Recovered by Matt and Josh on Palmer RHIB, ~9 miles from Palmer Station in the canyon.

High vacuum abort - suspect air bladder pop. Vacuum continues to rise, currently at 14.09.

ABORT HISTORY: last abort cause: MS_ABORT_VACUUM
ABORT HISTORY: last abort details: Vacuum: 12.40 inHg
ABORT HISTORY: last abort time: 2020-02-21T17:15:38
ABORT HISTORY: last abort segment: unit_507-2020-048-0-86 (0116.0086)
ABORT HISTORY: last abort mission: 1K_N.MI


suspect that air bladder is the original purchased on this glider, from circa fall 2014 - so 5 years old.

loadmission unit_507.mi

load_mission(): Opening Mission file: UNIT_507.MI
Setting SENSOR u_reqd_depth_at_surface(m) value 2.250000
Setting SENSOR u_abort_max_burn_time(sec) value 72000.000000
Setting SENSOR u_max_water_depth_lifetime(yos) value 0.000000
Setting SENSOR m_altitude_rate(m/s) value -1.000000
Setting SENSOR u_alt_reqd_good_in_a_row(nodim) value 3.000000

Recovered for inspection and data offload roughly 2/16 10 EST

Shorting plug for imagenex seems to have corroded/failed. Also corrision/pitting on right angle connector out of science bay.

TA300209.853 768 01-30-20 2:09a
TA300212.853 1,100,032 01-30-20 3:28a
TA300500.853 687,360 01-30-20 5:47a
TA300650.853 545,536 01-30-20 7:27a
TA300821.853 479,744 01-30-20 8:54a
TA300944.853 485,120 01-30-20 10:17a
TA301109.853 545,536 01-30-20 11:47a

7 file(s) 3,844,096 bytes
0 dir(s) 1,691,484,160 bytes free

Changed mission required heap to 35000 from 50000. Did it after the 7th total abort, 6? for no_heap.

sensor: u_reqd_depth_at_surface(m) 2.25
sensor: u_abort_max_burn_time(sec) 72000 # drop weight after 20 hours in abort mode, up from 4

UAF Waypoints:

0 always
1-2 for offshore cross only
3-8 always
9-42 for offshore cross only
43-62 always

can change gotos any time after it hits 43 and before it hits 0 to start or stop cross canyon line

goto_l10.ma.long_version.NS.cur = just along canyon points

goto_l10.ma.long_version.NSEW.cur = includes offshore cross canyon and along canyon points

TBD a little heavy pushing 60 KB, backed off sampling rate from 12 sec to 16 seconds

new goto - run an across canyon line offshore, and then resume the along canyon line.

!!! Repeat this once every 1.5-2 weeks !!!

Lowered pump throw a bit, slow the glider down a touch, should help strain on lithiums too since 8.3 has high res battery voltage. Otherwise pump looks OK, drooping to about 9.5 V at 750 m so lowered mission to 9 V undervolts. About 5 A at 750 m.

Lowered SBD file size (removed high res battery and current)

Surface depths look stable, can probably lower u_reqd_depth_at_surface a bit to 2.25

sending to Swarm along canyon line. Running 1k_nw.mi

loadmission unit_507.mi - adjust altimeter settings


# 2019/1/1 dkaragon initial
# 2019/1/2 dkaragon eased off fin limits for better steering with azfp, altimeter hits on krill, it turned around early even with u_alt_min_depth I think because of old hit
# 2020/1/10 dkaragon initial UAF

sensor: u_reqd_depth_at_surface(m) 3
# sensor: u_abort_max_burn_time(sec) 72000 # drop weight after 20 hours in abort mode, up from 4

# sensor: f_fin_safety_max(rad) .41

# Altimeter settings
sensor: u_alt_min_depth(m) 150
sensor: u_min_water_depth(m) 200
sensor: u_max_water_depth_lifetime(yos) 0
sensor: m_altitude_rate(m/s) -1
sensor: u_alt_reqd_good_in_a_row(nodim) 4

.853 check:
A120629.853 394,240 01-12-20 6:56a
TA120725.853 374,784 01-12-20 7:51a
TA120840.853 385,536 01-12-20 9:06a
TA120935.853 377,344 01-12-20 10:01a
TA121049.853 384,256 01-12-20 11:15a
TA121145.853 361,728 01-12-20 12:10p

300 m dives close date every 30 to 45 seems good

back off altimeter settings to avoid false hits from maybe krill layers? settings based on RU32 settings from AZFP mission for LTER in 2019 (ru32-555/ru32-20190102T1317).

!!!! 100 m !!!!!! alt/water limits


loadmission unit_507.mi

sensor: u_reqd_depth_at_surface(m) 3
# sensor: u_abort_max_burn_time(sec) 72000 # drop weight after 20 hours in abort mode, up from 4
# sensor: f_fin_safety_max(rad) .41
# Altimeter settings
sensor: u_alt_min_depth(m) 100
sensor: u_min_water_depth(m) 225
sensor: u_max_water_depth_lifetime(yos) 0
sensor: m_altitude_rate(m/s) -1
sensor: u_alt_reqd_good_in_a_row(nodim) 4



Increasing to 4 pings for bottom - May have to increase it further to 5 or 6 before see any difference but want to make sure real bottoms still have time. (for the LTER mission ended up using 6).

adjusted yo to dive to 450m... no undervolts since. But, most dives only down to 350m or so

potential false altimeter hits

Abort for undervolts on segment 0096.0002 during inflection at 450m.

Sent on a 300m dive, increased battery info in sbdlist. Segment 0097.0000. No undervolts abort

Tried 450m again, segment 0097.0002, aborted for undervolts again.


Dave compared this glider to other deep gliders in Antarctica, and the behavior of it is the same. It appears that the new software version, 8.3, running on unit_507, the battery voltage samples faster, which is why it is picking up the undervolts.
Lowered undervolts threshold from 10 to 9.5.

No CTD cast performed on deployment. Other Swarm gliders (UD_476 and RU32) will all station keep together for a bit to cross-compare CTDs.

OS 8.3
CTD S/N 9221 (cal'd 2014-08-20)
FLBBCD S/N 3948 (cal'd 2014-11 01)
Imaginex 853 Echosounder S/N 8357 (cal'd 2019-07-01)
Rinkoll Optode S/N 0032 (cal'd 2014-11-01)