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Making Some Progress Towards Recovery

Hey All,

I just wanted to leave everyone with a quick recap of what has happened over the past few days:

Our team of pilots and technicians from RU and TWR have been working hard analyzing the steering data from Challenger trying to get her to fly better.  Last week, she started spinning occasionally on her dives and so we have been working to try and diagnose the problem and apply a fix.

We have also officially decided that we will recover in St Helena.  With Challenger just 480 km from the northern shore, Tina Chip and Dave have continued contact with the travel agencies that are familiar with the island.  Through here we have been able to confirm that we are able to get to the island by flying into Cape Town South Africa and taking a 5 day ride abord the RMS St Helena.  Today we also received confirmation that we will be able to get a new set of lithium batteries shipped to where we will need them in order to re launch Challenger after the recovery operation.  Chip was even able to secure us a ~40 ft sailboat as long as we are able to get to the island before the end of August.

To the north, Silbo continues to drift, now just 900 km from French Guiana as our friends up at TWR continue to try and find a way to rescue our brave little droid.  Sunday the 23 marks the 2 year anniversary since Silbo was deployed up in Iceland at the beginning of his journey.

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The Two Towers

Hey All,

This week has been a busy one- and that by far is an understatement.  Abroad, our PI’s have been traveling in Norway, meeting at Oceans 13 MTS IEEE and taking part in CODAR Training (http://www.oceans13mtsieeebergen.org/)

Back home in the COOL room, we hosted glider training where Dave Aragon and Tina Haskins trained members from Orb Lab (University of Delaware), Texas A&M, Korean Polar Research Institute, Rutgers and the Naval Academy.

From left to right in the image above: Austin Melillo (RU), Alex Brecht (USNA), Tina Haskins (RU), Collin Dobson (RU), Ruth Perry (TAMU), Brendan Kahle (USNA), Karen Dreger (TAMU), Nilsen Strandskov (RU), Danielle Haulsee (UD), Matt Breece (UD), Megan Cimino (UD), Jeff Mart (RU), Danielle Quinonez (USNA), Danielle Ferraro (UD), Dave Aragon (RU).

Over the week, Challenger’s navigation capabilities have taken a turn for the worse as she has begun to spin on her dives:

In the plot above of the latest heading data, on the first dive we can see the measured heading go off the top of the plot and jumping back on the bottom, signifying a spin to the right.  The cause of this spin is not quite known, but Scott Chip Dave and a number of members from TWR have been working on diagnosing the problem.  As for now, the probability of Challenger making it to Ascension is waning and so we have shifted our sights to St Helena

Just 510 km away, Chip has been making contacts on the island to see what our options for inspection and recovery.

Finally, by turning to the south, we have for the most part avoided any possible interaction with what Antonio has named the two towers:

 

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A Road to St Helena

Hey All,

With the end of the week approaching, I would just like to leave you all with an update on our three ocean models plus a special surprise from our friends at the University of Las Palmas Gran Canaria.

In the three images below, I have outlined a path based off of todays forecast that will get us towards St Helena the quickest. The distances are all quite similar, ranging from 540 to 610 km.

MyOcean Data Set

 

RTOFS Data Set

 

HyCOM Data Set

And last but not least, Antonio and his group provided us with a new 3D map of the seafloor and the seamounts that lay ahead.

Pinzon 4D Bathymetry

 

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went down to the cross roads

Hey All,

Today I finally made some progress, creating a map of the RTOFS data at depth, allowing us to see the sub surface currents that dictate the forces behind Challenger’s movements.

This now lands us with 3 road maps, all providing us with a various views into the depths of the oceans.

In the image above, HyCOM (the bulkier vectors), RTOFS (blue vectors) and myocean (red vectors) all show a strong flow to the north at depth (300m is shown) with various tendencies following depending on which model you refer to.  Seeing this consistency is  remarkable, however Challenger’s depth average currents are in disagreement, showing a current flowing strong to the south east, following the trend seen since we left the South African Shelf of an overall flow to the east.

It is possible that this is simply due to a lack of data fueling the models as there is a large gap in the locations of the drifters in the area.  Speaking with Antonio today, he provided us with a very interesting theory.  Pointing out that since we left the shelf and started flying deep, we have seen currents flowing in some way to the east, Antonio suggested that this may be a replenishment of the upwelling zone that covers most of the western coast of Africa.  The logic behind the theory is that the water coming up to the surface does flow from the west to the east sub surface before rising up along the shelf.  It could be possible that this is the eastward flow Challenger has been seeing.

We also hypothesize that this flow will be broken up by the line of sea mounts that lay ahead of us:

But getting to this line has become an issue.

As I have mentioned previously, Challenger has been performing sub par since we have regained contact after the no coms from May 15-25.  Since then the glider has been much more sporadic in her flying and much slower as well. Because of this, our testing continues as we try and diagnose the problem and see what we have to work with and from there extrapolating the data to see what our options are over the next few months.

From our daily glider meeting, we made a time line of tests to run on the next three surfacings.  For the surfacing that occurred just moments ago, we increased the data being pulled from the sbd files during file transfer to confirm that by flying in low power mode, the science computer is fully turning on and off as we think. This is an important question for us to determine how much battery power we have to work with. Chip also told Challenger to collect data on both the down and up casts on the CTD that way we can confirm it is working properly after our 10 days at the surface. Finally, we increased the pitch angle to 30˚ in an attempt to increase our velocity.

For tomorrow’s surfacing, we plan on turning the CTD completely off to get a better feel on how much power the increased pitch angle will actually draw over a 3 yo segment.  And then on the following segment,  we will increase the pitch further to an angle of 35˚ to see what effects that has on our speed and battery power. This issue has become more daunting as we get a better handle on the velocities Challenger has been hitting along with the remaining battery power.  With our decrease in speed and the projected further rate of decay, it is looking like it may take us upwards of 145 days to reach Ascension.  With only having roughly 180 days of battery left, there are some big decisions headed our way.

Finally the last alteration we made was that we added a new way point to Challengers repertoire.  Over the past day, the currents had rotated a bit to the south east, resulting in a flow that was contradicting our attempt at progress in nearly the opposite direction.  So after a discussion with Scott, we moved the way point a bit to the south, hoping to cause less of a struggle against the current, but also to keep our options open.

We are just about 600 km from St Helena.  So as we continue our tests to asses the state of our glider, we figured it would be wise to keep this island in mind as a last resort if it turns out that it is too risky to push onwards. From there, we may even do a short mission as we did with Silbo’s run from the Azores to the Canary Islands, taking Challenger with a pack of alkaline batteries (much more easily transported than lithiums) and continuing our flight to Ascension.

In other news, Silbo is continuing to drift at the surface as we weigh our options for a recovery mission for the poor guy

Since blowing his weight and becoming a drifter on May 19, Silbo has made roughly 100 km progress westward.  Now just 1280 km from Barbados, we can only hope he can continue to drift towards the islands where it will be much easier to conduct an emergency rescue.

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June 2 Update

Hey All,

As the weekend comes to an end, Challenger is continuing to push onwards as we try and pave a way to Ascension.

According to the myocean model (white vectors) and the HyCOM model (green) the currents at depth should be flowing to the north.  However, Challenger is continuing to show that the currents are flowing to the west.

On Friday, I was able to get the myocean model working on our end once again to create the road map below, showing two potential paths, both roughly 1700 km from Challengers location to Ascension.  That afternoon, we were able to get a new way point in to the north west and made the switch to fly with the standard presets on the glider flight parameters.  As we discussed before, these factory presets should allow us to fly in a more ideal manner that we will look into tomorrow with our team.  Tomorrow will also find us looking further into the rtofs model to try and create a similar map of the currents at depth to give us more insight as to how we should fly.

 

 

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Defining the Pitch

Hey All,

So after a few more tweaks to our flight parameters, Dave has been able to get Challenger flying well again.  The issue we had run into over the past few days that had us worried was that the gains we had flown with before the reset were no longer working as we had planned to make the glider fly to our ideal standards.  However, after analyzing the data from our test dives and applying some adjustments, Dave was able to smooth out our flying and get us to a stabilized flight path.

Plot of Challenger’s heading error from Wednesday May 29 before the applied fixes

Plot of Challenger’s heading error after the applied fixes

In the first image, we had been able to get Challenger to fly well at full throttle, but when we tried and slow down to save some energy, our heading error went off the charts.  Looking into this, Dave concluded that there is something going on with the steering and vertical velocity when we fly at slower speeds.  In the mean time while we work to try and fix this issue, we will continue to fly fast which looks much better as shown in the second image.

Although we now have a glider that is proving to fly well through the water, our batteries took a hefty toll to get us to this point.  During the period of the siesta in which we had no communications with Challenger for 10 days from May 15-25, the glider flew within just the few meters of the surface, causing the pump to move in and out constantly.  Being that the pump is one of the most energy draining parts of glider, this continuous activity siphoned off a decent amount of the battery life, leaving us with just 176 days remaining.

An outline of the area from Challenger to Ascension Island

With an understanding of our energy budget and using an estimate that we can fly 15 km / day, that puts us at about 110 days of flying until we reach Ascension, with a 66 day cushion to help us deal with unfavorable currents and the logistics of getting a team out there for a recovery and re battery mission.

Navigation however has been difficult since the siesta as there has been a strong eastward flow preventing us from flying with as much of a westward component as we would like.

Because of this we are focusing on creating maps of the currents sub surface. By this afternoon, I plan on having a runway defined from our current location to Ascension (outlined with the 4 push pins in the image above) that will give us some more insight on the conditions we will be dealing with.

Finally, this week we welcomed some new members to our team.  Three Midshipmen from the Naval Academy and two Rutgers undergraduates will be interning with us for the summer.

Brendan Kahle, Alex Brecht, and Danielle Quinonez will spend some time this summer looking at the ocean models to help with navigation for Challenger on her way to Ascension while also delving in the Pacific and finding a path we will be able to fly with the new Thermal Gliders we will receive later this year

Collin Dobson and Jeff Mart will also be working with us this summer continuing their work from the previous semester looking into a comparison between the data collected by our Long Duration Gliders and the ocean models.

 

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Not quite out of the woods yet

Hey All,

As the team continues to run tests on Challenger and analyze the data, we are continuing to run into complications.

Last night, Challenger was flying pretty well, however we were still flying with full throw on the pump.  With this intensity, the batteries last significantly less than with the settings we have flown previously, so Dave gave the command to slow the glider down.  When this happened, the heading error looked like the plot above, which signifies something is wrong. This afternoon into the evening Dave worked on visualizing the data and running more tests on Challenger, hoping to diagnose the problem.  We are hoping that tomorrow we will get a better handle on what is going on.

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Onwards and Upwards

Hey All,

Over the past two days, Dave Tina and Chip have been running missions and pouring over data to determine the state that Challenger is in after what Antonio and the team has called her ‘siesta’.  These tests have included a process called ‘stepping down’ which included running dives to 60m, 400m, 750m, single dives to 1000m and now dual 1000m dives.  These have all been successful which has now led to focusing on the steering and energy budget.  The steering has proven to be a little out of whack, similar to what we saw off the coast of South Africa, but there is speculation this will be reduced after we reduce the throw on the pump and slow the glider down a bit- a project for early this week.

On top of the excellent news that Challenger is not only in contact with us again, but capable of flying, yesterday she became the first RU glider to Cross the Prime Meridian!

To the North, Silbo is continuing to drift at the will of the surface currents. Luckily, these currents are continuing to overall flow in the northwest direction, pushing Silbo slowly but surely towards the Caribbean.

 

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First Contact

Great News Everyone!!!

After 10 days of silence, Challenger has finally called in!!!

Early this morning, there was an abort due to an error in the GPS system that was able to knock Challenger out of the infinite loop she was stuck in.  She then called in and Dave and Tina jumped into action taking hold of the glider, replacing the bad file that got us into this mess, and setting the glider to drift until morning when a plan can be discussed among the group.

I will update everyone further later today.

Force Wind Sea & Honor!!

S.O.S

Hey All,

So just when we thought we have had enough bad news after last weeks issues with Challenger, we have now run into complications with Silbo.

 

Yesterday afternoon, Silbo ran into an issue with his pump, resulting in the ejection weight being triggered, turning Silbo into a drifter. No longer being able to fly, we are now at the will of the surface currents which has resulted in the c shape turn to the North.

One stroke of luck we have had, is the research ship Knorr is currently just 200 nautical miles north of Silbo’s location along the Mid-Atlantic Ridge. Although we don’t have any details on the research they are doing, they should be in this region for a couple weeks.

We are hoping this surface current persists pushing us northward while the ship is still in the area, that way as long as it is not too inconvenient for them the ship could possibly conduct an emergency recovery of Silbo.

As for Challenger, it has been over 130 hours now since last contact, and we are all still sitting on edge waiting for any word

Force Wind Sea & Honor

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