All Notes (12)
Recovered by Jerome, same boat as deployment.
Several false digifin leakdetects. This antenna needs work.
Gps started working again this morning seemingly.
u_expect_ice_near_surface is 0 and appears always has been. This appears to be a bug possibly.
Swam overnight by heading and it aborted for ice GPS invalid.
Had to loadmission ____.mi to reset the alert.
Increased abort threshold for invalid gps from 10 to 100, see how long that lasts or we can keep re-running mission.
Added some sensors to surface dialog to make sure cop is tickled.
GPS module, LNA, or antenna possibly not working.
GPS has been returning the same position/sentences:
974480 sensor: m_gps_full_status = 7 enum
974482 sensor: m_gps_full_status = 2 enum
gps_diag(3)cyc#:324959|$GPRMC,002255,V,1446.1933,N,06039.1613,W,,,230425,015.0,W*61|
gps_diag(2)cyc#:324959|$GPGGA,002255,1446.1933,N,06039.1613,W,0,00,,,M,,M,,*49|
Unable to get a GPS hit
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.
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
Increased post gps fix time see if that helps.
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
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.
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.
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