Ballasting Slocum Electric Gliders

This report outlines the procedures and calculations required in performing the ballasting of Slocum Electric Gliders, a type of Autonomous Underwater Vehicle developed by Webb Research Corporation. It also outlines the MATLAB? script that was developed for the purpose of simplifying the process of ballasting, through automation of the calculations and recording all pertinent data. The inputs are mass values and water conditions which are gathered from a combination of user inputs and an Excel? file. The MATLAB? script calculates the necessary mass changes and these values are displayed in the MATLAB? Command window. All the data that were input, all the intermediate values, and all the final mass values are appended to a text file that is named based on the glider serial number. Thus the complete ballasting history of any particular glider is easily accessible. As well, all the final mass values are recorded to an Excel? file, the same Excel? file that is used as a source of inputs each time the script is executed.NRC publication: Ye