Recovered and opened by Schuyler N. Not much water at all to be found inside. Sealed up.

Glider recovered via Zodiacs from Palmer. Initial call in report was wing missing and cowling missing.

More to come.

Slammed into some rocks for about an hour early AM. Glider reset a few times. Probably should replace the power plug in the back when it gets refurbished.

landfall lots of resets
front leakdetect triggered briefly

Shot the weight earlier today. Put c_weight_drop 3, just to signify that it was something outside of normal circumstances causing the shoot. Measured is still 1, signifying abort.

Glider surfaced and aborted for high vacuum at end of a surfacing. Appears to be air bladder failure. Drifting with GPS off to prevent it from going out of service.

Lowered abort timer from 12 hours to 2 hours. May consider lowering working/crush depth and/or shoot the weight.

Abort for science_super again. Late, so sending back down.

60 mA AZFP current draw from previous MBD

Adding intermediate waypoint to skirt a berg we're currently aiming for

-6305.5490 -6355.4410

Paranoia changing dive-to to 40 m off bottom...

ru26d.mi created w/ sensor adjustments; in to-glider folder to be tx'ed

u_abort_max_burn_time 43200 (12 hours before dropping weight)
f_fin_deadzone_width .04 (double default)
f_fin_safety_max .35

Fin settings to stop wear and tear on o-ring that can cause leak.

New goto to run home - inshore route

New goto created to cut the corner and run the canyon headed home. In kml_routes folder, not in to-glider yet.

Aborted for compass; Dave sent back down. Should grab mbd to check; perhaps bumped upside down?

ru26d_2018_007_2_50

On surface again for science_super aborts. Science seems to run fine at surface, aside from negative cdom values. Resequenced and sent back down.

Science_super aborts becoming more frequent; going to start working back toward recovery rendezvous location.

Cancelling the canyon run and instituting Christian Reiss's proposed path; will pick up goto on next surfacing and start heading back west.

logging on/off at surface and science data came through fine.

tbd had 0 size, didnt look for NLG probably should have. should take a look post mission unless problem continues.

ABORT HISTORY: total since reset: 3
ABORT HISTORY: last abort cause: MS_ABORT_DEVICE_ERROR
ABORT HISTORY: last abort details: The science_super device driver returned an error.
ABORT HISTORY: last abort time: 2018-01-01T01:39:32
ABORT HISTORY: last abort segment: ru26d-2017-344-6-468 (0421.0468)
ABORT HISTORY: last abort mission: 1K_N.MI

This was different from the science logging surface bug
s -num=2 *.tbd *.sbd

--------------------------------
44704 69 02540000.mlg LOG FILE CLOSED
44819 98 db(#/min/mn/max/sd) pitch_motor 1800 -0.170 0.006 0.166 0.030 in
44819 db(#/min/mn/max/sd) pitch_motor 1800 -75 3 73 13 mV
SCI ERROR: timed out waiting for science to stop loggingGLD: ERROR pausing logging

--------------------------------
Error from CmdDispatch():Error sending files
44827 0 ERROR behavior surface_2: S COMMAND FAILED: s -num=2 *.tbd *.sbd

science super abort

my calculations have it happening at about 00:30 GMT, 4 hours into segment science through this error:
1767322 53 behavior sample_8: SUBSTATE 1 ->3 : Climbing
1767322 behavior sample_7: SUBSTATE 1 ->3 : Climbing
1767535 96 DRIVER_WARNING:attitude_rev:905:Error making periodic measurement
1767554 1 DRIVER_ODDITY:de_pump:0:oil volume out of deadband
:OOD:de_pump_ctrl:OUT OF DEADBAND: M_su:175.6477 C_su:260.0000
:OOD: delta:84.3523 limit:20.0100 over:64.3423
1767554 DRIVER_ODDITY:de_pump:0:pump started because oil volume was out of deadband
1767556 SCI_ERROR:1802:FATAL ERROR from science_reopen_log_files()(): 20000
1767556 DRIVER_ERROR:science_super_ctrl():6:1802:Deferred error from clothesline, See prior oddity
1767556 call_and_queue_if_reqd(): device science_super TAKEN OUT OF SERVICE
1767562 1 ERROR behavior ?_-1: abort_the_mission(0): (16)MS_ABORT_DEVICE_ERROR
1767562 behavior ?_-1: abort_the_mission(): Changing U_CYCLE_TIME from 4.000000 to 15.000000
1767562 save_and_change_sensors()....
Changed u_depth_rate_filter_factor from 4 to -1
Exiting all devices ...
init_all_devices(1):
Device was OUT OF SERVICE, RETRYING: science_super
argos watchdog deadman console
gps attitude_rev ocean_pressure vacuum
battery air_pump pitch_motor science_super
digifin altimeter iridium leakdetect
recovery coulomb veh_temp de_pump
start_alldevices()

PARSED iridium_phone_data for datum# 0: ===========
predial initialization cmds (from c:\config\iridinit.0):
ATE
AT+cbst=6,0,1
AT+CSQ
dial string: ATD0088160000500
from sensors:
C_IRIDIUM_LEAD_ZEROS
C_IRIDIUM_PHONE_NUM
Iridium login script (from c:\config\loginexp.0):
(pending):expect 60 "Open[0D][0A]"

PARSED iridium_phone_data for datum# 1: ===========
predial initialization cmds (from c:\config\iridinit.1):
ATE
AT+cbst=6,0,1
AT+CSQ
dial string: ATD006977818711051
from sensors:
C_IRIDIUM_LEAD_ZEROS_ALT
C_IRIDIUM_PHONE_NUM_ALT
Iridium login script (from c:\config\loginexp.1): empty or non-existent

PARSED iridium_phone_data for datum# 2: ===========
predial initialization cmds (from c:\config\iridinit.2):
ATE
AT+cbst=6,0,1
dial string: ATD0017818711051
from sensors:
F_IRIDIUM_LEAD_ZEROS_FACTORY
F_IRIDIUM_PHONE_NUM_FACTORY
Iridium login script (from c:\config\loginexp.2): empty or non-existent
1767564 behavior ?_-1: Vehicle Name: ru26d
1767564 behavior ?_-1: abort_the_mission(): (16)MS_ABORT_DEVICE_ERROR
1767564 behavior ?_-1: secs since abort started: 3 try num: 0
1767564 behavior ?_-1: depths ini: 954 working: 1050 at risk: 1196 crush: 1200
1767564 behavior ?_-1: expected time/tries to surface: 15366 1024
1767564 behavior ?_-1: max time/tries to go up: 300 20
1767565 behavior ?_-1: too long: 0, not going up: 0, depth sensor busted:0
1767565 behavior ?_-1: abort burn time/tries min: 600 40
1767565 behavior ?_-1: abort burn time/tries max: 14400 960
1767565 behavior ?_-1: ABOVE WORKING DEPTH
1767565 behavior ?_-1: drop_the_weight = 0
Glider-Science software version match: 7.210000
Science hardware version is 1.000000
1767577 sensor: m_depth = 951.653518307838 m
1767581 3 behavior ?_-1: Vehicle Name: ru26d
1767581 behavior ?_-1: abort_the_mission(): (16)MS_ABORT_DEVICE_ERROR
1767581 behavior ?_-1: secs since abort started: 19 try num: 1
1767581 behavior ?_-1: depths ini: 954 working: 1050 at risk: 1196 crush: 1200
1767581 behavior ?_-1: expected time/tries to surface: 15366 1024
1767581 behavior ?_-1: max time/tries to go up: 300 20
1767581 behavior ?_-1: too long: 0, not going up: 0, depth sensor busted:0
1767581 behavior ?_-1: abort burn time/tries min: 600 40
1767581 behavior ?_-1: abort burn time/tries max: 14400 960
1767581 behavior ?_-1: ABOVE WORKING DEPTH
1767581 behavior ?_-1: drop_the_weight = 0
1767583 Iridium has been powered on for 6.5 secs
1767583 Waking up Iridium... sending:ATE1
1767583 Iridium, modem making attempt #3 at primary number (88160000500)
1767584 sensor: m_depth = 950.972625786139 m
1767596 3 behavior ?_-1: Vehicle Name: ru26d
1767596 behavior ?_-1: abort_the_mission(): (16)MS_ABORT_DEVICE_ERROR
1767596 behavior ?_-1: secs since abort started: 34 try num: 2
1767596 behavior ?_-1: depths ini: 954 working: 1050 at risk: 1196 crush: 1200
1767596 behavior ?_-1: expected time/tries to surface: 15366 1024
1767596 behavior ?_-1: max time/tries to go up: 300 20
1767596 behavior ?_-1: too long: 0, not going up: 0, depth sensor busted:0
1767596 behavior ?_-1: abort burn time/tries min: 600 40
1767596 behavior ?_-1: abort burn time/tries max: 14400 960
1767596 behavior ?_-1: ABOVE WORKING DEPTH
1767596 behavior ?_-1: drop_the_weight = 0
1767598 Iridium driver received:[ATE1[0D][0D]]
1767598 Iridium modem matched: OK
1767598 Waking up Iridium... sending:AT+cbst=6,0,1
1767598 sensor: m_depth = 946.94174205768 m
1767611 5 behavior ?_-1: Vehicle Name: ru26d
1767611 behavior ?_-1: abort_the_mission(): (16)MS_ABORT_DEVICE_ERROR
1767611 behavior ?_-1: secs since abort started: 49 try num: 3
1767611 behavior ?_-1: depths ini: 954 working: 1050 at risk: 1196 crush: 1200
1767611 behavior ?_-1: expected time/tries to surface: 15366 1024
1767611 behavior ?_-1: max time/tries to go up: 300 20
1767611 behavior ?_-1: too long: 0, not going up: 0, depth sensor busted:0
1767611 behavior ?_-1: abort burn time/tries min: 600 40
1767611 behavior ?_-1: abort burn time/tries max: 14400 960
1767611 behavior ?_-1: ABOVE WORKING DEPTH
1767611 behavior ?_-1: drop_the_weight = 0
1767613 Iridium driver received:[AT+cbst=6,0,1[0D][0D]]
1767613 Iridium modem matched: OK
1767613 Waking up Iridium... sending:AT+CSQ
1767613 sensor: m_depth = 942.338908610995 m
1767614 SCI:PROGLET house_elf begin() called
1767614 SCI: house_elf: Version 1.2
1767614 SCI:PROGLET ctd41cp begin() called
1767614 SCI: ctd41cp: Version 0.2
1767615 SCI: ctd41cp: Will be sending the following data to glider:
1767615 SCI: sci_water_cond(s/m)
1767615 SCI: sci_water_temp(degc)
1767615 SCI: sci_water_pressure(bar)
1767615 SCI: sci_ctd41cp_timestamp(timestamp)
1767615 SCI:PROGLET flbbcd begin() called
1767615 SCI: flbbcd: Version 0.0
1767615 SCI: flbbcd: Will be sending following data to glider:
1767615 SCI: sci_flbbcd_chlor_units(ug/l)
1767616 SCI: sci_flbbcd_bb_units(nodim)
1767616 SCI: sci_flbbcd_cdom_units(ppb)
1767616 SCI: sci_flbbcd_chlor_sig(nodim)
1767616 SCI: sci_flbbcd_bb_sig(nodim)
1767616 SCI: sci_flbbcd_cdom_sig(nodim)
1767616 SCI: sci_flbbcd_chlor_ref(nodim)
1767616 SCI: sci_flbbcd_bb_ref(nodim)
1767616 SCI: sci_flbbcd_cdom_ref(nodim)
1767617 SCI: sci_flbbcd_therm(nodim)
1767617 SCI: sci_flbbcd_timestamp(timestamp)
1767617 SCI: Opening Bit(30) for output
1767617 SCI:Bit(30) use count is now 1.
1767617 SCI:Bit(30) raise count is now 0.
1767617 SCI:Bit(30) raise count is now 0.
1767619 SCI:PROGLET house_elf start() called
1767619 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal)
1767620 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal)
1767626 5 behavior ?_-1: Vehicle Name: ru26d
1767626 behavior ?_-1: abort_the_mission(): (16)MS_ABORT_DEVICE_ERROR
1767626 behavior ?_-1: secs since abort started: 64 try num: 4
1767626 behavior ?_-1: depths ini: 954 working: 1050 at risk: 1196 crush: 1200
1767626 behavior ?_-1: expected time/tries to surface: 15366 1024
1767626 behavior ?_-1: max time/tries to go up: 300 20
1767626 behavior ?_-1: too long: 0, not going up: 0, depth sensor busted:0
1767626 behavior ?_-1: abort burn time/tries min: 600 40
1767626 behavior ?_-1: abort burn time/tries max: 14400 960
1767626 behavior ?_-1: ABOVE WORKING DEPTH
1767626 behavior ?_-1: drop_the_weight = 0
1767628 Iridium driver received:[AT+CSQ[0D][0D][0A]+CSQ:0[0D][0A][0D]]
1767628 Iridium modem matched: OK
1767628 sensor: m_depth = 936.483232924382 m
1767628 SCI_ERROR:1802:FATAL ERROR from science_reopen_log_files()(): 20000
1767628 DRIVER_ERROR:science_super_ctrl():6:1802:Deferred error from clothesline, See prior oddity
1767628 call_and_queue_if_reqd(): device science_super TAKEN OUT OF SERVICE
Exiting all devices ...
init_all_devices(0):
argos watchdog deadman console
gps attitude_rev ocean_pressure vacuum
battery air_pump pitch_motor digifin
altimeter iridium leakdetect recovery
coulomb veh_temp de_pump1767645 7 DRIVER_ODDITY:de_pump:0:thermal_valve_init: closed the valve

DEVICE OUT OF SERVICE: science_super
start_alldevices()

New goto_l10 to avoid islands and seamounts; will need to watch closely with currents. Still need to shave time off end; perhaps end in canyon at end of new goto, then make deep run back west.

u_reqd_depth_at_surface 4.5 (via script)

Shallow water (< 200 m). Back to 3 yos.

double yo's

Going back to single yos for deep/canyon run.

Next surfacing will pick up goto and yo for canyon run. 2 yos. Hopefully less than 12 parsecs.

Back to 3 yos - shallow water.

Deeper water; starting to surface for nocomms. Reduced to 2 yos rather than extending nocomms past 4 hours.

treble yo's turned it around

Water is much shallower than bathymetry/google earth shows - so u_alt_min_depth 40 (from 80 m)

u_max_water_depth_lifetime 0 on next surfacing

Pretty sure you can't get negative CDOM ppb values:

Looks like this channel might be bad.

-kerfoot

CTD SN 156
FLBBCDSLC 3326

CTD SN 156
FLBBCDSLC 3326

bpump -230/260 to try to match vertical velocities; nocomms backed off to 3.5 hrs

Switching to 2 yo's on next surfacing. 4.5 hr no comms.

tbdlist to 16 second data (from 12). Likely go to 2 yos soon.

Next surfacing - u_alt_min_depth 80 to prevent false hits. Will need to monitor bathymetry during flight!

increased no-comms to 3.5 hours - was throttling dive depths

750 m looks good; going full depth. Single yo for now. Still full throw.

500 m looks good; next surfacing will pick up 750 m

500 m yo tx'ed on last surfacing. Stepping down as 250 has been fine for several yo's.

Script hung in mid state - so STILL 250 m yo, no file tx this time. Couldn't stop it prior to ctrl-r.

Post file transfer, iridium connection seemed to hang. Eventually lost cxn w/ glider; didn't get new .ma tx'ed. Still 250 m yo.

Deployed by Schuyler & crew off Palmer Station @ station E. Had some difficulty initially w/ the status.mi mission aborting; depth sensor sticking at ~6 m. A couple of resets and zero_ocean_pressure cmds, and all seems normal. OD and deep.mi tests looked good; sent to 250 m (max 150 m so far); will adjust depth as bathymetry allows.

FLBBCD is sn #3326, but listed as #3323. #3326 wasn't available in configuration setup.

FLBBCD is sn #3326, but listed as #3323. #3326 wasn't available in configuration setup.

CTD 0156