ru36 Lithium Ion

4hr hover mission, thruster at 4.5W, 800m. DVL off during hover portion but on during dive and climb

Started an 8hr hover at 850m. Thruster at 7W.


Loaded sbdlist.min

Segment: ru36-2022-312-0-0-sbd (00960000)
Seems to have helped, made progress west against the currents!

Did thrusting yo's, down and up at 4W overnight. Steep pitch at 35deg.
Segments: ru36-2022-311-2-0 through ru36-2022-311-2-8

Hover mission (1kd_nu.mi) successful. Segment 0093.0000
Hover at 650m for 2hr, Thruster at 5W


Started hover mission, segment 0094.0000
Hover at 850m for 3hr, Thruster at 7W

We have been thrusting on the upcasts with RU36 since Saturday - various thruster power levels.

DVL switched to just downcasts last night.

Loaded this 2nd segment of mission

# ru36
# Adapted from ru34 3/2/2022
# 2022/3/2 dkaragon initial. noticed some near hardover starboard steering on uvi mission with pathfinder. Seeing if can improve the performance there while settling the pitch (not that the pitch is out of control just for better dvl data)

# 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, drop at this time. Assume most missions < 6 hours so 6 hours + 18 = 22 hrs,

#sensor: u_reqd_depth_at_surface(m) 2.25

# Steering params
sensor: u_hd_fin_ap_run_time(secs) 12 # -1 default
sensor: u_hd_fin_ap_gain(1/rad) 1.50 # 1.5 def
sensor: u_hd_fin_ap_igain(1/rad-sec) 0.015 # .02 def
sensor: u_hd_fin_ap_dgain(sec/rad) 5.00 # -4 default
sensor: u_hd_fin_ap_hardover_holdoff(sec) -1 # 120 sec
sensor: u_hd_fin_ap_pause_hardover(bool) 1 # 0 default
#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) 0.079 # .079 = 4.5 deg

# 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) 10 # 2 def, runs no faster
sensor: u_max_pitch_ap_period(sec) 60 # 60 def, runs at least this often

# Random
sensor: u_thruster_burst_freq(hours) -1 # 12 hrs default

# DVL
sensor: u_dvl_debug_level(nodim) 0 # Diagnostic level

RU36 missed a call in, segment ru36-2022-305-4-3, on dive to 850m.
Downloaded sbd and mlg. Flew fine, no issues. Came to surface, attempted to call on iridium before eventually timing out and giving up. Dove again, no comms triggered at 600m, ru36 came to surface and made the call.

Nothing seems out of the ordinary, glider seems fine. Been having iridium issues with RU32 and Sylvia today too.

Did one segment test of bathtub mission (1kd_nu.mi)

MissionNum:ru36-2022-305-5-0 (0089.0000)


hover seed:

sensor: u_hover_bpump_ap_gain_shallow(cc/m) .75 # 1 - default, proportional gain, shallow bpump
sensor: u_hover_bpump_ap_dgain_shallow(cc-s/m) .75 # 1 - default, derivative gain, shallow bpump


# BALLAST PUMP CC
sensor: f_neutral_ballast(cc) 75
sensor: x_hover_ballast_shallow(cc) -50
sensor: x_hover_ballast_deep(cc) -100

# DEPTH
sensor: x_hover_depth_shallow(m) 500 # the shallowest target drift depth
sensor: x_hover_depth_deep(m) 900 # the deepest target drift depth

OS 10.08
RBR Legato3 CTD s/n 207519 cal'd 7/8/2021
RDI Pathfinder DVL s/n 673159 cal'd n/a
Loggerhead LS1 Hydrophone s/n 4371366 cal'd n/a - strap on instrument, no data flow through glider