NRT data stream from the gliders Slocum and Spray to Coriolis

EGO meeting

Paris 2-3/10/06

Slocum Electric Glider

Glider Specs.Length: 1.5 mHull Diameter: 21.3 cmWeight: 52 kg

Science Bay Specs.Length: 30 cmDiameter: 21.3 cmMax. Payload Weight: 4 kg

Electronic section

Hydraulic sectionWet section

Fin +

Argos antenna

Wing + GPS antenna

Wing + Iridium antenna

CTD

Coriolis Data CenterIFREMERBrest, France

Numerical ModelsMercator, MFS, ...

Ground StationIFM-GEOMAR

Kiel, Germany

U ~ 20-40 cm/sW ~ 10-20cm/s

Autonomous Underwater Gliding Vehicle (AUGVs): GLIDERS

1km

~2-5 km between surfacings

Iridium Dial up Data service

Slocum data stream

• Slocum : always caller

• 1 phone number i.e. modem– Kermit session– Dockserver session

Kermit sessions– Automatic session

• kermit script– Upload the data (short binary data sbd files 20-60 kb)– Zmodem protocol– Avoid re-sending part of a file already sent

• Shell & matlab scripts– Update website – Push the data on a Coriolis ftp site

– Manual session• Slocum « live session»• Type commands• Download new mission files

Dockserver: Remote Automated Control

Surface Dialogue

Automated Control

Web Interface (Java Based Applet)

Glider Connection Status

Need a function to push the data to Coriolis ?

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

Evolution of Glider Control: GRCS to DockserverEvolution of Glider Control: GRCS to Dockserver

8 LineRingdown

Modem Bank

Spray communication

Iridium Short Burst Data Services

Spray data stream

• Spray : send/receive emails– Up to 5 primary receivers/senders– Send data usually 1 mail (sbd files < 2kb)– Receive mails (a few bytes)– Automatic routines (perl, matlab) launched by

mail related programs/files (sendmail, procmail, .forward, …)

– Automatic redirection of mails/data to unlimited numbers of recipients

Automatic session

• Extract data from mail (attached file)• Decode/chek• Update website• Email notification (short status)• SMS notification (abort)• Generate mails for Spray control and

command

Mail serverMail server

Forward (Coriolis, users, …)

Get/put mails

Groundstation

ETA : 16/06/2006 13:58Status Dive# Start End Elapsed Speed Current D/wpt D/home D/dive D/tot Total elapsed (UTC) (UTC) (hh:mm) (cm/s,deg.) (cm/s,deg.) (km) (km) (km) (km) ( dd hh:mm) OK 3 16/06/2006 11:21 16/06/2006 12:29 01:08 ( 30, 295) ( 10, 215) 6 82 1.2 3 0 03:04

G 3 2 16 Jun 2006 12:29 1 +59 17.87 -39 33.95 80 7 17 41 104 1.6 1 0E 3 206 14.62 0.67 -20.8 300 17 -955 440 +59.330 -39.657 1 1 1 0 1 00 233 13 32 -1040 0 40 0 12

Coriolis ftp server

Data Access

http://www.ifm.uni-kiel.de/fb/fb1/po2/research/mersea/gliders/spray004_position.html

http://www.coriolis.eu.org/cdc/dataSelection/cdcDataSelections.asp

Mersea In-Situ Portaldata visualization

Coriolis data selection websitedata visualization and download

Quality Control and Metadata

QC procedures at Coriolis like for profiling floats. Profiles are considered as vertical.

- T and S outsiders based on historical data- Density inversions

are rejected

+ visual inspection

Metadata:Vehicle name, project, PIWaypoint (heading)Angle of ascent/descentTarget depthClimb depthTarget altitudeTime between surfacingCurrent correction

Dive #260 – “dirt“ in the conductivity cell

Conclusions/Questions

• Publicly available data in NRT • (a few mn after surfacing)

• mail / ftp to push data on Coriolis ?

• kermit/dockserver– Security issues ?– 1 GS / 1 glider or 1 GS / N gliders ?– Include Email notification in Kermit sessions ?

Web server

Backup data/system

phones lines

phones lines

Email server

N gliders / 1 GS 1 glider / 1 GS

GS GS

Deployment and recovery tools