Trying to fix the box slant.

Surfacing radius and goto were set to 50 m, which wasn't helping.

Set the surface radius to 25 m (about 2 x 1/2 water depth) and then satisfy radius to 10 m. Hope is glider hits the waypoint just as it is getting to the surface and averages the error if it is deeper and 'goes to next waypoint underwater'

Problem entire time may have been glider over pitching. Fixing the battery position helped a lot and we even had some very shallow segments. Will have to analyze the DBD since we did not have time to do it live.

Recovered by David Aragon, Bob Schuster, and Ken on board 25 NJDEP Parker out of Cape May NJ

Added "hold" wpt to goto_l10.ma; will pick up next surfacing. Last wpt will be set to:

-7444.8040 3851.9200

Inshore wpt near Townsend's Inlet changed to -74 40.0920 39 04.9270
to bring glider inshore of 3 nm limit (state waters). Glider stays south of fish haven and north of shoal.

Started to lose control of pitch on upcasts, 30+ deg, fixing battery position to get back to around 25 deg.

Turned altimeter reduced usage mode on.

Trying to speed glider up -200 cc dives.

Shortened flight path for southern end as per Josh:

O:\coolgroup\gliderData\kml_routes\ru28\20120723T173443_retask

2 waypoints are deleted out of the goto_l10.ma for auto-retasking purposes.

Glider is overpitching on dives and climbs. Fixed the battpos on the dives which helped slow them a little. We will need to somehow adjust H on the next mission.

We are diving too steep and not entirely sure why algorithm is not bringing battery back. Trying to fly by fixed battpos on the dives, and for 1 hour to see how we do.

Deleted offshore waypoint as per Josh; RU28 should auto retask at next surfacing toward next inshore waypoint. Goto_l10.ma is no longer default; only 12 waypoints now.

Hard limited depth to get out of the shallows. 5 m off bottom, backed off to -150 cc dives to slow the dives as we might be over-pitching. Need to check the H-moment on this glider and pitch variables.

Chip backed off altimeter offset to 1 m, still hitting for some reason. Backed off dive to altitude to 6 m.

4.25 off surface

3.5 m off surface, trying to save power and stay below 'on_surface'(gps,fw,argos,etc)

u_reqd_depth_at_surface 2 m to help try to save power

Sped glider up, -175 cc on dives, +1000 cc climbs

Turned off altimeter reduced usage mode.

Here's another confusing one:
Difference between sci_water_pressure bottom & actual (based on pitch angle) = .3 m
Difference between m_water_depth and sci_water_pressure bottom = 1.45 m
Actual bottom = m_water_depth + 1.45 m + .3 (distance from ctd to nose of glider)

This glider is able to inflect safely (due to reasons unknown at this time) 3-4 m off m_water_depth. This means, to be safe, if we assume 3 m, then if our goal is to get 2 m off bottom, that leaves 1 m left to try to eliminate. This is all assuming we inflect dive_to_altitude = 5 m.

1.45 + .3 + 1 = 2.75 m

I will set u_exp_alt_correction to 2.75 m and lets see how we do.

Looks like we're sampling again. Glider is diving past where it should turn around, m_water_depth. I would likely need an mlg to figure out why.

Decent head current, trying out some steering gains from ru29:

max_delta_battpos .06
igain .04
dgain 20
hardover_holdoff 60
heading_deadband -1
u_min_altimeter 4

3 meter inflection off bottom, lets see how we do with min altimeter raised.

We are likely only getting to about 4 meters from bottom. glider bottom is false by about 1 m or so. I think this is because the CTD pressure takes time to come back from the glider. This is similar to the lag when running glider pressure sensor + altimeter filter.

We are diving too far, past where we should inflect and I am not sure why right now.

.7-1.1 m discrepancy and filter should be off, so must be CTD lag causing it.

7/12-13 RUDICS outage caused TWR dockserver overload. Missing data & surfacings due to this, trying to recover data from TWR.

-100 cc dives, slowing it down. We are sampling every so often and it almost looks like 'lag' as opposed to not seeing the correct bottom. Trying to slow the glider down so it can turn in time.

Could also be max_delta_battpos too high, and overpitching

-150 cc dives

U_alt_reqd_good_in_a_row 2

Fly by ctd appeared to work.

Glider unable to call Rutgers RUDICS at this point in time, calling TWR with script on.

Switched over to CTD pressure sensor for flying since we are making no progress using the glider pressure sensor. Bottom sampling way too often.

00160031
00160030

Pressure sensor is drifting, downloaded NBD from test mission for CTD comparison.

Set following to help with bottom sampling (mostly to prevent seeing the surface from the altimeter)
sensor: u_max_bottom_slope(m/m) .4
sensor: u_hovering_frac_nom_dive_rate(nodim) .3
sensor: u_max_altimeter(m) 12

Heavy bottom sampling, increased depth off bottom and decreased surface depth.

Set script to zero_ocean_pressure since glider pressure sensor seems to be acting strange.

Surfacings stepped down to 2 hour intervals.

Current yo10 settings:
Dive to: 28 m
Target altitude: 3 m
Climb to: 2 m

CTD 0103P
Optode 1504 (RU28 original)