1. Using A Fleet of Slocum Battery Gliders in a Regional Scale Coastal Ocean Observatory Elizabeth L. Creed, Chhaya Mudgal, Scott M. Glenn and Oscar M. Schofield Rutgers, The State University of New Jersey New Brunswick, NJ 08901 Clayton P. Jones and Douglas C. Webb Webb Research Corporation Falmouth, MA 02536 Webb Research Corporation

2. Development of Slocum Gliders Funded By: Office of Naval Research State of New Jersey National Ocean Partnership Program NOAA National Undersea Research Program National Science Foundation

4. Length: 1.5 m Weight: 52 kg Hull Diameter: 21.3 cm Slocum Electric Glider

7. Slocum Electric Glider Communication Iridium Antenna ARGOS and FreeWave Antennas

8. Glider Communication Communication between the Glider and the Shore Command Center can be done in three ways: 1) FreeWave modems for local, high speed communication Line of Sight RF (928MHz) 2) ARGOS as a recovery beacon 3) Iridium for bi-directional, long distance communications

9. Glider Operation Moves in a saw-toothed trajectory Forward speed of 1 knot Depth range 4-200 meters Navigation done using GPS, dead reckoning and the altimeter Average deployment duration is 30 days and 1500 km

10. Jettison Weight Glider Abort Mechanism

11. Slocum Electric Glider

12. Hydroscat 2 Mounted In Glider Science Bay

13. Hydroscat 2 and CTD Mounted in Glider Science Bay Hydroscat 2 CTD

14. Controlling the Gliders A Mission Control Center is under construction to guide the fleet of Gliders in their data collection The goal of the Center is to develop a flexible autonomous and responsive tool to coordinate the missions of the Glider Fleet This goal will be accomplished by the Center using data transmitted to it from: 1) The Glider Fleet 2) Other scientific systems - CODAR SSTs, SeaWifs

15. Controlling the Glider A Mission is defined as a set of scientific instructions that tell the Glider(s) where and how to sample The Mission can track vertical features such as thermoclines or horizontal features such as fronts Implementation of the Mission Control Center is based on Agent Oriented Programming Deals with the construction of software agents which are entities that behave rationally, have decision making capabilities and act on behalf of the user - each data source has an agent Decisions are made using an influence diagram

16. Mission Control Center 2 branches of the Center 1) Decision making 2) Data visualization and Glider tracking

17. Glider Control Software Flow Chart

19. Temperature Data July 2000

20. Temperature (C) Depth (m) Temperature Comparison Salinity (psu) Salinity Comparison July 2000

21. Along-Shore Average Velocity Component of Glider and ADCP Cross-Shore Average Velocity Component of Glider and ADCP July 2000

22. Hydroscat 2 Optical Backscatter Transect 2, August 2002

23. Slocum Glider Simulator Track October 22, 2002

24. Future Plans Software:The agent software will become part of the Glider’s on-board computer Field Work:Long-term Glider tests are planned for the New York Bight Apex to observe the interaction of the Hudson River plume with the stratified continental shelf waters Instrumentation: 1) Miniaturization and installation of a hyperspectral spectrophotometer 2) Installation of a hockey puck sized absorption and attenuation meter

25. Conclusions Gliders will provide scientists with continuous and spatially extensive data Independent of ship and personnel availability Independent of weather

26. Rutgers University Coastal Ocean Observatory Lab Website http://marine.rutgers.edu/cool Glider Testing Center