All Notes (15)
Li Ion Pack used: ru38 Li Ion
Final report
GPS investigation?
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] [ 130 37 0] [ 0 0 0]
7 attitude_rev I u 3 20 5 0
8 ocean_pressure I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 105 0 0]
9 vacuum I u 3 20 5 0
10 battery I u 3 20 5 0
11 air_pump I u 3 20 5 0
12 pitch_motor I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 42 19 0]
13 science_super I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 24 6 0]
14 digifin I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 638 169 0]
15 altimeter I u 3 20 5 0
16 altimeter_232 -
17 IRIDIUM* I u -1 20 5 0 [ 0 0 0] [ 0 0 0] [ 88 12 0]
18 leakdetect I u 3 20 5 0
19 recovery -
20 coulomb I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 36 6 0]
21 veh_temp I u 3 20 5 0
22 BUOYANCY_PUMP I u 3 20 3 0
23 DE_PUMP -
24 HD_PUMP -
25 thruster I u 3 20 5 0
devices:(t/m/s) errs: 0/ 0/ 0 warn: 130/ 37/ 0 odd: 933/ 212/ 0
Recovered by Kaycee Coleman, Ryan Cassin, and Andrea John, with Captain Chip Haldeman aboard the RV Resilience out of Tuckerton, NJ.
Comparison CTD cast done at recovery with RBRConcerto3 s/n 204546
8 m off bottom, in case gear in Hudson Canyon.
CTD and all sensors every +8th yo (last night)
One bad CTD profile yesterday - looks like it wasn't pumping?
robots4whales page: http://dcs.whoi.edu/rutgers0523/rutgers0523_maracoos_02.shtml
RU38 LITHIUM ION PACK
Using a lot of negative fin (large drag starboard, investigate when recovered).
Turned compression on last night, forgot to change new GS script
load_mission(): Opening Mission file: mara02.mi
Setting SENSOR u_abort_min_burn_time(sec) value 600.000000
Setting SENSOR u_abort_max_burn_time(sec) value 64800.000000
Setting SENSOR u_reqd_depth_at_surface(m) value 2.750000
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 8.000000
Setting SENSOR u_hd_fin_ap_hardover_holdoff(sec) value 30.000000
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 0.069000
Setting SENSOR u_min_pitch_ap_period(sec) value 2.000000
Setting SENSOR u_max_pitch_ap_period(sec) value 60.000000
Glider is utilizing fin more towards port (negative) than starboard (attempting to steer left more), possibly due to drag created by rxlive (vemco) as well as ctd (located on starboard side). Need to monitor steering. Heading error while turning left is ~50 degrees while towards the right its ~-20.
All sensors every +6th yo (not dmon, vemco)
Operating System: 10.08
Instruments:
Seabird pumped CTD
9646
6/29/2021
Wetlabs FLBBCD-SLC
6312
6/17/2020
Aanderra Optode Oxy4831
893
2/14/2021
In-house cal 4/17/2023
WHOI DMON
3A231D06
Head s/n 111
Vemco RXLive
457001
Deployed by Travis Miles and Charlie Flagg, aboard TowBoat US out of Bayshore, New York.
