Optode removed for 2015-01-05 LTER deployment

Equipped with SB:
CTD SN 0139
FIRE SN 01
OPTODE SN 970

Navigation bug never figured out, flew remainder of the mission with magnetic compass missions.

Recovered by Travis Miles aboard RV Araon

Still waypoint control issues, flying by compass bearing.

Still a problem with navigation. Hit a waypoint that was 20 km away.

3 hour missions, still turning FIRE on for full segment about 2 times per day, otherwise its running every 4th yo.

Battery curve looks good so far.

Ran into a navigation bug. When we ran overdepth test mission it had a GPS point before the mission started in a different UTM zone. Whether it was caused by incorrect vehicle speed or UTM switch, it was mis-calulating its bearing to waypoint. Flew straight about 20 degrees off, waypoint distance and bearing were both calculated wrong.

Turning CC off did not fix, restarting mission did not fix, restarting the vehicle fixed the problem. For investigation, look into first missions run by glider, overdepth, etc.

Fire every 4th yo, -4 nth_yo_to_sample. Will turn on for a whole segment in 12 hours.

Next segment trying fire on every other yo. Hopefully boot time will not miss much of the yo.

FIRE is on, diving to 100 m and 2 hour missions, heading north into polynya.

ru24-2014-003-4-0 (0191.0000) is spin segment (compass test), starboard fin, SBD looked good, might need MBD to diagnose more.

Deployed by Travis Miles aboard RV Araon in Amundsen Polynya.