Notes (19)
0 simdrvr -
1 test_driver -
2 ARGOS* I u -1 20 5 0
3 WATCHDOG I u -1 -1 -1 0
4 DEADMAN I u -1 20 5 0
5 CONSOLE* I u -1 20 5 0
6 GPS I u -1 20 5 0 [ 0 0 0] [ 28 3 0] [ 0 0 0]
7 attitude_rev I u 3 20 5 0
8 ocean_pressure I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 305 0 0]
9 vacuum I u 3 20 5 0
10 battery I u 3 20 5 0
11 air_pump I u 3 20 5 0
12 pitch_motor I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 17 3 0]
13 science_super I u 3 20 5 0 [ 0 0 0] [ 2 0 0] [ 66 0 0]
14 digifin I u 3 20 5 0 [ 0 0 0] [ 2 0 0] [ 768 18 2]
15 altimeter I u 3 20 5 0
16 altimeter_232 -
17 IRIDIUM* I u -1 20 5 0 [ 0 0 0] [ 0 0 0] [ 196 6 0]
18 leakdetect I u 3 20 5 0
19 recovery -
20 coulomb I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 39 1 0]
21 veh_temp I u 3 20 5 0
22 BUOYANCY_PUMP I u 3 20 3 0
23 DE_PUMP -
24 HD_PUMP -
25 thruster I u 3 20 5 0
devices:(t/m/s) errs: 0/ 0/ 0 warn: 32/ 3/ 0 odd:1391/ 28/ 2
recovered by Brian, Sophie, Sal, and Chip on the Arabella out of Beach Haven, NJ.
Comparison CTD cast done with SB19 s/n 1645 and ballast tank laptop.
abort for undervolts overnight. Battery getting low. Drifted overnight.
lowered abort threshold to 12.25 volts, and now attempting flying to station keep with little pump (150cc dives, 170cc climbs) to hold position until recovery later today.
science off
Whatlzee on March 28, 2024. (Right, Sei, Fin, Humpback whales all detected on same day)
u_alt_min_depth 20 !!!!
u_alt_min_depth 45 !!!!
u_alt_min_depth 45 !!!!
Altimeter back on
!!! Altimeter off while off shelf - false hits !!!
tail stem bent to starboard side - noticed during glider prep/post NYSERDA. Intentionally cocked fin to port side for this mission. Also repositioned the vemco cables to the port side to see if this helps with heavy negative fin use from NYSERDA mission.
U_ALT_MIN_DEPTH 35 !!!!
Changed sampling form +N to -6. Let's just do 1 CTD / segment and near end of segment as to not fill up ASC and listen for more whales.
glider pressure sensor and ctd not matching - glider m_pressure and m_depth drifting a lot at surface. re-zeroed a couple of times. Keep an eye on.
GliderDos N -1 > 4522 90 sensor: m_pressure = 0.006299769199364 bar
4522 sensor: m_depth = 0.06299769199364 m
4526 91 sensor: m_pressure = 0.006299769199364 bar
4526 sensor: m_depth = 0.06299769199364 m
4530 92 sensor: m_pressure = 0.063570398284498 bar
4530 sensor: m_depth = 0.635703982844982 m
4534 93 sensor: m_pressure = 0.010881419526175 bar
4534 sensor: m_depth = 0.10881419526175 m
4538 94 sensor: m_pressure = 0.008590594362769 bar
4538 sensor: m_depth = 0.085905943627688 m
4542 95 sensor: m_pressure = 0.01317224468958 bar
4542 sensor: m_depth = 0.131722446895798 m
4546 96 sensor: m_pressure = 0.217055684232658 bar
4546 sensor: m_depth = 2.17055684232658 m
4552 97 sensor: m_pressure = 0.008590594362769 bar
4552 sensor: m_depth = 0.085905943627688 m
4556 98 sensor: m_pressure = 0.168948355801146 bar
4556 sensor: m_depth = 1.68948355801146 m
zero_ocean_pressure
GliderDos N -1 > 4561 0 Pressure sensor has been re-calibrated, i.e. ZEROed
F_OCEAN_PRESSURE_MIN: 0.096 ==> 0.096
delta volts: 0.001, delta bar: -0.048, delta meters: -0.132
4561 sensor: m_pressure = 0.119163368394864 bar
4561 sensor: m_depth = 0.05 m
4565 1 sensor: m_pressure = -0.029790842098717 bar
4565 sensor: m_depth = 0 m
4569 2 sensor: m_pressure = -0.029790842098717 bar
4569 sensor: m_depth = 0 m
4573 3 sensor: m_pressure = -0.034374048575441 bar
4573 sensor: m_depth = 0 m
4577 4 sensor: m_pressure = -0.032082445337079 bar
4577 sensor: m_depth = 0 m
4581 5 sensor: m_pressure = 0.128329781348314 bar
4581 sensor: m_depth = 1.28329781348314 m
report clearall
GliderDos N -1 >zero_ocean_pressure
GliderDos N -1 > 4598 10 Pressure sensor has been re-calibrated, i.e. ZEROed
F_OCEAN_PRESSURE_MIN: 0.096 ==> 0.096
delta volts: -0.000, delta bar: 0.013, delta meters: 0.000
get m_pressure
= -0.025492 bar
GliderDos N -1 >get m_depth
= 0.000000 m
loadmission mara02.mi
Setting SENSOR u_abort_min_burn_time(sec) value 600.000000
Setting SENSOR u_abort_max_burn_time(sec) value 64800.000000
Setting SENSOR u_reqd_depth_at_surface(m) value 2.250000
Setting SENSOR u_hd_fin_ap_run_time(secs) value 12.000000
Setting SENSOR u_hd_fin_ap_gain(1/rad) value 1.500000
Setting SENSOR u_hd_fin_ap_igain(1/rad-sec) value 0.015000
Setting SENSOR u_hd_fin_ap_dgain(sec/rad) value 8.000000
Setting SENSOR u_hd_fin_ap_hardover_holdoff(sec) value 30.000000
Setting SENSOR u_min_altimeter(m) value 4.500000
Setting SENSOR u_max_altimeter(m) value 25.000000
Setting SENSOR u_alt_reqd_good_in_a_row(nodim) value 3.000000
Setting SENSOR u_alt_filter_enabled(bool) value 0.000000
Setting SENSOR m_altitude_rate(m/s) value -1.000000
Setting SENSOR u_pitch_ap_gain(1/rad) value -1.000000
Setting SENSOR u_pitch_ap_dgain(s/rad) value -1.000000
Setting SENSOR u_pitch_ap_deadband(rad) value 0.069000
Setting SENSOR u_min_pitch_ap_period(sec) value 30.000000
Setting SENSOR u_max_pitch_ap_period(sec) value 60.000000
CTD, Optics, Oxy4 to every 8th yo
tbdlist to send back all yo's
Robots4Whales: https://robots4whales.whoi.edu/rutgers2403/rutgers2403_maracoos_02.shtml
Operating System: 10.08
Instruments:
Seabird pumped CTD
9646
6/29/2021
Wetlabs FLBBCD-SLC
6312
6/17/2020
Aanderaa Optoxe Oxy4831
893
7/25/2023
In-house cal: 02/28/2024
WHOI DMON
3A231D06
Head s/n 111
Vemco RxLive
457001
Vemco VMT
1502894
ID 59963
Deployed by Jessica Leonard, Jamie Grant, Brendan Crow, and Capt. Chip Haldeman aboard R/V Rutgers out of Tuckerton, NJ.