Some segments it steers OK others not so much, some more evidence it could be suffering fin problems.

Recovered by Rich Arena aboard R/V Maya. 50 miles offshore.

wiggle on to test fin - seems ok, fin moves full range to both sides with no issue.

SBDlist with more heading and fin data for the whole segment

Some segments it steers OK others not so much, some more evidence it could be suffering fin problems.

Just under 2 weeks ago the glider became unresponsive to steering. Seems like something might be wrong with fin or it could be past its fouling point but eerily similar to ru29 out lately. Should check fin limits and 0 point upon recovery. Sometimes it steers better than other times.

Just under 2 weeks ago the glider became unresponsive to steering. Seems like something might be wrong with fin or it could be past its fouling point but eerily similar to ru29 out lately. Should check fin limits and 0 point upon recovery. Sometimes it steers better than other times.

CC OFF
reset mission (may help if there was nav errors building over time, we were on segment 5xx)
Put fin back to max limits
Changed to 30 deg pitch angles

Changed some parameters in blue.mi (loadmission blue.mi)
# BLUE Custom Config
# 8/14/2014 initial based on 2014 NJDEP 1
# 8/15/2015 disabled the filter; I don't think it does anything useful
# 2018/9/20 added lengthened abort timers
# 2018/10/30 created to fight a fouled, not flying well blue


# Low density abort stuff
sensor: u_abort_min_burn_time(sec) 600 # Never drop the weight before this time
sensor: u_abort_max_burn_time(sec) 28800 # 8 hrs, at least a tidal cycle, Always drop the weight after this time

# ALTIMETER
sensor: u_alt_reduced_usage_mode(bool) 1
sensor: u_alt_reqd_good_in_a_row(nodim) 2

# Avoid old bug
sensor: m_altitude_rate(m/s) -1


# STEERING

sensor: f_fin_safety_max(rad) 0.470

sensor: u_hd_fin_ap_gain(1/rad) 2.00
sensor: u_hd_fin_ap_igain(1/rad-sec) 0.01
sensor: u_hd_fin_ap_dgain(sec/rad) 5.00

sensor: u_heading_deadband(rad) 0.087
sensor: u_heading_rate_deadband(rad/s) 0.0087

sensor: u_hd_fin_ap_deadband_reset(bool) 0 # true - reset integrator, false hold integrator
sensor: u_hd_fin_ap_hardover_holdoff(sec) 60.0

Climb pump increased to maximum from 125 cc
Should help speed it up and steer better.

Abort caused by comment line being too long and wrapping around to uncommented line. Cleaned up goto_l10.ma, tx'ed data, and resequenced.

new goto in 'to glider' to head in to mid-shelf for station keeping during Hurricane Florence.

!!!Need to change mission to 100_n.mi at some point in the next few days !!!

out of shipping lanes - back to 3hr surfacing interval, climb_to to 4.5

Tx'ed files in the separation zone; back on 6 hr, climbing to 20 m.

Adjusting to shipping lane behavior; thought I had a bit more time, but favorable currents pushed it along, so it will be there shortly. Definitely prior to next surfacing. So switching to 6 hr surfacings, climbing to 20 m. Turning off file transfers (data) for now as well.

sensor:m_coulomb_amphr(amp-hrs) not in surface dialog. Not sure when that got removed, but should be in there. May attempt to add at some point, but it might break my script. Not sure it's set up to handle that.

u_alt_min_depth back to 2 at next surfacing

False hits / early turnaround:

https://marine.rutgers.edu/~haldeman/glider_plot/blue/blue-546/blue_2018_222_2_61_sbd_heading.png

u_alt_min_depth 40 to prevent false hits at shelf break. Will need to change when coming back on shelf!

ms_abort_overdepth and went into lastgasp.mi

'd_target_depth' backed off to 95m from 100m.

re-ran 100nw.mi

new yo10.ma in to-glider folder. Decreased pump on climb to 210 to try and equalize dive/climb vertical velocity

Blue exited mission normally around 8/7 0004 UTC. The suspect is that 100_nw.mi is calling surfac52.ma which terminates the mission at specific UTC. I commented out surfac52 in the mission file and uploaded new 100_nw.mi, then restarted the mission.

Blue was deployed by Rich & Kate from SMAST in the AM Eastern, Donglai from VIMS was piloting. Ran od.mi, shallow.mi, then 100_nw.mi. SBD and TBD data from the glider was downloaded and inspected after the first hour of 100_nw.mi.

Listed in configuration as:

Science Payload:

ctd-0061
flbbcd-2258


New puck as of Aug 2017:

Science Payload:

ctd-0061
flbbcd-4474

Was not able to select FLBBCD 4474 under configuration, so selected fflbbcd 2258 (old Blue puck)