dynamic operations encountered during iceboat racing
- hiking
- steer out of hike
- ease sheet to end hike
- skipper lean out (DN)
- runners
- runner side slip
- steering
- tacking
- hunting and pecking for wind
- smoke out of the stern steer
- smoke out of the Renegade
- sheeting
- sheeting in
- sheeting out
- ice
- rough ice patches
- pebble ice break away
- springing of components
- mast bend
- plank bend
- springboard bend
- front runner spring (DN)
- start
- jump start speed (with skipper outside boat)
- jump start speed (with skipper outside boat)
- push at start
- ingress of skipper into boat at start
- accelerating up to speed at start
- pointing up to optimal VMG at start
- marks
- windward mark round
- leeward mark round (without hitch) - light air
- leeward mark round (with hitch) - heavy air
- wind
- puffiness of wind
- wind shifts during race
initial conditions at beginning of the dynamic operation
- true wind speed
- true wind direction
- boat speed
- boat angle to true north
- boom angle
- steering runner angle
- steering torque
- hike angle
- runner side slip
- mast bend
- plank bend
- springboard bend
skipper actions during dynamic operation
- do nothing
- adjust front steering angle
- change sheeting tension of boom (ease out, sheet in)
- skipper change weight orientation (lean out, slide forward or backward)[DN]
solution technique for the dynamic operation
- pick delta time increment say (.1 seconds)
- set current time to zero
- determine end condition for the dynamic operation
- manually set overall time of the operation
- automatically end operation when boat reaches some condition
- within x percent of steady state
- boat is at a certain angle to true wind
- boat has just stopped hiking
- if not at end condition add delta time to current time
- set the time increment too small
- increases solution time
- spending computer cycles on something that is beyond the accuracy of the model
- set the time increment too large
- reduces computing time
- inaccurate solution that does not emulate real conditions
- may not converge to an automatic end condition
