1. Setting up a groundstation : automatic routines for web interface and data dissemination 2nd EGO Workshop Glider school Mallorca, Oct 2007 Laurent Mortier

2. Cooperative steering of a fleet of gliders through a non centralized network Iridium Ground Station 2 Ground station 1 Freewave antennas Objectives : - automated generation of steering commands, - plotting data in NRT and - web publishing for a fleet of gliders - for the three types of gliders available today : slocum, spray and seaglider Constraints to take into account : - Different manufacturer interfaces - Glider groundstation not always accessible - Asynchronicity, quality and low rate of comms - Iridium AND freewave (slocum only) + Argos - Distributed steering among partners - Heterogeneous networks of computers - Maintenance, failure and transit from the gliderports Web server for steering

3. North Western Mediterranean Sea Observatiory in winter-spring 2007 Northern current Winter mixing, subduction 7 gliders 6 gliders simultaneously From December 2006 to June 2007 ~3200 profiles (200m and 1000m depth) Large, meso, and small scale processes Spray016 floats XBTs, CTDs, gliders No deep convection this winter!!!

4. Present groundstation for a single glider Steering : partially automated (equivalent to what the WRC dockserver is doing)+alarms Ploting NRT data : completely automated but fixed format for plots Forecasting of the trajectories : completely automated with the daily updated waypoint Saving to Coriolis DC : automated Data Center (Coriolis, GTS, …) Operational model (MERCATOR, MFS, …) Groundstation (dockserver, Kermit, mail, …)

5. labo/home/cybercafe/3G observed SST (e.g. MEDSPIRATION) Forecast of the trajectories of gliders 1,2,3... (operational forecast MERCATOR, MFS, …) Storage of the NRT data from the gliders Data processing forecasts, geophysical data, engineering data, … Coriolis Slocum 1 dia01@locean Server G1 Present groundstation at LOCEAN for steering and data flow Modem-modem - slocum : terminal using Kermit - spray : mail / mnt, mail ftp http Spray 1 Iridium server mail ftp wget scp thot@locean-ipsl.upmc.fr 2 internal disks RAID x.x 500 Go External disk rsync thot@locean or brodie@idris.fr

6. Requirements of the present system at LOCEAN Network and machine requirements Groundstation : PC with secured storage (redundancy) and/or access to archiving facilities SLOCUM : US Robotics modem provided by WRC Optional : a PC for modem connection to the modem (see below) Commands, daemons, software's on the groundstation machine LINUX distribution (bash) cron, ssh, ftp with associated deamons, rsync C-Kermit procmail (needs access to /var/spool/mail. if not,fetchmail is needed) matlab (licenced and available !! Better to have a private licence). Useful for plotting put also for plenty of other tasks including scientific analysis… OR octave (http://octave.sourceforge.net/, not tested) or python (Lucas Merckelback)http://octave.sourceforge.net/ acces to mail and web (wget) facilities screen (http://www.gnu.org/software/screen) very useful terminal multiplexerhttp://www.gnu.org/software/screen optional : mail and web servers installed on the groundstation machine If modem reception on a separate machine (luxurious but secure solution) air-conditioning, UPS (uninterruptible power supply) LINUX distribution with almost nothing but absolute need to read mail, ssh and ftp ! provide additional backup for the NRT data

7. Why Kermit and not WRC dockserver for the SLOCUM ? Kermit used to open a terminal on the glider (interactive or batch mode) send and receive files from the glider useful to install locks and send signals Interactive Kermit does what the GMC terminal is doing presently with less ergonomy : output / input are in the same terminal … Kerbang mode does what the GMC terminal is doing (script mode) sends signals to groundstation (plotting, …) and alarms to glidermen and women ! Main interest of this solution  User fitted  Easy to customize  We developed it because WRC dockserver versions (~ 2 years ago) not stable at that time

8. Running a mission today Send email to staff Send alarm to shift people (sms) Send signal to groundstation for plots, ftp Start kerbang robot, Controls and alarms, open logs Interactive (kermit or dockserver) : Run test missions, then main mission kerbang loop If ABORT callback in a moment If *.ma available, fetch and reread mission Receive 3 SBD files Wait for RING (iridium) Resume the mission thot@locean-ipsl.upmc.frdia01@locean-ipsl.upmc.fr Operators at sea Shift people

9. Running missions for several gliders in a next future (this winter hopefully) groundstation@so mewhere: one part lab but remote access possible Operators at sea Website : shift people steer the gliders according to their access rights set by the glider's owners from any places with internet access (lab, home, cybercafe, …) dia01@somewhere dia02@somewhere elsedia03@somewhere else Master control & archiving mi/ma files webserver@somewhere with mirroring sites Mysql EGO database NO direct connection to the groundstation machines

10. The web interface for steering a fleet of glider Why email between the web server and the glider groundstation ? the only simple way to go through firewalls easily (but beware of anti spammer!!) secure enough (control using keys or any kind of password) problem : how to get an acknowledgment of receipt from the groundstation ? http://www.locean-ipsl.upmc.fr/gliders

11. Man pages, manuals, installation package, … Available today "gliderman" kermit short manual man pages for "ker" scripts general description (in french) of the installation on the PCs Tomorrow « installation package » for the groundstation machines (LINUX) Web steering interface available (included in the EGO website or independent) Simple User guides or README files Very similar to the GLMPC terminal from WRC but suitable for Spray and Seaglider too. No direct connection required to the groundstation Future plans Integration of other EGO tools : igloo (NOCS), automatic generation of waypoints (IMEDEA), … Interaction with the dockserver ?? More general interface for an heterogeneous fleet of AUVs (IFREMER) kerstart(1) USER COMMANDS kstart(1) NAME ksertart - start or restart the glider robot SYNOPSIS ksertart [-cfFh] [-D dir] [-S nom] [-I nom] [-T sec] DESCRIPTION kerstart search... OPTIONS -c check for children of the script to start or restart. If any, kstart will wait for KERALIVE seconds (see the -T option) before proceeding. The default is to consider all processes with no check of their dependance -f force killing only the kerbang processes (see the -S option)...