# autoexec.mi for unit 475 # Date e-mail address comment # 11-Jun-2014 john.dingess@teledyne.com initial # 27-Jun-2014 benjamin.shaw@teledyne.com shipping configuration # 07-Jul-2014 bbowler@bigelow.org set phone numbers for our setup # 08-Jul-2014 bbowler@bigelow.org set name to grampus # 25-Seo-2104 bbowler@bigelow.org turn off current correction name grampus # SERIAL NUMBER RECORD # Forward section assy #0234 # Payload bay assy #1128 # Aft section assy #0849 # Aft electronic assy #0842 # Aft end cap assy #0849 # Digifin #1444 # Strobe assy #N/A # Pressure transducer #96668 # Aft hull #0825 # Fwd hull #0816 # Freewave master #863-3871 # Iridium sim card #8988169514001079768 # Argos ID #138812 -DEC / CF1D0C7 # Altimeter #2875396 # Pitch motor #1226 # 200- Ballast drive #N/A # 1000- Motor controller#0374 # 1000- Front air pump #0350 # 350- Pump assy #0329 # 350- Valve assy #0353 # Science persistor #0947 # science motherboard #JJ01670 # Science flashcard #0481 # seabird CTD #9176 # Wetlabs BBFL2SLC #1174 # Satlantic 504I #0320 # Satlantic 504R #0019 # Aanderaa Optode 4831 #0336 # Main board #JJ01871 # Communication board #0768 # Iridium phone #0934 # Main flashcard #0474 # Main persistor #0951 # Attitude sensor #36063 # Air pump #1353 # Communications Assy #0768 # Freewave Slave #861-9661 # GPS #1060 # Argos X-cat #0831 # Air bladder #1305 #INSTALLED DEVICES #installed buoyancy_pump installed de_pump installed gps installed attitude_rev installed ocean_pressure installed vacuum installed battery installed argos installed air_pump installed pitch_motor installed science_super installed digifin installed altimeter installed iridium #installed recovery installed coulomb installed leakdetect installed veh_temp #installed thruster #VEHICLE SETTINGS sensor: u_iridium_idle_on_time(sec) -1 # necessary workaround for software release 7.15 bug # Depth Ratings # Max working depth: 31 for 30m glider, 102 for 100m, 206 for 200m, 360 for 350m, 1050 for 1000m sensor: F_MAX_WORKING_DEPTH(m) 360 # Crush Depth: 225 for 30m, 100m, 200m, and 1200 for 1000m sensor: F_CRUSH_DEPTH(m) 1200 # UNCOMMENT THIS WHEN FLYING A DEEP GLIDER IN SHALLOW WATER # Reduce this so sensor_processing doesn't think that our dive is a hover! # sensor: u_hovering_frac_nom_dive_rate(nodim) 0.15 # Required to be above this depth to be considered at surface # 4 for G2 glider in shallow water, 7 for G2 glider in deep water sensor: u_reqd_depth_at_surface(m) 4 # Disable this in shallow water sensor: u_alt_filter_enabled(bool) 1 # enable median filter depth for altitude # Altimeter model, 0 for Benthos and 1 for Airmmar, -1 for experimental sensor: f_altimeter_model(enum) 1 # airmar(mod1) # Argos format sensor: f_argos_format(enum) 1 # 0 rev0 legacy/smartcat (32 byte) # 1 rev1 Mar05/xcat (31 byte) # current correction on sensor: u_use_current_correction(nodim) 0 # Coulomb Counter scale factor DO NOT CHANGE UNLESS DIRECTED TO BY GLIDER SUPPORT. sensor: f_coulomb_calibration_factor(%) .050 # calibration factor for the # onboard coulomb counter # Clock Source- sensor: f_clock_source(enum) 0 # 1 - Use DS3234 RTC (new hardware only G2) # defines the real time clock source. # 0 - Use the RTC provided by the persistor (G1) #IRIDIUM PHONE NUMBERS # IRIDIUM PHONE # The alternate number is configurable to be available # In the event of shore side failure resulting in inability # to complete an iridium call. Software will "toggle" # to the alternate number and remain there until told # otherwise. Both numbers MUST be uncommented or the masterdata # default will be used. # For a commercial card: # sensor: c_iridium_phone_num(digits) 17818711051 # TWR datahost or enter users glider center number here # sensor: c_iridium_phone_num_alt(digits) 17818711051 # TWR datahost https://datahost.webbresearch.com/ sensor: c_iridium_phone_num(digits) 881600005284 # RUDICS number sensor: c_iridium_phone_num_alt(digits) 12073152013 # CSD number sensor: c_iridium_lead_zeros(nodim) 2 # number of leading zeros in phone sensor: c_iridium_lead_zeros_alt(nodim) 2 # typically 2 for both commercial or military #VEHICLE CALIBRATIONS #800CC Shallow ##############IF GLIDER IS EQUIPPED WITH SHALLOW PUMP, REMOVE SHALLOW CAL NOT BEING USED################################################ # Buoyancy pump (shallow pump only) sensor: f_ballast_pumped_nominal_vel(cc/sec) 35 # in, nominal speed, 126 for 30m, 42 for 100m, 26 for 200m, 35 for High displacement 100M sensor: f_ballast_pumped_safety_max(cc) 375 # in, damage to glider sensor: f_ballast_pumped_deadz_width(cc) 10.0 # in, sets x_ limit sensor: f_ballast_pumped_db_frac_dz(nodim) 1.0 # deadband as fraction of dead zone sensor: f_ballast_pumped_cal_m(cc/Volt) 717.693 # in, slope sensor: f_ballast_pumped_cal_b(cc) -478.940 # in, y-intercept sensor: u_ballast_pumped_stop_distance(cc) 4 # in, stopping distance after motor off # change to 2 for 200m glider, 5 for 100m glider, 10 for 30m glider, 4 for high displacement 100M # Buoyancy pump (shallow pump only) sensor: f_ballast_pumped_nominal_vel(cc/sec) 26 # in, nominal speed, 126 for 30m, 42 for 100m, 26 for 200m sensor: f_ballast_pumped_safety_max(cc) 243.0 # in, damage to glider sensor: f_ballast_pumped_deadz_width(cc) 10.0 # in, sets x_ limit sensor: f_ballast_pumped_db_frac_dz(nodim) 1.0 # deadband as fraction of dead zone sensor: f_ballast_pumped_cal_m(cc/Volt) 600.000 # in, slope sensor: f_ballast_pumped_cal_b(cc) -450.000 # in, y-intercept sensor: u_ballast_pumped_stop_distance(cc) 2 # in, stopping distance after motor off # change to 2 for 200m glider, 5 for 100m glider, 10 for 30m glider # Oil volume (deep pump only) sensor: f_de_oil_vol_pot_voltage_min(volts) 0.154 # raw AD voltage of fully retracted pot sensor: f_de_oil_vol_pot_voltage_max(volts) 1.500 # raw AD voltage of fully extended pot sensor: f_de_oil_vol_safety_max(cc) 290.0 # shouldn't go beyond this # results in +/- 265 cc # Battery Position # max battpos = safety_max - deadzone # x_max_battpos = f_safety_max_battpos - f_deadzone_width_battpos sensor: f_battpos_deadzone_width(inches) 0.2 # Sets x_ limit sensor: f_battpos_db_frac_dz(nodim) 0.5 # deadband as fraction of dead zone; Recomended setting for improved servo with memory - from 7.7 release sensor: f_battpos_nominal_vel(inches/sec) 0.15 # nominal speed for REV.A motor # Specs linear relationship between sensor units (inches) and the # voltage we actually read out of the AD for position # battpos(inches) = _cal_m(inches/Volt) * volts + _cal_b(inches #UNCOMMENT THE CALIBRATION NUMBERS FOR THE GLIDER CONFIGURATION # sensor: f_battpos_safety_max(inches) 0.9 # in, damage to glider(1000m Lithium) # sensor: f_battpos_cal_m(inches/Volt) 2.274 # slope # sensor: f_battpos_cal_b(inches) -1.807 # y-intercept(1000m Lithium) sensor: f_battpos_safety_max(inches) 1.6 # in, damage to glider(1000m Alkaline) sensor: f_battpos_cal_m(inches/Volt) 2.274 # slope sensor: f_battpos_cal_b(inches) -1.901 # y-intercept(1000m Alkaline) # sensor: f_battpos_safety_max(inches) 1.1 # in, damage to glider(200m Lithium) # sensor: f_battpos_cal_m(inches/Volt) 2.274 # slope # sensor: f_battpos_cal_b(inches) -1.432 # y-intercept(200m Lithium) # sensor: f_battpos_safety_max(inches) 1.6 # in, damage to glider(200m Alkaline) # sensor: f_battpos_cal_m(inches/Volt) 2.274 # slope # sensor: f_battpos_cal_b(inches) -1.901 # y-intercept(200m Alkaline) # vacuum sensor: u_vacuum_cal_m(inHg/Volt) -13.495 # Factory Calibration data sensor: u_vacuum_cal_b(inHg) 29.872 # inHg = m V + b # ocean_pressure sensor: f_ocean_pressure_full_scale(bar) 140.000 # pressure @ FS volts (140 for 2000A, 24 for 300A) sensor: f_ocean_pressure_min(volts) 0.125 # voltage for 0 pressure sensor: f_ocean_pressure_max(volts) 1.655 # voltage for FS pressure # max fin = safety_max - deadzone sensor: f_fin_safety_max(rad) 0.470 # in, damage to glider. sensor: f_fin_deadzone_width(rad) 0.02 # in, Sets x_ limit # sensor: c_thruster_current_cal(nodim) 0.0388 # A / count cal for thruster current. 6/23/2014 KB #PAYLOAD BAY SETTINGS AND CALIBRATIONS # Turns science computer on sensor: c_science_on(bool) 1 # Satlantic 504R S/N 019 sensor: u_ocr504R_dark_counts_c1(nodim) 2148397020.0 #Dark Offset For sensor: u_ocr504R_cal_coeff_c1(Tnodim) 16112.563037 #Calibration Factor sensor: u_ocr504R_immersion_coeff_c1(nodim) 1.766 #Imersion Factor sensor: u_ocr504R_dark_counts_c2(nodim) 2147961279.0 #Dark Offset For sensor: u_ocr504R_cal_coeff_c2(Tnodim) 26766.1578596 #Calibration Factor sensor: u_ocr504R_immersion_coeff_c2(nodim) 1.752 #Imersion Factor sensor: u_ocr504R_dark_counts_c3(nodim) 2147072605.8 #Dark Offset For sensor: u_ocr504R_cal_coeff_c3(Tnodim) 26138.7540646 #Calibration Factor sensor: u_ocr504R_immersion_coeff_c3(nodim) 1.746 #Imersion Factor sensor: u_ocr504R_dark_counts_c4(nodim) 2147202129.4 #Dark Offset For sensor: u_ocr504R_cal_coeff_c4(Tnodim) 15796.8715701 #Calibration Factor sensor: u_ocr504R_immersion_coeff_c4(nodim) 1.741 #Imersion Factor sensor: u_ocr504R_Vin_a0(nodim) 0.0 #polynomial sensor: u_ocr504R_Vin_a1(nodim) 0.03 #polynomial sensor: u_ocr504R_itemp_a0(nodim) -50.0 #polynomial sensor: u_ocr504R_itemp_a1(nodim) 0.5 #polynomial sensor: u_ocr504R_is_calibrated(bool) 1 #is calibrated # Satlantic 504I S/N 320 sensor: u_ocr504I_dark_counts_c1(nodim) 2147706483.6 #Dark Offset For sensor: u_ocr504I_cal_coeff_c1(Tnodim) 1632910.56324 #Calibration Factor sensor: u_ocr504I_immersion_coeff_c1(nodim) 1.161 #Imersion Factor sensor: u_ocr504I_dark_counts_c2(nodim) 2147553831.8 #Dark Offset For sensor: u_ocr504I_cal_coeff_c2(Tnodim) 2039450.79749 #Calibration Factor sensor: u_ocr504I_immersion_coeff_c2(nodim) 1.410 #Imersion Factor sensor: u_ocr504I_dark_counts_c3(nodim) 2147482727.7 #Dark Offset For sensor: u_ocr504I_cal_coeff_c3(Tnodim) 2154532.95135 #Calibration Factor sensor: u_ocr504I_immersion_coeff_c3(nodim) 1.365 #Imersion Factor sensor: u_ocr504I_dark_counts_c4(nodim) 2147850985.0 #Dark Offset For sensor: u_ocr504I_cal_coeff_c4(Tnodim) 2049947.04667 #Calibration Factor sensor: u_ocr504I_immersion_coeff_c4(nodim) 1.378 #polynomial sensor: u_ocr504I_Vin_a0(nodim) 0.0 #polynomial sensor: u_ocr504I_Vin_a1(nodim) 0.03 #polynomial sensor: u_ocr504I_itemp_a0(nodim) -50.0 #polynomial sensor: u_ocr504I_itemp_a1(nodim) 0.5 #polynomial sensor: u_ocr504I_is_calibrated(bool) 1 #is calibrated # wet labs bbfl2slC custom 3-param fluorescence/scattering meter # BBFL2 S/N 1174 sensor: u_bbfl2s_bb_cwo(nodim) 36 # clean water offset, nodim == counts sensor: u_bbfl2s_chlor_cwo(nodim) 45 # clean water offset, nodim == counts sensor: u_bbfl2s_cdom_cwo(nodim) 44 # clean water offset, nodim == counts sensor: u_bbfl2s_bb_sf(Mnodim) 7.113 # scale factor to get units sensor: u_bbfl2s_chlor_sf(ug/l/nodim) 0.0121 # scale factor to get units sensor: u_bbfl2s_cdom_sf(ppb/nodim) 0.0905 # scale factor to get units sensor: u_bbfl2s_is_calibrated(bool) 1 # calibrated sensor: u_oxy4_slow_surface_mode(bool) 0 # default for 4330f, make false for 4831 model.