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Using A Fleet of Slocum Battery Gliders in a Regional Scale Coastal Ocean Observatory

Using A Fleet of Slocum Battery Gliders in a Regional Scale Coastal Ocean Observatory. Elizabeth L. Creed, Chhaya Mudgal, Scott M. Glenn and Oscar M. Schofield Rutgers, The State University of New Jersey New Brunswick, NJ 08901 Clayton P. Jones and Douglas C. Webb Webb Research Corporation

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Using A Fleet of Slocum Battery Gliders in a Regional Scale Coastal Ocean Observatory

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  1. Using A Fleet of Slocum Battery Gliders in a Regional Scale Coastal Ocean Observatory Elizabeth L. Creed, Chhaya Mudgal, Scott M. Glenn and Oscar M. Schofield Rutgers, The State University of New Jersey New Brunswick, NJ 08901 Clayton P. Jones and Douglas C. Webb Webb Research Corporation Falmouth, MA 02536 Webb Research Corporation

  2. Developmentof Slocum Gliders Funded By: Office of Naval Research State of New Jersey National Ocean Partnership Program NOAA National Undersea Research Program National Science Foundation

  3. Slocum Electric Glider Length: 1.5 m Weight: 52 kg Hull Diameter: 21.3 cm

  4. Slocum Electric Glider

  5. Slocum Electric Glider

  6. Slocum Electric Glider Communication Iridium Antenna ARGOS and FreeWave Antennas

  7. Glider Communication Communication between the Glider and the Shore Command Center can be done in three ways: 1) FreeWave modems for local, high speed communication Line of Sight RF (928MHz) 2) ARGOS as a recovery beacon 3) Iridium for bi-directional, long distance communications

  8. Glider Operation Moves in a saw-toothed trajectory Forward speed of 1 knot Depth range 4-200 meters Navigation done using GPS, dead reckoning and the altimeter Average deployment duration is 30 days and 1500 km

  9. Glider Abort Mechanism Jettison Weight

  10. Slocum Electric Glider

  11. Hydroscat 2 Mounted In Glider Science Bay

  12. CTD Hydroscat 2 Hydroscat 2 and CTD Mounted in Glider Science Bay

  13. Controlling the Gliders A Mission Control Center is under construction to guide the fleet of Gliders in their data collection The goal of the Center is to develop a flexible autonomous and responsive tool to coordinate the missions of the Glider Fleet This goal will be accomplished by the Center using data transmitted to it from: 1) The Glider Fleet 2) Other scientific systems - CODAR SSTs, SeaWifs

  14. Controlling the Glider A Mission is defined as a set of scientific instructions that tell the Glider(s) where and how to sample The Mission can track vertical features such as thermoclines or horizontal features such as fronts Implementation of the Mission Control Center is based on Agent Oriented Programming Deals with the construction of software agents which are entities that behave rationally, have decision making capabilities and act on behalf of the user - each data source has an agent Decisions are made using an influence diagram

  15. Mission Control Center 2 branches of the Center 1) Decision making 2) Data visualization and Glider tracking

  16. Glider Control Software Flow Chart

  17. Temperature Data July 2000

  18. Salinity Comparison Temperature Comparison Depth (m) Depth (m) Salinity (psu) Temperature (C) July 2000

  19. Along-Shore Average Velocity Component of Glider and ADCP July 2000 Cross-Shore Average Velocity Component of Glider and ADCP

  20. Hydroscat 2 Optical Backscatter Transect 2, August 2002

  21. Slocum Glider Simulator Track October 22, 2002

  22. Future Plans Software: The agent software will become part of the Glider’s on-board computer Field Work: Long-term Glider tests are planned for the New York Bight Apex to observe the interaction of the Hudson River plume with the stratified continental shelf waters Instrumentation: 1) Miniaturization and installation of a hyperspectral spectrophotometer 2) Installation of a hockey puck sized absorption and attenuation meter

  23. Conclusions Gliders will provide scientists with continuous and spatially extensive data Independent of ship and personnel availability Independent of weather

  24. Rutgers University Coastal Ocean Observatory Lab Website http://marine.rutgers.edu/cool Glider Testing Center

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