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Deployment ru29-20210908T1943
Pilot Notes
Potential rudder issues showed up after 09:30 on 9/23/21 In summary, m_fin tracks c_fin just fine but there is still large m_hdg_error. Digifin oddities showed up gradually, not abruptly. Surface drift roughly S/SE (thankfully). Diagnostic steps taken: 1) 60 m test dive (deep.mi) 2) Moved fin to max ranges at surface, m_fin tracked c_fin 3) 100 m test dive with c_fin = 0 (steered roughly OK but still large m_hdg_error) 4) Ran normal mission to 150 m 5) 100 m test dive with c_fin hardover to -0.4 6) 100 m test dive with c_fin hardover to 0.4
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