All Notes (33)
Found data for a cast 2022-02-23T141251 SBE0251107
After thruster tried another fly by heading offset.
science has been intermittently turned off.
u_min_water_depth back to 0
Doing thruster test next segment, +-410 cc, 35 deg, 4 Watt due south CC off
Fly by heading offset to currents did not work.
Turned science off last night.
A few days ago did another set of N/S fly by heading
Yesterday attempted fly angle to current and it appeared to not work, fin stayed near 0 and no c_heading updaed, did 50 m dive and downloaded MBD to help diagnose
It somehow got a new autoexec.mi a few days ago, not sure why there was one in folder, should check to make sure it is correct. I typed it to the screen to cross check and a few safe things were checked, phone number, etc.
Mon Mar 14 13:33:16 2022
Another fly by heading, N/S (90 deg to depth averaged), but 26 deg normal pump.
Sat afternoon did an east and then west segment on 1k_n_h mission
two segments last night, 1k_n_h missions flying to approx 355 and then 355-180 deg magnetic, matched rough average DA currents @ 90 deg perp to them.
Speed tests underwater, too many to document. pitch deadband set back to default.
u_min_water_depth 300!!!!! got a false hit but want to leave altimeter on for power reasons.
Speed tests:
DVL off, then a segment at 26/520cc which should be this segment ru36-2022-060-0-100 (0034.0100)
Then 26/820cc which should end at ru36-2022-060-0-105
ru36-2022-060-0-107 should be 35/820cc
Then returning to 26/520 overnight.
Turned off DVL.
1 baseline segment north at normal +-260 @ 26 degrees.
Turning off thruster burst and added some GPS time to surfac10, postfix time. Hopefully helps with the bad hits.
3/7 05:30 which is a dive GPS got a bad hit about 30 km to the NW. It also did a thruster surface burst there.
Wondering if maybe loose antenna is GPS and thruster surface burst causing vibration or interference.
I think that makes 3 potential bad GPS hits, 2 of which were surface bursts but should confirm.
3rd? strange segment (suspected GPS...) looks to be a strange strong reported head current. Not sure why this is, if its from a strange GPS hit or something else.
2022-03-07 08:45 GMT
WARNING! Speed at surface is higher than expected.
M_SURF_WATER_VEL_MAG(49.56) > 2.80 m/s
PD0
SciDos>dir *.pd0
Directory of c:/logs/
VB221539.pd0 3384 2022-02-22 15:40:34
VB231855.pd0 495482 2022-02-23 19:26:52
VB231807.pd0 210654 2022-02-23 18:22:56
VB231937.pd0 104006 2022-02-23 20:34:24
VB232045.pd0 2578832 2022-02-23 22:19:14
VB232248.pd0 2552346 2022-02-24 00:21:44
VB240031.pd0 2521984 2022-02-24 02:03:44
VB240226.pd0 3854682 2022-02-24 04:47:02
VB240501.pd0 3766826 2022-02-24 07:18:56
VB240731.pd0 3888274 2022-02-24 09:53:40
VB241004.pd0 3885044 2022-02-24 12:26:12
VB241241.pd0 3841116 2022-02-24 15:01:48
VB241520.pd0 4604688 2022-02-24 18:08:50
VB241830.pd0 2664116 2022-02-24 20:03:22
69696969.pd0 2687762 2022-02-24 21:48:50
VB242202.pd0 2625832 2022-02-24 23:33:46
VB242343.pd0 2097175 2022-02-25 01:16:06
VB250126.pd0 2110687 2022-02-25 03:00:18
VB250309.pd0 2060580 2022-02-25 04:40:38
VB250449.pd0 2137711 2022-02-25 06:25:00
VB250634.pd0 2117443 2022-02-25 08:08:48
VB250817.pd0 2105620 2022-02-25 09:50:40
VB251001.pd0 2067899 2022-02-25 11:33:32
VB251142.pd0 2129266 2022-02-25 13:17:30
VB251326.pd0 2093797 2022-02-25 15:00:00
VB251510.pd0 2132644 2022-02-25 16:45:04
VB251705.pd0 188042 2022-02-25 18:37:22
VB251900.pd0 2137148 2022-02-25 20:35:54
VB252046.pd0 2112939 2022-02-25 22:20:40
VB252233.pd0 2092671 2022-02-26 00:06:02
VB260014.pd0 2069025 2022-02-26 01:46:20
VB260154.pd0 2134333 2022-02-26 03:29:00
VB260337.pd0 2082537 2022-02-26 05:10:02
VB260518.pd0 2083100 2022-02-26 06:51:14
VB260658.pd0 2111813 2022-02-26 08:32:52
VB260841.pd0 2078596 2022-02-26 10:13:34
VB261023.pd0 2107309 2022-02-26 11:57:04
VB261206.pd0 2067336 2022-02-26 13:38:52
VB261346.pd0 2039749 2022-02-26 15:17:36
VB261525.pd0 2141089 2022-02-26 17:01:04
VB261722.pd0 2083663 2022-02-26 18:55:12
VB261908.pd0 2123073 2022-02-26 20:43:00
VB262054.pd0 2104494 2022-02-26 22:27:44
VB262237.pd0 2074092 2022-02-27 00:09:44
VB270016.pd0 2145030 2022-02-27 01:51:56
VB270208.pd0 2083100 2022-02-27 03:40:44
VB270348.pd0 2014977 2022-02-27 05:18:16
VB270526.pd0 2159105 2022-02-27 07:02:04
VB270710.pd0 2110124 2022-02-27 08:44:04
VB270853.pd0 2118006 2022-02-27 10:27:30
VB271035.pd0 2112939 2022-02-27 12:09:14
VB271217.pd0 2107309 2022-02-27 13:50:48
VB271359.pd0 2142778 2022-02-27 15:34:48
VB271544.pd0 4141991 2022-02-27 18:48:52
VB271858.pd0 4096388 2022-02-27 22:00:20
VB272209.pd0 4198854 2022-02-28 01:16:30
VB280131.pd0 4181964 2022-02-28 04:37:48
VB280448.pd0 4134672 2022-02-28 07:52:36
VB280803.pd0 4205047 2022-02-28 11:10:20
VB281119.pd0 4167889 2022-02-28 14:25:18
VB281441.pd0 4169578 2022-02-28 17:46:30
VB281807.pd0 4200543 2022-02-28 21:13:58
VB282125.pd0 4220248 2022-03-01 00:33:40
VC010042.pd0 4205047 2022-03-01 03:49:16
VC010400.pd0 4213492 2022-03-01 07:07:48
VC010724.pd0 4215744 2022-03-01 10:31:34
VC011043.pd0 4202795 2022-03-01 13:49:44
VC011359.pd0 4160007 2022-03-01 17:04:46
VC011722.pd0 4162259 2022-03-01 20:27:14
VC012043.pd0 4216870 2022-03-01 23:50:56
VC012359.pd0 4196039 2022-03-02 03:05:58
VC020319.pd0 4205610 2022-03-02 06:25:52
VC020638.pd0 4206736 2022-03-02 09:44:52
VC020955.pd0 4179712 2022-03-02 13:01:16
VC021310.pd0 4165637 2022-03-02 16:15:20
VC021631.pd0 4162259 2022-03-02 19:36:22
VC021954.pd0 4135798 2022-03-02 22:58:50
VC022310.pd0 4120034 2022-03-03 02:13:32
VC030225.pd0 4111026 2022-03-03 05:28:06
VC030537.pd0 4212929 2022-03-03 08:44:56
VC030855.pd0 4178586 2022-03-03 12:00:48
VC031212.pd0 4149310 2022-03-03 15:16:40
VC031529.pd0 4359872 2022-03-03 18:43:00
VC031855.pd0 4324403 2022-03-03 22:07:54
VC032220.pd0 4011938 2022-03-04 01:18:38
VC040127.pd0 3950571 2022-03-04 04:23:20
VC040437.pd0 4181401 2022-03-04 07:43:02
VC040755.pd0 4157755 2022-03-04 11:00:08
VC041109.pd0 4086817 2022-03-04 14:11:02
VC041424.pd0 4058667 2022-03-04 17:25:12
VC041736.pd0 4259658 2022-03-04 20:45:14
VC042058.pd0 4266977 2022-03-05 00:07:38
VC050017.pd0 4222500 2022-03-05 03:25:18
VC050336.pd0 4146495 2022-03-05 06:40:52
VC050651.pd0 4113278 2022-03-05 09:54:12
VC051004.pd0 4224189 2022-03-05 13:12:06
VC051319.pd0 4210677 2022-03-05 16:26:34
VC051640.pd0 4145932 2022-03-05 19:45:08
VC052006.pd0 4102581 2022-03-05 23:08:34
VC052324.pd0 4306950 2022-03-06 02:35:32
VC060246.pd0 4213492 2022-03-06 05:53:46
VC060608.pd0 4188157 2022-03-06 09:14:32
VC060922.pd0 4180275 2022-03-06 12:28:18
VC061243.pd0 4157755 2022-03-06 15:48:28
VC061600.pd0 4308076 2022-03-06 19:11:30
VC061922.pd0 4239953 2022-03-06 22:30:40
VC062244.pd0 4216307 2022-03-07 01:51:58
VC070206.pd0 4380140 2022-03-07 05:20:32
VC070532.pd0 4275985 2022-03-07 08:42:46
VC070855.pd0 4221937 2022-03-07 12:03:00
VC071212.pd0 4181964 2022-03-07 15:17:42
VC071533.pd0 4384644 2022-03-07 18:48:20
112 files
no comms was still 3 hours (after we turned for transects) this was triggering no_comms which was using all the pump, changed no comms to 5 hours so that it surfaces for nothing commanded which doesnt use all the pump.
Trying some new control parameters to help steering and maybe less pitch movements? Also longer abort timers.
loadmission ru36.mi
load_mission(): Opening Mission file: ru36.mi
Setting SENSOR u_abort_min_burn_time(sec) value 600.000000
Setting SENSOR u_abort_max_burn_time(sec) value 64800.000000
Setting SENSOR u_reqd_depth_at_surface(m) value 2.250000
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 5.000000
Setting SENSOR u_hd_fin_ap_hardover_holdoff(sec) value -1.000000
Setting SENSOR u_hd_fin_ap_pause_hardover(bool) value 1.000000
Setting SENSOR u_pitch_ap_gain(1/rad) value -1.000000
Setting SENSOR u_pitch_ap_dgain(s/rad) value -1.000000
Setting SENSOR u_pitch_ap_deadband(rad) value 0.079000
Setting SENSOR u_min_pitch_ap_period(sec) value 10.000000
Setting SENSOR u_max_pitch_ap_period(sec) value 60.000000
Heavy starboard fin on average. RBR is on starboard too, so not really sure why. Should figure that out.
First look at gps performance
D1, S1 - 10:<11 , 6:1.4
D2,S2 - 10:.8, 6:1.1
D3,S3 - 10:.8, 6:1.1
So it looks OK, might go after the DBD from the bad hit to see what happened, or just wait until recovery.
May have been the 2nd bad GPS hit.
Adding GDOP and # num satellites to SBD.
Looked over an ru34 surfacing or 2:
Dive 1: 4-5 satt: 2 GDOP, 8 satt : <1
Surface 1: 5:<2, 4:<2.5
Dive 2: 8 -> 9 -> 10: < 2 <1 <1
Surf 2: 6:<2
Bad GPS hit at 2/28 1:30 surfacing. Thruster related? Maybe look at MBD if this keeps up.
MLG:
full_filename: ru36-2022-055-0-57
196123 18 00320057.mlg LOG FILE OPENED
196123 init_gps_input()
196123 behavior surface_3: SUBSTATE 7 ->9 : Turning on thruster burst
196123 sensor: c_thruster_on = 37.6443723731674 %
196124 19 sensor: c_thruster_on = 37.6443723731674 %
196128 20 sensor: c_thruster_on = 37.6443723731674 %
196128 sensor: m_thruster_current = 0 amp
196132 21 sensor: c_thruster_on = 37.6443723731674 %
196132 sensor: m_thruster_current = 0.474 amp
196136 22 sensor: c_thruster_on = 37.6443723731674 %
196136 sensor: m_thruster_current = 0.474 amp
196144 23 behavior surface_3: SUBSTATE 9 ->10 : Waiting for final gps fix
196149 24 disabling Iridium console...
196154 25 sensor: m_gps_status = 2 enum
196154 sensor: m_gps_invalid_lat = 1803.036 lat
196154 sensor: m_gps_invalid_lon = -6448.1678 lon
:OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0608 C_FIN:0.0000
196159 26 sensor: m_gps_status = 2 enum
196159 sensor: m_gps_invalid_lat = 1803.036 lat
196159 sensor: m_gps_invalid_lon = -6448.1678 lon
196165 28 sensor: m_gps_status = 2 enum
196165 sensor: m_gps_invalid_lat = 1803.036 lat
196165 sensor: m_gps_invalid_lon = -6448.1678 lon
196170 29 sensor: m_gps_status = 1 enum
196170 sensor: m_gps_ignored_lat = 1802.4215 lat
196170 sensor: m_gps_ignored_lon = -6506.7085 lon
196175 30 sensor: m_gps_status = 1 enum
196175 sensor: m_gps_ignored_lat = 1802.425 lat
196175 sensor: m_gps_ignored_lon = -6506.7031 lon
196180 31 sensor: m_gps_status = 1 enum
196180 sensor: m_gps_ignored_lat = 1802.4302 lat
196180 sensor: m_gps_ignored_lon = -6506.6988 lon
:OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0753 C_FIN:0.0000
196184 33 sensor: m_gps_status = 1 enum
196184 sensor: m_gps_ignored_lat = 1802.4344 lat
196184 sensor: m_gps_ignored_lon = -6506.6954 lon
196189 34 sensor: m_gps_status = 1 enum
196189 sensor: m_gps_ignored_lat = 1802.4398 lat
196189 sensor: m_gps_ignored_lon = -6506.6884 lon
196195 35 sensor: m_gps_lat = 1802.4449 lat
196195 sensor: m_gps_lon = -6506.6784 lon
196195 sensor: m_gps_status = 0 enum
time set to: 2022-02-28T01:31:51
196196 36 end_gps_input()
2022-02-25 16:58:27 User submitted command to glider: !put u_reqd_depth_at_surface 2.25
Starting 1000 meter N-S transects on next leg
ru36-2022-053-5-44 (0031.0044)
c_DVL_on 15 sec to grab a pd0 file to see how 2m bins and WC are doing
Just 1 segment
Upated dvl.ini to lower correlation threshold per email with Jerry Mullison
WD111100000
WB1
WN20
WC50
WP00010
WF0088
WS200
BP000
BX00800
TP00:00.00
EA4500
EX00000
EZ10111010
500 m dives
New DVL with no Bottom ping (oops, last one had 1 ping)
WD111100000
WB1
WN20
WP00010
WF0088
WS100
BP000
BX00800
TP00:00.00
EA4500
EX00000
EZ10111010
Station keeping last night, 400 m sides (1 box down) and 1 box up = 2 km + 2km
# LONGITUDE LATITUDE
-6448.1233 1809.2013
-6447.8424 1809.2013
-6447.8424 1808.9098
-6448.1233 1808.9098
Was diving to 750 though so as of 2/24 AM going to 900
pd0 check
VB221539.pd0 3384 2022-02-22 15:40:34
VB231855.pd0 495482 2022-02-23 19:26:52
VB231807.pd0 210654 2022-02-23 18:22:56
VB231937.pd0 104006 2022-02-23 20:34:24
VB232045.pd0 2578832 2022-02-23 22:19:14
VB232248.pd0 2552346 2022-02-24 00:21:44
VB240031.pd0 2521984 2022-02-24 02:03:44
VB240226.pd0 3854682 2022-02-24 04:47:02
VB240501.pd0 3766826 2022-02-24 07:18:56
VB240731.pd0 3888274 2022-02-24 09:53:40
VB241004.pd0 3885044 2022-02-24 12:26:12
VB241241.pd0 3841116 2022-02-24 15:01:48
Did coarse sampling rate segment 00300002.mlg
Will try to get pd0 from it.
Changed DVL.ini for this segment onward:ru36-2022-053-4-0 (0030.0000)
Difference from previous mara02 pathfinder missions was 20 bin cells and 1 m bins. Looks like I forgot to turn off bottom tracking ping.
WD111100000
WB1
WN20
WP00010
WF0088
WS100
BP001
BX00800
TP00:00.00
EA4500
EX00000
EZ10111010
OS 10.05
RBR Legato3 CTD sn 207519 cal 7/8/2021
Aanderra Optode 4831 (Oxy4) sn 952 cal 2/14/2021, In-house check 2/3/2022
RDI Pathfinder DVL sn 673159 no cal date currently available, in-house check 2/4/2022
Deployed by Travis Miles, Joseph Gradone, Doug Wilson, Antonio Farchette, and Captain Steve Prosterman aboard R/V Lana June out of St. Thomas, USVI.
