Redesigning the slocum glider for torpedo tube launching a. Please also refer to the complete user manual, slocum glider at. Rp 33 fleet oceanographic and acoustic reference manual pdf. The slocum glider uses hydraulic buoyancy change to alter the vehicle density in relation to the surrounding water thereby causing the vehicle to either float or sink. Recent developments in the field of the autonomous underwater vehicles allow the wide usage of these platforms as part of scientific experiments, monitoring campaigns and more. Section 1introduction provides a general description of the slocum g3 glider and an overview of its architecture and components. A lightweight scripting engine for the slocum glider. Note that slocum gliders of g1 type used in the past were not equipped with any irradiance sensor. According to specifications from rutgers the glider is 510 long and weights around 114 pounds. The slocum glider teledyne webb research is a longendurance autonomous underwater vehicle that is powered by alkaline or lithium batteries and can carry a. Slocum glider data file primer kerfootspt wiki github. Teledyne webb research slocum g3 glider slocum g3 glider. Ioos glider home page provides an overview of gliders, their applications, a listing of various. Propeller driver and spinner for easyglider pro order no.
Inthedesignofthevirginia tech underwater glider vtugtheendurancewasrequired to be long enough for a full day of. We adapt the glider model to model the slocum electric glider. An underwater glider is a type of autonomous underwater vehicle auv that employs variablebuoyancy propulsion instead of traditional propellers or thrusters. The slocum glider is a uniquely mobile network component capable of moving to specific locations and depths and occupying controlled spatial and temporal grids. Because the only power it needs is for varying its buoyancy and running its electronics, the resulting longrange and duration make it ideal for long term. Slocum 200m electric glider manual rutgers university. Experimental data from trials at sea using a slocum glider and reference data are used to identify the buoyancy trim and hydrodynamic coe. B, 112 format notes glider sensors and commands will be denoted in the courier font throughout this document, as shown in the example below.
This manual is used in conjunction with the slocum glider maintenance manual. Teledyne webb research slocum glider operators guidebook page 3 this document is a field guide and reference documentation for use in preparation and deployment of teledyne webb research slocum gliders. Ego gliders data management users manual 1 ego gliders datamanagement principles 1. Please also refer to the complete slocum glider operators manual at. Slocum glider generates scientific payload in undersea data. The ego group promotes glider applications through coordination, training, liaison between. As set by the mission, the glider periodically surfaces to communicate data and instructions and to obtain a gps fix for location. Dec 17, 2016 the slocum glider is shaped liked a torpedo with wings, except that it does not carry high explosives, is considerably smaller than a torpedo and, notably has no propeller.
This manual is used in conjun ction with the slocum glider maintenance manual. From the specific perspective of the principal physical variables temperature and conductivity, the main shortterm risk is the deterioration of the quality of salinity data that is primarily due to the fouling of the gliders. Redesigning the slocum glider for torpedo tube launching. The slocum glider payload ctd is a lowpower profiling instrument designed specifically for installation in slocum gliders. Unaccounted transient or permanent changes in sensor performances can compromise the overall quality of datasets obtained with a glider. Additionally, training programs and instructors are available at ama club sites to help you get started the right way. Slocum glider page 2 teledyne webb research operations manual ver 2 04022009 disclaimers and battery warning qualified personnel only trained and qualified personnel should operate and maintain the glider. We have 1 teledyne slocum g2 manual available for free pdf download. The vehicles are often equipped with sensors measuring temperature, conductivity, chlorophyll a fluorescence chl a, colored dissolved organic matter cdom fluorescence, phycoerithrin pe fluorescence. The sfmc highlights pertinent information, significantly reducing piloting time and allowing smaller teams to manage large fleets of gliders.
Additionally, this manual consolidates environmental. Glider flying handbook federal aviation administration. Once the glider is recovered, the remaining dbd, ebd and, optionally, the mbd and nbd files are transferred from the glider and provide a full record of the data set. Teledyne slocum g2 operator training manual pdf download. The slocum electric glider developed by teledyne webb research jones and webb, 2007. Slocum fleet mission control sfmc teledyne webb slocum fleet mission control sfmc is a software suite used to manage multiple teledyne webb research slocum glider deployments around the world. The slocum glider mission was enabled by the cooperative research initiative between the ocean university of china and the woods hole oceanographic institution whoi as part of the osnapoverturning in the subpolar north atlantic program array put in place to measure the top, basinwide overturning circulation and associated transport of heat. It employs variable buoyancy in a similar way to a profiling float, but unlike a float, which can move only up and down, an underwater glider is fitted with hydrofoils underwater wings that allow it to glide forward. The maxpage 4 virginia center for autonomous systems report no. From the specific perspective of the principal physical variables temperature and conductivity, the main shortterm risk is the deterioration of the quality of salinity data that is primarily due to the fouling of the gliders conductivity sensor.
The slocum glider is shaped liked a torpedo with wings, except that it does not carry high explosives, is considerably smaller than a torpedo and, notably has no propeller. They also identify the gliders in use by those contributing to the u. Teledyne webb research conducts regular training sessions several times a year. There are over 2,500 ama chartered clubs across the country. A slocum glider uses gravity to descend and buoyancy to rise. Slocum g2 glider operators training guide teledyne webb research 1 rev.
Wiki cookbook exploring and visualizing slocum glider data. The vehicles are often equipped with sensors measuring temperature, conductivity, chlorophyll a fluorescence chl a, colored dissolved organic matter cdom fluorescence, phycoerithrin pe fluorescence and spectral. Slocum glider systems include all tools hardware and software required for deployment, mission planning, command and control, and data retrieval. The slocum electric glider developed by teledyne webb research jones and webb. Figure 2 a slocum glider travels in sawtooth pattern. The following is brief description of each of the 6 file types created by a slocum glider during each segment of a mission. Slocum glider energy measurement and simulation infrastructure. The deep pump gains a larger reservoir and utilizes the newer stainless steel metal bellows that has been recently shipping with slocum g2 systems. How do timestamp and depth sensor selection affect data set integrity.
Contact the ama at the address or tollfree phone number below. It has the high accuracy necessary for research, updating ocean models, assessing sensor stability on moored observatories, and leveraging data collection opportunities from operational vehicle missions. We also discuss the design of a new simulation environment for the slocum glider which uses the powerenergy data. Slocum g3 glider maintenance manual vi teledyne webb research pn 0000, rev. Newsteledyne webb research delivers slocum glider to the university of california, davis newsteledyne webb researchs apex deep reaches 6,000 meters newsten new roles signal further growth for teledyne marine amidst growing market optimism.
This manual provides the information required to operate the slocum glider g2 system. Chris decollibus said the new design is a culmination of customer input and knowledge gained from building over 600 gliders. The slocum g3 glider design incorporates features to enhance performance and robustness of the vehicle, as well as to reduce operational costs. It surfaces after a specified number of yoyos have been completed as it progresses towards its next target point. Alvarez abstractlaunching gliders from a submarine torpedo tube is of special interest for military operations. It employs variable buoyancy in a similar way to a profiling float, but unlike a float, which can move only up and down, an underwater glider is fitted with hydrofoils underwater wings that allow it to glide forward while descending. Kit manual easyglider pro m bild 5lang horizon hobby. July 2014 introduction this document is a field guide and reference documentation for use in preparing and deploying teledyne webb researchs slocum g2 gliders. This glider was deployed as part of the exploring ocean fronts project. Mar 28, 2012 slocum underwater glider vehicle video, courtesy of woods hole oceanographic institution, wgbh boston and wnet new york. This is not currently possible because the wing span needed to achieve a good gliding performance is twice the standard diameter of submarine torpedo tubes. Dataset ctd data collected by slocum glider operated.
Osa calibration procedure for slocum glider deployed. This manual provides the information required to operate the slocum glider g3 system. The slocum battery glider dead reckons to waypoints, inflecting at set depths and altitudes based on a mission text file. This infrastructure can be used for online powerenergy management or to better understand the timedependent energy consumption pro. Laboratory evaluation and control of slocum glider ct. For examples of how commands are used, see the sample mission and comments section in appendix a of the slocum g2 glider operators manual. A lightweight scripting engine for the slocum glider hans christian woithe, ulrich kremer department of computer science rutgers university piscataway, nj 08854 email. Glider function there are now three operational underwater gliders. The slocum glider teledyne webb research is a longendurance autonomous underwater vehicle that is powered by alkaline or lithium batteries and can carry a variety of sensors to observe the ocean.
Teledyne webb research releases slocum g3 glider 18042017 the glider made its debut in the teledyne marine vehicles booth on the opening day of ocean business to a steady stream of attendees. Fleet and joint activities from the naval meteorology and. Development and testing of local automated glider editing. Preface slocum g2 glider maintenance manual teledyne webb research v pn 4344, rev. Slocum g2 glider maintenance manual preface vi teledyne webb research pn 4344, rev. Given an appropriate dive or climb angle, the wings and body lift convert some of this vertical motion into a forward sawtooth horizontal motion. Teledyne webb research releases slocum g3 glider hydro. Section 1introduction provides a general description of the slocum g2 glider and an overview of its architecture and components. The result is a sawtooth trajectory through the water. Slocum underwater glider vehicle video, courtesy of woods hole oceanographic institution, wgbh boston and wnet new york. This manual is used in conjunction with the slocum g3 glider operators manual. B, 112 preface this manual provides the information required to transport, set up, and maintain the slocum glider g2 system. Slocum g2 glider operators training guide appendix a. To perform these tests, we conducted initial sea trials in 2017 in monterey bay and near newport, off the oregon coast using a slocum g2 glider equipped with alkaline batteries.
Three models of ocean gliders are currently commercially available. Driven in a sawtooth vertical profile by variable buoyancy, the glider moves both horizontally and vertically. Glider national oceanic and atmospheric administration. Slocum glider page 2 teledyne webb research operations manual ver 2 05052010 disclaimers and battery warning qualified personnel only trained and qualified personnel should operate and maintain the glider. This manual is used in conjunction with the slocum glider g2 operators manual. The density range that the glider is able to overcome is increased. This handbook supersedes faah8083, glider flying handbook, dated 2003. Glider automated in this work, the automated glider optics quality control algorithms are described, followed by the testing of the performance statistics using optical data from various gliders including slocum and seagliders, at different locations and involving over 7,000 pro. Important two of the most important things you can.
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