Deployment NameGliderProjectDeployedRecoveredDaysDistancePayload BayOSNotes
unit_191-20150105T1443unit_191CONVERGE2015-01-05
14:43Z
2015-02-26
07:34Z
51.9785.3 km00177.14

All Notes (15)

Created by: dkaragon @ 2016-01-04 16:43:36Informational

Vehicle Name: unit_191
Curr Time: Fri Feb 20 11:28:24 2015 MT: 963
DR Location: -6450.811 N -6407.341 E measured 1e+308 secs ago
GPS TooFar: -6451.208 N -6407.979 E measured 1e+308 secs ago
GPS Invalid : -6450.926 N -6407.483 E measured 1e+308 secs ago
GPS Location: -6450.925 N -6407.483 E measured 1e+308 secs ago
sensor:c_wpt_lat(lat)=-6449.54 1e+308 secs ago
sensor:c_wpt_lon(lon)=-6405.1 1e+308 secs ago
sensor:m_battery(volts)=10.6177449679636 0.465 secs ago
sensor:m_coulomb_amphr(amp-hrs)=284.9833984375 0.637 secs ago
sensor:m_coulomb_amphr_total(amp-hrs)=648.288341937574 0.649 secs ago
sensor:m_depth(m)=0 0.524 secs ago
sensor:m_final_water_vx(m/s)=0.0140626383988145 1e+308 secs ago
sensor:m_final_water_vy(m/s)=-0.00570307756861392 1e+308 secs ago
sensor:m_gps_mag_var(rad)=-0.287979326579064 1e+308 secs ago
sensor:m_iridium_attempt_num(nodim)=0 0.533 secs ago
sensor:m_iridium_call_num(nodim)=1489 313.587 secs ago
sensor:m_iridium_dialed_num(nodim)=2868 325.798 secs ago
sensor:m_leakdetect_voltage(volts)=2.49465811965812 0.713 secs ago
sensor:m_tot_num_inflections(nodim)=5949 1e+308 secs ago
sensor:m_vacuum(inHg)=10.0713227106227 0.923 secs ago
sensor:m_water_vx(m/s)=0.0140626383988145 1e+308 secs ago
sensor:m_water_vy(m/s)=-0.00570307756861392 1e+308 secs ago
sensor:sci_m_disk_free(Mbytes)=1478.75 808.951 secs ago
sensor:u_min_water_depth(m)=40 1e+308 secs ago
sensor:u_use_current_correction(nodim)=1 1e+308 secs ago
sensor:x_last_wpt_lat(lat)=-6451.307 1e+308 secs ago
sensor:x_last_wpt_lon(lon)=-6408.4955 1e+308 secs ago


GliderDos A 32 >why?
ABORT HISTORY: total since reset: 6
ABORT HISTORY: last abort cause: MS_ABORT_LOW_REL_CHARGE
ABORT HISTORY: last abort details:
ABORT HISTORY: last abort time: 2015-02-20T11:13:47
ABORT HISTORY: last abort segment: unit_191-2015-050-0-0 (0197.0000)
ABORT HISTORY: last abort mission: 200_NW.MI


GliderDos A 32 >put m_coulomb_amphr_total 285

1003 10 sensor: m_coulomb_amphr_total = 285 amp-hrs

Created by: dkaragon @ 2015-02-24 08:36:16Informational

Changed fin deadband to .035 by using x_fin_deadband - ~1 to 2 deg

The other controls to change fin deadband still don't seem to be working or it requires a reset/use +- to enact (f_fin_db_frac_dz, etc).

Created by: dkaragon @ 2015-02-13 16:55:35Informational

unit_191-2015-043-1-4 (0196.0004)
P = 1
I = .01
D = 4

Created by: dkaragon @ 2015-02-13 11:35:02Informational

Performing some steering optimizations on 191:
unit_191-2015-043-1-0 (0196.0000)
P = 1.5
I = 0
D = +4
heading deadband off -1
(mean fin is -2 degrees)

Created by: dkaragon @ 2015-02-13 11:33:25Informational

Talked to TWR, they said they use .1 in deadband on pitch battery in Ashumet. Trying .15 db, at surface it looked to work OK.

Created by: dkaragon @ 2015-02-12 15:32:59Informational

-160 / 200 cc dive/climb. Trying to adjust climb cc to find a battery sweet spot. Pitch toggling on climbs.

Created by: dkaragon @ 2015-02-04 15:31:21Informational

Side effect of pitch adjustment is the glider is happy with a pitch angle of upper 20's for the dives.

Setting dive to cc to 160 cc (~ -40 cc) to keep the speed closer to climb speed.

Created by: dkaragon @ 2015-02-02 21:53:48Informational

Settings have calmed down the pitch adjustments.

Created by: dkaragon @ 2015-01-30 10:20:08Informational

Beginning to attempt to calm down pitch control: set up sbd for more pitch data.

Easiest item is trying setting instant gain on pitch from -3 to -1.5. This change starts after this segment:
unit_191-2015-004-4-717 (0194.0717)

Later, if time, will dig deeper into pitch gains.

Also will increase deadband to 4 degrees.

Created by: dkaragon @ 2015-01-26 13:22:50Informational

Changed waypoint list, slight closer inshore NE waypoint due to icerbergs.

Also eliminated cross-cal UD waypoint on the outbound transect. It will only hit the UD waypoint on the way in. This is to eliminate short dives from waypoint surfacings.

Created by: dkaragon @ 2015-01-23 23:54:08Informational

Changed TBD to send back first yo of data. Should have done that from the start but the glider got our default 100 m every other yo.

Created by: dkaragon @ 2015-01-08 10:01:17Informational

Glider is a bit unstable flying. The pitch performance seems OK but likely will investigate on an open water segment to see if gets a steady pitch.

NOTE: for next deployment move weight from top of glider to bottom (if possible in sci bay)

Created by: haskins @ 2015-01-07 10:34:25Informational

False hits at 30, 60, 100m
Not risking u_min_water_depth until the problem worsens

New yo setup for next surfacing
d_target_depth set to 190m
num_half_cycles_to_do set to 4

Created by: haskins @ 2015-01-06 17:15:10Informational

Increased dive depth to 150m
!put u_max_water_depth_lifetime 0

Created by: dkaragon @ 2015-01-05 19:45:31Informational

Limiting for 100 m till 100% certain of depth rating of AQD.