Glider Project Deployed Recovered Days Distance Start/
End Voltage
Air Time POC Notes Payload KMZs Data Metadata
ru29-451 Challenger 2015-06-23
10:46 GMT
2016-03-31
13:50 GMT
282.13 6699.4
km
11.13 Volts
10.92 Volts
3378
minutes
Haldeman
Aragon
Haskins
86 0098 kmzs

deployment Notes (86)  

Select Category: Deployment Glider All

Posted/
Updated
Category
2016-05-06 20:53 GMT
dkaragon
deployment In the tank ru29's CTD compared to our SB19 1645:

Temperature: 0.000 difference
Conductivity: + 0.034
Salinity: + 0.269
2016-04-12 13:31 GMT
dkaragon
deployment Quick checked the air bladder via m_vacuum, during 1 missed call event it appeared air bladder inflated OK. Looks like solenoid is working OK.
2016-03-28 01:51 GMT
dkaragon
deployment 4 yo's
CTD on up and downcast
2016-03-23 15:22 GMT
haldeman
deployment Adding 20 cc more to pump on dives, and switching angle to 26 just to see if we can make any progress to the east. Still 260 nm offshore :-(
2016-03-21 23:29 GMT
dkaragon
deployment Upped swim depths from 100-500 to 50-450 @ 6 yo's
2016-03-18 20:41 GMT
dkaragon
deployment Changed 1k_n mission to have surfac42, no_comms = 24 hours mission quit safety.
2016-03-12 02:41 GMT
dkaragon
deployment Going to 30 deg dives.

Both D and C @ 30 deg. See if we can lower oddities and get a speed boost.
2016-03-10 14:56 GMT
dkaragon
deployment Upcast CTD off as of 2 surfacings ago.
2016-03-06 16:31 GMT
dkaragon
deployment As of last 2 surfacings CTD upcast should have been on but didn't see it in the diagnostic plots.
2016-03-06 14:45 GMT
dkaragon
deployment As of 2 surfacings ago, set fin offset to -3 degrees. f_fin_offset -3 deg
2016-03-02 03:14 GMT
dkaragon
deployment Climbs are suspect for double pumps, also slightly slower vertically than dives.

Trying 30 degree upcast.
2016-02-29 19:40 GMT
dkaragon
deployment Oddities on pump are still high even at 550 m, trying 500 to see if it calms or if flying deep again changed the oil retract rate.
2016-02-26 15:05 GMT
dkaragon
deployment 16 de_pump oddities at 550 m for last segment, will let it go another one since I think fouling is going to be a problem soon.
2016-02-25 15:34 GMT
dkaragon
2016-02-25 15:39 GMT
dkaragon
deployment Dockserver crashed due to java update? would hang during file transfers. Missed callins likely due to that.

About 30+ hours no communications.

Upon surfacing de_pump oddities went from 41 to 78 the last call in. Roughly 2 segments so about 18 / segment or about 2.3 / yo. Not terrible but not great. Due to circumstances backed off from 600 m to 550 m. We might be able to get away with 575 once we get settled again.
2016-02-24 13:35 GMT
dkaragon
deployment 0, 2 DE_PUMP oddities at 550 for 2 segments

Trying 600 m
2016-02-23 15:06 GMT
haldeman
deployment Switched to 550 m yesterday. Will need to monitor pump/power performance.
2016-02-18 18:35 GMT
dkaragon
deployment Restarting mission just in case LMC was acting strange as we have had fairly static currents.

New SBDlist with more steering data and less pump data.

Added sensor:m_digifin_leakdetect_reading(nodim)=1023 0.901 secs ago to surface dialog
2016-01-27 22:08 GMT
dkaragon
deployment P steering term was cause of poor steering performance, not compass. Compass operating OK.
2016-01-25 19:26 GMT
dkaragon
deployment Noticed P = .06 for low power, should be .6
put u_low_power_hd_fin_ap_gain .6

set u_heading_deadband = 0.045000 rad
2016-01-24 04:24 GMT
dkaragon
deployment +- 26 degree dive. climb no change to pump (as of last 2 surfacings)
2016-01-18 21:56 GMT
dkaragon
deployment Potential compass issues again at Cape Town.
2016-01-15 16:42 GMT
haldeman
deployment New waypoint 0630.00 E, 35 00.00 S
2016-01-15 02:24 GMT
dkaragon
deployment 8 yo's

x_fin_deadband .04
PID = .6,.001,0
fin_offset = 0

added low power variables to surface dialog, removed others to make room
2016-01-14 17:16 GMT
haldeman
deployment put c_de_oil_vol 200
f_de_oil_vol_db_frac_dz 1.0
put f_de_oil_vol_deadz_width 70
put u_science_low_power 0

500 m, 2 yos
2016-01-14 11:10 GMT
dkaragon
deployment Underwater reset.

350 m dives until we can get it back flying normal again.
2016-01-06 16:24 GMT
dkaragon
deployment Altimeter off as of 1/1/2016
2016-01-06 15:14 GMT
dkaragon
deployment Should:
add low power variables to surface dialog
change fin deadband to .04 to prevent overuse
2015-12-29 15:09 GMT
dkaragon
deployment Altimeter on, 200 m min depth as of previous segment and current.
2015-12-18 13:51 GMT
dkaragon
deployment no TBD data? ru29-2015-328-0-74 (0221.0074)
2015-12-08 21:58 GMT
dkaragon
deployment CTD just downcast now.
2015-12-07 21:08 GMT
dkaragon
deployment 12/4-5 - Increased P instant gain, low power, from .5 to .6 u_hd_fin
u_low_power_hd_fin_ap_gain
2015-12-02 22:18 GMT
dkaragon
deployment new SBDLIST.dat, fin over 1 yo and less GPS (hoping for smaller file size) (will need to make sure enough GPS is coming back)

For next segment: CTD on for entire yo, up and down
2015-11-30 21:35 GMT
dkaragon
deployment Dive velocity a little slow < 10 cm/s (mostly due to pitch angles < 20 deg).

Dive pitch to 24 degrees from 22.

Weak argument for almost 10% fouled at this point in time. Pump currently in a good streak.
2015-11-27 01:07 GMT
dkaragon
deployment As of previous surfacing, 8 yo's instead of 7.
2015-11-25 14:46 GMT
dkaragon
deployment Witnessed the pump go from higher slipping to lesser slipping up to 2015-11-25 03:22, could be a clue, perhaps MLG.
2015-11-25 14:38 GMT
dkaragon
deployment 2015-11-25 03:22 surfacing: 22 deg climbs, but 500 m bottom inflection. Oddities were 0 however at this surfacing. Also double pump's not noticed looking at data. Will grab MLG to see what the oddities are.
2015-11-20 21:41 GMT
dkaragon
deployment 6 oddities @ 22 deg upcast

Changed to 26 deg upcast
2015-11-19 21:00 GMT
dkaragon
deployment For next segment:
New Pitch Angle: 24 deg upcast, still 22 down.

Oddities creeped back up, oil slip rate has increased overall but climbs seem to be most affected.
2015-11-16 13:42 GMT
haldeman
2015-11-16 13:44 GMT
haldeman
deployment Waypoint 36 00 00 S, 8 00 00 W
2015-11-13 22:27 GMT
haldeman
deployment 7 yo's: 100-550 m

Waypoint 36d00'S, 9d15'W
2015-11-13 03:45 GMT
dkaragon
deployment 7 yo's: 100 - 500 m
2015-11-12 05:07 GMT
haldeman
deployment Going to 6 yos (12 half yos)
2015-11-11 23:45 GMT
dkaragon
deployment Science turned back on. (first dive)
2015-11-11 00:37 GMT
haldeman
deployment Diving to 500 m to see if we can reduce oddities/slippage/power.
2015-11-06 04:02 GMT
dkaragon
deployment Climbing to 100 vs 125 m

Turned science off to see power savings.
2015-11-05 02:46 GMT
dkaragon
deployment Power usage is up (pump sliding has increased).

22 deg pitch angle dive and climb @ 4 yo's to try to lower power.
2015-11-01 00:13 GMT
dkaragon
deployment Pitch deadband is back to default 3 degrees since the last 2 surfacings.
2015-10-30 00:49 GMT
dkaragon
deployment Changed pump deadband + 10 cc to 70 sensor:f_de_oil_vol_deadz_width(cc)=70

Changed climb to cc from 210 to 220. We are now front limited on positive drive, 220 is the new max.
2015-10-28 21:18 GMT
dkaragon
deployment -150 to -130 cc for dives (see if power drops)

We are sliding at a faster rate then 2 weeks ago.
2015-10-12 20:38 GMT
dkaragon
deployment Changed both dive and climb back to +- 26 degrees. Dives were a tad fast. We need to see if oddities increase from this point on.
2015-10-10 01:16 GMT
dkaragon
deployment Long surfacing, had to take it out of a mission.

Downloaded ru29-2015-279-1-2 MLG. It is just OOD oddities, nothing else.

Power usage looks down, so pitch/pump change may be working. Long surfacing.

Changed SBD to hopefully get more useful m_depth
2015-10-09 00:05 GMT
dkaragon
deployment Changed pump from -170 to -150 cc, pitch from -26 to -29 (-0.506) deg

Goal is to maintain vertical velocities but to do it with less pump. This will help show that if we pump less oil at depth we will retract some of the power losses.
2015-10-08 23:27 GMT
dkaragon
deployment ru29-2015-279-1-2 (0218.0002)

High oddities (17) despite deadband change.

Worth MLG download.
2015-10-08 15:10 GMT
dkaragon
deployment SBD m_depth stopped reporting at 10-20 m. That's not what we need. Going to try just reporting it at surface which is 5 m, hopefully we can see how it climbs then. May add a bit more GPS to SBD too.

Power usage still up, oddities down.
2015-10-07 17:05 GMT
dkaragon
deployment Changed SBD to add m_depth for 'rising to surface'. MBD command problems (more later).

60 cc DB helped, data only showed 2-3 double pumps with 9 oddities.
2015-10-07 13:09 GMT
dkaragon
deployment !!! PUMP DEADBAND CHANGE
f_de_oil_vol_deadz_width from 30 cc to 60 cc

db_frac_dz is 1.0 so DB = 60 x 1 = 60 cc
2015-10-06 01:27 GMT
dkaragon
deployment Exited mission

Downloaded MLG and MBD ru29-2015-276-0-2 (0215.0002)

Need cache file for some reason local MBD is not creating it on simulator.
2015-10-04 15:36 GMT
dkaragon
deployment Exited mission

Changed SBD to more pump data and less steering data.
2015-10-03 01:25 GMT
dkaragon
2015-10-03 01:27 GMT
dkaragon
deployment Phone call memo Scott
1) de_pump sbd data for full yo, cut back steering
2) MBD MLG from recent segment
3) obtain silbo data on pump oddities / hr

Further tuning:
1) how much oil/sec, increase db to avoid double pumps
2) potentially increase pump volume to compensate for speed loss from oil retraction
3) race pump with pitch angles
2015-09-27 13:32 GMT
dkaragon
deployment Changed backup waypoint to Cape Town SA
2015-09-26 14:31 GMT
dkaragon
deployment Changed backup waypoint to Cape Town SA
2015-09-18 18:43 GMT
dkaragon
deployment Pump seems to be slipping less since DB change. However it is not due to that change!
2015-09-18 18:43 GMT
dkaragon
deployment Starting prior to surfacing 2015-09-1811:35 GMT

Did several segments of upcast data.
2015-09-18 18:42 GMT
dkaragon
2015-09-18 18:44 GMT
dkaragon
deployment 2015-09-06 13:22 GMT

Changed pump oil deadband

DB to DZ = 30 * 1 = 30 cc

Was 30 * .66 = 20 cc

!get f_de_oil_vol_db_frac_dz = 0.667000 nodim
1008774 88 sensor: f_de_oil_vol_db_frac_dz = 1
2015-09-06 00:42 GMT
dkaragon
deployment 2015-09-0506:54 check xml script, it did something strange.
2015-09-02 20:12 GMT
dkaragon
deployment Changed MBDlist.dat to minimal state to troubleshoot pump. Will check file size. If small enough will pull MBD on target segments.

Trying smaller heading deadband
sensor: u_heading_deadband = 0.045 rad
2015-08-31 13:49 GMT
dkaragon
deployment 29 has started double pumping again. More later.
2015-08-26 15:03 GMT
dkaragon
deployment Segment ru29-2015-236-1-0 (0214.0000) has high density heading data.

Changed SBD back to normal.
2015-08-25 21:09 GMT
dkaragon
deployment Changed to mission 1k_n.mi: 22 hour no comms, changed order of surfacings so that nothing_commanded > no_comms

DE_PUMP aborts were from 1k_n.mi that was blank.

2015-08-17 22:01 GMT
haldeman
deployment loaded new sbdlist.dat
2015-08-17 17:57 GMT
dkaragon
deployment De engine has starting to slip, started roughly 2 weeks ago, oddities several days ago.
2015-08-17 17:56 GMT
dkaragon
deployment Underwater reset last night.
2015-08-14 02:05 GMT
dkaragon
deployment 2015-08-12 16:23 Surfacing script did nothing, need to check why.
2015-08-12 14:16 GMT
dkaragon
deployment Going back to AP dive and climb for pitch angle. Fixed battpos was getting too shallow and steering needs a variable eliminated for troubleshooting.

Lowering dgain from 7.5 to 3 to neuter for a few segments.
2015-08-09 23:25 GMT
dkaragon
deployment Recently ran upcast for several segments 8/3 onward.

Changed to upcast pitch AP at 26 degrees. Climb angles were getting a little shallow.
2015-07-26 02:04 GMT
dkaragon
2015-07-26 02:07 GMT
dkaragon
deployment u_low_power_hd_fin_ap_dgain derivative gain to 5 from 0

fin_offset of 2 worked well, maybe can go for 0
2015-07-24 23:41 GMT
dkaragon
deployment Changed fin_offset to 2 degrees from 4. Glider might not need much offset.

Set CTD to sample up and down for 2 segments, then will turn off.
2015-07-23 02:21 GMT
dkaragon
deployment Changed failover retries for iridium to 6
Added signal strength to surface dialog


MLG 02050074 shows:
2013277 DRIVER_ODDITY:iridium:-10729:secs; cycling Iridium power
2013288 24 Iridium has been powered on for 5.4 secs
2013288 Waking up Iridium... sending:ATE1
2013288 Iridium, modem making attempt #10 at primary number (88160000592)
2013292 25 Iridium driver received:[ATE1[0D][0D]]
2013292 Iridium modem matched: OK
2013293 Waking up Iridium... sending:AT+cbst=6,0,1
2013300 25 Iridium driver received:[AT+cbst=6,0,1[0D][0D]]
2013300 Iridium modem matched: OK
2013300 Waking up Iridium... sending:AT+CSQ
2013309 27 Iridium driver received:[AT+CSQ[0D]]
2013309 Iridium driver received:[[0D][0A]+CSQ:5[0D][0A][0D]]
2013309 Iridium modem matched: OK
2013314 28 Obtaining Iridium RSSI...
2013314 Iridium dialing [ATD0088160000592]...........
2013314 Iridium waiting for connection...
2013319 29 Iridium driver received:[ATD0088160000592[0D]]
2013330 32 Iridium waiting for connection...
2013330 Iridium driver received:[[0D]]
2013330 Iridium modem matched: NO CARRIER
2015-07-21 22:42 GMT
dkaragon
deployment Glider missed 2nd phone call, roughly 17:45 GMT.

It called into TWR ok at 3 dials for nocomms at 21:25. Script moved it back to RU where it failed to connect.

Will enable file transfer script at TWR.
2015-07-18 14:42 GMT
dkaragon
deployment Glider missed phone call roughly 7/18 00 GMT. Call num was 4973 and was 4987 at time it called TWR on attempt 5.

Connected OK at TWR at 18 hour no comms.
2015-07-08 17:26 GMT
dkaragon
configuration Running 7.16 for mission 451
2015-06-26 01:47 GMT
dkaragon
deployment 2015-06-25 22:33 GMT:
New SBDlist
Enabled sensor: u_science_low_power(sec) 0
2015-06-24 17:39 GMT
dkaragon
deployment New SBDlist, should bring file size down more
5 yo's
WPT a bit north of TDC

sensor: u_reqd_depth_at_surface(m) 5 # from 7

sensor: f_fin_offset(rad) 0.0698 # 4 degrees
sensor: u_pitch_ap_deadband(rad) 0.087 # 5 degrees from 3
2015-06-23 20:06 GMT
dkaragon
deployment Note: fin is limited to 20 degrees in longterm (leftover from Asc to Br mission)
2015-06-23 20:05 GMT
dkaragon
deployment As of 16 GMT 6/23:

3 yo's: 125 to 950 m
380 cc = -170 / 210 cc

u_alt_min_depth 1050
u_low_power_cycle_time 30
state_to_sample 11 (surface and first half-yo)

16 & 24 hour no_comms
mission no cop tickle = 20 hours
2015-06-23 11:26 GMT
dkaragon
deployment Deployed by M. Dottori aboard Alpha Delphini.