MIT MSEAS Software Software reads and displays any model output for MOOS-IVP Provides ocean images on which vehicle simulations are superimposed Snapshots or animations as appropriate Provides ocean inputs to MOOS planning, or path plans themselves Acquires ocean model output through the Net Format: NetCDF, Grib, binary, Matlab©, etc. Procedure: http, sftp, OpenDAP, scp, etc. Can handle any model data (MSEAS, MIT-GCM, ROMS, NLOM, etc.) Displays ocean model data using Google Earth (what MOOS uses) Calls Matlab©, NCAR Graphics, or similar package to generate a set of images for the desired physical field(s) at desired depth and times Uses ImageMagick or similar software to automatically crop images Prepares KML file to display set of images as stills or animations For path planning with MOOS or with MSEAS software Uses Matlab© or Octave to read model data (temp., salinity, velocity, etc.) and interpolates them at 4D vehicle locations for use by MOOS-IVP Or provides path plans directly (computed from other MSEAS software)

Example: MSEAS Model Output used by MOOS IvP for PP Temperature at 10 m, with velocity vectors overlays Area is Pioneer Array vehicle sampling region MOOS IvP acquires T, S, U, V, other parameters from MSEAS Simulated MOOS vehicles sample and interact with the MSEAS ocean simulation output Other regions, Endurance Array, etc. are being developed Any variable can be plotted (maps or sections) Vehicles not displayed here Playback of animation of model output