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Deployment ru29-20130111T0724
Pilot Notes
Staying deep to stay out of 'light zone', inflecting at 100 m (from 20 m). Let that run 2 segments and then disable upcast CTD to see the power increase on each change individually). u_pitch_ap_deadband 5 degrees Using u_heading_deadband + f_fin_offset looks promising: u_low_power_hd_fin_ap_gain .1 u_low_power_hd_fin_ap_igain .001 u_low_power_hd_fin_ap_dgain 3 (lowering instant controls (P,D) just to try to use less fin, and increasing integrated because it is zeroing out now, will see if it integrates quick enough to correct heading deviations) (we also may be approaching the limit of the fin's 1.x degrees of movement)
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