Coastal Glider Overview

Coastal Glider Overview
Oceanology International -- March 2014

Outline Underwater Gliders The Coastal Glider [CG] Specifications
Sensors Deployment Successes Deployment Vessels

Some Background Legacy Gliders
Developed for measuring oceanographic properties in the open ocean at low costs Unmanned robotic vehicle with a sensor suite to collect oceanographic parameters of interest Low power and slow moving but very efficient glide patterns to increase life times in deep ocean basins Alaska Native Technologies [ANT] developed the Littoral Glider for coastal military/environmental applications with funding from ONR Developed glider with larger payload and speed capability Overcomes many of the shortcomings of the legacy gliders Exocetus [x-o-seat-us] Development LLC formed in May 2012 and purchased all the assets and intellectual properties of ANT on 9 Oct 2012 Manufacturing facility in Anchorage, AK Markets are scientific/research, oil & gas and military

Underwater Glider Operation
No external moving parts needed to control glider, control managed through changes in position of an internal mass This slide illustrates the cyclic saw-tooth flight profile that is achieved by pumping water ballast in and out of the vehicle. This video clip also illustrates this flight profile. One thing that is immediately apparent from the video is how slow the glider really moves. This can work against you in the presence of strong ocean currents; but it also permits one to operate acoustic arrays in the laminar flow regime with very low self noise. Energy only needed at top and bottom of each ‘yo’ to change buoyancy Wings provide forward motion during sinking and floating

Why Gliders? Gliders are truly transformational Low Power
Buoyancy changes drive vehicle up / down Wings provide lift to drive forward Hence, long endurance per small size Autonomous Proven command, control and navigation even in bad weather through GPS, Iridium link in one antenna Control through internet Small Two-person deployable Platform independent (Catacraft size to Research Vessel) Inexpensive, $180K to $230K, depending on sensor package

Outline Underwater Gliders The Coastal Glider Specifications Sensors
Deployment Successes Deployment Vessels

CG Is Superior To Legacy Gliders -- In Coastal Waters
Adaptive Ballasting CG can operate from fresh to salt water without manual re-ballasting (10 – 37 ppt) CG can operate in estuary environments Speed Requirements CG has a commanded speed range from 0.7 to 2.0 knots Environmental Parameters CG can operate in water depths as shallow as 3 m (w/ reduced navigational and speed capabilities) Performance CG has greater space and power for installing many sensors

Coastal Glider Or another picture since using on next slide

Glider Major Systems/Subsystems
Buoyancy Engine (BE) Pitch/Roll System Control System Communications System (in EB) Power System Best picture after same on previous page?

Coastal Glider Components
Altimeter Hull Assembly Electronics Bay Assembly Tail Section Assembly Roll Cage Assembly Seal Kit Main Board Main Board CTD Sensor Buoyancy Engine Pitch and Roll Assembly Battery Pack

Coastal Glider Functional Analysis
What does a glider do? Receives a Mission Executes that Mission Launch Transit/Maneuver/Navigate Collect/Store Data Transmit Data Keeps itself safe Ends Mission (Recovery)

Functional Block Diagram
CG Comms WIFI/ Iridium SatComs Freewave LOS GPS Communications Navigation Processor Guidance Navigation & Vehicle Control SW User Selected Sensors Buoyancy Engine BE Pump BE Valve BE Meas. Pitch System Roll System Data Storage Navigation Sensors Altimeter Science Computer Sensor Processing IMU Depth Lift Bag Stamp Processor Lift Bag Power Converters Batt. V&I Internal T&P Ultra-Capacitors Main Battery

Outline Underwater Gliders The Coastal Glider [CG] Specifications
Available Sensors Deployment Successes Deployment Vessels

Glider Specifications
Parameter Specification Length, Diameter 3.0 m (10 ft) Including antenna, 32.3 cm (12.75 in) diameter Weight in Air < 250 lbs (120 kg), Payload weight 10 lbs (4.5 kg) (nominal) Operating Depth 10 m (33 ft) min m (656 ft, ~ 110 fathoms) max. Horizontal Velocity Maximum: 2 knots (Ability to station keep in 2 knot current) Minimum: ~ 0.7 knots Exterior Surface All wetted surfaces are either 316 SS, fiberglass, or treated 6061-T6 aluminum All wetted aluminum surfaces are treated with Endura™ 100R-V/CR process - outer 0.001” is chemically altered to a 0.002” thick porous alumina ceramic Primary Power 3.85 KW-hr Alkaline (462 ‘C’ Cell Batteries) 14.1 KW-hr Lithium (342 ‘D’ Cell Batteries) Glider is ‘Power Agnostic’ (i.e. Accepts All Voltages Between 18 and 33 VDC) Lithium Battery Options (Rechargeable) Being Explored Base Sensors Acoustic Altimeter (Tritech -- model PA200) CTD/SVTP (AML Oceanographic – model Micro-X) Communications Satellite communications (Iridium) Freewave (VHF) Line-Of-Sight (900 MHz) Wi-Fi LAN deck / near ship for rapid data download GPS ARGOS-3 (future)

Operating Environments
Parameter Glider Operating Range Air Temp 28° F (-2.2° C) to 125° F (51.7° C) Sea Temp 28° F (-2.2° C) to 100° F (37.8° C) Sea State Launch: Sea State 0 – 3 Operate: Not SS limited Current < 2 knots any direction Salinity ppt Nominal (27 ppt variation without need to re-ballast) Water Depth Shallow > 10 ft (~ 3 m) Deep < 100 fathoms (~ 200 m)

Coastal Glider Operational Capabilities
Heading Maneuver (Heading, Speed, Time) Waypoint Maneuver (Waypoint, Arrival Time) Communications Maneuver (Surface, Nose Down) Station-Keeping Maneuver (Waypoint, Radius) Drift/Reposition Maneuver (Waypoint, Radius) Surface Maneuver (Recovery Mode) Hover Maneuver (Depth, Depth Tolerance, Time) Loiter Maneuver (Radius, Time) Sleep Maneuver (Time) Emergency Rise Maneuver (Depth, Heading) Emergency Dive Maneuver (Depth, Heading)

Duration Vs Power 3.85 kWatt-hrs – Alkaline 14.1 kWatt-hrs – Lithium
Spar Hover Fly 40 days hover - Alkaline 18 days flight - Alkaline

Battery Specifications
Alkaline Primary 462 ‘C’ cells in 18s/2p configuration 33 VDC nominal; 18 VDC Cut-off 3,850 W-hrs (14 mJ) ~70 lbs (~32 kg) Lithium Primary 342 ‘D’ cells in 12s/3p configuration 32 VDC nominal; 18 VDC Cut-off 14,100 W-hrs (67 mJ) Rechargeable Lithium Ion [underdevelopment] 735 “18650” cells in 7s/15p configuration 30 VDC nominal with 18 VDC cutoff 8,200 W-hrs (29.5mJ)

Buoyancy Engine [BE] Design
BE designed to have a range of 0 to 6.25 inches of travel (approx. 5 L; 11.7 lbs) 5L is 4.7% of CG mass Legacy gliders have approx 0.5 L or less than 1% of vehicle mass Designed maximum speed requires +/- 3.2 lbs (6.4 lbs total) and a glide slope of 35 degrees Remaining 5.3 lbs ‘reserved’ for adaptive ballasting (range of 27 ppt) Reserve can be used for speed if full adaptive ballasting is not necessary

Buoyancy Engine System

Hydraulic System Schematic
BE Ingest Valve (O) “Accumulator” Filter Pump (Off)

Hydraulic System Schematic
BE Expel “Accumulator” Valve (C) Filter Pump (On)

CG BE Overview The CG BE is both Variable and Adaptive:
Variable aspects allows for variable speed: The amount the glider ingests and expels at each deflection is determined by the commanded speed Larger commanded speeds result in larger BE displacements and therefore larger changes to the net buoyancy Larger displacement require the BE to run longer and result in higher BE duty cycles Adaptive aspect allows the LG to self-ballast: As water density changes, the glider adjusts the ‘Neutral Buoyancy Position’ (NBP) of the BE This is done continuously The result is a low duty cycle adjustment to the BE during ascent/descent Added drag on the glider (e.g. from a tethered modem) ‘looks like’ density variations and result in BE adjustments during ascent/descent

BE Adaptive Speed 0.0 inch BE Range 6.25 inch 1 knot @ 1019 kg/m^3
1.8 in in Variation arrows have same center due to same density, but are different lengths due to different speed kg/m^3 1.1 in in

BE Adaptive Ballasting
0.0 inch BE Range inch kg/m^3 0.7 in in Variations arrows are the same length, just shifted due to density change kg/m^3 3.0 in in

CG Spider Plot Optimum Speed Spider Plot Explanation
This plot represents the flight performance options available in the CG. It was prepared by Vehicle Controls Technologies (VCT) who did the hydrodynamic design of the vehicle based on their models. Each curved line represents the range of vertical and horizontal speeds achievable with a different net buoyancy value. The longer dash-dot straight lines represent different glider glide angles. The shorter dashed straight lines represent different glider angle of attack (AoA; the difference between the glider pitch angle and the glider glide slope). In general, the CG operates in three different speed regimes; slow, medium, and fast. In the slow regime (0.5 <= commanded speed <1.0 knot) the glider pitch angle is controlled to approximately 15 degrees. In the medium speed range (1.0 <= commanded speed < 1.5 knot) the glider is commanded to a pitch angle of 22.5 degrees (approximate glide slope of 25 degrees). In the high speed range (commanded speed >= 1.5 knots) the glider is commanded to a pitch angle of 33.5 degrees (approximate glide slope of 35 degrees). Within these ranges, the net buoyancy is adjusted to achieve the commanded speed. For example, to achieve 1.25 knots (medium speed) the glider would be put at a pitch angle of 22.5 degrees, resulting in a glide slope of ~25 degrees (long dashed dot line). The net buoyancy would then be adjusted by the BE to a value of about 1.5 lbs (orange curved line) resulting in a depth rate of about 0.6 knots. To achieve a commanded speed of 2.0 knots (high speed) the glider would be commanded to a pitch angle of 33.5 degrees, resulting in a glide angle of ~35 degrees(long dashed dot line). The net buoyancy would then be adjusted by the BE to a value of about 3.2 lbs (pink curved line), resulting in a depth rate of about 1.4 knots. 15.0°

Electronics Bay (EB) Sensors integrated with other electronics and deployed as a single unit in EB Reduced deployment risk, increased reliability Six-liter volume available in EB for payloads (acoustics, mission specific electronics boards, etc.) Electronics Bay: EB CTD Sensor 6 L Space Available Comms Board EB External EB Internal

Electronics Bay Specifications
7.5” ID x 12” length standard (~80% or 420 inʌ3 dry volume available for sensor integration) – Length can be extended 19.1 cm ID x 30.5 cm length standard (~80% or 7 L dry volume available for sensor integration) 12 VDC (3 amp max) power available via GPIO switch 5 VDC, and 3.5 VDC power available via expansion board VDC unregulated raw battery power is available 5 Kg (11 lb) nominal payload capacity Note: Additional payload capacity can be added by including syntactic foam in flooded areas (fore and/or aft) Plug plane separation from CG body eases payload swapping

Hull Penetrations The CG has (6) standard hull penetrations for sensor integration: 0.625 Dia Thru holes w/ Dia Spot face. Sized for a SubConn Standard Circular series bulkhead connector (6 – 12 contacts; e.g. BH10F connector) Two penetrations are in the bow of the glider, above the BE, in the flooded nose cone: One of these is utilized for the altimeter and the BE safety magnetic interlock; The other is plugged. Four penetrations are in the stern of the glider, around the flange of the Electronic Bay: These access the flooded tail cowling section; One is used for the CTD/SVTP (if present); One is used for the Emergency Lift Bag system; Two are available and plugged.

Coastal Glider Sensors -- Integrated to date
SeaBird GPCTD [aft cowling] RINKO Dissolved Oxygen [bow] WET Labs ECO FLNTU [bow] AML Micro CTD [stern] Ocean Sonics HF Smart Hydrophone [wings and vertical stern plane] Wilcoxon Vector Sensor VS-301 hydrophone [bow Narwhal] Reson TC-4033 [wings and vertical stern plane]

Wet Labs Hypoxia Sensor
Hi Pat, See the attached for the two sensors that USM and others use for hypoxia monitoring in GOM, and probably other spots along our coastline or in estuaries. The Wetlabs sensor measures both turbidity and fluorescence and sells for $4,870 in the shallow mode and $6,085 for the deeper unit [6,000]. The Rockland Oceanographic sensor for measuring DO is called RINKO and sells for $6,800 for the standard model, but I don't have a price for the OEM model yet. Do you think ONR will allow you to use one of their LGs for a demo in the scientific world? Re the scientific community, when do you think you might have an updated pitch that I can use at the end of February? NMFS would like to have a meeting and I am still trying to get a meeting with the Louisiana Universities Marine Consortium for that same time period, i.e. after the UI conference in NO in late Feb. Have you updated the brochure to show $100k for the unit -- the latest brochure I now have shows $180k. Have a great weekend -- Cheers ---- Ray

RINKO-II Hypoxia Sensors
Measurement Specifications Parameter Dissolved Oxygen Sensor Temperature Sensor Measurement principle Phosphorescence lifetime Thermistor (optode) Response time sec (63%) 0.2 sec 0.9 sec (90%) Range 0 to 200%(0 to 20 mg/L) ‐5 to45°C Resolution to0.4%(2to8 μg/L) °C Accuracy ) ± 2% (at 1 atmosphere, 25 °C ) ± 0.02 °C Stability ±1% (24 hours) ±5% (1 month) Hi Pat, See the attached for the two sensors that USM and others use for hypoxia monitoring in GOM, and probably other spots along our coastline or in estuaries. The Wetlabs sensor measures both turbidity and fluorescence and sells for $4,870 in the shallow mode and $6,085 for the deeper unit [6,000]. The Rockland Oceanographic sensor for measuring DO is called RINKO and sells for $6,800 for the standard model, but I don't have a price for the OEM model yet. Do you think ONR will allow you to use one of their LGs for a demo in the scientific world? Re the scientific community, when do you think you might have an updated pitch that I can use at the end of February? NMFS would like to have a meeting and I am still trying to get a meeting with the Louisiana Universities Marine Consortium for that same time period, i.e. after the UI conference in NO in late Feb. Have you updated the brochure to show $100k for the unit -- the latest brochure I now have shows $180k. Have a great weekend -- Cheers ---- Ray

Hypoxia Sensors Placement
Place both sensors in nose cone, extending the nose cone by 6 inches

SeaBird GPCTD Sensor Measure Calibration Accuracy Accuracy Resolution
Range Range (within cal range) (outside range) Conductivity (S/m): 0 to 9 0 to ± better than ± (mS/cm) (0 to 90) (0 to 60) (± 0.003) (±0.010) (0.0001) Temperature (°C): -5 to to ± better than ± Pressure (depth) (dbar): 0 to 350 full scale ± 0.1% F.S % F.S. Memory 8 Mbytes = 699,000 of CTP (194 hours at 1 Hz) Data Formats Real-time data and uploaded data are output (decimal or Hexadecimal characters) in units of Siemens/meter (conductivity), degrees C (temperature), decibars (pressure) Operating Power Requirements Supply Voltage: 8 to 20 VDC nominal (power calculations below assume 10.0 V) Quiescent current: 30 μA Continuous (1Hz) Sampling CTP only: 175 mW if real-time = no, 190 mW if real-time = yes (2.10 – % duty) can you do for Seabird on this slide on a the LG? OR Maybe not needed?

Coastal Glider Hydrophones
Ocean Sonics icListen HF Hydrophones on wings and stern plane Measures ambient noise in1/3 octave bands Fishing vessels and ferries For wind speed estimator Provides event detection Mammals, sea turtles and fish Vessel engine tonals Wilcoxon Vector Sensor VS-209 hydrophone on bow Narwhal Measures direction of surface vessels Measures direction of wind waves and swells Provides detection and direction of marine mammals

Ocean Sonics Smart Hydrophone
Analog hydrophone needs many parts, but Smart Hydrophone is Complete All functions are integrated Unit is calibrated

Ocean Sonics icListen HF Smart Hydrophones
Hydrophone Sensing Element ultra low noise [< SS0] and wide dynamic range – 24 bit A/D converter Intelligent Digital Hydrophone processes data before it is transmitted [only a small data set] using spectral analysis and correlation models Real Time Event Detection processor transforms acoustic signals into calibrated waveforms, spectral, or event data Data Processing of FFT data reduces data storage by a factor of ~300, allowing you to store more data – 32 GBytes

AML CTD Sensors Xchange™ Field “Swappable” Sensors: Sampling Modes:
• User configurable (by time, by pressure, by sound speed) • Unlike other X•Series instruments, the Micro•X is sensor specific, Mechanical: • Housing: Delrin to 500 m or Titanium to 10,000 m meaning that sensor type cannot be changed • Size: 33 mm (1.3”) diameter x 246 mm (9.5”) OAL • Field-swap any sensor with another sensor of its own kind, • Connectors: Micro 6, Female regardless of range • Storage Temperature: -40oC to 60oC • Each Xchange™ includes its own embedded calibration • Operating Temperature: -20oC to 45oC • Sensors exchange without use of tools Accessories: Electrical: • Instrument suspension bar • Up to 25 scans per second • Instrument protection frame • Factory Set RS232 or RS485 • Mounting brackets • Externally Powered 8-26 VDC • Data/Power cable, various lengths 2m and greater Where is it located on the LG

Coastal Glider Sensors -- Future
Wave Height Sensor [Microstrain IMU in glider] LND Inc. Gamma Radiation Sensor [Cesium 137] Satlantic Nutrient Sensor [SUNA] CONTROS Methane Sensor WOTAN [Wind Observation Through Ambient Noise] Automated Detection of Fishing Vessel

Coastal Glider Wave Subsystem Overview
MicroStrain IMU [already in CG] Rapid Data Acquisition [1st 5 min CG on surface] Conversion to Earth Reference Frame Wave Analysis Wave Spectra & Parameters Data Relay

MicroStrain 3DM-GX1 Specs [Gyro Enhanced Orientation Sensor]
Coastal Glider IMU [Inertial Measurement Unit] Three angular rate gyros +/- 300º/sec FS Three orthogonal DC accelerometers +/- 5g FS Three orthogonal magnetometers +/ Gauss FS Other Parameters Multiplexer with16 bit A/D converter Orientation outputs in both dynamic and static conditions 65 mA power consumption 75 grams with enclosure

LND Inc. Gamma Radiation Sensor
Model GENERAL SPECIFICATIONS Calibrated for Cesium -137 Gas filling Ne + Halogen Cathode material 446 Stainless Steel Effective length (inch/mm) 9.51/241.6 Effective diameter (inch/mm) 0.786/20.0 Connector Flying Lead Operating temperature range °C -40 to +75

Satlantic Nutrient Sensor
ELECTRICAL CHARACTERISTICS PERFORMANCE Input voltage: VDC Detection range: to 28 mg/l-N *(0.5 to 2000 μM) Power consumption: 7.5 W ( V) nominal Accuracy: +/- 2 μM or 10% of reading Sample rate: 1 Hz (when onboard averaging disabled) Calibration: Real-time Temperature / Salinity correction available; requires T/S data from AUV controller Communication options: RS-232, Analog output VDC and mA, SDI-12 Telemetry options: ASCII, Binary, Concentrated ASCII, Reduced Binary (for AUV) Long term drift: mg/l per hour of lamp time Thermal Compensation: 0 to 35 C Internal Logging: 2 GB solid state memory Salinity Compensation: 0 to 40 psu OPTICS PHYSICAL CHARACTERISTICS Path length: 1 cm Depth rating: 2000 m (6,560 ft) Spectral range: nm Length: 555 mm (21.8 in) Lamp type: Continuous Wave Diameter: 57 mm (2.25 in) Deuterium Lamp Weight: 1.80 kg (3.9 lb) in air Lamp lifetime: 900 h 0.36 kg (0.80 lb) in water Housing material: Anodized Aluminum; Not sure how you did this Size as shown on ARGO float – need to put on exterior of LG

CONTROS Methane Sensor
Principle Dissolved CH4 molecules diffuse through a silicone membrane into the patented detector chamber, where their number is determined by means of IR absorption spectrometry. Concentration dependent IR light intensities are converted into output signals. Dimension/ Weight 90 d x 376 mm corrosion-free titanium/ 4,7 kg (2,2 kg in water) Operation depth 2000, 4000, 6000 m version available Temperature range 3 … +30°C (Arctic version: -2 … +15°C) Measuring range 100nmol – 50μmol/l (other ranges available) Equilibration time first signal after 5s, T63 < 400 sec (with external pump) Resolution 10 nmol Accuracy ±3% reading (as the total sum of all the errors) Calibration Calibration unit is μmol/l ● signal is derived considering internal sensors for pressure, temperature and humidity ● Recalibration recommended every 12 months Power Typ. 12 VDC ( VDC) (Arctic version: VDC)) Data Interface RS-232C and RS-485 ● Data format ASCII NMEA-0183

Generic Underwater Sound Spectra
100 hail 20 2 kHz 80 Heavy rain 8 kHz 12 Wind m/s 5 60 Light rain, no wind Spectral level (dB re 1mPa²/Hz) 2 Light rain, 3 m/s wind 40 snow 20 0.1 1 10 100 Frequency (kHz) DBCP-18 workshop – Oct. 2002

Meteo France Algorithms
Algorithms now in use by Meteo France for drifting buoys Wind Speed estimates at 10m above water level – U10 U10 = a * 10SL(f)/20 + b Where SL(f) is the sound intensity at frequency f expressed in dB relative to 1 mPa2/Hz [measured in 1/3rd octave bands] a and b are two empirical coefficients depending on the frequency The wind speed estimate at 10m is the average of estimates computed at 2, 3.15, 4, 5 and 6 kHz 1/3 rd octave bands Data of wind speed estimates is flagged if: the standard deviation of estimates computed in the 1/3 rd octave bands between 1 and 8 kHz is higher than 2.5 m/s

Automated Detection of Fishing Vessels

CG Deployment Success – KORDI Coastal Waters Transit
Initial test to demonstrate the ability of the glider to operate in an area with known strong currents and navigate accurately over long distances [160 km] Navigated via a series of waypoints Collected and reported GPS positions at regular intervals to maintain waypoint tracking 4 Acoustic sensors to collect ambient noise data Any other notes??

CG Deployment Successes – Station Keeping Demonstrations
Glider Positions From 5/3 to 5/6 2010 Results from GOC Green circle is 2km watch circle 72 hrs of surface positions are shown on the GOC chart Blue position points indicate surfacing directed by dead reckoning Green position points indicate surface directed by a comms interval Is this enough re recent tests of LG

Summary Of Coastal Glider Acoustic Tests During Past 5 Years
Integrated several types of passive acoustic sensors including single and paired (binaural) omni-directional hydrophones and vector sensor Performed acoustic characterization and noise reduction work under controlled conditions Successfully demonstrated ability to collect data in multiple Navy sponsored events Signal processing aboard the glider has been used to alter glider behavior in the presence of threats Signal processing aboard the glider has been used to create a reduced data set for immediate transmission, with the full data set stored for later analysis

Deployed from Research Vessel

Deployed from Small Vessel

Deployed from Trailered Barge

Deployed from Catacraft

Exocetus Development, LLC Ray Mahr, Jr., VP Sales & Marketing
Contact Information Exocetus Development, LLC 1444 E 9th Ave, Anchorage, AK 99501 Ray Mahr, Jr., VP Sales & Marketing Phone: (858) International Agents See

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