Deployment NameGliderProjectDeployedRecoveredDaysDistancePayload BayOSNotes
ru36-20250408T1846ru36Challenger2025-04-08
18:46Z		10.7189.5 km20751910.08

All Notes (7)

Created by: dkaragon @ 2025-04-11 15:13:17Action Needed

Glider stuck on climb at 370 m. It flew 350 heading when it should be going south, consequence of strong southerly currents and southern waypoint, cc backwards quirk.

Stuck for over 20 hours, seemed to wiggle itself free, should look at MLG why it wiggled at end to free itself.

Glider appears to be fine, continuing mission.

Edit
Created by: dkaragon @ 2025-04-10 01:09:02Action Taken

u_max_water_speed limited may have the most effect. PRevious occurrences had hits have caused large water currents and thus strange heading decisions. Clips to u_max_water_speed


load_mission(): Opening Mission file: ru36.mi
Setting SENSOR u_max_water_speed(m/s) value 0.750000
Setting SENSOR u_gps_reqd_valid_fixes(nodim) value 12.000000
Setting SENSOR u_thruster_burst_freq(hours) value -1.000000
Setting SENSOR u_abort_min_burn_time(sec) value 600.000000
Setting SENSOR u_abort_max_burn_time(sec) value 86400.000000
Setting SENSOR u_reqd_depth_at_surface(m) value 2.250000
Setting SENSOR u_hd_fin_ap_run_time(secs) value 16.000000
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_pitch_ap_gain(1/rad) value -2.000000
Setting SENSOR u_pitch_ap_dgain(s/rad) value -1.000000
Setting SENSOR u_min_pitch_ap_period(sec) value 30.000000
Setting SENSOR u_max_pitch_ap_period(sec) value 60.000000

Edit
Created by: dkaragon @ 2025-04-09 09:25:49Informational

Increased post gps fix time see if that helps.

Edit
Created by: dkaragon @ 2025-04-09 09:25:19Informational

load_mission(): Opening Mission file: ru36.mi
Setting SENSOR u_abort_min_burn_time(sec) value 600.000000
Setting SENSOR u_abort_max_burn_time(sec) value 86400.000000
Setting SENSOR u_reqd_depth_at_surface(m) value 2.250000
Setting SENSOR u_hd_fin_ap_run_time(secs) value 16.000000
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_pitch_ap_gain(1/rad) value -2.000000
Setting SENSOR u_pitch_ap_dgain(s/rad) value -1.000000
Setting SENSOR u_min_pitch_ap_period(sec) value 30.000000
Setting SENSOR u_max_pitch_ap_period(sec) value 60.000000

Edit
Created by: dkaragon @ 2025-04-09 09:25:06Action Needed

Weird c_heading of West when should have been going south.

Not sure if related to a bad GPS?

M_SURF_WATER_VEL_MAG(41.25) > 2.80 m/s

Station holding along route to see if GPS/navigation stabilizes.

Edit
Created by: lgarzio @ 2025-04-08 19:51:38Informational

Deployed by Jerome Couvat, Laurie Hec, Sonia Castendet, Philippe Thelamon and Majorie Grazzani aboard the Madiwak out of Les Trois Ilets, Martinique French West Indies, with shoreside support from Brian Buckingham.

Edit
Created by: lgarzio @ 2025-04-08 19:50:26Informational

Operating System: 10.08

Instruments:

RBRlegato3 CTD *conductivity is bad
207519
10/4/2023

WHOI DMON *no real-time to robots4whales
1138
n/a

Aanderaa Optode Oxy4831
952
10/19/2023 in house check 12/20/2023

Edit