Changed sample48.ma (flbbcd, ecopuck) to sample on dives only to conserve power.

Station keeping at the Flower Garden Banks National Marine Sanctuary (FGBNMS)

Fourth underwater reset.

unit_308-2022-08-12T21:16 - Glider unit_308 started initial.mi at time 2022-10-19 11:00:38, earliest unacknowledged instance reported at 2022-10-19 11:00:34, last reported at 2022-10-19 11:00:34

GliderDos N -1 >loadmission unit_308.mi

load_mission(): Opening Mission file: UNIT_308.MI
Setting SENSOR u_abort_min_burn_time(sec) = 600.000000
Setting SENSOR u_abort_max_burn_time(sec) = 64800.000000
Setting SENSOR u_reqd_depth_at_surface(m) = 2.750000
Setting SENSOR u_use_current_correction(nodim) = 0.000000
Setting SENSOR u_hd_fin_ap_run_time(secs) = 16.000000
Setting SENSOR u_hd_fin_ap_gain(1/rad) = 1.500000
Setting SENSOR u_hd_fin_ap_igain(1/rad-sec) = 0.015000
Setting SENSOR u_hd_fin_ap_dgain(sec/rad) = 6.000000
Setting SENSOR u_hd_fin_ap_hardover_holdoff(sec) = 30.000000
Setting SENSOR u_pitch_ap_gain(1/rad) = -1.000000
Setting SENSOR u_pitch_ap_dgain(s/rad) = -1.000000
Setting SENSOR u_min_pitch_ap_period(sec) = 2.000000
Setting SENSOR u_max_pitch_ap_period(sec) = 60.000000

GliderDos N -1 >sequence 200_n.mi(5)

third underwater reset of unit_308, reloaded unit_308.mi

unit_308-2022-08-12T21:16 - Glider unit_308 started initial.mi at time 2022-10-04 20:09:56, earliest unacknowledged instance reported at 2022-10-04 20:09:51, last reported at 2022-10-04 20:09:51

GliderDos N -1 >loadmission unit_308.mi

load_mission(): Opening Mission file: UNIT_308.MI
Setting SENSOR u_abort_min_burn_time(sec) = 600.000000
Setting SENSOR u_abort_max_burn_time(sec) = 64800.000000
Setting SENSOR u_reqd_depth_at_surface(m) = 2.750000
Setting SENSOR u_use_current_correction(nodim) = 0.000000
Setting SENSOR u_hd_fin_ap_run_time(secs) = 16.000000
Setting SENSOR u_hd_fin_ap_gain(1/rad) = 1.500000
Setting SENSOR u_hd_fin_ap_igain(1/rad-sec) = 0.015000
Setting SENSOR u_hd_fin_ap_dgain(sec/rad) = 6.000000
Setting SENSOR u_hd_fin_ap_hardover_holdoff(sec) = 30.000000
Setting SENSOR u_pitch_ap_gain(1/rad) = -1.000000
Setting SENSOR u_pitch_ap_dgain(s/rad) = -1.000000
Setting SENSOR u_min_pitch_ap_period(sec) = 2.000000
Setting SENSOR u_max_pitch_ap_period(sec) = 60.000000


GliderDos N -1 >sequence 200_n.mi(5)

Some false hits on the shelf break.

Operating System: 8.2

Instruments:

Seabird CTD
9013
2/11/2022

Wetlabs ECO-Puck FLBBCD-SLK
2785
1/19/2022

underwater reset, might be the second one for this glider?


loadmission unit_308.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) 64800 # 18 hrs, at least a tidal cycle, Always drop the weight after this time

sensor: u_reqd_depth_at_surface(m) 2.75

# Steering params
sensor: u_hd_fin_ap_run_time(secs) 16
sensor: u_hd_fin_ap_gain(1/rad) 1.50
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_heading_deadband(rad) -1

# Altimeter settings:
# sensor: u_min_altimeter(m) 3.7 # in, altimeter reading must be between these(inclusive)
# sensor: u_max_altimeter(m) 25.0 # 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

# 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) 0.079 # .079 = 4.5 deg
#sensor: f_battpos_deadzone_width(inches) 0.2 # .2 default
#sensor: f_battpos_db_frac_dz(nodim) 0.625 # .5 default

# Slowing the pitch down - 10/7/20 took a quick look at ru34 dbd and it looks like defaults do well, it runs hot until about 6 m down and then starts doubling
sensor: u_min_pitch_ap_period(sec) 2 # runs no faster
sensor: u_max_pitch_ap_period(sec) 60 # runs at least this often


resequenced 200_nw.mi