Post deploy lithium-ion
117.787 / 225.817 as reported by battery. Glider reported 103 AH used. 225.8-117.8 = 108 used via batteries. Glider under-reported by 5%

Cell Serial Volts Charge_AH Capacity_AH Percent_Charge Percent_Mean_Capacity
____ ______ ______ _________ ___________ ______________ _____________________

1 1364 14.795 5.045 9.786 52 100
2 1365 14.798 5.08 9.828 52 100
3 1373 14.789 4.748 9.791 48 100
4 1385 14.795 5.146 9.782 53 100
5 1394 14.795 5.21 9.809 53 100
6 1396 14.796 4.754 9.822 48 100
7 1410 14.795 5.122 9.791 52 100
8 1412 14.795 5.094 9.768 52 99
9 1428 14.795 5.062 9.844 51 100
10 1429 14.793 4.733 9.829 48 100
11 1432 14.796 4.857 9.758 50 99
12 1439 14.794 5.218 9.881 53 101
13 1454 14.793 5.161 9.85 52 100
14 1457 14.799 4.786 9.791 49 100
15 1458 14.797 5.055 9.682 52 99
16 1464 14.799 5.089 9.802 52 100
17 1468 14.793 5.112 9.853 52 100
18 1484 14.797 5.609 9.876 57 101
19 1502 14.796 4.825 9.848 49 100
20 1527 14.796 6.966 9.872 71 101
21 1533 14.799 5.127 9.876 52 101
22 1537 14.794 4.848 9.836 49 100
23 1540 14.794 5.14 9.842 52 100

File transferred OK via glider/science! chkdsk fixed the file OK. Saved a copy of that in the osbackups folder. Put the zs transferred one in the science backup

00290093.ebd reported unable to copy via flash card. chkdsk reported the size of the logs entry is not valid. Will try to transfer via glider before repairing with chkdsk, and decoding, etc....

NBD and TBD seem fine. Only strange thing appears to be in NLG where science crashed? during a dockzr:
the8x3_filename: 00290093
full_filename: maracoos_02-2021-128-0-93
4235 00290093.nlg LOG FILE OPENED
4235 report_heap_size(): SCI_M_FREE_HEAP=192.5K(197152 bytes)
4235 SCI_M_MIN_FREE_HEAP=176.7K(180952 bytes)
4235 SCI_M_SRAM_FREE_HEAP=1919.0K(1965032 bytes)
4235 SCI_M_SRAM_MIN_FREE_HEAP=1919.0K(1965024 bytes)
4281 82 PROGLET dvl start() called
4281 Opening port 3:J3
4281 9600 baud, N81, line buf: 80, no input data timeout(secs): disabled
4281 bit_raise: Raising bit(0).
4281 Opened DVL data flash file: c:/logs/UE131330.pd0
4281 Opened DVL checksum flash file: c:/logs/checksum.dvl
4281 dvl_run(): 0 error(s) in a row. (5 is fatal)
4281 dvl_run(): 0 error(s) since dvl_begin(). (50 is fatal)
4284 Firmware Version: 67.20a [compiled Jun 9 2020 12:40:57]
4285 dvl_initialize SUCCEEDED
4285 84 PROGLET flbbcd start() called
4285 Opening port 2:J2
4285 19200 baud, N81, line buf: 256, no input data timeout(secs): 15
4285 bit_raise: Raising bit(0).
4285 flbbcd_run(): 0 error(s) in a row. (5 is fatal)
4285 flbbcd_run(): 0 error(s) since flbbcd_begin(). (50 is fatal)
5872 79 Closed DVL data flash file: c:/logs/UE131330.pd0
5872 Closed DVL checksum flash file: c:/logs/checksum.dvl
5872 Removed empty DVL checksum flash file: c:/logs/checksum.dvl
5872 sci_uart_close(3): Closing J3
5872 bit_lower: bit(0) is remaining raised.
5872 Bit(0) raise count is now 2.
5872 bit_close: bit(0) is still in use.
5872 Bit(0) use count is now 2.
5872 80 sci_uart_close(2): Closing J2
5872 bit_lower: bit(0) is remaining raised.
5872 Bit(0) raise count is now 1.
5985 8 Bit(0) raise count is now 0.
5985 sci_uart_close(4): Closing J0
5985 bit_close: bit(0) is still in use.
5985 Bit(0) use count is now 1.
5985 sci_uart_close(8): Closing J1
5985 Bit(2) raise count is now 0.
5985 00290093.nlg LOG FILE CLOSED
4.00 00290093.nlg LOG FILE REOPENED
4.00 report_heap_size(): SCI_M_FREE_HEAP=193.2K(197840 bytes)
4.00 SCI_M_MIN_FREE_HEAP=193.2K(197840 bytes)
4.00 SCI_M_SRAM_FREE_HEAP=1919.0K(1965032 bytes)
4.00 SCI_M_SRAM_MIN_FREE_HEAP=1919.0K(1965024 bytes)
4.00 00290093.nlg LOG FILE CLOSED
5.00 00290093.nlg LOG FILE REOPENED
5.00 report_heap_size(): SCI_M_FREE_HEAP=192.6K(197220 bytes)
5.00 SCI_M_MIN_FREE_HEAP=192.6K(197220 bytes)
5.00 SCI_M_SRAM_FREE_HEAP=1919.0K(1965032 bytes)
5.00 SCI_M_SRAM_MIN_FREE_HEAP=1919.0K(1965024 bytes)
20.00 13 sci_uart_close(8): Closing J1
20.00 Bit(2) raise count is now 0.
20.00 Bit(0) raise count is now 0.
20.00 sci_uart_close(4): Closing J0
20.00 bit_close: bit(0) is still in use.
20.00 Bit(0) use count is now 1.
28.00 15 PROGLET oxy4 start() called
28.00 Opening port 8:J1
28.00 9600 baud, N81, line buf: 150, no input data timeout(secs): 60
28.00 bit_raise: Raising bit(2).
28.00 oxy4_run(): 0 error(s) in a row. (5 is fatal)
28.00 oxy4_run(): 0 error(s) since oxy4_begin(). (50 is fatal)
28.00 16 PROGLET ctd41cp start() called
28.00 Opening port 4:J0
28.00 9600 baud, N81, line buf: 50, no input data timeout(secs): 15
28.00 bit_raise: Raising bit(0).
28.00 ctd41cp_run(): 0 error(s) in a row. (5 is fatal)
28.00 ctd41cp_run(): 0 error(s) since ctd41cp_begin(). (50 is fatal)
91.00 30 00290093.nlg LOG FILE CLOSED

Next surfacing running alongshore line east of buoy, about 5 km. Will change mission if I can, current mission is small box very close to mooring:

b_arg: list_when_wpt_dist(m) 50
# LIST PARAMETERS
b_arg: initial_wpt(enum) -1 # 0 to n-1, -1 first after last, -2 closest
b_arg: num_waypoints(nodim) 4 # num of waypoints in list



# LONGITUDE LATITUDE
-7353.6248 3915.8610
-7353.3091 3915.8598
-7353.3106 3915.6164
-7353.6188 3915.6195

u_reqd_depth_at_surface 2.25

u_hd_fin_ap_dgain 5

Switched to 100_n.mi

Looks like pd0's being created. Also been using ru33's last DVL.ini since deployment, listed below:

UE031854.pd0 236034 2021-05-03 19:06:28
UE031937.pd0 109134 2021-05-03 19:43:42
UE032000.pd0 580356 2021-05-03 20:30:24
UE032040.pd0 565974 2021-05-03 21:09:50
UE032117.pd0 565128 2021-05-03 21:46:52
UE032153.pd0 567666 2021-05-03 22:23:28
UE032231.pd0 1144638 2021-05-03 23:30:52
UE032339.pd0 1149714 2021-05-04 00:39:14
UE040043.pd0 1148868 2021-05-04 01:43:06
UE040146.pd0 1082034 2021-05-04 02:43:24
UE040302.pd0 2289276 2021-05-04 05:02:34
UE040514.pd0 2281662 2021-05-04 07:13:56
UE040728.pd0 2279970 2021-05-04 09:27:44
UE040941.pd0 2267280 2021-05-04 11:40:46
UE041155.pd0 2279124 2021-05-04 13:55:14
UE041410.pd0 2268126 2021-05-04 16:10:02
UE041618.pd0 2277432 2021-05-04 18:18:14
UE041825.pd0 2287584 2021-05-04 20:26:26
UE042033.pd0 2286738 2021-05-04 22:34:40
UE042244.pd0 2267280 2021-05-05 00:44:34
UE050052.pd0 2272356 2021-05-05 02:53:24
UE050302.pd0 2278278 2021-05-05 05:03:28
UE050511.pd0 2270664 2021-05-05 07:12:14
UE050720.pd0 2269818 2021-05-05 09:20:42
UE050928.pd0 2257128 2021-05-05 11:28:40
UE051136.pd0 1696230 2021-05-05 13:07:10
UE051315.pd0 603198 2021-05-05 13:47:56
UE051353.pd0 386622 2021-05-05 14:14:30

28 files





SciDos>type dvl.ini

WD111100000
WB1
WN30
WP00010
WF0088
WS50
BP001
BX00800
TP00:00.00
EA4500
EX00000
EZ10111010

Pressure sensor was 3+ m shallow (reading -3 out of water) on first MBD despite zero'ing when first placed in water. Many zero's later it has calmed. Currently it appears to drift deeper over time, ie: during a surfacing or during a segment. Re-zeroed it recently. It is reporting m_depth of up to a meter on surfacings. Be careful with u_reqd_depth_at_surface for this one.

Bottom sampling during shallow.mi. Altimeter readings were about ~2 m shallow based on pressure and boat depth finder of 17 m. Looked into this deeper and found scale factor for speed of sound would not fix it. Only an offset would properly do so. ru30 deployed same time, similar offset of 2.25 m. Same with ru34 early 2021 mission offset of 2.5 m. Not sure why this is. Altimeter hits are constant level as glider dives meaning speed of sound is fairly close and its consistent and accurate, just offset. Wonder if it has something to do with the voltage divider circuit or A2D.

Altimeter filter turned off and m_altitude_rate set to -1

u_reqd_depth_at_surface 2.75

OS 10.4
CTD SN# 9698P cal'd: 2021-02-25
FLBBCD SN# 6649 cal'd: 2021-01-27
Optode4831 SN# 893 2020-06-21 in house CAL: 2021-04-30
Pathfinder DVL, ADCP SN# 673159 no cal dates