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Slocum G3 Glider
Teledyne Slocum G3 Glider User Manual
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Slocum G3 Glider
Operators Manual
P/N 0000, Rev
. 2
December 2017
(Not for dissemination or re
production
)
T
eledyne We
bb Research,
a Business Unit of T
ele
dyne Instruments, Inc.
49 Edgerton Drive
North Falmouth, MA
02556
U.S.A.
T
el: (508) 563-1000
http://www.teledynemarine.com/webb-research/
R
E
VIEW COP
Y
1
2/
1
9
/
17
2
Table of Contents
Default Chapter
3
Table of Contents
3
1 Introduction
11
New Features with the G3
11
External Ballast Locations
12
Forward Propulsion
12
Navigation and Flight
13
Safety and Handling Procedures
13
Architecture and Components
13
Architecture
13
Nose Dome
13
Forward Hull Section
14
Payload Bay MID-Hull Section
14
Aft Hull Section
15
Aft Tail Cone
15
Wings
16
Slocum Glider Components
16
HD Pumps
16
Shallow Ballast Pump Assembly
17
1000-Meter Ballast Pump Assembly
19
Pitch Vernier
19
Altimeter
20
Carbon Fiber Hulls
23
Payload Bay
24
Payload Bay Connectors
26
Payload Bay Computers and Sensors
27
Conductivity, Temperature, and Depth (CTD)
27
Argos Satellite Platform Transmitter Terminal (PTT)
29
Catalyst
30
Air Pump System
30
Vehicle Controller
31
Hardware Interface Board
32
Attitude Sensor
33
Global Positioning System (GPS)
34
Iridium Satellite Telemetry
35
Radio Frequency (RF) Modem Telemetry
36
Communications
36
Pressure Transducer
37
Leak Detect Sensor Boards
37
Air Bladder
38
Burn Wire and Jettison Weight
39
Power Port
40
Battery Management System (BMS)
40
Batteries
42
Emergency Battery
42
Rechargeable Battery Packs
43
Battery Charger
44
Pitch Battery Ports
45
Battery Charge Indicator
46
Battery Charging Instructions
46
Optional Comms
47
G3 Primary Batteries
47
Installing the Battery Packs
49
Rechargeable Battery Operational Considerations
50
Shipping Requirements
50
Fin
50
Tail Fin
51
Communications Subsystem
52
Steering Subsystem
52
Strobe Illumination
52
Fin Leak Detect
52
Tail Fin Maintenance
53
Sacrificial Anode
54
Batteries/Coulomb Counter
55
Desiccant
56
Lifting Point
57
Recovery System (Optional)
57
Strobe
58
Spare Ports and Modem Readiness
58
Optional 10-Watt Thruster
59
Operational Usage
59
Post Deployment Care
60
2 Pre-Mission Testing
61
On the Beach, Boat, or Bench
61
In the Water
62
3 Deployment and Recovery
63
Deploying the Glider
63
Large Ship Deployment
66
Recovering the Glider
67
4 Emergency Recovery
69
5 Glider Communications
71
Communicating with the RF Modem
71
Communicating with Argos
71
Communicating with Iridium
71
Communicating with RUDICS
72
6 Software Architecture
73
G3 Software
73
G3 Missions
74
Picodos
75
Config Folder
75
Bin Folder
76
Logs Folder
77
Missions Folder
77
Sentlogs Folder
77
Autoexec.bat
78
Gliderdos
78
Masterdata
79
Prefixes
80
Sensor Commands
80
Device Commands
81
Science Computer
84
Bin Folder
85
Config Folder
86
Autoexec.bat
86
7 Science Data Logging
87
Logfile Types
87
Configuration Files
88
Transparency
88
Control
89
8 Flight Data Retrieval
91
9 Dockserver
93
10 Missions
95
MI Files
95
Ma Files
95
Running Missions
95
A Abbreviations and Acronyms
97
B Code Theory and Operation
99
Operating Systems
99
Code Design
99
Control Levels
100
Control: Stacks, States, and Abort Sequences
100
General Control Structure
101
Synchronous Abort
101
Out of Band Abort
102
Hardware Generated Abort
102
Sample Mission and Comments
102
C Abort Codes
110
D Glider Repositories and Forum
111
E Ancillary Equipment
113
F Freewave Configuration
115
About Freewave Transceivers
115
Setting up the Glider Shoreside Freewave
115
Setting up the Glider Freewave Slave (Internal to the Glider
116
Choosing a Location for the Transceivers
117
G Iridium Service and the SIM Card
120
H Argos Satellite Service and ID
121
Instructions for Completing the Argos Technical Information Form
121
Argos Data Format
122
I How to Determine Mission Battery Longevity
124
J How to Edit a Proglets.dat File
126
K Quick Reference and Checklists
127
L Glider Wiring Diagram
129
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Teledyne Slocum G3 Glider Specifications
General
Brand
Teledyne
Model
Slocum G3 Glider
Category
Marine Equipment
Language
English
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