Navigation and control of multiple gliders in an underwater acoustic network

In this paper we report the results of a Seaweb undersea acoustic network deployed in February 2003 in the Gulf of Mexico during CFAV Quest cruise Q272. The goal of the experiments was to demonstrate a realization of an undersea acoustic network for communication, control and navigation. The network consisted of one surface vessel (i.e. CFAV Quest), two gateway buoys, several seafloor mounted repeater nodes and three underwater gliders as mobile nodes and a remote shore based control station at Webb Research Inc., Falmouth, Cape Cod, USA. During the course of the experiments various communication and control modes were successfully demonstrated. The network was successfully used to route signals and commands using line of sight communications with the CFAV Quest, as well as over the horizon access from an on-shore station at Cape Cod. Besides communications between buoys, ship, and a shore station, underwater gliders were utilized as mobile nodes in the network. Ranging, as well as, communication was successfully demonstrated using these mobile assets. In total, the three gliders logged a distance of more than 200 km during the course of a one-week experiment.