Deployment NameGliderProjectDeployedRecoveredDaysDistancePayload BayOSNotes
ru32-20230330T1626ru32SWOT2023-03-30
16:26Z
2023-08-01
19:37Z
124.12397.2 km99268.50

All Notes (23)

Created by: dkaragon @ 2023-08-01 19:52:11Informational

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

Created by: dkaragon @ 2023-08-01 19:51:40Informational

>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

Created by: dkaragon @ 2023-08-01 19:08:55Informational

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

Created by: dkaragon @ 2023-07-12 13:04:03Informational

CTD first yo only

Created by: dkaragon @ 2023-07-11 18:37:06Informational

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

Created by: dkaragon @ 2023-06-28 13:15:33Action Needed
Modified by: dkaragon @ 2023-06-28 13:15:55

Undervolts abort, lowered threshold by 1 V to 11.5

Battery was sagged, 600 m segment just in case.

Figure out proper undervolts for 4 series deep.

Created by: dkaragon @ 2023-06-06 20:41:59Informational

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

Created by: dkaragon @ 2023-05-17 12:16:30Informational

Glider climbing to 5 m (set to 10m)

Created by: waite @ 2023-05-15 12:59:29Informational

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

Created by: dkaragon @ 2023-05-09 22:59:33Informational

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

Created by: dkaragon @ 2023-05-09 22:59:06Informational

u_low_power_cycle_time -1

See if that improves out of sync

Created by: dkaragon @ 2023-05-07 12:50:59Informational

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

Created by: dkaragon @ 2023-04-26 12:51:07Action Needed

SB salinity shift response - cell issue. So far hasn't happened since the last event.

Created by: dkaragon @ 2023-04-18 14:11:38Informational

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

Created by: dkaragon @ 2023-04-17 13:22:07Action Needed

Another salinity shift (less saline), 2nd event, a couple profiles.

Created by: dkaragon @ 2023-04-17 13:17:22Informational
Modified by: dkaragon @ 2023-04-17 13:17:58

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

Created by: dkaragon @ 2023-04-14 12:26:29Informational

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

Created by: dkaragon @ 2023-04-13 19:35:48Informational

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.

Created by: dkaragon @ 2023-04-10 17:34:59Informational

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

Created by: waite @ 2023-03-31 02:18:28Informational
Modified by: waite @ 2023-03-31 18:14:54

SWOT HD_pump 1

Lithium primary 4-series

Created by: kerfoot @ 2023-03-30 21:20:28Operations

per Nicole Waite: RU32 is flying out Monterey Canyon and then straight out to the SWOT site.... I think we might be flying a transect by all the mooring spots, and then ultimately station keeping at one of the mooring locations. But, I'm not sure on all the details once we get to the SWOT site - and it could change based on if they get moorings fixed, etc.

Created by: kerfoot @ 2023-03-30 21:19:48Informational

ru32 SWOT deployment in Monterey Bay, CA

1000m glider
OS 8.5

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

Created by: kerfoot @ 2023-03-30 21:18:25Operations
Modified by: kerfoot @ 2023-03-31 02:19:37

Deployed by David Aragon and Daniel Silguero with Captain John Douglas and deckhand Ryan Chiu aboard R/V John Martin out of Moss Landing Marine Lab, CA

Comparison CTD cast done with RBRConcerto s/n 204546