All Notes (23)
Recovered 11/2 8:30 EST by Scott and Oscar aboard sail Sri Lanka. Glider was pocked with barnacles and many scratches, gouges throughout.
Fin was hardover port at 0 and at +25 it was basically near 0.
Glider pretty scratched/beat up. Looks biological.
Single yos prior to possible iridium outage
Switched to first down and last up sampling last night to start saving power.
Just barely enough 'rudder' to hold heading. Last couple segments with 25 degrees of rudder and 20 deg and 26 deg pitch showed little difference in steering. Best bet may be to let it spin and when rudder is hard over port it has some control of the spin. Hard over port is when heading error is positive which is the right hemisphere of the steering model. So set the waypoint roughly -90 deg of where you want to go.
f_fin_safety_max .45, x_fin_max .41
wpt to Sri Lanka
More rudder since spin rate seems to be affected by rudder.
20 deg dive climbs.
Spin rate is currently about +50 deg/min (starboard).
Spin rate with thruster at 2.8 W, 5.8 V, c_thruster_on was 40%, current = .5 A, yofile commanded state 2 thruster at 60%
Glider lost its rudder after encounter underwater with something at about 500 m, encounter lasted > 3 hours while glider ascended to about 100 m and then was released. Large pitch and roll experienced
ru29_2018_260_5_6_mbd and ru29_2018_260_5_4_mbd downloaded to look at thruster and non-thruster heading rates. Not much difference noticed in segment heading rate and vertical velocity. Perhaps blades are compromised. Need longer underwater thruster segment.
b_arg: d_use_thruster(enum) 2 # 2 % thruster; 0 off
b_arg: d_thruster_value(X) 0 #
Guess d_use_thruster 0 to turn off not thruster value
Commented out and restarted mission
15 degree angle going in for this one.
For next surfacing - yo20.ma set up for 30% thruster input voltage, 26 degree angle
u_reqd_depth_at_surface 4 from 5, also f_fin_offset 0, updated ru29.mi locally
Took out of mission, changed TBD to all the yo's, CTD on all but surface.
-260 / 260 cc pump as we were getting stuck around 60 m trying to surface.
Switched to 1k_n.mi for first down and last up sampling.
Adjusted SBD a bit, tuned for smaller size and more appropriate ru29 data
Changed TBDlist.dat back to just the first yo. Still collecting full CTD record.
18 hour no_comms
-260 / 100 cc
4 yo's, turning south to go through eddy
Some notes lost in the transition to new deployment.
Deployed by Scott Glenn & Chari P.
CTD on all the time now
Took out of mission:
load_mission(): Opening Mission file: RU29.MI
Setting SENSOR u_reqd_depth_at_surface(m) = 5.000000
Setting SENSOR u_iridium_failover_retries(nodim) = 5.000000
Setting SENSOR u_abort_max_burn_time(sec) = 86400.000000
Setting SENSOR u_low_power_cycle_time(sec) = 30.000000
Setting SENSOR u_science_low_power(sec) = 0.000000
Setting SENSOR u_alt_min_depth(m) = 1050.000000
Setting SENSOR u_pitch_ap_deadband(rad) = 0.052400
Setting SENSOR u_thruster_burst_freq(hours) = 24.000000
Setting SENSOR u_use_current_correction(nodim) = 0.000000
Setting SENSOR f_fin_offset(rad) = 0.052000
Setting SENSOR u_low_power_hd_fin_ap_gain(1/rad) = 0.500000
Setting SENSOR u_low_power_hd_fin_ap_igain(1/rad-sec) = 0.001000
Setting SENSOR u_low_power_hd_fin_ap_dgain(sec/rad) = 0.000000
Setting SENSOR u_heading_deadband(rad) = 0.045000
-260 / 130 cc
Some false hits, altimeter turned off
Changed SBD back to similar to last mission from default. Would be good to make the last mission one the default for most missions, has good surfacing diagnostic setup in it.
Weird short segment, false hits?
Set yo to -1 dive to altitude for time being
CTD SN 7010 9395
Ver 7.16 software