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Slocum G2 Glider Operators Training Guide

Mission Files (.mi and .ma)

32

TELEDYNE WEBB RESEARCH

Rev. 06/12

# arguments for climb_to

b_arg: c_target_depth(m) 3

b_arg: c_target_altitude(m) -1

b_arg: c_use_pitch(enum) 3 # 1:battpos 2:setonce 3:servo

# in rad rad, >0 climb

b_arg: c_pitch_value(X) 0.4538 # 26 deg

b_arg: end_action(enum) 2 # 0-quit, 2 resume

<end:b_arg>

# NOTE: These are symbolically defined beh_args.h

# b_arg: START_WHEN When the behavior should start, i.e. go from UNITIALIZED to ACTIVE

# BAW_IMMEDIATELY 0 // immediately

# BAW_STK_IDLE 1 // When stack is idle (nothing is being commanded)

# BAW_PITCH_IDLE 2 // When pitch is idle(nothing is being commanded)

# BAW_HEADING_IDLE 3 // When heading is idle(nothing is being commanded)

# BAW_UPDWN_IDLE 4 // When bpump/threng is idle(nothing is being commanded)

# BAW_NEVER 5 // Never stop

# BAW_WHEN_SECS 6 // After behavior arg "when_secs", from prior END if cycling

# BAW_WHEN_WPT_DIST 7 // When sensor(m_dist_to_wpt) < behavior arg "when_wpt_dist"

# BAW_WHEN_HIT_WAYPOINT 8 // When X_HIT_A_WAYPOINT is set by goto_wpt behavior

# BAW_EVERY_SECS 9 // After behavior arg "when_secs", from prior START if cycling

# BAW_EVERY_SECS_UPDWN_IDLE 10 // After behavior arg "when_secs", from prior START AND

# // updown is idle, no one commanding vertical motion

# BAW_SCI_SURFACE 11 // SCI_WANTS_SURFACE is non-zero

# BAW_NOCOMM_SECS 12 // when have not had comms for WHEN_SECS secs

# b_arg: STOP_WHEN

# 0 complete

# 1-N same as "start_when"

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Содержание Slocum G2

Страница 1: ...Slocum G2 Glider Operators Training Guide Revised June 2012 Teledyne Webb Research 82 Technology Park Drive East Falmouth MA 02536 USA 1 508 548 2077 phone 1 508 540 1686 fax www webbresearch com ...

Страница 2: ... Teledyne Webb Research assumes no responsibility for any errors or for consequential damages that may result from the use or misrepresentation of any of the material in this publication FreeWave is a registered trademark of FreeWave Technologies Iridium is a registered trademark of Iridium Communications Inc Persistor and PicoDOS are registered trademarks of Persistor Instruments Inc Instant Ocea...

Страница 3: ... Water 11 Deploying the Glider 13 Large Ship Deployment 15 Recovering the Glider 16 Packing the Glider 17 Dockserver 18 Glider Terminal 18 Glmpc Terminal 19 Data Visualizer 19 Dockserver Java FTP Utility 20 Configure Communications with the Terminal Program ProComm Plus 21 Surface Dialog 22 File Manipulation 23 Transferring Files to and from the Glider 23 Transferring Files from the Glider 23 Tran...

Страница 4: ... Glider Operators Training Guide 2 TELEDYNE WEBB RESEARCH Rev 06 12 Glider Operations Mission Planning Overview Worksheet 40 Pre mission Seal Checklist Final Seal 42 Post seal Checklist 43 Shipping Checklist 44 ...

Страница 5: ...ed personnel should operate and maintain the glider Teledyne Webb Research conducts regular training sessions several times a year Glider users should attend a training session and understand basic glider concepts and terminology Contact glidersupport webbresearch com for information about training sessions Our company s policy is to fully support only properly trained individuals and groups Only ...

Страница 6: ...roduction src doco software howto updating all glider software txt Masterdata ftp ftp glider webbresearch com glider windoze production src code masterdata Notes and Warnings Where applicable special notes and warnings are presented as follows NOTE A referral to another part of this manual or to another reference a recommendation to check that certain criteria are met before proceeding further in ...

Страница 7: ...www glider webbresearch com Many of the links and the code mentioned in this manual require access by prior arrangement Please contact glidersupport webbresearch com to inquire about access to these protected documents Customer Service We welcome your comments and suggestions for improving our products documentation and service of the glider system Please contact Glider Support should you have any...

Страница 8: ... its normal start up routine When you see SEQUENCE About to run initial mi on try 0 you must type ctrl C within 120 seconds to terminate the sequence This will give you a GliderDOS prompt From the GliderDOS prompt follow these instructions 1 Type callback 30 This will hang up the Iridium phone for 30 minutes You can enter any value for callback from 1 to 30 Alternately you can type use iridium to ...

Страница 9: ...u will need to get CTD data from the glider so that you can calculate the weight adjustment necessary to go from the ballast tank to target water conditions To do this turn on all sensors in the science bay by typing NOTE The 1000m pump can take several minutes to retract from fully displaced to 0 cc displacement If a user would like to monitor the retract of the deep pump type report m_de_oil_vol...

Страница 10: ...d scale to the glider 1 from the forward edge of the forward hull and another suspended scale 1 from the aft edge of the aft hull Let the glider settle in the tank before taking readings from the forward and aft scales 11 Enter the scale weights from step 9 in the Scale Readings section of the correct sheet of the GBPSH i e G1 Shallow G1 Deep or G2 Deep Shallow Use the Weight Adjustment section of...

Страница 11: ... report clearall 14 Enter the temperature density and salinity for your target location in the Target Water section of the Ballast sheet to get your total weight change from tank conditions to target water conditions Use the appropriate sheet i e G1 Shallow G1 Deep or G2 Deep Shallow from the GBPSH to determine the necessary internal weight change 15 Open glider to adjust the internal weight for t...

Страница 12: ...rs 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 PicoDO...

Страница 13: ... Type put c_gps_on 3 6 Confirm the GPS In the string like the following the highlighted A should turn from a V to and A gps_diag 2 cyc 538 GPRMC 161908 A 5958 3032 N 7000 5568 W 0 000 343 9 190808 0 3 W After a number of A responses type put c_gps_on 1 to stop the screen display 7 Type wiggle on and run for 3 5 minutes for shallow pumps to check for any device errors or other abnormalities For dee...

Страница 14: ... type Callback 1 to force the Iridium to call in one minute once connected Here is an example of forcing Iridium while the FreeWave is present GliderDOS I 3 send f irid sbd num 2 This sends the two most recent sbd files over Iridium Be patient because the Iridium is slow and currently there is no positive feedback over FreeWave Science Sensor Checkout 1 Type loadmission sci_on mi and loadmission s...

Страница 15: ...with a buoy to the glider before putting it in the water If you have great confidence in the glider s ballasting you may choose to not test on the line 2 Once the glider is in the water type run status mi again 3 Run ini0 mi per below If further evaluation is required run one or more of the following missions while on station until satisfied that the glider is ballasted and operating normally Run ...

Страница 16: ...ters The pitch should be 20 degrees 4 Send the files locally and or by Iridium Confirm the flight data and desired flight characteristics of ini missions run If necessary turn flight control over to the Dockserver over Iridium 5 If you have not removed the buoy and the line from the glider do it now 6 From the GliderDOS prompt type exit reset This forces reinitialization of all of the sensor value...

Страница 17: ...d let the ring fall forward if necessary entirely remove nose ring Un clip the fastening strap from the center section of the cart glider before deployment For larger boats the pick point affixed to the payload bay can be used to lower and raise the glider with a crane or winch from the vessel to the water Glider with the Buoy and Rope Ready for the First Deployment NOTE In the deployment sequence...

Страница 18: ...loying the Glider 14 TELEDYNE WEBB RESEARCH Rev 06 12 WARNING All physical glider activities are two man lift and manipulation The photos depicting deployment and recovery show a one man demonstration this should only be attempted in extreme cases ...

Страница 19: ...2 Glider Operators Training Guide TELEDYNE WEBB RESEARCH 15 Rev 06 12 Large Ship Deployment A quick release system using the pick point can be fashioned from supplies found on most vessels as illustrated in the following two images ...

Страница 20: ... 16 TELEDYNE WEBB RESEARCH Rev 06 12 Recovering the Glider Lower the cart into water and manipulate the glider by the digifin into position on the cart Lift and tilt the glider onto the ship s deck NOTE A boat hook can be used to manipulate the glider in the water ...

Страница 21: ...ide TELEDYNE WEBB RESEARCH 17 Rev 06 12 Packing the Glider Ensure that all three straps are secure two crate straps and one cart strap If extra supplies are included in the crate ensure that they will not interfere with the fin or become dislodged during transit ...

Страница 22: ...st be launched from desktop icons to provide full Dockserver functionality Glider Terminal This is the primary interface through the Dockserver to the glider Top panel Dockserver site manual entry Script functionality Terminal and ports perspective toggle and remote glider notification tabs Left panel Active docks and gliders Middle right panel Communication from the glider Bottom right panel Comm...

Страница 23: ...tom maps in JPG format and allows click through uploading of waypoints during live missions Data Visualizer The Data Visualizer allows pilots to plot all glider data as it is received by the Dockserver The Data Visualizer server must be running on Dockserver to view data remotely Launch the Data Visualizer with the desktop icon on the Dockserver ...

Страница 24: ...2 Glider Operators Training Guide Dockserver 20 TELEDYNE WEBB RESEARCH Rev 06 12 Dockserver Java FTP Utility Whenever new files are sent to Dockserver you must disconnect and reconnect to refresh the file list ...

Страница 25: ...he Use hardware flow control check box is unchecked check it and click OK 7 Click on the Data tab 8 Next to Receiver Crash Recovery Settings click Change Settings 9 Check If date time match under Crash Recovery Options 10 Check Overwrite if incoming newer under Overwrite Options 11 Click OK 12 Next to Sender Crash Recovery Settings click Change Settings 13 Check Crash recovery off under Crash Reco...

Страница 26: ...th nodim 1 1e 308 secs ago sensor m_leakdetect_voltage volts 2 5 3 921 secs ago sensor m_vacuum inHg 6 50223565323565 8 214 secs ago devices t m s errs 0 0 0 warn 0 0 0 odd 0 0 0 ABORT HISTORY total since reset 0 Press Control R to resume the mission i e dive Press Control C to end the mission i e GliderDOS Press Control E to extend the surface time by five minutes Press Control W to get device wa...

Страница 27: ...ebd from the glider In order to send non data files from the glider while in GliderDOS the zs command is used instead of the send command and during a mission the command is pre pended by an exclamation point referred to as a bang For example to send the autoexec mi file from a glider in GliderDOS you would type zs config autoexec mi to send the longterm sta file from the glider during a mission y...

Страница 28: ...imulate missions before launch Test Iridium and Argos telemetry before launch Don ts Never do these things with a glider Never power up a shallow glider without a vacuum Never run a simulation on a glider other than on_bench Never deploy a glider in simulation Never deploy a glider in boot pico Never exit to pico during a deployment Never power on a glider with more than 15 vDC from an external po...

Страница 29: ...13 ma If requested by science surfac14 ma Every x minutes Surfac15 mi All science sensors sample on only downcast from sample10 ma 10 July 2010 ballsup webbresearch com Initial based on glmpc mi 30 Nov 2010 ballsup webbresearch comchanged abort for cop tickle 13 5 hours and disabled percentage method sensor c_science_all_on_enabled bool 1 in non zero enables c_science_all_on disable this sensor to...

Страница 30: ...e enum 01 read from mafiles surfac01 ma Come up when mission done This is determined by no one steering in x y plane no waypoints behavior surface b_arg args_from_file enum 02 read from mafiles surfac02 ma Come up briefly if yo finishes This happens if a bad altimeter hit causes a dive and climb to complete in same cycle We surface and hopefully yo restarts or change keystroke_wait_time if surfaci...

Страница 31: ...en enum 2 0 immediately 1 stack idle 2 depth idle b_arg end_action enum 2 0 quit 2 resume Sample all science sensors only on downcast behavior sample b_arg args_from_file enum 10 0 enables reading from mafiles sample10 ma Sample ctd only on downcast sensor c_science_all_on_enabled must be set to 0 to uncouple science sensor union behavior sample b_arg args_from_file enum 11 0 enables reading from ...

Страница 32: ... how close to waypoint before surface only if start_when 7 b_arg c_use_pitch enum 3 3 servo b_arg c_pitch_value X 0 4528 26 deg b_arg printout_cycle_time sec 60 0 How often to print dialog end b_arg surfac02 ma behavior_name surface climb to surface with ballast pump full out pitch servo ed to 26 degrees Hand Written 10 July 2010 ballsup webbresearch com based on legacy surfac10 ma Come up when mi...

Страница 33: ... b_arg gps_wait_time s 300 how long to wait for gps b_arg keystroke_wait_time sec 300 how long to wait for control C b_arg when_wpt_dist m 10 how close to waypoint before surface only if start_when 7 b_arg c_use_pitch enum 3 3 servo b_arg c_pitch_value X 0 4528 26 deg end b_arg surfac04 ma behavior_name surface climb to surface with ballast pump full out pitch servo ed to 26 degrees Hand Written 1...

Страница 34: ..._when 7 b_arg c_use_pitch enum 3 3 servo b_arg c_pitch_value X 0 4528 26 deg end b_arg surfac06 ma behavior_name surface climb to surface with ballast pump full out pitch servo ed to 26 degrees Hand Written 10 July 2010 ballsup webbresearch com based on legacy surfac10 ma Come up every three hours start b_arg b_arg start_when enum 9 9 every when_secs b_arg end_action enum 1 0 quit 1 wait for C qui...

Страница 35: ...DIATELY b_arg list_stop_when enum 7 BAW_WHEN_WPT_DIST b_arg initial_wpt enum 2 closest b_arg num_waypoints nodim 4 end b_arg start waypoints 7032 0640 4138 1060 7031 9200 4138 1090 7031 9170 4138 0000 7032 0610 4137 9980 end waypoints yo10ma yo10ma behavior_name yo yo10 ma climb 3m dive 12m alt 9m pitch 26 deg Hand Written 18 Feb 02 tc DinkumSoftware com Initial 13 Mar 02 tc DinkumSoftware com Bug...

Страница 36: ...itch is idle nothing is being commanded BAW_HEADING_IDLE 3 When heading is idle nothing is being commanded BAW_UPDWN_IDLE 4 When bpump threng is idle nothing is being commanded BAW_NEVER 5 Never stop BAW_WHEN_SECS 6 After behavior arg when_secs from prior END if cycling BAW_WHEN_WPT_DIST 7 When sensor m_dist_to_wpt behavior arg when_wpt_dist BAW_WHEN_HIT_WAYPOINT 8 When X_HIT_A_WAYPOINT is set by ...

Страница 37: ... C_BB3SLO_ON OXY3835 13 C_OXY3835_ON WHFCTD 14 C_WHFCTD_ON BAM 15 C_BAM_ON OCR504R 16 C_OCR504R_ON OCR504I 17 C_OCR504I_ON BADD 18 C_BADD_ON FLNTU 19 C_FLNTU_ON FL3SLOV2 20 C_FL3SLOV2_ON BB3SLOV2 21 C_BB3SLOV2_ON OCR507R 22 C_OCR507R_ON OCR507I 23 C_OCR507I_ON BB3SLOV3 24 C_BB3SLOV3_ON BB2FLS 25 C_BB2FLS_ON BB2FLSV2 26 C_BB2FLSV2_ON OXY3835_WPHASE 27 C_OXY3835_WPHASE_ON AUVB 28 C_AUVB_ON BB2FV2 29...

Страница 38: ...vering climbing on_surface b_arg intersample_time s 0 if 0 then off if 0 then as fast as possible and if 0 then that many seconds between measurements b_arg nth_yo_to_sample nodim 1 After the first yo sample only on every nth yo If argument is negative then exclude first yo b_arg intersample_depth m 1 supersedes intersample_time by dynamically estimating and setting intersample_time to sample at t...

Страница 39: ...ib ATTRIB RASH d p name ballast BALLAST for help boot boot PICO PBM APP callback callback minutes til callback capture capture d p fn Dx B N E cd Change directory chkdsk CHKDSK d p fn F I clrdeverrs Zero device errors consci consci f rf irid console to science copy copy source dest V cp CP src_path dest_path copies a file system branch crc Computes CRC on memory date DATE mdy hms a p IEUMCP dellog...

Страница 40: ...ng GliderDOS longterm_put LONGTERM_PUT sensor name new value longterm LONGTERM for help ls LS path list a file system branch mbd MBD for help mkdir MKDIR drive path mv MV src_path dest_path copy a file system branch path PATH Show search path PATH d path P prompt prompt text P prunedisk Prunes expendable files to free space on disk purgelogs Deletes sent log files put PUT sensor name value rename ...

Страница 41: ...isplay SRF_DISPLAY for help sync_time sync_time offset syncs system time with gps time tcm3 TCM3 for help time TIME hh mm ss a p M C tvalve tvalve up charge down backward type TYPE drv pth name use USE do this for help ver Displays firmware versions where Prints latitude longitude whoru whoru Vehicle Name displays vehicle name why WHY abort displays the reason for an abort wiggle wiggle on off fra...

Страница 42: ...Slocum G2 Glider Operators Training Guide Appendix A Glider Commands 38 TELEDYNE WEBB RESEARCH Rev 06 12 ...

Страница 43: ...Slocum G2 Glider Operators Training Guide TELEDYNE WEBB RESEARCH 39 Rev 06 12 Appendix B Worksheets This appendix contains the worksheets you will use frequently in glider operations ...

Страница 44: ...ent location Surf temp Surf sal Density Deployment date Deployment notes Science collection notes Date Tech Notes Ballast completed Software checklist completed Missions simulated Dockserver tested and updated Dockserver IP Pre seal checklist completed Post seal checklist completed All supplies packed Deployment details Cruise leaves Arrive on station Recovery details Cruise leaves Emergency recov...

Страница 45: ...Glider Operations Mission Planning Overview Worksheet Slocum G2 Glider Operators Training Guide TELEDYNE WEBB RESEARCH 41 Rev 06 12 Pilot s contact information When Phone Email Mission notes ...

Страница 46: ...nt installed Payload Science serial numbers 1 4 2 5 3 6 Wiring dressed O ring inspected and lubed Payload weights properly secured CF card fully seated and loaded See software checklist lab section Persistor button batteries checked voltage Interior clean of debris Aft Iridium SIM card installed SIM number Aft tray wiring dressed CF card seated and loaded See software checklist lab section Persist...

Страница 47: ...bly not seized Pressure sensors clear and clean Aft flight Payload science Bladder visual inspection Cowling installed Powered by battery inside lab Lab_mode_on in hg Report m_vacuum 6 in Hg 7 for 1000 m volt Lab_mode_on Wiggle on no errors for 5 minute Verify time Verify science Put c_science_all_on 0 off 1 Put c_science_on 3 off 1 Put c_science_send_all 1 off 0 Powered by battery outside lab tes...

Страница 48: ...ist Date Tech Notes Glider packed and secured with 3 straps Mobile computer packed FreeWave and FreeWave antenna Buoy with rope Glider evacuation tools Glider tools Red and green shorting plugs Wings packed and SS wing rail mass Shipping address and details arranged Address Contacts Details Flights Contacts Details ...

Страница 49: ......

Страница 50: ...82 Technology Park Drive East Falmouth MA 02536 USA 1 508 548 2077 phone 1 508 540 1686 fax www webbresearch com ...

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