All Notes (23)
Orsted 100 m pump
2021_04_08 card backup:
@A010302.asc would not copy
did a chkdsk and it reported wrong filesize
did chkdsk /r and it fixed file and copied it over
Strange steering segment was waypoint list, waypoints were closer than when_wpt_dist. Only lightly checked though didn't want to go deeper.
Data dropout issue exists here, see 2021 ru34 #2 for more details, emailed TWR.
Decent number of pitch OOD oddities, .1. Check deadband and maybe increase it a bit?
Many fin oddities, and they aren't reported as oddities. .02 rad DB much worse than .06.
Took this glider about 1.5 m to inflect at 10-12 cm/s so we can open up envelope a bit more next mission.
176 AH used by glider which is 78% if we go by battery capacity of 225. 68.862 / 225.226 AH = 70% used by battery report. 8.5/23 batteries showed higher than average charge. Rest showed about 1AH or so. Seems like glider more accurate thus maybe those cells are indeed discharging? Appears in this case most of the high reporting cells are in the pitch not registers 0,1
Perhaps 82% according to voltage curve (just a guess).
Cell Serial Volts Charge_AH Capacity_AH Percent_Charge Percent_Mean_Capacity
1 208 13.535 6.113 9.751 63 100
2 424 13.548 1.217 9.837 12 100
3 431 13.553 5.717 9.826 58 100
4 436 13.547 6.442 9.792 66 100
5 437 13.55 5.031 9.745 52 100
6 445 13.549 6.68 9.674 69 99
7 464 13.546 1.159 9.764 12 100
8 468 13.549 6.172 9.741 63 99
9 469 13.544 3.886 9.807 40 100
10 492 13.548 6.778 9.795 69 100
11 517 13.551 6.509 9.783 67 100
12 970 13.525 1.129 9.973 11 102
13 975 13.528 1.068 9.759 11 100
14 977 13.528 1.08 9.855 11 101
15 983 13.532 0.983 9.867 10 101
16 991 13.531 1.147 9.828 12 100
17 1043 13.525 1.091 9.608 11 98
18 1052 13.531 1.122 9.892 11 101
19 1054 13.528 1.115 9.885 11 101
20 1055 13.528 1.044 9.75 11 100
21 1056 13.518 0.979 9.679 10 99
22 1058 13.525 1.129 9.763 12 100
23 1193 13.549 1.271 9.852 13 101
Mean battery charge level: 2.994 / 9.7924
Total charge level (all battery charges summed): 68.862 / 225.226
Some very strange steering segments night of Sunday 3/7. For instance segment ru34_2021_065_0_2
heading error showed triangle wave, fin similar. MUST look at this. Did it for 3-4 segments.
Final use report:
^W 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/#mission/#segment)
os w/s w/m os errors warnings oddities
0 simdrvr -
1 test_driver -
2 ARGOS* I u -1 20 5 0
3 WATCHDOG I u -1 -1 -1 0
4 DEADMAN I u -1 20 5 0
5 CONSOLE* I u -1 20 5 0
6 GPS I u -1 20 5 0 [ 0 0 0] [ 40 1 1] [ 0 0 0]
7 attitude_rev I u 3 20 5 0
8 ocean_pressure I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 198 0 0]
9 vacuum I u 3 20 5 0
10 battery I u 3 20 5 0
11 air_pump I u 3 20 5 0
12 pitch_motor I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 131 0 0]
13 science_super I u 3 20 5 0 [ 0 0 0] [ 8 1 0] [ 54 2 0]
14 digifin I u 3 20 5 0 [ 0 0 0] [ 7 0 0] [ 552 2 1]
15 altimeter I u 3 20 5 0
16 IRIDIUM* I u -1 20 5 0 [ 0 0 0] [ 0 0 0] [ 92 2 0]
17 leakdetect I u 3 20 5 0
18 recovery -
19 coulomb I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 72 0 0]
20 veh_temp I u 3 20 5 0
21 BUOYANCY_PUMP I u 3 20 3 0
22 DE_PUMP -
23 HD_PUMP -
24 thruster -
devices:(t/m/s) errs: 0/ 0/ 0 warn: 55/ 2/ 1 odd:1099/ 6/ 1
Recovered by Chip Haldeman and Nicole Waite aboard R/V Rutgers.
Comparison CTD cast performed with SB19 s/n 1581 and ballast tank laptop.
1 abort since changing fin, right after. Not sure if settings are holding or not though, will check that in a day or so. Winds are dieing down.
Sped glider up, bad currents.
get x_fin_max = 0.450000 rad
get x_fin_deadband = 0.020000 rad
Original values:
get f_fin_deadzone_width = 0.060000 rad
get f_fin_safety_max = 0.510000 rad
Set u_max_altimeter to 10 for the shallows. It appeared to do well, but yo envelope was tight at 4 m off bottom. Trying 3.25. Potentially all much better without altimeter filter.
https://marine.rutgers.edu/~dkaragon/glider_profile_plotting/ru34/ru34_2021_046_0_14_Sampling.png
Check into strange timestamps? on CTD data.
Much more bottom sampling. Not sure why, if it keeps up will have to target an MBD.
Turned off altimeter filter, hopefully that was the cause.
If not higher min_altitude.
Will be toggling CC on/off to get some speed out of this. Also migrating north in anticipation of 'noreaster.
Weird science ---> main file transfer:
s -num=5 *.sbd *.tbd *.vem *.azf *.asc
--------------------------------
208980 89 00150044.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
208993 93 Neutering the Freewave Console
SciDos>SCI: Implicitly limiting total transfer to 1800 secs, representing 180 KB total size
SCI: Enumerating and selecting files
About to send 11 files
Prechecking is not necessary for this invocation
START
**B00000000000000
Starting zModem transfer of 00150044.tbd to/from ru34 size is 7819
Total Bytes sent/received: 1024
Total Bytes sent/received: 2048
Total Bytes sent/received: 3072
Total Bytes sent/received: 4096
Total Bytes sent/received: 5120
Total Bytes sent/received: 6144
Total Bytes sent/received: 7168
Total Bytes sent/received: 7819
zModem transfer DONE for file 00150044.tbd
Starting zModem transfer of 00150044.sbd to/from ru34 size is 16684
Total Bytes sent/received: 1024
Total Bytes sent/received: 2048
Total Bytes sent/received: 3072
Total Bytes sent/received: 4096
Total Bytes sent/received: 5120
Total Bytes sent/received: 6144
Total Bytes sent/received: 7168
Total Bytes sent/received: 8192
Total Bytes sent/received: 9216
Total Bytes sent/received: 10240
Total Bytes sent/received: 11264
Total Bytes sent/received: 12288
Total Bytes sent/received: 13312
Total Bytes sent/received: 14336
Total Bytes sent/received: 15360
Total Bytes sent/received: 16384
Total Bytes sent/received: 16684
zModem transfer DONE for file 00150044.sbd
Bottom sample from previous mission analysis: unsure of why it hit bottom, potentially due to the last accepted altimeter hit providing a positive altitude_rate. If the code is the same as copy on hand that means it ignores turning around by altimeter or water_depth.
emailed TWR about solutions and updates.
Bad hit occurred at about 3.5 m from bottom. Perhaps increasing min altitude to near 4 m could help prevent.
Unsure if this is a G3S issue, an ru34 altimeter issue, or what but its a little unusual.
Single Bottom sample yesterday evening. Backed off the bottom but safer move might be to raise min altimeter from 2 to 3.5 m. Need to re-look at sample from the previous mission. Can't remember if it was filter that might have ignored the hits, as bottom appears in both to be drifting deeper.
ru34_2021_044_0_8_Sampling
CTD, optode every +6th yo, more listening.
Loaded 11 est
# ru34
# 2020/8/5 dkaragon initial
# 2020/10/2 dkaragon removed fin safety max, maxed, preloaded pitch deadband
# 2020/10/5 dkaragon trying 4 deg instead of 4 pitch deadband
# 2020/10/15 dkaragon seems to be flying OK u_hd_fin_ap_run_time 12 but needs more fin so db back to .04 from .06, need more SBD to see how its doing on diff error needs more dgain it appears
# 2020/10/24 dkaragon 1.5,.01,7 running great maybe just a touch more integrated .15 or .125
# 2020/12/11 dkaragon flying very well this last mission, leave heading deadband on, works well when its flying well.
sensor: u_reqd_depth_at_surface(m) 2.15
sensor: u_hd_fin_ap_run_time(secs) 8
sensor: u_hd_fin_ap_gain(1/rad) 1.50
sensor: u_hd_fin_ap_igain(1/rad-sec) 0.015
sensor: u_hd_fin_ap_dgain(sec/rad) 6.00
sensor: u_hd_fin_ap_hardover_holdoff(sec) 30.0
#sensor: u_heading_deadband(rad) -1
#sensor: u_pitch_ap_deadband(rad) 0.07 # .07 = 4 deg
# Slowing the pitch down - 10/7/20 took a quick look at ru34 dbd and it looks like defaults do well, it runs hot until about 6 m down and then starts doubling
sensor: u_min_pitch_ap_period(sec) 2 # runs no faster
sensor: u_max_pitch_ap_period(sec) 60 # runs at least this often
Lithium Ion Set: Orsted
u_reqd_depth_at_surface 2.75
Set VEMCO to 600 sec status query. Think we were using longer last time.
u_max_altimeter 10
Haven't loaded ru34.mi, will soon.
Instruments running every +5th yo. 21 deg pitch
**Update - Optode in-house check done on 1/21/2021
Confirmed payload/cals are same from 2020 deployments:
ctd 9646 pumped: 2020-01-17
optode 1504: 2019-09-26 factory cal; 11/13/2020 in-house check
dmon 3A231D06: no cal date
RXLive 457001: no cal date
OS: 10.01
Deployed by Nicole Waite and Chip Haldeman aboard the R/V Rutgers out of Tuckerton, NJ, USA.
