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Deployment ru30-20221011T1527
Pilot Notes
loadmission ru30.mi # ru30 Custom Config # 2021/5/4 dkaragon based off ru28 # 2022/10/13 dkaragon merged on ru34.mi settings sensor: u_reqd_depth_at_surface(m) 2 # Low density abort stuff sensor: u_abort_min_burn_time(sec) 600 # Never drop the weight before this time sensor: u_abort_max_burn_time(sec) 28800 # 8 hrs, at least a tidal cycle, Always drop the weight after this time # ALTIMETER sensor: u_alt_reduced_usage_mode(bool) 1 sensor: u_min_altimeter(m) 3.7 # in, altimeter reading must be between these(inclusive) sensor: u_max_altimeter(m) 12.0 # the maximum range of the altimeter sensor: u_alt_reqd_good_in_a_row(nodim) 2 sensor: u_alt_filter_enabled(bool) 0 sensor: m_altitude_rate(m/s) -1 # negative avoid the bug sensor: u_alt_min_depth(m) 2 # Steering params sensor: u_hd_fin_ap_run_time(secs) 12 sensor: u_hd_fin_ap_gain(1/rad) 1.50 sensor: u_hd_fin_ap_igain(1/rad-sec) 0.015 sensor: u_hd_fin_ap_dgain(sec/rad) 6.00 sensor: u_hd_fin_ap_hardover_holdoff(sec) 30.0 #sensor: u_heading_deadband(rad) -1 sensor: u_hd_fin_ap_deadband_reset(bool) 0 # 0-default, true - reset integrator, false hold integrator # Pitch params sensor: u_pitch_ap_gain(1/rad) -1.0 # -3 default sensor: u_pitch_ap_dgain(s/rad) -1 # 1 default sensor: u_pitch_ap_deadband(rad) 0.079 # .079 = 4.5 deg sensor: f_battpos_deadzone_width(inches) 0.2 # .2 default sensor: f_battpos_db_frac_dz(nodim) 0.625 # .5 default
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