The auv-linux 'nal' utility provides 3 ways to test vehicle-shore Iridium communications:

1. nal -sim: simulated mode, runs CORBA store-and-fwd service but does not actually connect to a modem
2. nal -9601 -dev device: connects to a NAL 9601 modem, as the one we have access to on shore
3. nal -dev device: connects to a A3LA modem with large SBDs as the one onboard the vehicle

Note that 'nal' output can be directed to a log file, e.g. to $AUV_LOG_DIR/latest/modem.log - see $AUV_HOME/sampleConfig/log4cxx.cfg

Use the on-shore modem (9601)

After Corba has been correctly set you can run the command

> nal -9601 -dev tcp:iridium:2101 &
A3LA is now on TREX3 (located in building G)
> nal -dev /dev/ttyS0 &

Note port number 2101, which is the "raw" TCP socket port. You can also telnet to it for verifying that you can connect to it and send basics commands like AT; for telnet, specify port 2001.

> telnet iridium 2001

The serial number of this modem is

Use the A3LA modem on the vehicle

after having started trex2 you will need to restart the modem from mvc-dmo1

mvc-dmo1> $AUV/bin/reset_a3la

On trex2 you can then start

> nal -dev /dev/ttyS1 &

or check if everything is OK through minicom

> minicom iridum