Optics to every 3 rd downcast, UBAT off until the weekend.

Optics to every 3 rd downcast, UBAT off until the weekend.

Left UBAT on for 36 hours during dark/rainy day

Added UTC surfacings for 20 GMT (UBAT on) and 14 GMC (UBAT off) and cron job to automatically power cycle at night.

UBAT off after 1.5 days on. Going to automate the turn on procedure.

9 m drift


# 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) 40
sensor: x_hover_ballast_deep(cc) 0

# DEPTH
sensor: x_hover_depth_shallow(m) 8.5 # the shallowest target drift depth
sensor: x_hover_depth_deep(m) 15 # the deepest target drift depth

too heavy

2nd 35 hover last night
ud_134_2017_213_6_0

Did well, dove too slow but hovered great at 35


# 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

35 hover

-150 was good dive pump, retracted to -125 at hover point but sunk and kept on sinking. Trying -75 instead

# 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) -75
sensor: x_hover_ballast_deep(cc) -125

# 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

17 m hover
ud_134-2017-213-3-0 (0162.0000)

went a little deep, 18.5 m, -40 it retracted at hover start and it sunk lightly and I bet it rested on thermocline

17seed

# 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) 0
sensor: x_hover_ballast_deep(cc) -100

# DEPTH
sensor: x_hover_depth_shallow(m) 15 # the shallowest target drift depth
sensor: x_hover_depth_deep(m) 20 # the deepest target drift depth

10 m hover
ud_134-2017-213-1-0 (0160.0000)

10seed:

# 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) 25
sensor: x_hover_ballast_deep(cc) 0

# DEPTH
sensor: x_hover_depth_shallow(m) 10 # the shallowest target drift depth
sensor: x_hover_depth_deep(m) 15 # the deepest target drift depth

Did well, was slightly negatively buoyany at 10 at 25cc

10 m hover mission (first round, testing)

MissionName:100_H.MI MissionNum:ud_134-2017-212-0-0 (0157.0000)

Back to 26 dives from 30 deg. Makes dive and climb both 26

Station keeping mission 1

Strong wind event blew south,

UB running all downs since Friday night 7/28

Station keeping mission 1

1 iridium warning, never seen that before. Might be worth digging into.

Deployed by Kate and Joe D. Ballast density measured at 1022, glider on the light side.

CTD-0140
flbbcdslc-3576

UB 0049