All Notes (53)
11/20 had some surfacings that failed to get a GPS. Also seemed to struggle with iridium. Might be worth looking to vacuum or sea state during this time.
CTD 9317p Pressure Sensor was found to be broken during post-mission calibration at Seabird.
Finished my analysis of the CTD data. CTD pressure read too deep. Was able to utilize pre/post lab checks as well as data during to come up with a correction factor. Goal of the correction factor was primarily to get CTD to about .1 to .2 m below surface at surfacing. This was for beginning and end of deployment. All corrections have the same start time, t0. Choice is to correct it against m_depth or just add the offset in there. No idea how accurate m_depth is and usually its less so than CTD since its calibrated less and subject to loose surface calibration (zero_ocean_pressure). Option exists to use only an offset which was corrected by hand to match ctd surface readings to about .15 m.
t0 = datetime(2019,7,23);
ctd_corr_slope_only = -0.009903;
% This is a linear correction to correct ctd data to match m_depth from the glider (correction based on m_depth as truth)
sci_pressure_2 = sci_pressure - (sci_pressure .* ctd_corr_slope_only) - ...
(day(ctd_time_datenum-t0)*.0126 + 1.7127);
% This is a hand adjusted correction slightly more aggressive that works a touch better (again based on m_depth as ground truth)
sci_pressure_3 = sci_pressure - (sci_pressure .* ctd_corr_slope_only) - ...
(day(ctd_time_datenum-t0)*.008398 + 2.12);
% this is offset only; recconend this since right now there is no way to say m_depth is more accurate
sci_pressure_4 = sci_pressure - (day(ctd_time_datenum-t0)*.008398 + 2.12);
Salinity also might be about .02 to .03 low from the glider. This passed in tank tests quite well. Corresponds to about .003 in C. I tried to correct cond to the ian ctd cast but when converting to salinity again it got a little wild so withholding further analysis in that regard.
There is a spreadsheet compiling all this in the post-recovery folder for ru26d
Looking at the post mission ctd comparison cast it looks like ctd pressure is reading ~ 3 m low. Putting some images in the check out folder with some plots showing how this performed over the mission.
glider_pressure - science_pressure varied with depth, but it was pretty linear near surface was about -2 m and by 1000 m it was 6 m.
Consequence of turning CTD off at surface is you lose the 0 point ground truth. CTD SHOULD BE TURNED ON AT SURFACE OCCASSIONALLY IN THIS SCENARIO TO GET A GROUND TRUTH
This analysis probably should be performed on recovered dataset to get better surface data. I don't know how well glider pressure did at the surface due to sparsity.
Over time it appears the g_p - s_p was drifting more negative so there is a slight change with time, about 2 m change over entire deployment.
A quick look at initial NBD/EBD shows issue was present since beginning. Should check lab paperwork.
recovered by Ian Robbins via zodiac out of Moss Landing
deep.mi prior to recovery, with thruster on: ru26d-2019-361-0-0 (0034.0000)
Ian Robbins provided CTD for comparison.
Final thurster segment and last segment for SWOT project station keep at mooring: ru26d-2019-346-0-88 (0031.0088)
Thurster off now, double yo's, heading home - starting at segment: ru26d-2019-346-0-90 (0031.0090)
Thrusting test 1: ru26d-2019-346-0-72 (0031.0072)
no change to pump, -180 / 210 cc 2W thrusting (d_use = 4) downcast only
science_clothesline_lag in SBD looks like its getting to 4-8 and resetting so maybe problem acute?
Some strange findings. Spurred by increasing dives and decreasing climbs vertical velocities. Worked with ctd pressure + sci_m_present_time --> same result, but ctd pressure + ctd41 timestamp showed no trend.
Strange surfacing as well with sci clock lag of 26 seconds:
GliderDos N -1 >get m_science_clothesline_lag
= 27.210205 s
Glider came up complaining of rinbuff overflow, put c_science_on 3 results in FAST spam of timestamps:
862338 sensor: sci_m_present_time = 1576253421.18533 timestamp
862338 sensor: sci_m_present_time = 1576253421.26996 timestamp
862338 sensor: sci_m_present_time = 1576253421.30286 timestamp
862338 sensor: sci_m_present_time = 1576253421.3772 timestamp
862338 sensor: sci_m_present_time = 1576253421.41827 timestamp
862338 sensor: sci_m_present_time = 1576253421.45938 timestamp
buffer got overflowed, couldn't consci either so cycled science power and could consci however it still spammed c_science_on 3
NLG and MLG downloaded, nothing of note
Looked into glider time vs sci time segment ru26d_2019_336_0_242_sbd which should be same one as strange surfacing noted above. Took 50m glider/sci pressure sensor and calculated how many sec to reaching 50 m again using TBD and SBD time, found that it was different by the lag amount. What was strange is science clock was running faster. with no appcmd (clock running slow) would expect problem the other magnitude.
Added m_science_clothesline_lag to SBD, need to look at some other segments to see if similar problem and revisit the diverting vv's using ctd pressure.
download NBD from right before SCRIPPS buoy broke free. Need to check sampling rate.
Mike E. analysis agreed glider gained weight.
Should weigh all parts when back
Should talk with TWR about possible sources of weight gain.
Onward to PMEL/WHOI mooring yesterday 12/10 evening.
Sped back up, currents were high this morning and then fell off again. Seems suspicious. 30 cm/s to < 15 cm/s in < 1 day.
Back to slow speed -180/210 cc, need to save power despite currents
Back to full speed +-260 cc, strong currents.
Station keeping at PMEL PRawler beginning
A few station keeps early 12/4 but bringing it closer
Start of:
ru26d-2019-336-0-17
8.3 Filename: 0030.0017
500 m dives first test @ 300 m waypoint list, clockwise, 50 m radius, low power on, slowed down glider on
For next surfacing transit to PMEL mooring, back to low power mode, thruster off.
FYI wpt next radius was 50 m for previous and waypoints were counter clockwise.
Next station will be 300m wpts @ 50 m radius clockwise.
2 segments of 25% thruster, low power mode still off, before moving on to PMEL mooring. Strongest currents we may see so figured I should test thruster.
MissionSTARTDate: 03 Dec 2019 16:38:31 Z
Mission Name: 1K_N.MI
Mission Number: ru26d-2019-336-0-0 (0030.0000)
Is thruster segment 1, 2 should be 00300002
Vertical velocities went up by about 5 cm/s each on dive and climb @ 25% thrust. power still needed to be calculated.
Apologies for the confusion/glider lingo. Regarding the density finding. The water density has increased by .6 sigma since deployment which is about 40 g of buoyancy.
An example of a plot we use to monitor fouling tracks vertical velocity over time corrected for pitch and buoyancy:
https://marine.rutgers.edu/~dkaragon/glider_profile_plotting/ru26d/ru26d_VerticalVelFouling.png
From that we can see dive and climb speeds have diverged about 2.5 cm/s showing a possible increase in glider mass by about 16 g. So our net says about 40 + 16 = 55 g weight gain since deployment. May share that with company and see how much fouling is actually on it. 55 g is a decent amount. Just an interesting finding that is hard to see in other places we fly because of much larger density changes over time.
POST RECOVERY WEIGH PARTS AND REMEASURE DENSITY, MAYBE EMAIL TWR OR NOC
Experiment 2:
1000 m, single yo, 500 m box, low power mode off
Begin of station keeping
Experiment 1:
1000 m, low power on, single yo's, 500 m box
Started 11/27 15 GMT
ru26d-2019-329-0-11
0029.0011
Rough power usage 2.8 AH/day
Increased fin safety max
f_fin_safety_max(rad) .42
new sbd with more fin values
TBD back to 24 seconds (might be fouling)
caught up on files, TBD back to 12 sec from 24
Some diagnosisng of the glider status:
- watching digifin leak to make sure isn't changing or going lower
- 1 bad steering segment, rest were NO GPS during storm. Bad segment had signs that heading was responding to fin but possibly not enough fin, fouling or obstruction
- possible reasons for no gps are pressure sensor drift, lack of buoyancy instead of 10/27 storm 210 vs 260 cc, turning air pump on at depth by accident, or air system isnt functioning 100%
- increased data in SBD for vacuum and digifin leakdetecct
Cut TBD in half a few days ago to save surface time and be able to catch up on files.
11/17/2019 slowed glider down -180/210cc
Downloaded 2nd strange steering segment MBD
Changed SBD to have more heading and digifin leak
Cut TBD from 12 sec to 24 sec until we can catch up and/or determine fin problem.
2? strange steering segments
Looking closely at digifin parameters.
Storm, behind on files.
-180 / 210 cc (210 @ surface too)
Running line is done, saving power for remaining 2 months.
Some ocean pressure oddities to look at after mission.
longterm_put u_max_lag_before_syncing_time 946100000
synced_time
gave it new missions with more proper undervolts
changed sbdlist.dat to something more modern, more steering
!!!!!!!!! u_max_lag_before_syncing_time 946100000 !!!!!!!!!!!
only with put, if it flies well through weekend then change to longterm_put
GPS could still rollover due to 'gps battery'. Don't sync time.
4S battery life analysis:
Based on 2016 Silbo: 28 AH / string ---> 82% first shelf after de-rated for temperature and self drain
4S: 36P + 44A cells = 20 strings * 28 ---> 560 AH * .97 ---> 543 AH * .82 ---> 450 AH first shelf
u_reqd_depth_at_surface 3.5 from 5
Trying to get a bit more surface data now that iridium is stable. Hopefully it doesn't cause surface diving strange behavior.
Extended the transect line by 3km on each side to cover the full 60km, as per SWOT phone call yesterday.
Also added in 2 intermediate waypoints, to help keep us on the line.
Changed Waypoint satisfy radius from 2km to 750m
New IP address/server at Iridium, so added that to our firewall - hopefully that was the issue and RUDICS is fixed!
RU26d switched back to primary number, RUDICS.
Switched back to RU Rudics after 20 surfacings at TWR datahost with 100% success rate.
Should replace the argos unit in this glider and ru24
Cycled argos power
Caught up on SBD's on TWR datahost. No missed calls on datahost so far
VERY strange error xmitting SBD's during mission:
s -num=3 *.sbd *.tbd
--------------------------------
19952 85 00170002.mlg LOG FILE CLOSED
SCIENCE DATA LOGGING: science IS running
CONSCI REQUESTED (using IRIDIUM as console)
ASKING SCIENCE COMPUTER TO SWITCH TO COMMAND MODE via IRIDIUM
SWITCHING TO SCIENCE COMMAND MODE over IRIDIUM
Normal operation resumes when:
SciDos> QUIT -or-
Lose CD (unplug freewave/hangup iridium) -or-
run longer than U_SCI_CMD_MAX_CONSCI_TIME(3600)s
19962 88 Neutering the Freewave Console
SCI: Implicitly limiting total transfer to 1800 secs, representing 180 KB total size
SCI: Enumerating and selecting files
SCI: About to send 2 files
Prechecking is not necessary for this invocation
START
**B00000000000000
�
SHUFFLING FILES..
SCI: Sent 2 file(s):
c:\logs\00170002.TBD c:\logs\00170001.TBD
SCI: SUCCESS
20214 47 Freewave console restored
REVERTING FROM SCIENCE COMMAND MODE
SCIENCE COMMAND MODE TERMINATED because:
Science Program QUIT (cts lowered)
GLD: Enumerating and selecting files
GLD: About to send 3 files
Prechecking is not necessary for this invocation
20216 save_and_change_sensors()....
Changed u_use_ctd_depth_for_flying from 0 to 0
Changed c_science_on from 1 to 0
20216 save_and_change_sensors()....
Changed c_science_printout from 0 to 0
Waiting for motors idle
START
**B00000000000000
�Er 20300 restore_sensors()....
Restored u_use_ctd_depth_for_flying from 0 to 0
Restored c_science_on from 0 to 1
20300 restore_sensors()....
20300 restore_sensors()....
Restored c_science_printout from 0 to 0
GLD: Sent 0 file(s):
GLD: FAILURE xmit_to_host(): results=1
Glider-Science software version match: 8.300000
Science hardware version is 1.000000
20307 50 SCI:PROGLET house_elf begin() called
20308 SCI: house_elf: Version 1.2
20308 SCI:PROGLET ctd41cp begin() called
20309 SCI: ctd41cp: Version 0.2
20310 50 SCI: ctd41cp: Will be sending the following data to glider:
20310 SCI: sci_water_cond(s/m)
20310 SCI: sci_water_temp(degc)
20310 SCI: sci_water_pressure(bar)
20310 SCI: sci_ctd41cp_timestamp(timestamp)
20311 SCI:PROGLET house_elf start() called
20311 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal)
20312 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal)
20386 56 00170003.mlg LOG FILE OPENED
--------------------------------
Error from CmdDispatch():Error sending files
20387 ERROR behavior surface_2: S COMMAND FAILED: s -num=3 *.sbd *.tbd
Megabytes used on CF file system = 128.531250
Megabytes available on CF file system = 1872.406250
20390 00170003.mlg LOG FILE CLOSED
low power mode off, don't think we were swimming straight
RU26 at the start of the transect line. Quit mission, restarted 1k_n.mi for the transect line.
u_science_low_power = -1 #disabled
turned on Current Correction
tbdlist to 12 seconds
Back to full speed and double yo's.
Science on all the time.
Should disable science low power.
Next is TBD list, climb to depth.
Back up to full speed, still treble yo's
Hycom currents currently in agreement.
Missed calls are iridium dialing but nothing answering. Emailed TWR
Might be pressure related but not sure.....
Need more vacuum, pressure near surface to diagnose...
06 DRIVER_ODDITY:ocean_pressure:0:excessive pressure drift
83615 45 Iridium has been powered on for 4.7 secs
83615 Waking up Iridium... sending:ATE1
83615 Iridium, modem making attempt #1 at primary number (88160000592)
83620 46 Iridium driver received:[ATE1[0D][0D]]
83620 Iridium modem matched: OK
83620 Waking up Iridium... sending:AT+cbst=6,0,1
83625 46 Iridium driver received:[AT+cbst=6,0,1[0D][0D]]
83625 Iridium modem matched: OK
83625 Waking up Iridium... sending:AT+CSQ
83630 47 Iridium driver received:[AT+CSQ[0D][0D][0A]+CSQ:5[0D][0A][0D]]
83630 Iridium modem matched: OK
83635 49 Iridium waiting for registration...
83644 50 Obtaining Iridium RSSI...
83644 Iridium dialing [ATD0088160000592]...........
83644 Iridium waiting for connection...
83649 52 Iridium driver received:[ATD0088160000592[0D]]
83661 53 Iridium waiting for connection...
83680 57 Iridium waiting for connection...
83699 61 Iridium waiting for connection...
83718 65 Iridium waiting for connection...
83737 70 Iridium waiting for connection...
83752 72 Iridium waiting for connection...
83771 77 Iridium waiting for connection...
83790 81 Iridium waiting for connection...
83809 85 Iridium waiting for connection...
83827 89 Iridium waiting for connection...
83843 92 Iridium waiting for connection...
83861 96 Iridium waiting for connection...
83880 0 Iridium waiting for connection...
83899 3 Iridium waiting for connection...
Megabytes used on CF file system = 78.062500
Megabytes available on CF file system = 1922.875000
83910 6 write_segment_closing_diag_info():
name in ALLCAPS means CRITICAL device (* => SUPERCRITICAL)
[I Installed] [- Not_Installed]
[u In_use] [- Not_In_use] [X Out_of_Service]
name limits stats (#total/#mis
Treble yo's last night, CTD 2nd yo. Adjusting low power igain seemingly problematic. May need to lower value again.
Glider reporting South currents -not the north currents we were expecting. Moving waypoint to go to the east instead of taking the north route. Turned off Current Correction.
Going to 2 yo's to 900m, 9hr surfac
Also put glider into low power mode:
put u_low_power_cycle_time 30
put u_thruster_burst_freq 36
put u_alt_min_depth 900
put u_science_low_power 30
Started saving power last night - CTD to 1st yo only, Pump to 220cc. u_science_low_power to 30sec.
forgot to update goto with -1, so went backwards last segment. Goto updated and sent to glider, so should be back on track.
CTD state to sample changed to 7 (dive, climb, hover) ... off at surface
on double yo's to 625m for the night.
2019-09-05 21:00:02 1 dive to 250m looks good. 1 dive to 500m looks good. CTD and glider pressure sensors agree for first 2 segments. Glider m_depth at surface is 0m for these segments.
2019-09-05 18:27:38 zero_ocean_pressure again after deep.mi. Glider said it was at 2.5m when at surface. Glider and CTD pressure agreed during dive/climb though. Should monitor pressure sensors in case need to zero again.
Deployed by Ian Robbins on the R/V Sheila B. out of Moss Landing Marine Laboratories
2019-09-05 18:26:02 Deployed by Ian Robbins on R/V Sheila B out of Moss Landing Marine Lab.
ru26d SWOT deployment
CTD S/N 9317 - pumped
OS 8.3
