Teledyne Dock Server User manual

Revision 7.10 2/28/2012
Dock Server User Guide
February 2012
Glider Mission Control Software
Teledyne
Webb Research
82 Technology Park Drive
E. Falmouth, MA 02536 USA
www.WebbResearch.com
[phone]
[email protected]

Revision 7.10 2/28/2012
Table of Contents
1. Dock Server out of the Box Setup.........................................................................7
1.1 Connecting Dock Server Hardware.......................................................................................8
1.2 Configuring Dock Server for the Network..........................................................................10
1.3 Shipped Modem Configuration...........................................................................................16
1.4 Shipped Serial Port Configuration.......................................................................................19
1.5 Troubleshooting Communication Issues.............................................................................20
2. How to use the Dock Server Application............................................................22
2.1 Starting Dock Server............................................................................................................22
2.2 Checking that Dock Server is Running................................................................................24
2.3 Stopping Dock Server..........................................................................................................24
2.4 Monitoring Dock Server while it's Running........................................................................25
2.5 Accessing Dock Server Glider Files....................................................................................26
2.6 Configuring Gliders Managed by Dock Server...................................................................27
2.6.1 Removing a Glider from Dock Server Management....................................................28
2.7 Configuring Serial Ports Managed by Dock Server............................................................29
2.8 Dock Server General Configuration....................................................................................34
2.9 Upgrading to the Latest Dock Server Release.....................................................................37
2.9.1 Upgrading from Release 3.6 through 6.36 to the Latest Release.................................37
2.9.2 Upgrading from Release 6.37 and Later to the Latest Release.....................................39
2.10 Rolling back to a Previous Dock Server Release..............................................................40
2.11 Uninstalling a Dock Server Release..................................................................................41
2.12 Installing a Dock Server Release for the First Time..........................................................42
3. Getting Started with the Glider Terminal Application........................................44
3.1 Installing Glider Terminal...................................................................................................44
3.2 Starting Glider Terminal......................................................................................................46
3.3 Stopping Glider Terminal....................................................................................................47
3.4 Browsing a Dock Server......................................................................................................47
3.5 Glider Terminal Perspectives...............................................................................................48
4. How to Use Glider Terminal’s Glider Perspective..............................................50
4.1 Interacting with a Glider......................................................................................................50
4.2 Sending Files to a Glider.....................................................................................................52
4.3 Receiving Files from a Glider..............................................................................................54
4.4 Controlling Dock Server Scripts..........................................................................................55
4.4.1 Adding a Script to a Glider's Script Queue...................................................................56
4.4.2 Remove a Script from a Glider's Script Queue.............................................................57
4.4.3 Pausing a Glider's Script Queue....................................................................................57
4.4.4 Resuming a Glider's Script Queue................................................................................57

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4.5 Receiving Glider Email.......................................................................................................58
4.6 Advanced File Transfer to a Glider – dockzr Command.....................................................60
4.7 Menu Bar Functions.............................................................................................................62
4.7.1 File Menu......................................................................................................................62
4.7.2 Edit Menu......................................................................................................................62
4.7.3 View Menu....................................................................................................................63
4.8 Popup Menu Functions........................................................................................................64
4.8.1 Dock Server Popup Menu.............................................................................................64
4.8.2 Glider Popup Menu.......................................................................................................64
4.8.3 Channel Tab Popup Menu............................................................................................65
4.9 Audio Alarms.......................................................................................................................65
4.9.1 Audio Alarm Configuration..........................................................................................66
5. How to Use Glider Terminal’s Serial Port Perspective.......................................69
5.1 Interacting with a Serial Port Device...................................................................................69
5.2 Menu Bar Functions.............................................................................................................71
5.2.1 File Menu......................................................................................................................71
5.2.2 Edit Menu......................................................................................................................71
5.3 Popup Menu Functions........................................................................................................72
5.3.1 Dock Server Popup Menu.............................................................................................72
5.3.2 Serial Port Popup Menu................................................................................................73
5.3.3 Serial Port Tab Popup Menu.........................................................................................74
6. How to use the Glmpc Terminal Application......................................................75
6.1 Installing Glmpc Terminal...................................................................................................75
6.2 Starting Glmpc Terminal.....................................................................................................77
6.3 Stopping Glmpc Terminal...................................................................................................78
6.4 The Glmpc Terminal User Interface....................................................................................79
6.5 Loading Maps......................................................................................................................80
6.6 Connecting to a Dock Server...............................................................................................86
6.7 Defining a Route..................................................................................................................88
6.8 Interacting with a Glider......................................................................................................90
6.9 Defining Mission Parameters...............................................................................................93
6.9.1 Setting Mission Parameters..........................................................................................93
6.9.2 Specifying scripts..........................................................................................................94
6.9.3 Setting .ma file names...................................................................................................95
6.10 Importing/Exporting Routes and Positions........................................................................96
6.11 Customizing the Display....................................................................................................97
6.12 Audio Alarms.....................................................................................................................98
7. How to use the Data Server Application.............................................................99

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7.1 Starting Data Server.............................................................................................................99
7.2 Checking that Data Server is Running...............................................................................100
7.3 Stopping Data Server.........................................................................................................101
7.4 Monitoring Data Server while it's Running.......................................................................102
7.5 Configuring glider data Managed by Data Server.............................................................103
7.6 Backing up glider data Managed by Data Server..............................................................104
8. How to use the Data Visualizer Application.....................................................106
8.1 Installing Data Visualizer..................................................................................................106
8.2 Starting Data Visualizer.....................................................................................................106
8.3 Stopping Data Visualizer...................................................................................................107
8.4 The Data Visualizer User Interface...................................................................................108
8.5 Displaying Sensor Data......................................................................................................109
8.5.1 Selecting data for Display...........................................................................................110
8.5.2 Using the Plots Menu..................................................................................................112
8.5.3 Constraining Displayed Data......................................................................................113
8.6 Manually Transferring glider data to Data Server.............................................................115
9. How to use the GMC FTP Application.............................................................117
9.1 Installing GMC FTP..........................................................................................................117
9.2 Starting GMC FTP.............................................................................................................120
9.3 Stopping GMC FTP...........................................................................................................120
9.4 Transferring Glider Files from the Dock Server Machine.................................................120
9.5 Transferring Glider Files to the Dock Server Machine.....................................................123
9.6 Transferring Glider Files with other FTP Clients..............................................................124
10. How to use Glider Simulators.........................................................................126
10.1 Pocket Glider Simulators.................................................................................................126
10.1.1 Connecting to Dock Server Hardware......................................................................126
10.1.2 Differences between a Pocket Simulator and an actual Glider.................................127
10.2 Shoebox Glider Simulators..............................................................................................128
10.2.1 Connecting to Dock Server Hardware......................................................................128
10.2.2 Differences between a Shoebox Simulator and an actual Glider..............................129
11. Theory of Operation........................................................................................130
11.1 When Does a Glider Icon turn Red, Green, or Yellow....................................................130
11.2 When Does a Dock Server Icon turn Red or Green.........................................................132
11.3 How do Iridium, Freewave, and Direct Communications Differ....................................133
11.4 How Does Dock Server Recognize a Glider...................................................................134
11.5 Dock Server Machine User Accounts..............................................................................135
12. Internet Communication: Iridium RUDICS....................................................137
12.1 Overview..........................................................................................................................137

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12.2 Pros and Cons..................................................................................................................138
12.2.1 Reliability..................................................................................................................139
12.2.2 Data Rate...................................................................................................................139
12.2.3 Ease of Initial Setup..................................................................................................139
12.2.4 Scalability (many gliders).........................................................................................140
12.2.5 Mobility (shore side).................................................................................................140
12.2.6 Initial Cost.................................................................................................................141
12.2.7 Recurring Cost..........................................................................................................141
12.2.8 Real World Experience.............................................................................................141
12.3 How to Get Started..........................................................................................................142
12.3.1 Plan your Network....................................................................................................142
12.3.2 Open account with Iridium RUDICS Service Provider............................................144
12.3.3 Configure your Network, Firewalls, and Operating System....................................144
12.3.4 Configure the Dock Server Application...................................................................145
12.3.5 Configure the Gliders................................................................................................145
12.4 Glider/GLMPC Terminal Usage......................................................................................145
12.5 CONFIGURATION: Network, Firewall, and Operating System....................................147
12.5.1 Example Names and IP Numbers.............................................................................148
12.5.2 Typical Topology: NATed behind a Firewall...........................................................149
12.5.3 Simple Topology: Directly connected to the Internet...............................................152
12.5.4 Advanced Topology: Relay Host with SSH Forwarding..........................................153
12.5.5 Configuring the Operating System Firewall.............................................................154
12.5.6 Adding Glider User Accounts to the Operating System...........................................155
12.6 Configuration: Dock Server Application.........................................................................156
12.7 Configuration: Glider.......................................................................................................158
12.7.1 Configure and Install the SIM card...........................................................................158
12.7.2 Tell the Glider the “number to call”.........................................................................158
12.7.3 Tell the Glider the authentication sequence..............................................................159
12.8 Initial Checkout and Troubleshooting.............................................................................161
12.8.1 More Example Names and IP Numbers...................................................................161
12.8.2 Configuration/Testing Tools.....................................................................................162
12.8.3 Checkout/Troubleshooting Sequence.......................................................................163
12.8.4 Checkout/Troubleshooting Procedures.....................................................................164
12.8.5 Testing with Simulated Glider..................................................................................172
12.8.6 Testing with a Glider................................................................................................175
12.9 How it all Works – the bits and bytes..............................................................................177
Appendix A. Anatomy of Dock Server Log Files................................................178
A.1 Master Log File console.log.............................................................................................178

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A.1.1 Dock Server Startups.................................................................................................179
A.1.2 Glider Connects, Disconnects, and Redirects............................................................181
A.1.3 Glider Commands......................................................................................................183
A.1.4 File Transfers to / from Gliders.................................................................................183
A.1.5 Dock Server Scripts...................................................................................................185
A.2 Daily Event Log Files.......................................................................................................186
A.3 Glider Surface Log Files...................................................................................................187
A.4 Serial Port Log Files.........................................................................................................191
A.5 Email System Log File......................................................................................................192
Appendix C. Quick Guide to Authoring Dock Server Scripts.............................196
Appendix D. Shipped Dock Server Configuration File........................................205
Appendix E. Dock Server Install from Scratch....................................................207
Appendix F. Dock Server RPM Upgrade Output.................................................208
Appendix G. GLMPC File formats.......................................................................209
Appendix H. Java 1.4.2 Regular Expression Syntax.............................................211
Appendix I: Glider login_script_syntax.txt...........................................................219
Appendix J: Calibrating the glider Revolution(TM) compass..............................221
Appendix K: How to Use Glider Terminal's Dock Server Perspective.................227

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1. Dock Server out of the Box Setup
Each Dock Server ships with the following components.
1. Laptop computer with USB connectors.
2. A 4-Port USB Serial Adapter (Keyspan or Edgeport).
3. U.S. Robotics Courier 56K Business Modem (Model 3453B) – contains a 25-pin to 9-pin
serial cable and an RJ-11 phone cable.
4. Optical Mouse.
5. PC Card Compact Flash Adapter.
6. Straight through Serial Cable 9-pin male to 9-pin female.
7. RJ-45 Ethernet Cable
Additional hardware used by Dock Server but shipped with a glider include a Freewave
wireless data transceiver.
Note that each glider ships with one of two possible 4-port USB serial adapters: a
Keyspan or an Edgeport. This document uses the term “4-port USB serial adapter” to
refer to the model shipped with your glider.
Dock Server has been installed on the laptop and configured to monitor the internal
serial port (if any) and the 4-port serial adapter’s ports for glider communications. The
modem has been configured for use with Dock Server. The Freewave device has been
configured to communicate only with its shipped glider.
To use Dock Server out of the box, its hardware components must be connected and
the laptop machine must be configured for your network environment. Follow the steps
in section 1.1 then section 1.2 to complete the Dock Server setup.
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1.1 Connecting Dock Server Hardware
To connect the Dock Server hardware, follow the steps in this section.
1. If turned on, turn off the laptop, the modem, and the Freewave.
2. Connect the 4-port USB serial adapter to a USB port on the laptop using the cable
supplied with the adapter.
3. Connect the Freewave transceiver to serial port two on the 4-port USB serial adapter
using the shipped 9-pin to 9-pin serial cable.
4. Connect the U.S. Robotics modem to the internal serial port on the laptop using the 25-
pin to 9-pin cable supplied with the modem. If the laptop does not have an internal serial
port, then connect the modem to port one on the 4-port USB serial adapter.
Important Note: Dock Server treats modems and Freewaves differently. It must be told
which device is connected to each serial port. Dock Server’s factory configuration
expects a modem to be connected to the laptop’s internal serial port. Or, if no internal
serial port exists, then Dock Server expects a modem to be connected to port one on the
4-port serial adapter. Dock Server expects a Freewave to be connected to port two on the
adapter. To change this configuration, refer to section 2.6.
5. Connect the U.S. Robotics modem to the iridium phone line using the RJ-11 phone cable
supplied with the modem. On the modem, the plug labeled “JACK” should be used (the
plug closest to the 25-pin connector). Figure 1-1 shows this modem connection. Figure
1-2 shows all hardware connections.
6. Power on the modem, Freewave, and laptop in any order.
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Figure 1-1. Modem connections to the computer’s serial port and iridium phone line.
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Figure 1-2. All Dock Server Hardware connections.
The Dock Server hardware is ready for use. To connect the Dock Server machine to a
network, refer to the next section. To start the Dock Server application, refer to section
2.1.
1.2 Configuring Dock Server for the Network
While the Glider Terminal application can run on the Dock Server machine, Glider
Terminal can also run from any machine networked to the Dock Server machine. To
configure the Dock server machine for a network, follow the steps in this section.
1. Collect the following information from the network administrator.
a) A fixed IP address for the Dock Server.
b) The subnet mask for this IP address.
c) The default gateway IP address.
d) The primary and secondary (if one) DNS IP addresses.
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