All Notes (30)
Recovered by Ian Robbins out of MLML aboard 16' zodiac.
u_alt_min_depth 20
goto updated; wpt 2 miles from MLML
!!!!!!!
U ALT MIN DEPTH 250
!!!!!
(false hits)
Did 2nd deep thrusting run at 6 W thrust
Thrusting segments. 40% via 2 (max input voltage)
Some intermittent CTD issues, large variations especially in TS plot. Not sure what causing but appears to come and go and currently is gone.
35 m hover 2
ud_134-2017-213-6-0 (0165.0000)
35 seed
# 2017/8/1 9:26 EST - trying gains a little lower, from 1 to .75
sensor: u_hover_bpump_ap_gain_shallow(cc/m) .75 #proportional gain, shallow bpump
sensor: u_hover_bpump_ap_dgain_shallow(cc-s/m) .75 #derivative gain, shallow bpump
# BALLAST PUMP CC
sensor: f_neutral_ballast(cc) 150
sensor: x_hover_ballast_shallow(cc) -50
sensor: x_hover_ballast_deep(cc) -75
# DEPTH
sensor: x_hover_depth_shallow(m) 25 # the shallowest target drift depth
sensor: x_hover_depth_deep(m) 35 # the deepest target drift depth
Optics just downcast, save power, irid time, and optics cycles.
Box 1 PMEL Waite
-12208.0672 3645.4420
-12207.9184 3645.3749
-12208.0208 3645.2700
-12208.1572 3645.3314
!!!!!!!!!!!!
u_alt_min_depth 340
!!!!!!!!!!!!!!!!
Some false hits at around 65-75 m with u_alt_min_depth set to 50
900 m dives starting PMEL box 1
On to PMEL GPS mooring as of 5 pm EST 7/24
Check out pump, 7k cycles already.
Glider missed some calls 7/18 am
Called TWR with
NO CARRIER
RING
NO CARRIER
RING
NO CARRIER
RING
NO CARRIER
RING
NO CARRIER
RING
NO CARRIER
RING
NO CARRIER
RING
Glider drifted off track after some 20 deg dive/climbs?
Downloaded part of an MBD showed the glider thought it got to where it needed to go underwater and started cycling boxes. Didn't look like a steering problem. Some dead reckoning issue. More later.
JPL planner taken control
CC is turned off!
JPL planner taken control
CC is turned off!
Onward to box 3, JPL will take over tomorrow.
Box 3 is 125 m sides.
BOX 1 @ 50 m satisfy radius
-------
-12201.9655 3645.1308
-12201.6266 3645.1310
-12201.6264 3644.8687
-12201.9480 3644.8670
BOX 2 @ 25 m
-------------
-12201.7924 3645.1299
-12201.6250 3645.1309
-12201.6250 3644.9939
-12201.7959 3644.9939
BOX 3 @ 25 m
-------------
-12201.7080 3645.0972
-12201.6247 3645.0972
-12201.6263 3645.0468
-12201.7072 3645.0468
Results of 4 W thruster test (impulse connector 1 screw Nemesis loaner thruster)
Nominal 20 D, 18 U:
4W: 34.5 D, 33 U --> +14.5 D +15 U
~ 75% increase
4 W thruster tests, 2 segments
ru32-2017-185-0-0, ru32-2017-185-0-1
No reported warnings or oddities from thruster.
setdevlimit thruster 20 default defaultx2
thruster I u 3 20 10
Another thruster error segment, this time 50% vs 4 W (last test)
Seeing if there is a software workaround for this.
Next segment: thruster test
4 W dive and climb
Also changed dive ballast to -240 cc to slow the dives a bit to equalize.
Ended first box which was 500 m centered about the NOAA KML position of M1
Have an M1 data link now that shows its more NE of that position on the ridge.
Tightening box to 250 m in the upper right quadrant of last box.
will track new M1 position
!!!!!!! u_alt_min_depth 350 !!!!!!!!
500 m dives as of 2 surfacings ago, shortening up the waypoints from 500 m sided box to 350 m
500 m dives
CTD 9317 (pumped)
FLBBCD sn 4156
Ran 2 thruster segments after deep. First was 30% second was 50%
50% only one to show increase of speed.
Chris D recommended flying by Watts
Deployed by CHip Halademan on RV Shana Rae
