Recovered by Brian Buckingham, Ben Hodges, and Daniel Siguero out of Santa Cruz aboard RV Shana Rae

>use
name in ALLCAPS means CRITICAL device (* => SUPERCRITICAL)
[I Installed] [- Not_Installed]
[u In_use] [- Not_In_use] [X Out_of_Service]
name limits stats (#total/#mission/#segment)
os w/s w/m os errors warnings oddities
0 simdrvr -
1 test_driver -
2 ARGOS* I u -1 20 5 0
3 WATCHDOG I u -1 -1 -1 0
4 DEADMAN I u -1 20 5 0
5 CONSOLE* I u -1 20 5 0
6 GPS I u -1 20 5 0 [ 0 0 0] [ 0 0 0] [ 25 0 0]
7 pinger -
8 attitude -
9 attitude_tcm3 -
10 attitude_rev I u 3 20 5 0 [ 0 0 0] [ 4 0 0] [ 0 0 0]
11 ocean_pressure I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 1 0 0]
12 vacuum I u 3 20 5 0
13 battery I u 3 20 5 0
14lithium_battery -
15 air_pump I u 3 20 5 0
16 pitch_motor I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 51 0 0]
17 science_super I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 47 0 0]
18 roll_motor -
19 fpitch_pump -
20 fin_motor -
21 digifin I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [2344 72 1]
22 altimeter I u 3 20 5 0
23 ctd -
24 IRIDIUM* I u -1 20 5 0 [ 0 0 0] [ 0 0 0] [1318 106 21]
25 leakdetect I u 3 20 5 0
26 recovery -
27 coulomb I u 3 20 5 0
28 veh_temp I u 3 20 5 0
29 BUOYANCY_PUMP -
30THERMAL_ACC_PRE -
31 THERMAL_ENGINE -
32 THERMAL_PUMP -
33 DE_PUMP -

34 HD_PUMP I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 144 30 0]
35 thruster_g1 -
36 thruster I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 7 0 0]
devices:(t/m/s) errs: 0/ 0/ 0 warn: 4/ 0/ 0 odd:3937/ 208/ 22

CTD cast performed with RBR 19:04 Z 3:08 EST 36 48 17" 121 59 42"

ru32 and ru38 very close together, performed at ru38 position

CTD first yo only

SWOT cal-val 1 day orbit ended, returning to Monterey Bay.

Switching to cross track sampling. Lowered pump throw a bit to save power. Also changed all pitch angles to .45 rad

Glider climbing to 5 m (set to 10m)

Gliders doing transect between S2 and P5 moorings for next 3 weeks, 1000m dives.

2 weeks ago turned CTD sampling to 0 sample time, see if that helped out of sync records.

u_low_power_cycle_time -1

See if that improves out of sync

Gliders moved to Scripps moorings for cross-calibration and because Prowler were being serviced. Back to 1000 m for calibrations.

Switching shape to 500 m box but only crossing through middle twice in 2 laps, one horiz, one vertical. Should be less turns overall. Clockwise, across, CC, up

Sunday midday:
Treble yo's
(really only big difference low power mode)
Low power mode didn't drop power too much, maybe too many waypoints

# 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) 36000 # 10 hrs, at least a tidal cycle, Always drop the weight after this time

sensor: u_reqd_depth_at_surface(m) 2

sensor: u_thruster_burst_freq(hours) 36

sensor: u_low_power_cycle_time(sec) 30

# 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
sensor: u_low_power_hd_fin_ap_gain(1/rad) 0.5 #
sensor: u_low_power_hd_fin_ap_igain(1/rad-sec) 0.0001 #
sensor: u_low_power_hd_fin_ap_dgain(sec/rad) 0.0 #

# Altimeter settings:
#sensor: u_min_altimeter(m) 3.7 # in, altimeter reading must be between these(inclusive)
#sensor: u_max_altimeter(m) 12.0 # 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_min_depth(m) 2000

# 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) 45 # runs no faster
sensor: u_max_pitch_ap_period(sec) 120 # runs at least this often

Still .9 profiles/hour, changing pitch to 30 deg and + 60 more cc total.

Started station keeping at P4 mooring theoretical location. Actual mooring looks north of us.

double yo's to 700 m at 440 cc @ 26 deg came in at about .9 profiles/hour. Trying 28 degrees @ 700 @ 440 cc

First shape is ~ 500 m sided pinwheel square.

Using sbdmin sbd list now.

Starting Mooring cross calibration run from north to south, 12 sec TBD with ctd on all the time, double yo's.

Setting SENSOR u_abort_min_burn_time(sec) value 600.000000
Setting SENSOR u_abort_max_burn_time(sec) value 36000.000000
Setting SENSOR u_reqd_depth_at_surface(m) value 2.000000
Setting SENSOR u_thruster_burst_freq(hours) value 36.000000
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 30.000000
Setting SENSOR u_low_power_hd_fin_ap_gain(1/rad) value 0.500000
Setting SENSOR u_low_power_hd_fin_ap_igain(1/rad-sec) value 0.000100
Setting SENSOR u_low_power_hd_fin_ap_dgain(sec/rad) value 0.000000
Setting SENSOR u_alt_min_depth(m) value 2000.000000
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 45.000000
Setting SENSOR u_max_pitch_ap_period(sec) value 120.000000

SWOT HD_pump 1

Lithium primary 4-series

ru32 SWOT deployment in Monterey Bay, CA

1000m glider
OS 8.5

CTD s/n 9926 pumped (cal'd 2023-01-15)