Science aborted likely during surfacing. CTD seemed to work. Then heap abort, lowered 1k_n.mi heap to 35000.



load_mission(): Opening Mission file: RU29.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 3.000000
Setting SENSOR u_thruster_burst_freq(hours) value -1.000000
Setting SENSOR u_hd_fin_ap_run_time(secs) value 12.000000
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 6.000000
Setting SENSOR u_hd_fin_ap_hardover_holdoff(sec) value 10.000000
Setting SENSOR u_pitch_ap_gain(1/rad) value -1.000000
Setting SENSOR u_pitch_ap_dgain(s/rad) value -1.000000
Setting SENSOR u_pitch_ap_deadband(rad) value 0.079000
Setting SENSOR f_battpos_deadzone_width(inches) value 0.200000
Setting SENSOR f_battpos_db_frac_dz(nodim) value 0.625000
Setting SENSOR u_min_pitch_ap_period(sec) value 30.000000
Setting SENSOR u_max_pitch_ap_period(sec) value 60.000000

underwater reset into initial.mi

2026-09-27T11:03:57 mission_end: ru29-2026-269-0-0 (0778.0000) initial.mi
2026-09-27T10:46:28 abort_start: MS_ABORT_OVERTIME
2026-09-27T10:30:16 mission_surface: (0778.0000): Hit a waypoint
2026-09-27T10:17:57 mission_start: ru29-2026-269-0-0 (0778.0000) initial.mi
2026-09-27T10:12:13 APP_start 8.5
2026-09-27T10:04:47 Resetmake_syslog_entry(): No vehicle data pointer: INFINITE LOOP in secs_since_timestamp(). Doing BIOSReset()
2026-09-27T08:51:47 mission_surface: (0777.0578): nothing commanded
2026-09-27T01:08:41 mission_surface: (0777.0576): nothing commanded


m_why_started 32 which seems normal for this glider in the past

loadmission ru29.mi, caught up on files, and sent on its way

optode off

ad2cp turned off

double yo's ctd off at surface

Curr Time: Mon Aug 3 13:07:54 2026 MT: 1198449

512,32768,15670673408,15927345152,15927345152

"-rw-rw-rw- 1 user 3756 Jun 22 20:08 2026 RU29_spice26.ad2cp"
"-rw-rw-rw- 1 user 3747 Jun 23 19:18 2026 START.hdr"
"-rw-rw-rw- 1 user 2409 Jun 22 20:08 2026 RU29_spice26.cfg"
"-rw-rw-rw- 1 user 222553371 Aug 03 13:06 2026 ru29_SPICE_2026.ad2cp"
"-rw-rw-rw- 1 user 2415 Jun 23 19:18 2026 ru29_SPICE_2026.cfg"
"-rw-rw-rw- 1 user 713 Aug 03 09:25 2026 telemetryfile.bin"

turning AD2CP and Oxygen on
single yos

Thruster off. Still double yos, climb to 200m

fighting current to stay out of Trinidad and Tobago waters:


6/29 15:30-21:20 gmt, single yos with 50% thurst waypoint ENE (12 17.548 n, 58 39.375 w)

6/29 21:20 to 6/30 15:55 gmt, double yos, no thurst, climb to 80, waypoint East (11 56.398 n, 58 43.505 w)

6/30 15:55 gmt starting double yos, climb to 200m, 45% thrust, waypoint ENE (12 17.04 n, 58 53.39 w)

loadmission ru29.mi yesterday

# ru29

# 2024/03/07 dkaragon making this the master default. U_ALT_MIN_DEPTH keeps altimeter turned off!
# 2024/04/24 dkaragon initial based on ru34


# 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) 86400 # 24 hrs, at least a tidal cycle, Always drop the weight after this time

sensor: u_reqd_depth_at_surface(m) 3

sensor: u_thruster_burst_freq(hours) 36


# 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) 10.0 # default 120
#sensor: u_heading_deadband(rad) -1


# Altimeter settings:
#sensor: u_alt_min_depth(m) 15 # average depth > 30 m, don't know if it saves power though
#sensor: u_min_altimeter(m) 3.7 # in, altimeter reading must be between these(inclusive)
#sensor: u_max_altimeter(m) 50.0 # 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_reduced_usage_mode(bool) 1


# 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 (default .05 = 3 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) 30 # runs no faster
sensor: u_max_pitch_ap_period(sec) 60 # runs at least this often

Deployed by Scott Glenn, Chip Haldeman, and Leah Hopson from Rutgers; Xinara Bascombe and Courtney Forde from the Caribbean Institute of Meteorology and Hydrology; Paola Diaz Canales and Alex E. Palomino Cadena from IOCARIBE/UNESCO with support from captain Shadane Bostic of the R/V Aunty Jas out of Bridgetown, Barbados with shoreside support from Joe Gradone.

Seabird Slocum Glider CTD
9104
2/20/2025

Nortek Glider1000 AD2CP
103365
7/22/2022

Aanderaa Oxygen Optode
1296
8/11/2024
in house check 1/30/2026