All Notes (87)
In the tank ru29's CTD compared to our SB19 1645:
Temperature: 0.000 difference
Conductivity: + 0.034
Salinity: + 0.269
Quick checked the air bladder via m_vacuum, during 1 missed call event it appeared air bladder inflated OK. Looks like solenoid is working OK.
CTD on up and downcast
Adding 20 cc more to pump on dives, and switching angle to 26 just to see if we can make any progress to the east. Still 260 nm offshore :-(
Upped swim depths from 100-500 to 50-450 @ 6 yo's
Changed 1k_n mission to have surfac42, no_comms = 24 hours mission quit safety.
Going to 30 deg dives.
Both D and C @ 30 deg. See if we can lower oddities and get a speed boost.
Upcast CTD off as of 2 surfacings ago.
As of last 2 surfacings CTD upcast should have been on but didn't see it in the diagnostic plots.
As of 2 surfacings ago, set fin offset to -3 degrees. f_fin_offset -3 deg
Climbs are suspect for double pumps, also slightly slower vertically than dives.
Trying 30 degree upcast.
Oddities on pump are still high even at 550 m, trying 500 to see if it calms or if flying deep again changed the oil retract rate.
16 de_pump oddities at 550 m for last segment, will let it go another one since I think fouling is going to be a problem soon.
Dockserver crashed due to java update? would hang during file transfers. Missed callins likely due to that.
About 30+ hours no communications.
Upon surfacing de_pump oddities went from 41 to 78 the last call in. Roughly 2 segments so about 18 / segment or about 2.3 / yo. Not terrible but not great. Due to circumstances backed off from 600 m to 550 m. We might be able to get away with 575 once we get settled again.
0, 2 DE_PUMP oddities at 550 for 2 segments
Trying 600 m
Switched to 550 m yesterday. Will need to monitor pump/power performance.
Restarting mission just in case LMC was acting strange as we have had fairly static currents.
New SBDlist with more steering data and less pump data.
Added sensor:m_digifin_leakdetect_reading(nodim)=1023 0.901 secs ago to surface dialog
P steering term was cause of poor steering performance, not compass. Compass operating OK.
Noticed P = .06 for low power, should be .6
put u_low_power_hd_fin_ap_gain .6
set u_heading_deadband = 0.045000 rad
+- 26 degree dive. climb no change to pump (as of last 2 surfacings)
Potential compass issues again at Cape Town.
New waypoint 0630.00 E, 35 00.00 S
PID = .6,.001,0
fin_offset = 0
added low power variables to surface dialog, removed others to make room
put c_de_oil_vol 200
put f_de_oil_vol_deadz_width 70
put u_science_low_power 0
500 m, 2 yos
350 m dives until we can get it back flying normal again.
Altimeter off as of 1/1/2016
add low power variables to surface dialog
change fin deadband to .04 to prevent overuse
Altimeter on, 200 m min depth as of previous segment and current.
no TBD data? ru29-2015-328-0-74 (0221.0074)
CTD just downcast now.
12/4-5 - Increased P instant gain, low power, from .5 to .6 u_hd_fin
new SBDLIST.dat, fin over 1 yo and less GPS (hoping for smaller file size) (will need to make sure enough GPS is coming back)
For next segment: CTD on for entire yo, up and down
Dive velocity a little slow < 10 cm/s (mostly due to pitch angles < 20 deg).
Dive pitch to 24 degrees from 22.
Weak argument for almost 10% fouled at this point in time. Pump currently in a good streak.
As of previous surfacing, 8 yo's instead of 7.
Witnessed the pump go from higher slipping to lesser slipping up to 2015-11-25 03:22, could be a clue, perhaps MLG.
2015-11-25 03:22 surfacing: 22 deg climbs, but 500 m bottom inflection. Oddities were 0 however at this surfacing. Also double pump's not noticed looking at data. Will grab MLG to see what the oddities are.
6 oddities @ 22 deg upcast
Changed to 26 deg upcast
For next segment:
New Pitch Angle: 24 deg upcast, still 22 down.
Oddities creeped back up, oil slip rate has increased overall but climbs seem to be most affected.
Waypoint 36 00 00 S, 8 00 00 W
7 yo's: 100-550 m
Waypoint 36d00'S, 9d15'W
7 yo's: 100 - 500 m
Going to 6 yos (12 half yos)
Science turned back on. (first dive)
Diving to 500 m to see if we can reduce oddities/slippage/power.
Climbing to 100 vs 125 m
Turned science off to see power savings.
Power usage is up (pump sliding has increased).
22 deg pitch angle dive and climb @ 4 yo's to try to lower power.
Pitch deadband is back to default 3 degrees since the last 2 surfacings.
Changed pump deadband + 10 cc to 70 sensor:f_de_oil_vol_deadz_width(cc)=70
Changed climb to cc from 210 to 220. We are now front limited on positive drive, 220 is the new max.
-150 to -130 cc for dives (see if power drops)
We are sliding at a faster rate then 2 weeks ago.
Changed both dive and climb back to +- 26 degrees. Dives were a tad fast. We need to see if oddities increase from this point on.
Long surfacing, had to take it out of a mission.
Downloaded ru29-2015-279-1-2 MLG. It is just OOD oddities, nothing else.
Power usage looks down, so pitch/pump change may be working. Long surfacing.
Changed SBD to hopefully get more useful m_depth
Changed pump from -170 to -150 cc, pitch from -26 to -29 (-0.506) deg
Goal is to maintain vertical velocities but to do it with less pump. This will help show that if we pump less oil at depth we will retract some of the power losses.
High oddities (17) despite deadband change.
Worth MLG download.
SBD m_depth stopped reporting at 10-20 m. That's not what we need. Going to try just reporting it at surface which is 5 m, hopefully we can see how it climbs then. May add a bit more GPS to SBD too.
Power usage still up, oddities down.
Changed SBD to add m_depth for 'rising to surface'. MBD command problems (more later).
60 cc DB helped, data only showed 2-3 double pumps with 9 oddities.
!!! PUMP DEADBAND CHANGE
f_de_oil_vol_deadz_width from 30 cc to 60 cc
db_frac_dz is 1.0 so DB = 60 x 1 = 60 cc
Downloaded MLG and MBD ru29-2015-276-0-2 (0215.0002)
Need cache file for some reason local MBD is not creating it on simulator.
Changed SBD to more pump data and less steering data.
Phone call memo Scott
1) de_pump sbd data for full yo, cut back steering
2) MBD MLG from recent segment
3) obtain silbo data on pump oddities / hr
1) how much oil/sec, increase db to avoid double pumps
2) potentially increase pump volume to compensate for speed loss from oil retraction
3) race pump with pitch angles
Changed backup waypoint to Cape Town SA
Changed backup waypoint to Cape Town SA
Pump seems to be slipping less since DB change. However it is not due to that change!
Starting prior to surfacing 2015-09-1811:35 GMT
Did several segments of upcast data.
2015-09-06 13:22 GMT
Changed pump oil deadband
DB to DZ = 30 * 1 = 30 cc
Was 30 * .66 = 20 cc
!get f_de_oil_vol_db_frac_dz = 0.667000 nodim
1008774 88 sensor: f_de_oil_vol_db_frac_dz = 1
2015-09-0506:54 check xml script, it did something strange.
Changed MBDlist.dat to minimal state to troubleshoot pump. Will check file size. If small enough will pull MBD on target segments.
Trying smaller heading deadband
sensor: u_heading_deadband = 0.045 rad
29 has started double pumping again. More later.
Segment ru29-2015-236-1-0 (0214.0000) has high density heading data.
Changed SBD back to normal.
Changed to mission 1k_n.mi: 22 hour no comms, changed order of surfacings so that nothing_commanded > no_comms
DE_PUMP aborts were from 1k_n.mi that was blank.
loaded new sbdlist.dat
De engine has starting to slip, started roughly 2 weeks ago, oddities several days ago.
Underwater reset last night.
2015-08-12 16:23 Surfacing script did nothing, need to check why.
Going back to AP dive and climb for pitch angle. Fixed battpos was getting too shallow and steering needs a variable eliminated for troubleshooting.
Lowering dgain from 7.5 to 3 to neuter for a few segments.
Recently ran upcast for several segments 8/3 onward.
Changed to upcast pitch AP at 26 degrees. Climb angles were getting a little shallow.
u_low_power_hd_fin_ap_dgain derivative gain to 5 from 0
fin_offset of 2 worked well, maybe can go for 0
Changed fin_offset to 2 degrees from 4. Glider might not need much offset.
Set CTD to sample up and down for 2 segments, then will turn off.
Changed failover retries for iridium to 6
Added signal strength to surface dialog
MLG 02050074 shows:
2013277 DRIVER_ODDITY:iridium:-10729:secs; cycling Iridium power
2013288 24 Iridium has been powered on for 5.4 secs
2013288 Waking up Iridium... sending:ATE1
2013288 Iridium, modem making attempt #10 at primary number (88160000592)
2013292 25 Iridium driver received:[ATE1[0D][0D]]
2013292 Iridium modem matched: OK
2013293 Waking up Iridium... sending:AT+cbst=6,0,1
2013300 25 Iridium driver received:[AT+cbst=6,0,1[0D][0D]]
2013300 Iridium modem matched: OK
2013300 Waking up Iridium... sending:AT+CSQ
2013309 27 Iridium driver received:[AT+CSQ[0D]]
2013309 Iridium driver received:[[0D][0A]+CSQ:5[0D][0A][0D]]
2013309 Iridium modem matched: OK
2013314 28 Obtaining Iridium RSSI...
2013314 Iridium dialing [ATD0088160000592]...........
2013314 Iridium waiting for connection...
2013319 29 Iridium driver received:[ATD0088160000592[0D]]
2013330 32 Iridium waiting for connection...
2013330 Iridium driver received:[[0D]]
2013330 Iridium modem matched: NO CARRIER
Glider missed 2nd phone call, roughly 17:45 GMT.
It called into TWR ok at 3 dials for nocomms at 21:25. Script moved it back to RU where it failed to connect.
Will enable file transfer script at TWR.
Glider missed phone call roughly 7/18 00 GMT. Call num was 4973 and was 4987 at time it called TWR on attempt 5.
Connected OK at TWR at 18 hour no comms.
Running 7.16 for mission 451
2015-06-25 22:33 GMT:
Enabled sensor: u_science_low_power(sec) 0
New SBDlist, should bring file size down more
WPT a bit north of TDC
sensor: u_reqd_depth_at_surface(m) 5 # from 7
sensor: f_fin_offset(rad) 0.0698 # 4 degrees
sensor: u_pitch_ap_deadband(rad) 0.087 # 5 degrees from 3
Note: fin is limited to 20 degrees in longterm (leftover from Asc to Br mission)
As of 16 GMT 6/23:
3 yo's: 125 to 950 m
380 cc = -170 / 210 cc
state_to_sample 11 (surface and first half-yo)
16 & 24 hour no_comms
mission no cop tickle = 20 hours
Deployed by M. Dottori aboard Alpha Delphini.
Ver 7.16 software