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Deployment ru36-20221102T1157
Pilot Notes
Loaded this 2nd segment of mission # ru36 # Adapted from ru34 3/2/2022 # 2022/3/2 dkaragon initial. noticed some near hardover starboard steering on uvi mission with pathfinder. Seeing if can improve the performance there while settling the pitch (not that the pitch is out of control just for better dvl data) # 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, drop at this time. Assume most missions < 6 hours so 6 hours + 18 = 22 hrs, #sensor: u_reqd_depth_at_surface(m) 2.25 # Steering params sensor: u_hd_fin_ap_run_time(secs) 12 # -1 default sensor: u_hd_fin_ap_gain(1/rad) 1.50 # 1.5 def sensor: u_hd_fin_ap_igain(1/rad-sec) 0.015 # .02 def sensor: u_hd_fin_ap_dgain(sec/rad) 5.00 # -4 default sensor: u_hd_fin_ap_hardover_holdoff(sec) -1 # 120 sec sensor: u_hd_fin_ap_pause_hardover(bool) 1 # 0 default #sensor: u_heading_deadband(rad) -1 # 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 # 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) 10 # 2 def, runs no faster sensor: u_max_pitch_ap_period(sec) 60 # 60 def, runs at least this often # Random sensor: u_thruster_burst_freq(hours) -1 # 12 hrs default # DVL sensor: u_dvl_debug_level(nodim) 0 # Diagnostic level
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