ADCPs and Gliders Presented By Darryl Symonds Teledyne

ADCPs and Gliders Presented By Darryl Symonds - Teledyne RD Instruments October 2012

ADCPs and Gliders Contributors Jerry Mullison - Teledyne RD Instruments Greg Rivalan - Teledyne RD Instruments Clayton Jones – Teledyne Webb Research Neil Trenaman – Liquid Robotics, Inc. (UVS Pty Ltd. ) Robert Olson - Liquid Robotics, Inc. Rajesh Jha - Liquid Robotics, Inc. Mike Cookson - Liquid Robotics, Inc. Paul Wyatt - Liquid Robotics, Inc.

Outline • Teledyne RD Instruments (TRDI) Background • TRDI Moving Platform ADCP Background • Teledyne Webb Research Slocum Glider and TRDI ADCP Integration • Liquid Robotics, Inc. Wave Glider® and TRDI ADCP Integration

Leaders in Acoustic Doppler Current Profilers Doppler Velocity Logs Conductivity, Temperature, and Depth

Teledyne serve’s niche market segments where performance, precision and reliability are critical. Our customers include government agencies, aerospace prime contractors, energy exploration and production companies, major industrial companies, and airlines and general aviation companies.

Founded: 1982; acquired by Teledyne in Aug. 2005 Products Lines: Marine Measurements – Water in Motion Water Resources – Water in Motion Navigation – Motion in Water Programs – Technology in Motion Patented Technologies: Bottom Tracking Phased array Waves processing Internal Inductive Conductivity Sensor Employees: 180+ Locations: Main Office: Poway, CA, USA (certified: ISO 9001: 2010, CE) La Gaude, France Shanghai, China

ADCPs On & In The Ocean

OS Climate Studies WH Neptune Surface Vessel Applications Mars

Unmanned Vehicles Surface Gliders Explorer WH Underwater Gliders Autonomous Underwater Vehicles (AUVs) Remotely Operated Vehicles (ROVs)

Keys To Successful Data Collection on Moving Platforms • • • Mounting of Instrument (Where/Orientation) External Sensor Input (Heading/Pitch/Roll) Power Considerations Synchronized External Sensors Reference to Remove Platform Motion Data Handling and Processing

Teledyne Webb Research - Slocum Glider Teledyne RD Instruments – Explorer ADCP

Mounting – WH ADCP Mounted to Point 45° Starboard Beam 3 at 0° 3 Beam 3 at 45° 3

Mounting - Explorer Flush To Slocum Beam 3 at 0° Beam 3 at 45° AOA 0° -30° -22° 30° 22° AOA -26° -56° -48° -26° -4° 4° AOA 26° 56° -4° 26° 48° 4°

Mounting - Explorer Mounted to Point 26° Forward Beam 3 at 0° Beam 3 at 45° AOA 0° 56° -4° 48° 26° 4° AOA -26° -30° -22° 30° 22° AOA 26° 82° 22° 52° 64° 30°

Mounting - Explorer Mounted to Point 11° Forward Beam 3 at 0° Beam 3 at 45° AOA 0° -19° 11° 41° -11° 43° AOA -26° --45° --15° -37° 15° 7° AOA 26° 67° 37° 7° 59° 15°

Mounting Angle Given a 25° Dive Angle Mounting with a 11° pitch upward with beam 3 pointing 45° to port Glider Beam 1 Beam 2 Beam 3 Array Pitch Offset Beam 4 Glider Pitch BM Angle Level 41 19 11 0 30 Diving down 16 44 11 -25 30 Diving Up 66 -6 11 25 30 Mounting with a 11° pitch upward with beam 3 pointing 0° (forward) Glider Level Diving Down Diving Up Beam 1 Beam 2 Beam 3 Beam 4 Array Pitch Offset Glider Pitch BM Angle 11 11 41 19 11 0 30 -14 16 44 11 -25 30 36 36 66 -6 11 25 30

TRDI Data Reference • Attitude (Heading, Pitch, Roll) is input from On-Board Sensors • Vehicle Motion Reference – Bottom track used in shallow water – LADCP method when in deep water • Vehicle Position from GPS during Surfacing

Data Flow for System ADCP On Board Computer Data Transfer HPR GPS On Board Power Batteries

Slocum Glider with Explorer ADCP Deployment Test – Solo Run Teledyne RDI and Teledyne Webb collaborated to install an Explorer ADCP on a Slocum Glider for Rutgers University.

TRDI Data Review Using LADCP

TRDI Data Review Using LADCP • A test flight of the glider in shallow water was conducted with bottom track enabled. • The bottom track corrected velocities are compared with the velocities obtained with the LADCP Matlab-scripts, from Dr. Eric Firing at the University of Hawaii. • The agreement between the two techniques is in general very good, but wave action on the glider while it is near the surface badly contaminates the bottom track corrected measurements.

Liquid Robotics - Wave Glider® Teledyne RD Instruments – WH ADCP

Mounting – WH ADCP Mounted to Point 45° Starboard Beam 3 at 0° 3 Beam 3 at 45° 3

TRDI Data Reference • Attitude (Heading, Pitch, Roll) is input from WH ADCP • Vehicle Motion Reference – Bottom track used in shallow water – GPS used in deep water • Vehicle Position from GPS during

Data Flow for System On Board Computer Data Transfer ADCP GPS On Board Power Solar Panels

Wave Glider® with WH ADCP Deployment Test 1 – Shallow Water Scripps Beach Teledyne RDI and Liquid Robotics collaborated to install a WH ADCP on a Wave Glider® at Scripps Institute of Oceanography (SIO) locum Glider for Rutgers University.

Deployment One Contours

Box Averaged North Velocity

Box Averaged East Velocity • Shallow Water Tests illustrate that Wave Glider® wings contaminate one or two bins • Velocities above and below wings compare well with reference ADCP • Flow reversals can be seen • Large scale features compare will with reference ADCP

Wave Glider® with WH ADCP Deployment Test 2 – Deep Water Scripps Beach Teledyne RDI and Liquid Robotics collaborated to install a WH ADCP on a Wave Glider® at Scripps Institute of Oceanography (SIO) locum Glider for Rutgers University.

Repeated Transects

TRDI Data Review Using GPS • GPS can be used as a valid reference even within the small spatial areas covered by the Wave Glider® • Traveling in reciprocal transects provide identical data • Large features of oceanographic interest are economically captured by a Wave Glider® mounted ADCP

Wave Glider® with WH ADCP Deployment Test 3 Waialea Bay Puako Bay © 2012 Liquid Robotics, Inc. 1329 Moffett Park Drive, Sunnyvale, CA 94089, USA. All Rights Reserved. PROPRIETARY INFORMATION 33

Velocity Comparison: June 15 – June 16 Alongshore Velocity (m/s) Cross-Shore Velocity (m/s) R 1 R 2 SH 1 Bottom Mount © 2012 Liquid Robotics, Inc. 1329 Moffett Park Drive, Sunnyvale, CA 94089, USA. All Rights Reserved. PROPRIETARY INFORMATION 34

Velocity Comparison: July 6 – July 8 Alongshore Velocity (m/s) Cross-Shore Velocity (m/s) Bottom Mount R 1 R 2 © 2012 Liquid Robotics, Inc. 1329 Moffett Park Drive, Sunnyvale, CA 94089, USA. All Rights Reserved. PROPRIETARY INFORMATION 35

ADCPs and Gliders Special Thanks For Their Help and Cooperation To: The team at John Hildebrand’s laboratory at Scripps Institute of Oceanography (SIO) and to SIO The team at Rutgers University

Contacts Main Office Teledyne RD Instruments, Inc. 14020 Stowe Drive Poway, CA 92064 Main: +1 -858 -842 -2600 E-mail: rdisales@teledyne. com www. rdinstruments. com European Office Teledyne RDI Europe 5 Avenue Hector Pintus La Gaude, France E-mail: rdie@teledyne. com Main: +33 -492 -110 -930 China Office Teledyne RD Technologies: 1206 Dongfang Road, Pu Dong Shanghai 20122 China E-mail: lfan@teledyne. com Main: +86 -215 -830 -6939 Local Representative Details: UVS Pty Ltd 9 Macquarie Place Boronia, VIC 3155, Australia PO Box 129 Boronia VIC 3155 E-Mail: sales@uvs. com. au Main: +61 (0)3 97298622 www. uvs. com. au