All Notes (34)
1k_240m.mi to start another transect across bank
1k_195m.mi Should head to NW.
1k_125m.mi, single yo\'s until we confirm south
They want it to go south.
240 M <-> NE
as per Eli\'s email \'no further south of the NW/SE transect line\'
Trying 120M mission.
Switched to 1k_125m.mi. Will need to keep an eye on compass issues.
Running 130 deg M mission
current correction turned back on 05:18 GMT
Testing since 08:30 EST; continuing compass tests as per Josh. Test include fin=0, dive at 26, 35, and 15 degrees. Using full pump throw. Previous settings below:
# b_arg: d_bpump_value(X) -175
# b_arg: c_bpump_value(X) 256
# b_arg: c_pitch_value(X) 0.4537
Multiple tests conducted today to troubleshoot compass; including flights to 290 true, 110 true, 20 true, and 200 true, parallel and perpendicular to magnetic field. Results to follow; flying to full depth towards south and slightly east overnight to see if any progress can be made.
Verified u_alt_min_depth indeed keeps altimeter off until that depth, which is good for power saving.
no data segment # 1 for investigation:
no data segment # 2 for investigation:
Will look around on the glider, we don\'t even have 301 files...
Abort was for iridium, likely at surface behavior.
changed 1k_n2.mi to not toggle CC off, resequenced.
Slowed glider back down again.
Inflecting well to depth, still scalloping on the waypoint. Is it inertial currents or something? Sea glider\'s seem to be going straight. Heading plots are strange, but won\'t really know the cause of that until I redo the plotting sometime this week.
Glider inflecting at u_min_water_depth. Intermittent dives are to 300 meters. Set u_alt_min_depth to 175 meters to see if we can get through the layer. Perhaps its the bloom or stuff involved with the bloom?
Also sped up the glider to full speed again and switched back to autopilot pitch control.
Changed TBD to include the upcast optics data which I forgot to do on Thursday.
Lets see if we can start making some headway and dive deep again.
According to datasheet, we have 30 AH batteries nominal.
Temperature plot (datasheet) says 23.3 AH at -2 C which is about 22% derating
Average current is about 277 mA
Lets derate 1 year for shelf life, 3%, and lets say 25% derating for safety:
30 Ah * .75 * .97 = 21.825 AH
We have 26 x 3 DD cells, so total AH is 26 * 21.825 = 567.45 AH
We have used 81 AH as of today, which gives us 567.45 - 81 AH = 486.45 AH left for 56 days which means we can burn about 8.68 AH / day. As of right now we are at < 6.5 AH / day so we are good.
Doubled ctd, optics sampling rate to 20 sec but sending ups and downs back. I think it will look better on the data plots.
Bad compass calibration leading to incorrect depth-averaged current measurements. Removed currents from web displays and removed kmz files with current displays.
Changed to 40 meters off bottom (figured we would get more accurate depth as glider would have another 10 meters to decipher depth)
Set m_water_depth lifetime to 0 yos so every dive it will need to find a depth.
Turned CC on.
Added full record of m_altitude to sbd, on dives.
Changed u_alt_reqd_good_in_a_row to 6, double, hopefully see if we can fix 2 problems we\'re having:
1) finding the right depth
2) using the depth for 3 yo\'s causes us to inflect early (before seeing anything on dives)
Before saving power, upcast speed is 17.3 cm / s, downcast is 23.8 cm / s.
This corresponds to 42% of time we are diving, 58% of time we are climbing. I believe this corresponds to us being 520 cc * 16% = 83.2 cc too heavy. If we shift 83.2 cc towards positive it should be equal ups and downs.
This means -177 cc for dives, 260 cc for climbs.
This makes our new total buoyancy range 437 cc.
Lets set target speed 15 cm/s. Should slow down -13% from 17.3 cm/s. This means lower the throw 13% total = .13 * 437 = 58 cc
edit: should have slowed it 58 cc on both sides I believe, so didn\'t quite get to 15 cm/s
-177 + 29 = -148 cc
260 - 29 = 231 cc
New total pump value is 148 + 231 = 379 cc
Glider seems to set c_de_oil_vol to whatever you put in the yo20.ma for pump volume.
Total pump change is 379/520 is about 27% savings. We can correspond tomorrow.
Will need to change sbdlist.dat to get oil_volume data: c_de_oil_vol added to sbdlist.dat
Speed decrease results were decent, not perfect but I supposed in ballpark, final results are: -18 cm / s dives, 16 cm / s climbs. This is from: upcast 17.3 cm / s, downcast is -23.8
Speed decrease of about 17%, buoyancy decrease of about 27%, which is pretty neat result.
Webb said was common last couple weeks, likely RUDICS or Iridium network issues.
iridium no char timeout tripped after 5 min. Not sure why 5 and not sure why it never connected, here is dialog:
217391 Waking up Iridium... sending:AT+cbst=0,0,1
217396 52 Iridium driver received:[AT+cbst=0,0,1[0D][0D]]
217396 Iridium modem matched: OK
217400 54 Iridium waiting for registration...
217416 56 Iridium dialing [ATD0088160000592]...........
217416 Iridium waiting for connection...
217420 57 Iridium driver received:[ATD0088160000592[0D]]
217434 61 Iridium waiting for connection...
217452 64 Iridium waiting for connection...
217470 68 Iridium waiting for connection...
217487 73 Iridium waiting for connection...
217503 75 Iridium waiting for connection...
217521 80 Iridium waiting for connection...
217539 83 Iridium waiting for connection...
217557 87 Iridium waiting for connection...
217575 92 Iridium waiting for connection...
217596 95 Iridium waiting for connection...
217614 0 Iridium waiting for connection...
:OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0224 C_FIN:0.0000
217632 4 Iridium waiting for connection...
217649 7 Iridium waiting for connection...
217667 12 Iridium waiting for connection...
217685 16 Iridium waiting for connection...
217701 18 Iridium waiting for connection...
:OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0249 C_FIN:0.0000
217719 23 Iridium waiting for connection...
217719 DRIVER_ERROR:iridium_ctrl():6:904:Iridium timeout..no chars recvd for a while
217719 iridium_make_call() returned 6!!
217719 call_and_queue_if_reqd(): device iridium TAKEN OUT OF SERVICE
Turned CC on, Mon Dec 13 15:31:01 2010, lets see how the compass offset and currents change as well as our heading.
Nothing in data to suggest why it goes slower with CC on than off.
Very strange, and doesn\'t sit too well either. Perhaps we need more data, I do not know.
John turned CC off, abort was for iridium left idle.
SEA ICE CONCENTRATION:
TBD not set before deployment, lead to large TBD\'s without oxygen data. Problem fixed on 12/11 and large files transferred.
Deployed by Clayton Jones and Chip Haldeman at an ice edge. Helicopter\'ed to location and mission sequenced on surface and glider dropped in. Briefly swam under ice.