Abstract
Submarine gliders are specialized systems used in applications such as environmental monitoring of marine fauna, in the oil industry, among others. The glider launch and capture is a costly process that requires substantial technological and human resources, so the orderly and error-free storage of data is of fundamental importance due to the subsequent analysis. The amount of information being obtained from the seabed is increasing, this leads to the need to develop robust and low-cost ad-hocsystems for this type of application. The challenge is the integration of the different software layers in the storage system because the monitored variables must be ordered according to different glider operations such as calibration data update and navigation. Additionally, to avoid data corruption in the memory chip, error control coding must be used. The goal of this paper is to present a novel design of different layers of software integrated into a datalogger: reception, error control, and storage logic for the different glider operations. The design of the datalogger is based on a NAND flash memory chip and an MSP430 microcontroller. To correct bit-flipping errors, a BCH code that corrects 4 errors for every 255 bits is implemented into the microcontroller. The design and evaluation are performed for different glider operations, and for different lengths and correction capabilities of the BCH module. A test to calculate the storage time has been carried out. This test shows that in the case of 256 bytes per sample, at 30 samples per minute, and 1 GB of storage capacity, it is possible to collect data from the glider sensors for 84 days. The results obtained show that our device is a useful option for storing underwater sensor data due to its real-time storage, power consumption, small size, easy integration, and its reliability, where the bit error rate BER is of 2.4 ×10−11.
Highlights
An underwater glider is a class of Autonomous Underwater Vehicle (AUV) that is guided by an operator in a boat through an umbilical cable or by a human pilot via satellite commands
The challenge is that the datalogger must have software and hardware capable of tolerating different failure modes, such as storing correctly in case of power loss or errors inherent to the NAND flash storage device
We presented a novel design of different layers of software integrated into a datalogger: reception, error control, and storage logic for the different glider operations
Summary
An underwater glider is a class of Autonomous Underwater Vehicle (AUV) that is guided by an operator in a boat through an umbilical cable or by a human pilot via satellite commands. Submarine gliders can be used in different extraction and exploration missions, in applications for measuring water quality parameters, in the oil industry, oceanography, the study of plankton and fauna, among others where human intervention is dangerous or even impossible [2,3,4,5,6,7]. For this reason, underwater gliders are very important for monitoring the ocean and new technological developments are necessary to provide robustness to the glider [8,9]
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