Switched Optode configuration to be wphase data.

Retasked to recovery path; 2 hr surfacings

Post beach-run; new goto w/ bowtie pattern. 200 m satisfying radius

Temporary waypoint given because it would run out and head back in dangerous direction.

1.5 hour missions, near-shore run, tide going out:
http://marine.rutgers.edu/~kerfoot/gearth/kmz/gliders/routes/ud_275_permission/20121017T140538_retask/ud_275_permission_20121017T140538.kmz

Switching optics to every other yo in the .ebd to save some power. Also adjusting goto to "shoot the pony!" Shark huntin' in the shallows...

-7503.4006 3803.0927
-7510.6030 3802.1861
-7513.2149 3757.9511

u_reqd_depth_at_surface 1.5

Glider is a little out of control so limiting throw on the pump. A bit closer to bottom by .5 m. Altimeter settings worked for shallows, 2 hits typical at 10 m depth.

b_arg: d_target_altitude(m) 2.5
b_arg: d_bpump_value(X) -150.0
b_arg: c_bpump_value(X) 175.0

Some light sampling below 10 m. It saw the surface from the start of the dive. Setting max altimeter and slowing the dives may be the only way to stop this. It got only 1 hit on some of the 8 m dives.

yo: D: -150 cc
u_max_altimeter 9

Gains appear to be working well, adding 1 more yo to the heading data in SBD.

GPS off at surface now.

Re-tasked:
http://marine.rutgers.edu/~kerfoot/gearth/kmz/gliders/routes/ud_275_permission/20121012T193808_retask/ud_275_permission_20121012T193808.kmz

initial waypoint 0, need to set to -1 after hitting a waypoint

Glider takes about 2 meters to inflect at surface, so changing the following may help with keeping the GPS turned off:
u_reqd_depth_at_surface 1.75 m
yo10: climb to 4 m

Changed goto to -1 (first after last) to continue the line

Changed SBD list to try to shrink the size a bit. Basically SBD is dominated by m_present_time. If you can get sensors to come through at the same time then you only have 1 timestamp overhead.

Also going to try steering gains next surfacing:
u_heading_deadband to -1
u_hd_fin_ap_dgain -4.00 to 6

Retasking for the Great Gull run; some late night shoal-searching.

-7504.0385 3811.4812
-7500.6347 3815.6786
-7458.6806 3814.4951
-7503.6326 3809.1055

Retasking; heading back north towards areas w/ hits to look for sharks.

Inshore zig zag:

-7507.0813 3807.6314
-7505.7632 3808.1148
-7506.9547 3809.7286
-7504.2779 3811.3194

Found sharks last night; turning glider back to last waypoint to try to relocate targets

Copied over 3 modem log files from TWR to /logs folder on RU DS.

Glider was calling TWR, missed 1 surfacing. Script now on on TWR DS.

Need to move modem logs over from TWR.

New goto; adjusted next two wpts to avoid the shoals.


# LONGITUDE LATITUDE
-7500.1248 3833.0703
-7447.8128 3826.0907
-7500.8077 3823.0158
-7454.4544 3813.4118
-7506.4831 3810.6298
-7452.3512 3758.2084
-7515.2731 3755.6736
-7455.8223 3747.3084
-7530.2814 3742.8204
-7501.0210 3737.4885
-7517.8220 3746.7235

Doing much better, but still surface is the problem.

The altimeter is actually quite accurate with the filter on.

u_max_bottom_slope .5
This is aggressive but I want to see if the slope can help us avoid intermittent hits. I am not sure it will be able to.

Seeing surface is definitely a problem especially in < 10 m of water. The only setting that seems to will work is to set the max altimeter value to something < the water depth.

Altimeter test:
Wanted to leave filter on just to re-test how well it performs and what it does to m_water_depth (how accurate it is). Surface reflections are causing most of the hits, hopefully setting max altimeter stops that.

ud_275-2012-281-0-0 (0258.0000)

u_reqd_depth_at_surface 2.5

u_alt_min_post_inflection_time 4
u_max_altimeter 12
u_alt_reduced_usage_mode 0
u_alt_filter_enabled 1

After significant testing on 10 min and 30 min missions, the glider now seems to be logging correctly. It appears the issue may be related to cycling the power to the VR2C and having it trying to log while on surface. Sampling state has been changed from 15 to 7 to avoid this power cycling, and it appears to be working. This may or may not explain the odd state that science entered causing loss of data. An email will be crafted to glidersupport@webb about some of these issues; likely tomorrow. Glider has now been switched to 1 hr surfacings.

Added vr2c output sensor to tbdlist; switched to 1 hour surfacings, exit reset; resequenced mission. Concerned about data at this point; appears we have NOT been recording .vem files, and science data seems to be nearly non-existent for last sbd/tbd.

Switching to 3 hour missions on next surfacing.

Knocked ctd back to 4 second data; if filesize is still too big, I'll go to every 3rd yo.

Adjusting flbbcd and optode to 6 second data; tbd is currently 30 kb for 1 hour.

Off on 1 hour missions to full depth (29 m)

UDel "fishtracker" glider, 30 m pump

CTD #0099
FLBBCD #2427
Aanderaa 3835 optode #1414
Vemco VR2C #450007
Vemco VR2C #450008