Teledyne Slocum G2 Operator Training Manual
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Teledyne Slocum G2 Operator Training Manual

Teledyne Slocum G2 Operator Training Manual

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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

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Summary of Contents for Teledyne Slocum G2

  • Page 1 Slocum G2 Glider Operators Training Guide Revised June 2012 Teledyne Webb Research 82 Technology Park Drive East Falmouth, MA 02536 +1 (508) 548-2077 (phone) +1 (508) 540-1686 (fax) www.webbresearch.com...
  • 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.

  • Page 3: Table Of Contents

    Slocum G2 Glider Operators Training Guide Contents Introduction ..........1 Glider Operation and Maintenance Training.
  • Page 4 Slocum G2 Glider Operators Training Guide Glider Operations Mission Planning Overview Worksheet....40 Pre-mission Seal Checklist (Final Seal) ......42 Post-seal Checklist.

  • Page 5: Introduction

    Glider Operation and Maintenance Training Only trained and qualified 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.
  • Page 6 Teledyne Webb Research Slocum G2 Glider. CAUTION A reminder to follow certain precautions in order to prevent damage to equipment or injury to personnel.
  • Page 7 Slocum G2 Glider Operators Training Guide 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 CPU cycle.

  • Page 8: Notes For Ballasting And Lab Tests

    Slocum G2 Glider Operators Training Guide Notes for Ballasting and Lab Tests Notes for Ballasting and Lab Tests The glider must be sealed with an appropriate vacuum before power can be applied to it. To do this, pull the glider together with the tie rod using the provided 24” T- handle hex wrench until the hulls have come together.
  • Page 9 Slocum G2 Glider Operators Training Guide Type lab_mode on. This puts the glider in lab mode and will prevent the glider from trying to run its default mission. NOTE The 1000m pump can take several minutes to retract from fully displaced to 0 cc displacement.
  • Page 10 Slocum G2 Glider Operators Training Guide Notes for Ballasting and Lab Tests loadmission sci_on.mi (if available), or type the individual commands listed below: • put c_science_all_on 0 (off = -1). Tells the science computer to sample all science sensors as fast as possible.
  • Page 11 Slocum G2 Glider Operators Training Guide Repeat steps 10-11 until the glider is perfectly ballasted in the tank. The fin should be just breaking the surface at this point. The image below illustrates a glider perfectly ballasted for the tank.

  • Page 12: Common Lab Commands

    Slocum G2 Glider Operators Training Guide Notes for Ballasting and Lab Tests 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.

  • Page 13: Pre-Mission Checkouts

    On the Beach, Deck and/or outside at the Lab Slocum G2 Glider Operators Training Guide Pre-mission Checkouts These procedures should be followed to qualify a glider so that it can be launched for a mission. TWR can provide current Functional Check Out Procedure and Pre- deployment test procedure by request to glidersupport@webbresearch.com...

  • Page 14: Science Sensor Checkout

    Slocum G2 Glider Operators Training Guide Pre-mission Checkouts Type Report ++ m_battery. Type report clearall. If no errors are found, type lab_mode off to return to the GliderDOS prompt. NOTE Make sure that the glider is not simulating or in boot Pico or lab mode before deployment.

  • Page 15: Transporting The Glider

    Transporting the glider Slocum G2 Glider Operators Training Guide • Type put c_science_on 3 (off = 1). This displays that data to the screen. • Type put c_science_send_all 1 (off = 0) to send science to the flight Persistor. Verify that science output seems reasonable for all sensors installed. TWR can provide check out procedure for many sensors by request to glidersupport@webbresearch.com...
  • Page 16 Slocum G2 Glider Operators Training Guide Pre-mission Checkouts • Run Ini1.mi—Does 3 yos to the north, diving to 5 meters and climbing to 3 meters. The pitch should be +/- 20 degrees. • Run Ini2.mi—Goes to a waypoint 100 meters south of the dive point, diving to 5 meters and climbing to 3 meters.

  • Page 17: Deploying The Glider

    In the Water Slocum G2 Glider Operators Training Guide Deploying the Glider Deployment at sea can be dangerous, and the welfare of crew and glider handlers should be considered while at the rail of a ship. From a small boat the glider cart can be used to let the glider slip easily into the water.
  • Page 18 Slocum G2 Glider Operators Training Guide Deploying the Glider 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 TELEDYNE WEBB RESEARCH...

  • Page 19: Large Ship Deployment

    Large Ship Deployment Slocum G2 Glider Operators Training Guide 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 Rev. 06/12...

  • Page 20: Recovering The Glider

    Slocum G2 Glider Operators Training Guide Recovering the Glider Recovering the Glider NOTE A boat hook can be used to manipulate the glider in the water. Lower the cart into water, and manipulate the glider by the digifin into position on the cart.

  • Page 21: Packing The Glider

    Large Ship Deployment Slocum G2 Glider Operators Training Guide 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.

  • Page 22: Dockserver

    Slocum G2 Glider Operators Training Guide Dockserver Dockserver Dockserver is the name of the laptop or rack-mounted Linux CentOS or Redhat based PC provided with a glider. The applications (also named Dockserver and Dataserver) must be launched from desktop icons to provide full Dockserver functionality.

  • Page 23: Glmpc Terminal

    Glmpc Terminal Slocum G2 Glider Operators Training Guide Glmpc Terminal This real-time interface displays custom 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.

  • Page 24: Dockserver Java Ftp Utility

    Slocum G2 Glider Operators Training Guide Dockserver Dockserver Java FTP Utility Whenever new files are sent to Dockserver, you must disconnect and reconnect to refresh the file list. TELEDYNE WEBB RESEARCH Rev. 06/12...

  • Page 25: Configure Communications With The Terminal Program (Procomm Plus)

    Dockserver Java FTP Utility Slocum G2 Glider Operators Training Guide Configure Communications with the Terminal Program (ProComm Plus) Many users have decided to have a mobile Dockserver and a permanent installation Dockserver. If you do not have a mobile Dockserver, the following settings in the ProComm Plus Terminal program will allow direct communications with a terminal program to the glider.

  • Page 26: Surface Dialog

    Slocum G2 Glider Operators Training Guide Surface Dialog Surface Dialog An example of a surface dialog is shown below. Note the available "in mission" glider commands are in bold. Glider bensim at surface. Because:Hit a waypoint [behavior surface_2 start_when = 8.0] MissionName:initial.mi MissionNum:bensim-2010-123-2-0...

  • Page 27: File Manipulation

    Transferring Files to and from the Glider Slocum G2 Glider Operators Training Guide File Manipulation Transferring Files to and from the Glider Commands for transferring files are named from the perspective of the glider. The send command sends data files from the glider. The zr (receive) command allows the glider to receive files.

  • Page 28: Glider Do's And Don'ts

    Slocum G2 Glider Operators Training Guide Glider Do’s and Don’ts Glider Do’s and Don’ts Do’s Always do these things with a glider: • Secure it properly in crate with all three straps for shipping. • Use fresh desiccants on each deployment.

  • Page 29: Mission Files (.Mi And .Ma)

    Transferring Files to the Glider Slocum G2 Glider Operators Training Guide Mission Files (.mi and .ma) For the default Webb Ashumet missions below, insert text of actual missions and .ma files here if desired. Sensors and arguments commonly changed by users are indicated in blue text.
  • Page 30 Slocum G2 Glider Operators Training Guide Mission Files (.mi and .ma) b_arg: max_wpt_distance(m) # Maximum allowable distance to a waypoint b_arg: samedepth_for_sample_time(s) 30.0 # how often to check b_arg: undervolts(volts) 10.0 # < 0 disables Decrease to 9 # for Lithium primary batteries b_arg: no_cop_tickle_for(sec) 48600.0 # secs, abort mission if watchdog...
  • Page 31 Transferring Files to the Glider Slocum G2 Glider Operators Training Guide behavior: surface b_arg: args_from_file(enum) 06 # read from mafiles/surfac06.ma ################################################################################ behavior: goto_list b_arg: args_from_file(enum) 10 # read from mafiles/goto_l10.ma b_arg: start_when(enum) # 0-immediately, 1-stack idle 2-heading idle ################################################################################ behavior: yo b_arg: args_from_file(enum) 10 # read from mafiles/yo10.ma...
  • Page 32 Slocum G2 Glider Operators Training Guide Mission Files (.mi and .ma) surfac01.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 if haven't had comms for a while, 20 minutes <start:b_arg>...
  • Page 33 Transferring Files to the Glider Slocum G2 Glider Operators Training Guide surfac03.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 # 08 June 2012 ballsup@webbresearch.com increased surface time to "normal"...
  • Page 34 Slocum G2 Glider Operators Training Guide Mission Files (.mi and .ma) surfac05.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 requested by science <start:b_arg>...
  • Page 35 Transferring Files to the Glider Slocum G2 Glider Operators Training Guide goto10.ma goto10.ma 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, decimal minutes ??-Apr-03 kniewiad@webbresearch.com changed to ashument...
  • Page 36 Slocum G2 Glider Operators Training Guide Mission Files (.mi and .ma) # 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 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>...
  • Page 37 Transferring Files to the Glider Slocum G2 Glider Operators Training Guide sample10.ma behavior_name=sample # sample all science sensors on down cast only # 10-July-2010 ballsup@webbresearch.com handwritten for stock.mi <start:b_arg> b_arg: sensor_type(enum) 0 # ALL C_SCIENCE_ALL_ON # PROFILE C_PROFILE_ON # HS2...
  • Page 38 Slocum G2 Glider Operators Training Guide Mission Files (.mi and .ma) # This is a bit-field, combine: # 8 on_surface, 4 climbing, 2 hovering, 1 diving b_arg: state_to_sample(enum) none diving hovering diving|hovering climbing diving|climbing hovering|climbing diving|hovering|climbing on_surface diving|on_surface # 10 hovering|on_surface...

  • Page 39: Appendix A: Glider Commands

    Slocum G2 Glider Operators Training Guide Appendix A: Glider Commands To list all commands that are available, type help from a GliderDOS prompt. These commands are also listed in the table below. For examples of how commands are used, see the “Sample Mission and Comments” section in Appendix A of the Slocum G2 Glider Operators Manual.
  • Page 40 Slocum G2 Glider Operators Training Guide Appendix A: Glider Commands Command Name Syntax and/or Description exit [-nofin] [poweroff|reset|pico|pbm] exit GET <sensor name> HARDWARE? [-v]; hardware configuration hardware? Reports free memory heap Prints help for commands help HIGHDENSITY ?; for help...
  • Page 41 Slocum G2 Glider Operators Training Guide Command Name Syntax and/or Description SEND [-f={rf}|{irid] [-num=<n>] [-t=<s>] send [filespec ...] SEQUENCE ?; do this for help sequence SETDEVLIMIT devicename os w/s w/m setdevlimit SETNUMWARN [X]; sets max dev warnings to setnumwarn SET [var=[str]] [/SLFE?] *...
  • Page 42 Slocum G2 Glider Operators Training Guide Appendix A: Glider Commands TELEDYNE WEBB RESEARCH Rev. 06/12...

  • Page 43: Appendix B: Worksheets

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

  • Page 44: Glider Operations Mission Planning Overview Worksheet

    Slocum G2 Glider Operators Training Guide Appendix B: Worksheets Glider Operations Mission Planning Overview Worksheet Glider number Prepared by Payload instruments Deployment location Surf temp Surf sal Density Deployment date Deployment notes Science collection notes Date Tech Notes Ballast completed...
  • Page 45 Glider Operations Mission Planning Overview Worksheet Slocum G2 Glider Operators Training Guide Pilot’s contact information When Phone Email Mission notes TELEDYNE WEBB RESEARCH Rev. 06/12...

  • Page 46: Pre-Mission Seal Checklist (Final Seal)

    Slocum G2 Glider Operators Training Guide Appendix B: Worksheets Pre-mission Seal Checklist (Final Seal) All ballasting complete and weights adjusted; see the “Ballasting and H-moment” worksheet on page 44. Date Tech Notes Fore Pump lead screw clean and greased Pitch lead screw clean and greased Leak detect in place;...

  • Page 47: Post-Seal Checklist

    Post-seal Checklist Slocum G2 Glider Operators Training Guide Post-seal Checklist Date Tech Notes General Functional test procedure complete Pick point installed Wing rails installed Wings and spareds packed Hardware Exterior connectors secure and fastened Altimeter Aanderaa (if present) Burn wire...

  • Page 48: Shipping Checklist

    Slocum G2 Glider Operators Training Guide Appendix B: Worksheets Shipping Checklist 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...
  • Page 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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