Autonomous Underwater Vehicles : TREX Volume Survey Operations This page last changed on Apr 15, 2010 by tm. Open two terminal shells: In Terminal 1 telnet mvc-dmo1-rf (dorado1 user and pass) cd auv-qnx (. configSrc) - no configSrc in auv-qnx echo $AUV (verify /home/dorado1/auv-qnx/auv/altex/onboard) qtalk -m /dev/ser13 !a<enter> (to turn on TREX2 cpu, you'll see GulperSolenoidFB = 1) ctrl-a x (to exit) cd $AUV/bin < pause> and follow procedure in Terminal 2 below nohup ./vcsServer -v & ps -a Go to terminal 2 and launch amc_o_rt ps-a (after amc_o_rt starts, you should see the processes of auv-qnx spawned. to terminate by force: slay supervisor slay vcsServer In Terminal 2 slogin dorado1@trex2 cd amc . config.amc cd mission cat init.cfg (check depth envelop, check mission time in seconds) <Pause and Go to Terminal 1 and launch vcsServer> nohup ../exec/amc_o_rt science4.cfg & cd ~/amc/log/latest tail -f TREX.log ( it takes about 30 seconds or so to start and then lots of activity, should be no error or 'relax' in the stream of log messages) go to terminal 1 to terminate by force: killall amc_o_rt when the vehicle has surfaced, to check for gulpers (not required, but if you are bored and want to see) slogin dorado1@trex2 cd amc . config.amc ./bin/signal_process.hsh (returns how many gulpers have fired, how far it is in transect, if signal is below 0.045 then it will be low res transect of 1Km, if above 0.12 it is high res 500m separation, if in between 750m)

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