We got to the pool at 2:45 PM due to issues with the DVL. When we checked the robot  in the morning, all sensors worked except the DVL. We wanted to check the LED on top of the DVL to see if it was powered on. To do this, we took the DVL off the capsule, and found that the LED was off, meaning the DVL wasn’t powered. Michael came in and did a thorough check and found that the DVL power cable coming out of the epoxy conducted only when it was at certain angles, meaning the soldering in the epoxy was faulty. As a temporary fix, Michael applied hot glue to keep the wire in a position that it worked. This allowed the DVL to be powered and function normally.

On our way to the pool, we found that the sonar wasn’t screwed on, so we zip tied it in place for now.

At the pool, we double checked the buoyancy and neutral buoyancy offset. We checked all 8 thrusters to see which ones were flipped. We found that the bottom front right thruster was not flipped before but it is flipped now.

We then tuned Z, roll, pitch, and yaw PID. Z, roll, and pitch were tuned well, but yaw could use some more tuning. X and Y still need to be tuned.

We fixed some minor issues in task planning.

We also found that the four outlets in our extension cord weren’t enough to support the switch, monitor, and several laptops. We need to bring a power strip to future pool tests.

After the pool test, when we attempted to take the plate off, we found one of the screws to be stripped. We took off the spindle containing the stripped screw. When we attempted to take the stripped screw off, the screw head separated from its body, leaving the body in the spindle.


  • Finally resumed PID tuning.
  • Corrected flipped state of thrusters.
  • Fixed bugs in task planning.


  • We need a permanent fix for the DVL power issue.
  • Sonar needs to be screwed on
  • Screw body in spindle needs to be removed.