All Notes (14)
recovered by Abby Tomita, Mya Sharpe and Palmer Station crew via zodiac
2/6 temporary salinity shift?
undervolts abort when pumping at depth (down to 11.94), change mission abort to 11.9 for undervolts
2/12 6 GMT interaction on climb 550 m
Noticed attitude_rev being out of surface at the last two beh_error aborts for failed to open log file. Not sure if attitude_rev is part of the abort cause, or if it is just coincidence. Should look at other gliders aborts and see if attitude_rev is also out of service for the beh_error logging aborts.
Not sure why this happening after science transfer.
otal Bytes sent/received: 27648
Total Bytes sent/received: 28629
zModem transfer DONE for file 01250000.tbd
SHUFFLING FILES....
SCI: Sent 4 file(s):
c:\logs\01260000.TBD c:\logs\01250002.TBD c:\logs\01250001.TBD
c:\logs\01250000.TBD
SCI: SUCCESS
report_heap_size(): SCI_M_FREE_HEAP=598.0K, SCI_M_SPARE_HEAP=598.0K
Megabytes used on CF file system = 190.187500
Megabytes available on CF file system = 1763.500000
Running algorithm to free disk space if required
Not necessary to delete any files at this time
initiate_open_helper(): ERROR on 01260000.tbd from fopen(): Unknown Error (17)
report_heap_size(): SCI_M_FREE_HEAP=598.0K, SCI_M_SPARE_HEAP=598.0K
SCI: SCI ERROR resuming logging on science
16995 68 Freewave console restored
REVERTING FROM SCIENCE COMMAND MODE
SCIENCE COMMAND MODE TERMINATED because:
primary changes - longer abort timer 24 hours, confirmed 32 hour timer and m_water_depth lifetime eliminated, some early turn arounds at depth for repeated bottoms.
load_mission(): Opening Mission file: RU26D.MI
Setting SENSOR u_abort_min_burn_time(sec) value 600.000000
Setting SENSOR u_abort_max_burn_time(sec) value 86400.000000
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 6.000000
Setting SENSOR u_hd_fin_ap_hardover_holdoff(sec) value 30.000000
Setting SENSOR u_max_water_depth_lifetime(yos) value 0.000000
Setting SENSOR u_pitch_ap_gain(1/rad) value -2.000000
Setting SENSOR u_pitch_ap_dgain(s/rad) value -1.000000
Setting SENSOR u_min_pitch_ap_period(sec) value 2.000000
Setting SENSOR u_max_pitch_ap_period(sec) value 60.000000
CTD off at surface, see if that helps with logging aborts.
Loadmission ru26d.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) 2.75
# 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) 25.0 # 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) -2.0 # -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
G2 example of science unable to open log file after transferring files.
Surface Log: ru26d_20250111T002531
Glider stayed connected for a while - tried to re-sequence, then aborted again for initialization error.
optics off below 300m
pitch set to 30 degrees for dives and climbs
undervolts abort when pumping at depth, change mission abort to 12.5 for undervolts
Operating System: 8.3
Max Depth: 1000m
Instruments:
Seabird pumped CTD
9884
9/5/2022
Wetlabs ECO FLBBCD-SLC
4156
8/16/2021
Deployed by Charlotte Bramich and Abby Tomita aboard the RHIB Hadar out of Palmer Station, Antarctica with shoreside support from Nicole Waite.
