When opening glider, pitch battery was not connected (not screwed in) -- glider flew fine during mission, no signs of pitch battery disconnected.

Plotting pitch data does show a change in dive pitch beginning on 3/17 14gmt - climbs unaffected though. Would suspect issues climbing if pitch battery really was disconnected during mission. Very strange.

Leak was in science bay aft - leak at puck (flbbcd-slk). SLK's are known to fail in cold cycling - glider kept outside in jeep night before deployment (-4C that night) and then deployed in 4C waters.

Optics and LISST sampling every 3rd.

!put u_hd_fin_ap_igain .02

!put u_reqd_depth_at_surface 2

loadmission ru28.mi

# 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) 0
sensor: u_alt_reqd_good_in_a_row(nodim) 1
sensor: u_alt_filter_enabled(bool) 0

sensor: u_min_altimeter(m) 2.0
sensor: u_max_altimeter(m) 8.5

sensor: u_alt_min_depth(m) 1

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


# STEERING
sensor: u_hd_fin_ap_gain(1/rad) 1.50
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) 45.0

GliderOS: 8.5

CTD s/n 0103p - cal date: 2/21/2020
FLBBCD s/n 2797 - cal date: 8/20/2012
Optode 3835 s/n 971 - cal date: 2/13/2020; in-house check: 1/21/2021
LISST s/n 7003 - zscat in lab: 3/9/2021


RU28 science bay, sensors, pump
RU32 tail