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Deployment ru30-20230525T1918
Pilot Notes
Just completed 4 hour at depth thrust at 850 m, using these rough settings. Doing another for 3 hours at depth. # Arguments for pitch depth controller (depth_ctrl = 2 ) b_arg: depth_pitch_limit(rad) 0.26 # 15 deg - something ~ 12 deg b_arg: depth_gain_scale(bool) 0 # whether or not to use X_HOVER_DEPTH_P_GAIN = m * speed + b b_arg: depth_p_gain(X) -0.0015 # proportional gain: should always be < 0, -.15 default b_arg: depth_i_gain(X) -0.000005 #integral gain: should be < 0, default: -0.0001 b_arg: depth_d_gain(X) 0.1 #derivative gain: should be > 0 b_arg: depth_pitch_deadband(m/s) 0.005 #don't adjust bouyancy until depth rate is less than this, .0349 default b_arg: depth_pitch_max_time(s) 2700 # Max time at maximum u_hover_depth_pitch_limit before we start to adjust ballast b_arg: pressure_median(bool) 1 # If pressure median should be enabled b_arg: battpos_db(nodim) 1 # How much to scale battpos deadband, f_battpos_db_frac_dz
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