Final station keeping with current correction method 2, box
Wed Mar 22 14:51:26 2023 MT:

Trying box with CC = 1 with 1:15 missions

10th yo to sample for all sensors (not OBSVR)

Most of this mission has been CC = 2, and loadmission ru34.mi

# 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) 64800 # 18 hrs, at least a tidal cycle, Always drop the weight after this time

sensor: u_reqd_depth_at_surface(m) 2

# 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) 30.0
#sensor: u_heading_deadband(rad) -1

# Altimeter settings:
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

# 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
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) 2 # runs no faster
sensor: u_max_pitch_ap_period(sec) 60 # runs at least this often

First station keeping, single waypoint, CC off

2023-03-21 11:55 GMT
to 3/22 2 GMT

Tried a drift mission
ru34-2023-078-1-0 (0167.0000)

Didn't do terribly well, slight bottom sample in beginning.

Finishing last triangle SFW9 zone

Restarted mission a few times to reset the LMC

Finished 'path' sampling switching to triangle stations.

3/14 station 1 (zones 10 & 11)

3/15 station 2 (zones 7 & 8)

Alaska pH Lith Primary Pack

ignore this note

Sped glider up -275/275 and switched to u_use_current_correction 2

First outer survey started 3/5

u_reqd_depth_at_surface 2

OBSVR on 3 pm EST 3/5

Observer off until ORSTED zone, save power.

Operating System: 10.08

Instruments:

Seabird pumped CTD
9698
3/18/2022

Wetlabs FLBBCD
6649
1/27/2021

Aanderaa Optode Oxy4
644
3/31/2019
In-house check 11/18/2022

Jasco OceanObserver
1091