In the event that the vehicle is unable to surface during a mission a battery activated corrosive link will release the 500 g stainless steel spring loaded jettison weight forcing the glider to surface This burn process lasts for a few seconds in salt water and approximately four hours in fresh water The jettison weight is positioned beneath the digifin tail assembly and is held in place by a 20 AWG Inconel burn wire that is mated and sealed to a single pin Mecca connector on the aft end cap gt NOTE Activating the burn wire in air will have no effect as it takes ions in the water to complete the return path to ground The burn wire may be compromised if the glider is still wet but not submerged and the ejection weight is activated See the Slocum Glider Maintenance Manual for more details How to Test The ejection weight burn wire electronics can be tested in the lab by measuring voltage to the burn wire while the mecca connector is unplugged 1 While in GliderDOS type 1ab mode off Disconnect the supply lead to the drop weight at the Mecca connector Connect the digital voltmeter between teh supply lead and the tail boom Type put c weight drop 1 Verify that the voltage is at least 5 volts Typeexit pico noa gt on Verify that the
70. ately 1 stack idle 2 pitch idle 3 heading idle 6 when_secs 7 when_wpt_dist b_arg end_action enum 1 0 quit 1 wait for C quit resume 2 resume b_arg gps_wait_time s 300 how long to wait for gps b arg keystroke wait time s 15 how long to wait for control C The following behavior surface instructs the glider to come up every waypoint behavior surface b arg args from file enum 10 read from mafiles surfac10 ma b arg start when enum 8 0 immediately 1 stack idle 2 depth idle 6 when secs 7 when wpt dist 8 when hit waypoint 9 every when secs b arg when secs s 2700 How long between surfacing only if start when 6 or 9 b arg when wpt dist m 10 how close to waypoint before surface TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Sample Mission and Comments behavior surface b arg end action enum b arg report all bool b arg gps wait time s b arg keystroke wait time s 0 300 300 Slocum G2 Glider Operators Manual 0 quit 1 wait for C quit resume 2 resume T gt report all sensors once F gt just gps how long to wait for gps how long to wait for control C The following behavior surface instructs the glider to come up when a surface request is made by the science computer behavior surface b arg args from file enum b arg start when enum b arg end action enum b arg report all bool b arg gps wait time s b arg keystroke wait time s
71. ater currents that are remembered long term 7 Type run stock mi to begin the stock mission or run the desired mission 2 2 TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Deploying the Glider Slocum G2 Glider Operators Manual 3 Deployment and Recovery WARNING Deployment and recovery can be challenging and or dangerous especially in heavy seas Plan accordingly to get the glider in and out of the water Deployment conditions and craft will vary The gilder can be deployed using the pick point With smaller vessels the glider cart can be used on the gunwale to allow the glider to slip into the water During handling hold the glider by the digifin During recovery the pick point or cart can be useful tools to manipulate and provide support while moving the glider aboard A hook or lasso on a pole has also been used to manipulate the glider while in the water Photographs of deployment and recovery by cart can be found in the manual s link in the Operators Handbook at www glider webbresearch com Gliders outfitted with a recovery system can be commanded to release the nose flotation A vessel s overhead crane can then be used to lift the vehicle from the water line To activate type put c_recovery_on 1 Deploying the Glider Deployment at sea can be dangerous and the welfare of crew and glider handlers should be considered while at the rail of a ship From a small boat the glider cart can be used to let the glider slip easil
72. ator User s Guide Connections In this section the connections for the simulator are shown and described From left to right External power 12 VDC glider freewave connection direct science connection Iridium modem connection NOTE On some models the power and communications connectors are on the back rather than the side of the simulator M 8 TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Connections Slocum G2 Glider Operators Manual Table 13 1 Simulator Connections Connector Name Description External power 12 VDC 2 1 mm jack for power input from supplied 12 volt plug in power supply Glider FreeWave connection DB9 F connection for communications with the simulator via the Dockserver Connect this port to a serial port on the Dockserver configured as freewave or direct with the supplied DB9M F cable supplied The CD switch on the front panel should be set to High when this connection is used This port can also be used for an externally connected freewave modem configured as slave for wireless communication to another freewave modem configured as master connected to the Dockserver Set the CD switch on the front panel to External Communication settings 115200 baud no parity 8 data bits 1 stop bit 115200 N 8 1 Direct science connection DB9F for direct connection to the science bay Persistor This connection is parallel to the console connection between the glider main board and
73. b arg c pitch value X 0 3491 b arg end action enum 2 end b arg pitch idle see doco below Number of dive climbs to perform lt 0 is infinite i e never finishes 1 battpos 2 setonce 3 servo in rad rad lt 0 dive 20 deg 1 battpos 2 setonce 3 servo in rad rad gt 0 climb 20 deg 0 quit 2 resume The following behavior prepare_to_dive instructs the glider to get ready to dive after waiting for as long as 12 minutes for a gps fix behavior prepare to dive b_arg start_when enum 1 b_arg wait_time s 720 0 immediately 1 stack idle 2 depth idle 12 minutes how long to wait for gps The following behavior sensors_in turns on most of the input sensors behavior sensors in TELEDYNE WEBB RESEARCH M 43 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual M G2 Glider Science Simulator User s Guide Glider Software Website In order to download the glider code from the repository you must arrange for access through Teledyne Webb Research This can be arranged by emailing glideraccess webbresearch com A user name and password will be provided or can be requested Teledyne Webb Research will require the organization name phone number and email addresses of each person using access To access documents log in at https dmz webbresearch com The glider software website is http www glider doco webbresearch com Glider code update procedure
74. ble 7 1 Logfile Types on the Glider and Science Processors Logfile Type on Equivalent Logfile the Glider Type on the Processor Science Processor dbd ebd mbd nbd sbd tbd mlg nlg TELEDYNE WEBB RESEARCH 7 1 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual 7 Science Data Logging Justasm present time should be present in mbdlist dat and sbdlist dat on the glider processor sci m present time should be present in nbdlist dat and tbdlist dat on the Science processor The logfiles on the science processor are stored in the same directories as the glider processor Mogs and sentlogs with the header cache files in state cache To support SDL some new Sc iD OS commands parallel GliderDOS commands on the glider dellog df get any variable known to science as seen by science heap list all variables known to science with their values prunedisk put Think about whether it propagates to glider side or not send Configuration Files There are also some new configuration files on science that are parallel to the glider s configuration files see table below Each of these pairs is also formatted the same Table 7 2 Configuration File Comparison on the Glider and Science Processors Configuration File on the Glider Configuration File Equivalent on the Processor Science Processor config mbdlist dat config nbdlist dat config sbdlist dat config tbdlist dat confi
75. c science send all below Table 7 3 Sensors Added to the Glider Sensor Name Processor Default Setting Description C SCience send all bool Glider 0 Tells the science processor whether to send all variables or just a few m mission start time timestamp Glider Propagates to science processor m Science readiness for consci enum Glider Tells if ready or if not why not Sci m disk free Mbytes Science How much space is currently free on science Sci m disk usage Mbytes Sci m present secs into mission sec Science Science How much space is currently used on science Analog of m present secs into mission on science sci m free heap bytes Sci m min free heap bytes Science Science Analogofm free heap on Science Analog of m min free heap on Science Sci m min spare heap bytes Sci m spare heap bytes Science Science Analog of m min spare heap on Science Analog ofm spare heap on science Sci x disk files removed nodim Science Count of files removed by last science processor s prune command Sci x sent data files nodim Science Count of files successfully transmitted by last science processor s sent command u sci cycle time secs Glider Tells the science processor how fast to run u sci dbd sensor list xmit control enum Glider Always transmit the header to tell
76. cessor to version 7 0 or greater and the science processor to version 3 0 This is absolutely necessary because the baud rate for operating the clothesline has changed from 9600 to 4800 However with science 3 0 it is still possible to fall back to the old method of operation without SDL though this is not recommended Only release 7 0 and higher can be used with SDL and science 3 0 or greater will be required going forward The division between glider 6 38 and 7 0 is tied to the division between science 2 x and 3 0 and elements of old and new across this division must be consistent either all old or all new for the glider to operate successfully Performance Since the science processor primarily collects and logs data although by default it is running at reduced CPU speed it can maintain a high cycle rate The cycle time is independent of the glider cycle time and is set to one second by default Of course actual throughput attainable depends on installed sensor load and sensor data stream parsing overhead TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Science Data Logging Slocum G2 Glider Operators Manual Logfile Types Science now has a parallel logfile type for each logfile type on the glider as shown in the table below Each pair is formatted the same i e ebd is formatted the same as dbd Table 13 16 Logfile Types on the Glider and Science Processors Logfile Type on Logfile Type the Glider Equivalent on the Process
77. curate The simulated physics of the glider are far from perfect but generally adequate for verifying software and missions Levels of Simulation The simulation levels are described in the table below Table 13 3 Simulation Levels Simulation Level Description no electronics Persistor alone no glider board pocket simulator just electronics No hardware motor etc just the electronics board and Persistor shoebox simulator on bench This is a complete glider on the bench i e not in the water simul sim file The level of simulation is set when the Persistor boots by the contents of the simul sim file in the config directory of the glider flash card A single line of text controls the level of simulation e po electronics e just electronics e on bench If the file is missing or does not have the required line no simulation is done WARNING A glider should never be deployed with a simul sim file remaining in the config directory The glider simulator is shipped with a simul sim file in the config directory that contains the text just_electronics null_modem See the next section for a description of null_modem TELEDYNE WEBB RESEARCH M 13 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual M G2 Glider Science Simulator User s Guide M 14 Simulating the Iridium Modem The Iridium satellite modem has two levels of simulation Both are controlled by a parameter on the just electronics
78. d IDs with H 1 to H 2 TELEDYNE WEBB RESEARCH Slocum Glider Operators Manual IX 1 P N 4343 Rev B 1 12 Slocum Glider Operators Manual glider communication with 5 1 Argos ALP 4 1 Argos satellite platform transmitter terminal PTT 1 15 to 1 16 1 19 Argos transmitters location of 1 5 arguments behavior B 1 B 5 to B 9 M 39 to M 43 See also specific argument names ASCII files combining 7 3 M 32 assemblies ballast pump configuring 1 7 1 described 1 6 1 8 evaluating data 1 7 sensors 1 8 1 9 testing 1 7 1 8 ballast location of 1 4 communications board modems on 1 5 CTD sensor 1 14 to 1 15 at command 5 2 ata command 5 2 ath command 5 2 attitude sensors 1 19 to 1 20 attitude sensors location of 1 5 attrib command 6 8 M 24 autoexec bat 6 3 6 5 6 12 6 14 M 19 M 21 M 29 M 30 autoexec mi 6 1 6 2 6 5 M 18 M 19 M 21 8 1 8 B bad input simulating M 14 to M 15 bad value text line M 14 bad device M 14 to M 15 ballast command 6 8 M 24 ballast pump assemblies configuring 1 7 1 8 described 1 6 1 8 evaluating data 1 7 1 8 location of 1 4 sensors 1 8 1 9 testing 1 7 1 8 ballast weights location of 1 4 bam device 6 12 M 28 batteries dangers of 1 29 location of 1 4 1 5 longevity during missions l 1 to l 2 battery packs 1 28 to 1 29 baud rates changing F 1 F 2 science data logging SDL 7 1 M 30 bays payload architecture of 1 5 bb2c device
79. d configuration for each instrument allows the run time selection of which instruments are actually in a given glider A file in config directory called proglets dat controls the wiring and configuration of the science computer There is proglet for each device connected to the science computer 1 Type cd config 2 Typedir 3 Confirm that proglet dat is in the config directory 4 Transfer proglets dat from the config folder to the Dockserver by typing zs proglets dat e Preserve the original proglets dat by changing its name Type rename proglets dat proglets org Edit proglets dat in the from glider directory Move the edited proglets dat file to the To glider directory on the Dockserver Confirm that the glider is still in SciDOS There is a 1200 second default timeout value 0 0 wo Type cd config if necessary 10 Type dockzr proglets dat 11 When the transfer is complete type type proglet dat The new file will now be displayed to screen 12 Confirm the edits 13 Type quit to exit the science computer 14 Do one of the following e Ifinamission type us Science super and wait for science to power down Then type use science super e Ifnotina mission type exit reset TELEDYNE WEBB RESEARCH J 1 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual J How to Edit a Proglets dat File J 2 P N 4343 Rev B 1 12 Below is an excerpt from proglets dat in which the Aanderaa sensor is
80. d prediction of ocean state variables in the littoral zone A similar nested grid of subsurface observations is required to maximize the impact and ground truth of the more extensive surface remote sensing observations The long range capabilities of the Slocum gliders make them ideally suited for subsurface sampling at a regional or larger scale These gliders can be programmed to patrol for weeks or months at a time surfacing to transmit their data to shore while downloading new instructions at regular intervals at a substantial cost savings compared to traditional ship based research methods The small relative cost and the ability to operate multiple vehicles with minimal personnel and infrastructure enables small fleets of gliders to study and map the dynamic temporal and spatial features of our subsurface coastal or deep ocean waters 24 hours daily 365 days a year TELEDYNE WEBB RESEARCH 1 1 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual 1 Introduction Forward Propulsion Gliders are unique in the autonomous underwater vehicle AUV world because their varying vehicle buoyancy creates forward propulsion Wings and control surfaces convert the vertical velocity into forward velocity so that the vehicle glides downward when denser than water and glides upward when buoyant see figure below which is representative of a 200 meter glider Gliders require no propeller and operate in a vertical sawtooth trajectory Ym Figur
81. d truth of the more extensive surface remote sensing observations The long range and duration capabilities of the Slocum gliders make them ideally suited for subsurface sampling at a regional or larger scale These gliders can be programmed to patrol for weeks or months at a time surfacing to transmit their data to shore while downloading new instructions at regular intervals at a substantial cost savings compared to traditional surface ships The small relative cost and the ability to operate multiple vehicles with minimal personnel and infrastructure enables small fleets of gliders to study and map the dynamic temporal and spatial features of our subsurface coastal or deep ocean waters around the clock and calendar Format Notes Glider sensors and commands will be denoted in the Courier font throughout this document as shown in the example below Typing Report m roll will report measured roll m_r011 every 4 seconds When displayed on a PC some areas will be hyperlinked to information available on the Internet such as http www webbresearch com and protected documents by permission http www glider webbresearch com Many of the links and the code mentioned in this manual require access by prior arrangement Please contact glidersupport webbresearch com to inquire about access to these protected documents TELEDYNE WEBB RESEARCH M 7 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual M G2 Glider Science Simul
82. der in the water However if you have great confidence in the ballasting and are an experienced user proceed without a floatation device 2 Once the glider is deployed type run status mi again If ballasting has already been confirmed proceed to step 3 or 4 If unsure of ballasting most operators will then run one or several of the following missions to quantify the quality of the ballasting An operator may choose to remove the buoy during any number of the missions below if results are satisfactory run ini0 mi Does 1 yos dive to 3 m Fixed pitch and fin run inil mi Does 3 yos dive to 5 m climb to 3 m Heading north pitch at 20 degrees run ini2 mi Goes to a waypoint 100 m south of dive point Does yos dive to 5 m climb to 3 m run ini3 mi Goes to a waypoint 100 m north of dive point Does yos dive to 30 m alt 3 3 climb to 3 m If you are performing this mission on a line with flotation ensure the line length is sufficient or modify yo depth 3 When the glider returns to the surface examine the data to evaluate whether it is OK to proceed 4 If you have not removed the line from the glider do it now 5 Fromthe GliderDOS prompt type exit reset This will force all of the sensor values to reinitialize It is advisable to do an exit reset after removing the buoy but not necessary 6 When the glider reboots type ctrl c to return to a GliderDOS prompt and type loadmission waterclr mi to zero any built up w
83. der windoze production target science config proglets dat Depending on the configuration of science instruments in the payload bay ballast weight can be added to this section H moment adjustments can also be made by moving weight high or low in this section of the vehicle Aft Hull Section The aft hull section houses the main glider electronics and the chassis that ties the vessel together The main controller board upper electronics board carries the flight computer main persistor and attitude sensor The communications board which is located beneath the main controller board contains the Argos transmitter GPS Iridium modem and radio frequency RF modem The air pump system and a catalyst are attached to the underside of the chassis This catalyst recombines hydrogen gas and oxygen into water to reduce the risk of explosion in the event that alkaline batteries are shorted or come into contact with water or sea water The aft battery pack which is not attached to the chassis is positioned below the chassis in the bottom half of the aft hull section Unlike the forward battery pack the aft battery pack is fixed in place and is not used to control the glider s pitch Behind the aft battery pack the micron pressure transducer is ported through the aft end cap Aft Tail Cone The aft tail cone is a wet area that houses the air bladder burn wire jettison weight and power umbilical all of which are connected to the aft channel which
84. dization Iridium Subscriber Unit Low Noise Amplifier Material Safety Data Sheet Operations Center Original Equipment Manufacturer Quality Control Process Personal Protective Equipment Platform Transit Terminal for Argos RHEL Red Hat Enterprise Linux RHN Red Hat Network RUDICS Router based Unrestricted Digital Internetworking Connectivity System SE Systems Engineering Socket Head Cap Screw SN Serial Number Standard Operating Procedure Secure Sockets Layer TELEDYNE WEBB RESEARCH A 1 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual ABBREVIATION OR ACRONYM A Abbreviations and Acronyms DESCRIPTION STE Secure Telephone Equipment TWR Teledyne Webb Research U S United States USB Universal Serial Bus UUV Unmanned Undersea Vehicle A 2 P N 4343 Rev B 1 12 VAC Volts Alternating Current TELEDYNE WEBB RESEARCH Operating Systems Slocum G2 Glider Operators Manual B Code Theory and Operation The brain of the Slocum G2 glider is a Persistor Instruments Inc CF1 computer chip based on Motorola s MC68CK338 design The disk space is provided via a removable compact flash card The Slocum glider also contains a separate Persistor for logging and collecting scientific data science computer Operating Systems The operating system for the Persistor CF1 is PicoDOS Persistor Instruments Card
85. done after the exit command is issued and accepted by the glider In an emergency the green plug or wall power may be removed without a software command This can result in corrupted files A chkdsk should be performed on the compact flash CF cards and if necessary the cards should be reformatted Digital Tail Fin digifin The self calibrating tail fin assembly contains the vehicle s rudder and its three antennas e ARGOS 401 MHz e FreeWave RF modem 900 MHz Combined GPS 1575 MHz and Iridium 1626 MHz This tail fin is constructed of molded urethane and is rugged enough so that it can be used to handle and maniuplate the glider TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Architecture and Components Slocum G2 Glider Operators Manual How to Configure Factory configured How to Test From lab mode wiggle on wiggle off Range 25 degrees How to Evaluate Data With a properly ballasted glider positive fin movement will result in increased heading values Relevant Sensors X m fin e firn m heading c heading m roll Sacrificial Anode The outside of the aft and forward end caps are fitted with sacrificial zinc anodes to prevent corrosion of the glider s exposed aluminum and stainless steel components The anodes should be checked for continuity to ground on a regular basis to ensure proper protection against corrosion and they need to be replaced periodically It is important to take n
86. e 1 1 Force balance diagram of forces acting on the glider angle of attack not included 1 2 TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Navigation and Flight Slocum G2 Glider Operators Manual Navigation and Flight The Slocum Glider navigates to waypoints via dead reckoning inflecting at depths and altitudes as prescribed in a text mission file As set by the mission the glider periodically surfaces to obtain a GPS location fix and to communicate data and instructions with glider operators via satellite Differences between its estimated dead reckoning position and its GPS position are attributed to currents which are accounted for in subsequent mission segments via set and drift calculations For more information about the glider s flight dynamics go to ftp ftp glider webbresearch com glider windoze production src doco how it works This site includes various definitions including how the glider dead reckons Safety and Handling Procedures For information on safety and handling procedures for the Slocum Glider see the Warnings and Precautions section of the Slocum G2 Glider Maintenance Manual Architecture and Components Architecture The Slocum Glider comprises five total sections three main hull sections and two wet sections located fore and aft a design which was chosen for its simplicity economy and expandability The 200 meter glider s main hull sections are made of 6061 T6 aluminum alloy and have an out
87. e listed in Appendix B of the Slocum G2 Glider Operators Manual Out of Band Abort During the second type of abort referred to as an out of band abort the glider assumes that the software is no longer reliable For this reason the upper two layers of software control are no longer utilized Instead only the device drivers schedulers are utilized As with the synchronous abort the device drivers will be used to achieve positive buoyancy the last known GPS fix is output and communication devices are turned on The abort can only be terminated by user keystroke even though the glider is on the surface The following dialog is presented Want to reset the system Y or N Want to exit to the operating system Make sure you know what you are doing before answering Y Want to exit to the operating system Y or N In general you want to reset the system When the system is reset you will be returned to the GliderDOS prompt Hardware Generated Abort The third type of abort is a hardware generated abort The glider hardware is capable of autonomously generating an abort sequence and getting the glider to the surface by triggering the burn wire and dropping the weight There is a watchdog circuit in the hardware with a time constant of either two hours or 16 hours set by a jumper in the glider control board and referred to as COP TICKLE COP Computer Operating Properly M 38 TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Code Theory
88. ectly it boots up and calls autoexec mi a file containing all of the glider s calibration coefficients Certain devices are set automatically to ensure the best possible surface expression e Ballast pump assembly full extension e Pitch full forward e Air pump on e Argos on e FreeWave on GPSon It is necessary to be in PicoDOS in order to e Load new source code for GliderDOS TELEDYNE WEBB RESEARCH 6 5 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual 6 Software Architecture e Work in the file structure without the device drivers being called WARNING The glider should never be deployed while in PicoDOS or displayed while set to boot pico For a detailed description of how to load a glider and science bay with a new release of glider production code visit ftp ftp glider webbresearch com glider windoze production src doco software howto updating all glider software txt When in GliderDOS or as noted from PicoDOS use the basic control commands in the table below Table 6 6 Basic Glider Control Commands Command Name Description Takes control of the glider Sends the glider to PicoDOS from GliderDOS Return to GliderDOS as long as Persistor is set to boot app Commands the glider to start in PicoDOS when reset or the power is cycled Use this when loading an application glider app Never deploy a glider left to boot pico Commands the glider to start in GliderDOS when re
89. ecture and Components gt Slocum G2 Glider Operators Manual NOTE The displacement pump should not be run without either external pressure or internal vacuum on the rolling diaphragm The vacuum inside the glider should be drawn to 6 inHg less from the external atmosphere to ensure that the diaphragm folds smoothly as it rolls otherwise damage may result To eliminate back drive of the pump at pressure a latching brake is used to hold the motor when at rest Ratio Pmax 9 6 Amp Rated Pressure Flow No Load 156 1 248 dbar 200 dbar 24 cc sec 74 1 135 dbar 100 dbar 43 cc sec 26 1 41 dbar 30 dbar 126 cc sec How to Configure Factory configured Please contact glidersupport webbresearch com for assistance How to Test From 1ab mode 1 Typewiggle on Type report m_ballast_pumped Make sure that the ballast pump successfully completes a full extension m ballast pumped 230 cc and full retraction nm ballast pumped 230 cc without errors 4 Typewiggle off How to Evaluate Data With a properly ballasted glider positive cc s should result in a positive buoyancy and a climb Negative cc s will result in a negative buoyancy and a dive TELEDYNE WEBB RESEARCH 1 7 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual 1 Introduction Relevant Sensors Sensor Name Description m ballast pumped Measured volume of buoyancy pumped in cc s C ballast
90. ed by modem Iridium to the Dockserver machine a serial port configured as a modem device must be used The Dockserver s internal serial port is factory configured as a modem device If the Dockserver machine has no internal serial port then serial port 1 on the four port USB serial adaptor is factory configured as a modem device Refer to section 2 6 of the GMC Users Guide to change the factory delivered serial port configuration Differences between a Simulator and a Glider The differences between a shoebox glider simulator and an actual glider with respect to how the Dockserver behaves are 1 M 12 P N 4343 Rev B 1 12 When connected as a direct device a shoebox simulator behaves just like a pocket simulator When connected as a modem or FreeWave device a shoebox simulator behaves like a real glider out of the water whose simul sim file contains on bench TELEDYNE WEBB RESEARCH Simulation Slocum G2 Glider Operators Manual Simulation A powerful feature of the software is the capability to convert the glider into a simulator operate the electronics of the glider as a simulator or create a simulator out of a standalone Persistor This allows testing of new code pre running of missions and providing a hands on training tool There are also various ways to operate the glider in a simulated environment This also allows testing of software simulation of missions etc The simulation is reasonably ac
91. ed thoroughly investigated before the vehicle s behavior is understood Teledyne Webb Research provides a number of tools for viewing and processing data Each dockserver also hosts a dataserver which transfers raw glider binary data into a MySQL database This database can be viewed using the Java GUI data visualizer and any available glider sensor can then be plotted against time Teledyne Webb Research also provides the tools to convert raw data to ASCII so that a user can format and publish data as desired These tools can be found at ftp ftp glider webbresearch com glider windoze production windoze bin or ftp ftp glider webbresearch com glider windoze production linux bin Relevant Sensors See masterdata at ftp ftp glider webbresearch com glider windoze production masterdata TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Architecture and Components Slocum G2 Glider Operators Manual Hardware Interface Board The flight Persistor is mated to the main driver board that interfaces with all of the sensors communications and drive mechanisms The board nominally runs on 15 volts DC A section of the board is dedicated to a hardware abort mechanism As a recovery precaution for errant events a timer set to 18 hours in the factory is reset COP tickled every time there is either a GPS fix or a keystroke while in GliderDOS which would indicate that the glider is safely on the surface If the timer elapses howeve
92. en hit waypoint 9 every when secs b arg when secs s 2700 How long between surfacing only if start when 6 or 9 b arg when wpt dist m 10 how close to waypoint before surface b arg end action enum 1 0 quit 1 wait for C quit resume 2 resume b_arg report_all bool 0 T gt report all sensors once F gt just gps b_arg gps_wait_time s 300 how long to wait for gps b arg keystroke wait time s 300 how long to wait for control C The following behavior surface instructs the glider to come up when a surface request is made by the science computer behavior surface b arg args from file enum 10 read from mafiles surfac10 ma b arg start when enum 11 BAW SCI SURFACE b arg end action enum 1 0 quit 1 wait for C quit resume 2 resume b_arg report_all bool 0 T gt report all sensors once F gt just gps b_arg gps_wait_time s 300 how long to wait for gps b arg keystroke wait time s 300 how long to wait for control C The following behavior surface instructs the glider to come up every 10 minutes In this particular case mission it is commented out and therefore not active behavior surface b arg args from file enum 10 read from mafiles surfac10 ma b arg start when enum 9 0 immediately 1 stack idle 2 depth idle 6 when secs 7 when wpt dist 8 when hit waypoint 9 every when secs b arg when secs s 600 How long between surfacing only if start when 6 or 9 b arg
93. en the minimum water depth for the mission is known u alt reqd good in a row nodim u alt filter enabled bool How many m raw altitude readings are used to calculate the processed m altitude measurement Enable median filter depth for altitude TELEDYNE WEBB RESEARCH 1 11 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual 1 Introduction Sensor Name Description u alt reduced usage mode bool The glider calculates and uses the altimeter only when necessary A glider pilot might decide to activate or deactivate reduce usage mode Reduced usage will save energy however it may result in ineffective results in shallow water deployments m water depth m Calculates the depth of the water water by adding m depth and m altitude u max water depth lifetime yos How long to use m depth only in absence of new altimeter fixes 1 12 TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Architecture and Components Slocum G2 Glider Operators Manual Carbon Fiber Hulls How to Configure Carbon fiber hulls are custom wound compressible engineered parts and should be handled with care Any nicks in the paint finish should be examined to ensure that damage does not extend into the fiber winding Careful inspection of interior and exterior finishes should be performed regularly How to Test Pull and maintain the recommended vacuum on the vehicle 6 inHg for 200
94. end the files in small batches until all of the files have been transferred M 34 TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Code Theory and Operation Slocum G2 Glider Operators Manual Code Theory and Operation The brain of the Slocum G2 glider is a Persistor Instruments Inc CF1 computer chip based on Motorola s MC68CK338 design The disk space is provided via a removable compact flash card The Slocum glider also contains a separate Persistor for logging and collecting scientific data science computer in addition to CTD measurements which are logged by the glider computer Operating Systems The operating system for the Persistor CF1 is PicoDOS Persistor Instruments Card Or Disk Operating System PicoDOS is smaller than but very similar to DOS and many DOS commands will work in PicoDOS Uploads of new glider controller code and mission files and retrievals of data files are all done in PicoDOS GliderDOS is an application that is loaded into the Persistor This resident operating system is a superset of PicoDOS which is used to run the glider controller code Missions are executed from within GliderDOS Itis written in C C and compiled using Metrowerks CodeWarrior and then post linked and uploaded to the glider via Motocross Code Design The user commands the glider by writing mission files text files with an mi extension and loading them onto the Persistor The mission is then executed from within GliderDOS Missio
95. ensor 1 30 c science send all sensor 7 4 M 33 c_strobe_ctrl sensor 1 31 CTD conductivity temperature and depth sensors 1 14 to 1 15 CTD program 6 12 M 29 ctd41 device M 28 ctd41cp device 6 12 M 28 ctd_ctrl run 6 12 M 29 ctd_hs2 run 6 13 M 29 CTDs running dry 1 14 ctrl c command 2 1 2 2 8 2 ctrl e command 8 2 ctrl f command 8 2 ctrl p command 8 2 ctrl r command 8 2 ctrl t command 6 11 8 2 J 1 currents effects on voltage l 1 c_weight_drop sensor 1 26 TELEDYNE WEBB RESEARCH Slocum Glider Operators Manual IX 5 P N 4343 Rev B 1 12 Slocum Glider Operators Manual cycle rates science processor 7 1 M 30 cycles of missions adjusting frequency of 4 1 D data evaluating air bladders 1 25 air pumps 1 17 altimeters 1 11 Argos satellite transmitter PTT 1 15 attitude sensors 1 20 ballast pump assemblies 1 7 1 8 battery packs 1 29 carbon fiber hulls 1 13 conductivity temperature and depth CTD sensors 1 15 coulomb counter 1 29 global positioning system GPS 1 20 to 1 21 Iridium satellite telemetry 1 22 leak detect sensor boards 1 24 pitch vernier 1 10 pressure transducers 1 23 science bay computers and sensors 1 14 vehicle controllers 1 18 data files sending to Dockserver 7 3 M 32 data format Argos transmitters H 2 data from flights retrieving from Dockserver 8 1 to 8 2 data plots alkaline battery voltage l 2 Data Server 7 3 M 32 Data Visualizer 7 3 9 1
96. enu assign the call book entry to call C 0 9 donotuse call all A How to Test When the glider and master are powered the red carrier detect CD light on the front of the master unit will turn green TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Architecture and Components Slocum G2 Glider Operators Manual Science Payload Computer Communications When first powered on the FreeWave radio modem is set to communicate with the flight Persistor Communications can be established with the science Persistor from PicoDOS and GliderDOS While in PicoDOS typing consci enables direct communication with the science Persistor via a hardware controlled connection In order to resume communication with the flight Persistor the carrier must be disconnected for three seconds which can be accomplished by disconnecting power to the FreeWave master for about 10 seconds While in GliderDOS typing consci enables direct communication with the science Persistor via a software controlled connection known as the clothesline In order to resume communication with the flight Persistor enter the quit command How to Configure Contact Glider Support How to Test Type consci from PicoDOS and establish communication with science The prompt should change from GPICO C gt to SCI C V Pressure Transducer G2 gliders are outfitted with Micron 2000 PSIA strain gage transducers which are used for vehicle control and dead reckoning The s
97. er File Name Description appcmd dat Simulates functions in the science bay See Simulation on page M 13 This file must be deleted before an actual flight zmext dat Automatically places transferred files in the correct directory from any other directory proglets dat This contains configuration of the science computer sensors and defines which sensors are installed in the payload bay TELEDYNE WEBB RESEARCH M 29 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual M G2 Glider Science Simulator User s Guide gt NOTE The appcmd dat file must be deleted before an actual flight Autoexec bat This file contains the path to the executable and the PicoDOS prompt path bin p prompt sci p g Science Data Logging M 30 Science data logging SDL is an architectural change to address the limited throughput of the serial data connection also known as the clothesline between the glider and science processors In previous releases all science sensor data had to be passed over the clothesline in real time for logging commingled with glider sensor data on the glider processor with a severe limit on the number of science sensors per second that could be transferred In the new system using SDL the science sensors do not have to be transmitted over the clothesline which eliminates the bottleneck System Requirements To fully implement this release it is important to upgrade the glider pro
98. er Operators Manual Zmodem 6 3 6 11 8 2 M 20 M 27 zr command 6 11 M 27 zr run 6 3 6 13 M 20 M 29 zs command 6 11 M 27 zs run 6 3 6 13 M 20 M 29 IX 22 TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 u TELEDYNE WEBB RESEARCH A Teledyne Technologies Company 82 Technology Park Drive East Falmouth MA 02536 USA 1 508 548 2077 phone 1 508 540 1686 fax www webbresearch com
99. er are described in the table below Table 6 3 Files in the CONFIG Folder File Name Description autoexec mi Configuration file for glider calibration constants and factory settings config sci Specify which sensors are sent to the glider and when 6 2 P N 4343 Rev B 1 12 TELEDYNE WEBB RESEARCH PicoDOS Slocum G2 Glider Operators Manual Table 6 3 Files in the CONFIG Folder File Name Description sbdlist dat Specify which sensors are recorded for a short binary data file mbdlist dat Specify which sensors are recorded for a medium binary data file simul sim Used to convert the glider into several versions of a simulator This file must be deleted before an actual flight zmext dat Automatically places transferred files in the correct directory from any other directory gt NOTE The simul sim file must be deleted before an actual flight Bin Folder Pico executable programs are stored in the bin folder All of these programs run in PicoDOS These files are described in the table below Table 6 4 Files in the Bin Folder File Name Description adtest run Displays and updates raw voltages for analog to digital devices Used in calibration procedures alloff run Placed in autoexec bat to start the world with all registers zeroed and turns on the RF modem for communication consci run Switches the RF modem to communicate with the payload science computer for d
100. eries during missions l 1 to l 2 longterm command 6 9 M 26 longterm dat 6 1 M 18 IX 10 P N 4343 Rev B 1 12 TELEDYNE WEBB RESEARCH longterm put command 6 9 M 25 Ip stop command 6 10 ls command 6 10 M 26 M m_ prefix 6 7 M 23 ma files 6 1 10 1 B 5 B 8 M 18 M 20 M 39 to M 43 mafiles folder M 20 m air pump sensor 1 17 m altitude sensor 1 11 masterdata described 6 1 6 6 to 6 11 M 18 M 23 to M 27 location of 1 6 production copy location of 6 5 max mt text line M 14 m ballast pumped sensor 1 8 m battery sensor 1 29 l 1 m battery inst sensor 1 29 m battpos sensor 1 10 mbd command 6 10 M 26 mbd files 6 4 7 1 8 1 M 20 M 31 mbdlist dat 6 3 6 4 7 2 8 1 M 19 M 20 M 31 memd run 6 12 M 29 m_coulomb_amphr_total sensor 1 29 l 1 l 2 m_coulomb_current sensor 1 29 mdatacol run 6 13 M 29 m de oil vol sensor 1 9 m depth command 1 23 m depth sensor 1 23 m depth state sensor 1 24 measured prefix 6 7 M 23 medium binary data files mbd 6 4 8 1 M 20 menus Operation Mode F 1 F 2 merge tool combining ASCII files 7 3 M 32 Metrowerks CodeWarrior B 1 M 35 m heading sensor 1 20 mi files 6 1 6 4 10 1 B 1 M 18 M 20 M 35 micron pressure transducers location of 1 5 mid hulls architecture of 1 5 min mt text line M 14 m iridium signal strength sensor 1 22 mission acquisition files See ma files mission files 6 1 mission files See mi files
101. esearch com glider windoze production src doco how to operate controlling contents of Xbd file txt Lastly for a select few only and more than you really wanted to know TELEDYNE WEBB RESEARCH 1 17 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual 1 Introduction 1 18 ftp ftp glider webbresearch com glider windoze production src doco software howto browsing the code dbd html index html How to Configure New G2 gliders are factory configured with production code Production code is updated frequently and should be maintained The pilot should review the updates and features added during each release ftp ftp glider webbresearch com glider windoze production readme txt Instructions on updating the glider to the most recent production release can be found here ftp ftp glider webbresearch com glider windoze production src doco software howto updating all glider software txt How to Test Activate glider with green plug and from GliderDOS prompt type ver to confirm release revision How to Evaluate Data Carefully The Slocum G2 glider monitors and records data from hundreds of glider sensors or variables along with hundreds of potential science sensor variables The user controls the vehicle by manipulating some of these sensorsand by writing missions that define hundreds of arguments within well structured behaviors Data from the glider often interact in complicated and sometimes non intuitive fashions and ne
102. ete DE 1 5 WIS Lose et eger aet b Ade at Ad pv e EA RR ia 1 6 Components a EI En an oui 1 6 Ballast Pump Assemblies ssi cei onis ra rerna eee e 1 6 Pitch Verniet is eec bet eared aetna eed deco EU EU CU eee 1 9 Alttmet t zi ves E Reg en sn 1 10 Carbon Fiber Hulls co Gets he ee tee VW cse Bein 1 13 Science Bay Computers and Sensors ll ele eee eee 1 13 Conductivity Temperature and Depth CTD 0 1 14 Argos Satellite Platform Transmitter Terminal PTT 1 15 Catalysts 8rd eve eU ter ER RU UU re eee EE 1 16 AirPump System sd oru A RR RE VER e Se eR 1 16 Vehicle Controller i eue anat 1 17 Hardware Interface Board oooo oocoocoocorcrc een 1 19 Attitude Sensor ta en ih eee Ee en a eben 1 19 Global Positioning System GPS 0 0 00 cee eee een 1 20 Iridium Satellite Telemetry lesse 1 21 Radio Frequency RF Modem Telemetry 0 0 0 eee eee eee 1 22 Science Payload Computer Communications 00 0 0 e eee 1 23 Pressure Transducer i eC ck RATER GAELS ES OR 1 23 Leak Detect Sensor Boards oo oooocoocccooocror eee 1 24 Zur Bladder e o e Rena RR es 1 24 Burn Wire and Jettison Weight 0 0 00 eee ee eee eee 1 25 Power Umbilical 5 RV 8 3222 ea 1 26 Digital Tail Fin digifin lees 1 26 Sacrificial Anode t Ep ERR E apes 1 27 Batteries Coulomb Counter sese 1 28 Desiccant e C A AAA P CURIE RA A
103. eturning bad values max mt gt Mission time to stop returning bad values e lt probability gt 0 1 the probability of returning a bad value e bad value The bad value to return bad device altimeter min mt max mt probability bad value Makes the altimeter return the specified bad value sometimes bad device attitude min mt max mt probability bad value Makes the attitude return an error sometimes bad value The error code to return bad device gps min mt max mt probability TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Simulation Slocum G2 Glider Operators Manual Makes the gps return an invalid fix sometimes i e controls the A or V line bad device gps error min mt max mt probability ini err meters alpha Makes the gps return a fix an added error e ini err meters The err or on first fix after power on A random direction for the error is chosen e alpha How much to reduce the error on each gps fix New error alpha prior error The direction of the error remains constant bad device watchdog oddity min mt max mt probability Make the watchdog issue a SIMULATED oddity sometimes bad device pitch stalled min mt max mt probability Makes the pitch motor appear to stall jam sometimes Should generate a motor not moving warning bad device bpump stalled min mt max mt probability Makes the b
104. ev B 1 12 Slocum G2 Glider Operators Manual M G2 Glider Science Simulator User s Guide M 6 TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Introduction Slocum G2 Glider Operators Manual Introduction Conceived by Douglas C Webb and supported by Henry Stommel and others the class of Slocum gliders is named after Joshua Slocum the first man to single handedly sail around the world These gliders are innovative autonomous underwater vehicles with two primary designs a 200 meter coastal glider and a 1000 meter glider A third design in development is the long range thermal glider Each of the two existing gliders is specifically designed to maximize littoral or deep ocean capabilities with ranges from 4 to 200 meters for the 200 meter glider and 40 to 1000 meters for the 1000 meter glider These platforms are a uniquely mobile network component capable of moving to specific locations and depths occupying controlled spatial and temporal grids The gliders are driven in a sawtooth vertical profile by variable buoyancy and can move horizontally and vertically Long range and satellite remote sensing systems are being realized in the ocean measurement field These systems are being used to quantify currents sea surface height temperature and optical properties of the water enabling modeling and prediction of ocean state variables in the littoral zone A similar nested grid of subsurface observations is required to maximize the impact and groun
105. ever be put into lab mode while deployed Properly trained personnel or glider pilots should be consulted before any of the testing below is attempted Please contact glidersupport webbresearch com regarding questions or for clarification or to troubleshoot unexpected test results When glider sensors are not defined below and for default values refer to the masterdata ftp ftp glider webbresearch com glider windoze production masterdata Ballast Pump Assemblies NOTE Both deep pumps stainless steel bellows and shallow pumps rolling diaphragm or bellophragm have a 10000 cycle service life or 20000 m tot num inflections to full depth 200 meter Ballast Pump Assembly The 200 meter ballast pump assembly is a single stroke piston design that uses a 90 watt motor and a rolling diaphragm seal to move 460 cc of sea water directly into and out of a short 12 mm diameter port on the nose centerline the stagnation point The pumps for different motor types 30 100 and 200 meter are rated for different pressures based on the gearbox associated with the motor The mechanical gear drive is not the limiting factor it is the maximum amount of energy that must be pulled from the battery source The selection of gearbox motor assembly should be optimized for the working depth to allow for quick inflections more important in shallow water and to minimize energy used on the return stroke TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Archit
106. face time required for real time data transmission and the starting battery voltage During an alkaline deployment monitor the battery voltage from the glider surface dialog or the sbd data stream by using the masterdata sensor m battery volts When plotting m battery note that voltage drops during heavy current usage are expected and normal i e where buoyancy pump adjustments occur at depth The glider will begin aborting missions when the voltage drops below 10 volts per the abort behavior below b arg undervolts volts 10 0 lt 0 disables When using lithium batteries it is recommended that the following sensors be monitored in the surface dialog or included in the files sensor m coulomb amphr total amp hrs 0 0 persistent amp hours total sensor f coulomb battery capacity amp hrs 720 0 4 nominal battery capacity sensor m lithium battery relative charge 0 relative cumulative charge The above sensors interact to cause a low battery abort behavior from the following abend argument behavior abend b arg remaining charge min 10 0 4 MS ABORT CHARGE MIN out of limits TELEDYNE WEBB RESEARCH l 1 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual How to Determine Mission Battery Longevity gt 169 Voltage m battery as reported from surface dalog NOTE Each time new batteries are installed the m coulomb amphr total sensor should be reset
107. fiber hulls 1 13 communications for 6 12 M 29 conductivity temperature and depth CTD sensors 1 14 coulomb counter 1 29 desiccants 1 30 gliders pre mission 2 1 to 2 2 global positioning system GPS 1 20 2 1 hardware interface board 1 19 hardware interface boards 6 3 M 19 Iridium in PicoDOS 5 1 Iridium satellite telemetry 1 22 leak detect sensor boards 1 24 motors 2 1 navigation devices 6 2 pitch vernier 1 9 to 1 10 pressure transducers 1 23 pumps 2 1 radio frequency RF modem telemetry 1 22 recovery systems 1 30 science bay computers and sensors 1 13 strobes 1 31 switchboards science and payload computers 1 23 troubleshooting results from 1 6 time command 6 11 M 27 towers pager and cellphone transmission F 3 trajectory gliders 1 2 transceivers FreeWave configuration of F 1 to F 3 connecting simulators with M 11 to M 12 glider communications with 5 1 simulating M 14 transducers pressure 1 23 to 1 24 transducers micron pressure location of 1 5 transmitters Argos data format of H 2 location of 1 5 platform transmitter terminal PTT 1 15 to 1 16 1 19 X cat H 2 transmitters FreeWave telemetry 1 22 transparency science data logging SDL 7 2 to 7 3 M 32 troubleshooting interference with FreeWave transceivers F 3 mission aborts C 1 to C 2 l 1 to l 2 test results 1 6 turning off air pumps 2 1 bits 6 3 M 19 TELEDYNE WEBB RESEARCH Slocum Glider Operators Manual I
108. from the lowest level is still employed The cycle to cycle timing is fairly true Some of the subcycle timings less than a second or so have to be faked because the cpu isn t fast enough to simulate them There are a number of S xxx sensor variables These are all computed by simulation code in the simulation driver simdrvr In general what we do at each of the levels on bench Requires fully assembled and functional glider that is not in the water Moves all the fins and pumps but simulates environmental inputs Specifically e Compute all the S xxx variables e Let the motors and other devices run normally e Only supply A D input for devices which monitor outside physical items NOTE For experienced users only the on bench open argument may be added For more information on this argument see the section below on bench open Used when operating a full glider on the bench with a dummy buoyancy pump motor to cause the simulation code to simulate the vacuum reading to prevent vacuum aborts WARNING The glider will be damaged if it is operated on bench with the glider open and the vehicle buoyancy pump attached just electronics This requires only the glider control board This is typically used to test science computer programs and the Iridium modem The glider control board is only required for the uarts This is the interface to the science computer and Iridium e Compute all the S xxx variables e Supply
109. g highdens dat config highdens dat Transparency In the glider s previous code revisions communicating with the glider could be a cumbersome and time consuming activity that required separately connecting to the glider and science processors In the most recent code revisions however these operations have become more streamlined i e transparent and user friendly 7 2 TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Transparency Slocum G2 Glider Operators Manual When the 1ogging on command is issued to the glider processor a message is passed over the clothesline that enables logging for the science processor If science is not running at the time a flag is set to turn on science logging when science is started When glider logging is turned off a clothesline message is sent to turn off science logging If science is not running at the time a flag is set that cancels the startlogging flag The log files will share the same file name root 1 e 12345678 mlg and 12345678 nlg will represent the glider respectively Logfile names on science and glider are kept synchronized but the science processor is unaware of these the glider processor furnishes the names when it tells science to start logging each time Sending data files to the Dockserver is transparent Issuing the send command from GliderDOS or the s command from the surface dialog causes log files to be sent first from science and then from the glider The same command line
110. hars to MLOG TERM c argos on enum O0 dE db db db db db Catalyst A catalyst is used to recombine hydrogen and oxygen into water to reduce the risk of explosion The reaction is exothermic and the catalyst may become hot This item does not need periodic replacement WARNING If the glider contains alkaline batteries there is a small but finite possibility that batteries of alkaline cells will release a combustible gas mixture especially if the batteries are exposed to water or sea water and or shorted This gas release generally is not evident when batteries are exposed to the atmosphere as the gases are dispersed and diluted to a safe level When the batteries are confined in a sealed instrument the gases can accumulate and an explosion is possible Teledyne Webb Research has added a catalyst inside of the glider to recombine hydrogen and oxygen into water and the glider has been designed to relieve excessive internal pressure buildup by having the hull sections separate under internal pressure Teledyne Webb Research knows of no way to completely eliminate this hazard The user is warned and must accept and deal with this risk in order to use this instrument safely as so provided Personnel with knowledge and training to deal with this risk should seal or operate the instrument Air Pump System The air bladder in the flooded tail cone is used to provide additional buoyancy on the surface for assisting in lifting t
111. he current time urrent Time Tue May 31 12 52 37 2011 MT 307186 R Location 4116 681 N 7037 206 E measured 183 928 secs ago PS TooFar 69696969 000 N 69696969 000 E measured 1e 308 secs go G DI Dead Reckoned or calculated position and age Gl a GPS Invalid 4116 696 N 7037 202 E measured 293 261 secs ago TELEDYNE WEBB RESEARCH Architecture and Components Slocum G2 Glider Operators Manual Possible good location based on the sensor u gps reqd valid fixes default 6 GPS Location 4116 681 N 7037 206 E measured 185 342 secs ago This is the last good recorded GPS location Note that each of these values has a time stamp to their age The vehicle calculates a maximum distance it can travel based on the sensor u max water speed This GPS location can be valuable if the glider is retrieved from the water and is moving with a vessel Relevant Sensors There are many sensors for the GPS The two most important are m gps lat m gps long To view the other sensors relevant to the GPS refer to the masterdata at ftp ftp glider webbresearch com glider windoze production masterdata Iridium Satellite Telemetry The Iridium 9522b bidirectional satellite modem is on the lower electronics tray with a low noise amplifier LNA switching board for the antenna which is shared with the GPS The LNA switch allows the IR modem to share its antenna with the GPS How to Configure The glider s
112. he tail from the water line for communications It is inflated using air from the hull interior and can provide 1400 ml of reserve buoyancy The air pump is mechanically switched off when the differential pressure between the air bladder and the internal hull pressure becomes 6 25 PSI This has been factory set When surfaced the glider equilibrates with the tail elevated and the boom holds the antenna clear of the water This air is vented back into the vehicle via a latching solenoid valve for descent 1 16 TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Architecture and Components Slocum G2 Glider Operators Manual How to Configure Factory configured The air systems differential pressure switch is set to 3 in Hg during manufacture How to Test To activate the air pump and inflate the external air bladder in lab type put c air pump 1 To open solenoid and deflate the external air bladder type put c air pump O Full inflation should only be done with the cowling installed and will take between 3 10 minutes The differential switch will stop the air pump when the pressure differential reaches 3 in Hg The glider s internal vacuum will increase by 3 in Hg as atmosphere from the vehicle is moved into the external bladder How to Evaluate Data The air bladder will be activated per the above sensors at the surface m vacuum will increase when functioning properly Relevant Sensors c air pump m air pump m vacuum Vehicle
113. hey did before science data logging was introduced and can be found in the following location ftp ftp glider webbresearch com glider windoze production windoze bin Exceptions to Transparency The dellog and prunedi sk commands are local to either science or the glider The send command issued directly from SciDOS is local to science not recommended The dellog and prunedi sk commands are local to either science or the glider The send command issued directly from SciDOS is local to science not recommended Control In normal operation only certain key science sensors are sent to the glider For setup purposes customarily c_science_on is set to 2 or 3 and all sensor values are visible as they are being sent TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Science Data Logging Slocum G2 Glider Operators Manual Provision is made via a new sensor see below c science send all to alter behavior such that all science sensors are sent as was always the case before this release in order to still use this technique Table 13 18 Sensors Added to the Glider Simulator Sensor Name Processor Default Setting Description c science send all bool m mission start time timestamp Glider Glider 0 Tells the science processor whether to send all variables or just a few Propagates to science processor m science readiness for consci enum Glider Tells if ready or if not why not Sci
114. icating with the RF Modem Slocum G2 Glider Operators Manual 5 Glider Communications The glider is intended to be used in conjunction with Dockserver See the GMC Users Guide for information on communications to the glider while using the Dockserver Communicating with the RF Modem The RF modem transmits at a frequency of 900 MHz at 1 watt nominally but it can be configured to transmit at 0 05 watts A Free Wave modem should be paired with the vehicle using the Point to Point protocol with repeaters if necessary the correct IDs in Call Book and matching frequency keys See FreeWave Configuration on page F 1 1 Connect the FreeWave to the Dockserver or to the computer running terminal emulation 2 Once power is applied to the FreeWave and the glider communication should begin Communicating with Argos The Argos device transmits at a frequency of 401 MHz and power of 1 watt Argos messages are nominally transmitted from the glider while it is powered up on the surface See Argos Data Format on page H 2 Communicating with Iridium The Iridium phone transmits at a frequency of 1600 MHz and power of 1 1 watt Iridium is generally used in the absence of the FreeWave The primary and secondary phone numbers are configured in the autoexec mi file While in GliderDOS Iridium is the primary route of communication however while running a mission Iridium will call only if FreeWave communication is not available Similarly
115. ider Operators Manual C Abort Codes MS ABORT DE PUMP IS IDLE 28 MS ABORT DE PUMP NOT ENABLED 29 MS ABORT CPU LOADED 30 MS ABORT NO ABEND BEHAVIOR 31 MS ABORT LOW REL CHARGE 32 C 2 TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual D Glider Software Website In order to download the glider code from the repository you must arrange for access through Teledyne Webb Research by contacting glideraccess webbresearch com A user name and password will be provided or can be requested Teledyne Webb Research requires the organization name phone number and email addresses of each person requesting access To access the glider code log in at https dmz webbresearch com The glider software website is http www glider doco webbresearch com The glider code update procedure is located at http www glider doco webbresearch com software howto updating all glider software txt TELEDYNE WEBB RESEARCH D 1 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual D Glider Software Website D 2 TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual E Ancillary Equipment For more information about ancillary equipment for the gliders see Ancillary Glider Equipment in Section 4 of the Slocum G2 Glider Maintenance Manual TELEDYNE WEBB RESEARCH E 1 P N 4343 Rev B 1 12
116. idle 2 heading idle B 7 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual B Code Theory and Operation B 8 P N 4343 Rev B 1 12 The corresponding ma file is displayed below behavior name goto list Written by gen goto list ma ver 1 0 on GMT Tue Feb 19 18 56 54 2002 07 Aug 02 tc DinkumSoftware com Manually edited for spawars 7aug02 op in buzzards bay 07 Aug 02 tc DinkumSoftware com Changed from decimal degrees to degrees minutes 3t decimal minutes goto 10 ma Flies a hexagon around R4 startb arg b arg num legs to run nodim 1 loop b arg start when enum 0 BAW IMMEDIATELY b arg list stop when enum T BAW WHEN WPT DIST b arg initial wpt enum 2 closest b arg num waypoints nodim 6 end b arg lt start waypoints gt 7040 271 4138 861 7040 271 4138 807 7040 333 4138 780 7040 395 4138 807 7040 395 4138 861 7040 333 4138 888 lt end waypoints gt The following behavior yo instructs the glider to perform a yo i e a single up and down pattern through the water column Again the ma convention is used to designate the depth and altitude together the range over which the yo is to be performed behavior surface b_arg args_from_file enum 10 read from mafiles yo10 ma b arg start when enum 2 0 immediately 1 stack idle 2 depth idle b arg end action enum 2 0 quit 2 resume The corresponding ma file is displayed below behavior namezyo yo c3x5 d20 a
117. igns a priority to each behavior The priority is denoted by a numerical assignment that is determined by the physical location of the behavior in the mission text file The assigned priority list is called a log_c_stack or stack and takes on the following generic form The particular behaviors following each number will be explained in further detail later TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Code Design Slocum G2 Glider Operators Manual log c stack 1 abend 2 surface 3 set heading 4 yo 5 prepare to dive 6 sensors in When one behavior is assigned priority over another and a behavior argument b arg is satisfied in both of the behaviors 1 e if two or more surface behaviors have been written into the mission the behavior with the higher priority is acted upon After the log c stack has been created GliderDOS begins to scroll through the mission in order to activate various sensors and or behaviors by changing the state of a particular behavior Whether a particular behavior changes from one state to another depends upon numerous sensor values While a mission is being executed all behaviors are in one of the following states 1 Uninitiated 2 Waiting for Activation 3 Active 4 Complete Toward the end of MASTERDATA is a list of numbers and their assigned actions This list is named beh args h and can be found in the C code This list primarily deals with the two b arg statement
118. ion of 1 3 operating systems for B 1 M 35 propulsion of 1 2 recovery of 3 1 4 1 1 2 simulation of M 13 to M 17 software architecture GliderDOS 6 5 to 6 6 M 21 to M 22 masterdata 6 6 to 6 11 M 23 to M 27 overview 6 1 Persistor 6 11 to 6 14 M 27 to M 30 PicoDOS 6 2 to 6 5 M 18 to M 21 testing equipment during deployment 1 6 testing pre mission 2 1 to 2 2 vehicle status 8 2 wiring diagrams L 1 global positioning system GPS 1 20 to 1 21 2 1 global positioning system GPS modems locations of 1 5 GPS global positioning system 1 20 to 1 21 2 1 GPS global positioning system modems locations of 1 5 H hardware generated abort B 4 M 38 hardware interface boards 1 19 6 3 M 19 hardware interface boards testing 6 3 M 19 hardware command 6 9 M 25 hazards batteries 1 29 heap command 6 9 7 2 M 25 M 31 height effects on FreeWave transceiver communications F 3 help command 6 2 6 5 6 8 6 9 M 21 M 24 M 25 help ctd hs2 command 6 13 M 29 help printing 6 7 M 23 highdensity command 6 9 M 25 H moment adjustments to 1 5 hooks on poles 3 1 horizontal moment H moment adjustments to 1 5 hs2 device 6 12 M 28 hulls architecture of 1 4 to 1 5 carbon fiber 1 13 HyperTerminal sessions connecting with F 1 F 2 ID identification numbers establishing with Argos H 1 to H 2 identification ID numbers establishing with Argos H 1 to H 2 TELEDYNE WEBB RESEARCH Slocum Glider Operat
119. ions eos SES Rep ese De DAS qe eie a M 8 Front Panel 12 2 eic e Ren ed e ee EE pe her dx eec ee M 10 TELEDYNE WEBB RESEARCH iii P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual Connecting the Simulator to the Dockserver Hardware M 11 Connecting the Simulator with a Direct Serial Cable M 11 Connecting the Simulator with a FreeWave Transceiver M 11 Connecting the Simulator with an Iridium Modem M 12 Differences between a Simulator and a Glider oo oo oo oomoomom M 12 Simulation ase 2832 28 Eee yg er en ie hans ve M 13 Levels of Simulation 006 eee ee ne nn M 13 SIMULADO li A a tt MAIS Simulating the Iridium Modem 0 0 0 0 cc eee M 14 Simulating the FreeWave Modem 0 0 0 0 0 eee eee eee ee M 14 Simulating Bad Input 2 6 a eens M 14 Simulation Details 2 22 ce ue M 16 On DENCH ti eee ewe eae he E E bue arcte at M 16 O bench open i ooo t ora E ppEESMPS M 16 J stzeleett nics Al cepere pea AERE eae UI p aep ad M 16 no electrones sree er e ur aT et abere es tol i Pies Sit E M 17 Setting Initial Simulation Parameters 0 0 0 0 cece M 17 Simulation in the Science Bay 1 0 0 cece eee M 17 Software Control Hierarchy 0 0 eee eee eee M 18 Glider Computer Vina a solu ass Rn Wunsch es M 18 Config Folder s oes ies e se e Bathe aka lade M 19 Bin Folder rocio ii Re PER E
120. irect access and code loads A loss of carrier detection on the glider side will automatically switch back to the glider controller srtest run Allows switching selected bits on and off Used for hardware interface board testing talk run Ports to specific components such as Argos attitude sensor and GPS for direct access and setup talk help displays a list of parameters uarttest run Tests uart drivers for programming zr run zs run Required for the Zmodem to send and receive transfers TELEDYNE WEBB RESEARCH 6 3 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual 6 Software Architecture gt NOTE A loss of carrier detection when in communication with science will automatically switch control and communications back to the glider controller Logs Folder Mission derived data is stored in the logs folder The data types are shown by file extension and described in the table below Table 6 5 Files Types in the Logs Folder File Extension Description dbd Dinkum binary data All sensors turned on for recording are stored in this type file sbd Short binary data Records only those sensors specified in sbdlist dat to reduce file size and thus communication time mbd Medium binary data Records only those sensors specified in mbdlist dat mlg Mission log Tracks the calls for behaviors and device drives log Stores the process of opening and closing
121. irmware versions Prints latitude longitude whoru vehicle name displays vehicle name why abort displays the reason for an abort wiggle onloff fraction moves motor ZERO OCEAN PRESSURE Recalibrates zero ocean pressure ZR zmodem rec zr for help ZS zmodem send zs for help not often used by average user Science Computer In order to communicate with the science Persistor e From PicoDOS type consci from GliderDOS type consci e From a mission type ct rl t The science Persistor s folder file structure is shown below bin config autoexec bat TELEDYNE WEBB RESEARCH 6 11 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual gt 6 Software Architecture Proglets dat is the file that contains the standard configuration values for all of the glider s science instruments Each instrument is addressed in a section of code known as a proglet Each proglet within the proglets dat file can be modified to reflect changes to the science payload s configuration and or instrumentation Some of the available instruments are listed below Table 6 11 Selected Devices Connected to the Science Computer Device Name Description ctd41cp Sea bird CTD SBE 41CP continuous profiling bb2f Wet labs bb2f fluorometer backscatter sensor bb2c Wet labs bb2c sensor bb2lss Wet labs light scatter sensor sam Wet labs Scattering Attenuation Meter wh
122. is processed by each processor in turn For example if the command as typed is send num 3 sbd tbd then science will send three tbd files while finding no match for sbd and the glider will send three sbd files finding no match for tbd The lack of matching files for some of the file specs is not considered an error The num 3 command limits the number of files sent by each processor In this case the total number of files sent by two processors together is six Sites using Data Server and Data Visualizer can view data as before Other shoreside software tools will likely require changes to view science data A merge tool has been developed to combine ASCII files to appear as they did before science data logging was introduced and can be found at ftp ftp glider webbresearch com glider windoze production windoze bin Exceptions to Transparency The dellog and prunedi sk commands are local to either science or the glider The send command issued directly from SciDOS is local to science not recommended TELEDYNE WEBB RESEARCH 7 3 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual Control 7 Science Data Logging In normal operation only certain key science sensors are sent to the glider For setup purposes Cc Science on is generally set to 2 or 3 and all sensor values are visible as they are being sent In order to send all science sensors as was the case before this release a new sensor must be used see
123. les on a power cycle autoexec mi Defines glider specific variables mi files Mission files define mission variables mission behaviors and argument ma files Mission acquisition file define mission behavior variables TELEDYNE WEBB RESEARCH 6 1 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual 6 Software Architecture PicoDOS PicoDOS is the operating system that ships with the Persistor CF1 Typing help will access the many DOS like functions and their command lines The navigation devices may be tested in PicoDOS using the talk program The syntax of the talk program is shown below Table 6 2 Syntax of the Talk Program Command Name Description talk gps Turns on the GPS and displays the NMEA output This may also be used to acquire a full almanac Leaving the GPS on for more than 15 minutes will refresh the almanac lk att Turns on the attitude sensor and displays the pitch roll heading and temperature output lk iridium Turns on the Iridium modem and allows you to manually place or receive a call lk arg Legacy Turns on the ARGOS transmitter and displays the output This command works only with the older Smartcat style PTT PicoDOS contains the following folder and file structure Volume in drive C is NONAME Volume Serial Number is 75E1 51B6 Directory of C CONFIG BIN LOG MISSION SENTLOGS STATE AUTOEXEC BAT Config Folder The files in the config fold
124. line e just electronics modem e just electronics null modem modem An actual modem is attached to the Iridium connector on the electronics board This can be an Iridium satellite modem such as the Iridium 9522 or the 9505A handset with data adapter although any Hayes compatible modem should work null modem A null modem cable connects the Iridium connector on the electronics board to a Dockserver or terminal emulator All modem responses such as OK and CONNECTED 4800 are simulated Set the terminal the emulator to 4800 baud 8 bit no parity If neither is added to the just electronics line the Iridium device is taken out of service This is the same as entering use Iridium from GliderDOS Simulating the FreeWave Modem Normally in just electronics a direct cable is used without a FreeWave modem and the simulator always simulates the FreeWave carrier detect CD bit If the following is present just electronics Iridium modem options see above Freewave cd switch the actual CD bit from the hardware is read This is useful in testing code that acts on the presence or absence of the FreeWave carrier Simulating Bad Input The capability also exists to simulate bad input from some devices This is useful for testing the operation of the software in the presence of bad input data and or failed devices The following lines in the simul sim file determine this In all cases e min mt Mission time to start r
125. lotation devices deploying gliders with 2 2 folders PicoDOS 6 2 to 6 5 M 19 science computer 6 12 to 6 13 M 29 format of data Argos transmitters H 2 forward hulls architecture of 1 4 FreeWave modems configuration of F 1 to F 3 connecting simulators with M 11 to M 12 glider communications with 5 1 simulating M 14 telemetry 1 22 frequency keys setting F 1 F 3 frequency of missions adjusting 4 1 front panel settings simulators M 10 G get command 6 9 7 2 M 25 M 31 get sensor name command 6 7 M 23 glider and science persistor reset settings M 10 Glider Endurance Tool l 2 glider freewave connection M 9 glider sensors undefined 1 6 glider simulators See simulators glider software downloading D 1 M 44 glider variables See masterdata glider app 6 5 M 21 GliderDOS accessing 2 1 commands 7 2 M 31 to M 32 described 6 1 6 5 to 6 6 B 1 M 18 M 21 to M 22 M 35 editing proglet dat files J 1 to J 2 sending flight data files in 8 2 See also Persistor GliderDOS prompts returning to 2 2 gliders adding FreeWave transceiver serial numbers to F 2 F 3 architecture of overview 1 3 to 1 6 capabilities of 1 1 M 7 IX 8 P N 4343 Rev B 1 12 TELEDYNE WEBB RESEARCH communications with 5 1 to 5 2 components of 1 6 to 1 31 data format Argos transmitters H 2 deployment of 3 1 6 6 M 21 designs of 1 1 M 7 differences between simulators and M 12 downloading software for D 1 M 44 navigat
126. mSoftware com Initial lt start b_arg gt arguments for climb_to b_arg c_use_bpump enum 2 b_arg c_bpump_value X 1000 0 b arg c use pitch enum 3 1 battpos 2 setonce 3 servo H in rad rad gt 0 climb b arg c pitch value X 0 3491 3t 20 deg end b arg b arg start when enum 12 BAW NOCOMM SECS 12 when have not had comms for WHEN SECS secs b arg when secs sec 1200 20 min How long between surfacing only if start whenz 6 9 or 12 TELEDYNE WEBB RESEARCH M 39 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual M G2 Glider Science Simulator User s Guide behavior namessurface surfac10 ma climb to surface with ballast pump full out pitch servo ed to 20 degrees Hand Written 3t 08 Apr 02 tcODinkumSoftware com Initial startb arg arguments for climb to b arg when wpt dist m 10 how close to waypoint before surface only if start when 7 In this example this b arg is not active b arg end action enum 1 0 quit 1 wait for C quit resume 2 resume 3 drift til end wpt dist b arg report all bool 1 T report all sensors once F gt just gps b arg gps wait time sec 120 how long to wait for gps b arg keystroke wait time sec 300 how long to wait for control C b arg end wpt dist m 0 end action 3 gt stop when im dist to wpt gt this arg The following behavior surface instructs the glider to come up when the mission is done This is determined by a lack of wa
127. me recovery assembly Forward Hull Section This section houses the ballast pump assembly pitch vernier forward batteries and ballast weights The pitch vernier is used to move the batteries forward or backward to adjust the glider s pitch Internal wiring connectors that attach to the payload bay are located at the aft end of the ballast pump assembly TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Architecture and Components Slocum G2 Glider Operators Manual Payload Bay Mid Hull Section The payload bay mid hull section is capable of accommodating a flexible science payload where a variety of instruments can be easily removed and replaced This section is 12 inches long comprising two rings and a hull section with a nominal capacity of 3 to 4 kg The front ring is typically ported for the conductivity temperature and depth CTD sensor assembly but it can be fitted with a penetrating connector to accommodate a variety of science sensors such as the Rockland MicroRider The standard G2 glider has a payload bay computer persistor that is connected to the glider s main computer This persistor controls the sensor packages and collects and stores data via proglets dat an ASCII file that resides in the config directory Each glider and glider type has a unique proglets dat file that depends on the current configuration of scientific instruments The original source document can be found here ftp ftp glider webbresearch com gli
128. n files are based on a layered single thread approach where tasks are coded into behaviors behavior _ which are composed of behavior arguments b arg During a mission the glider is continually updating a large number 1400 of variables These variables are referred to as sensors sensor In the simplest terms sensors are defined as any variable whose value is changing or set over the duration of a mission Some examples of sensor values are gps fixes piston displacement pump position and CTD values WARNING The Seabird Electronics SBE pumped CTD should not be run dry for more 30 seconds at a time The Slocum Glider data page is located at http www seabird com products profilers htm Scroll down to the bottom of this page to access the link to the data page All sensor definitions behavior arguments and behaviors are defined in a file called masterdata which 1s located at ftp ftp glider webbresearch com glider windoze production src code masterdata TELEDYNE WEBB RESEARCH M 35 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual M G2 Glider Science Simulator User s Guide M 36 Only experienced users should manipulate sensors found in masterdata These sensors can be manipulated by the commands put longterm put or in the headers of missions or by the interaction of the glider with its missions and environs Masterdata itself is only edited by compiling a new release of code All lines beginning with a
129. n gliders with software version 5 0 or greater zr run zs run Required for Zmodem send and receive transfers Config Folder The files in the config folder are described in the table below Table 6 13 Files in the Config Folder File Name Description appcmd dat Simulates functions in the science bay This file must be deleted before an actual flight zmext dat Automatically places transferred files in the correct directory from any other directory proglets dat This contains configuration of the science computer sensors and defines which sensors are installed in the payload bay gt NOTE The appcmd dat file must be deleted before an actual flight TELEDYNE WEBB RESEARCH 6 13 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual 6 Software Architecture Autoexec bat This file contains the path to the executable and the PicoDOS prompt path Win p prompt sci p g 6 14 TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 System Requirements Slocum G2 Glider Operators Manual 7 Science Data Logging In previous code releases all science sensor data had to be passed over the serial data connection also known as the clothesline in real time to the main flight processor where it was logged with glider sensor data However the clothesline imposes a limit on the number of science sensors per second that can be transferred between teh glider and science processors Science data logging SD
130. n Required for the Zmodem to send and receive transfers NOTE Aloss of carrier detection on the glider side will automatically switch back to the glider controller Logs Folder Mission derived data is stored in the LOGS folder The data types are shown by file extension and described in the table below Table 13 7 Files Types in the Logs Folder File Extension Description Dinkum Binary Data All sensors turned on for recording are stored in this type file Short Binary Data Records only those sensors specified in sbdlist dat to reduce communication time Medium binary data Records only those sensors specified in mbdlist dat Mission Log Tracks the calls for behaviors and device drives Stores the process of opening and closing files and operations Missions Folder Missions are stored in this folder as mi files These are text files that when run by the glider determines the behavioral parameters Mafiles Folder Mission acquisition files are stored in this folder as ma files These are text files that are called by missions to set behavior arguments M 20 TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Software Control Hierarchy Slocum G2 Glider Operators Manual Sentlogs Folder This folder stores dbd sbd and mlg files from log folders that were sent successfully Autoexec bat Typically the autoexec bat contains path bin prompt GPico P G alloff PicoDOS
131. n masterdata Only experienced users should manipulate sensors found in masterdata These sensors can be manipulated by the commands put longterm_put in the headers of missions or by the interaction of the glider with its missions and environs Masterdata itself is only edited by compiling a new release of code All lines beginning with are comments Any line not beginning with will be acted upon during glider operation TELEDYNE WEBB RESEARCH B 1 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual B Code Theory and Operation B 2 When a mission is run GliderDOS checks the sensor values against those in masterdata If a sensor value is set in the autoexec mi file the default value in the masterdata file is overwritten at glider startup Sensor values that are set in the mission file supersede the sensor values specified in masterdata and autoexec mi and any sensor value can be specified in an ma file which supersedes all previous value entries Users can also put sensors to any value from a GliderDOS prompt by typing the put command Otherwise the materdata value is used to determine the resulting physical outcome of the glider for that specific mission Care should be taken when changing any of the masterdata values as they can will adversely affect glider performance Control Levels The glider controller software contains five layers or levels of control These levels can be visualized in the following hierarchal str
132. ncy pack 1 located in aft N A 6 12 Ahr pack Lithium Pitch pack 12 11 79 V 324 Ahr with a constant load of 6A Aft pack 14 11 79 V 378 AHR with a constant load of 7 A Emergency pack 1 11 79 V 6 3 AHR For power management typically all of the packs except one of the aft battery packs are tied into the main battery In the event of a power loss the emergency pack runs the main controller boards and performs the following functions e Abort timer Burn wire e Argos e Pinger if available How to Configure Factory configured When installing new batteries the following commands should be entered at a GliderDOS prompt These will reset the coulomb counter to 0 Put m coulomb amphr total 0 Exit reset From the GliderDOS prompt type get m coulomb amphr total and confirm that the value is close to zero and increasing when powered by battery This value should not increase when powered by a power supply TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Architecture and Components Slocum G2 Glider Operators Manual How to Test When predicting mission longevity see the electric mission spreadsheet ftp ftp glider webbresearch com glider windoze production src doco how to calibrate Battery voltage and coulomb measurements should be monitored during lab testing as well as during deployments The shallow glider with alkaline batteries will have 153 Ahr total The glider with lithium primary batteries will have 702
133. nded User defined before run time Set in factory Do not change unless you know what you are doing Never set this Typically computed at run time Simulated state variables Science variable Sensor Commands Sensors can be changed on the GliderDOS command line The sensor commands are described in the table below Table 13 10 Glider Sensor Commands Command Name Description T St Prints all of the sensor names and values get sensor name Returns the present value of the sensor requested put sensor name value Changes the value of the sensor report Prints help report sensor name Reports the sensor value every time it changes report sensor name Reports the sensor value every cycle report sensor name Removes sensor from reporting TELEDYNE WEBB RESEARCH M 23 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual M G2 Glider Science Simulator User s Guide Table 13 10 Glider Sensor Commands Command Name Description report all Reports all changed sensors report clearall Removes all sensors from reporting report list Tells what is being reported Device Commands The use command displays a list of all devices that are installed and in use During GliderDOS operation if a device is installed and receives two errors it is taken out of service Currently during missions this number is increased to 20 for most devices Errors
134. ng glider software D 1 M 44 quick references and checklists K 1 drivers uart 6 3 M 20 dump command 6 9 M 25 E ebd files 7 1 M 31 editing proglet dat files J 1 to J 2 ejection weights 4 1 emergency recovery gliders 4 1 end caps nose 1 3 end of missions confirmation messages 2 1 energy savings during emergency recovery operations 4 1 equipment testing during glider deployment 1 6 erase command 6 9 M 25 errors checking in devices and sensors 2 1 estimates battery longevity l 2 exit command 6 9 M 25 exit pico command 6 6 M 22 exit reset command 2 2 6 6 l 2 M 22 expressions surface GliderDOS 6 5 M 21 external power connector M 9 external setting M 10 F f prefix 6 7 M 23 factory prefix 6 7 M 23 f coulomb battery capacity sensor l 1 f crush depth sensor 1 26 files configuration science and glider processors 7 2 TELEDYNE WEBB RESEARCH Slocum Glider Operators Manual IX 7 P N 4343 Rev B 1 12 Slocum Glider Operators Manual deleting before flights 6 3 6 13 M 19 M 30 log science and glider processors 7 1 to 7 3 M 31 to M 32 mission 10 1 PicoDOS 6 2 to 6 5 M 19 running send commands for large numbers of 7 5 M 34 See also specific file names f leakdetect threshold sensor 1 24 flights deleting files before 6 3 6 13 M 19 M 30 gliders 1 3 retrieving data from Dockserver 8 1 to 8 2 using conductivity temperature and depth CTD sensors for 1 14 f
135. nsci timeout CAUTION If you need to run a huge send command for a large number of files temporarily raise u sci cmd max consci time to a potentially huge number for this purpose There are 3600 seconds in an hour 86 400 seconds in a day Exercise caution before doing this in the water and take care to restore the normal setting after the long send Alternatively send the files in small batches until all of the files have been transferred TELEDYNE WEBB RESEARCH 7 5 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual 7 Science Data Logging 7 6 TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual 8 Flight Data Retrieval The Dockserver can automate file retrieval and data storage and display data and glider locations for easy viewing Dockserver applications also allow data transmission via FTP Flight data can be recorded and recovered in a number of ways There are a number of nomenclatures described below for the way in which data is stored Depending on the nature of the mission the amount of data being transmitted will be customized by users to suit their particular mission needs This section is a guide to retrieving data from the glider during a mission surfacing as well as when the mission has ended Due to low transmission speed and expensive transmission rates it is not recommended to send large files such as dbd over the Iridium service You may inexpensively and relatively quickl
136. nsor Name Description m de oil vol Measured volume of buoyancy pumped in cc s c de oil vol Commanded volume of buoyancy pumped in cc s Pitch Vernier Provided that the H moment is 6 mm 1 see H Moment Calculation and Adjusting the H Moment in section 3 of the Slocum Glider Maintenance Manual the fluid movement from the ballast pump assembly provides the moment for changing pitch Water moves into the nose making the vehicle nose heavy when diving similarly making the nose buoyant when rising To trim to the desired dive and climb angles a lead screw drives the forward 10 kg battery pack fore or aft as a vernier The vehicle is designed to climb and descend at an angle of 26 degrees During surfacing the battery pack is moved all the way forward to better raise the tail out of the water for communications How to Configure Factory configured Please contact glidersupport webbresearch com for assistance How to Test From 1ab mode 1 Typewiggle on Type report m_battpos Make sure that the pitch battery successfully completes a full extension and retraction without errors 4 Typewiggle off and report clearall CS NOTE The length of a full extension and retraction depends on the type of buoyancy pump 200 meter or 1000 meter and battery alkaline or lithium as shown in the table below The value of battpos safety max is specified in the glider s autoexec mi file TELEDYNE
137. oes not require a CTD however a typical sensor package contained in the payload bay on the glider is a Sea Bird SBE pumped conductivity temperature and depth package The CTD sensor is delicate and should be protected from abuse For a 200 meter glider a 500 PSI pressure transducer is used for the depth measurement For a 1000 meter glider a 2900 PSI pressure transducer is used for depth measurement The SBE electronics and sensors are calibrated as a single unit The CTD is not used for flight because the glider has an independent pressure sensor for dynamic flight control It can be used in an emergency by changing the sensor u use ctd depth for flying WARNING The Seabird Electronics SBE pumped CTD should not be run dry for more 30 seconds at a time The Slocum Glider data page is located at http www seabird com products profilers htm Scroll down to the bottom of this page to access the link to the data page How to Configure Manufacturer and factory configured How to Test The steps to turn on the science sensors listed above can be used to evaluate the CTD data When dry and in the lab the measured conductivity will be 0 and can sometimes go negative Pressure will fluctuate near O dbar Temperature should closely match ambient temperature NOTE The CTD manufacturer provides plugs to keep contamination out and moisture in the cell These plugs should be used during storage but they must be removed before depl
138. ol sensor 1 9 TELEDYNE WEBB RESEARCH Slocum Glider Operators Manual IX 3 P N 4343 Rev B 1 12 Slocum Glider Operators Manual cellphone transmission towers F 3 chassis location of 1 5 checking for device and sensor errors 2 1 checklists downloading K 1 chkdsk command 6 8 M 25 circuits cop tickle 1 19 C IRIDIUM TIME TIL CALLBACK maximum legal value for 4 1 clotheslines See science data logging SDL clrdeverrs command 6 8 M 25 clr drift table command 6 8 CLS America contact information G 1 code abort C 1 to C 2 design of B 1 to B 4 M 35 to M 38 mission sample and comments B 4 to B 9 command line processing 7 3 M 32 commanded prefix 6 7 M 23 commands device 6 8 to 6 11 M 24 to M 27 GliderDOS 7 2 M 31 to M 32 SciDOS 7 2 to 7 3 M 31 to M 32 sensor 6 7 M 23 to M 24 using during deployment 1 6 2 1 See also specific command names comments sample mission B 4 to B 9 M 39 to M 43 communications cables used in F 1 testing 6 12 M 29 verbose mode 2 1 with gliders 5 1 to 5 2 with the science Persistor 6 11 to 6 12 J 1 to J 2 M 27 to M 28 communications board assemblies modems on 1 5 composite wings angle and replacement of 1 3 computers science bay 1 13 to 1 14 science See Persistor switchboards 1 23 conductivity temperature and depth CTD sensors 1 14 to 1 15 cones aft tail 1 5 config folder 6 2 to 6 3 6 13 M 19 M 29 config sci 6 2 M 19 configura
139. or Science Processor dbd ebd mbd nbd sbd tbd mlg nlg There are also some new configuration files on science that are parallel to the glider s configuration files see table below Each of these pairs is also formatted the same Table 13 17 Configuration File Comparison on the Glider and Science Processors Configuration File on the Glider Configuration File Equivalent on the Processor Science Processor config mbdlist dat config nbdlist dat config sbdlist dat config tbdlist dat config highdens dat config highdens dat Just as m_present_time should be present in mbdlist dat and sbdlist dat on the glider sci_m_present_time should be present in nbdlist dat and tbdlist dat on science The logfiles on science are stored in the same directories as the glider logs and sentlogs with the header cache files in state cache To support SDL some new SciDOS commands parallel GliderDOS commands on the glider dellog df get any variable known to science as seen by science heap heap list all variables known to science with their values prunedisk TELEDYNE WEBB RESEARCH M 31 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual M G2 Glider Science Simulator User s Guide M 32 put Think about whether it propagates to glider side or not send Transparency Whenever logging is turned on in the glider a clothesline message is sent to turn it on in science using the same
140. ors Manual IX 9 P N 4343 Rev B 1 12 Slocum Glider Operators Manual Infosat Communications contact information G 1 input bad simulating M 14 to M 15 installing wings 1 3 interference with FreeWave transceivers causes of F 3 invoicing Iridium SIM card services G 2 Iridium modem connection M 9 Iridium modems connecting simulators with M 12 locations of 1 5 simulating M 14 Iridium phones 2 1 5 1 to 5 2 Iridium satellite telemetry 1 21 to 1 22 Iridium SIM cards purchasing G 1 to G 2 J jettison weights 1 5 1 19 1 25 to 1 26 JouBeh Technologies contact information G 1 just electronics simulation level M 13 M 16 to M 17 K keys frequency setting F 1 F 3 L lab environments entering PicoDOS in 5 1 labels sensors 6 1 lab mode command 6 9 M 25 avoiding during deployment 1 6 2 1 testing motors 2 1 lassos 3 1 latching brakes 1 7 leak detect sensor boards 1 24 life of batteries during missions l 1 to l 2 life of service pumps 1 6 list command 6 5 6 7 6 9 7 2 M 21 M 23 M 25 M 31 lithium battery voltage monitoring 1 loadmission command 1 13 6 9 M 17 M 25 loadmission waterclr mi command 2 2 loadsim mi M 17 log files 6 4 8 1 M 20 logfiles science and glider processors 7 1 to 7 3 M 31 to M 32 logflie names 7 3 M 32 logging command 6 9 M 25 logging on command 7 3 logging science data SDL 7 1 to 7 5 M 30 to M 34 logs folder 6 4 M 20 longevity of batt
141. ote of any scratches to the glider s anodizing as expolsed aluminum parts can be corroded Scratches should be touched up with paint but nail polish is effective in an emergency The glider should be rinsed with fresh water every time it is exposed to salt water Several sizes of anodes are available Contact glidersupport webbresearch com for assistance in determining the appropriate size for your deployment How to Test 1 Probe between the forward anode and top pump flange screw using a digital voltmeter on ohms setting Verify that the resistance is less than 10 ohms Probe between the aft anode and ejection weight tube using a digital voltmeter on ohms setting 4 Verify that the resistance is less than 10 ohms TELEDYNE WEBB RESEARCH 1 27 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual 1 Introduction 1 28 Batteries Coulomb Counter Alkaline battery packs which are nominally at 15 volts consist of 10 diode protected Duracell C cells in series As indicated below the number of packs can be adjusted depending on reserve buoyancy after payload considerations Given 26 packs 260 C cells the total battery weight is 18 2 kg with 7 800 kjoules of available energy Batterv Tvpe Number of Open Circuit Total Amp Hours with a y typ Battery Packs Voltage OCV factor of safety of 1096 Alkaline Pitch pack 12 N A 73 44 Ahr Aft pack 11 N A 67 32 Ahr Emerge
142. ow to Evaluate Data If the leak detect sensors are less than 2 3 there is likely water in the vehicle as the result of a leak Recovery is recommended Relevant Sensors Sensor Name Description f leakdetect threshold volts Any value of m 1eakdetect voltage below this threshold is considered a leak m leakdetect voltage volts Voltage that was reported by the aft leak detect sensor The lower the voltage the worse the leak m leakdetect voltage forward volts Voltage that was reported by the forward leak detect sensor The lower the voltage the worse the leak Air Bladder The glider s 1400 cc bladder which is inflated by the air pump system provides buoyancy and stability and lifts the antenna support out of the water while the glider is surfaced Although the bladder is ruggedly constructed care should be taken to have the aft tail cowling in place when the bladder is filling to prevent it from over inflating With the cowling in place the bladder is 1 24 TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Architecture and Components Slocum G2 Glider Operators Manual supported as it inflates until the pressure switch shuts off the air pump Likewise it is important to deflate the air bladder when removing the aft tail cowling as it will be hard up against the cowling How to Test See the air pump system test The bladder should be inspected for damage before and after each deployment How to Evalu
143. oyment TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Architecture and Components Slocum G2 Glider Operators Manual How to Evaluate Data See manufacturer s documentation Relevant Sensors Sensor Name Description sci water cond units S m Sci water temp units degrees C Sci water pressure units bar Argos Satellite Platform Transmitter Terminal PTT The Seimac X Cat PTT is used in recovery situations to transmit last known GPS positions when available The Argos service also provides periodic surface locations accurate to approximately 100 meters See Argos Data Format on page H 2 How to Configure Factory configured How to Test A full system test can be performed by putting the glider outside with a clear view of the entire sky for three hours in 1ab mode The Argos account for the vehicle can then be checked for data Locally a detection device or receiver can be used to confirm transmissions How to Evaluate Data A utility to decode Argos data can be found at ftp ftp glider webbresearch com glider windoze production windoze bin TELEDYNE WEBB RESEARCH 1 15 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual 1 Introduction Relevant Sensors 0 P is always turned off even at surface 0 PTT powered off but can be auto turned on at surface gt 0 P is powered on and transmitting 1 no diagnostic output 2 output xmitted chars to MLOG TERM 3 output xmitted recvd c
144. par WHOI PAR Photosynthetically Active Radiation whgpbm WHOI Glider Bathy Photometer hs2 bam HobiLab HydroScat2 Spectral Backscattering Sensor Benthos Acoustic Modem NOTE The science Persistor must always be set to boot app so that the science application runs the proglets Bin Folder Pico executable programs are stored in the bin folder All of these programs run in PicoDOS These files are described in the table below 6 12 P N 4343 Rev B 1 12 File Name Table 6 12 Files in the Bin Folder Description amconnct run Port to acoustic modem that allows communication for testing blast run Blasts characters to all ports for testing ctd_ctrl run Runs the CTD program for sampling In autoexec bat typed with a number lt 3 for fastest sampling or gt 3 for sampling at that rate in seconds No longer runs on gliders with software version 5 0 or greater memd run Runs the acoustic modem TELEDYNE WEBB RESEARCH Science Computer Slocum G2 Glider Operators Manual Table 6 12 Files in the Bin Folder File Name Description mdatacol run Sets the acoustic modem to listen mode until the buffer is full then tells the glider to surface u4talk run Testing of uart drivers for programming ctd_hs2 run Runs either CTD HydroScat 2 or both simultaneously Type help ctd_hs2 in the science computer for information on usage and options No longer runs o
145. r the following circuits will be energized from the emergency circuit forcing the glider to surface e Air pump e Argos PTT Burn wire for the jettison weight How to Configure Factory configured Pitch and buoyancy motors can be activated via controls located on the top of the board How to Test See the glider s wiring diagram To receive the latest version of the Slocum G2 Glider s wiring diagram contact glidersupport webbresearch com The cop tickle circuit can be changed from 16 hrs to 20 minutes by moving a jumper The cop tickle circuit can be changed from 16 hours to 2 hours by moving a jumper to JP55 For further information regarding vehicle aborts and the function of the cop tickle see the following support documentation ftp ftp glider webbresearch com glider windoze production src doco how it works abort sequuences txt Attitude Sensor A precision navigation compass and attitude sensor monitors the bearing pitch and roll of the glider These inputs are used for dead reckoning the vehicle while under water Recalibrating the compass may be necessary at times depending on the magnetic anomalies of the usage area See the Slocum Glider Maintenance Manual for compass calibration instructions How to Configure A calibration utility and its instructions can be found here ftp ftp glider webbresearch com clients compass calibrator files for windows TELEDYNE WEBB RESEARCH 1 19 P N 4343 Rev B 1
146. r from reporting report all Reports all changed sensors report clearall Removes all sensors from reporting report list Tells what is being reported TELEDYNE WEBB RESEARCH 6 7 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual 6 Software Architecture Device Commands The use command displays a list of all devices that are installed and in use Installed devices are dictated by the glider s autoexec mi file During GliderDOS operation an installed device is taken out of service if it receives two errors During missions this number is increased to 20 for most devices Errors are primarily generated when the driven device is not moving For this reason the device is eventually taken out of service as a protective measure Table 6 9 Use Command Options Command Option Description Prints help Lists all devices that are installed and in use 6 8 P N 4343 Rev B 1 12 t device name Puts device s in service device name Takes device s out of service use all Puts all installed devices in service use none Takes all devices out of service From a GliderDOS prompt the help command lists all commands available to the user These commands are also listed in the table below Table 6 10 Device Commands In this table all commands listed in all caps are executable during a mission when preceded by an exclamation point The commands in lower case cannot be used during mission
147. r nodim programmed consci batch command If a large number of files is to be transferred in a single send command consideration needs to be given to u_sci_cmd_max_consci_time which puts an absolute limit on how long a single consci session can be active default has been changed from 1200 to 3600 seconds to allow sending a single 180K thd file via Iridium What science does is limit a send command to u_sci_cmd_max_consci_time times u_science_send_time_limit_adjustment_ factor seconds This clips any t option which may have been specified in the send command and forms a time limit which may cut short any num option which may have been specified in the send command u science send time limit adjustment factor is set conservatively to allow for extra time spent enumerating files before the send shuffling files after the send and possible less than optimal comms conditions during the send This makes it nearly but not absolutely certain that the send on science will not be aborted in the middle of a file by the consci timeout N A Not applicable CAUTION If you need to run a huge send command for a large number of files temporarily raise u_sci_cmd_max_consci_time to a potentially huge number for this purpose There are 3600 seconds in an hour 86 400 seconds in a day Exercise caution before doing this in the water and take care to restore the normal setting after the long send Alternatively s
148. r which control is returned to GliderDOS While in the abort condition all communication and location devices are also turned on GPS Argos etc and all system log files are enabled to trace the cause of the abort Once the abort terminates control is returned to GliderDOS You will see a prompt similar to GliderDos A gt GliderDos A gt The A stands for abort GliderDos N gt N indicates that the mission ended normally GliderDos I gt I stands for initial i e no mission has been run refers to a specific abort code The abort codes are listed in Appendix C For more information about the control levels see Control Levels on page B 2 Out of Band Abort During the second type of abort referred to as an out of band abort the glider assumes that the software is no longer reliable For this reason the upper two layers of software control are no longer utilized Instead only the device drivers schedulers are utilized As with the synchronous abort the device drivers will be used to achieve positive buoyancy the last known GPS fix is output and communication devices are turned on The abort can only be terminated by user keystroke even though the glider is on the surface The following dialog is presented Want to reset the system Y or N Want to exit to the operating system Make sure you know what you are doing before answering Y Want to exit to the operating system Y or N In general you want to
149. rds 1 24 pitch vernier 1 10 pressure transducers 1 23 recovery systems 1 30 science 1 5 science bay 1 13 to 1 14 simulators 7 4 to 7 5 M 33 to M 34 vehicle controllers 1 18 See also specific sensor names sent command 7 4 sentlogs folder 6 4 M 21 sequence command 6 10 M 26 serial cables connecting simulators with M 11 serial data connections See science data logging SDL serial numbers of FreeWave transceivers adding to gliders F 2 F 3 service life deep and shallow pumps 1 6 service life pumps 1 6 set command 6 10 M 26 set in factory prefix 6 7 M 23 setdevlimit command 6 10 M 26 setnumwarn command 6 10 M 26 setup mode activating on FreeWave tranceivers F 1 F 2 shallow pumps service life of 1 6 shapes tail caps 1 3 shoebox simulators See simulators short binary data files sbd 8 1 short binary data files See sbd files 6 4 M 20 SIM cards Iridium purchasing G 1 to G 2 simul command 6 10 M 26 simul sim 6 3 M 13 M 14 to M 15 M 19 simulated state variables prefix 6 7 M 23 simulations process of M 13 to M 17 simulators connections for M 8 to M 12 differences between gliders and M 12 front panel settings M 10 sensors added to 7 4 to 7 5 M 33 to M 34 software control hierarchy M 18 to M 30 TELEDYNE WEBB RESEARCH Slocum Glider Operators Manual IX 17 P N 4343 Rev B 1 12 Slocum Glider Operators Manual slaves communication between FreeWave transmitters and F 1 to F
150. re comments Any line not beginning with will be acted on during glider operation If a sensor value is set in the autoexec mi file mi the default value in the masterdata file is overwritten this is done at glider startup When a mission is run GliderDOS checks the sensor values against those in the masterdata file or presently set by the Autoexec mi file When a mission is run if a sensor value is set in the mission file mi the default value is over written otherwise the masterdata value is used to determine the resulting physical outcome of the glider for that specific mission Any sensor value can also be overwritten in an ma file which supersedes all previous value entries Users can also put sensors to any value from a GliderDOS prompt Care should be taken when changing any of the masterdata values as they can will adversely affect glider performance Control Levels The glider controller software contains five layers or levels of control These layers of control can be visualized in the following hierarchal structure e Layered control Determines which behavior is controlling the glider s movement Dynamic control Once the layered control determines the behavior dynamic control moves the motors inflates and deflates the bladders etc to initiate the movement of behavior commanded under the layered control In order to achieve this dynamic control uses a specific set of device drivers to perform the movements e De
151. reset the system When the system is reset you will be returned to the GliderDOS prompt Hardware Generated Abort The third type of abort is a hardware generated abort The glider hardware is capable of autonomously generating an abort sequence and getting the glider to the surface by triggering the burn wire and dropping the weight There is a watchdog circuit in the hardware with a time constant of either two hours or 16 hours set by a jumper in the glider control board and referred to as COP TICKLE COP Computer Operating Properly Sample Mission and Comments B 4 The following is from an actual glider mission called gy10v001 mi Black text denotes mission behaviors and behavior arguments b args and is what appears in the mission text and or masterdata Blue text denotes comments regarding what each b arg actually does Red text denotes ma files which are discussed as they are presented TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Sample Mission and Comments Slocum G2 Glider Operators Manual The following behavior describes the conditions under which the glider must abort Any text preceded by is a comment and will not be recognized by the glider code behavior abend b arg overdepth m b arg overdepth sample time s b arg overtime s b arg samedepth for s b arg samedepth for sample time s b arg no cop tickle for s 1000 0 10 0 1 0 120 0 30 0 7000 0 lt 0 disables clipped to F
152. rs in TELEDYNE WEBB RESEARCH B 9 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual B Code Theory and Operation B 10 TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual C Abort Codes MS NONE 3 MS COMPLETED ABNORMALLY 2 MS COMPLETED NORMALLY MS IN PROGRESS 0 z BORT NO HEAP 21 z BORT LOG DATA ERROR 22 z BORT THERMAL NOT ENABLED 23 z BORT LEAK 24 z BORT VACUUM 25 z MS ABORT STACK IS IDLE MS ABORT HEADING IS IDLE 2 MS ABORT PITCH IS IDLE 3 MS ABORT BPUMP IS IDLE 4 MS ABORT THRENG IS IDLE 5 MS ABORT BEH ERROR 6 MS_ABORT_OVERDEPTH MS_ABORT_OVERTIME 8 MS_ABORT_UNDERVOLTS 9 MS_ABORT_SAMEDEPTH_FOR 10 MS_ABORT_USER_INTERRUPT 11 MS_ABORT_NOINPUT 12 MS ABORT INFLECTION 13 MS_ABORT_NO_TICKLE 14 MS_ABORT_ENG_PRESSURE 15 MS_ABORT_DEVICE_ERROR 16 MS_ABORT_DEV_NOT_INSTALLED 17 MS_ABORT_WPT_TOOFAR 18 MS_ABORT_UNREASONABLE_SETTINGS 19 MS ABORT LMC NOT FIXED 20 S A S A S A S A S A S A BORT NO HEADING MEASUREMENT 26 TELEDYNE WEBB RESEARCH C 1 P N 4343 Rev B 1 12 Slocum G2 Gl
153. s b arg start when and b arg stop when and determines when a particular behavior becomes active Only one behavior can be active at a time General Control Structure For a typical glider deployment mission files are created by layering behaviors in a predetermined sequence to obtain the desired glider path and vertical movement The glider mission is being executed through the layered control as displayed above All motor settings are controlled through the behaviors There are three types of aborts which the glider can trigger to get to the surface e Synchronous abort e Out of band abort e Hardware generated abort Each type of abort utilizes different control layers to perform the abort Synchronous Abort A synchronous abort occurs when the glider mission does not specify completely what action to take for the current vehicle state When all of the behaviors listed in the mission file have been called and the glider actuators ballast pump pitch and heading have not been given a commanded value dynamic control takes over and brings the glider to the surface At this point the actuators are set to ballast pump full positive buoyancy pitch nose up and fin straight forward This condition continues until the glider detects that it is on the surface or the user TELEDYNE WEBB RESEARCH B 3 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual B Code Theory and Operation interrupts with a keystroke CTRL C afte
154. s of the type specified in step 1 will transmit Remember it is not desirable to send dbd files over Iridium TELEDYNE WEBB RESEARCH 8 1 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual 8 Flight Data Retrieval To retrieve glider data while the glider is not running a mission from a GliderDOS prompt type send dbd send sbd send mbd send mlg orsend To retrieve science data while the glider is not running a mission from a GliderDOS prompt type send ebd send tbd send nbd send nlg orsend gt NOTE Send sends all of the files of type sbd mbd dbd mig tbd nbd ebd and nlg To send specific files in PicoDOS or GliderDOS use zmoden to send the files desired by typing zs lt path gt lt filename gt Vehicle Status Glider on Surface Counting Down to Resume Mission Table 8 2 Immediate Commands Available During Surface Mission Paused Dialog Command Name Description ctrl r Resumes glider mission if so programmed trl Aborts the mission closes files and remains on the surface in GliderDOS ctrl e Extends surface time by five minutes before resuming the mission ctrl p Starts the mission immediately Reads the ma files again Switches to communications with the science bay Persistor Followed by an allowable GliderDOS command to run a subset of GliderDOS commands This command is also referred to a bang Commands listed as lower case in the
155. set or the power is cycled Use this after loading an application glider app Masterdata The Masterdata file contains all of the sensor definitions and their default values as used by the application Because Masterdata is essentially just a list of the sensors it cannot be edited A copy of the Masterdata file is available at ftp ftp glider webbresearch com glider windoze production 6 6 TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Masterdata Slocum G2 Glider Operators Manual Prefixes The prefixes in masterdata are described in the table below Table 6 7 Masterdata Prefixes Prefix Name Description Measured Commanded User defined before run time Set in factory Do not change unless you know what you are doing Never set this typically computed at run time Simulated state variables Science variable Sensor Commands Sensors can be changed on the GliderDOS command line The sensor commands are described in the table below Table 6 8 Glider Sensor Commands Command Name Description list Prints all of the sensor names and values get sensor name Returns the present value of the sensor requested put sensor name value Changes the value of the sensor report Prints help report sensor name Reports the sensor value every time it changes report sensor name Reports the sensor value every cycle report sensor name Removes senso
156. side diameter of 21 3 cm The 1000 meter glider s main hull sections have an outside diameter of 22 cm and are manufactured from composite material or 6061 T6 aluminum The nose end cap is a machined pressure resistant elliptical shape and the tail cap is a truncated cone Composite wings are swept backward at 45 degrees and are easily replaced using a quick release system WARNING Take care while removing and installing wings as they are not buoyant and will sink if dropped TELEDYNE WEBB RESEARCH 1 3 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual 1 Introduction Digital tail fin digifin 1 4 Jettison weight Not depicted Carbon fiber hulls Leak detect sensor boards Burn wire Desiccant Recovery system Pick point Pitch vernier Not pictured Communications board under the main tray assembly which consists of GPS Iridium phone Argos satellite transmitter and radio frequency RF modem Air pump system Catalyst Altimeter Hardware interface Ballast pump board assembly Attitude sensor Batteries Figure 1 2 Components of the Slocum G2 Glider Nose Dome The nose dome is an acoustically transparent plastic cap located at the front of the glider that protects the altimeter and ballast pump assemblies The hole in the center of the nose dome allows the ballast pump to draw water in or push water out to change the vehicle s buoyancy Some gliders are also outfitted with an optional nose do
157. sults format DS Number of platforms Number of IDs Lifetime of platform Number of years glider will be in use Service required Location Platform Type Other Glider Message Length 256 bits 20 bit IDS Output power 1 watt Platform manufacturer Teledyne Webb Research Platforms model Slocum Autonomous Glider Transmitter manufacturer Seimac Transmitters model X Cat Transmission Duty cycle Other Period Surfacing Day It is helpful if you ask that we receive a copy of the IDs Type of Argos application Oceanography User Requirements Global coverage low transmitter power platform compatibility location transmitter small size and weight system access TELEDYNE WEBB RESEARCH H 1 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual H Argos Satellite Service and ID Argos H 2 It is vital to ensure that the IDs are not in use Please verify this Argos ID format change Since 1999 CLS Argos has been preparing to change the format of the platform IDs 2003 Service Argos began offering two types of ID The ID format will change from 20 bits to 28 bits As a result each 28 bit message will contain 31 data bytes instead of 32 This will change the format of the Argos data For gliders with 20 bit IDs and X cat transmitters refer to the legacy Argos data format for decoding For gliders with 20 or 28 bit IDs and smart cat transmitters use rev format for decoding You may need to revise their data processing software
158. t all sensors once F gt just gps how long to wait for gps B 5 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual B Code Theory and Operation B 6 behavior namessurface surfac10 ma climb to surface with ballast pump full out pitch servo ed to 20 degrees Hand Written 3t 08 Apr 02 tcODinkumSoftware com Initial startb arg arguments for climb to b arg keystroke wait time sec 300 how long to wait for control C b arg end wpt dist m 0 end action 3 gt stop when itm dist to wpt gt this arg The following behavior surface instructs the glider to come up when the mission is done This is determined by a lack of waypoints to direct the glider to in the x y plane behavior surface b arg args from file enum 10 read from mafiles surfac10 ma b arg start when enum 3 0 immediately 1 stack idle 2 pitch idle 3 heading idle 6 when_secs 7 when_wpt_dist b_arg end_action enum 0 0 quit 1 wait for C quit resume 2 resume b_arg gps_wait_time s 300 how long to wait for gps b arg keystroke wait time s 180 how long to wait for control C The following behavior surface instructs the glider to come up briefly if yo finishes This happens if a bad altimeter hit causes a dive and climb to complete in the same cycle The glider surfaces and the yo restarts behavior surface b arg args from file enum 10 read from mafiles surfac10 ma b arg start when enum 2 0 immedi
159. t of your computer through a serial cable see the drawing below 12 VOLTS DC DB9 FEMALE FREEWAVE MODEM Open a HyperTerminal session Use the following settings to connect with HyperTerminal e Connect to COMx depending on which COM port your cable is connected to e Set data rate to 19 200 data bits 8 parity none stop bits 1 flow control none Press and release the Setup button A O volt level on this pin will switch the radio into setup mode e The three lights on the board should all turn green indicating Setup mode e The main menu will appear on the screen Press 0 to access the Operation Mode menu e Press to set the radio as a point to point slave e Press Esc to return to the Main menu Press 1 in the Main menu to change the baud rate TELEDYNE WEBB RESEARCH Choosing a Location for the Transceivers Slocum G2 Glider Operators Manual The baud rate in setup mode is always 19 200 e The baud rate must be changed to match the baud rate of the device to which the radio is attached e Press 1 to set the radio communication baud rate to 115 200 e Press Esc to return to the Main menu 6 Atthe Main menu press 3 e Set the frequency key e Press 0 to set or change the frequency key e Press 5 to set or change the frequency key to 5 Press Esc to return to the Main menu 7 Atthe Main menu press 2 e Press 0 0 through 9 may be used to add the serial number of the shoreside FreeWave e Press
160. tain criteria are met before proceeding further in a step or sequence or general information applicable to the setup and operation of the Teledyne Webb Research Slocum G2 Glider CAUTION A reminder to follow certain precautions in order to prevent damage to equipment or injury to personnel WARNING A reminder that dangerous or damaging consequences could result if certain recommended procedures are not followed viii TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual Format Notes Glider sensors and commands will be denoted in the Courier font throughout this document as shown in the example below Typing Report m roll will report measured roll m r011 every four seconds When displayed on a PC some areas will be hyperlinked to information available on the Internet such as http www webbresearch com and protected documents by permission http www glider webbresearch com Many of the links and the code mentioned in this manual require access by prior arrangement Please contact glidersupport webbresearch com to inquire about access to these protected documents TELEDYNE WEBB RESEARCH ix P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual Customer Service We welcome your comments and suggestions for improving our products documentation and service of the glider system Please contact Glider Support should you have any comments or suggestions about this manual
161. tainless steel transducer is ported through the aft cap and is isolated from the aluminum aft cap by a PEEK fitting How to Configure Factory calibrated Surface pressure valves can fluctuate but the zero ocean pressure command can be used to reset the zero pressure voltage It is recommended that the through port be examined and cleaned of contamination or blockage between deployments How to Test In the field CTD pressure can be compared against flight pressure transducer values m depth can be reported in the lab and will fluctuate How to Evaluate Data Plotm depth against sci water pressure Relevant Sensors m depth TELEDYNE WEBB RESEARCH 1 23 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual 1 Introduction m depth state e 99 ignore e 3 hover 2climbing e 1 diving e Q surface e _ none Leak Detect Sensor Boards Each glider is equipped with two leak detect sensor boards The aft leak detect sensor is located on the bottom of the aft cap The forward leak detect sensor is attached to the bottom of the front cap These sensors normally report 2 5 volts If exposed to moisture the circuit is shorted and any value below the masterdata default entry of 2 volts will cause an abort for leak detect How to Test Type report m leakdetect voltage m leakdetect voltage forward Both values should be greater than 2 3 The glider will abort missions for leak detect with any value less than 2 H
162. the glider system or if you require service or support Please contact us at 82 Technology Park Drive East Falmouth MA 02536 Telephone 1 508 548 2077 Fax 1 508 540 1686 E mail glidersupport webbresearch com www webbresearch com x TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual 1 Introduction Conceived by Douglas C Webb and supported by Henry Stommel and others the class of Slocum gliders is named after Joshua Slocum the first man to single handedly sail around the world These gliders are innovative autonomous underwater vehicles with two primary designs a 200 meter coastal glider and a 1000 meter glider A third design in development is the long range thermal glider Each of the two existing gliders is specifically designed to maximize littoral or deep ocean capabilities with ranges from 4 to 200 meters for the 200 meter glider and 40 to 1000 meters for the 1000 meter glider These platforms are a uniquely mobile network component capable of moving to specific locations and depths and occupying controlled spatial and temporal grids The gliders are driven in a sawtooth vertical profile by variable buoyancy and can move horizontally and vertically Long range and satellite remote sensing systems are being realized in the ocean measurement field These systems are being used to quantify currents sea surface height temperature and optical properties of the water enabling modeling an
163. the layered control as displayed above All motor settings are controlled through the behaviors There are three types of aborts which the glider can trigger to get to the surface e Synchronous abort e Out of band abort e Hardware generated abort Each type of abort utilizes different control layers to perform the abort TELEDYNE WEBB RESEARCH M 37 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual M G2 Glider Science Simulator User s Guide Synchronous Abort A synchronous abort is an abort in which the behaviors selected in the mission files are no longer called Instead dynamic control is used to bring the glider to the surface For more information about the control levels see Control Levels on page M 36 The dynamic control uses the device drivers to move motors so that positive buoyancy is achieved All communication and location devices are also turned on GPS ARGOS etc Also all system log files are available to trace the cause of the abort The abort terminates when the glider detects that it is on the surface or if the user interrupts with a keystroke CTRL C Once the abort terminates control is returned to GliderDOS You will see a prompt similar to GliderDos A gt GliderDos A gt The A stands for abort GliderDos N gt N indicates that the mission ended normally GliderDos I gt I stands for initial i e no mission has been run refers to a specific abort code The abort codes ar
164. the science bay motherboard Connect this port when needed to a serial port on the Dockserver configured as direct Communication settings 115200 baud no parity 8 data bits 1 stop bit 115200 N 8 1 Iridium modem connection DB9F for Iridium communications Connect this port to a serial port on the Dockserver configured as direct This port does not support CD to the Dockserver This port may optionally be connected to an external modem either desktop or Iridium modem for communications with another modem connected to a serial port on the Dockserver configured as modem Communication settings 4800 baud no parity 8 data bits 1 stop bit 4800 N 8 1 TELEDYNE WEBB RESEARCH M 9 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual M G2 Glider Science Simulator User s Guide Front Panel In this section the front panel settings are shown and described From left to right Carrier detect selection glider persistor reset science persistor reset power on off science selection Table 13 2 Front Panel Settings Setting Name Description Carrier detect selection ON Simulates CD to the glider and to the Dockserver OFF Forces CD low to the glider and to the Dockserver EXTERNAL Uses the actual CD line from an external freewave modem Glider and science persistor RESET Forces the glider or science Persistor to resets reset to its boot state boot Pico or boot app PBM
165. the science processor what to do X Science logging state enum 7 4 P N 4343 Rev B 1 12 Glider Indicates the science processor s logging state TELEDYNE WEBB RESEARCH Control Slocum G2 Glider Operators Manual Table 7 3 Sensors Added to the Glider Default Setting Description Sensor Name Processor u science send time limit adjustment E Puts an absolute limit on how long the glider can spend sending science files during a single consci session factor nodim Sending Science Data The science send command is implemented as a pre programmed consci batch command It may take a long time to complete a single send command if a large number of files is to be transferred so two sensors are used to limit the length of a consci session e u sci cmd max consci time seconds establishes a limit for the length of a single consci session The default value for this sensor is factory set to 3600 seconds 1 hour u science send time limit adjustment factor nodim specifies the fraction ofu sci cmd max consci time that can be used for the sending of science data This value is set conservatively to account for extra time spent enumerating files before the send shuffling files after the send and possible less than optimal communication conditions during the send This makes it nearly but not absolutely certain that the send on science will not be aborted in the middle of a file by the co
166. tion air pumps 1 17 altimeters 1 10 Argos satellite transmitter PTT 1 15 attitude sensors 1 19 ballast pump assemblies 1 7 1 8 battery packs 1 28 carbon fiber hulls 1 13 conductivity temperature and depth CTD sensors 1 14 coulomb counters 1 28 IX 4 P N 4343 Rev B 1 12 TELEDYNE WEBB RESEARCH desiccants 1 30 global positioning system GPS 1 20 hardware interface board 1 19 Iridium satellite telemetry 1 21 pitch vernier 1 9 pressure transducers 1 23 science bay computers and sensors 1 13 strobes 1 31 switchboards science and payload computers 1 23 vehicle controllers 1 18 configuration files science and glider processors 7 2 confirmation messages mission end 2 1 connecting with HyperTerminal sessions F 1 F 2 connections serial data See science data logging SDL simulators M 8 to M 12 consci command 1 23 6 8 6 11 J 1 M 25 M 27 consci run 6 3 M 19 conserving energy during emergency recovery operations 4 1 contact information Iridium SIM card distributors and service providers G 1 to G 2 control levels B 2 to B 4 M 36 to M 38 control c command 5 1 6 6 10 1 M 22 controllers vehicle 1 17 to 1 18 cop tickle circuit 1 19 COP TICKLE B 4 M 38 copy command 6 9 M 25 coulomb counters 1 28 to 1 29 countdowns resuming missions 8 2 counters coulomb 1 28 to 1 29 cp command 6 9 M 25 c pitch sensor 1 10 cranes overhead 3 1 crc command 6 9 M 25 c recovery on s
167. to free space on disk PURGELOGS Deletes sent log files PUT put sensor name gt value RENAME REPORT rename d pJoldname newname report for help RMDIR RM rmdir drive path rm path deletes a file system branch run run mission file runs the mission file SBD sbd for help SEND send f rf irid num lt n gt t lt s gt filespec sequence sequence do this for help SETDEVLIMIT setdevlimit devicename os w s w m SETNUMWARN setnumwarn x sets max dev warnings to x SET set var str slfe SIMUL Displays a print description of what is simulated SRF_DISPLAY srf display for help TELEDYNE WEBB RESEARCH Science Computer Slocum G2 Glider Operators Manual Table 6 10 Device Commands In this table all commands listed in all caps are executable during a mission when preceded by an exclamation point The commands in lower case cannot be used during mission Commands are not case sensitive when you are entering them in the glider software Command Name Syntax and or Description strobe strobe onloff flashes strobe light sync_time sync_time offset syncs system time with gps time tcm3 tcm3 for help time time hh mm ss alp m c tvalve tvalve up charge down backward TYPE type drv pth name USE use do this for help Displays f
168. tructed to deal with more complex issues such as dead reckoning navigation current correction and adaptive sampling Each device is labeled as a sensor and is logged every time that the value changes during a mission This data is retrieved as a binary file and is post parsed into a matrix that allows you to replay flight dynamics or easily construct graphical views of vehicle performance or scientific data A subset of the sensors can be chosen as a science data package so as to reduce surface radio transmission time allowing near real time data collection The glider can have in memory of the CF card any number of pre written missions that can be called or a new mission can be created downloaded to the glider via the RF modem or Iridium and run Mission changes might include different inflect depths new GPS waypoints or turning a behavior on or off such as current correction Mission files are small text files To further decrease the size of mission particulars portions of missions can be broken out into ma or mission acquisition files This allows for transferring very small files to modify the most commonly adjusted mission sensors Table 6 1 Software Control Hierarchy Component Name Description PicoDOS Persistor s operating system GliderDOS Glider s operating system masterdata Defines the sensors better known as the glider variables There are approximately 1800 variables longterm dat Maintains the sensors variab
169. ucture e Layered control Determines which behavior is controlling the glider s movement Dynamic control Once the layered control determines the behavior dynamic control moves the motors inflates and deflates the bladders etc to initiate the movement of behavior commanded under the layered control In order to achieve this dynamic control uses a specific set of device drivers to perform the movements e Device drivers device scheduler e Sensor processing Involves the algorithm calculations to assign values 1 or 0 to the sensors e Data logging dbd sbd mlg log files Self explanatory except that the values of all sensors variables instruments GPS fixes etc are actually logged Control Stacks States and Abort Sequences In order to understand this controlled flow structure it is useful to look at how various types of aborts are initiated and which layers are used to execute the aborts Much of this information is taken from a text file called abort sequences in http www glider doco webbresearch com how it works abort sequuences txt First the general structure of a mission file and the assignment of priority levels to a particular behavior will be explained Then the three types of aborts will be discussed Following this discussion the structure of an actual mission will be explained in further detail Once the glider has been instructed to execute a mission GliderDOS reads the mission and ass
170. uently as possible 2 Listen closely to the altimeter to check for audible clicks similar ot the ticking of a watch TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Architecture and Components Slocum G2 Glider Operators Manual 3 Typereport m altimeter voltage and confirm that the altimeter voltage is not a fixed value 4 Typereport clearall How to Evaluate Data The altimeter is normally used only while diving to prevent the glider from hitting the sea floor When the altimeter is in use the glider dives until it reaches a set distance from the bottom then it begins to climb This distance from the bottom is specified in either the glider s mission or ma files as an argument forthe d target altitude command Each buoyancy pump design and mission requirement will dictate the necessary value to achieve successful bottom avoidance The suggested minimum values for d target altitude are Pump Type Suggested minimum value for d target altitude 1000 m 12m 200 m 6m 100 m 4m 30m 2m Relevant Sensors Sensor Name Description m altitude m Height above the bottom m raw altitude m Height above bottom unfiltered u alt min depth m How deep the vehicle must be before the altimeter turns on A glider pilot may choose to increase u alt min depth so that the altimeter will not turn on until it is below the thermocline or to reduce energy usage wh
171. ulator See Simulation on page M 13 This file must be deleted before an actual flight zmext dat Automatically places transferred files in the correct directory from any other directory NOTE The simul sim file must be deleted before an actual flight Bin Folder Pico executable programs are stored in the BIN folder All of these programs run in PicoDOS These files are described in the table below Table 13 6 Files in the Bin Folder File Name Description adtest run Displays and updates raw voltages for A to D devices Used in calibration procedures alloff run Placed in autoexec bat to start the world with all registers zeroed and turns on the RF modem for communication consci run Switches the RF modem to the payload science computer for direct access and code loads A loss of carrier detection on the glider side will automatically switch back to the glider controller srtest run Allows switching selected bits on and off Used for hardware interface board testing TELEDYNE WEBB RESEARCH M 19 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual M G2 Glider Science Simulator User s Guide Table 13 6 Files in the Bin Folder File Name Description talk run Ports to specific components such as Argos attitude sensor and GPS for direct access and setup Talk help displays a list of parameters uarttest run Tests uart drivers for programming zr run zs ru
172. uoyancy appear to stall jam sometimes Should generate a motor not moving warning bad device bpump overheated min mt max mt probability Makes the buoyancy overheat bit come up sometimes bad device memory leak min mt max mt probability bytes to leak Consumes some heap memory and never give it back Used for testing system behavior with inadequate heap space bytes to leak How many bytes to allow and never free on each simdrvr call typically every 2 seconds bad device Iridium no carrier min mt max mt probability Simulates a NO CARRIER condition from Iridium modem bad device leakdetect min mt max mt probability bad value Simulates a water leak by using bad value as M LEAKDETECT VOLTAGE bad device vacuum min mt max mt probability bad value Simulates a bad vacuum by using bad value as M VACUUM bad device pressure drift min mt max mt probability bad value Simulates a pressure drift by sometimes returning bad value as the drift One must be simulating the device before it has any effect TELEDYNE WEBB RESEARCH M 15 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual M G2 Glider Science Simulator User s Guide M 16 Simulation Details The simulation is a full end to end simulation when appropriate the inputs to system A Ds and digital inputs are computed and used so that all the normal software
173. urther detail later log c stack 1 abend 2 surface 3 set heading 4 yo 5 prepare to dive 6 sensors in Where the words following each number are specific behaviors When one behavior is assigned priority over another and a behavior argument b arg is satisfied in both of the behaviors i e if two or more surface behaviors have been written into the mission the behavior with the higher priority wins out After the log c stack has been created GliderDOS begins to scroll through the mission in order to activate various sensors and or behaviors by changing the state of a particular behavior Whether a particular behavior changes from one state to another depends upon numerous sensor values While a mission is being executed all behaviors are in one of the following states e 1 Uninitiated e 2 Waiting for Activation 3 Active e 4 Complete Toward the end of MASTERDATA is a list of numbers and their assigned actions This list is named beh args h and can be found in the C code This list primarily deals with the two b arg statements b arg start when and b arg stop when and determines when a particular behavior becomes active Only one behavior can be active at a time General Control Structure For a typical glider deployment layering behaviors in a predetermined sequence to obtain the desired glider path and vertical movement creates a mission file The glider mission is being executed through
174. ut rename PUT sensor name value RENAME d pJoldname newname report REPORT for help rmdir RMDIR drive path rm RM path deletes a file system branch run run mission file runs the mission file sbd SBD for help send SEND f rf irid num lt n gt t lt s gt filespec Sequence SEQUENCE do this for help setdevlimit SETDEVLIMIT devicename os w s w m path PATH Show search path PATH d path P setnumwarn set SETNUMWARN X sets max dev warnings to X SET var str SLFE simul Displays a print description of what is simulated srf display sync time SRF DISPLAY for help sync time offset syncs system time with gps time tcm3 TCM3 for help TELEDYNE WEBB RESEARCH Software Control Hierarchy Slocum G2 Glider Operators Manual Table 13 12 Device Commands Command Name Syntax and or Description time TIME hh mm ss a p M C tvalve tvalve up charge down backward type TYPE drv pth name use USE do this for help ver Displays firmware versions where Prints latitude longitude whoru whoru Vehicle Name displays vehicle name why WHY abort displays the reason for an abort wiggle wiggle onloff fraction moves motor Zero ocean pressure Recalibrates zero ocean pressure Zr Zmodem Rec
175. vice drivers device scheduler e Sensor processing Involves the algorithm calculations to assign values 1 or 0 to the sensors e Data logging dbd sbd mlg log files Self explanatory except that the values of all sensors variables instruments GPS fixes etc are actually logged Control Stacks States and Abort Sequences In order to understand this controlled flow structure it is useful to look at how various types of aborts are initiated and which layers are used to execute the aborts Much of this information is taken from the abort sequences text file in http www glider doco webbresearch com how it works abort sequuences txt First the general structure of a mission file and the assignment of priority levels to a particular behavior will be explained Then the three types of aborts will be discussed Following this discussion the structure of an actual mission will be explained in further detail TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Code Theory and Operation Slocum G2 Glider Operators Manual Once the glider has been instructed to execute a mission GliderDOS reads the mission and assigns a priority to each behavior The priority is denoted by a numerical assignment and is determined by the physical location of the behavior in the mission text file The assigned priority list is called a log c stack or stack and takes on the following generic form The particular behaviors will be explained in f
176. will place GPS communications into a verbose mode You should see the data stream change from V to A Generally several minutes of GPS acquisition is all that is necessary However if large geographical distances have been moved since the last position was acquired it is recommended to let the GPS run for some time to build a new almanac When satisfied with the GPS location type put C gps on 1 to return to the non verbose mode WARNING NEVER deploy a glider in 1ab mode Test the motors by typing 1ab mode on and then wiggle on Run for 3 5 minutes to check for any device errors or other abnormalities Type wiggle off to stop wiggling If there is a deep pump you might choose to run the motor longer and report the pump s location to the screen NOTE Make sure the glider is set to boot app before deploying it in the water If no errors are found type 1ab mode off to return to the GliderDOS prompt Always ensure that the glider is not in PicoDOS or lab mode before deploying it in the water Type run status mi and confirm that all sensors are being read The mission should end with this confirmation message mission completed normally TELEDYNE WEBB RESEARCH 2 1 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual 2 Pre mission Testing 8 Load the glider into the boat and head out toward the first waypoint or deployment location In the Water 1 If possible attach a line with flotation to the glider before putting the gli
177. ww seabird com products profilers htm Scroll down to the bottom of this page to access the link to the data page M 28 TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Software Control Hierarchy Slocum G2 Glider Operators Manual Bin Folder Pico executable programs are stored in the Bin folder All of these programs run in PicoDOS These files are described in the table below Table 13 14 Files in the Bin Folder File Name Description amconnct run Port to acoustic modem that allows communication for testing blast run Blasts characters to all ports for testing ctd_ctrl run Runs the CTD program for sampling In autoexec bat typed with a number 3 for fastest sampling or 3 for sampling at that rate in seconds No longer runs on gliders with software version 5 0 or greater memd run Runs the acoustic modem mdatacol run Acoustic modem command that sets the acoustic modem to listen mode until the buffer is full then tells the glider to surface u4talk run Testing of uart drivers for programming ctd_hs2 run Runs either CTD HydroScat 2 or both simultaneously Type help ctd hs2in the science computer for information on usage and options No longer runs on gliders with software version 5 0 or greater zr run zs run Required for Zmodem send and receive transfers Config Folder The files in the config folder are described in the table below Table 13 15 Files in the Config Fold
178. y into the water Remove the nose ring in the original cart design or when ready release the nose ring with handle bar release on newer carts TELEDYNE WEBB RESEARCH 3 1 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual 3 Deployment and Recovery For larger boats the pick point affixed to the payload bay should be used to lower and raise the glider with a crane or winch from the vessel to the water Glider with the Buoy and Rope Ready for the First Deployment NOTE In the deployment sequence below the digital tail fin digifin can be handled The tail boom should be used for handling a glider not equipped with digifin 3 2 TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Deploying the Glider Slocum G2 Glider Operators Manual TELEDYNE WEBB RESEARCH 3 3 P N 4343 Rev B 1 12 Slocum G2 Glider Operators Manual 3 Deployment and Recovery Large Ship Deployment A quick release system using the pick point can be fashioned from supplies found on most vessels as illustrated in the following two images 3 4 TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Recovering the Glider Slocum G2 Glider Operators Manual Recovering the Glider NOTE A boat hook can be used to manipulate the glider in the water Care should be taken with non digifin gliders during deployment and recovery because the fin can be knocked out of calibration or damaged if handled too aggressively Handle non digifin gliders by the tail boom or pick
179. y retrieve all dbd mlg and sbd files by using the FreeWave modem A separate document GMC User Guide provides instructions for using Glider Terminal a Java application and one of the Dockserver applications This user guide can be found at the following location ftp ftp glider webbresearch com glider windoze production src gliderMissionControl Documentation gmcUserGuide pdf Table 8 1 Data File Types Data File Extension Description Dinkum binary data All sensors or variables are recorded and stored in this type file These are large files that in most cases would be undesirable to transmit during a mission especially over Iridium Short binary data Records only those sensors specified in SBDLIST DAT to reduce communication time Customize this list of sensors to receive limited amounts of data during a mission mbd Medium binary data A second user specified data set specified in mbdlist dat mlg Mission log Tracks the calls for behaviors and device drives This is the dialog seen in communication sessions with the vehicle log Stores the process of opening and closing files and operations Data can be accessed and transmitted while using a terminal program while in communication with a vehicle by following the steps outlined below To retrieve glider data when the glider is at the surface during a mission 1 Types dbdors sbd ors mlgors mbd 2 The 30 most recent file
180. ypoints nodim 6 end b arg lt start waypoints gt 7040 271 4138 861 7040 271 4138 807 7040 333 4138 780 7040 395 4138 807 7040 395 4138 861 7040 333 4138 888 lt end waypoints gt The following behavior yo instructs the glider to perform a yo i e a single up and down pattern through the water column Again the ma convention is used to designate the depth and altitude together the RANGE over which the yo is to be performed behavior surface b_arg args_from_file enum 10 read from mafiles yo10 ma b arg start when enum 2 0 immediately 1 stack idle 2 depth idle b arg end action enum 2 0 quit 2 resume M 42 TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Code Theory and Operation The corresponding ma file is displayed below behavior name yo yo c3x5 d20 a3 p20 ma climb 3 5m dive 10m alt 20m pitch 20 deg Hand Written 18 Feb 02 tc DinkumSoftware com Initial Slocum G2 Glider Operators Manual 13 Mar 02 tcODinkumSoftware com Bug fix end action from quit 0 to resume 2 3t 03 aug 02 tc DinkumSoftware com DREAO1 at ashument went to depth only startb arg b arg start when enum 2 b arg num half cycles to do nodim 1 3t arguments for dive to b arg d target depth m 5 b arg d target altitude m 1 b arg d use pitch enum 3 b arg d pitch value X 0 3491 arguments for climb to b arg c target depth m 2 5 b arg c target altitude m 1 b arg c use pitch enum 3
181. ypoints to direct the glider to in the x y plane behavior surface b arg args from file enum 10 read from mafiles surfac10 ma b arg start when enum 3 0 immediately 1 stack idle 2 pitch idle 3 heading idle 6 when secs 7 when wpt dist b arg end action enum 0 0 quit 1 wait for C quit resume 2 resume b_arg gps_wait_time s 300 how long to wait for gps b_arg keystroke_wait_time s 180 how long to wait for control C The following behavior surface instructs the glider to come up briefly if yo finishes This happens if a bad altimeter hit causes a dive and climb to complete in the same cycle The glider surfaces and the yo restarts behavior surface b arg args from file enum 10 read from mafiles surfac10 ma b arg start when enum 2 0 immediately 1 stack idle 2 pitch idle 3 heading idle 6 when secs 7 when wpt dist b arg end action enum 1 0 quit 1 wait for C quit resume 2 resume b_arg gps_wait_time s 300 how long to wait for gps b arg keystroke wait time s 15 how long to wait for control C M 40 TELEDYNE WEBB RESEARCH P N 4343 Rev B 1 12 Code Theory and Operation Slocum G2 Glider Operators Manual The following behavior surface instructs the glider to come up every waypoint behavior surface b arg args from file enum 10 read from mafiles surfac10 ma b arg start when enum 8 0 immediately 1 stack idle 2 depth idle 6 when secs 7 when wpt dist 8 wh

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