1/24/2011
Optode 972 sent to Aanderaa for re-cal / post cruise check

Science_super turned off:
ru16_network_20100918T223657.log

MissionName:100_TN.MI MissionNum:ru16-2010-250-0-234 (0018.0234)

puck off, optode on downs, currents up

sbdlist.dat changed to reflect the above, every 3rd yo as well

3 hour missions, currents building

Decent results at :

b_arg: start_when(enum) 2 # pitch idle
b_arg: num_half_cycles_to_do(nodim) -1 # infinite dive/climbs

# DIVE_TO ARGUMENTS
###################################
# Depth Arguments
b_arg: d_target_depth(m) 97
b_arg: d_target_altitude(m) 6
###################################

##########################################################
# Advanced Flight Controls (do not change)
# Ballast Pump Controls
b_arg: d_use_bpump(enum) 2 # 2 Buoyancy Pump absolute
b_arg: d_bpump_value(X) -50.0
# Dive Angle Arguments (using AP)
b_arg: d_use_pitch(enum) 3 # servo, rad, < 0 dive
b_arg: d_pitch_value(X) -0.454
# Dive Angle Arguments (using battpos)
# b_arg: d_use_pitch(enum) 1 # 1 BattPos in
# b_arg: d_pitch_value(X) 0.35
##########################################################

# STUCK SCENARIO
b_arg: d_stop_when_stalled_for(sec) 240
b_arg: d_stop_when_hover_for(sec) 180

Results:
Couple bottom hits, discrepancy of 4 meters on altimeter and bottom. Glider did not look to slow down much, trying this for next iteration:

00180182.mlg

###################################
# Depth Arguments
b_arg: d_target_depth(m) 97
b_arg: d_target_altitude(m) 6
###################################

##########################################################
# Advanced Flight Controls (do not change)
# Ballast Pump Controls
b_arg: d_use_bpump(enum) 2 # 2 Buoyancy Pump absolute
b_arg: d_bpump_value(X) -100.0
# Dive Angle Arguments (using AP)
b_arg: d_use_pitch(enum) 3 # servo, rad, < 0 dive
b_arg: d_pitch_value(X) -0.454
# Dive Angle Arguments (using battpos)
# b_arg: d_use_pitch(enum) 1 # 1 BattPos in
# b_arg: d_pitch_value(X) 0.35
##########################################################

00180180.mlg

(might need to put altimeter data in SBD)

trying -150 cc on dives, AP pitch
climbs are full speed and battpos still

5 off bottom

Altimeter bottom sampling issues, going to play with. Set up SBD for tests

Adjusted route to maximize sampling area w/ remaining battery capacity as per Josh. New goto should be picked up ~12:36

abort for iridium, turned script off and left

Switched to no igain heading control, offset of 3 degrees and 1.25 instant gain, see if we can speed her up a bit.

Transferred sbd\'s from critical missions today, copied and deleted old ones and from test missions.

Retasked to 140 deg offshore with correct waypoint list and -1 as next_waypoint

retasked to 97 meters or 6 off bottom to 5 meters from surface

pitch looks good, ballast looks good, altimeter hits could be better

see how we do tonight

Re-deployed by Chip Haldeman out of Barnegat
Bay.

Continuation of previous Sandy Hook, NJ to
Cape May, NJ NJDEP deployment.

Flaky altimeter performance on this glider.

Replaced stock altimeter with ru27\'s.

Science Payload:

ctd-101
bbfl2slo-600
optode-972

Determined RU16\'s altimeter is still not working properly. On 4/30/10 entire glider was sent to Webb to see if they could fix the altimeter. Altimeter for this glider has never worked properly.