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Deployment ru28-20220520T1425
Pilot Notes
loadmission ru28.mi # ru28 Custom Config # 8/14/2014 initial based on 2014 NJDEP 1 # 8/15/2015 disabled the filter; I don't think it does anything useful # 2018/9/20 added lengthened abort timers # 2022/05/22 dkaragon added the good stuff over from ru34's.mi; pause integrator 1 for the azfp mission, might help # General sensor: u_reqd_depth_at_surface(m) 2 # 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) 28800 # 8 hrs, at least a tidal cycle, Always drop the weight after this time # ALTIMETER sensor: u_alt_reduced_usage_mode(bool) 0 sensor: u_alt_reqd_good_in_a_row(nodim) 1 sensor: u_alt_filter_enabled(bool) 0 sensor: u_min_altimeter(m) 2.0 sensor: u_max_altimeter(m) 12 sensor: u_alt_min_depth(m) 1 # Avoid old bug sensor: m_altitude_rate(m/s) -1 # Steering params sensor: u_hd_fin_ap_run_time(secs) 8 sensor: u_hd_fin_ap_gain(1/rad) 1.65 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_hd_fin_ap_pause_hardover(bool) 1 #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) 0.0524 # 0.0524 = 3 deg sensor: f_battpos_deadzone_width(inches) 0.2 # .2 autoexec ru28 sensor: f_battpos_db_frac_dz(nodim) 0.5 # .5 default autoexec ru28
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