All Notes (15)
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
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).
P = 1
I = .01
D = 4
Performing some steering optimizations on 191:
P = 1.5
I = 0
D = +4
heading deadband off -1
(mean fin is -2 degrees)
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.
-160 / 200 cc dive/climb. Trying to adjust climb cc to find a battery sweet spot. Pitch toggling on climbs.
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.
Settings have calmed down the pitch adjustments.
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:
Later, if time, will dig deeper into pitch gains.
Also will increase deadband to 4 degrees.
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.
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.
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)
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
Increased dive depth to 150m
!put u_max_water_depth_lifetime 0
Limiting for 100 m till 100% certain of depth rating of AQD.