iRobot® 1KA Seaglider™ User’s Guide Part Number: 4220126 Revision: C January 2012 Copyright and Liability Information Copyright ©2012 iRobot Corporation. All Rights Reserved. Adapted with permission from original material from the University of Washington. Copyright iRobot 2011, rights reserved under the copyright laws of the United States. Any reproduction in part or as a whole without the written permission of iRobot Corporation is prohibited. Seaglider is a trademark of the University of Washington. COMMERCIAL ITEM The technical data and computer software contained/transmitted herein is adapted with permission from original material from the University of Washington and is proprietary to iRobot Corporation, is iRobot Corporation’s commercial technical data and commercial computer software and computer software documentation, and may not be used, disclosed, reproduced, modified, performed, or displayed except as permitted by iRobot's standard commercial license for this data or computer software. United States Government license rights are limited to those rights set forth in iRobot's standard commercial license. No part of this manual may be copied or distributed, transmitted, transcribed, stored in a retrieval system, or translated into any human or computer language, in any form or by any means, electronic, mechanical, magnetic, manual, or otherwise, including photocopying, or disclosed to third parties, without express written permission from iRobot Corporation, 8 Crosby Drive, Bedford, MA 01730 USA. EXPORT CONTROL The exportation of this product falls under the jurisdiction of the U.S. Commerce Department Bureau of Industry and Security and is subject to the Export Administration Regulations. WARNING - This document contains technical data whose export may be restricted by the Arms Export Control Act (Title 22, U.S.C., Sec 2751, et seq.) or the Export Administration Act of 1979, as amended (Title 50, U.S.C., App. 2401 et seq.). VIOLATIONS OF THESE EXPORT LAWS ARE SUBJECT TO SEVERE CRIMINAL PENALTIES. Limits of Liability Although every precaution has been taken in the preparation of this documentation, iRobot Corporation assumes no responsibility whatsoever for errors or omissions, or for damages resulting from the use of the information contained herein. To the maximum extent permitted by applicable law, iRobot Corporation, its officers, employees and contractors, and their suppliers disclaim all warranties, either expressed or implied, including, but not limited to, implied warranties of merchantability and fitness for a particular purpose, with regard to the hardware, software, and all accompanying or subsequently supplied written materials and documentation. To the maximum extent permitted by applicable law, in no event shall iRobot Corporation, its officers, employees or contractors, or their suppliers, be liable for any damages whatsoever (including without limitation, special, incidental, consequential, or indirect damages for personal injury, loss of business profits, or business interruption). Warranty This product comes with a one year limited warranty. See Appendix J, “Warranty and Disclaimers” on page 441. The pressure hull of the iRobot® 1KA Seaglider™ does not contain any user serviceable items. Any unauthorized opening of the pressure hull by customers voids this one year warranty. Special Note Because some states/jurisdictions do not allow the exclusion or limitation of liability for consequential or incidental damages, the above limitations may not apply to you. The warranty gives you specific legal rights, and you may also have other rights, which vary from state/jurisdiction to state/jurisdiction. Trademarks iRobot and PackBot are registered trademarks and SUGV is a trademark of iRobot Corporation. Iridium and the Iridium logo are registered trademarks and/or service marks of Iridium Satellite LLC. MAC, Mac, and Mac OS are trademarks of Apple Inc., registered in the U.S. and other countries. PAINE ® is a registered trademark of Paine Electronics, LLC PicoDos® is Persistor Instrument’s DOS-like operating system for the CF8/TT8 combination used on iRobot® 1KA Seaglider™. It provides access to the DOS FAT file system on the Compact Flash, as well as some simple file manipulation utilities. The TOM8 and PicoDOS® commands are documented in the PicoDOS® User's Guide of November, 2000 (which is incorporated into this document by reference). The extensions below provide additional functionality, either to extend PicoDOS® generally or to provide 1KA Seaglider™-specific functions. Tera Term (Pro) is a free software terminal emulator (communication program) for MS-Windows. It supports VT100 emulation, telnet connection, serial port connection, and so on. Windows, Windows 95, Windows 98, Windows Me, Windows NT, Windows 2000, Dial-Up Networking, Outlook, Outlook Express and Internet Explorer are registered trademarks of Microsoft Corporation. Other product and company names mentioned may be trademarks or registered trademarks of their respective companies. Mention of third-party products is for informational purposes only and constitutes neither a recommendation nor an endorsement. Table of Contents Preface.................................................................................................... 17 Who Should Use this Manual............................................................ 17 Typographical Conventions............................................................... 18 Safety Conventions............................................................................ 19 Safety Information............................................................................. 19 Personal Safety Information........................................................ 19 Vehicle Hazards ........................................................................... 20 Battery Safety............................................................................... 20 Registration ....................................................................................... 20 iRobot Contact Information............................................................... 20 Customer Support ........................................................................ 20 Sales............................................................................................. 21 CHAPTER 1 1KA Seaglider ....................................................23 Seaglider History............................................................................... 23 System Overview............................................................................... 25 Seaglider Sensors............................................................................... 27 Standard Seaglider Sensors ......................................................... 27 Optional Sensors.......................................................................... 28 CHAPTER 2 Checking Out Crate Contents ............................29 Inspecting Seaglider’s Shipping Container ....................................... 30 Inspecting the Basestation Container ................................................ 31 CHAPTER 3 Setting Up the System.........................................33 Setting Up the Basestation ................................................................ 34 Basestation Configuration........................................................... 34 Basestation Log In ....................................................................... 34 Internet Configuration................................................................. 35 Setting Up the Basestation Directories and Files........................ 35 Setting Up Seaglider’s Interface Computer....................................... 37 iRobot® 1KA Seaglider™ User’s Guide v Setting Up the Pre-Flight Diagnostic Laptop .................................... 37 Assembling Seaglider’s Cradle.......................................................... 38 Assembling Seaglider ........................................................................ 41 Stowing/Moving Seaglider ................................................................ 46 Checking Out the Seaglider System .................................................. 47 Checking Seaglider Communication with the Field Laptop........ 47 Checking the Primary and Alternate Phone Numbers................. 52 Checking the Pump, Motors, and Basestation Communication .. 54 CHAPTER 4 Operating Principles......................................... 59 Seaglider Components....................................................................... 60 Isopycnal Pressure Hull............................................................... 60 Inside the Pressure Hull............................................................... 61 Outside the Pressure Hull ............................................................ 63 Inside and Outside the Pressure Hull .......................................... 65 Principles of Seaglider Operation...................................................... 65 Environmental Factors ................................................................ 65 Static Forces................................................................................. 66 Gravity ......................................................................................... 67 Buoyancy...................................................................................... 67 Dynamic Forces ........................................................................... 68 Hydrodynamic Model..................................................................