Deployment NameGliderProjectDeployedRecoveredDaysDistancePayload BayOSNotes
ru28-20220520T1425ru28ROWLRS2022-05-20
14:25Z
2022-06-10
15:07Z
21.2333.7 km91048.30

All Notes (12)

Created by: waite @ 2022-06-13 16:14:46Operations

Recovered by Nicole Waite, Kaycee Coleman, and Joey O'Brien on R/V Petrel with Capt. Steve Evert (Stockton vessel).
Recovered with RU34.
Comparison CTD cast done with ballast tank laptop and SB19 s/n 1581.

Created by: dkaragon @ 2022-06-08 19:12:31Informational

All science first yo only, changed TBDlist

u_science_low_power 0

Created by: waite @ 2022-06-02 19:12:54Informational

currents yesterday brought the glider south of the Orsted control area and towards 10 fathom banks. RU28 faired better than RU34 and recovered from the currents. Heading to corner of the "L" now and will station keep waiting for RU34 to catch up.

Created by: dkaragon @ 2022-05-25 17:33:53Informational

Glider was being stubborn on right pitch angles, not sure if gain too low or what. So turned the gain up and trying .35 rad = 20 deg instead.

Created by: dkaragon @ 2022-05-25 17:30:17Informational

queried azfp and did a time check on it

Parameters - 2022 05 25 17:05:51.21 [
]Deployment Parameters[
]Number of boards... 3 [
]Board 0 BoardFreq. 38 [
]Board 1 BoardFreq. 125 [
]Board 2 BoardFreq. 200 [
]SoundSpeed .... 1450.50 [
]Output ............ FLASH [
]ACQ Start Date .... 2022 5 4 20 9 8[
]NumPhases ......... 1 [
]P01 Start Date .... 2022 5 4 20 9 8[
]P01 Duration(days). 67.9818 [
]P01 Phase Type........ Normal [
]P01 PingPeriod ....... 1 [
]P01 BurstInterval..... 2 [
]P01 PingsPerBurst..... 1 [
]P01 AverageBurstPings. 0 [
]P01 F1 BoardFrequency.. 38 [
]P01 F1 acquire......... 1 [
]P01 F1 PulseLen ....... 750 [
]P01 F1 DigRate (hz).... 40000 [
]P01 F1 RangeSamples.... 5500 [
]P01 F1 LockOutIndex.... 0 [
]P01 F1 RangeAvgSamples. 55 [
]P01 F1 StorageFormat... linear [
]P01 F2 BoardFrequency.. 125 [
]P01 F2 acquire......... 1 [
]P01 F2 PulseLen ....... 500 [
]P01 F2 DigRate (hz).... 40000 [
]P01 F2 RangeSamples.... 5500 [
]P01 F2 LockOutIndex.... 0 [
]P01 F2 RangeAvgSamples. 55 [
]P01 F2 StorageFormat... linear [
]P01 F3 BoardFrequency.. 200 [
]P01 F3 acquire......... 1 [
]P01 F3 PulseLen ....... 500 [
]P01 F3 DigRate (hz).... 40000 [
]P01 F3 RangeSamples.... 5500 [
]P01 F3 LockOutIndex.... 0 [
]P01 F3 RangeAvgSamples. 55 [
]P01 F3 StorageFormat... linear [
]Dir c:\DATA[
]C:\DATA\202205

2022/05/06 07:56 PM[
]c:\DATA\202205\20220506.LOG 61 2022/05/06 08:01 PM[
]c:\DATA\202205\22050619.DPL 1343 2022/05/06 07:59 PM[
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]c:\DATA\202205\22050918.XML 5793 2022/05/09 06:55 PM[
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]c:\DATA\202205\22050919.01A 271208 2022/05/09 07:10 PM[
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]c:\DATA\202205\22050919.XML 5793 2022/05/09 07:17 PM[
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]******[
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Created by: dkaragon @ 2022-05-25 17:16:36Informational

load_mission(): Opening Mission file: RU28.MI
Setting SENSOR u_reqd_depth_at_surface(m) value 2.000000
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_alt_reduced_usage_mode(bool) value 0.000000
Setting SENSOR u_alt_reqd_good_in_a_row(nodim) value 1.000000
Setting SENSOR u_alt_filter_enabled(bool) value 0.000000
Setting SENSOR u_min_altimeter(m) value 2.000000
Setting SENSOR u_max_altimeter(m) value 12.000000
Setting SENSOR u_alt_min_depth(m) value 1.000000
Setting SENSOR m_altitude_rate(m/s) value -1.000000
Setting SENSOR u_hd_fin_ap_run_time(secs) value 8.000000
Setting SENSOR u_hd_fin_ap_gain(1/rad) value 1.650000
Setting SENSOR u_hd_fin_ap_igain(1/rad-sec) value 0.015000
Setting SENSOR u_hd_fin_ap_dgain(sec/rad) value 7.000000
Setting SENSOR u_hd_fin_ap_hardover_holdoff(sec) value 15.000000
Setting SENSOR u_hd_fin_ap_pause_hardover(bool) value 0.000000
Setting SENSOR u_pitch_ap_gain(1/rad) value -2.000000
Setting SENSOR u_pitch_ap_dgain(s/rad) value -1.000000
Setting SENSOR u_pitch_ap_deadband(rad) value 0.052400
Setting SENSOR f_battpos_deadzone_width(inches) value 0.200000
Setting SENSOR f_battpos_db_frac_dz(nodim) value 0.500000

Created by: dkaragon @ 2022-05-23 18:50:44Informational

Fin was limited by longterm.sta, changed :
put f_fin_deadzone_width .06
put f_fin_safety_max .47

Also changed azfp.ini to every 30 messages

Created by: waite @ 2022-05-23 15:35:29Informational

loadmission ru28.mi

# ru28 Custom Config
# 8/14/2014 initial based on 2014 NJDEP 1
# 8/15/2015 disabled the filter; I don't think it does anything useful
# 2018/9/20 added lengthened abort timers
# 2022/05/22 dkaragon added the good stuff over from ru34's.mi; pause integrator 1 for the azfp mission, might help


# General
sensor: u_reqd_depth_at_surface(m) 2


# 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) 12
sensor: u_alt_min_depth(m) 1
# Avoid old bug
sensor: m_altitude_rate(m/s) -1


# Steering params
sensor: u_hd_fin_ap_run_time(secs) 8
sensor: u_hd_fin_ap_gain(1/rad) 1.65
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_hd_fin_ap_pause_hardover(bool) 1
#sensor: u_heading_deadband(rad) -1

# Pitch params
sensor: u_pitch_ap_gain(1/rad) -1.0 # -3 default
sensor: u_pitch_ap_dgain(s/rad) -1 # 1 default
sensor: u_pitch_ap_deadband(rad) 0.0524 # 0.0524 = 3 deg
sensor: f_battpos_deadzone_width(inches) 0.2 # .2 autoexec ru28
sensor: f_battpos_db_frac_dz(nodim) 0.5 # .5 default autoexec ru28

Created by: waite @ 2022-05-20 19:26:24Informational

current correction off

optics to every 3rd yo
AZFP downcasts only
TBDList to yo_duty_cycle 3

Created by: waite @ 2022-05-20 19:25:20Informational

Shallow.mi segment number 0560.0000 for CTD comparison cast.
Comparison cast done with SB19 s/n 1581 and ballast tank laptop.

loadmission deploy.mi prior to test missions:
# Altimeter settings:
sensor: u_min_altimeter(m) 3.7 # in, altimeter reading must be between these(inclusive)
sensor: u_max_altimeter(m) 12.0 # the maximum range of the altimeter
sensor: u_alt_reqd_good_in_a_row(nodim) 2
sensor: u_alt_filter_enabled(bool) 0
sensor: m_altitude_rate(m/s) -1 # negative avoid the bug

Created by: lnazzaro @ 2022-05-20 19:07:29Informational

Operating System: 8.3

Instruments:

Type (Make/Model)
Serial Number
Calibration Date
Notes (in-house cal date, etc)

Seabird CTD pumped
9104p
5/9/21

WetLabs FLBBCD-SLC
4156
8/16/21

ASL AZFP
59006
10/24/17
38,125,200 kHz

Created by: lnazzaro @ 2022-05-20 19:06:07Operations

Deployed by David Aragon, Kaycee Coleman, Brian Buckingham aboard R/V Petrel with Capt. Steve Evert out of Port Republic, NJ.