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Deployment unit_308-20220826T2012
Pilot Notes
underwater reset, might be the second one for this glider? loadmission unit_308.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) 16 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) -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) 2 # runs no faster sensor: u_max_pitch_ap_period(sec) 60 # runs at least this often resequenced 200_nw.mi
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