Slocum G2 Glider Operators Training Guide
Notes for Ballasting and Lab Tests
8
TELEDYNE WEBB RESEARCH
Rev. 06/12
Common Lab Commands
To do this:
Type this:
Exit lab mode
While in
lab_mode on
, type
lab_mode off
.
NOTE: Never launch the glider in
lab_mode
.
Zero motors and deflate the air bladder
ballast
NOTE: Never launch the glider in
ballast
.
Stop Iridium phone calls
Use - iridium
or
callback 30
NOTE: Never type use - iridium when in water
Report a sensor as fast as possible
+ (any_masterdata_sensor)
+ m_battery
Change a sensor
Put (any_masterdata_sensor)
Example:
Put c_fin 0
zeroes the fin after a wiggle.
Turn off all reporting
report clearall
Exercise the ballast pump, pitch motor,
and fin motor
wiggle on
Stop exercising the motors
wiggle off
Tell the science computer to sample all
science sensors as fast as possible
put c_science_all_on 0 (off = -1)
Display that data to the screen
put c_science_on 3 (off = 1)
Send science to the flight Persistor
put c_science_send_all 1 (off = 0)
Apply power to the glider in an open state
(no vacuum)
Follow these steps before powering down and opening the glider:
• Type
exit pico
. This will bring you to a PicoDOS prompt.
• Type
boot pico
to set the glider to boot into PicoDOS.
If the ballast pump is already all the way forward or the pump is unplugged
the application can run on the bench without a vacuum. Running the ballast
pump without a vacuum can damage the forward rolling bellafram.
• Type
app -lab
from PicoDOS to enter straight into lab_mode on.
When you are finished, close the glider, apply the vacuum, and type boot
app to set the glider to boot the application. You must always make sure the
glider is set to boot app before doing any in the water tests.
Cycle default settings
Exit reset
Remove green plug or power supply;
install red plug
Exit
and wait for the prompt
Summary of Contents for Slocum G2
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