Glider Fleet Configurations

Deployment ru16-20100901T1445

Pilot Notes

Decent results at :

b_arg:  start_when(enum)                2   # pitch idle
    b_arg:  num_half_cycles_to_do(nodim)    -1  # infinite dive/climbs

# DIVE_TO ARGUMENTS
        ###################################
        # Depth Arguments
        b_arg:  d_target_depth(m)       97
        b_arg:  d_target_altitude(m)    6
        ###################################

##########################################################
        # Advanced Flight Controls (do not change)
            # Ballast Pump Controls
                b_arg:  d_use_bpump(enum)    2           # 2  Buoyancy Pump absolute
                b_arg:  d_bpump_value(X)     -50.0
            # Dive Angle Arguments (using AP)
                b_arg:  d_use_pitch(enum)   3           # servo, rad, < 0 dive
                b_arg:  d_pitch_value(X)    -0.454
            # Dive Angle Arguments (using battpos)
                # b_arg:  d_use_pitch(enum)       1     # 1  BattPos in
                # b_arg:  d_pitch_value(X)        0.35
        ##########################################################

# STUCK SCENARIO
        b_arg:  d_stop_when_stalled_for(sec)    240
        b_arg:  d_stop_when_hover_for(sec)      180

Deployment ru16-20100901T1445

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