Recovered by Dave Kaminsky and Shannon Smith out of Cape May NJ on DEP vessel.

final recovery waypoints

Fixed the depth 9 m, 2.5 off surface.

Fixed depth for one segment, flew much better.

Trying 4 m off bottom inflection.

u_min_altimeter = 4 m
u_alt_min_post_inflection_time = 2 sec

battpos from .8 on dives to .7

Added recovery point inshore

-74 48.7220 38 55.8310

Offshore wpt changed inshore so glider will be close for recovery Thursday a.m.

-74 35.7050 38 56.1350

U_EXP_ALT_CORRECTION .75 FROM 1.5
REDUCED USAGE MODE OFF

-200 cc dives

2 hour missions, may speed glider up if keeps losing progress on this leg.

+.9 D, -.52 C @ +-180 cc

+- 180 cc, AP pitch

+- 200 cc dive and climbs to slow down. Back to AP pitch

3.5 m off bottom

Strange phenomenon noticed. At 3 meters the glider saw deeper bottoms as it approached. Will have to investigate this as another issue with altimeters. Perhaps u_min_altitude could fix this.

3 m off bottom

Inflect 3.5 m off bottom, lets see how we do.

u_max_bottom_slope .04
u_alt_reqd_good_in_a_row 2
u_min_altimeter 2

Slightly better but lets see how these final settings work.

Previous settings in note did not work, reverted to last mission final settings:
u_min_altimeter = 4 (last mission was 2)
u_max_altimeter = 12
u_max_bottom_slope = 4 (typo, need to fix)

Plan tomorrow is try to make these altimeter settings simpler than having to change all these defaults.

Bottom depth is better now, but its sampling more.

Trying u_min_altimeter 6 and inflecting 4.5 off the bottom to get us flying reliably overnight. More tests tomorrow.

Pitch is steady now and bottom sampling still present. Switching over to experimental altimeter to fix altitude discrepancy:
actual depth = m_water_depth + 1.2 + .3 (ctd pressure height above bottom)
f_altimeter_model -1
u_exp_alt_correction 1.5
u_exp_alt_pwr_stb_time 5

Next step will be to add the altimeter filters to prevent seeing surface if that is a problem. Final step will be to increase height off bottom for inflection.

Some light bottom sampling.

Will try to fix by changing one item at a time, first is fixing battpos to fix pitch angle since it seems to be doing poorly adjusting the battery, perhaps too high a gain combined with 30 m pump over inflect.

Pre-deploy configuration error on TBD lead to no optode data in TBD file.

Re-configured TBD to send back optode. NBD files are too large to transfer to get the optode data.

Changed SBDLIST because x_inflecting was causing too much overhead. This should lower SBD size.

Deployed by Dave Kaminsky, Shannon Harrison aboard EPA RV Clean Waters.

CTD 0103P
Optode 1504 (RU28 original)