Guide de déploiement pour le glider Spray

Déploiement du glider Spray04
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BAS> U
MAIN MENU Spray
4
Dive #
0 Op_mode = 0 in Mission mode
IRIDIUM SBD is implemented
SBE CTD Version
NO 16-bit A/D
ESC Abort prog : U.pdate menu
C.ompass
: D.ebug modules : E.eprom menu
F.lash CF1
: G.PS test
: H.yd pump test
L.ow-power mode: M.otor test
: N.av test
I.ridium test : R.ead results : S.how params
T.est start
: W.atchdog/Burn : X.mit on RF
Y. 12-bit a/d : Z. CTD test
: 0. set Dive#=0
BAS> C
Test of Compass : Oct 29 2005
Compass Menu
Q.uit TCM2 test :
U.pdate menu
:
W.ake up TCM2
O.ff TCM2
:
S.end string
:
G.et TCM2 reading
A.vg roll
C_1> Q
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Q.uit ad12 tst
P.itch value
B.attery value
F. optical
Y_1>
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12-bit a/d Oct 29 2005
12-bit a/d Menu
:
U.pdate menu
:
M.easure all
:
R.oll value
:
O.il press
:
V.acuum value :
A.ltimeter
:
E.eprom change vac, bat
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entering lowpower...please wait
Burn wire is OFF
Burn wire is OFF
Watchdog is initialized and burn wire is off
will wake up every 10 s
Hit w to exit sleep
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DIVE NUMBER = 0
doit être 0 pour effectuer la 1ère plongée test à 100m
flight parameters
pitch down, pitch xmit = 2210 1750
roll 0, roll_port, roll_stbd = 1960
1450 2540
pitch and roll gain = 6.0
7.0
heading dh/dr, tau = 0.030 3.840
Buoy pump=150 dpump=35 wmin=10
altimeter flag value is 0
default pitch = 17
Route has 3 waypoints
à modifier éventuellement
HOME lat
47.330 lon
-7.658
@w1: Lat -0.000 Lon
-0.000 R(km)
0.0 w3->w1: Mag Bear 185, w2->w1
bear=186
@w2: Lat 0.000 Lon
0.000 R(km)
0.0 w1->w2: Mag Bear
6, w3->w2 bear=
96
@w3: Lat -0.000 Lon
-0.000 R(km)
0.0 w2->w3: Mag Bear 276, w1->w3 bear=
5
Mag var = 6
Mission parameters
# of dives = 201
Minutes to wait before start
30 à modifier éventuellement
Max depth = 200
Max dive time (minutes) = 70
sec btwn samples=8
#points avg'd per output datum=1
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Test of Hydraulic Pump : Oct 29 2005
Hydraulic Pump Menu
Q.uit pump
:
U.pdate menu : T.oggle using vac sw
C.lose valve :
O.pen valve :
H.yd pump on
Z.ero accumulator
H_1> C
Closing valve
H_1> H
# sec to run the pump >
500
input value = 500
Display pressure as well (Y/N)?
will now run for 500 s
Volts
1544 Amps
0 Oil
72 Press
-0.20
Volts
1523 Amps
49 Oil
109 Press
-0.20
Volts
1524 Amps
52 Oil
187 Press
-0.20
Volts
1523 Amps
47 Oil
207 Press
-0.18
Volts
1528 Amps
48 Oil
318 Press
-0.20
Volts
1527 Amps
51 Oil
323 Press
-0.20
E
Volts
1475 Amps
42 Oil
1678 Press
-0.53
Volts
1475 Amps
38 Oil
1751 Press
-0.50
Volts
1477 Amps
40 Oil
1837 Press
-0.50
Volts
1476 Amps
41 Oil
1964 Press
-0.50
#bad_amp = 0, bad_amp_flag = 0 Vérifier que c’est bien 0 sinon pbs
Pump ran for 457 seconds
Current = 0.40 amps
total pump = 457 secs
Vérifier que le nombre de secondes est inférieur
au temps de pompage demandé sinon refaire pour être sûr que l’huile est
complètement pompée à l’extérieur.
H_1> Q
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Test of SBE : Apr 20 2005
SBE Menu
Q.uit SBE test : U.pdate menu
: D.ebug SBE
C.TD sample
: P.ressure sample: S.tatus of SBE
Z.ero Pressure : 1. SBE pump on : 2. SBE pump off
7
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Z_1> C
0.30 20.6198
0.0000
257
25619
1000
Z_1> P
0.31
Z_1> 1
SBE pump is on
Z_1> 2
SBE pump is OFF
Z_1> Q
SBE pump is off & SBE is in low power
BAS>
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sk2 Oct 29 2005
GPS MENU
Q.uit GPS test : U.pdate menu
: D.ebug Menu
G.et Position : O.ff gps
: W.akeup GPS
G_1> W
GPS is on
G_1> G
h=1 ant=0 alm=8
LLA: 10:08:18 +48:21.470
-4:33.570 hdop= 0.0
PRN
11
14
18
19
22
SNR
0.0
0.0
0.0
0.0
0.0
G_1>
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G_1> G
h=0 ant=0 alm=8
LLA: 18:20:13 +48:21.468
updating location
PRN
11
2
SNR
3.8
0.0
G_1> Q
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-4:33.607 hdop= 1.8
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8.8
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12.2
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3.2
28
3.8
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0.0
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Test of SBD Iridium module : Oct 29 2005
Iridium SBD Menu
Q.uit ISU test : U.pdate menu
:
D.ebug tests
G.et SBD status : O.ff SBD
:
W.akeup SBD
X. Send Shore Command Test
:
A.ntenna strength
I_1> W
Attendre ~10 s avant de voir le message arriver
Powering up Iridium
Status=OK
I_1> G
+SBDS:0,10,0,65535
Send Status = OK
I_1> Q
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BAS>
T.ransmit on
O.ff
X_1> T
Transmitter is on
T.ransmit on
O.ff
X_1> O
Transmitter is off
T.ransmit on
O.ff
X_1> Q
Tranmsmit is off
BAS>
U
Q.uit
Q.uit
Q.uit
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in MISSION mode !!!
Present Dive # = 0
Minutes to wait before start
30
Start mission (y/n) ? >
Burn wire is OFF
Will get average of Pressure
p= -0.74
p= -0.78
p= -0.71
p= -0.73
Pressure counts offset =
231
pgood = 1, op_mode = 1
Burn wire is OFF
in MISSION mode
Will delay for 1800 secs before trying water-detect by roll for 20 minutes
and then will do 201 dives
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EEPROM Oct 29 2005
# bytes in user eeprom area = 7936
Eeprom Menu
Q.uit eeprom
:
U.pdate menu
: C.ontrol Values
M.ission primary :
2.Mission secondary : A.DP values
N.avigation
:
P.itch&Roll Values:
S.ensor Values
D.isplay All
:
F.ind Name
: X.change value
E_1>
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E_1> 2
Secondary Mission values are :
47 :
10 = Minutes to delay before start
63 :
20 = Minutes to try water detect by roll (if =0, will NOT do
roll-detect)
69 :
0 = Hours to try water detect by Press>5 dBar
(if =0, will NOT do pressure-detect)
48 :
48 = Max. Hrs w/o sat comms before aborting
49 :
48 = Max. Hrs w/o gps fix before aborting
50 :
15 = Minutes to RF beacon in Abort
51 :
1 = 1=Recovery is feasible, 0=it is not
B
52 :
53 :
54 :
1 = Min. #dives remaining before heading home
0 = 1 for altimeter, 0 for none
0 = operation mode : 0=normal
give index # to modify ( 0 to quit) >
47
input value = 47
give new value >
30
input value = 30
Secondary Mission values are :
47 :
30 = Minutes to delay before start
63 :
20 = Minutes to try water detect by roll (if =0, will NOT do
roll-detect)
69 :
0 = Hours to try water detect by Press>5 dBar
(if =0, will NOT do pressure-detect)
48 :
48 = Max. Hrs w/o sat comms before aborting
49 :
48 = Max. Hrs w/o gps fix before aborting
50 :
15 = Minutes to RF beacon in Abort
51 :
1 = 1=Recovery is feasible, 0=it is not
52 :
1 = Min. #dives remaining before heading home
53 :
0 = 1 for altimeter, 0 for none
54 :
0 = operation mode : 0=normal
give index # to modify ( 0 to quit) >
0
input value = 0
E_1>
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Navigation values are :
1 : CHANGE the HOME waypoint
34 :
3 = # of waypoints in the route
35 :
2 = Action at the end of route
36 :
0 = USE_SET (0=false, 1=true)
37 :
6 = Magnetic Variation
38 :
15 = minutes to try GPS
68 :
-1 = Action to take when there's no GPS
-2=steer last course,-1=do circle,0..360 steer course
give index # to modify (0 to quit) >
En tapant 1, on peut changer le Home avec le dialogue ci-dessous
1
input value = 1
Give HOME lat & lon >
47.33 -7.66
Read in 47.330002 -7.660000
Route has 3 waypoints
HOME lat
47.330 lon
-7.660
@w1: Lat 47.331 Lon
-7.000 R(km) 717.0 w3->w1: Mag Bear 111, w2->w1
bear=123
@w2: Lat 48.001 Lon
-9.000 R(km) 168.0 w1->w2: Mag Bear 303, w3->w2
bear=108
@w3: Lat 49.001 Lon -16.500 R(km) 568.6 w2->w3: Mag Bear 288, w1->w3
bear=291
Navigation values are :
?
@
1
34
35
36
37
38
68
: CHANGE the HOME waypoint
:
3 = # of waypoints in the route
:
2 = Action at the end of route
:
0 = USE_SET (0=false, 1=true)
:
6 = Magnetic Variation
:
15 = minutes to try GPS
:
-1 = Action to take when there's no GPS
-2=steer last course,-1=do circle,0..360 steer course
give index # to modify (0 to quit) >
0
input value = 0
E_1>
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Nav Oct 29 2005
NAV MENU
Q.uit Nav
C.hange Waypt : D.isplay Route
N_1> C
#waypts in route = 3
:
:
U.pdate menu
N.avigate
S.et Route
Give waypoint #, decimal Lat, Lon >
1 47.33 -7.50
1
47.330
-7.500 : Waypoint is now set
N_1>
#waypts in route = 3
Give waypoint #, decimal Lat, Lon >
2 48 -10.27
2
48.000
-10.270 : Waypoint is now set
N_1>
#waypts in route = 3
Give waypoint #, decimal Lat, Lon >
3 49 -16.5
3
49.000
-16.500 : Waypoint is now set
N_1>
NAV MENU
Q.uit Nav
:
U.pdate menu
C.hange Waypt : D.isplay Route :
N.avigate
S.et Route
N_1> D
Route has 3 waypoints
HOME lat
47.330 lon
-7.659
@w1: Lat 47.330 Lon
-7.500 R(km) 681.8 w3->w1: Mag Bear 111, w2->w1
bear=116
@w2: Lat 48.000 Lon -10.270 R(km) 221.5 w1->w2: Mag Bear 296, w3->w2
bear=110
@w3: Lat 49.000 Lon -16.500 R(km) 476.4 w2->w3: Mag Bear 290, w1->w3
bear=291
N_1>
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