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Teledyne Dock Server, User Manual

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Teledyne Dock Server User Manual Download Page 187

Revision 7.10

2/28/2012

Surface log files can be viewed by making the appropriate glider’s logs directory the 
current directory (cd shell command) and then entering “less” or “gedit” followed by the 
filename in the shell window.

For example, the file ann_freewave_20060519T121530.log in the folder 
/var/opt/gmc/gliders/ann/logs contains the glider ann’s surface dialog over a freewave 
connection on May 19, 2006 at 12:15:30 UTC.  A sample of this log file’s content 
follows.

Glider ann at surface.
Because:Hit a waypoint [behavior surface_2 start_when = 8.0]
MissionName:INITIAL.MI MissionNum:ann­2070­092­0­3 (0009.0003)
Vehicle Name: ann
Curr Time: Thu Apr  3 16:08:30 2070 MT:     594
DR  Location:  4136.767 N ­7028.962 E measured      1.812 secs ago
GPS TooFar:   69697000.000 N 69697000.000 E measured     1e+308 secs ago
GPS Invalid :  4136.773 N ­7028.961 E measured     40.942 secs ago
GPS Location:  4136.767 N ­7028.962 E measured      3.244 secs ago
   sensor:m_battery(volts)=13.123                  61.754 secs ago
   sensor:m_vacuum(inHg)=6.49999999999999          61.789 secs ago
   sensor:m_leakdetect_voltage(volts)=2.5          61.759 secs ago
devices:(t/m/s) errs:   0/   0/   0 warn:   0/   0/   0 odd:   0/   0/   0
ABORT HISTORY: total since reset: 0

   Hit Control­R to RESUME the mission, i.e. dive!
   Hit Control­C to END    the mission, i.e. GliderDos
   Hit Control­E to extend surface time by 5 minutes.
   Hit Control­W to get device warning reports.
   Hit Control­F to re­read MAFILES.
   Hit S [­f={rf}|{irid] [­num=<n>] [­t=<s>] [filespec ...] to send log files
   Hit ! <GliderDos cmd>  to execute <GliderDos cmd>
   Hit C to consci to science computer

Water Velocity Calculations waiting for final gps fix(ideally 36 secs)
Waypoint: (4136.7696,­7028.9610) Range: 4m, Bearing: 18deg, Age: ­1:­1h:m
Drifting toward outer watch circle, centered on waypoint
Now 4.4 meters from middle, will dive at 100.0 meters
Time until diving is: 2983 secs(estimated)
598.41  4 behavior goto_wpt_5: SUBSTATE 2 ­>3 : Waiting until we get to waypoint
s *.sbd

Page 187 of 228

Summary of Contents for Dock Server

Page 1: ...2 28 2012 Dock Server User Guide February 2012 Glider Mission Control Software Teledyne Webb Research 82 Technology Park Drive E Falmouth MA 02536 USA www WebbResearch com 508 548 2077 GliderSupport WebbResearch com ...

Page 2: ... the Latest Dock Server Release 37 2 9 1 Upgrading from Release 3 6 through 6 36 to the Latest Release 37 2 9 2 Upgrading from Release 6 37 and Later to the Latest Release 39 2 10 Rolling back to a Previous Dock Server Release 40 2 11 Uninstalling a Dock Server Release 41 2 12 Installing a Dock Server Release for the First Time 42 3 Getting Started with the Glider Terminal Application 44 3 1 Insta...

Page 3: ...5 2 2 Edit Menu 71 5 3 Popup Menu Functions 72 5 3 1 Dock Server Popup Menu 72 5 3 2 Serial Port Popup Menu 73 5 3 3 Serial Port Tab Popup Menu 74 6 How to use the Glmpc Terminal Application 75 6 1 Installing Glmpc Terminal 75 6 2 Starting Glmpc Terminal 77 6 3 Stopping Glmpc Terminal 78 6 4 The Glmpc Terminal User Interface 79 6 5 Loading Maps 80 6 6 Connecting to a Dock Server 86 6 7 Defining a ...

Page 4: ... 117 9 2 Starting GMC FTP 120 9 3 Stopping GMC FTP 120 9 4 Transferring Glider Files from the Dock Server Machine 120 9 5 Transferring Glider Files to the Dock Server Machine 123 9 6 Transferring Glider Files with other FTP Clients 124 10 How to use Glider Simulators 126 10 1 Pocket Glider Simulators 126 10 1 1 Connecting to Dock Server Hardware 126 10 1 2 Differences between a Pocket Simulator an...

Page 5: ...behind a Firewall 149 12 5 3 Simple Topology Directly connected to the Internet 152 12 5 4 Advanced Topology Relay Host with SSH Forwarding 153 12 5 5 Configuring the Operating System Firewall 154 12 5 6 Adding Glider User Accounts to the Operating System 155 12 6 Configuration Dock Server Application 156 12 7 Configuration Glider 158 12 7 1 Configure and Install the SIM card 158 12 7 2 Tell the G...

Page 6: ... A 5 Email System Log File 192 Appendix C Quick Guide to Authoring Dock Server Scripts 196 Appendix D Shipped Dock Server Configuration File 205 Appendix E Dock Server Install from Scratch 207 Appendix F Dock Server RPM Upgrade Output 208 Appendix G GLMPC File formats 209 Appendix H Java 1 4 2 Regular Expression Syntax 211 Appendix I Glider login_script_syntax txt 219 Appendix J Calibrating the gl...

Page 7: ...er Note that each glider ships with one of two possible 4 port USB serial adapters a Keyspan or an Edgeport This document uses the term 4 port USB serial adapter to refer to the model shipped with your glider Dock Server has been installed on the laptop and configured to monitor the internal serial port if any and the 4 port serial adapter s ports for glider communications The modem has been confi...

Page 8: ...4 port USB serial adapter Important Note Dock Server treats modems and Freewaves differently It must be told which device is connected to each serial port Dock Server s factory configuration expects a modem to be connected to the laptop s internal serial port Or if no internal serial port exists then Dock Server expects a modem to be connected to port one on the 4 port serial adapter Dock Server e...

Page 9: ...Revision 7 10 2 28 2012 Figure 1 1 Modem connections to the computer s serial port and iridium phone line Page 9 of 228 ...

Page 10: ...rk While the Glider Terminal application can run on the Dock Server machine Glider Terminal can also run from any machine networked to the Dock Server machine To configure the Dock server machine for a network follow the steps in this section 1 Collect the following information from the network administrator a A fixed IP address for the Dock Server b The subnet mask for this IP address c The defau...

Page 11: ...b com 2 Log on to the Dock Server machine as user localuser The factory delivered password for this account is WideOpen see Appendix D 3 Select Applications System Settings Network from the menu in the upper left hand corner of the desktop 4 Enter the root password and click the OK button The Network Configuration dialog opens Figure 1 3 Appendix D specifies the factory delivered root password for...

Page 12: ...ation collected in step 1 Use the fixed IP address as the Address the fully qualified domain name as the Hostname and the hostname as the Aliases Click the OK button 7 Select the DNS tab on the Network Configuration dialog Enter the following information collected in step 1 Figure 1 5 shows the DNS tab with example information entered a The fully qualified domain name as the Hostname b The primary...

Page 13: ...10 2 28 2012 Figure 1 5 The DNS tab of the Network Configuration Dialog 8 Select the Devices tab in the Network Configuration dialog Figure 1 6 shows the one device entry selected on the Devices tab Page 13 of 228 ...

Page 14: ... 6 The Device tab of the Network Configuration Dialog 9 Select the one device entry in the table and edit it by clicking the Edit button Figure 1 7 shows the Ethernet Device dialog for editing the device s configuration Page 14 of 228 ...

Page 15: ...d in step 1 a The dockserver s fixed IP address as the Address b The collected subnet mask as the Subnet mask c The collected gateway address as the Default gateway address 11 Click the OK button on the Ethernet Device dialog 12 Select File Save from the menu on the Network Configuration dialog 13 Select File Quit from the menu on the Network Configuration dialog Page 15 of 228 ...

Page 16: ...tting the DIP switches on the modem s bottom And two configuring the modem s NVRAM to load the appropriate settings upon power up Dock Server never sends AT commands to the modem Upon power up the modem is expected to auto answer incoming glider calls and to negotiate the incoming baud rate It should communicate with its host i e Dock Server at a fixed baud rate of 115 200 DTE serial port speed Th...

Page 17: ...igure 1 8 Modem DIP Switch Settings Figure 1 9 shows the modem s NVRAM settings Upon power up the modem initializes itself with these settings To communicate with the modem using minicom open a terminal window and type minicom s0 at the command prompt Enter the desired modem AT commands Page 17 of 228 ...

Page 18: ...ermit and Procomm send initialization AT commands when the application first communicates with the modem If the computer s serial port speed is set to 9600 baud when the AT commands are sent then the modem will adjust its DTE port speed to 9600 When Dock Server launches it sets the computer s serial port to 115 200 but never sends any AT commands Since the modem has not sent any AT commands it nev...

Page 19: ...d Flow Control Data bits Stop bits Parity dev ttyS0 115 200 RTS CTS 8 1 None dev ttyUSB0 115 200 RTS CTS 8 1 None dev ttyUSB1 115 200 RTS CTS 8 1 None dev ttyUSB2 115 200 RTS CTS 8 1 None dev ttyUSB3 115 200 RTS CTS 8 1 None Table 1 1 Shipped Laptop Serial Port Configuration Dock Server treats modems and Freewaves differently Since Dock Server can not determine the device attached to a serial port...

Page 20: ...vices can result or even a complete computer lockup requiring a hard reboot To avoid these problems it is recommended that the following procedures be adhered to 1 Do not use any USB hub to enable sharing a notebook USB port between the USB serial ports and any other USB device or devices 2 When plugging in the USB cable wait 30 seconds before starting any process which uses the serial ports e g m...

Page 21: ...e of any doubts it can be helpful to have the following command running in a shell window in order to watch the dev ttyUSB devices appearing and disappearing watch n 1 ls dev ttyU 2 dev null This introduces only a very small system load and could even be left running Other useful tools include the mess shell command or the system messages desktop launch button Page 21 of 228 ...

Page 22: ...ract with connected gliders 4 Sends notifications of selected glider event occurrences by email to subscribers Such events include glider mission aborts and glider is at the surface 5 Saves all Dock Server interactions with gliders and clients to log files Once configured and started the Dock Server application is intended to run continuously without human intervention Note that the Dock Server ap...

Page 23: ...serial ports and network sockets At any time these resources can be owned by only a single process Thus before starting Dock Server be sure that no other process owns the serial ports or the TCP IP socket used by Dock Server For the same reason do not start more than once instance of the Dock Server application at any time Once Dock Server has started the 4 port USB serial adapter s LED s should b...

Page 24: ...hows the Dock Server application s process information Figure 2 2 If the application is not running no process information appears in the window Important Note If more than one line of process information appears then more than one Dock Server is running Stop both Dock Servers and restart just one Dock Server instance 3 Type the enter key to close the shell window 2 3 Stopping Dock Server To stop ...

Page 25: ...Running To view Dock Server s interactions with clients and gliders in real time follow these steps 1 Log on to the Dock Server machine as user localuser The factory delivered password for this account is WideOpen see Appendix D 2 Double click the desktop icon labeled inspect dockserver A shell window opens that shows the Dock Server application s console log file and any additions made to it in r...

Page 26: ...user localuser s desktop follow the steps in this section To access glider related files from a remote machine see How to Use the GMC FTP Application chapter 9 1 Log on to the Dock Server machine as user localuser The factory delivered password for this account is WideOpen see Appendix D 2 Double click the desktop icon labeled glider files A file browser window opens as shown in figure 2 5 The gli...

Page 27: ...Server scripts and may be overwritten by a Dock Server upgrade Figure 2 5 Result of clicking the glider files desktop icon 2 6 Configuring Gliders Managed by Dock Server Typically a user does not manually configure the gliders managed by a Dock Server When Dock Server is started it assumes the folders in var opt gmc gliders represent gliders it should manage and that the folders names are the glid...

Page 28: ...ollow the steps in this section 1 Stop the Dock Server application by following the steps in section 2 3 2 Open a shell window on the Dock Server machine by right clicking on the desktop s background and selecting Open Terminal from the popup menu Log on as user root by entering the following shell command Refer to Appendix D for this user s factory delivered password su Figure 2 6 shows a shell w...

Page 29: ...ver the removed gliders should not appear in the displayed list of managed gliders refer to section 3 4 2 7 Configuring Serial Ports Managed by Dock Server A managed serial port is one that Dock Server monitors for glider or simulator traffic Typically a user does not configure the serial ports managed by a Dock Server A Dock Server is factory configured to manage the machine s internal serial por...

Page 30: ...the specified port_identifier Default is to not add a desktop launcher T nodesktop Delete the desktop icon from all group localuser members that launches minicom on the specified port_identifier c device direct iridium freewave Device type of the specified port_identifier For port command add default is freewave Table 2 1 details the device types accepted by Dock Server n arity single multiple Gli...

Page 31: ... used in port dockserver command Iridium modem U S Robotics Courier 56K Business Modem or U S Robotics MP 8 or MP 16 modem bank iridium Freewave Wireless Data Transceiver freewave Direct serial cable connection between the Dock Server machine and a glider simulator direct Table 2 1 Dock Server Serial Port Device Options To change the serial ports managed by a Dock Server log on as user localuser a...

Page 32: ...rt dockserver net p 5 a Change the Iridium RUDICS configuration to open 5 connections and require glider authentication port dockserver display Display Dock Server s configuration of all physical serial ports and Iridium RUDICS To verify changes made using the port dockserver command use the port dockserver port_command display or examine the contents of console log using the inspect dockserver de...

Page 33: ...arwin using the process detailed in section 9 4 then all subsequent connections to the associated serial port are assumed to be the glider Darwin Dock Server clears the association between a glider and serial port when Dock Server is restarted or when the serial port s Data Set Ready line transitions high to low occurs when a serial cable is unplugged from a serial port If at any time Dock Server ...

Page 34: ... This file controls the following aspects of the Dock Server application The Dock Server identifier used in log filenames The TCP IP socket Dock Server listens on for Glider Terminal requests Various paths Dock Server uses to find GLMPC maps user and factory scripts and glider directories and to store log files Location of Dock Server s dynamic state file RUDICS connections Glider authentication o...

Page 35: ... window on the Dock Server machine by right clicking on the desktop s background and selecting Open Terminal from the popup menu Log on as user root by entering the following shell command Refer to Appendix D for root s factory delivered password su Page 35 of 228 Log file identifier Client listening socket Various Dock Server paths Dock Server dynamic state file Glider authentication configuratio...

Page 36: ...starts a new log file at the beginning of each day To distinguish one Dock Server s logs from another Dock Server s logs and to associate logs with the time period they cover files are named by appending the date covered by the file to a Dock Server unique identifier The XML attribute name of the element dockConfiguration specifies this identifier For example if the XML name attribute is WebbDock ...

Page 37: ...ort attribute defines the TCP IP socket that Dock Server listens to for RUDICS traffic Finally the glider_must_authenticate attribute indicates weather or not a glider must authenticate upon connecting to the Dock Server machine Refer to chapter 12 for the details of RUDICS configuration and glider authentication The XML attributes of the serialPorts element not shown in figure 2 7 configure glide...

Page 38: ... 5 If upgrading from Teledyne Webb Research s application repository browse to the URL ftp dockserver rpm repositories webbresearch com glider rpm repository Right click on the file gmc repo and select Save Link As Using the SaveAs dialog save gmc repo in the folder etc yum repos d If upgrading from CD media copy the file gmc repo from the CD s rpm repository folder to the folder etc yum repos d 6...

Page 39: ... and scripts directories 3 Connect the Dock Server machine to the Internet refer to section 1 2 4 Log on as root from the Dock Server machine s boot up window i e do not open a terminal window and log on as root from within a user account When prompted enter the root password Refer to Appendix D for the root password 5 Open a terminal window by selecting Applications System Tools Terminal from the...

Page 40: ...s an upgrade after it has launched an old release it caches the fact that an upgrade exists but does not perform the upgrade until a subsequent launch of that client tool This upgrade behavior can be confusing to users It can result in launching an old client tool release even though a new release is on the Dock Server machine Thus it is important to check that the release displayed in the client ...

Page 41: ...inal window prompt enter the following command gmc switch to nojava old release number where old release number is the rollback Dock Server release number For example to rollback to release 6 32 enter the following command gmc switch to nojava 6 32 7 Once the rollback has completed close the terminal window by entering exit followed by the enter key and log off as user root 8 Restart the Dock Serv...

Page 42: ...password 3 Open a terminal window by selecting Applications System Tools Terminal from the menu bar 4 At the terminal window prompt enter the following three commands Type the enter key after each command gmc expunge yum erase gmc out of band tools 5 Once the uninstall has completed close the terminal window by entering exit followed by the enter key 2 12 Installing a Dock Server Release for the F...

Page 43: ...ting Applications System Tools Terminal from the menu bar 6 If upgrading from Teledyne Webb Research s application repository enter the following commands at the terminal window prompt Type the enter key after each command yum disablerepo enablerepo GMC install gmc out of band tools gmc install nojava production If upgrading from CD media enter the following commands at the terminal window prompt ...

Page 44: ... distributed after a Dock Server upgrade 1 Open a web browser and browse to the URL dock webb com where your Dock Server s fully qualified domain name would replace dock webb com NOTE It can take from a few minutes to a few days for the Dock Server s fully qualified domain name to be known across the internet If the browser cannot find the Dock Server then use the Dock Server s IP address in place...

Page 45: ...gure 3 2 Web Start Security Warning Dialog 4 When the following dialog appears click the Yes button to add a Glider Terminal to your desktop or configure as you like Figure 3 3 Web Start Desktop Integration Dialog Once added to your desktop the Glider Terminal application launches and its main window appears Page 45 of 228 ...

Page 46: ...igure 3 4 Glider Terminal Main Window 3 2 Starting Glider Terminal To launch Glider Terminal after an initial install follow the steps in this section Page 46 of 228 Figure 3 7 Expanded Dock Server Node showing managed gliders ...

Page 47: ...this section 1 Select File Exit from Glider Terminal s menu bar or click the window s close button in the upper right corner red with a white X The Glider Terminal window will close 3 4 Browsing a Dock Server To view and control gliders managed by a Dock Server follow these steps 1 In the GMC Site field enter the fully qualified domain name of the Dock Server machine you wish to browse For example...

Page 48: ...s expose dinkumsoftware com 656B and the return key pressed the GMC Site field will turn yellow and display the text Malformed IP address followed by the expression Also no Dock Server using the expression will be added to the glider tree Correcting the malformed expression in the GMC Site field and pressing the return key will return the field to its original white background as well as add the D...

Page 49: ...o terminal emulator programs like ProComm Hyper Terminal and Minicom The serial port perspective allows Glider Terminal users to communicate with any serial device across a local network or the Internet This perspective is useful for communicating with serial devices embedded in a glider e g the Iridium phone or the GPS unit Chapter 5 How to Use Glider Terminal s Serial Port perspective explains t...

Page 50: ...interface and features Figure 4 1 Glider Perspective Button 4 1 Interacting with a Glider To view glider character output and send commands to the glider follow the steps in this section 1 Click the glider perspective button to show that perspective If not connected to a Dock Server follow the steps in section 3 4 Browsing a Dock Server to show gliders in the glider tree 2 Pick a glider and click ...

Page 51: ...low indicates no network communication between the Glider Terminal and Dock Server In addition to visual glider status cues Glider Terminal sounds audio alarms when a glider surfaces and when a glider aborts a mission refer to section 4 9 for audio alarm details Figure 4 2 Glider and Channel Tabs for sim012 3 Enter glider commands followed by the enter key in the lower pane of a channel tab Comman...

Page 52: ...scrolling occurs Down Arrow Scrolls the displayed text to show the line of text after the current line If the subsequent line is already visible no scrolling occurs Page Up Scrolls the displayed text to show a pane s worth of text before the currently visible text Page Down Scrolls the displayed text to show a pane s worth of text after the currently visible text Alt u Clear all text shown and not...

Page 53: ...y var opt gmc gliders simbond to glider on the Dock Server machine that manages simbond Any transfer method can be used Webb supplies the application gmcFTP section 7 0 however any FTP client can be used When using a method other than gmcFTP use the username dockserveruser and password dockserveruser 2 On the destination glider s channel tab within Glider Terminal enter the appropriate dockzr comm...

Page 54: ...the zcancel command from the glider perspective 4 3 Receiving Files from a Glider To transfer files from a glider to a specific machine follow the steps in this section 1 On the source glider s channel tab within the glider perspective enter the appropriate file transfer command i e s from a surface dialog send from GliderDOS zs from PicoDOS For example to transfer SBD data files from simbond at a...

Page 55: ...irectories on the glider to the Dock Server machine At a PicoDOS prompt you must specify the complete pathname of the file to transfer when using the zs command Figure 4 4 Transferring files from a glider to the Dock Server machine 2 Transfer the files from the glider s from glider directory on the Dock Server machine to the desired destination machine For example to move simbond s SBD files from ...

Page 56: ... script control buttons in the glider perspective Each glider has a script queue where scripts added by the user await execution Scripts in the queue are executed in order of their priority The user can add scripts to this queue remove them from the queue pause the entire queue and resume the queue The running script its current state and its priority appear in the field illustrated As different g...

Page 57: ...rity scripts 4 Enter any script arguments in the text box adjacient to priority selection Arguments are space delimited If an argument contains a space then choose a delimiting character that does not appear in the argument and insert it immediately before and after the argument 5 Click the Open button to insert the script in the script queue Dock Server will execute the script when its priority b...

Page 58: ...e events include establishing communications with the Dock Server machine and aborting a glider mission Users can subscribe to event notification for a specific glider by activating that glider s tab i e opening that glider s tab or clicking on it and then clicking the email subscriber button To receive glider event notifications by email follow these steps 1 Activate the appropriate glider tab an...

Page 59: ...om the Subscriber email pull down box and then click the Delete Subscriber button The Dock Server machine s email system is factory configured to allow the Dock Server application to send email notifications No user configurations are required If expected Dock Server application emails are not received follow these steps to verify that email is working independent of the application 1 Log on to th...

Page 60: ... showing that the email authored in step 2 was accepted for delivery then the email system is working Thus the Dock Server Application is failing to send the expected glider notification email Verify that the steps to receive glider email event notifications have been followed refer to the beginning of this section After verification if email problems persist then report them to glidersupport webb...

Page 61: ...e presumed to be located in the directory specified by the most recently preceding d option Multiple d options can appear on one command line By default files moved to a glider using the dockzr command are deleted from the local file system after transfer To override this behavior use the noremove option Dock Server translates the entered dockzr command into a gliderDOS zr command which is sent to...

Page 62: ...i Sets the zmodem verbosity to 35 on the glider and forces the glider to use the iridium channel for file transfer Transfers the file ashumet mi from the Dock Server machine directory var opt gmc gliders sim012 to glider to sim012 After transfer ashument mi is NOT deleted from sim012 s to glider directory 4 7 Menu Bar Functions This section describes Glider Terminal s menu bar functionality 4 7 1 ...

Page 63: ...tures like default audio alarms 4 7 3 View Menu This section details the menu items on the View menu Last Mission Status Open a view that shows the latest glider mission status taken from the glider s dialog see figure 4 10 This view shows the last known running mission its mission number and reason for surfacing This information is time stamped with UTC and mission time Clicking the close button ...

Page 64: ...e popup menu 4 8 1 Dock Server Popup Menu Hovering over a Dock Server node in the glider tree and right clicking the mouse activates the Dock Server popup menu Items selected from this menu only apply to the Dock Server under the mouse pointer at the time the menu is activated Synchronize Forces Glider Terminal to synchronize its displayed gliders with those managed by the Dock Server under the mo...

Page 65: ...er under the mouse pointer at the time the menu is activated Open Opens the glider tab associated with the glider under the mouse pointer This action shows subsequent glider output in a channel tab s on this glider tab and allows the user to issue glider commands Close Closes the glider tab associated with the glider under the mouse pointer Properties Opens the property dialog window for the glide...

Page 66: ...hat gliders are currently in communication with the Dock Server A glider may actually have been at the surface for some time Note that Dock Server determines a glider is at the surface when it knows the glider s name or has labeled it as the unknown glider refer to section 11 4 How Does Dock Server Recognize a Glider B Dock Server recognizes a glider is at the surface while Glider Terminal is runn...

Page 67: ... to misconfiguration For example if a default alarm fails to sound because of a missing or corrupt sound file the factory alarm corresponding to the same event will sound While factory alarms cannot be changed by the user they can be overridden by default audio alarms Default alarms are configured by the user through the Glider Terminal Preferences dialog Initially this dialog shows the factory al...

Page 68: ...lace of this glider alarm even if the glider alarm is enabled For example the glider alarm configuration shown in figure 4 12 will trigger the default audio alarm when zippy on dockserver64 surfaces Figure 4 12 Glider Properties Dialog showing Audio Alarms tab for glider zippy on dockserver64 For a glider audio alarm and not its corresponding default alarm to trigger the Use Default checkbox must ...

Page 69: ... Slocum glider is attached to a serial port the serial port perspective will show the glider s name with its corresponding port name However no glider specific features are available through this perspective To display Glider Terminal s serial port perspective click the button shown in Figure 5 1 Figure 5 1 Serial Port Perspective Button 5 1 Interacting with a Serial Port Device To view data from ...

Page 70: ...ort node represents that port s carrier detect line Green icons indicate a line high or active status red icons indicate a line low or inactive status If the serial port node s text appears black it was successfully opened on the Dock Server red text indicates the serial port failed to open If Dock Server knows that a specific glider is attached to a serial port the serial port perspective display...

Page 71: ...he displayed text to show the line of text after the current line If the subsequent line is already visible no scrolling occurs Page Up Scrolls the displayed text to show a pane s worth of text before the currently visible text Page Down Scrolls the displayed text to show a pane s worth of text after the currently visible text Alt u Clear all text shown and not shown from the serial port tab s tes...

Page 72: ...mouse over the desired text Selecting Copy from the text area s popup menu copies the selected text to the system clipboard Note that Ctrl C is sent to the serial port device and not used as a shortcut keystroke for copy 5 3 Popup Menu Functions This section describes serial port perspective s popup menu functionality The various serial port perspective popup menus are activated by hovering the mo...

Page 73: ...Dock Server under the mouse pointer closes all glider and tags and serial port tabs associated with this Dock Server and removes the Dock Server s node from the glider tree and serial port tree Upon subsequent startups Glider Terminal will not automatically reconnect to this Dock Server 5 3 2 Serial Port Popup Menu Hovering over a serial port node in the serial port tree and right clicking the mou...

Page 74: ...port tab popup menu Items selected form this menu only apply to the active serial port tab Select All Selects all text in the text area of the active serial port tab Now using control C to copy and control V to paste a user can copy the glider output to another application Copy Copies selected text in the serial port tab to the system clipboard Note that Ctrl C is sent to the serial port device an...

Page 75: ...RE installed 6 1 Installing Glmpc Terminal For a first time install of Glmpc Terminal follow the steps in this section After the initial install Glmpc Terminal upgrades are automatically distributed after a Dock Server upgrade 1 Open a web browser and browse to the URL www webbResearch com where your Dock Server s fully qualified domain name would replace www webbResearch com NOTE It can take from...

Page 76: ...g 3 After a few seconds to a few minutes the following dialog should appear Click the Start button Figure 6 2 Web Start Security Warning Dialog 4 When the following dialog appears click the Yes button to add a Glmpc Terminal to your desktop or configure as you like Page 76 of 228 ...

Page 77: ...n 1 Double click the desktop icon labeled Glmpc Terminal or select the item labeled Glmpc Terminal from the All Programs menu Windows XP The Glmpc Terminal window should appear Figure 6 4 with a world map displayed NOTE Each time Glmpc Terminal is launched the Dock Server machine of the initial Glmpc Terminal install is checked for a new version of Glmpc Terminal If a new version is found it is in...

Page 78: ... useful when simultaneously interacting with several gliders possibly connected to different Dock Servers 6 3 Stopping Glmpc Terminal To stop Glmpc Terminal follow the steps in this section 1 Either select File Exit from a Glmpc Terminal s menu bar to close that particular terminal or click the window s close button in the upper right corner red with a white X to close all currently open Glmpc Ter...

Page 79: ...used to list Dock Servers loaded maps available gliders and previously saved routes iii Check boxes which customize the display by showing map grid lines bathymetry data if available selected glider surface positions and alternate formats for the map cursor position indicator iv Map cursor position indicator which displays the latitude longitude of the map position currently pointed to by the curs...

Page 80: ...aded into the Glmpc Terminal before they can be viewed Once loaded a map must be selected from the Map combo box for it to become displayed Maps can be loaded from the following sources i A central Webb Research Inc FTP site containing predefined maps ii The Dock Server machine from which Glmpc Terminal was installed Page 80 of 228 Menu bar item Combo box Check box Map cursor position indicator Ma...

Page 81: ...ned maps Maps can then be loaded from this site by selecting Maps Load map from Central FTP Site map name from the Glmpc Terminal s menu bar where any map name can be chosen from the list Maps can be loaded from the Dock Server machine from which Glmpc Terminal was installed by selecting Maps Load map from GMC FTP Site map name in the same way Maps can also be loaded from any user specified FTP si...

Page 82: ...m the Glmpc Terminal s menu bar A Select map directory dialog similar to that shown in Figure 6 7 will appear 2 Use the dialog to choose a map directory on the local file system Note that the map directory must contain a coordinates xml file and would usually contain an image JPG file showing the map to be displayed 3 Select the chosen map directory A warning dialog will result if the map director...

Page 83: ...the map image The map can then be loaded using the following steps 1 Select Maps Create Map from the Glmpc Terminal s menu bar A Select image file dialog similar to that shown in Figure 6 7 will appear 2 Use the dialog to choose the map s JPG file on the local file system Once selected a dialog requesting a unique name for the map will be displayed 3 Enter a name for the map e g new york harbor NY...

Page 84: ...d loaded The first approach explicitly entering coordinates requires the following steps 1 Select Maps Create Map no image file from the Glmpc Terminal s menu bar A dialog requesting a unique name for the map will be displayed 2 Enter a name for the map e g new york harbor NY and select OK This will result in two further dialogs similar to that shown in Figure 6 8 requesting the lower left and upp...

Page 85: ...e sure that the map to export is displayed and that the Glmpc Terminal is connected to the Dock Server to which the map is to be exported 2 Select Maps Export Map from the Glmpc Terminal s menu bar 3 After a brief delay a dialog will indicate whether the map has been successfully exported or not Note that other Glmpc Terminal users will have to connect or re connect to the Dock Server in order to ...

Page 86: ...minal just below the map cursor position indicator The displayed surface distance is removed on releasing the mouse button 6 6 Connecting to a Dock Server To interact with a glider the Glmpc Terminal must be connected to a Dock Server by indicating both the server name and port number the combination of which is referred to as a GMC site To connect to a Dock Server follow the steps in this section...

Page 87: ...ected server and port number Also the Glider combo box will be updated to list all gliders known to the Dock Server If the connection is not successful a warning dialog will appear The dialog in Figure 6 10 simply warns that connecting to the new GMC site will reset the list of gliders shown in the Glider combo box to those known by the newly connected Dock Server Also any monitoring of glider pos...

Page 88: ...fined waypoints will be connected by red lines with small arrow heads indicating the intended direction of traversal 4 Select Routes Save Route The Routes combo box will then be updated to list the newly defined route while any previous route can be displayed on the map by selecting that route from the combo box Note that some menu and combo box options are disabled during route creation to avoid ...

Page 89: ...ining the editable waypoint properties including the position or by mouse dragging a visible waypoint to update its position Other Routes menu options are as follows i Clear Route which clears but does not delete the currently selected route from being displayed ii Delete Route which deletes the currently selected route iii Execute Route described in the next section Page 89 of 228 ...

Page 90: ... script glmpc xml Note if the glider is communicating over a direct connection use script glmpc direct xml instead 2 Ensure that the glider has been selected using the Glider combo box 3 Select a route for the glider to follow using the Routes combo box 4 Select Routes Execute Route from the Glmpc Terminal s menu bar A Route traversal dialog will then appear shown in Figure 6 12 requesting the num...

Page 91: ... such surface positions are joined by arrowed lines with the most recent position showing the date and time at which it occurred Note that surface positions are only shown for the glider currently selected in the Glider combo box and will show when the glider transmits output of the following form which uses glider07 as an example and only shows the relevant lines Glider glider07 at surface Curr T...

Page 92: ... steps 1 Select Reports Set reported position start date A date picker dialog will then appear shown in Figure 6 13 enabling the user to select a date 2 Either select a date or simply close the dialog by selecting the top right X In both cases the date picker dialog closes Selecting a date will ensure that no glider surface positions earlier than that date will be displayed while selecting X resul...

Page 93: ...k Server when executing a route this enables Glmpc Terminal to instruct a glider to follow a route Glmpc Terminal does allow some flexibility in the files generated through use of the Missions menu bar item In particular the user can choose to define mission parameter values specify variations on the glmpc xml script or change the name of the goto_l10 ma file generated by Glmpc Terminal 6 9 1 Sett...

Page 94: ...l xml similar to glmpc xml but used to transfer all file types To automatically start the appropriate script when instructing a glider to follow a particular route use the following steps 1 Select Missions Specify script action A script action dialog will then appear similar to that shown in Figure 6 15 with radio buttons for each of the available scripts plus a radio button option to maintain wha...

Page 95: ...truct a glider to follow a particular route as long as the mission being run looked for the correct ma file and the ma file described the desired waypoints For this reason Glmpc Terminal allows variations on the ma file name generated when executing a route as long as the name takes the form goto_l N ma where N is as integer To change the ma file name generated by Glmpc Terminal use the following ...

Page 96: ... select Routes Import Route ma format A Select dialog similar to that shown in Figure 6 7 will appear allowing selection of a previously saved route file On selecting the file a dialog similar to that shown in Figure 6 16 will appear requesting a previously unused route name If the name is accepted the newly imported route will then be displayed on the map and selected in the route combo box Figur...

Page 97: ...tions kml format This will display a Save dialog similar to that shown in Figure 6 7 3 Choose a directory and file for storing the glider positions where the file name must end with kml and select Save When Google Earth is opened using the resulting KML file the glider s positions will be displayed and stored as placemarks in a folder using the chosen file name under Temporary Places Selecting a p...

Page 98: ... longitude as direction degrees minutes and seconds For example N 41 15 39 W 70 21 29 6 12 Audio Alarms Glmpc Terminal provides similar audio alarms to Glider Terminal see section 4 9 although the events at which alarms are sounded currently only include when a glider surfaces while Glmpc Terminal is running Default sounds are the same as those used by Glider Terminal and are configured in the sam...

Page 99: ...based on standard algorithms iii Makes data available for viewing by network connected clients The Data Server can only subscribe to Dock Servers that are currently running Consequently for a Data Server to access a Dock Server s data the Dock Server must be running when the Data Server is started By default the Data Server automatically subscribes to the Dock Server running on the same machine al...

Page 100: ...ver application remotely complete the following steps 1 Log on to the Data Server machine as user localuser The factory delivered password for this account is WideOpen see Appendix D 2 Go to directory opt localuser bin 3 Type start dataserver followed by the the enter key 7 2 Checking that Data Server is Running To check that the Data Server application is running complete the following steps 1 Lo...

Page 101: ...s user localuser The factory delivered password for this account is WideOpen see Appendix D 2 Go to directory opt localuser bin 3 Type see dataserver followed by the the enter key 7 3 Stopping Data Server To stop the Data Server application while leaving the machine running complete the following steps 1 Log on to the Data Server machine as user localuser The factory delivered password for this ac...

Page 102: ...ssword for this account is WideOpen see Appendix D 2 Double click the desktop icon labeled inspect dataserver A shell window opens that shows the Data Server application s data log file and any additions made to it in real time This function uses the less utility to view the log file You may use any of its commands to view other parts of the log file Figure 7 3 shows the results of using inspect d...

Page 103: ...6 2 206 If no gliders are specified then data from all available gliders on the specified Dock Servers is stored Also if no Dock Server is specified then data from any Dock Server running on the same machine as the Data Server is stored Restarting Data Server with this configuration will ensure that only data from the specified Dock Servers and gliders is stored which is useful if the total data s...

Page 104: ...alled on the Data Server machine and never removes the original data files from Dock Server However a user may wish to copy or back up the database to another machine To copy the Data Server database complete the following steps 1 Log on to the Data Server machine as user root The factory delivered password for this account is WideOpen see Appendix D 2 Go to directory opt gmc out of band tools bin...

Page 105: ...the Data Server machine as user root The factory delivered password for this account is WideOpen see Appendix D 2 Go to directory opt gmc out of band tools bin 3 Type gmc db restore followed by the number N and the enter key This replaces the database currently being used by Data Server with the database stored in gmc mysql backup N tgz so care should be taken if the current Data Server database h...

Page 106: ...on the link labeled Click here to install and run Data Visualizer 8 2 Starting Data Visualizer To launch Data Visualizer after an initial install follow the steps in this section 1 Double click the desktop icon labeled Data Visualizer or select the item labeled Data Visualizer from the All Programs menu Windows XP The Data Visualizer window should appear Figure 8 1 NOTE Each time Data Visualizer i...

Page 107: ...ta Visualizer To stop Data Visualizer follow the steps in this section 1 Select File Exit from Data Visualizer s menu bar or click the window s close button in the upper right corner red with a white X The Data Visualizer window will close Page 107 of 228 Menu bar item Combo box ...

Page 108: ...efine displayed axis iii Mouse right clicking which can be used to print zoom in and out and save the display iv Mouse left clicking which can be used to rubber band regions of data for zoom in To view stored data the Data Visualizer must be connected to a Data Server by indicating the server name If not already connected this can be achieved using the following steps 1 Select Server Add Data Serv...

Page 109: ...umber Also the Glider combo box will be updated to list all gliders known to the Data Server If the connection is not successful a warning dialog will appear The dialog in Figure 8 3 simply warns that connecting to the new Data Server will reset the list of gliders shown in the Glider combo box to those known by the newly connected Data Server The Data Visualizer can only be connected to one Data ...

Page 110: ... for which the glider has data as stored by the connected Data Server However since the number of sensors can be large the list displayed by the combo box can be filtered using the Sensors menu option Only those senors prepended with names checked in the Sensors menu list will appear in the Y Sensor combo box For example if the Sensors menu has only m_ checked then only sensor names such as m_air_...

Page 111: ...y left mouse clicking and rubber banding across the required x axis span Note that each time data is re displayed the data is fetched anew from the Data Server so some delay may result for large data sets Other zoom features as well as printing and saving the graph are available by right mouse clicking on the graph Finally any number of sensors can be displayed simultaneously since each Y Sensor s...

Page 112: ...n of y axis sensors such as m_air_fill m_battery inter_depth Since users may want to display the same combination of the above on a regular basis they can define and name a plot using the following steps 1 Select and display the required glider x axis y axis combination using the combo boxes 2 Select Plots Save Plot from the Data Visualizer s menu bar A New plot dialog similar to that shown in Fig...

Page 113: ...ensor will be displayed However a user may only be interested in data between certain dates e g covering a particular mission period without having to continually zoom in To help with this displayed data can be filtered by date in the same way that Glmpc terminal filters displayed glider surface positions by date To set the earliest recorded day for which sensor data is displayed use the following...

Page 114: ...st constraint on displayed positions An alternative method for constraining displayed data is to select the original files sbd dbd etc from which the currently displayed data was read To see the original files for any displayed data use the following steps 1 Select Dates Select data files A scrollable list of files will then appear similar to that shown in shown in Figure 8 7 Figure 8 7 Dialog for...

Page 115: ...sible and in step with any displayed data until Cancel is selected 8 6 Manually Transferring glider data to Data Server Glider data is typically transferred i e copied automatically to Data Server from a connected Dock Server as specified by the dataServerState xml configuration file see Section 7 5 However the ability to manually transfer glider data from some client to a Data Server without refe...

Page 116: ...will appear The dialog reports on the total number of glider data files currently being synchronized i e parsed and stored by Data Server including those in the original Select files to transfer dialog Note that glider data files are never removed from Dock Server during synchronization and closing the progress dialog does not terminate synchronization 6 To see any new gliders resulting from the t...

Page 117: ...ord dockserveruser This section describes the use of GMC FTP 9 1 Installing GMC FTP For a first time install of GMC FTP follow the steps in this section After the initial install GMC FTP upgrades are automatically distributed after a Dock Server upgrade 1 Open a web browser and browse to the URL www webbResearch com where your Dock Server s fully qualified domain name would replace www webbResearc...

Page 118: ...g 3 After a few seconds to a few minutes the following dialog should appear Click the Start button Figure 9 2 Web Start Security Warning Dialog 4 When the following dialog appears click the Yes button to add GMC FTP to your desktop or configure as you like Page 118 of 228 ...

Page 119: ...e 9 3 Web Start Desktop Integration Dialog Once added to your desktop the GMC FTP application launches and its main window appears Figure 9 4 Figure 9 4 GMC FTP Main Window Page 119 of 228 Local directory browser FTP connection tab ...

Page 120: ... Figure 9 1 A new version of GMC FTP is placed on the Dock Server machine each time the Dock Server application is upgraded 9 3 Stopping GMC FTP To stop GMC FTP follow the steps in this section 1 Click the GMC FTP window s close button in the upper right corner red with a white X The GMC FTP window will close 9 4 Transferring Glider Files from the Dock Server Machine To transfer glider files from ...

Page 121: ...s transferred files to their long filename 4 Drill down to show the contents of the destination folder in the local file browser left hand pane of GMC FTP s window by double clicking on the appropriate folder s 5 Select the glider files to transfer in the Dock Server file browser and click the Download button at the bottom of the browser A transfer dialog appears and the selected files are copied ...

Page 122: ...d sim012 files from the Dock Server machine to the local folder GliderData Page 122 of 228 Local machine s destination folder Dock Server machine s source folder Selected files to copy to the destination folder Download button copies files to local machine ...

Page 123: ...lder Its contents are displayed in the left hand file browser 2 Select the item labeled GMC followed by your Dock Server machine name in the Look in pull down on the Dock Server file browser right hand pane of GMC FTP s window Figure 9 5 shows the GMC FTP application connecting to the Dock Server named expose 3 Drill down to show the contents of the destination glider s to glider folder in the Doc...

Page 124: ... the destination folder and two selected files on the local machine to transfer Figure 9 10 Two files selected for upload from the local machine s GliderMissions folder to sim012 s to glider folder 9 6 Transferring Glider Files with other FTP Clients Any file transfer method can be used to move files between the Dock Server machine and any other machine The GMC FTP application is a bare bones FTP ...

Page 125: ...TP applications that provide a host of features beyond those of GMC FTP When using another FTP client login as user dockserveruser and password dockserveruser This Dock Server user account has been set up specifically for FTP transfers Page 125 of 228 ...

Page 126: ...rsistor The following sections describe connecting glider simulators to Dock Server s hardware and the important behavior differences between simulators and actual gliders from a Dock Server viewpoint 10 1 Pocket Glider Simulators 10 1 1 Connecting to Dock Server Hardware Pocket glider simulators can be connected to Dock Server hardware by direct serial cable To connect a pocket simulator to a Doc...

Page 127: ...1 A pocket glider simulator does not support the serial port s carrier detect line CD That is a simulator does not bring the CD high when it s in communication with Dock Server and low when it s under water Typically Dock Server monitors the CD to determine when a glider is connected CD High or not CD low Since pocket simulators do not support CD a new device type labeled direct was created Dock S...

Page 128: ...2 port labeled Glider Comms on the simulator and the other end to a Dock Server machine serial port NOTE For shoebox simulators directly connected by serial cable to the Dock Server machine i e no freewave or Iridium involved a serial port configured as a direct device must be used Serial port 4 on the 4 port USB serial adaptor is factory configured as a direct device Refer to section 2 6 to chang...

Page 129: ...m Iridium to the Dock Server machine a serial port configured as a modem device must be used The Dock Server s internal serial port is factory configured as a modem device If the Dock Server machine has no internal serial port then serial port 1 on the 4 port USB serial adaptor is factory configured as a modem device Refer to section 2 6 to change the factory delivered serial port configuration 2 ...

Page 130: ...or out of freewave range The user can NOT send commands to the glider Green Glider Terminal is in communication with Dock Server and Dock Server is in communication with the corresponding glider Green indicates the glider is currently connected to Dock Server by iridium or freewave The user can send commands to the glider and view glider output Yellow The network connection that transports the cor...

Page 131: ...utput from Dock Server to Glider Terminal That is the Glider Terminal to Dock Server network connection is up to Green For devices that support the Carrier Detect line i e modem and freewave a transition from low to high on this line triggers a change to green This transition causes Dock Server to send a glider has connected network packet to all connected Glider Terminals In response Glider Termi...

Page 132: ...ion is opened icon will turn red or green 11 2 When Does a Dock Server Icon turn Red or Green Glider Terminal displays a colored icon to the left of each Dock Server shown in the glider tree The icon s color indicates the communication state of its corresponding Dock Server Table 11 3 details these states Icon Color Meaning Red The network connection between Glider Terminal and the corresponding D...

Page 133: ...nect about once a minute until the connection is opened icon will turn green 11 3 How do Iridium Freewave and Direct Communications Differ Gliders and glider simulators communicate with Dock Server by modem Iridium freewave and direct serial cable connection Since these three methods have different characteristics Dock Server must treat them differently Each of these methods is characterized as a ...

Page 134: ...k Server uses the inter character delay approach to solve this overrun issue For modem Iridium devices this issue does not occur due to the inherent low baud rates Typically Dock Server monitors the Carrier Detect CD line to determine when a glider is initiating and terminating communication When the CD line transitions low to high Dock Server assumes a glider is initiating communication and notif...

Page 135: ... the time Dock Server sends it In this case Dock Server continues to treat the glider as the glider unknown and to monitor its output for its real name Users may interact with this unknown glider by opening its glider tab and treating it as they would any other glider It is strongly recommended that the only user interaction with an unknown glider be to identify the glider to Dock Server That is w...

Page 136: ... from this account i e launch dockserver kill dockserver see dockserver and inspect dockserver Glider Terminal can be run locally from this account using the start glider terminal script root Dock Server upgrades are run from this account Table 11 5 Dock Server machine User Accounts Page 136 of 228 ...

Page 137: ...al Iridium connections transfered data between the Iridium Gateway and the Dock Server over the PSTN Public Switched Telephone Network i e over regular telephone lines These are the dashed lines shown in Figure 12 1 This requires a Modem at the Dock Server premises to answer the phone and deliver data to the Dock Server over an RS 232 serial connection represented by the dash double dotted line in...

Page 138: ...rs in the fleet can dial the same Iridium RUDICS number and be simultaneously connected to the same Dock Server All Iridium Gliders both PSTN and RUDICS appear the same to the Dock Server users The Iridium RUDICS gliders appear to be connected on virtual serial port net N and are treated the same as any other Glider in all the GMC applications Glider Terminal GLMPC Terminal Data Visualizer and any...

Page 139: ...one Company s central office and the length of internal phone wiring In general with a modern T1 connection to the Internet and a reliable ISP the Internet should deliver data much more reliably than the PSTN The modem required for the PSTN is a huge source of errors and disconnects 12 2 2 Data Rate PSTN RUDICS equivalent Probably not a lot different The data path from the Glider to Iridium Gatewa...

Page 140: ...Internet Making this IP port available to the Internet while securing the Dock Server and the rest of the internal network can present administrative and or technical difficulties The skill availability and attention span of the local Internet TCP IP Network Administrator IT Guru will have a large impact on the initial setup experience The process of establishing an Iridium RUDICS account takes lo...

Page 141: ...n of phone lines 12 2 7 Recurring Cost RUDICS superior Your mileage may vary depending on your Iridium Provider The cost for the Iridium air time is the dominant recurring cost factor In general RUDICS air time costs less than PSTN air time PSTN connections sometimes require an additional per minute charge to the PSTN vendor e g Verizon ATT The fixed monthly charges to the Iridium Provider probabl...

Page 142: ...owing trouble shooting Procedures it makes it easy to substitute your information for what is shown in the examples 12 3 1 1 Public RUDICS IP Number You must determine the Public IP number and if applicable the Private IP number of RUDICS Dock Server Refer to Section 12 5 CONFIGURATION Network Firewall and Operating System and consult with your Network Administrator If you change the RUDICS Public...

Page 143: ...bleshooting before you open the RUDICS account 12 3 1 3 Glider Authentication Gliders connecting to a Dock Server via Iridium RUDICS may optionally be required to authenticate before being allowed access to the Dock Server Unless there are overwhelming reasons to require Glider Authentication it is recommended to NOT use this capability It is difficult enough to communicate with an at sea Glider w...

Page 144: ...d provider i The Public RUDICS IP Number ii The RUDICS IP Port Number iii After some period of time the Iridium RUDICS Service Provider will give you i A number to dial This will be placed in a Glider configuration file All Gliders in your fleet can dial the same number ii SIM card s that will be installed in the Glider This process may take 2 4 weeks depending on the provider Plan Accordingly If ...

Page 145: ... CONFIGURATION Glider using the Iridium number to dial and SIM card that was supplied by the Iridium RUDICS Service Provider in Section 12 3 2 Test the configuration as described in Section 12 8 Initial Checkout and Troubleshooting 12 4 Glider GLMPC Terminal Usage Gliders connecting to the Dock Server via Iridium RUDICS appear the same as a Glider connecting via Freewave or the traditional Iridium...

Page 146: ... rate data bits or stop bits they are always listed as 0 The output bit indicators from the Dock Server DTR RTS should always be green The input bit indicators to the Dock Server CD CTS DSR RI will always be the same color and collectively indicate when a Glider is connected via Iridium RUDICS i GREEN A Glider is connected on this virtual serial port ii RED A Glider is NOT connected on this virtua...

Page 147: ...ection will describe at a high conceptual level the requirements for supporting Iridium RUDICS connections and provide detailed network diagrams for a select few topologies While this section is focused on Iridium RUDICS connections it should be noted that these techniques may also be utilized in securely allowing external Glider Terminal users access to a Dock Server on a private network Three to...

Page 148: ...ounts to the Dock Server 12 5 1 Example Names and IP Numbers The table below documents the fictitious network used in this section What s used in examples comments Domain name yourdomain com Dock Server hostname dockserver dockserver yourdomain com Public Dock Server RUDICS IP Number 140 186 63 239 dockserver yourdomain com resolves in DNS to this from the Internet See Section 12 3 1 1 Public RUDI...

Page 149: ...dium com The name of the computer that will be connecting to the Dock Server via telnet dockserver yourdomain com 6565 Iridium s computer s IP Number 68 178 254 188 This is accurate as of this writing It s believed that all the Iridium RUDICS connections are NATed to from this address but that could change in the future 12 5 2 Typical Topology NATed behind a Firewall The figure below shows the dat...

Page 150: ...63 239 or 10 20 30 40 Which you have to type depends on where your computer is connected This is optional You can always type the dotted quad IP address 4 Configure the firewall built into the Dock Server operating system to PERMIT access to port 6565 This firewall is disabled by default making the task optional See Section 12 5 6 Configuring the Operating System Firewall 12 5 2 1 Configuring NAT ...

Page 151: ...affic to approved ports or from approved IP addresses The Firewall must be configured to allow inbound packets to dockserver yourdomain com on port 6565 to pass through the Firewall The exact nature of the Firewall rules will vary depending on the relative order of the Firewall and NAT The following two rules will cover both cases Source IP Destination IP PORT ACTION any 140 186 63 239 6565 ALLOW ...

Page 152: ...le Topology Directly connected to the Internet The figure below shows data flow in a fictitious network Figure 12 5 3 Simple Topology Directly connected to the Internet This topology requires i The network interface of the Dock Server be configured for 140 186 63 239 with appropriate network mask default gateway and nameserver IP numbers A dynamic DHCP setting is NOT acceptable See Section 1 2 Con...

Page 153: ...r of the possibility of this topology It describes the topology in general and makes no attempt to document the step by step procedure for implementation The general approach i There is a proxy computer on the Internet 140 186 63 239 whose IP address was given to Iridium The Glider makes connection via telnet to this computer There should be minimal services running on this computer ii The proxy c...

Page 154: ... is disabled by default under the presumption that the Dock Server is deployed on a secure network If enabled it must be configured to accept packets on the following ports Port Number Service Name Why 21 FTP Transfer data from Glider Data to from Dock Server and Users 22 SSH Remote management via gmc out of band tools 80 WWW Web Launch Glider GLMPC Terminal Observe Dock Server status from a web b...

Page 155: ...deOpen on dockserver yourdomain com via the command line from a remote client you client ssh root dockserver yourdomain com useradd c A Glider slocum root dockserver yourdomain com s password you client ssh root dockserver yourdomain com passwd slocum root dockserver yourdomain com s password New UNIX password WideOpen Retype new UNIX password WideOpen Changing password for user slocum passwd all ...

Page 156: ...on the Dock Server etc opt gmc dockserver conf This is a pure ASCII text file with the configuration information expressed in XML The configuration file is only read by the Dock Server Application when it initially starts You must restart the Dock Server for any changes dockserver conf to take effect This configuration only applies to glider authentication when connecting by RUDICS Refer to sectio...

Page 157: ...uration 1 Make the necessary changes to etc opt gmc dockserver conf using the ASCII text editor of your choice 2 Restart the Dock Server Application The restart can be done on the Dock Server GUI screen as described in Section 2 3 Stopping the Dock Server and Section 2 2 Starting the Dock Server OR The restart can be done from a command line interface using gmc out of band tools from a shell windo...

Page 158: ...ion Glider To configure the Glider you require i The SIM card received from Iridium RUDICS Service Provider See Section 12 3 2 Open account with Iridium RUDICS Service Provider ii The number to dial received from Iridium RUDICS Service Provider See Section 12 3 2 Open account with Iridium RUDICS Service Provider iii IF the Glider is required to authenticate you will require the username password f...

Page 159: ... longterm c_iridium_phone_num ii Edit the Glider file config autoexec mi THIS METHOD IS BEST It leaves an obvious trail for the configuration change The relevant snippet of an autoexec mi file is shown below The numbers in BOLD need to be altered PUT THE DESIRED PHONE NUMBER FOR IRIDIUM TO CALL HERE For a commercial card 001508XXXXXXX Example sensor c_iridium_phone_num digits 15085482446 For a mil...

Page 160: ...efault loginexp 0 that is shipped with the Glider has a commented out script designed to handle local username password PAM authentication with Glider Username slocum Password WideOpen The latest shipping version of loginexp 0 is available at ftp ftp glider webbresearch com glider windoze production target glider electric 200 config loginexp 0 The relevant snippet of loginexp 0 is shown below The ...

Page 161: ...AGE AND WRITE IN THE NAMES AND NUMBERS FOR YOUR INSTALLATION This piece of paper can be used as the documentation for your network It can be given to your network administrator or sent to glidersupport WebbResearch com When following trouble shooting Procedures it makes it easy to substitute your information for what is shown in the examples What s used in examples comments Domain name yourdomain ...

Page 162: ...5 See Section 12 3 2 Open account with Iridium RUDICS Service Provider 12 8 2 Configuration Testing Tools As the Dock Server is deployed on a linux platform there are multiple ways to effect a desired change or action 1 Mousing on the Dock Server GUI with the Dock Server s own mouse screen 2 Mousing on a remote computer in a exported Dock Server GUI e g via vnc 3 Typing to a Shell with a command l...

Page 163: ... that you encounter will involve misconfigured networking components name servers NAT routing issues and particularly Firewall issues It s important that one proceeds step by step and confirm the proper operation of each component before proceeding to next component The Iridium RUDICS system simply delivers characters to and from the Glider to a TCP IP socket on the Dock Server You strongest debug...

Page 164: ...uted on a computer on your private network which is configured as described in Section 12 5 2 Typical Topology NATed behind a Firewall 12 8 4 1 Confirm your network connectivity Who is my default gateway you client sbin route n Kernel IP routing table Destination Gateway Genmask Flags Metric Ref Use Iface 192 168 122 0 0 0 0 0 255 255 255 0 U 0 0 0 virbr0 10 20 30 0 0 0 0 0 255 255 255 0 U 0 0 0 e...

Page 165: ... from 10 20 31 2 icmp_seq 2 ttl 64 time 0 600 ms 64 bytes from 10 20 31 2 icmp_seq 3 ttl 64 time 1 00 ms 10 20 31 2 ping statistics 3 packets transmitted 3 received 0 packet loss time 2000ms rtt min avg max mdev 0 600 0 850 1 001 0 178 ms If you can t ping the NameServer consult Network Administrator NameServer configured properly host dockserver yourdomain com dockserver yourdomain com has addres...

Page 166: ...er Ethernet cable plugged in ii Is Dock Server powered on and running iii See Section 1 2 Configuring Dock Server for the Network iv Consult the Network Administrator What is Dock Server s default gateway It should probably be the same as yours you client ssh localuser dockserver yourdomain com sbin route n localuser dockserver yourdomain com s password Kernel IP routing table Destination Gateway ...

Page 167: ... ttl 64 time 1 12 ms 64 bytes from 10 20 31 2 icmp_seq 1 ttl 64 time 1 41 ms 64 bytes from 10 20 31 2 icmp_seq 2 ttl 64 time 0 881 ms 10 20 31 2 ping statistics 3 packets transmitted 3 received 0 packet loss time 2002ms rtt min avg max mdev 0 881 1 139 1 415 0 220 ms pipe 2 i You have right IP number for NameServer ii See Section 1 2 Configuring Dock Server for the Network iii Consult the Network ...

Page 168: ...Revision 7 10 2 28 2012 12 8 4 4 Confirm GliderTerminal operation on dockserver yourdomain com Launch a web browser and open URL dockserver yourdomain com Page 168 of 228 ...

Page 169: ...t 6564 No net 0 tabs show See Section 12 6 CONFIGURATION Dock Server Application Monitor the Dock Server log file In a separate command line window or see Section 2 4 Monitoring Dock Server while it s Running you client ssh localuser dockserver yourdomain com tail f var log gmc console log localuser dockserver yourdomain com s password 20080817T184440 you client yourdomain com Glider Terminal 1218...

Page 170: ...in both the log window and in Glider Terminal 20080818T122209 DockServer received DETECTION event for glider unknown on channel net 0 network multiple 20080818T122209 Glider link unknown network net 0 initialized 20080818T122209 Glider unknown Connection Event on channel net 0 network multiple 20080818T122409 NetworkSerialServer networkConnect to net 0 DataAvailableMonitorThread DataAvailableMonit...

Page 171: ...the Dock Server doesn t know which glider is connected If one switched to Glider Perspective all the previously typed characters should show up under the Unknown Glider tab If you type the magic string used to identify a glider in the telnet window Vehicle Name slocum The Dock Server now thinks you are the Glider named slocum There should be evidence in the log window 20080818T124739 Glider link s...

Page 172: ... Python interpreter on the shipped Dock Server is too old to run the required glider simulated on network you client ssh localuser dockserver yourdomain com python V localuser dockserver yourdomain com s password Python 2 3 4 This may have changed since this manual was written Until it does glider simulated on network can t be executed on the Dock Server itself If you execute glider simulated on n...

Page 173: ...er named slocum flying southwest at 1 knot in Ashumet Pond Falmouth MA USA that makes a RUDICS connection to dockserver yourdomain com You will watch it s progress on a map using GLMPC Terminal Slocum will surface every 15 seconds and stay connected for a random amount of time NOTE The simulated glider is very stupid You can t send commands or interact with it in any way It merely surfaces reports...

Page 174: ... Glider slocum End of connection time Disconnecting Launch a GLMPC Terminal Connect to dockserver yourdomain com Load the ashumet MA map Select the glider slocum You should see something similar to Figure 12 8 5 Testing with Simulated Glider You can also monitor the Glider using Glider Terminal or by monitoring the Dock Server log files as usual Page 174 of 228 ...

Page 175: ... Dock Server and the Iridium RUDICS communications via the other Dock Server from the same GliderTerminal Establish Communication over Freewave Put the Glider in lab_mode GliderDos I 3 lab_mode on GliderLAB I 3 In Freewave tab you should see the Glider dialing 476 09 12 Iridium has been powered on for 4 2 secs 476 12 Waking up Iridium sending ATE1 480 29 13 Iridium driver received ATE1 0D 0D 480 3...

Page 176: ...4 741 secs ago sensor m_leakdetect_voltage volts 2 5 4 711 secs ago 519 32 No login script found for processing Exercise the Glider over Iridium RUDICS i Type some GliderDos commands dir config ii Have the Glider call you back callback 1 iii Send files from Glider to Dock Server send f irid num 1 sbd iv Send files from Dock Server to Glider dockzr tiny txt v Run some missions run status mi The f i...

Page 177: ... EXTENDS SerialPort CLASS gnu io RXTXCommDriver IMPLEMENTS javax comm CommDriver JAR usr lib java RXTXcomm jar RPM RXTXcomm 2 0 7pre1 1jpp CLASS com webbResearch gmc DynamicallySwitchedOutputStream IMPLEMENTS java io OutputStream CLASS com webbResearch gmc DynamicallySwitchedInputStream IMPLEMENTS java io InputStream dev ttyS0 Kernel Serial Port RS 232 Driver CLASS java net Socket Kernel Networkin...

Page 178: ...il system logs also provide a perspective on Dock Server behavior Subsequent sections detail the location and content of these log files and how to view them A 1 Master Log File console log This section explains the contents of the master Dock Server log file console log stored in var log gmc The script inspect dockserver displays this file s contents see section 2 4 When checking the status of Do...

Page 179: ...60901T194640 glider 6 24 ALPHA_20060901_191924 2006 09 01 19 19 24 20060901T194640 20060901T194640 Last Fix Enhancement New glider detection method glider name no longer in persistent store 20060901T194640 When Dock Server starts up it restores the state of all Dock Server scripts associated with managed gliders Each time a script s status changes Dock Server saves the change in a file gliderState...

Page 180: ...ample this Dock Server is managing three serial ports dev ttyG0_13 dev ttyG0_14 and dev ttyG0_15 In addition Dock Server will treat port 14 as if it is directly connected to a glider or glider simulator and ports 13 and 15 as if freewaves are connected Refer to section 11 3 for how Dock Server treats these devices differently 20060901T194640 Dockserver listening to glider detector on channel dev t...

Page 181: ... Server and disconnects from Dock Server Respectively these two events cause the glider icon in Glider Terminal to turn green and red provided network connectivity is good In addition this section shows the log entries for a glider redirect event This event occurs when Dock Server detects that a communicating glider is not the glider Dock Server assumed The following log portion illustrates two gl...

Page 182: ...epresents Dock Server identifying the unknown glider as glider sim012 The last three entries show Dock Server disconnecting the glider unknown on port G0_15 and connecting the glider sim012 on that same port In Glider Terminal this redirect causes the unknown glider s icon to turn red and sim012 s icon to turn green 20060831T182450 DockServer received DETECTION event for glider unknown on channel ...

Page 183: ...ver initiating the transfer of files from glider sim012 to the Dock Server on serial port ttyG0_15 over a freewave device The undated lines are output from the commercial zmodem package used by Dock Server and detail the zmodem settings in effect for the upcoming file transfer 20060831T185112 Initiating zModem transfer from link sim012 freewave dev ttyG0_15 to Dock Server Solutions Consulting ZMod...

Page 184: ... sent received 6144 20060831T185123 Total Bytes sent received 6257 c in rzFile is 11 Exec ing command touch m d 2006 08 31 18 26 08 0000 var opt gmc gliders sim012 from glider 02290009 sbd to set mtime of file received from glider stdout stderr c in rzFiles is 11 20060831T185123 zModem transfer DONE for file 02290009 sbd RcvTask returns Once all files have been transferred Dock Server logs the ter...

Page 185: ...command sent That is run the factory script glmpc xml on the glider sim012 The third entry specifies that execution of glmpc xml started with the state labeled sendzModem 20060831T184725 ziggy 172 16 3 29 Glider Terminal 1157048855343 sends script command to glider sim012 20060831T184725 Script opt gmc factory scripts glmpc xml on glider sim012 is RUNNING 20060831T184725 Started script opt gmc fac...

Page 186: ... log gmc the current directory cd shell command and then entering less or gedit followed by the filename in a shell window These daily log files are basically the master log file s content refer to section A 1 divided by days The one important content difference between the master log and the daily log files concerns Dock Server debug status information that Webb Research uses to monitor Dock Serv...

Page 187: ...2 secs ago GPS Location 4136 767 N 7028 962 E measured 3 244 secs ago sensor m_battery volts 13 123 61 754 secs ago sensor m_vacuum inHg 6 49999999999999 61 789 secs ago sensor m_leakdetect_voltage volts 2 5 61 759 secs ago devices t m s errs 0 0 0 warn 0 0 0 odd 0 0 0 ABORT HISTORY total since reset 0 Hit Control R to RESUME the mission i e dive Hit Control C to END the mission i e GliderDos Hit ...

Page 188: ...lider attached ctd to idle Waiting for motors idle Enabling hardware handshake on output START B00000000000000 Š607 61 restore_sensors Restored c_science_on from 0 to 1 607 63 restore_sensors Restored c_iridium_on from 0 to 0 Restored c_profile_on from 1 to 1 Restored c_gps_on from 1 to 1 Restored c_argos_on from 1 to 1 Restored c_att_time from 1 to 1 Restored c_pressure_time from 1 to 0 Restored ...

Page 189: ...t Control R to RESUME the mission i e dive Hit Control C to END the mission i e GliderDos Hit Control E to extend surface time by 5 minutes Hit Control W to get device warning reports Hit Control F to re read MAFILES Hit S f rf irid num n t s filespec to send log files Hit GliderDos cmd to execute GliderDos cmd Hit C to consci to science computer Water Velocity Calculations waiting for final gps f...

Page 190: ...it C to consci to science computer Water Velocity Calculations waiting for final gps fix ideally 22 secs Waypoint 4136 7696 7028 9610 Range 4m Bearing 18deg Age 1 1h m Drifting toward outer watch circle centered on waypoint Now 4 4 meters from middle will dive at 100 0 meters Time until diving is 4222 secs estimated R656 33 11 behavior surface_2 User typed Control R resuming I heard a Control R RE...

Page 191: ...ll data received over that serial port across all Dock Server runs Every time Dock Server is started it appends new serial port data to the end of that port s log file All serial port log files reside in var opt gmc serialPorts A port s log filename is the port s device name followed by the extension log For example serial port device dev ttyUSB0 s log filename is ttyUSB0 log Serial port logging i...

Page 192: ...the changes to take effect Serial port log files can be viewed by making var opt gmc serialPorts the current directory cd shell command and then entering less or gedit followed by the filename in the shell window A 5 Email System Log File Dock Server uses an email client provided with the OS to send glider event notifications This email service logs its status in the file maillog located in var lo...

Page 193: ...and replace with desired filename Note this script expects this MA file to be in the glider s to glider folder on the Dock Server machine Note This script only works with device types that support Carrier Detect i e freewave wireless data transceivers and iridium modems This script is a good place to start when authoring a custom script that transfers files between a glider in the water and the Do...

Page 194: ...h being in a mission the mission and sequence will be aborted The supersci app file must be in the glider s to glider directory before starting this script IMPORTANT NOTE Once consci is run from PicoDos the only exit is via dropping the CD signal on the console serial port This cannot be accomplished yet by Dock Server Therefore this script leaves the Glider stuck in consci The operator will need ...

Page 195: ...lmpc direct all xml should be used when the device type is direct NOTE Since the GLMPC created waypoint file can be renamed glmpc scripts transfer all files in the to glider directory to the glider when it surfaces to ensure that any new waypoint files are transferred Consequently the user should be aware that any other files placed in the to glider directory on the Dock Server machine will also b...

Page 196: ...endix H Java 1 4 2 Regular Expression Syntax This expression is continuously matched against glider output If a match is found the condition becomes true As long as no match is found the condition is false When a transition s condition becomes true its action is performed For Dock Server scripts a transition s action is to send a given command to a glider Thus when a transition s condition is true...

Page 197: ...se points 1 All of a script s states are nested within the gliderScript element 2 All scripts must have an initial state and a final state These states are coded using the initialState and finalState elements When a script is run it begins with the initial state When the final state is reached the script stops 3 All states must have a name attribute that uniquely identifies the state For example t...

Page 198: ...ate s transitions are tested The destination state is coded as the value of the toState attribute For example assume the current state is the initialState state and that the glider just output the characters Hit Control R to RESUME These characters cause the condition of initialState s only transition to become true The script stops testing initialState s conditions and starts testing the conditio...

Page 199: ...er Terminal s Add Script Dialog Dock Server substitutes these arguments for parameters found in the script at the time the script is added to the glider s script queue Parameters are specified using the n or n syntax where n is the position of the corresponding argument on the command line For example suppose the user adds a script filesToDock xml to the queue and enters the following command line...

Page 200: ...ckserver scriptInsert Text appearing here shows up in the Glider Terminal output pane Same for text here And the same for text here scriptInsert dockserver 8 The Dock Server application executes a script in the following manner 1 When run a script s initialState is made the current state and any available glider output is placed in a match buffer 2 If the current state is the finalState the script...

Page 201: ...es are taken from the following complete script xml version 1 0 encoding UTF 8 Date Author Comments Nov 30 2004 trout r comcast net Created Dec 18 2004 trout r comcast net Add responding to commands that do not verify Dec 21 2004 trout r comcast net Fixed Iridium double surface dialog burst where two s sbd are sent in response to two RESUME triggers Used during a mission to transfer sbd files to t...

Page 202: ... seen from the glider then the command is verified Transition to wait for the zmodem file transfer to complete transition matchExpression s sbd toState waitForTransfer transition transitions state Wait for the file transfer to complete either successfully or not state name waitForTransfer transitions If a surface dialog is seen then the glider has not started a file transfer even though it echoed ...

Page 203: ...n for 10 minutes then assume the glider has dove Transition to send the s command upon the next surface event transition timeout 10 toState sendzModem transition transitions state This state verifies that the mission has resumed This verification keeps the script from prematurely sending an s command before the glider actually dives sometimes a surface dialog is seen after the R is sent Ideally th...

Page 204: ...t be verified one way or the other within 10 minutes then assume the glider has dove and transition to send the s command upon the next surfacing transition timeout 10 toState sendzModem transition transitions state finalState name final completionCode 0 completionMessage All OK finalState gliderScript Page 204 of 228 ...

Page 205: ...s voice number fax email address Installed OS Hardware Information computer model HP Laptop NC6120 WRC PO for computer 06450 Part Number PZ718UA ABA Serial Number CNU5520Q21 Installation kickstart 2006 03 14 moose DinkumSoftware com laptop HP nc6120 sxgaplus ks cfg postinstall 2006 03 14 moose DinkumSoftware com dockserver fc3 pi sh dockserver 2006 03 14 moose DinkumSoftware com ftp ftp glider din...

Page 206: ...Revision 7 10 2 28 2012 IP 172 16 60 30 netmask 255 255 0 0 default gateway 172 16 63 225 DNS 172 16 63 233 172 16 63 251 Customer hostname IP netmask default gateway DNS Page 206 of 228 ...

Page 207: ...from Scratch Each Dock Server machine is delivered with the CentOS and the Dock Server application installed This appendix details what Webb Research does to install the CentOS and the Dock Server application on a laptop computer TO BE DONE Page 207 of 228 ...

Page 208: ...Revision 7 10 2 28 2012 Appendix F Dock Server RPM Upgrade Output This appendix shows the Dock Server RPM upgrade output for a successful upgrade on a laptop machine TO BE DONE Page 208 of 228 ...

Page 209: ... although this is not a requirement Images can be obtained from any number of sources although they must present a flat platte carree geographic projection If no such image exists the coordinates xml file simply includes two points defining the geographical area of interest Finally each map directory may contain a file named bathymetry xml describing depth contours in a proprietary format The foll...

Page 210: ...h point element defines a point on the contour at a depth indicated by its parent contour depth attribute Also points must be sequenced to trace out the contour as opposed to being randomly scattered across the contour Finally contours with identical depth attributes can be used as many times as necessary within contours Page 210 of 228 ...

Page 211: ...cter 0n The character with octal value 0n 0 n 7 0nn The character with octal value 0nn 0 n 7 0mnn The character with octal value 0mnn 0 m 3 0 n 7 xhh The character with hexadecimal value 0xhh uhhhh The character with hexadecimal value 0xhhhh t The tab character u0009 n The newline line feed character u000A r The carriage return character u000D f The form feed character u000C a The alert bell chara...

Page 212: ...l ASCII x00 x7F p Alpha An alphabetic character p Lower p Upper p Digit A decimal digit 0 9 p Alnum An alphanumeric character p Alpha p Digit p Punct Punctuation One of _ p Graph A visible character p Alnum p Punct p Print A printable character p Graph p Blank A space or a tab t p Cntrl A control character x00 x1F x7F p XDigit A hexadecimal digit 0 9a fA F p Space A whitespace character t n x0B f ...

Page 213: ...imes X X one or more times X n X exactly n times X n X at least n times X n m X at least n but not more than m times Reluctant quantifiers X X once or not at all X X zero or more times X X one or more times X n X exactly n times X n X at least n times X n m X at least n but not more than m times Possessive quantifiers X X once or not at all X X zero or more times X X one or more times X n X exactl...

Page 214: ...and quoting The backslash character serves to introduce escaped constructs as defined in the table above as well as to quote characters that otherwise would be interpreted as unescaped constructs Thus the expression matches a single backslash and matches a left brace It is an error to use a backslash prior to any alphabetic character that does not denote an escaped construct these are reserved for...

Page 215: ...dence of character class operators is as follows from highest to lowest 1 Literal escape x 2 Grouping 3 Range a z 4 Union a e i u 5 Intersection a z aeiou Note that a different set of metacharacters are in effect inside a character class than outside a character class For instance the regular expression loses its special meaning inside a character class while the expression becomes a range forming...

Page 216: ...ring a match each subsequence of the input sequence that matches such a group is saved The captured subsequence may be used later in the expression via a back reference and may also be retrieved from the matcher once the match operation is complete The captured input associated with a group is always the subsequence that the group most recently matched If a group is evaluated a second time because...

Page 217: ... in Chapter 14 and in the file Blocks 3 txt of the Unicode Character Database except that the spaces are removed Basic Latin for example becomes BasicLatin The category names are those defined in table 4 5 of the Standard p 88 both normative and informative Comparison to Perl 5 Perl constructs not supported by this class The conditional constructs X and condition X Y The embedded code constructs c...

Page 218: ...ole expression In this class embedded flags always take effect at the point at which they appear whether they are at the top level or within a group in the latter case flags are restored at the end of the group just as in Perl Perl is forgiving about malformed matching constructs as in the expression a as well as dangling brackets as in the expression abc and treats them as literals This class als...

Page 219: ...nexp n where n depends on which phone number is being dialed There s a dummy example script in persistor prebuilt binaries config loginexp xxx The loginexp n script can handle 2 simplified Expect commands send timeout_secs string sends a string to iridium uart ringbuffer Proceeds to next instruction as soon as they re actually transmitted ringbuffer empty If ringbuffer not drained by timeout_secs ...

Page 220: ...ly parsed and displayed to the user along with any errors Any syntax errors will thus display before the Iridium is the primary means for communicating with the glider Syntax errors will trigger loud oddity messages but the Iridium will remain in service and users will get another reminder of the error via PARSE ERROR IN loginexp n messages whenever the Iridium connects Script logic mismatch with ...

Page 221: ...00 dataBits 8 stopBits 1 parity none port numberOfReadings 3000 numberOfReadings characterDelay 100 characterDelay compassCalibratorConfiguration The port element attributes are similar to those found in the dockServerState xml file For example the file above configures the compass calibrator application to communicate using serial port dev ttyS0 To use a different serial port eg dev ttyUSB0 simpl...

Page 222: ...by using the following steps 1 Open a terminal window and start the minicom application on the specified port for example by entering minicom u1 where u1 refers to a minicom configuration file on the Dock Server machine for port ttyUSB1 2 Power the glider on If in boot app then exit to PicoDos If in boot pico then leave in this state 3 From the GPICO C prompt type ver to display version informatio...

Page 223: ...conf is correct and there is still no communication make sure the glider is running the talk utility by using the following steps 1 Open a Windows terminal emulator such as HyperTerminal or ProComm 2 Inside the terminal emulator connect to the required serial port using the following settings Bits per second baud 115200 Data bits 8 Parity none Stop bits 1 Flow control Hardware 3 Power the glider o...

Page 224: ...several minutes during which time the glider should be reoriented through several axis including pitch and roll in a pattern intended to optimize the data collected for the compass calibrator algorithm For more details on reorienting the compass refer to the True North documentation The number of data points collected and so the time taken during this stage can be updated using the compassCalibrat...

Page 225: ... It is also possible for the compass calibrator application to abort at any stage during the calibration procedure Abort messages associated with this are shown in the table below together with possible solutions Once the abort reason is fixed the calibration procedure would have to be repeated until the 100 complete succeeded is achieved Abort message Possible solution Cannot communicate with com...

Page 226: ...Revision 7 10 2 28 2012 12 Aug 02 Initial Page 226 of 228 ...

Page 227: ...Server Perspective by clicking the button show in figure K 1 Each time the Dock Server application sends a notification the Dock Server Perspective button is outlined in red Viewing the notification by clicking this button removes the red outline Figure K 1 Dock Server Perspective button To view a specific Dock Server s notifications open its tree view node and click on Notifications Figure K 2 sh...

Page 228: ...ed in a tar gz file located in var opt gmc backups on the Dock Server machine This file s name contains the backup date time and glider name For remove all of each glider s files are deleted from the Dock Server machine If backup and remove are simultaneously checked the files are backed up first then removed Clicking the Clear button will clear all selected gliders and uncheck the backup and remo...

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