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Related Manuals for Teledyne Slocum G3 Glider
Summary of Contents for Teledyne Slocum G3 Glider
- Page 1 Slocum G3 Glider Operators Manual P/N 0000, Rev. 2 December 2017 (Not for dissemination or reproduction) Teledyne Webb Research, a Business Unit of Teledyne Instruments, Inc. 49 Edgerton Drive North Falmouth, MA 02556 U.S.A. Tel: (508) 563-1000 http://www.teledynemarine.com/webb-research/...
- Page 2 Teledyne Webb Research The material in this document is for information purposes only and is subject to change without notice. Teledyne Webb Research assumes no responsibility for any errors or for consequential damages that may result from the use or misrepresentation of any of the material in this publication.
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Page 3: Table Of Contents
Slocum G3 Glider Operators Manual Contents 1 Introduction ..........1-1 New Features with the G3 . - Page 4 Slocum G3 Glider Operators Manual Battery Charge Indicator ......... 1-36 Battery Charging Instructions .
- Page 5 Slocum G3 Glider Operators Manual Logs Folder ........... . .6-5 Missions Folder .
- Page 6 Slocum G3 Glider Operators Manual About FreeWave Transceivers ......... F-1 Setting up the Glider Shoreside FreeWave.
- Page 7 Slocum Glider Maintenance Manual. It is divided into the following sections: • Section 1—Introduction provides a general description of the Slocum G3 glider and an overview of its architecture and components. • Section 2—Pre-mission Testing describes the in- and out-of-water tests that should be conducted to qualify a glider before delivery or with new or modified software.
- Page 8 Teledyne Webb Research Slocum G3 Glider. CAUTION Identifies a potential hazard that could be damaging to equipment or could result in the loss of data.
- Page 9 Slocum G3 Glider Operators Manual Format Notes Glider sensors and commands will be denoted in the Courier font throughout this document, as shown in the example below: Typing Report ++ m_roll will report measured roll (m_roll) every four seconds. When displayed on a PC, some areas will be hyperlinked to information available on the Internet, such as: http://www.webbresearch.com...
- Page 10 Slocum G3 Glider Operators Manual viii TELEDYNE WEBB RESEARCH P/N 0000, Rev. 2...
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Page 11: Introduction
New Features with the G3 Slocum G3 Glider Operators Manual Introduction Conceived by Douglas C. Webb and supported by Henry Stommel and others, the class of Slocum gliders is named after Joshua Slocum, the first man to single-handedly sail around the world. -
Page 12: External Ballast Locations
Slocum G3 Glider Operators Manual Introduction • the Slocum G3 Glider Maintenance Manual) Double O-ring (refer to • Power port (page 1-30) • Optional Comms (page 1-37) • Spare Ports and Modem Readiness (page 1-48) • Tail Fin (page 1-41) •... -
Page 13: Navigation And Flight
Safety and Handling Procedures For information on safety and handling procedures for the Slocum Glider, see the "Warnings and Precautions" section of the Slocum G3 Glider Maintenance Manual. Architecture and Components The Slocum Glider comprises five total sections (three main hull sections and two wet sections located fore and aft), a design which was chosen for its simplicity, economy, and expandability. -
Page 14: Forward Hull Section
Slocum G3 Glider Operators Manual Introduction Figure 1-2 Components of the Slocum G3 Glider. Forward Hull Section This section houses the ballast pump assembly, pitch vernier, forward batteries, and ballast weights. The pitch vernier is used to move the batteries forward or backward to adjust the glider's pitch. -
Page 15: Aft Hull Section
Architecture and Components Slocum G3 Glider Operators Manual The standard G3 glider has a payload bay computer ("Persistor") that is connected to the glider's main computer. This Persistor controls the sensor packages and collects and stores data via proglets.dat, an ASCII file that resides in the config directory. Each glider and glider type has a unique proglets.dat file that depends on the current configuration of scientific instruments. -
Page 16: Wings
Slocum G3 Glider Operators Manual Introduction Wings The standard carbon fiber wings for the G3 Slocum Glider are designed with a sweep angle of 45° which is suitable for both shallow and deep gliders. The G3's wings are located aft of the center of buoyancy and provide pitch stability during flight. -
Page 17: Shallow Ballast Pump Assembly
Teledyne. G3 gliders have standardized to a high displacement pump of 960 cc or greater depending on the glider type, shallow or deep. - Page 18 Slocum G3 Glider Operators Manual Introduction NOTE The shallow displacement pump should not be run without either external pressure or internal vacuum on the rolling diaphragm. The vacuum inside the glider should be drawn to 6 inHg less from the external atmosphere to ensure that the diaphragm folds smoothly as it rolls, otherwise damage may result.
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Page 19: 1000-Meter Ballast Pump Assembly
HD Pumps Slocum G3 Glider Operators Manual 1000-meter Ballast Pump Assembly The deep 350 and 1000-meter 900 cc ballast pump is a rotary displacement design that moves oil from an internal reservoir to an external bladder to change the vehicle’s buoyancy. It is necessary that the glider be under vacuum while operating the ballast pump, because the force of the internal vacuum is used to draw oil from the bladder back into the body of the glider. -
Page 20: Altimeter
Slocum G3 Glider Operators Manual Introduction How to Configure Factory configured. Please contact glidersupport@teledyne.com for assistance. How to Test From lab_mode: Type wiggle on. Type report ++ m_battpos. Make sure that the pitch battery successfully completes a full extension and retraction without errors. - Page 21 HD Pumps Slocum G3 Glider Operators Manual How to Configure Factory configured. Please contact glidersupport@teledyne.com for assistance. How to Test In the lab: Type put c_alt_time 0 to ensure that the altimeter is updating as frequently as possible. Listen closely to the altimeter to check for audible clicks similar to the ticking of a watch.
- Page 22 Slocum G3 Glider Operators Manual Introduction Relevant Sensors Sensor Name Description Height above the bottom m_altitude(m) Height above bottom, unfiltered m_raw_altitude(m) u_alt_min_depth(m) How deep the vehicle must be before the altimeter turns on A glider pilot may choose to increase...
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Page 23: Carbon Fiber Hulls
Pull and maintain the recommended vacuum on the vehicle (6 inHg for shallow gliders and 7 inHg for deep gliders). For more details on adjusting the vacuum, see “Checking and Setting the Vacuum” in Section 4 of the Slocum G3 Glider Maintenance Manual. NOTE The vacuum will fluctuate with the temperature. -
Page 24: Payload Bay
Slocum G3 Glider Operators Manual Introduction Payload Bay The payload bay, also referred to as the " ," includes the Mother board and the science science bay Persistor. They are mounted on a tray inside the payload bay in the central section of the G3 glider. - Page 25 Payload Bay Slocum G3 Glider Operators Manual In the release/target-science directory, there are now separate directories for gen1 and gen2. Copy the appropriate one of these to your science CF card. It is important to get all the changed files; just re-burning the app will not suffice.
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Page 26: Payload Bay Connectors
Slocum G3 Glider Operators Manual Introduction Pin 5: CTS (clear to send) Pin 6: Switched Power Out Pin 7: Switched Power In Pin 8: +8.8V regulated (Power bit 2) Pin 9: +15V regulated (power bit 1) Pin 10: VBatt (power bit 0) To get the desired power to pin 6, the power source (one of pins 8, 9 or 10) must be connected to pin 7. -
Page 27: Payload Bay Computers And Sensors
Payload Bay Slocum G3 Glider Operators Manual Payload Bay Computers and Sensors A proglet controls each science sensor. The proglet sets the power bit and uart on the payload bay controller and expects formatted data from each sensor. How to Test From GliderDOS, type loadmission sci_on.mi. - Page 28 Slocum G3 Glider Operators Manual Introduction WARNING The Seabird Electronics (SBE) pumped CTD should not be run dry for more 30 seconds at a time. The Slocum Glider data page is located at http://www.seabird.com/products/ profilers.htm. Scroll down to the bottom of this page to access the link to the data page.
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Page 29: Argos Satellite Platform Transmitter Terminal (Ptt)
Payload Bay Slocum G3 Glider Operators Manual Relevant Sensors Sensor Name Description units (S/m) sci_water_cond units (degrees C) sci_water_temp units (bar) sci_water_pressure Argos Satellite Platform Transmitter Terminal (PTT) The Seimac X-Cat PTT is used in recovery situations to transmit last-known GPS positions, when available. -
Page 30: Catalyst
When the batteries are confined in a sealed instrument, the gases can accumulate and an explosion is possible. Teledyne Webb Research has added a catalyst inside of the glider to recombine hydrogen and oxygen into water, and the glider has been designed to relieve excessive internal pressure buildup by having the hull sections separate under internal pressure. -
Page 31: Vehicle Controller
Payload Bay Slocum G3 Glider Operators Manual internal vacuum will increase by 1.5 to 2.5 in/Hg as atmosphere from the vehicle is moved into the external bladder. The pump inflation typically should be complete in under 5 minutes. Longer duration inflation times may be an indication of system trouble. -
Page 32: Hardware Interface Board
Teledyne Webb Research also provides the tools to convert raw data to ASCII so that a user can format and publish data as desired. These tools can be found at:... -
Page 33: Attitude Sensor
Slocum G3 Glider Operators Manual How to Test See the glider’s wiring diagram. To receive the latest version of the Slocum G3 Glider’s wiring diagram, contact glidersupport@teledyne.com. The cop tickle circuit can be changed by moving a jumper. Please contact Glider Support if testing is needed. -
Page 34: Global Positioning System (Gps)
Slocum G3 Glider Operators Manual Introduction Global Positioning System (GPS) The glider’s GPS updates the unit’s position every five seconds while the vehicle is on the surface. Output from the GPS is in the RMC NMEA 0183 format. The GPS can also be used to update the system’s internal clock, if necessary. -
Page 35: Iridium Satellite Telemetry
NOTE Depinning SIM cards for the Iridium phone is normally a factory configuration and is only provided to users installing their own card or changing services. For more information on depinning, see the Slocum G3 Glider Maintenance Manual. The primary and alternate phone number to dial are entered into the glider’s autoexec.mi file in the config directory. -
Page 36: Radio Frequency (Rf) Modem Telemetry
Slocum G3 Glider Operators Manual Introduction Radio Frequency (RF) Modem Telemetry When connected to the flight Persistor, the FreeWave 900 MHz radio modem is used for local high-speed communications with the glider. Due to its very high baud rate, no cable is required for communication and all in lab communications are facilitated through RF comms. -
Page 37: Pressure Transducer
Payload Bay Slocum G3 Glider Operators Manual Pressure Transducer G3 gliders are outfitted with Micron 2000 PSIA strain gage transducers, which are used for vehicle control and dead reckoning. The stainless steel transducer is ported through the aft cap and is isolated from the aluminum aft cap by a PEEK fitting. -
Page 38: Air Bladder
Slocum G3 Glider Operators Manual Introduction How to Test Type report ++ m_leakdetect_voltage m_leakdetect_voltage_forward. Both values should be greater than 2.3. The glider will abort missions for leak detect with any value less than 2. How to Evaluate Data If the leak detect sensors are less than 2.3, there is likely water in the vehicle as the result of a leak. -
Page 39: Burn Wire And Jettison Weight
Payload Bay Slocum G3 Glider Operators Manual How to Evaluate Data See the air pump system test. Relevant Sensors See the air pump system test. Burn Wire and Jettison Weight The glider is equipped with an emergency abort system. In the event that the vehicle is unable to surface during a mission, a battery-activated corrosive link will release the ~500-g stainless steel spring-loaded jettison weight, forcing the glider to surface. -
Page 40: Power Port
Slocum G3 Glider Operators Manual Introduction Relevant Sensors Sensor Name Description On-zero->drop the weight c_weight_drop(bool) During the abort sequence when a glider is u_abort_min_burn_time(sec) having trouble getting to the surface, never drop the weight before this time. During the abort sequence when a glider is... - Page 41 Battery Management System (BMS) Slocum G3 Glider Operators Manual user that the emergency battery is still active. This is intended to avoid draining the emergency battery in the lab if the user fails to exit properly. NOTE If the BMS is emitting the buzzer warning, the glider must be powered on and exited properly to turn off the buzzer.
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Page 42: Batteries
Slocum G3 Glider Operators Manual Introduction Batteries The G3 glider supports the following batteries: • Legacy alkaline batteries, nominal 15 V • Legacy 3s lithium batteries, nominal 12 V • 4s lithium primary batteries, nominal 15 V, new with the G3 glider •... -
Page 43: Rechargeable Battery Packs
Batteries Slocum G3 Glider Operators Manual Rechargeable Battery Packs There are two rechargeable battery packs, the pitch pack shown in Figure 1-6 and the aft pack shown in Figure 1-7. Each set provides 10.0–16.8 V nominal, a capacity of 3 kW·h total for two packs and a charge time of 12 hours. -
Page 44: Battery Charger
Slocum G3 Glider Operators Manual Introduction Battery Charger Figure 1-8 and The Teledyne Webb supplied battery charger is shown in Figure 1-9. Figure 1-8 Battery Charger with Charging Cable Figure 1-9 Battery Charger External Components 1-34 TELEDYNE WEBB RESEARCH P/N 0000, Rev. 2... -
Page 45: Pitch Battery Ports
Batteries Slocum G3 Glider Operators Manual The battery charger display and connectors are the following: Red #1: USB comms (115200, no flow control) Red #2: Charging current display (amps) Gray #0,1: Aft pack charge and comms channel 0 & 1... -
Page 46: Battery Charge Indicator
Slocum G3 Glider Operators Manual Introduction Battery Charge Indicator Battery charge indicator bars are available to view on the pitch pack only as shown in Figure 1-11. Battery Charging Instructions When charging the batteries, use only the Teledyne Webb supplied battery charger. -
Page 47: Optional Comms
Batteries Slocum G3 Glider Operators Manual Optional Comms If the optional comms are to be used when charging the batteries, the baud rate is 115200 with no flow control. One command is available: $R,n where "n" is the channel and can be 0–3. Channels 0 and 1 are for the aft pack which contains 6 cells each. - Page 48 Slocum G3 Glider Operators Manual Introduction CAUTION rt glider operations after the voltage The 3s battery design cannot suppo drop – The “shelf energy” cannot be used for reserve with this design. Putting 4 cells in series on the 4S batteries results a higher voltage but also results in a lower total amphr rating than the 3S packs despite actually having more energy.
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Page 49: Installing The Battery Packs
Batteries Slocum G3 Glider Operators Manual Installing the Battery Packs Connect the pitch battery pack to the FWD harness. Connect the aft battery pack to the AFT harness 14-pin connector. Install the emergency battery pack in the nose of the glider. -
Page 50: Rechargeable Battery Operational Considerations
Slocum G3 Glider Operators Manual Introduction Rechargeable Battery Operational Considerations Some rechargeable battery operational considerations should be noted as follows: • The rechargeable battery packs will turn themselves off at 10 V. • It will take 32 hours for the emergency circuit to become active when a battery pack turns off, despite the alarm sounding on the BMS. -
Page 51: Tail Fin
Tail Fin Slocum G3 Glider Operators Manual How to Evaluate Data With a properly ballasted glider, positive fin movement will result in increased heading values. Relevant Sensors • m_fin • c_fin • m_heading • c_heading • m_roll Tail Fin The G3 glider fin, which is shown in Figure 1-13, has been designed for robust, trouble free operation, strength, and resilience. -
Page 52: Communications Subsystem
Slocum G3 Glider Operators Manual Introduction Communications Subsystem The communications subsystem consists of three modules: an Iridium module, an Argos module and a Freewave module. The Freewave module can be tested by powering the vehicle and ensuring that a carrier is detect by the shore side Freewave modem (indicated by a green CD light). -
Page 53: Tail Fin Maintenance
Tail Fin Slocum G3 Glider Operators Manual Tail Fin Maintenance After deployment, the tail fin should be rinsed with fresh water to prevent salt crystals from inhibiting motion during the next power up. In the event that the rudder has become damaged, it can be easily replaced. -
Page 54: Sacrificial Anode
Slocum G3 Glider Operators Manual Introduction Lift the rudder off the magnetic coupling as shown in Figure 1-16. Install a new rudder and reassemble in reverse of disassembly. Figure 1-16 The Rudder Removed from Tail Fin CAUTION The loop at the aft end of the boom beneath the rudder is intended as a small load tie off point. -
Page 55: Batteries/Coulomb Counter
Tail Fin Slocum G3 Glider Operators Manual corrosion, and they need to be replaced periodically. It is important to take note of any scratches to the glider’s anodizing, as exposed aluminum parts can be corroded. Scratches should be touched up with paint, but nail polish is effective in an emergency. The glider should be rinsed with fresh water every time it is exposed to salt water. -
Page 56: Desiccant
When the batteries are confined in a sealed instrument, the gases can accumulate and an explosion is possible. Teledyne Webb Research has added a catalyst inside of the glider to recombine hydrogen and oxygen into water, and the glider has been designed to relieve excessive internal pressure buildup by having the hull sections separate under internal pressure. -
Page 57: Lifting Point
Keep dry. When the glider is open desiccant will gradually gain mass from the atmosphere. Increase in mass can effect glider ballasting and cause desiccant to become ineffective. How to Test Desiccant weight can be monitored. The desiccant pouches provide by Teledyne Webb research weigh ~114 grams when fully dried. Lifting Point The payload or payload bay can be outfitted with a lifting point. -
Page 58: Strobe
Slocum G3 Glider Operators Manual Introduction Strobe How to Configure Factory configured How to Test From GliderDOS or lab_mode or during a mission preceded by !, type strobe on to activate and strobe off to deactivate. The strobe can also be controlled autonomously during a glider surfacing behavior. -
Page 59: Optional 10-Watt Thruster
Optional 10-Watt Thruster Slocum G3 Glider Operators Manual Figure 1-17 External Connectors Optional 10-Watt Thruster A high efficiency thruster with larger blades, which sweep back to lower drag when not in use, is an optional add on accessory for the G3 glider. However, while additional speed or operational capability will be provided by employing this thruster, there can be a significant penalty in energy consumed. -
Page 60: Post Deployment Care
Slocum G3 Glider Operators Manual Introduction To run a thruster in air: Make sure the propeller blades are clear of the cart. Report ++ m_thruster_current m_thruster_power. Put c_thruster_on 30 (only do this for < minute or so) Confirm that the blades are spinning clockwise when viewed from the aft end. -
Page 61: Pre-Mission Testing
On the Beach, Boat, or Bench Slocum G3 Glider Operators Manual Pre-mission Testing TWR provides a document called FCP Functional checkout procedure. It is recommended that this checkout procedure be performed on the glider after final seal in the lab, after storage, and after shipping. -
Page 62: In The Water
Slocum G3 Glider Operators Manual Pre-mission Testing Type run status.mi and confirm that all sensors are being read. The mission should end with this confirmation message, mission completed normally. Load the glider into the boat and head out toward the first waypoint or deployment location. -
Page 63: Deployment And Recovery
Deploying the Glider Slocum G3 Glider Operators Manual Deployment and Recovery WARNING Deployment and recovery can be challenging and/or dangerous, especially in heavy seas. Plan accordingly to get the glider in and out of the water. Deployment conditions and craft will vary. The gilder can be deployed using the pick point. With smaller vessels, the glider cart can be used on the gunwale to allow the glider to slip into the water. - Page 64 Slocum G3 Glider Operators Manual Deployment and Recovery For larger boats, the pick point affixed to the payload bay should be used to lower and raise the glider with a crane or winch from the vessel to the water. Glider with the Buoy and Rope Ready for the First Deployment NOTE In the deployment sequence below, the fin can be handled, do not suspend the entire glider by the fin.
- Page 65 Deploying the Glider Slocum G3 Glider Operators Manual TELEDYNE WEBB RESEARCH P/N 0000 Rev. 2...
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Page 66: Large Ship Deployment
Slocum G3 Glider Operators Manual Deployment and Recovery Large Ship Deployment A quick release system using the pick point can be fashioned from supplies found on most vessels, as illustrated in the following two images. TELEDYNE WEBB RESEARCH P/N 0000, Rev. 2... -
Page 67: Recovering The Glider
Recovering the Glider Slocum G3 Glider Operators Manual Recovering the Glider NOTE A boat hook can be used to manipulate the glider in the water. Care should be taken with non-digifin gliders during deployment and recovery, because the fin can be knocked out of calibration or damaged if handled too aggressively. - Page 68 Slocum G3 Glider Operators Manual Deployment and Recovery TELEDYNE WEBB RESEARCH P/N 0000, Rev. 2...
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Page 69: Emergency Recovery
Slocum G3 Glider Operators Manual Emergency Recovery Contact glidersupport@teledyne.com for specifics for the particular emergency; however, some or all of the following may need to be done in an emergency recovery scenario. • Callback time can be increased significantly by changing these glider sensors: •... - Page 70 Slocum G3 Glider Operators Manual Emergency Recovery TELEDYNE WEBB RESEARCH P/N 0000, Rev. 2...
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Page 71: Glider Communications
Communicating with the RF Modem Slocum G3 Glider Operators Manual Glider Communications The glider is intended to be used in conjunction with Dockserver. See the Slocum Fleet Mission Control User Manual for information on communications to the glider while using the Dockserver. -
Page 72: Communicating With Rudics
Slocum G3 Glider Operators Manual Glider Communications • To leave talk, type control-c. Pause for a moment; then type control-c again. • To dial a number using a commercial card, type AT 001 number to be dialed. To dial a number using a military card type AT 00697 number to be dialed. -
Page 73: Software Architecture
G3 Software Slocum G3 Glider Operators Manual Software Architecture The controller code is written in C and architecturally is based on a layered single-thread approach where each task is coded into a behavior, and behaviors can be combined in almost any order to achieve flexible and unique missions. -
Page 74: G3 Missions
Slocum G3 Glider Operators Manual Software Architecture Slocum glider code update procedures can be found at https://datahost.webbresearch.com/ viewtopic.php?f=5&t=263&p=724&hilit=update#p724 and at https:// datahost.webbresearch.com/files.php?cwd=/glider/production/readme.txt. WARNING Always read the readme.txt before updating to the production release of glider code. G3 Missions While pilots do not have to use autoballast due to the introduction of High Displacement (HD) pumps with the G3 glider, TWR highly recommends the use of autoballast for a number of reasons. -
Page 75: Picodos
PicoDOS Slocum G3 Glider Operators Manual PicoDOS PicoDOS is the operating system that ships with the Persistor CF1. Typing help will access the many DOS like functions and their command lines. The navigation devices may be tested in PicoDOS using the talk program. The syntax of the talk program is shown below:... -
Page 76: Bin Folder
Slocum G3 Glider Operators Manual Software Architecture Table 6-3 Files in the CONFIG Folder File Name Description sbdlist.dat Specify which sensors are recorded for a short binary data file. mbdlist.dat Specify which sensors are recorded for a medium binary data file. -
Page 77: Logs Folder
PicoDOS Slocum G3 Glider Operators Manual NOTE A loss of carrier detection when in communication with science will automatically switch control and communications back to the glider controller. Logs Folder Mission derived data is stored in the logs folder. The data types are shown by file extension and described in the table below. -
Page 78: Autoexec.bat
Slocum G3 Glider Operators Manual Software Architecture Autoexec.bat The autoexec.bat file is a DOS system file whose function is to automatically execute commands on system startup. NOTE Do not confuse autoexec.bat with autoexec.mi. (See the config directory for a description of autoexec.mi.) Typically the autoexec.bat file contains:... -
Page 79: Masterdata
Masterdata Slocum G3 Glider Operators Manual WARNING The glider should never be deployed while in PicoDOS or displayed while set to boot pico. For a detailed description of how to load a glider and payload bay with a new release of glider... -
Page 80: Prefixes
Slocum G3 Glider Operators Manual Software Architecture Prefixes The prefixes in masterdata are described in the table below. Table 6-7 Masterdata Prefixes Prefix Name Description Measured Commanded User defined before run time Set in factory. Do not change unless you know what you are doing. -
Page 81: Device Commands
Masterdata Slocum G3 Glider Operators Manual Device Commands The use command displays a list of all devices that are installed and in use. Installed devices are dictated by the glider’s autoexec.mi file. During GliderDOS operation, an installed device is taken out of service if it receives two errors. During missions, this number is increased to 20 for most devices. - Page 82 Slocum G3 Glider Operators Manual Software Architecture Table 6-10 Device Commands [In this table, all commands listed in all caps are executable during a mission when preceded by an exclamation point (!). The commands in lower case cannot be used during mission. Commands are not case-sensitive when you are entering them in the glider software.]...
- Page 83 Masterdata Slocum G3 Glider Operators Manual Table 6-10 Device Commands [In this table, all commands listed in all caps are executable during a mission when preceded by an exclamation point (!). The commands in lower case cannot be used during mission. Commands are not case-sensitive when you are entering them in the glider software.]...
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Page 84: Science Computer
Slocum G3 Glider Operators Manual Software Architecture Table 6-10 Device Commands [In this table, all commands listed in all caps are executable during a mission when preceded by an exclamation point (!). The commands in lower case cannot be used during mission. Commands are not case-sensitive when you are entering them in the glider software.]... -
Page 85: Bin Folder
Science Computer Slocum G3 Glider Operators Manual Proglets.dat is the file that contains the standard configuration values for all of the glider’s science instruments. Each instrument is addressed in a section of code known as a proglet. Each proglet within the proglets.dat file can be modified to reflect changes to the science payload’s configuration and/or instrumentation. -
Page 86: Config Folder
Slocum G3 Glider Operators Manual Software Architecture Table 6-12 Files in the Bin Folder File Name Description mdatacol.run Sets the acoustic modem to listen mode until the buffer is full, then tells the glider to surface. u4talk.run Testing of uart drivers for programming. -
Page 87: Science Data Logging
Logfile Types Slocum G3 Glider Operators Manual Science Data Logging In the G1 and early G2 models of the Slocum glider, all science sensor data had to be passed over the serial data connection (also known as the clothesline) in real time to the main flight processor, where it was logged with glider sensor data. -
Page 88: Configuration Files
Slocum G3 Glider Operators Manual Science Data Logging prunedisk put (Think about whether it propagates to glider side or not.) send Configuration Files There are also some new configuration files on science that are parallel to the glider’s configuration files (see table below). Each of these pairs is also formatted the same. -
Page 89: Control
Control Slocum G3 Glider Operators Manual Forum glider/windoze/production/windoze-bin/ The dellog and prunedisk commands are local to either science or the glider. The send command issued directly from SciDOS is local to science (not recommended). Control In normal operation, only certain key science sensors are sent to the glider. For setup purposes, c_science_on is generally set to 2 or 3, and all sensor values are visible as they are being sent. - Page 90 Slocum G3 Glider Operators Manual Science Data Logging Table 7-3 Sensors Added to the Glider Default Sensor Name Processor Description Setting Glider Tells the science processor how u_sci_cycle_time(secs) fast to run Glider Always transmit the header to tell u_sci_dbd_sensor_list_xmit_control(enum) the science processor what to do Glider Indicates the science processor’s...
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Page 91: Flight Data Retrieval
Slocum G3 Glider Operators Manual Flight Data Retrieval The Dockserver can automate file retrieval and data storage, and display data and glider locations for easy viewing. Dockserver applications also allow data transmission via FTP. Flight data can be recorded and recovered in a number of ways. There are a number of nomenclatures described below for the way in which data is stored. - Page 92 Slocum G3 Glider Operators Manual Flight Data Retrieval To retrieve glider data while the glider is not running a mission from a GliderDOS prompt, type send *.dbd, send *.sbd, send *.mbd, send *.mlg, or send *.*. To retrieve science data while the glider is not running a mission from a GliderDOS prompt, type send *.ebd, send *.tbd, send *.nbd, send *.nlg, or send *.*...
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Page 93: Dockserver
Slocum G3 Glider Operators Manual Dockserver TELEDYNE WEBB RESEARCH P/N 0000 Rev. 2... - Page 94 Slocum G3 Glider Operators Manual Dockserver TELEDYNE WEBB RESEARCH P/N 0000, Rev. 2...
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Page 95: Missions
.mi Files Slocum G3 Glider Operators Manual Missions NOTE The SFMC glider interface used for mission planning has its own manual which is the Slocum Fleet Mission Control User Manual. Missions and maflile can be loaded to or drawn off the glider at any time by using SFMC software and zs and dockzr commands.. - Page 96 Slocum G3 Glider Operators Manual Missions Check that the glider is not in Simulation Mode. (simul.sim in the glider Persistor flash card config directory and appcmd.dat in the Persistor flash card config directory must be deleted.) Run Status.mi and check the following: •...
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Page 97: A Abbreviations And Acronyms
Slocum G3 Glider Operators Manual Abbreviations and Acronyms ABBREVIATION OR DESCRIPTION ACRONYM AC or ac Alternating Current ASSY Assembly Beam Attenuation Meter Conductivity/Temperature/Depth COTS Commercial Off-The-Shelf DC or dc Direct Current Dangerous Goods GLMPC Glider Mission Planning and Control Glider Mission Control... - Page 98 Slocum G3 Glider Operators Manual Abbreviations and Acronyms ABBREVIATION OR DESCRIPTION ACRONYM Secure Telephone Equipment Teledyne Webb Research U.S. United States Universal Serial Bus Unmanned Undersea Vehicle Volts Alternating Current TELEDYNE WEBB RESEARCH P/N 0000, Rev. 2...
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Page 99: B Code Theory And Operation
Operating Systems Slocum G3 Glider Operators Manual Code Theory and Operation The brain of the G3 glider is a Persistor Instruments Inc. CF1 computer chip based on Motorola’s MC68CK338 design. The disk space is provided via a removable compact flash card. The Slocum glider also contains a separate Persistor for logging and collecting scientific data (science computer). -
Page 100: Control Levels
Slocum G3 Glider Operators Manual Code Theory and Operation When a mission is run, GliderDOS checks the sensor values against those in masterdata. If a sensor value is set in the autoexec.mi file, the default value in the masterdata file is overwritten at glider startup. -
Page 101: General Control Structure
Code Design Slocum G3 Glider Operators Manual log_c_stack(): 1 – abend 2 – surface 3 – set_heading 4 – yo 5 – prepare_to_dive 6 – sensors_in When one behavior is assigned priority over another and a behavior argument (b_arg) is satisfied in both of the behaviors (i.e., if two or more surface behaviors have been written into the... -
Page 102: Out Of Band Abort
Slocum G3 Glider Operators Manual Code Theory and Operation interrupts with a keystroke (CTRL + C), after which control is returned to GliderDOS. While in the abort condition, all communication and location devices are also turned on (GPS, Argos, etc.), and all system log files are enabled to trace the cause of the abort. Once the abort terminates, control is returned to GliderDOS. - Page 103 Sample Mission and Comments Slocum G3 Glider Operators Manual The following behavior describes the conditions under which the glider must abort. Any text preceded by # is a comment and will not be recognized by the glider code. behavior: abend b_arg: overdepth(m) 1000.0...
- Page 104 Slocum G3 Glider Operators Manual Code Theory and Operation behavior_name=surface # surfac10.ma # climb to surface with ballast pump full out # pitch servo'ed to 20 degrees # Hand Written # 08-Apr-02 tc@DinkumSoftware.com Initial <start:b_arg> # arguments for climb_to b_arg: keystroke_wait_time(sec)
- Page 105 Sample Mission and Comments Slocum G3 Glider Operators Manual behavior: surface b_arg: end_action(enum) # 0-quit, 1 wait for ^C quit/resume, # 2 resume b_arg: report_all(bool) # T->report all sensors once, F->just gps b_arg: gps_wait_time(s) # how long to wait for gps...
- Page 106 Slocum G3 Glider Operators Manual Code Theory and Operation The corresponding .ma file is displayed below. behavior_name=goto_list # Written by gen-goto-list-ma ver 1.0 on GMT:Tue Feb 19 18:56:54 2002 # 07-Aug-02 tc@DinkumSoftware.com Manually edited for spawars 7aug02 op in buzzards bay # 07-Aug-02 tc@DinkumSoftware.com Changed from decimal degrees to degrees, minutes,...
- Page 107 Sample Mission and Comments Slocum G3 Glider Operators Manual b_arg: d_use_pitch(enum) 1:battpos 2:setonce 3:servo # <0 dive b_arg: d_pitch_value(X) -0.3491 # -20 deg # arguments for climb_to b_arg: c_target_depth(m) b_arg: c_target_altitude(m) b_arg: c_use_pitch(enum) 1:battpos 2:setonce 3:servo # >0 climb b_arg: c_pitch_value(X) -0.3491...
- Page 108 Slocum G3 Glider Operators Manual Code Theory and Operation B-10 TELEDYNE WEBB RESEARCH P/N 0000, Rev. 2...
- Page 109 Slocum G3 Glider Operators Manual Abort Codes MS_NONE=-3 MS_COMPLETED_ABNORMALLY=-2 MS_COMPLETED_NORMALLY=-1 MS_IN_PROGRESS=0 MS_ABORT_STACK_IS_IDLE=1 MS_ABORT_HEADING_IS_IDLE=2 MS_ABORT_PITCH_IS_IDLE=3 MS_ABORT_BPUMP_IS_IDLE=4 MS_ABORT_THRENG_IS_IDLE=5 MS_ABORT_BEH_ERROR MS_ABORT_OVERDEPTH MS_ABORT_OVERTIME MS_ABORT_UNDERVOLTS MS_ABORT_SAMEDEPTH_FOR=10 MS_ABORT_USER_INTERRUPT = 11 MS_ABORT_NOINPUT MS_ABORT_INFLECTION MS_ABORT_NO_TICKLE MS_ABORT_ENG_PRESSURE =15 MS_ABORT_DEVICE_ERROR = 16 MS_ABORT_DEV_NOT_INSTALLED = 17 MS_ABORT_WPT_TOOFAR = 18 MS_ABORT_UNREASONABLE_SETTINGS = 19...
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Page 110: C Abort Codes
Slocum G3 Glider Operators Manual Abort Codes MS_ABORT_STALLED=27 MS_ABORT_DE_PUMP_IS_IDLE=28 MS_ABORT_DE_PUMP_NOT_ENABLED=29 MS_ABORT_CPU_LOADED=30 MS_ABORT_NO_ABEND_BEHAVIOR=31 MS_ABORT_LOW_REL_CHARGE=32 TELEDYNE WEBB RESEARCH P/N 0000, Rev. 2... -
Page 111: D Glider Repositories And Forum
A user name and password will be approved by TWR staff by request to glidersupport@teledyne.com. Teledyne Webb Research requires the organization, name, phone number, and email addresses and typically that the user has attended a glider training session. TELEDYNE WEBB RESEARCH... - Page 112 Slocum G3 Glider Operators Manual Glider Repositories and Forum TELEDYNE WEBB RESEARCH P/N 0000, Rev. 2...
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Page 113: E Ancillary Equipment
Slocum G3 Glider Operators Manual Ancillary Equipment For more information about ancillary equipment for the gliders, see “Ancillary Glider Equipment” in Section 4 of the Slocum G3 Glider Maintenance Manual. TELEDYNE WEBB RESEARCH P/N 0000, Rev. 2... - Page 114 Slocum G3 Glider Operators Manual Ancillary Equipment TELEDYNE WEBB RESEARCH P/N 0000, Rev. 2...
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Page 115: F Freewave Configuration
About FreeWave Transceivers Slocum G3 Glider Operators Manual FreeWave Configuration Following are excerpts from the FreeWave Technologies, Inc. Spread Spectrum Users Manual. Refer to www.FreeWave.com for complete details. About FreeWave Transceivers FreeWave transceivers operate in virtually any environment where RS232 data communications occur. -
Page 116: Setting Up The Glider Freewave Slave (Internal To The Glider
Slocum G3 Glider Operators Manual FreeWave Configuration At the Main menu, press 2. • Press 0 (0 through 9 may be used) to add the serial number of the FreeWave in the glider. • Press C to select the glider to which this master will communicate. -
Page 117: Choosing A Location For The Transceivers
Choosing a Location for the Transceivers Slocum G3 Glider Operators Manual • The baud rate in setup mode is always 19,200. • The baud rate must be changed to match the baud rate of the device to which the radio is attached. - Page 118 Slocum G3 Glider Operators Manual FreeWave Configuration TELEDYNE WEBB RESEARCH P/N 0000, Rev. 2...
- Page 119 Slocum G3 Glider Operators Manual Iridium Service and the SIM Card To obtain an Iridium SIM card, locate and choose a provider. Iridium charges can be a significant expense, so it is worth shopping for a good rate. There are many different plans and providers, and you can use any provider you wish.
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Page 120: G Iridium Service And The Sim Card
Billing for the service is monthly. The SIM card is required during the manufacturing process and must be activated 30 days before shipment. Teledyne Webb Research will need the actual card and the unlocking PIN so that the card can be unlocked and the PIN code deactivated permanently. -
Page 121: H Argos Satellite Service And Id
Instructions for Completing the Argos Technical Information Form Slocum G3 Glider Operators Manual Argos Satellite Service and ID Glider users must provide IDs in both decimal and hexadecimal. The standard repetition rate is 90 seconds. To establish Argos service, submit a program application form to the Argos User Office. -
Page 122: Argos Data Format
You may need to revise their data processing software accordingly. Teledyne Webb Research can provide data format information upon request. If your glider is missing and Argos transmissions are needed to find it, contact Service Argos and ask that ALP processing (All Location Processing) be activated. - Page 123 Slocum G3 Glider Operators Manual How to Determine Mission Battery Longevity Mission battery longevity is estimated by considering a number of factors, including the type of battery, style of pump, science sensor types and sampling strategy, surface time required for real time data transmission, and the starting battery voltage.
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Page 124: I How To Determine Mission Battery Longevity
Slocum G3 Glider Operators Manual How to Determine Mission Battery Longevity NOTE Each time new batteries are installed, the m_coulomb_amphr_total sensor should be reset to zero by using the put command, followed by an exit reset. To estimate battery longevity, use the 4347 Rev. 02 Glider Endurance Tool, which is found at: ftp://ftp.glider.webbresearch.com/glider/windoze/production/src/doco/how-to-calibrate/... - Page 125 Slocum G3 Glider Operators Manual How to Edit a Proglets.dat File In order to communicate with the Persistor: • consci From PicoDOS, type • consci from GliderDOS, type • From a mission, type ctrl-t. The Persistor’s folder/file structure is shown below.
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Page 126: J How To Edit A Proglets.dat File
Slocum G3 Glider Operators Manual How to Edit a Proglets.dat File Below is an excerpt from proglets.dat, in which the Aanderaa sensor is commented out to remove it from service. Original document partial text: #------------------------------------------------------------------------ Aanderaa Oxygen Optode 3835 proglet = oxy3835... -
Page 127: K Quick Reference And Checklists
Slocum G3 Glider Operators Manual Quick Reference and Checklists To download or review the most recent Slocum G3 Glider Operators Manual, the quick reference, and checklists used to operate the glider, visit: ftp://ftp.glider.webbresearch.com/glider/windoze/production/src/doco/MANUAL/ TELEDYNE WEBB RESEARCH P/N 0000, Rev. 2... - Page 128 Slocum G3 Glider Operators Manual Quick Reference and Checklists TELEDYNE WEBB RESEARCH P/N 0000, Rev. 2...
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Page 129: L Glider Wiring Diagram
Slocum G3 Glider Operators Manual Glider Wiring Diagram To receive the latest version of the G3 glider’s wiring diagram, contact glidersupport@teledyne.com. TELEDYNE WEBB RESEARCH P/N 0000, Rev. 2... - Page 130 Slocum G3 Glider Operators Manual Glider Wiring Diagram TELEDYNE WEBB RESEARCH P/N 0000, Rev. 2...
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