The Mine Warfare Technology Symposium was held 6-8 May 2014 at the Embassy Suites in Seaside California, hosted by NPS.  Several excellent activities related to Wave Glider occurred.


  • Plans are in the works to display an SV-3 WaveGlider on Wednesday June 18 as part of the Coastal Trident 2014 exercise, 16-20 June 2014 at the NPS Center for Asymmetric Warfare (CAW) in Port Hueneme California.  Data links will also be shown to monitor in-water operations off Hawaii using Web connections.

Wave Gliders for Mine Warfare!


We had great session out on Monterey Bay last Friday (April 11) practicing launch and recovery of our "Mako" WaveGlider SV-2.

Our efforts were led by Daniel Merritt, Senior Field Operations Technician for Liquid Robotics Inc. (LRI).

Accomplishments included

  • Pierside "fast cruise" rehearsing all activities
  • Pre-deployment checklist complete
  • XBee and Iridium networking tests all satisfactory
  • Wave Glider Management System (WGMS) monitoring and commands
  • Four launches and four recoveries (always good when those numbers match!)

Lessons learned:

  • A number of things need to be added to our equipment chest, including special boathook clips and umbilical "messenger" unit
  • One equipment problem: stress-fracture cracks appeared on the plexiglass for the forward solar cells. 
  • Team effort is essential.

Participants: Kevin Smith, Qing Wang, Dick Lind,  Kate Hermsdorfer, Greg Thornton, Vance Villarreal, Renato Vio Peres, Ryan Yamaguchi and Don Brutzman.

Coastal Trident 2014 will be conducted 16-19 June 2014 in Southern California to explore the homeland security, homeland defense, emergency response, and emergency management issues associated with the threat of a rogue vessel targeting critical port and maritime infrastructure.

 CT14 IPC Brief and CT14 IPC Handout describe the following overarching goals to support this intent:

  • Reinforce federal, state, local government and private sector strategic partnerships
  • Strengthen existing emergency response and management plans, systems, and capabilities applicable to port and maritime security
  • Explore technology applications to enhance maritime domain awareness, threat identification and early warning, and interoperable communication
  • Identify future planning, acquisition, training, and exercise needs related to the integrated response to a port and maritime security incident

More specifically, the following objectives have been developed to evaluate the performance of participants in CT-14:

1.  Evaluate interagency cooperation, coordination, and communications in the port and maritime domain

  • Sharing of pre-event intelligence, early warning, and alert/notification information among response and management organizations
  • Information flow between local, state, federal, and military response and management elements
  • Development and maintenance of situational awareness
  • Multi-agency coordination of information to the media and the public in accordance with established procedures

2. Evaluate regional capabilities to recognize and respond to the threat of a rogue vessel targeting critical port and maritime infrastructure

  • Collection and processing of incident management information in order to provide:
    • Dissemination of public safety and security information
    • Target surveillance and characterization, opposed boarding, hazardous materials response, explosive ordnance disposal operations
    • Establishment of a common operational picture
    • Actionable information to enable decision-making
  • Safety and security of response personnel
  • Command and control of multi-domain, multi-jurisdictional response operations

3.  Evaluate the resource management capabilities of participants

  • Recall and deploy appropriate response resources
  • Utilize specialized units and subject matter expertise to assist with incident response and management
  • Request additional resources from supporting jurisdictions or federal government
  • Coordinate appropriate agencies and resources
  • Examine the integration of regional, state, federal, and military resources

4.  Evaluate the technical capabilities and operational suitability of technology applications to enable emergency response and management operations in the port and maritime environment

  • Uninhabited and autonomous systems
  • Sensor systems and applications
  • Data fusion and information sharing
  • Visualization and decision-support tools

Lots of steady activity has occurred over past month, here are some snippets.

  • NPS Studies Research Requirements Fair presented many project summaries and proposal opportunities
    • Check out the quad charts
    • Investigators are encouraged to contact OPNAV sponsor offices for further details/dialog
    • This process shows their topmost needs and lets you propose capabilities
    • N2N6 videoteleconference summarized progress, described our strategy to build shared capability
  • NOAA R/V FULMAR launch and recovery training on Friday 14 March (3rd attempt)
    • POC Kevin Smith.  Limited space, there will be future opportunities.
  • There are a LOT of assets available on the USW shared drive, please check them out.
    • You need to mount shared drive \\special\usw$\LiquidRobotics (on campus or via VPN)
    • Field Replacement Procedures (FRPs) for assembly and repair
    • User Guides for launch and recovery, mission planning, Wave Glider Management System (WGMS), etc.
    • Customer support notices, operations checklists for launch/piloting/recovery, alarms, etc.
    • A few interesting tools: track calculators, current velocity calculator, lat/long/distance etc.
    • Please do not share any LRI material external to NPS unless you get permission first
  • We have a server configured with the MBARI Spatio-Temporal Oceanographic Query System (STOQS) installed
    • Online mission of interest:  upper water column in situ measurement data
    • Collected as part of the Controlled, Agile and Novel Observing Network (CANON) initiative
    • Additional missions will be explored
  • Discussion with Dr. Qing Wang about conducting remote missions revealed that NPS can ship vehicles abroad
    • Navy Air Logistics Office (NALO) can deploy anywhere in world
    • Our transportation expenses are limited to transporting pallets to Travis AFB
    • This greatly simplifies logistics and reduces costs if we want to propose operating remotely in 2014
  • Dr. Alex Bordetsky and his Center for Network Innovation and Experimentation (CENETIX) team are busy...
    • ... conducting TNT Maritime Interdiction Operations (MIO) networking experiments
    • They have connected USCGC HAWKSBILL to their custom network
    • Launch/operations/recovery with WaveGliders are of interest to HAWKSBILL
  • Our NPS WaveGlider website is now publicly visible

Additional upcoming events

Congratulations everyone on many Wave Glider accomplishments!  Further blog posts or progress reports to the mailing list are welcome.

NPS is working with Liquid Robotics Incorporated (LRI) on a Cooperative Research and Development Agreement (CRADA).


Mark Jasen LRI, Tim Richardson GTRI, RADM Jerry Ellis USN (Ret), Debbie Buettner, Kevin Smith, Don Brutzman

Meeting topics

Discuss CRADA details

  • Great value is possible for both parties
  • What topics are relevant and what are not
  • Funding support for NPS labor is typically included, since baseline NPS mission funding is for education Significant return on investment (ROI).
  • No appearance of endorsement of a company by government
  • Crucial to avoid any appearance of impropriety
  • CRADA actually accelerates our ability to collaborate
  • Suggest 1-year or 3-year duration, renewable as appropriate. 
    • Duration must be tied to funded projects. Funding for current projects expires ~NOV 2014.
    • Living document: amendments are possible throughout
  • One project has to be identified as first task

Discuss areas of mutual interest

  • At-sea experiments
  • Operations, training, analysis support
  • Use of relevant technologies for navigation, communication, observation
  • Mission suites to fulfill classic and emerging naval roles and missions
  • Classified discussions and projects are possible, working in NPS spaces
  • Exploring possible naval applications using next-generation capabilities of SV-3

Intellectual Property Rights (IPR)

  • Crux: what happens to any joint technology that is produced?
  • NPS gets government purpose rights (GPR) during period of performance
  • Fine print in CRADA describes the rules, possible to pre-declare
  • Suggestion: LRI and NPS can plan to keep any new IPR separate

CRADA Questions

  • On occasion, LRI will lend equipment to NPS in support of testing and experiments as part of CRADA.  Possession reverts to LRI when complete.
  • Sharing of publishable data, unless otherwise restricted, is allowable.  See CRADA document details.  Proprietary or restricted-access data shall be so marked.
  • In-kind contributions?  Allowed but usually in concert with labor funding.
  • Are donations of equipment possible?  Yes, gift is made to Navy (value of $12K can be approved locally, otherwise approved by Navy). 
    • Donations are not made via NPS Foundation, which is a separate 501(c)(3) organization.
  • Is it possible (or appropriate) to initiate clearances for LRI employees working on partnered projects? Unusual but appears possible, will check.
    • LRI personnel have clearances held by external sponsors.
    • Must observe requirements for Military Critical Technology (MCT) and International Traffic in Arms Regulations (ITAR)
  • Do potential problems exist with joint ownership (or gift?) of NPS vehicle #2 (TODO proper name) currently located in Sunnyvale?  Need to determine status.  If problems exist, can CRADA help reconcile them?  Proper documentation is essential. Further work in progress.

Next steps


I'm happy to report that we now have a shared wiki space, calendar and mail list for our Wave Glider efforts at NPS.

The people on the mail distribution list can be found on the Personnel page at

Please login and check it out, all improvements and additions are welcome. 

Instructions are also provided for linking this team calendar to your Outlook calendar.

Once you are connected, our next task is to start building the calendar.

  • Kevin Smith approves operational commitments of the vehicles per se.
  • Participants can add calendar entries of interest to the group

I will next be looking at the New Page templates to see if there is a good way to enter information clearly about our respective projects.

If you have something to add, please send to me while we are in rapid-prototyping mode, am happy to integrate it.

In another week or two, this should be pretty well populated as a group resource and open for all of us to edit.

Comments and improvements welcome, thanks everyone for your efforts. Happy 2014!

We are building this Wave Glider USVs site on the NPS Wiki for sharing project information.



  • Project summaries can be built using a template, select the  Create  button on the top row.  Feel free to customize each project page as appropriate.
  • Site structure and items to add are currently listed on the main page of the site, work continues steadily.
  • Currently site access is restricted to NPS, we may open site visibility to partners and the public when ready.

Contributions are welcome .  There is quite a lot of information to collect and multiple efforts to coordinate.

Looking for something else here?  Please send email to Don Brutzman to add or request further information - thanks!