Rutgers UniversityWebb Research Corporation

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Rutgers University-Webb Research Corporation
Partnership for Glider Technologies
Scott Glenn Oscar Schofield
Coastal Ocean Observation Lab Josh Kohut
Operations Center Hugh Roarty, John Kerfoot,
Chip Haldeman, and David Aragon Glider
Hardware, Software Field Ops
Clayton Jones et al.
Webb Research Corporation
Tom Campbell Dinkum
Software Liz Creed -
Oasis Trisha
Bergmann
Special Forces
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Self-sustaining NOPP-style Academic - Industry
Partnerships

• SeaSpace Corporation
• - Satellite remote sensing - 1992
• CODAR Ocean Sensors
• - HF radar current mapping -1997
• Webb Research Corporation
• - Autonomous gliders -1998
• WetSat
• - Cabled observatories -2004

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Slocum Electric Glider

Science Bay Specs. Length 30 cm Diameter 21.3
cm Max. Payload Weight 4 kg
Glider Specs. Length 1.5 m Hull Diameter 21.3
cm Weight 52 kg
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Communication
Each glider is equipped with two bi-directional
communication links, located in the tail.
FREEWAVE A high frequency radio (RF)
communication link (Freewave Technologies) allows
for high speed, line of sight data transmission
and a repeater can be used to increase the
distances of communication IRIDIUM Satellite
telephone link (Iridium Satellite LLC) also
provides global communication coverage.
ARGOS ARGOS transmitter is also located in the
tail and broadcasts GPS coordinates to locate the
glider in case of an emergency.
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Deployments and recoveries from a variety of
vessels
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• RU/WRC Partnership Glider Testbed Activities
• Operational testing of new hardware and software
• - First At Sea Deployments
• - Improved Steering
• - Large Vessel Deployments
• Software Prototype Development and Testing
• - X/Y-Modem to Z-Modem Iridium for Crash
  Recovery
• - GRCS to Dockserver Glider Control
• - Mission Plan Tool Glider GUI
• - Automated System Monitoring
  Email/Cell Phone Warnings
• - Automated Decision Making Reactive
  Planning
• Data Processing
• - Web-based displays for adaptive sampling
• - Assimilation in forecast models by NRL,
  NAVO
• - Assimilation into performance
  prediction models SAIC, Metron
• Sensor Software Improvement and Testing
• - CTD Thermal lag, SAM, Hyperspectral
  spectrophotometer
• Training of operators RU, NAVO
• Guidance to Slocum operators for Field
  Operations

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RUTGERS UNIVERSITY COASTAL OCEAN OBSERVATION
LAB Operations Center
CODAR Network
Cable
Glider Fleet
X-Band
L-Band
Mission Sustained Operations of Key Observing
Technologies for Scientific Research, Technology
Development, Education and Outreach
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RU-COOL Glider Fleet Stats (as of 1126 February
2, 2006) 16,210 km flown 122,947 casts 512
in-water calendar days 711 glider days
Command and Control Around the World
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Evolution of Glider Control GRCS to Dockserver
Rutgers (2002-2004)
Glider Remote Control System (GRCS) -
Automated iridium connection - Data
File transfer - Surface Dialogue logging
- Email notification Webb
Research/Dinkum Software (2004-Pres)
Dockserver - Automated iridium
connection - Data file transfer -
Surface dialogue logging - Email notification
- Manual and automated scripting -
File transfer - Mission retasking - Web
interface for worldwide connectivity
8 Line Ringdown Modem Bank
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Dockserver Remote Automated Control
Web Interface (Java Based Applet)
Automated Control
Surface Dialogue
Glider Connection Status
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Dockserver Remote Manual Control
Web Interface (Java Based Applet)
Manual Control
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Dockserver Automated Email Notification

• Connection Events
• Glider Aborts

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Dockserver Portablility
NAVO Portable Glider Control Center SHAREM 150
Linux OS Laptop Running Dockserver
KeySpan Port Expander
Modem Bank
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Data Flow
Data Transfer (to NAVO)
CTD Profiles (kkyy, USMTF), depth-averaged
currents (via ftp or email)
Mission Planning/ Retasking
Mission Planning/Retasking (ASCII text via matlab)
Realtime Deployment Tracking (ASCII text via
perl, shell, matlab)

• Slocum Raw Data Streams
• .dbd file
• Binary data format.
• Full sensor suite.
• Large size ( 1 4 Mb).
• Recovered after deployment.
• .sbd file
• Binary data format.
• Subset of .dbd file
• Small size ( 200 Kb).
• Transferred via Iridium link realtime
• Surface dialog
• Displayed by Dockserver
• Parsed (perl) for GUI and web display.
• Not dependent on successful file transfer to
  track glider position or health.

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Web Display Active and Archived Deployments
Email Warnings Glider Overdue QA/QC
Checks Stay Awaypoints
http//marine.rutgers.edu/cool/auvs/
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Glider GUI Remote system monitoring and mission
planning
Glider Status
Glider Health
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Glider GUI Remote system monitoring and mission
planning
Glider Currents
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Glider GUI Remote system monitoring and mission
planning
Waypoint file generation
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MAGiCTM CTD Modular Adaptive Glider in situ
Correction
Raw CTD Profile
Pre-conditioning
Conductivity Cell Thermal Lag Correction
Flag Outliers W lt 5 cm/s DT/DZ gt 1 C
/ 25 cm Align C/T Sensors T 0.75 s C
1.25 s
Test Dataset The New Jersey Shelf Summer
Thermocline Ranks among the sharpest in the
world!
Morison et. al, 1994
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MAGiCTM CTD Modular Adaptive Glider in situ
Correction
Uncorrected CTD Profile
Corrected CTD Profile
Blue Temperature Red Salinity Black - Density
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Mail box 2 Thinking using its own data
Automated Decision Making Smart Flight Software
-Using agent oriented programming make Glider
fleets smart by optimizing their sampling based
on what data is delivered from the observatory.
Mail box 3 Thinking using other real-time data
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Sampling Inside the Box Harvard Forecast Model
NLIWI, AWACS, SW06 Joint Experiment July
September 2006
Glider Scanfish Track HU High-Res Model
G5
Harvard Box (100kmx100km)
G1
G2
G3
G4
Scanfish Track
G6
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Thinking Outside the Box NAVO, NRL, Rutgers
LBSFI Plan
Purpose Demonstrate Adaptive Sampling Feedback
Loop
Training Data Set NLIWI, AWACS, SW06 Joint
Experiment
Real-time Implementation for 2006 Glider Data
Assimilated by NRL using NCODA NAVO Provides
Forcing NCOM Global, Nested and High-Res
Forecasts Generated ROMS initialized with NCOM
and Adjoint Model Run NCOM Forecast and ROMS
Adjoint Guide Glider Sampling
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LBSFI Synopsis/Action
C3 specify Common Formats
N3 Rutgers collaboration
C4 specify functions
QC
Model pathway
CC
N5 specify format
C2 specify Common Formats
N1 specify functions
Mission Monitoring Mission Planning
C1 specify Common Formats
Potential Consortium Efforts C1 Specify common
formats for command and status messages C2
Specify common formats for data output C3
Specify common formats for formats between fish
and CC (handle on fish or vendor provided
translator on CC JAUS for fleet
compatibility) C4 Specify CC functions
Potential LBSFI Efforts N1 Specify MM/MP
functions Matlab user interface N2 Feedback to
consortium re software specification
specification N3 Collaborative development of QC
methods N4 USN compatibility N5 Specify format
of environ data (NetCDF?)
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SHAREM 150 Data Flow Path
MODAS
retask coordinates
IOP data
raw data
http//marine.rutgers.edu/cool/auvs
1. Track realtime progress. 2. Track glider
health/diagnostics. 3. Retask glider mission.
retask command
Realtime Data Viewing
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MIREM of Data Flow Path
perf. pred.
IOP data
raw data
MEDAL
retask command
IOP data
perf. pred.
(with HM-14)
retask coordinates
METRON Display
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Glider Technology Center
Sea Water Lab
Glider Simulator w/ Iridium
Preparation Lab
Glider Van
Loading Dock
Command and Control Deployment Preparation Ballast
ing Troubleshooting/Repair Shipping/Receiving
COOLOperations Center
Glider Lab
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Glider Technology Center Deployment Preparation
Storage and Work Bench
I-Beam Glider Hoist System
Glider Payload Storage
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