pump abort, glider may have developed a brake/pump problem similar to history on ru07

pump stuck moving inward, witnessed it during surface test as well

re-ran mission

yo stop_when 60 sec
4.75 m from surface

Reset goto to -1 initial waypoint

u_max_bottom_slope .4
u_hovering_frac_nom_dive_rate .3

Still impacting occassionally, backed off bottom slope filter and trying to get glider to better detect being 'stuck'.

Took optode timestamp out of TBD

3.25 off bottom, 5 off surface

Also note: no altimeter lag/inaccuracy when the filter is disabled. Our bottom samples matched where glider said altimeter was minus 1 meter for pitch angle glider pressure sensor.

Dropped optics out of the TBD, changed CTD to no longer sample at surface.

Set optics to sample 1st yo and every 24th beyond that.

Climbing to 5.25 m

Attempting the setting u_max_bottom_slope(m/m)=0.04 which is defined as altitude / horizontal

.15 D battpos: lessen pitch just a little

sbd/tbd catch up script is on

Fixed battpos flying:
.2 in D
-.5 in C

Angles look good, perhaps a bit steep on the dives, but will run overnight.

Increased climb_to depth to 5.5 m to help surface time in turning GPS and other surface sensors on.

Lowered pump throw to about +- 200 c, turned off optics on downcasts.

Battery drain faster than usual. May try to trim glider up today to see if that helps with power.

That setting seemed to help, back to 3.5 off bottom.

u_max_altimeter 20

This may help get rid of surface reflections and being we're never in > 25 m of water should not impact ability to see bottom.

Increased to 4.5 m

Couple bottom samples, backed off to 4 meters off bottom. At least we have a bottom record now to compare with new altimeter settings.

So far so good, no bottom impacts at 3 m. Next is to check where bottom actually is.

1.5 hour test with altimeter filter off

3 m off bottom

Some slight bottom sampling on a couple segments. Backed off dive to to 5.5 m off bottom.

Almost 2 m discrepancy between altimeter bottom and actual bottom (pressure record)

u_pitch_max_delta_battpos .045

Moved to next waypoint since we overshot the original waypoint.

Science Payload:

ctd-0080
bbfl2s-599
oxy3835-1504

Dimple appears to be from sand. Vacuumed and removed sand and seems to be fixed. High vacuum and storage placed for glider.

Wrinkle noticed in bpump middle right side (port for glider). It was easily rubbed out.

Dimple noticed on right upper side (port upper) that appears to be something behind the diaphragm.