Deployment NameGliderProjectDeployedRecoveredDaysDistancePayload BayOSNotes
ru34-20211120T1900ru34ECO-PAM2021-11-20
19:00Z
2021-12-17
20:40Z
27.3458.5 km964610.05

All Notes (17)

Created by: dkaragon @ 2021-12-23 15:18:33Action Taken

Post lithium check (ru34 orsted li pack)

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

1 208 14.053 6.288 9.853 64 101
2 424 14.044 6.976 9.835 71 101
3 431 14.05 6.608 9.847 67 101
4 436 14.046 7.332 9.846 74 101
5 437 14.047 0 9.8 0 100
6 445 14.046 2.12 9.787 22 100
7 464 14.051 6.754 9.678 70 99
8 468 14.045 6.937 9.821 71 101
9 469 14.04 4.153 9.646 43 99
10 492 14.052 7.355 9.818 75 101
11 517 14.052 6.912 9.795 71 100
12 544 14.064 1.973 9.625 20 99
13 970 14.077 2.14 9.828 22 101
14 975 14.073 2.04 9.546 21 98
15 977 14.065 2.044 9.904 21 101
16 983 14.068 1.954 9.904 20 101
17 991 14.08 2.115 9.711 22 99
18 1043 14.064 2.058 9.665 21 99
19 1052 14.064 2.07 9.749 21 100
20 1054 14.068 2.083 9.885 21 101
21 1055 14.073 2.07 9.65 21 99
22 1056 14.067 1.977 9.625 21 99
23 1058 14.069 2.108 9.761 22 100
24 1193 14.054 2.198 9.837 22 101
25 2995 14.048 6.751 9.678 70 99

Mean battery charge level: 3.8006 / 9.7638
Total charge level (all battery charges summed): 95.016 / 244.094

Created by: dkaragon @ 2021-12-20 21:18:44Informational
Modified by: dkaragon @ 2021-12-20 21:18:51

Recovered by Chip Haldeman, Nicole Waite, and 2 RUMFS techs aboard RV Rutgers. 1645 CTD cast performed.

Created by: dkaragon @ 2021-12-20 21:18:19Action Needed

^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] [ 110 6 1] [ 0 0 0]
7 attitude_rev I u 3 20 5 0
8 ocean_pressure I u 3 20 5 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] [ 91 7 5]
13 science_super I u 3 20 5 0 [ 0 0 0] [ 2 0 0] [ 38 0 0]
14 digifin I u 3 20 5 0 [ 0 0 0] [ 1 1 0] [ 533 20 1]
15 altimeter I u 3 20 5 0
16 IRIDIUM* I u -1 20 5 0 [ 0 0 0] [ 0 0 0] [ 64 0 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] [ 78 2 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: 113/ 7/ 1 odd: 804/ 29/ 6
^R 88463 41 behavior surface_4: User typed Control-R, resuming

Created by: dkaragon @ 2021-12-17 00:52:24Informational

Switched to every +12th yo a few days ago, switching to -12th yo now for more listening overnight.

Optode has been on only downcasts for a bit to test noise levels.

Created by: dkaragon @ 2021-12-14 16:07:20Informational

Updated SBDmin, removed some sensors won't put that on until cache file updated. Need to update mara02 to 10.05 to get cache.

Created by: dkaragon @ 2021-12-14 16:05:03Action Needed

Pitch motor OOD, same as last mission. Pitch DB 3 to 3 didn't seem to help. So increasing pitch motor DB to .125 from .1, see if they go away, if not should try .5

12 pitch_motor I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 84 11 0]

last reading 84 total / 24 days = 3.5 / day

Created by: dkaragon @ 2021-12-08 15:54:00Informational

Doing slow file transfer, small packet thing, for awhile now. Not sure why? Cloud cover?

Created by: dkaragon @ 2021-12-06 00:02:37Action Needed

Glider decided to swim north for a segment? Take a look at why later...

Created by: dkaragon @ 2021-12-01 15:26:41Action Taken

Last mission did the data segment dropout problem too.

Emailed TWR. Seems consistent. After mission abort or mission stop, when you re-run mission, science error about 60 seconds in.

Safe thing might be to cycle science power after start/stopping a mission.

Created by: dkaragon @ 2021-12-01 14:23:47Action Needed
Modified by: dkaragon @ 2021-12-01 14:24:16

Another lost data segment: ru34-2021-332-0-0 (0039.0000)

File transfer -> hangup -> science error -> behavior abort -> auto resequence mission, then the segment above and no data.
TBD was 8.7 KB
Starting zModem transfer of 00390000.tbd to/from ru34 size is 8735

But then you decode it it has 1 just row of data.

Other strange stuff:
s -num=4 *.sbd *.tbd *.vem *.azf *.asc

--------------------------------
7538 78 00390000.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
7549 81 Neutering the Freewave Console
SSKgAAAAgACQAEAAIAAUvRABUABgAAAAfz/AApAAYAAgAA56sAUQAJAAcAAAJDAG8ABAACAAAAEQ
EBAAQAAAACiSQCAQAHAAAAAgviA=kACgAHAAQ3Ow50
CYaSSXwPVBFVuCDEH0AQGngaLBmIGKg31
CYaSSbAANEuV6CDEH0AYH/wf/B3oGEQYbBgo40
CYaSShABNBElLCDEH0AgG2waxBlsGGAYSBiQGIAYF42
CYaSSkABtBGhjCDEH

SciDos>SCI: Implicitly limiting total transfer to 1800 secs, representing 180 KB total size




SEQUENCE: Running 100_nw.mi on try 0
Starting Mission: 100_nw.mi
timestamp: Mon Nov 29 10:57:30 2021
load_mission(): Opening Mission file: 100_nw.mi
Setting SENSOR c_science_send_all(bool) value 0.000000
Setting SENSOR c_science_all_on_enabled(bool) value 0.000000
Setting SENSOR u_dbd_sensor_list_xmit_control(enum) value 3.000000
Setting SENSOR u_sci_dbd_sensor_list_xmit_control(enum) value 2.000000
Vehicle Name: ru34
Curr Time: Mon Nov 29 10:57:30 2021 MT: 232850
DR Location: 3858.727 N -7417.606 E measured 0.065 secs ago
GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago
GPS Invalid : 3858.389 N -7416.702 E measured 1639.89 secs ago
GPS Location: 3858.770 N -7417.622 E measured 1589.99 secs ago
sensor:c_wpt_lat(lat)=3906.6667 33009 secs ago
sensor:c_wpt_lon(l

not found>yo*.ma<
not found>goto_l*.ma<
not found>sample*.ma<
not found>surfac*.ma<
[dockzr | dockszr] [?][-v N][-nosmartdir][-f rf | irid][-cd dir][-noremove] [-archive]
[-d ] ...
[[-d ... ] ... ]

on)=-7429.4743 33009 secs ago
sensor:m_battery(volts)=15.5277195323713 6.959 secs ago
sensor:m_coulomb_amphr(amp-hrs)=51.7723980000015 7.055 secs ago
sensor:m_coulomb_amphr_total(amp-hrs)=52.2149040000011 7.059 secs ago
sensor:m_depth(m)=0.022546443660874 6.87 secs ago
sensor:m_digifin_leakdetect_reading(nodim)=1023 11.332 secs ago


not found>*.dat<
not found>*.ini<
not found>*.cfg<
[dockzr | dockszr] [?][-v N][-nosmartdir][-f rf | irid][-cd dir][-noremove] [-archive]
[-d ] ...
[[-d ... ] ... ]

sensor:m_gps_mag_var(rad)=0.216420827247297 1590.03 secs ago
sensor:m_iridium_attempt_num(nodim)=0 1055.51 secs ago
sensor:m_iridium_call_num(nodim)=2165 1306.63 secs ago
sensor:m_iridium_dialed_num(nodim)=2757 1330.64 secs ago
sensor:m_leakdetect_voltage(volts)=2.49221611721612 22.968 secs ago
sensor:m_leakdetect_voltage_forward(volts)=2.48220390720391 22.932 secs ago
sensor:m_leakdetect_voltage_science(volts)=2.48162393162393 22.897 secs ago
sensor:m_tot_num_inflections(nodim)=58199 1653 secs ago
sensor:m_vacuum(inHg)=9.30040417582418 6.963 secs ago
sensor:m_water_vx(m/s)=0.005987225745516 1083.49 secs ago
sensor:m_water_vy(m/s)=-0.078443638746111 1083.5 secs ago
sensor:u_max_altimeter(m)=12 1e+308 secs ago
sensor:u_min_water_depth(m)=0 1e+308 secs ago
sensor:u_use_current_correction(nodim)=1 1e+308 secs ago
sensor:x_last_wpt_lat(lat)=3854.9114 33009.1 secs ago
sensor:x_last_wpt_lon(lon)=-7411.7708 33009.1 secs ago
start_alldevices()

PARSED iridium_phone_data for datum# 0: ===========
predial initialization cmds (from c:/config/iridinit.0):
ATE
AT+cbst=6,0,1
AT+CSQ
dial string: ATD0088160000592
from sensors:
C_IRIDIUM_LEAD_ZEROS
C_IRIDIUM_PHONE_NUM
Iridium login script (from c:/config/loginexp.0): empty or non-existent

PARSED iridium_phone_data for datum# 1: ===========
predial initialization cmds (from c:/config/iridinit.1):
ATE
AT+cbst=6,0,1
AT+CSQ
dial string: ATD0017818711614
from sensors:
C_IRIDIUM_LEAD_ZEROS_ALT
C_IRIDIUM_PHONE_NUM_ALT
Iridium login script (from c:/config/loginexp.1): empty or non-existent

PARSED iridium_phone_data for datum# 2: ===========
predial initialization cmds (from c:/config/iridinit.2):
ATE
AT+cbst=6,0,1
dial string: ATD0017818711051
from sensors:
F_IRIDIUM_LEAD_ZEROS_FACTORY
F_IRIDIUM_PHONE_NUM_FACTORY
Iridium login script (from c:/config/loginexp.2): empty or non-existent
Running algorithm to free disk space if required
Not necessary to delete any files at this time
Scanning free space...
Megabytes used on c: = 190.671875
Megabytes available on c: = 7684.328125
Megabyte

Created by: dkaragon @ 2021-11-29 15:07:39Action Needed
Modified by: dkaragon @ 2021-11-29 15:09:46

Science super: no data for a segment. It was after a sequence -resume (changed yo file).
MissionName:100_nw.mi MissionNum:ru34-2021-329-0-0 (0038.0000)
13 science_super I u 3 20 5 0 [ 0 0 0] [ 1 1 0] [ 9 2 0]

data file empty, 1 row, yet still file is 10 KB vs 12 KB for next segment which had data??

DBD2ASC created very little. I would retry the TBD file from glider and then the EBD to see if there's data in any. Maybe it transferred improperly?

Created by: dkaragon @ 2021-11-26 03:15:38Informational

Changed pitch DB to something larger a few days ago.

Changed all sensors to every +6th yo, from 5th. More listening still getting a few yo's segment.

Created by: dkaragon @ 2021-11-22 20:03:09Informational

Switched to minimum SBDlist.dat sbdmin.dat

new ru34.mi loaded
load_mission(): Opening Mission file: ru34.mi
Setting SENSOR u_abort_min_burn_time(sec) value 600.000000
Setting SENSOR u_abort_max_burn_time(sec) value 28800.000000
Setting SENSOR u_reqd_depth_at_surface(m) value 2.000000
Setting SENSOR u_hd_fin_ap_run_time(secs) value 12.000000
Setting SENSOR u_hd_fin_ap_gain(1/rad) value 1.500000
Setting SENSOR u_hd_fin_ap_igain(1/rad-sec) value 0.015000
Setting SENSOR u_hd_fin_ap_dgain(sec/rad) value 6.000000
Setting SENSOR u_hd_fin_ap_hardover_holdoff(sec) value 30.000000

Setting SENSOR u_min_altimeter(m) value 3.700000
Setting SENSOR u_max_altimeter(m) value 12.000000
Setting SENSOR u_alt_reqd_good_in_a_row(nodim) value 2.000000
Setting SENSOR u_alt_filter_enabled(bool) value 0.000000
Setting SENSOR u_min_pitch_ap_period(sec) value 2.000000
Setting SENSOR u_max_pitch_ap_period(sec) value 60.000000

Created by: dkaragon @ 2021-11-22 18:09:34Informational

u_reqd_depth_at_surface 2.3 Will try to get that down to < 2, maybe 1.75 or 1.8 if we can.

loadmission ru34 after first shallow:

Setting SENSOR u_reqd_depth_at_surface(m) value 3.000000
Setting SENSOR u_hd_fin_ap_run_time(secs) value 8.000000
Setting SENSOR u_hd_fin_ap_gain(1/rad) value 1.500000
Setting SENSOR u_hd_fin_ap_igain(1/rad-sec) value 0.015000
Setting SENSOR u_hd_fin_ap_dgain(sec/rad) value 6.000000
Setting SENSOR u_hd_fin_ap_hardover_holdoff(sec) value 30.000000
Setting SENSOR u_min_altimeter(m) value 3.700000
Setting SENSOR u_max_altimeter(m) value 12.000000
Setting SENSOR u_alt_reqd_good_in_a_row(nodim) value 2.000000
Setting SENSOR u_alt_filter_enabled(bool) value 1.000000
Setting SENSOR u_min_pitch_ap_period(sec) value 2.000000
Setting SENSOR u_max_pitch_ap_period(sec) value 60.000000


Will be re-loading a newer version of that soon.

Created by: dkaragon @ 2021-11-22 18:05:38Action Needed

Turned altimeter filter off 2021-11-21 20:12:14. RIght now I think that was the reason it was hitting bottom in < 15 m water.

Worth analyzing first segments.

Also discrepancy in actual bottom vs altimeter bottom.

Filter off will decrease distance flying off bottom and see how close we can go.

Created by: lgarzio @ 2021-11-20 20:45:57Informational

OS 10.05
Seabird CTD sn 9646 cal 6/26/2021
Wetlabs FLBBCD-SLC sn 6312 cal 6/17/2020
Aanderaa Optode 5014W sn 1504 cal 4/27/2021 In-house check 11/19/2021
DMON sn 3A231D06 no factory cal Head s/n 111
Vemco RXLive sn 457001 no cal date

Created by: lgarzio @ 2021-11-20 20:43:43Operations

Deployed by Nicole Waite and Chip Haldeman aboard R/V Resilience out of Tuckerton, NJ.