Deployment NameGliderProjectDeployedRecoveredDaysDistancePayload BayOSNotes
20.0295.2 km01037.09

All Notes (32)

Created by: dkaragon @ 2012-08-08 11:13:41Informational

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'

Created by: dkaragon @ 2012-07-30 15:23:23Informational

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

Created by: haldeman @ 2012-07-28 13:56:11Informational

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

-7444.8040 3851.9200

Created by: haldeman @ 2012-07-25 13:47:40Informational

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.

Created by: dkaragon @ 2012-07-24 16:16:59Informational

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.

Created by: dkaragon @ 2012-07-24 08:12:19Informational

Trying to speed glider up -200 cc dives.

Created by: haldeman @ 2012-07-23 13:49:41Informational

Shortened flight path for southern end as per Josh:


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

Created by: dkaragon @ 2012-07-23 12:16:06Informational

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.

Created by: dkaragon @ 2012-07-23 09:47:43Informational

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.

Created by: haldeman @ 2012-07-21 21:34:25Informational

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

Created by: dkaragon @ 2012-07-20 20:00:56Informational

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.

Created by: dkaragon @ 2012-07-19 20:24:32Informational

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

Created by: dkaragon @ 2012-07-19 09:46:30Informational

4.25 off surface

Created by: dkaragon @ 2012-07-18 20:08:53Informational

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

Created by: dkaragon @ 2012-07-18 15:05:29Informational

u_reqd_depth_at_surface 2 m to help try to save power

Created by: dkaragon @ 2012-07-18 12:54:47Informational

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

Turned off altimeter reduced usage mode.

Created by: dkaragon @ 2012-07-18 11:31:31Informational

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.

Created by: dkaragon @ 2012-07-17 11:46:33Informational

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.

Created by: dkaragon @ 2012-07-17 08:40:33Informational

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.

Created by: dkaragon @ 2012-07-16 14:38:46Informational

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.

Created by: dkaragon @ 2012-07-16 14:32:33Informational

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

Created by: dkaragon @ 2012-07-16 13:18:33Informational

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

Created by: dkaragon @ 2012-07-15 00:58:27Informational

-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

Created by: dkaragon @ 2012-07-14 09:58:42Informational

-150 cc dives

Created by: dkaragon @ 2012-07-13 23:12:27Informational

U_alt_reqd_good_in_a_row 2

Created by: dkaragon @ 2012-07-12 21:28:17Informational

Fly by ctd appeared to work.

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

Created by: haldeman @ 2012-07-12 17:46:16Informational

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

Created by: dkaragon @ 2012-07-12 13:06:38Informational


Created by: dkaragon @ 2012-07-12 11:38:00Informational

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

Created by: dkaragon @ 2012-07-10 21:39:22Informational

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.

Created by: haldeman @ 2012-07-10 17:49:31Informational

Surfacings stepped down to 2 hour intervals.

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

Created by: haldeman @ 2012-07-10 17:22:49Informational

CTD 0103P
Optode 1504 (RU28 original)