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Deployment ru32-20230330T1626
Pilot Notes
Sunday midday: Treble yo's (really only big difference low power mode) Low power mode didn't drop power too much, maybe too many waypoints # 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) 36000 # 10 hrs, at least a tidal cycle, Always drop the weight after this time sensor: u_reqd_depth_at_surface(m) 2 sensor: u_thruster_burst_freq(hours) 36 sensor: u_low_power_cycle_time(sec) 30 # 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_low_power_hd_fin_ap_gain(1/rad) 0.5 # sensor: u_low_power_hd_fin_ap_igain(1/rad-sec) 0.0001 # sensor: u_low_power_hd_fin_ap_dgain(sec/rad) 0.0 # # Altimeter settings: #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) 2000 # 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 # Slowing the pitch down - 10/7/20 took a quick look at ru34 dbd and it looks like defaults do well, it runs hot until about 6 m down and then starts doubling sensor: u_min_pitch_ap_period(sec) 45 # runs no faster sensor: u_max_pitch_ap_period(sec) 120 # runs at least this often
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