All Notes (15)
Rough recovery, damaged wing and carbon hull.
Nose + fore hull twisted 45 deg on SB, maybe from when carbon hull took impact?
Approx 200+g of ballast on top of glider.
Recovered Mar 22, 2022 around 12:30pm local time by Nicole Waite and SeaTow AC aboard Swiftrunner.
Pump seemed to work OK at surface and most occurrences of m_ballast_pumped in data files showed it working OK. Must have been sub-level routines that noticed it not working.
Eventually after some od.mi attempts pump 'stuck' at -120 cc. Pitch agrees with pump value. A few attempts to move it gave vel = 0.0000000 so either POT is broken or brake is broken? Or circuit fried?
Aborted for buoyancy pump. 'not reading position' on a climb to dive transition. MBD shows pump may have lagged 1-2 cycles before moving but that could be normal. Need DBD to determine exactly when the dive occurred.
Previous pump oddities from mission were OOD that didn't look like much.
Same segment as abort it seems like on the first climb to dive it got held at surface? Pump was all the way in according to m_ballast_pumped but it was stuck at surface for a minute before diving. Very strange.
Nothing in roll from that, heading it got turned 50 deg starboard, pitch was flat so flat at surface? Need NBD or EBD there to cross check pressure sensors, but it looks fairly real.
Falling behind on files and long surface times, switching TBD to every 3rd yo and FLBBCD to match -3
Abort for overdepth. Mission only had overdepth limit set to 50m. Fix mission, overdepth set to 104m.
loadmission blue.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) 36000 # 10 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) 2
# Avoid old bug
sensor: m_altitude_rate(m/s) -1
# STEERING
#sensor: u_hd_fin_ap_gain(1/rad) 1.500
#sensor: u_hd_fin_ap_igain(1/rad-sec) 0.01
sensor: u_hd_fin_ap_dgain(sec/rad) 5.00
sensor: u_heading_deadband(rad) 0.087
sensor: u_heading_rate_deadband(rad/s) 0.0087
sensor: u_hd_fin_ap_deadband_reset(bool) 0 # true - reset integrator, false hold integrator
sensor: u_hd_fin_ap_hardover_holdoff(sec) 60.0
Switched to fixed battpos flying last night. Glider is under-stable so batt fwd climbs, aft dives.
For next mission need to stabilize it more but perhaps its just external ballast on top.
optics sampling to -2, every other yo
Something strange with pitch/battery control. Its moving it a lot. Not sure if something is set in longterm or what. For now fixed battpos flying on hours make sure its fixed before evening over.
3 hour missions, full depth.
Flight actually looking a bit better to full depth.
OS 8.3
Seabird CTD sn 9699P cal 2/26/2021
Sea-Bird ECO Triplet flbbcdslc sn 4474 cal 6/4/2019
Aanderra Optode 3830 sn 1273 cal 4/9/2021
(2) 1 hour missions to 20 m; switching to full depth and 3 hour missions, possibly. Strongly considering 1 hr mission to full depth.
Glider extremely light; pulled on board 3 times to add weight. 3rd iteration finally allowed overdepth.mi to complete. Ran shallow; still a bit light, almost 5 degrees stbd roll. Will need to keep an eye on it in more dense waters.
Deployed by Richard Arena, Captain Jarret Drake and First mate aboard F/V Encourager out of New Bedford, MA. Post-deployment CTD cast performed.
