did a few hover tests around 3/21/25 15:00 GMT

Changed to triangle (more cross shore sampling) and only sampling SUNA on -2 nd yo upcast so we go all the way to the 'surface' with it.

suna Nitrate on last night, 30 seconds.

Changing to 15 seconds, maybe settling on 20 seconds since we're so shallow.

put u_use_file_compression 1

!put u_alt_min_depth 250

switched CTD to state_to_sample 7

loadmission ru44.mi

# ru44 SUNA DEEP

# 2022/10/28 dkaragon initial, based on 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) 86400 # 24 hrs, at least a tidal cycle, Always drop the weight after this time

sensor: u_reqd_depth_at_surface(m) 2.5

# Steering params
sensor: u_hd_fin_ap_run_time(secs) 20
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) 8.00
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) 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

# 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) 0.087 # 5, 3 deg default
#sensor: f_battpos_deadzone_width(inches) 0.2 # .2 default
#sensor: f_battpos_db_frac_dz(nodim) 0.5 # .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) 30 # runs no faster
sensor: u_max_pitch_ap_period(sec) 60 # runs at least this often

Operating System: 11.0

Instruments:

Seabird Slocum Glider CTD
9997
12/24/2023

Wetlabs FLBBCD-SLC
8639
1/12/2024

Aanderaa Optode Oxy4831
1138 4/9/2023 in house check 6/5/2024

Seabird (Satlantic) SUNA V2
2277
2/16/2024