All Notes (36)
AIR PUMP KICKS IN AT SURFACING BEH START IE: RUNNING OUT OF YO'S DEPTH, CLIMB TO DEPTH
Had it at 75 m, changing to something shallower.
ru26d-2019-322-0-16-mbd(00270016) strange segments during storm were likely from no GPS. Not sure if air pump failing or just waves or too short of timers or pressure sensor drift. Increased vacuum readings in SBD file.
Ver 7.16 software
Realistic spin speed is < 100 deg / min
Running spin mission to test depth averaged currents. Should spin with -45 commanded fin to 1km
Test completed:
ru29-2012-179-0-0 (0041.0000)
Result is .95 km in 3.7 hrs @ 264.11 deg =
7.1 cm/s @ 264.11 deg
Glider reported at that surfacing:
m_water_vx(m/s) = -0.0698
m_water_vy(m/s) = 0.0230
==> 7.35 cm/s @ 288 deg
Glider reported previous surfacing:
m_water_vx(m/s) = -0.0678
m_water_vy(m/s) = 0.0352
==> 7.64 @ 297.4
Glider reported 1 surfacing post:
m_water_vx(m/s) = -0.05251
m_water_vy(m/s) = 0.02058
==> 5.64 cm/s @ 291
8/21 rough estimate about 1 deg / sec
Deep inflection depth held during RUDIC outage, this caused quick inflections at depth causing a massive battery drop. The battery recovered after swimming to normal envelope.
Glider recovered aboard Cape Hatteras by Dave K, Austin, Nilsen.
7/12-13 RUDICS outage caused TWR dockserver overload. Missing data & surfacings due to this, trying to recover data from TWR.
Due to the DS/RUDIC's fiasco, top inflection depth never changed from 50 meters once we got on the shelf. This has used much of the remaining battery. Shut science off last night and will fix at next surfacing.
Likely enough energy to fly through today and then drift.
Glider unable to call Rutgers RUDICS at this point in time, calling TWR with script on.
Altimeter back on next surfacing, 20 m off bottom, double yos to 50 m.
New on-shelf waypoint. Will set up tomorrow morning for long shelf crossing mission.
single yo missions, beginning re-task to onshore.
Fin deadband set to 3 by x_fin_deadband
inflect at 100 m test passed, 200 m currently running
Running 3 yos 50 to 985 over the weekend.
Increased no_comms to 12 hours.
Great performance with it turned off
Set fin offset back to 0, still decent but not as good.
Overnight setting fin offset back to 3 and fin deadband to 3 degrees
Heading deadband turned off overnight, 1 yo, 1km
Trying 1.5 degrees heading deadband.
Abort was for 100 cc not being enough surfacing volume. Set to 175 cc for surfac10 and 40
Trying gain = 30 on der_error
Flew last night with fin offset set to 3 degrees. Helped a bit, but still needs work.
Running steering test missions. 500 m dives
Back to double 1km dives for weekend.
Running spin mission to test depth averaged currents. Should spin with -45 commanded fin to 1km
Will retask on next surfacing to 38 27.00 N, 73 06.00 W
Was going to do a spin test but glider mission is running longer than expected, about 4 hours. Will save for tomorrow.
Running baseline steering tests with fixed battpos:
1 in D / -.65 C
CTD on only first yo, 12 sec TBD
+175/-125 cc
pitch 26 by AP
single yo's for testing
Had to extend no comms to 8 hours. It surfaced for no comms so 7 hour no comm wasn't quite long enough.
Increased dive depth to 980m
Increased no comms to 7 hours.
Sent over new tbdlist which will decrease the size of the tbd's to make them manageable again.
Long connection time was due to catching the glider up and transferring all the tbd's over.
Increased dive depth to 700m
Increased No Comms to 6 hours
Sent over the new tbdlist
Waypoints changed to
LONGITUDE LATITUDE
-7152.1340 3855.5600
-7117.4050 3918.1120
I hardcoded this goto list please keep that in mind when changing other ma files.
Retasked. Dive to 500 m, climb to 30 m, 2 yos, 4 hour no comms. Mission ended and restarted; not resequenced.
At ~1:30pm surfacing I modified the yo20.ma so that our climb to depth is now 20m unless we are surfacing.
Will monitor and possibly extend fly time to three hours or so.
At 11am surfacing goto was updated to send the glider offshore and then North to continue avoiding shipping lanes.
# LONGITUDE LATITUDE
-7237.7640 3827.7840
-7152.1340 3855.5600
-175 / +175
2 hour missions
placeholding at 100 m
-200.0 D/ 200 C
.9 D / -.55 C
CC / fixed battpos
Flying better
-215 cc, 170 cc
Envelope looks good, needs new SBD
2 hour missions, 8 m off bottom, changed SBD for more shallow data (ie: more yo's)
Flying in small envelope, decreased altitude and top inflection depth. If that is not causing it then glider might think it is stalled.
Using -1000/+150 cc
TWRC delivery configuration
