All Notes (19)
Vertical speed increased to 13+ cm/s but still unable to hold ground against currents. Set waypoint to SS#2 which is downstream of present location. Will have AE pick up both gliders next week.
Increased pitch on climbs to 35deg (0.6 rad) to boost vertical speed
Adjusting fin to reduce heading errors :
put f_fin_safety_max 0.47
put x_fin_max 0.47
put u_hd_fin_ap_hardover_holdoff 12
Steering better but sometimes the non integrator reset causes a loop. Would fix with fin offset and setting integrator reset to something a little smaller, maybe 30 seconds.
Need to analyze Anna's fin condition, its limited from previous mission where it was 'stuck hardover'. Not sure if overly-conservative with that setting.
Set u_hd_fin_ap_hardover_holdoff to -1 to avoid zero'ing integrated fin since I think combination of reduced fin limits + drag caused many hardover fins. Losing integrated bad. Also could be x_fin_max * PID terms made it use less fin overall.
Increased fin limits from x_fin_max .22 to .29 rad (12.6 to 16.6 deg)
Changed top inflection depth from 3 m to 8 m. May have to go lower than that to avoid breaching which should help speed.
low power mode about .3 AH or about 12.5 mA saving
Trying low power mode off (basically just trying more gain on the fin see if we need to increase fin limits or not). Glider is steering starboard bias, not enough port rudder.
Full pump throw to combat currents. Vertical speeds have slowed in recent weeks. May need a mermaid scrub.
Recent log files show oil volume out of deadband oddities. Ben @TWR suggests oil leakage at the valve due to normal wear. No evidence for air in the system (m_de_oil_vol responds gradually to c_de_oil_vol).
Dives now to 600m, double yos, and will keep an eye on it.
Pump began slipping in the last 2 days on both dive (-230 -> -245) and climb (+230 -> +210)
Number of inflections 9815.
Have shoaled dives from 950 to 500m
Underwater reset with peculiar syslog entries:
2018-03-13T13:05:43 mission_end: bios_anna-2018-071-1-0 (0179.0000) lastgasp.mi
2018-03-13T13:03:52 mission_surface: (0179.0000): Hit a waypoint
2018-03-13T13:03:24 mission_start: bios_anna-2018-071-1-0 (0179.0000) lastgasp.mi
2018-03-13T12:59:15 mission_end: bios_anna-2018-071-0-0 (0178.0000) initial.mi
2018-03-13T12:58:44 abort_start: MS_ABORT_OVERTIME
2018-03-13T12:42:35 mission_surface: (0178.0000): Hit a waypoint
2018-03-13T12:30:17 mission_start: bios_anna-2018-071-0-0 (0178.0000) initial.mi
2018-03-13T12:26:35 APP_start 8.0
2018-03-13T12:16:14 Resetmake_syslog_entry(): No vehicle data pointer: INFINITE LOOP in secs_since_timestamp(). Doing BIOSReset()
2018-03-13T11:46:16 mission_surface: (0177.0475): nothing commanded
Winds at gale force now.
Using Ctrl-R(wait 1 dialog) script until conditions improve
Dives to 950m, increased pump to -260/+230 to fight currents
Back to 600m dives, double yos.
TBDSBDx4 to catch up with files.
4-days of gales -> MLD down to 140m, initiated a bloom event
Going to deep dives (950m) double yos for duration of storm. Touch 'n go at the surface (Ctrl R script)
pump throw increased to -190 / +210
PAR sampling only 0-200 m
600 m double yos to increase horizontal resolution
Set wpts to execute N-S transects of ~20km
Sequenced 1k_n2w.mi to surface when waypt is reached.
Underwater reset yesterday
Some pitch motor oddities this mission
Battpos is ranging 0.1 - 0.6 (PAR sensor/xtra length of glider. Make note to move weight forward on next ballasting)
Payload Bay #1230
software v 8.0