ctd, optics, oxy to every 6th yo initially, then to every 8th.
Oxy going to every 4th.

DMON and RXLive every yo.

loadmission ru43.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) 86400 # 18 hrs, at least a tidal cycle, Always drop the weight after this time

sensor: u_reqd_depth_at_surface(m) 2

# Steering params
sensor: u_hd_fin_ap_run_time(secs) 20
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) 8.00
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) 12.0 # 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) -2.0 # -3 default
sensor: u_pitch_ap_dgain(s/rad) -1 # 1 default
sensor: u_pitch_ap_deadband(rad) 0.087 # 5, 3 deg default
#sensor: f_battpos_deadzone_width(inches) 0.2 # .2 default
#sensor: f_battpos_db_frac_dz(nodim) 0.5 # .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) 30 # runs no faster
sensor: u_max_pitch_ap_period(sec) 60 # runs at least this often


file compression on

seabird gpctd 10067 2025-06-01
flbbcdslc 9390 2025-04-19
optode 4831 1035 2024-11-11
dmon Head serial number 079, ID DC230B25
rxlive 457140