Tshiamu tshia mazuwa tshidi tshikoka batangile ku muelelu wa mâyi butuku ne njiwu ya tshimpitshimpi ya buatu idi minyanguke¶
Nomba ya malu a tshimpitshimpi idi mishilangane bilondeshile ditunga. Dibeji edi didi dienza mudimu ne 911, nomba wa ditunga dia États-Unis ne dia Canada. Matunga makuabu a bungi adi ne nomba wa 112, 999 anyi nomba mukuabu. Keba nomba wa ditunga dienu.
Kujuka pa dîba 02:00 ku tshiona tshia GPS tshidi tshikoka nanga mu tshikondo tshia tshipepele tshikole tshia 40-knot padi buatu buebe bua mayi anyi buatu buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda buenda bunyanguka pa muelelu wa mâyi udi ne mabue a bungi (muaba udi lupepele luenda buludiludi), anyi kumvua mutoyi wa tshiamu udi ulonda kudi motere wa tshiamu tshia mitaku udi wenda unyunguluka tshipepele tshiebe propeller shaft udi unyunguluka, udi uleja dijimija dia lukasa dia mazuwa ne lutatu lua bukubi bua muoyo. Padi nanga upatuka mu bitotshi, mu nsenga anyi mu lupela butuku, lupepele lua ku mutu ludi lusaka buatu ku luseke anyi panyima bua kuya ku 1,5 too ne ku 3 nodes; mu tshitudilu tshia mazuwa tshiuwule tente, udi ne tusunsa tukese tua 60 too ne ku 120 kumpala kua kutuilangana ne mazuwa adi apueka anyi kukuluka pa mabue. Wewe mutuadije motere webe bua kuendesha mashinyi ku muelelu wa mâyi au ne wenda unyunguluka pa buatu budi buenda buenda buenda buenda buenda buenda, pa mulongo wa dilamakaja, anyi buatu bua nyama wa lobster, tshiamu tshia nzembu tshidi tshinyunguluka tshidi tshinyunguluka tshingoma mu tourniquet mukole pankatshi pa tshitupa tshia nzembu ne tshiamu tshia bearing tshidi katshiyi tshikosa, tshipangisha transmission ne tshienza buôwa bua kupatula tshiamu tshia kunyima / tshiamu tshia log, ne tshidi tshikebesha lukasa lukasa kudina.
Shi buatu buebe budi bukoka pa mabue anyi pa bipese, buenda bukoka pa mayi kupitshila ku tshibuikidiji tshinyanguke, anyi bulema mu njila wa mazuwa anyi muaba udi mâyi a mbuu, ela muena mudimu yonso mu Lifejacket (PFD) ne mikaba ya ku nshingu ne mikaba ya bukubi mikosa, ufila PAN-PAN anyi MAYDAY dibikila dia dikenga pa VHF Marine Channel 16 (156.800 MHz) (anyi fina tshitoke DSC Distress butone ne wenze mudimu weba 406 MHz EPIRB / PLB), bikila nimero ya njiwu ya muaba unudi (911 mu États-Unis ne mu Canada, 999 mu Royaume-Uni, 112 mu Mputu) shi udi mu tshitupa tshia telefone, anyi tangila tshilaminu tshietu tshia buloba bujima tshia nomba ya tshimpitshimpi. Bua kupeta mikenji ya dipanduka dia ku mbuu, bala dibutuka dia buatu ne dipanduka mu mayi mashika, kayak wa mu mbuu ne paddleboard lupepele lua ku mbuu ne dipanduka dia njila wa mazuwa, ne mudimu wa dikeba ne dipandisha dia helikoptere mu mbuu. Londa mikenji ya dipingaja dia ku muelelu wa mâyi, diteka dia tshipiminu/kellet, ne diumusha dia propeller idi kuinshi eku.
Enza nunku mpindieu¶
- TUDIJA MOTERE WEBE DIAMUE (
IN NEUTRAL) NE KUVALA BIDIMU (PFDs) + HEADLAMPS: Padi tshimanyishilu tshieba tshia tshibandilu tshienza mutoyi anyi padi biamu bia kuendesha nabi mazuwa bishintuluka butuku, ela motere munene mu tshitupa tshia neutre bua ikale ne kapia ne akupeshe bukole bua lukasa bua kumbusha bujitu pa tshiamu tshia mashinyi ne kulama tshilamba tshia mazuwa kule ne mabue. - TANGILA MUDIMU WEBE WA DINGHY NE COCKPIT LINES KUMPALA KUA KUSHINTULULA MU GEAR: Bualu bua kumpala budi bufikisha ku lufu lua lei-shore groundings mu tshikondo tshia midnight anchor drag budi dishintuluka mu reverse ne dibuikila dinghy tow-line yebe idi pa mâyi (
painter) anyi mulongo wa tshitudilu udi munyunguluke tshiamu tshia nzembu. Ikala mujadike ne: milongo yonso mmipatuke ku nyima kua buatu kumpala kua kuenza mudimu ne tshiamu tshia mashinyi. - BIWIKALA NE MUSHINDU WA KU MBULU MU LUPETU, FUTA RODE SCOPE WA BUALU (
7:1 TO 10:1) NE KUTUA KELLET (SENTINEL WEIGHT): Shi kakuena buatu anyi mabue adi kunyima kua buatu buebe, upuekeshe metre 15 too ne ku 30 (50 too ne ku 100 feet) a nshinga/kuendesha eku wenda upuekesha bitekete bitekete bua kupuekesha angle wa dikoka udi mutangile kuinshi kua mbuu (catenary curve), anyi kuela tshintu tshia 10-to-15-kilogramme (22-to-33-pound) tshia tshiamu tshia plomb / tshingoma tshia pa mutu panshi pa tshibandilu. - BIkala MABUE ANYI BUTU BIDI BIFUMINA KU KUNYIMA, KUINDILA BUA MUSHINDU WA KUDIMUENA - MOTER UPWIND NE WEIZ ANCHOR (NANSHA BUOY AND SLIP): Kujimiji metre a mushinga mukole wela meji ne: nanga udi munyanguke ne lupela neulume metre 30 ku mutu kua mâyi to. Motoka wenda kumpala bitekete bitekete pa tshingoma tshia nanga ku diambuluisha dia bimanyinu bia ku bianza, koka nanga pa buatu, anyi - pikala tshiamu tshia nzembu tshikanga - usuike tshintu tshidi tshienda pa mâyi bikole ku ndekelu kua tshiamu tshia mashinyi ne utshiele pa mâyi (
buoy and slip) bua kunyema mu mayi male. - BIkala PROPELLER WEBE MUSHIPA KU MUSHINDU, SHINTULA MU NEUTRAL NE UJIME MOTER DIAMUE: Kutetshi nansha kakese bua kufila bukole kupitshila ku mulongo mubuikila kumpala anyi panyima to; kutungunuka ne kuenza mudimu ne motere kudi kukosa tshingoma bikole ku tshiamu tshia P-bracket, kukosa tshiamu tshia stainless-steel, anyi kutshibula tshiamu tshia fibre de verre. Tangila bilge ne kazubu ka bintu (
shaft seal) bua mayi kubuela diakamue. - KUENA MUINSHI WA MUINSHI WA BUTU BUA BUATU MU MBULU MUBI KUYI MUSHINDU NE MUSHINDU WA KU MUTU: Mu tshipepele tshikole, tshitupa tshia ku nyima tshia buatu tshidi tshikuluka panshi pa mayi bu marto wa tone ya bungi. Teta kumbusha tshintu tshidi tshinyanguke munda mua buatu (
via the shaft coupling) anyi ku tshitekelu tshia mazuwa ne tshiamu tshile tshia kumpala; Buela mu mayi anu pikala mbuu mitalala, tshifungu tshia motere tshiumusha, ne tshisuikidi tshia kumpala tshiteka.
Danger
Mateyi asatu a lufu a dikoka dia nanga butuku ne dikoka dia nzembu minyanguke:
1. Kuenza mudimu ne tshiamu tshia nzembu bua kubandisha buatu kumpala kua tshipepele tshikole tshia 40-Knot: Tshiamu tshia nzembu tshia nzembu ntshienza anu bua kubandisha bujitu bua tshingoma ne kulama buatu padi buatu buenda pa mutu - kakuyi bua kukoka buatu bua 10-ton mu tshipepele tshikole. Kukoka buatu mu lupepele ne tshiamu tshia nzembu nkayatshi kudi kunyangakaja tshiamu tshia 100-amp anyi kupatula tshiamu tshia tshiamu tshia mitaku, kukushiya kuyi ne bukole ne nkanu ya metre 50 idi milenge panshi paudi wenda ubanda pa dibue. Misangu yonso enda kumpala ne motere bua kuenza dipanga dia tshijengu eku windlass wangata anu dipanga dia mashinyi.
2. Kubuela mu mutshi wa tshikokedi / PSS Dripless Seal kunyima kua dinyanguka dia tshibombi tshia mbuji: Padi tshibombi tshia mbuji tshia polypropylene tshikole anyi muonji wa dikuba udi unyunguluka tshintu tshidi tshienda tshinyunguluka ku 2,000 RPM, tshidi tshikoka tshintu tshidi tshikoka tshibandilu tshia mashinyi panyima pa tshibandilu too ne padi nkamba, motere ujika, anyi ** P-bracket strut ne internal fibreglass stern tube rip loose from hull**. Mu masekonde 10 a tshintu tshidi tshinyanguke, bandisha mabaya a panshi a mu nzubu wa mashinyi ne utemeshe muendu buludiludi pa kazubu ka bintu / tshibuikidiji tshia mishiku / tshiamu tshia carbone tshia PSS bua kujadika ne: mâyi a mu mbuu kaena apueka mu tshibandilu to.
3. Dikosa dia minu ku tshitekelu tshia mikete ne tshingoma tshia Gypsy: Kuenza mudimu ne tshingoma tshidi tshienda tshikola mu mîdima padi mavuala akuma tshifulu tshia mikete mulu ne panshi nekutshibule minu pikala tshianza tshikoka mu tshibombi tshia mikete anyi mu tshibombi tshia mikete. Enza mudimu misangu yonso ne **chain hook pa tshilamba tshia nylon tshidi tshikola (bridle).
Mutshi wa dipangadika: dikoka dia tshiamu tshia nzembu butuku ne diandamuna dia tshimpitshimpi dia tshiamu tshia nzembu tshidi tshinyanguke¶
Londa tshimfuanyi etshi tshia dipangadika dia mudimu dîba didi tshiamu tshiebe tshia mazuwa tshituadija kukoka anyi padi tshiamu tshiebe tshia nzembu tshinyanguka mu mbuu:
flowchart TD
Crisis["Malu a tshimpitshimpi a mu mbuu: Dikoka dia ngalu butuku anyi tshiamu tshia nzembu tshidi tshinyanguke"] --> Branch{"1. Ntshilumbu kayi tshia tshimpitshimpi tshidi tshienzeka?"}
Branch -->|"MUSHINDU UDI UKOKA KU LEE SHORE"| StartEng["1. Tuadija motere mu neutre -> Teka bena mudimu bonso mu PFDs + Harnesses -> Tangila Dinghy Painter udi kayi ne Prop"]
StartEng --> SeaRoom{"2. Bungi bua mayi male adi ashala kunyima kua Stern?"}
SeaRoom -->|"Muaba wa bungi wa mu mbuu (> 150-200 m / 500+ ft mule ne mikuna ne mazuwa)"| MoreScope["KUFUTA MUSHINDU KU 8:1 - 10:1 + KUTUA KELLET:: Kupepeja nkanu/nshinga -> Lamakaja tshingoma tshia snubber -> Puekesha bujitu bua kilo 10-15 ya sentinel down rode -> Teka tandem/second bow anchor ku 30-deg angle"]
SeaRoom -->|"NYIKA: Pabuipi ne Mashinyi, Mabue, anyi Mazuwa a Lupepele (< 100 m)"| BailOut["ABORT ANCHORAGE & MOTOR TO DEEP OPEN WATER:: Motor belowly along chain bua kumbusha bujitu pa windlass -> Retriver anchor (ANSH tue fender ku bitter end ne slip rode pikalaye mubuikila) -> Motor out to sea"]
Branch -->|"MUSHINDU WA KUENZA MUSHINDU MUKOLE"| KillEng["."]
KillEng --> DriftCheck{"2. Udiku wenda uya ku mabue / mabue / mazuwa mpindieu anyi?"}
DriftCheck -->|"EYOWA: Njiwu ya dikuluka dia lukasa"| DropHook["TEKA MUSHINDU WA KU MUTU DIAMUE BUA KUIMANYISHA DRIFT: (Anyi bandisha mainsail / Jib pikala Sailboat ne bua kuya kule ne Lee Shore) -> Broadcast PAN-PAN on VHF Ch 16"]
DriftCheck -->|"NO: Nzubu wa Mbuu wa bukubi"| ClearMethod{"3. Teta bua kumbusha bintu munda mua buatu KUMPALA:"}
ClearMethod -->|"Mushindu A: Tshiamu tshia tshiamu tshia mitaku munda mua kazubu"| ReverseTurn["Teka transmission mu Neutral -> Kuata tshintu tshia munda tshia propulseur ne pipe/strap wrench -> Rotate shaft KUNYIMA ku tshianza bua kusulula mulongo wa slack"]
ClearMethod -->|"Mushindu B: Muele wa tshingoma udi ne mishiku udi ufuma ku mazuwa / Dinghy"| PoleCut["Lash serrated bread/rope knife to boat hook -> Reach under stern from dinghy/swim platform to saw wrap free (Anu mua kubuela mu mâyi pikala mupole, tshifungu tshiumusha, ne tshikanga)"]
Tshitupa 1: Mushindu kayi wa kuimanyika tshiamu tshia nzembu tshidi tshikoka butuku (Scope math, kellets, ne snubbers)¶
Bua tshinyi tshisanji tshivua tshilama mu dinda dijima tshidi tshipatuka ne tshikoka pa dîba 02:00? Pa tshibidilu bualu 1. tshitupa tshia kumpala tshidi tshishintulula lupepele 90 too ne ku 180 degre (forcing the anchor fluke to pivot in the seabed, where it pulls out and clogs its tip with kelp, clay, or a rock), 2. tshipepele tshikole tshidi tshienda tshivula anyi mâyi manene adi avula bunene bua mâyi (reducing effective scope), anyi 3. mavuala makole adi abandisha muele wa mvita muulu adi akosa tshibandilu ne akoka tshingoma tshibandile.
1. Anchor Rode Scope Geometry ne Physique wa Horizontal Pull¶
Bukole buonso bua matuku etu aa (HHP) tshilamba (Rocna, Mantus, Spade, Ultra, Delta, Bruce/Claw, anyi Danforth/Fortress) mmuenza bua kumbula muinshi mua mbuu anu padi dikoka dia tshiamu tshia nzembu dishala munkatshi mua 0 to ne 6 degrés ya horizontale.
- Padi angle wa dikoka dia muinshi mua mbuu upita 8 too ne ku 12 degrés pa mutu pa horizontal, vecteur wa kuulu udi ubandisha tshingoma tshia dikoka, ushintulula nsongo ya fluke mulu, ne upatula dikoka dia tshingoma kuinshi.
- Misangu yonso, weja "Bulampe bua tshiamu tshia mitaku pa mutu pa mayi" ku bunene bua mayi paudi ubala bunene bua mayi:
$\(\text{True Vertical Height } (D_{\text{total}}) = \text{Water Depth at High Tide} + \text{Height of Bow Roller Above Waterline } (\sim 1.2\text{ to }2\text{ m})\)$
| Lubilu lua lupepele ne nsombelu wa mbuu | All-Chain Rode Scope Ratio (Length : True Vertical Height) |
Nshinga ya disangisha + 3-Strand Nylon Rope Scope Ratio | Tshilejilu tshia Rode tshidi tshikengela mu 4.5 m (15 ft) Mâyi + 1.5 m (5 ft) Bulampe bua buta (Total = 6 m / 20 ft) |
|---|---|---|---|
Mupole too ne ku bupole (< 15 knots) |
4:1 to 5:1 |
5:1 to 7:1 |
24 to 30 m (80 to 100 ft) bionso-chain; 36 to 42 m (120 to 140 ft) nkamba/nsongo. |
Fresh Gale / Squall (25 to 35 knots) |
6:1 to 7:1 |
8:1 |
36 to 42 m (120 to 140 ft) bionso-chain; 48 m (160 ft) nkamba/nsongo. |
Tshipepele tshikole / Tshipepele tshikole (40 to 60+ knots) |
8:1 to 10:1 + Tshintu tshia Nylon tshikole (10 m / 33 ft) |
10:1 + 15-kg Kellet (Sentinel) mupueka munkatshi mua njila |
48 to 60 m (160 to 200 ft) bionso-chain. |
2. Mishindu isatu ya kuenza mudimu diakamue bua kuimanyika tshilamba tshidi tshikoka (bikala nzubu wa mbuu mua kuitaba)¶
Shi tshimanyishilu tshieba tshia GPS (Anchor Pro, Navionics, Garmin, Raymarine) udi umvuika ne udi ujadika pa tshiamu tshiebe tshia karte ne udi ne bule bua metre 150 (500 feet) a mayi matoke, a muinshi mua buloba:
- Njila 1: Futa 50% ya bungi ya diendesha + Rig a Long Nylon Snubber (
Shock Absorber): - Padi lupepele lupita 30 nodes, tshingoma tshia tshiamu tshikole tshidi tshikoka bikole. Padi mupenyi ubandisha mutu wa buatu muela pa nkanu ya bar-taut kayiyi ne tshintu tshia kukanga natshi, tshiamu tshia tshiamu tshidi katshiyi tshikole tshidi tshituta buludiludi mu tshilamba tshia buatu ne tshitshibula.
- Leja 15 to ne ku 25 metre (50 to ne ku 80 feet) ya rode, ne ela 9-to-12-metre (30-to-40-foot) 3-strand nylon snubber line (
or twin V-bridle) ku nshinga ku diambuluisha dia tshingoma tshia nshinga (or a Rolling Hitch]. - Njila 2: Ela "Kellet / Sentinel Weight" panshi pa Rode:
- Shi udi mu tshitudilu tshikole mudi dilekela dia 10:1 mua kukufikisha ku dikuma buatu kunyima kuebe, enza Kellet (
Sentinel): - Lamakaja 10-to-20-kilogramme (22-to-44-pound) mukaba wa bujitu bua dibuela mu mayi, kettlebell, anyi tshintu tshia pa mutu ku tshiamu tshieba tshinene tshia kuela natshi bintu ku diambuluisha dia tshiamu tshinene tshia kuela natshi bintu, ela tshilamba tshia kuela natshi bujitu, ne puekesha bujitu munkatshi mua tshiamu tshia kuela natshi bintu.
- Bujitu ebu bua munkatshi mua dienda budi bukoka dikoseka dia panshi mu mulongo wa tshingoma, bupuekesha angle wa dikoka ku tshingoma tshia tshingoma bua kupingana panshi ku tshibandilu ne tshikuata dikuma dia mavuala.
- Njila 3: Teka tshishimikidi tshibidi mu 30-to-45-Degree "V-Fork (
Bahamian / Storm Fork)": - Paudi wenda uya kumpala 30 degrés ku mulongo weba wa ntuadijilu, upuekesha Fortress / Danforth aluminium anchor pa tshiamu tshiawu tshia pa buadi bua ancres ibidi idi kayiyi mimanyike idi mishilangane bujitu ku 30-to-45-degree angle (
reducing bow yawing / "horsing").
Tshitupa 2: Kunyema ku muelelu wa mâyi butuku padi ngalu kayi mua kulama¶
Netuambe tshinyi pikala difuta dia tshipiminu kadiyi dikumbane bualu tshina tshieba tshia tshiamu tshia mitaku ntshiuwule tente ne kelp anyi tshidi tshienda tshisesuka pa dibue dia calcaire (hardpan), ne tshipepele tshikole tshidi muinshi mua metre 80 (260 feet) kunyima kua tshilamba tshieba anyi? Lekela diteta dia kupingana kuntu aku ne motere upatuke bua kunzulula mayi diakamue.
1. Dipeta dia tshiamu tshia nzembu tshia butuku mu tshipepele tshikole (Cockpit-to-Bow Coordination)¶
Kupingaja 60 metres ya nkanu mu mîdima mikole mu lupepele lua 40-knot ne mavuala a 2-metre adi atshibula pa mutu pa buatu kudi kulomba diumvuangana pankatshi pa Helmsman ne Foredeck Crew:
- Kulongolola dîyi dia tshianana anyi dimanyisha dia tshianza:
- Mu tshipepele tshikole ne mvula, mulombodi wa buatu ku nyima kena mua kumvua bena mudimu ba ku mazuwa bela mbila pa mutu pa motere ne pa mâyi to. Wenza mudimu ne biamu bia ku matshi bia Bluetooth bidi kabiyi bibuela mâyi, biamu bia VHF bia ku bianza, anyi Bimanyinu bia ku bianza bia lumuenu lua ku mutu (
Point beam Left = Steer Port; Point beam Right = Steer Starboard; Slow vertical nod = Motor Forward Slowly; Rapid horizontal wave = STOP ENGINE / NEUTRAL). - Motere uya kumpala bitekete bitekete mu njila wa nshinga (
Never Pull With the Windlass): - Bena mudimu ba kumpala badi batemesha lumuenu luabu lua ku mpala panshi ku tshingoma tshidi tshishiya tshintu tshidi tshienda tshienda ne baleja diboko diabu muaba udi tshingoma tshilombola.
- Mulombodi wa buatu udi wenza mudimu ne throttle wa kumpala (
1,200 to 1,600 RPM) bua kuendesha buatu mutangile ku nanga, kumbusha bujitu bua lupepele ku tshingoma. - Padi tshingoma tshienda tshiimana ne tshitekete, bena mudimu ba kumpala badi batuta
UPtshitekelu tshia makasa pa windlass mu 3-second bursts bua kukoka anu tshilamba tshidi katshiyi tshikole. - Kutshibula tshilamba tshidi tshikuate (Anyi kuenza mudimu wa "Buoy-and-Slip" Abandonment):
- Padi tshingoma tshimane, tshikuate ku tshilamba tshia ku tshianza; mupenyi udi ulonda udi ubandisha muele wa mvita neupatule tshingoma kuinshi.
- MUYUKI WA KUNYIMA WA MUSHINDU (
Buoy and Slip): Shi tshiamu tshiebe tshia buatu tshidi tshikuate muinshi mua dibue anyi tshinyanguke mu tshiamu tshia mitaku, anyi bikala motere webe wa windlass ujika padiye wenda ukoka kudi ba-breaker, kujimiji buatu buebe paudi ukeba kulama tshitupa tshia tshiamu tshia $400 to. - Suika bipese bibidi binene bia bipepele (
or an anchor buoy) bimpa ku ndekelu kua tshingoma tshieba tshia tshisuikidi (lama tshingoma etshi munda mua tshibuta tshia tshingoma tshisuika ne tshingoma tshikole tshiudi mua kukosa ne muele), umbusha muntu yonso pa tshibandilu tshia kumpala, wela mashinyi onso pa mutu pa mâyi, ne motere buludiludi mu mayi manene. Ubwanya kupingana mu munya bua kuangata tshiamu tshieba tshia nanga.
2. Mua kuenza mudimu ne "Chain-Gypsy Jam" anyi "Castle-Piling" mu Anchor Locker¶
Padibu bambula nkanu mu mbuu mikole, bipese bibidi bia mashinyi bitu bitamba kuimanyika tshiamu tshia nzembu: - Kuteka nkanu ("Castle-Building") Muinshi mua Mulonda wa pa mutu: Mulonda wa galvanisé wa mâyi udi upona mu tshibuta tshidi katshiyi tshikole udi ubuela mu tshibumba tshidi tshiimana too ne padi tshilongo tshifika ku mulonda wa windlass deck ne tshikuata gypsy. Lama mutshi muipi ku mutu bua kufika mu tshiibi tshia tshiibi tshia tshilaminu tshia bintu ne kukuma tshiamu tshia nshinga ku luseke kunyima kua metre 15 (50 feet). - Kututa mu nkanu anyi kukanga mu Gypsy: Shi tshintu tshikoseka tshikuate mu tshiamu tshia nzembu, umbusha bujitu pa tshiamu tshia nzembu ne tshiamu tshiebe tshia tshiamu tshia nzembu tshisuika ku tshiamu tshia nzembu, ujime tshiamu tshia nzembu, ne wenze mudimu ne tshiamu tshia winch anyi tshia pry bar (kuena ne minu yebe nansha kakese) bua kupatula tshiamu tshidi tshikanga.
Tshitupa 3: Kumbusha tshiamu tshia nzembu tshidi tshinyanguke mu mbuu (Kakuyi kujimina muinshi mua tshiamu tshia nzembu)¶
Kunyema pa mutu pa tshilongo tshia polypropylene crabe/lobster, gillnet, mooring line, anyi mufundi webe wa buatu udi unyunguluka tshingoma tshikole pa mabeji a propulseur ne pa shaft. Mu masekonde 2, motere udi ujika ne wimana.
1. Masekonde 60 a kumpala kunyima kua dinyanguka dia tshiamu tshia nzembu (Stop, Stabilize, Inspect)¶
[ Engine Gearbox / Transmission Flange ]
\
\ [ Stuffing Box / PSS Carbon Shaft Seal ] <-- CHECK HERE FOR FLOODING FIRST
\ \
(Hull Stern Tube) \
\ [ Bronze P-Bracket Strut & Cutless Bearing ]
\ |
+=========[===]=====[ Propeller ]
|||
(Rope Winds Tightly Here & Pulls Shaft Backward,
Bending Strut or Ripping Shaft Out of Gearbox)
- Shift ku Neutral ne Ujime Motere Diakamue: Kutetshi bua kushintulula mashinyi kumpala ne panyima pankatshi pa kumpala ne panyima bua kumbusha mulongo to. Mionji ya tshiamu (
Dyneema,nylon,polypropylene) udi mua kusunguluka mu tshilamba tshia plastique tshidi tshinyunguluke tshiamu tshia mitaku tshidi katshiyi tshikosa padibu batshinyunguluka, anyi kukoka tshiamu tshia tshiamu tshia mitaku panyima pa tshiamu tshia transmission. - Bandisha tshiibi tshia motere ne tshiamu tshia mashinyi bua kutangila ni mayi adi mu tshibuelelu tshia mashinyi:
- Tangila kazubu ka bintu (
flax packing gland), tshilamba tshia ku mishiku tshia tshiamu tshia nshinga, anyi PSS dripless carbon-graphite bellows muaba udi tshiamu tshia stainless shaft tshipatuka mu tshibumba tshia mazuwa, ne kutangila tshiamu tshia fibre de verre P-bracket strut base. - Shi tshina tshivua tshikoka kunyima ne mayi a mbuu adi apueka mu buatu:
- Kanka bipese bia tshiamu tshia nzembu anyi ela tshiamu tshia tshiamu tshia nzembu tshia lukasa pa tshiamu tshia PSS;
- Bintu Stay-Afloat emergency marine plugging compound, oakum, anyi wrap self-amalgamating silicone tape (
Rescue Tape) mushindame pabuipi ne tshibuikidiji tshidi tshipatuka mâyi padibu batemesha pompe ya bilge ne ubikilaMAYDAYpa tshisanji tshia VHF 16.
- Kuteka bukokeshi bua mazuwa (
Drop Anchor or Set Sails): - Buatu budi ne motere mufue mu mayi makole budi buenda buenda (
sideways) ku mavuala, wenda unyunguluka bikole ne wenda upueka mu lupepele. - Shi bunene bua mayi budi
< 30 meters (100 feet), ela tshingoma tshieba tshia buatu panshi diakamue bua kulama buatu mu mavuala ne kuimanyika dienda diebe dia kuya ku muelelu wa mâyi. - Shi udi mu buatu mu mayi male, unfurl the headsail (
jib) anyi kubandisha tshiamu tshinene tshia mazuwa diakamue bua kupeta kabidi njila wa kuendesha.
2. Mishindu isatu idi kayiyi ya dibuela mu mayi bua kulekela anyi kukosa tshintu tshidi tshinyanguke (From Safest to Last Resort)¶
Kumpala kua muntu nansha umue kuela meji a kuvuala tshilamba tshia ku mpala ne kutuluka mu mbuu muinshi mua buatu bua tone ya bungi, teta mishindu isatu eyi ya dilengeja dia munda ne dia pa mutu pa mazuwa:
| Mushindu wa kujikija | Biamu bia mudimu bidi bikengedibua | Mushindu wa kuenza malu ku kakese ku kakese | Bua tshinyi bidi bienza mudimu ne diakalenga dia bukubi |
|---|---|---|---|
Mushindu 1: Disangisha dia munda dia tshiamu tshia munda tshia diunzulula dia panyima (Safest - Done Inside Cabin) |
Tshintu tshinene tshia Pipe Wrench (Stillson), Strap Wrench, anyi Vice-Grips munda mua tshitupa tshia motere. |
1. Umbusha tshifungu tshia mudilu bua motere kayi mua kutuadija. 2. Ela tshiamu tshia mashinyi mu Neutral. 3. Koka 2 metres ya slack pa mulongo wa tshilongo udi pa buatu ne utshisuike ku tshilamba tshia kunyima bua tension wa mavuala ikale pambelu pa prop. 4. Kangula tshiibi tshia motere, kuata tshiamu tshia tshiamu tshia nzembu ( or coupling flange)** ne tshiamu tshia kukanga natshi milonda, ne kudimuna tshingoma kunyima (tshishilangane ne tshikudimuna tshia kumpala) 5 too ne ku 10 ku tshianza.5. Koka tshingoma tshidi tshipatuka mu nzubu wa ndeke. |
Udi ulama 100% ya bena mudimu kabayi ne bukubi munda mua kazubu; udi wenza mudimu mu 60% ya mionji mipiamipia muvua motere muimane kumpala kua mionji kunyanguka. |
Mushindu 2: Tshiamu tshia Serrated Boat-Hook Pole Saw (From Swim Platform or Dinghy) |
Tshiamu tshia buatu tshidi tshitangila kule + Muele wa mampa udi ne mishiku / Muele wa nkamba (Spyderco / Victorinox) muela ne bikunyibua bia hose anyi duct tape. |
1. Kokuenza mudimu nansha kakese ne muele wa muele mutoke pa nylon/polypropylene mutoke (meno adi ne nsongo adi apita mu nkamba mikole mu 3 strokes). 2. Lama/lamakaja tshingoma tshia mampa tshidi ne mishiku mikole ku ndekelu kua tshibombi tshiebe tshia buatu. 3. Kulala pa tshibandilu tshia kuowela anyi mu buatu ku luseke lua kunyima kua buatu, fika muinshi mua tshilamba tshia buatu, umvue tshingoma tshikole tshikuata pa tshibandilu, ne tangila kumpala ne panyima. |
Bidi bifila bukenji bua kukosa tshilongo tshia nyama wa lobster tshidi tshinyanguke anyi muonji wa dilamakaja mu mâyi mashika anyi makole kuyi uteka mutu wa muena mayi muinshi mua tshilamba tshidi tshikuma. |
Mushindu 3: Muena mayi / muena mayi udi ukosa muinshi mua buatu (LAST RESORT - CALM WATER ONLY) |
Maske wa dibuela mu mayi, tshilamba tshia kuowela mâyi, bianza bia bujitu, tshingoma tshia nkata ya nsongo ku tshianza, + tshingoma tshia bukubi. | 1. KUENA MU DITUKU BIkala STERN MUDIMUE MU SWELL. 2. Ela tshilamba tshia ku mutu anyi upuekesha mazuwa onso. 3. Umbusha tshiamu tshia kutuadija natshi motere ne tshikuate ku tshiamu tshia mashinyi. 4. Ela mulongo wa muinshi mua buatu kumbukila ku tshitudilu tshia mazuwa too ne ku tshianza tshia ku dia balume muinshi mua tshitekelu tshia buatu bua muenji wa mâyi ikale mua kudilama bikole ku tshibandilu tshia buatu. 5. Tangila mulongo udi ku pambelu kua tshilamba tshia kujingila, pashishe upuekeshe bipese bia tshilamba. |
Udi umbusha bintu bikole, kadi udi ne njiwu ya dikuma dia mutshima ku tshibandilu tshia mazuwa, ditapa dia barnacle, anyi dijimina mu mayi pikalaye kayi musuika. |
Tshitupa 4: Dilama dia ku muelelu kua mayi anyi dishiya dia mazuwa pikala dipueka dia ku muelelu kua mayi kadiyi mua kuepuka¶
Netuambe tshinyi pikala tshingoma tshieba tshikoka, tshiamu tshieba tshia nzembu tshinyanguke anyi motere webe munyanguke, ne udi mutantshi wa masekonde makese bua kufika panshi ku muelelu wa mâyi? Bua wewe kuikala ne muoyo, bidi bilondeshila ni muelelu wa mâyi udi muelelu wa mâyi wa nsenga anyi wa mabue, ne pa kuikala munda mua buatu too ne padiwu ufika panshi.
1. Mushindu kayi wa kuenza mudimu wa tshimpitshimpi (If Forced Ashore)¶
- Tuma
MAYDAYpa tshisanji tshia VHF 16 (+ DSC Distress&EPIRB) Kumpala kua kubuela mu tshitupa tshia surf: - Padi tshiamu tshiebe tshia mazuwa tshinyanguka anyi tshibuta tshienda tshibuela mu bipese bia mashinyi, tshiamu tshieba tshia tshiamu tshia VHF netshikale muinshi mua mayi. Tuma coordonnées yebe ne bungi bua bantu paudi anu mutantshi wa metre 200 pambelu pa mulongo wa mâyi.
- Longolola bena mudimu ne mazuwa bua tshinyangu tshia mayi:
- Ela muntu yense mu PFDs, bilamba bia bukubi, bifulu bia mvita, ne bisabata bikole (
never go barefoot; jagged fiberglass and sharp coral/barnacles cover grounding zones). - Kanga bipese bionso bia mafuta, biamu bia propane bia gaz, ne biamu bia bateri binene (panyima pa kutuma Mayday) bua kuepuka kapia ka mu nzubu wa motere pikala buatu buenda buenda, ne kanga ne kanga bipese bionso bia kuowa nabi mâyi ne biibi bua mavuala adi apita pa mutu pa buatu kawuyi mua kuwuja kazubu ka mazuwa.
- Londa mutangile ku tshitupa tshikese tshia nsenga, tshidi ne nsenga pankatshi pa mabue ne ulonde Drogue / Warps Astern:
- Shi udi na tshiamu tshia kuendesha natshi mazuwa, keba muaba udi nsenga, tshina tshia musulu, anyi mabue a nsongo pamutu pa mabue adi mimane.
- Bua kupangisha mavuala a mâyi bua kubandisha tshitupa tshia kunyima kua buatu ne kunyungulula buatu ku luseke (
broachingmu mayi), londa Jordan Series Drogue, tshingoma tshia mu mbuu, anyi tshingoma tshia 60-metre tshia tshingoma tshikole tshisuika pankatshi pa bipese bibidi bia kunyima kua buatu kunyima kua buatu bua kukuata kunyima buludiludi mu bipese bidi bilua. - Padi tshiamu tshia nzembu tshifika kuinshi: Lekela mavuala ambula tshiamu tshia mazuwa too ne ku muelelu wa mâyi wa nsenga.
2. Dîba kayi ne mushindu kayi wa kupatuka mu buatu budi panshi (Never Jump Off to the Seaward / Weather Side)¶
Dîba didi buatu bufika ku muelelu wa mâyi anyi ku tshibandabanda:
- KUENA mua kutuluka mu mayi makole padi buatu buenda buenda buenda munda to: Tshibombi tshia 10-ton tshia fibre de verre tshidi tshienda tshibuela mu mayi tshidi tshifika too ne mu tshiadi netshitshibule muntu yonso udi wela ku luseke luatshi. Ikala musuikila munda mua nzubu wa ndeke (pa tshibandilu tshia muulu / tshidi tshitangile ku lupepele) too ne padi tshilamba tshia ndeke tshisomba bimpe kuinshi.
- Ikala misangu yonso umbuka ku luseke lua LEEWARD (Shoreward / Sheltered) lua Hull:
- Tshilamba tshia mazuwa tshidi tshienza mudimu bu tshintu tshidi tshikuba mavuala a mâyi adi apueka mu mbuu (weather) luseka.
- Bindile dikisha pankatshi pa mavuala manene, ubande pa tshiamu tshidi tshitangile ku muelelu wa mâyi mutangile ku muelelu wa mâyi, ne wenda lubilu lubilu pa mutu pa mulongo wa mâyi manene ne Grab Bag (EPIRB, Handheld VHF, First-Aid Kit, Thermal Blankets, ne Water).
Tip
Teka tshiamu tshia kukosa natshi milonda (Spurs anyi Ambassador Stripper) & Set Two Independent Anchor Alarms:
Shi udi wenda mu mayi a mu tshilongo tshia lobster anyi crab, udi mua kuteka tshiamu tshia stainless-steel ciseaux anyi disque rope-cutter (Spurs anyi Ambassador Marine Stripper) pa tshiamu tshia nzembu kumpala kua tshiamu tshia nzembu tshidi tshipita mu milongo ya polypropylene ne ya nylon kumpala kua motere kuimana. Paudi wimanyika buatu butuku, ikala wenza mudimu ne alarme ibidi ya dikoka dia buatu: alarme wa GPS wa chartplotter wa tshibandilu tshiebe tshinene ne app wa GPS wa tshiamu tshia kuela natshi mazuwa (Anchor Pro anyi Boat Beacon) ku luseke lua bulalu buebe. Ela meji bua kuangata tshisumbu tshia Royal Yachting Association (RYA) Dipanduka mu mbuu anyi Dikuba dia mazuwa a mu États-Unis mu mbuu.
Nomba ya tshimpitshimpi ya mu tshijengu ne mikenji ya bibambalu¶
Mu tshikondo tshionso tshia dikoka dia ku muelelu wa mâyi anyi dipanga dia dienda dia mashinyi pabuipi ne njiwu ya ku muelelu wa mâyi, yukila ne bakebuludi ne bapandishi ba pa mâyi kumpala kua dîba:
- Dikenga dia pa mâyi dia pa buloba bujima (
Worldwide): - VHF Radio:
VHF Channel 16(156.800 MHz) - Fina ** mukunzeDSC Distress** butone bua masekonde 5, pashishe enza dîyiMAYDAY(njiwu mikole ne idi pabuipi) anyiPAN-PAN(dinyanguka dia lukasa dia tshiamu / tshintu tshinyanguke tshidi tshienda tshiya ku muelelu wa mâyi) dimanyisha. - Satellite Beacons: Activer your
406 MHz EPIRBanyi muntu nkayendePLB. - États-Unis ne Canada:
- Mvula wa mabwe Balami ba ku muelelu wa mâyi ba mu États-Unis (
USCG) anyi Balami ba ku muelelu wa mâyi ba mu Canada (CCG) paVHF Channel 16, anyi dial911/*CG(*24mu Canada) ku telefone wa ku bianza. Bua biamu bia nzembu bidi kabiyi mua kunyanga muoyo bidi mu mayi mimpe, lomba mudimu wa disungila (TowBoatUSanyiSeaTow) pa VHF Ch 16. - Bukalenge buobumue ne Irlande:
- Mvula wa mabwe HM Coastguard (
UK) anyi Balami ba ku muelelu wa mâyi ba mu Irlande paVHF Channel 16, anyi dial999/112ne kulomba Coastguard, udi utuma RNLI (Royal National Lifeboat Institution) mazuwa a kusungila nawu bantu ne ndeke ya SAR. - Buobumue bua matunga a ku Mputu:
- Mvula wa mabwe
VHF Channel 16anyi kubikila112(196bua CROSS mu France;124 124bua DGzRS mu Allemagne;1530bua Guardia Costiera mu Italie;900 202 202bua Salvamento Maritimo mu Espanye). - Australie ne Nouvelle-Zélande:
- Mvula wa mabwe
VHF Channel 16anyi kubikila000mu Australie (AMSA / Marine Rescue) anyi111mu Nouvelle-Zélande (Coastguard Nouvelle-Zélande /RCCNZ).
Nkonko itubu bela misangu ya bungi¶
Bua tshinyi tshiamu tshianyi tshia buatu tshidi tshinyanga propeller misangu ya bungi padi tshiamu tshianyi tshienda tshikoka butuku?¶
Padi buatu bulala mu lupepele lutekete, buatu bua metre 10 budi buenda pa mâyi budi buenda buenda bupueka kunyima kua buatu. Padi tshipepele tshikole tshia munkatshi mua butuku tshituta ne tshiamu tshia nzembu tshituadija kukoka, lupepele lutu misangu ya bungi luela buatu bupepele budibu bapuekesha kumpala ku luseke lua kunyima kua buatu, anyi muendeshi wa buatu udi utuadija motere ne upingana panyima, ukoka tshiamu tshia kukoka natshi tshidi tshienda tshiendakana buludiludi muinshi mua tshibuelelu tshia mazuwa tshidi tshienda tshinyunguluka. Misangu yonso, ikala muipije tshiamu tshiebe tshia kupenta natshi buatu kumpala kua kuya kulala, anyi koka buatu pa davits mu tshikondo tshia mashika, ne utemeshe muendu wa toshete ku nyima kua buatu kumpala kua kupatuka mu neutre.
Ndi ne tshia kulekela tshibandilu bungi kayi pikala tshingoma tshianyi tshituadija kukoka mu tshipepele tshikole?¶
Nansha mudi tshipiminu tshia 5:1 (misangu itanu ya ntanta wa ku tshiamu tshieba tshia mvita too ne muinshi mua mbuu) tshienza mudimu bua mashinyi onso mu lupepele lua 15-knot, lupepele lua 35 to ne ku 50+ knots ludi lukoka nshinga mululame ne lubandisha tshingoma tshibandile. Shi udi na mayi mimpe kunyima kuebe, bandisha tshipiminu tshieba too ne ku 8:1 anyi 10:1 (ne ela tshilamba tshile tshia nylon tshidi tshikoka bua kukuata tshipupu tshia mavuala) bua dikoka dia muinshi mua mbuu dishale diakane. Shi kuena ne muaba mukumbane kunyima kuebe bua kupatula tshipiminu tshia 10:1, ela tshintu tshia bujitu tshia kilo 10 too ne ku 20 (tshiamu tshia kellet anyi tshia sentinel) munkatshi mua njila webe wa dikuba bua kulama tshintu tshia kuela panshi pabuipi ne kuinshi.
Bua tshinyi tshiena mua kuenza mudimu ne tshiamu tshianyi tshia nzembu bua kukoka buatu buanyi kule ne muelelu wa mâyi?¶
Tshiamu tshia nzembu tshidi tshienza bua kubandisha bujitu bua tshingoma tshieba ne kuela nanga padi buatu bufika buludiludi pa mutu pa nanga, ki mbua kukoka buatu bua tone ya bungi mu njila wa 35-knot kumpala kua lupepele lua kumpala ne mavuala a mâyi to. Kuteta bua kubandisha buatu ku lupepele ku diambuluisha dia tshiamu tshia nzembu nkayatshi nekuenze bua tshiamu tshia 100-amp thermal circuit breaker anyi kutshibula menu a munda mua gearbox, kukushiya ne 40 metres ya nshinga idi milengeja mu mayi paudi wenda ubanda pa mabue. Misangu yonso enza mudimu ne motere wa buatu buebe mu lubilu lutekete bua kuendesha tshilamba tshia buatu tshitangile ku tshibandilu, wenza mudimu ne tshiamu tshia nzembu anu bua kukoka tshingoma tshidi tshitekete.
Mmunyi mundi mua kupatula tshingoma tshidi tshinyunguluke tshiamu tshia buatu tshianyi tshiyi nditua mu mayi makole?¶
Kumpala kua kubuela mu mayi, teta mushindu wa tshiamu tshia munda: ujimije motere, umbusha tshifungu tshia mudilu, uteke transmission mu neutre, kangula tshitupa tshia motere munda mua nzubu wa mashinyi, ukuate tshiamu tshia propulseur ne tshiamu tshinene tshia nshinga anyi tshiamu tshia nshinga tshia nshinga, ne kukudimuna tshiamu etshi ku tshianza (tshishilangane ne tshia kumpala) bua kukoka tshiamu tshia mashinyi dikumi tshingoma tshia ku tshibandilu. Shi muonji utshidi mulamakaja, ela muele wa mampa udi ne mishiku mikole ku ndekelu kua tshiamu tshile tshia buatu tshidi tshimueneka ku teleskope ne fika muinshi mua tshiadi tshia buatu tshia kuowa mâyi anyi buatu bua kukosa tshingoma tshikole.
Bua tshinyi tshiamu tshia nzembu tshidi tshinyanguke tshidi tshikebesha dibutuka dia lukasa mu buatu budi munda mua buatu?¶
Padi tshingoma tshikole tshia tshiamu (bu mudi tshilongo tshia lobster-pot anyi tshilongo tshia dikuata) tshinyunguluka tshiamu tshia nzembu tshidi tshienda tshinyunguluka ku RPM mikole, tshingoma tshidi tshienda tshinyunguluka pankatshi pa mpala wa kumpala wa tshiamu tshia nzembu ne tshintu tshia tshiamu tshia mitaku tshidi tshishindame (anyi tshiamu tshia kunyima) bu tshintu tshidi tshienda tshinyunguluka. Padi tshitupa atshi tshiuwule tente ne nkamba, dishintuluka dionso didi dipingaja tshiamu tshia propulseur panyima, tshidi mua kuinama tshiamu, kupatula tshiamu tshia tshiamu tshia mitaku tshia P-bracket tshidi tshipatuka mu tshiamu tshia fibre de verre, anyi kupatula tshiamu tshia tshiamu tshia nshinga tshidi katshiyi tshitoka (tshibombi tshia bintu) tshidi munda mua buatu. Misangu yonso, ikala utangila tshiamu tshiebe tshia mashinyi ne tshiamu tshiebe tshia mashinyi bua kumona ni mâyi a mu mbuu adi abuela mu masekonde 10 kunyima kua dinyanguka dia tshiamu tshia mashinyi.
"Buoy and slip" bidi biumvuija tshinyi padi tshilamba tshilamakaja ku muelelu wa mâyi?¶
Shi nanga webe udi wenda ukoka mutangile ku mayi (anyi udi mubuela muinshi mua dibue padi tshipepele tshikole tshienda tshikola) ne kuyi ne dîba dia kukoka nkanu ya metre 60 kumpala kua kunyima kua buatu buebe kukuma ku dibue, udi wenza mudimu wa "buoy and slip": udi mua kusuika tshintu tshimue anyi bibidi binene bia buatu bidi bipuekesha ku ndekelu kua tshingoma tshiebe tshia choo/roder, ne umbusha tshingoma mulongo wonso wa tshiamu tshia nzembu udi upueka pa mutu pa mâyi bua wewe kumona mua kubuela diakamue mu mâyi mimpe ne adi kaayi ne njiwu. Bu mudi bimanu bienda pa mutu pa buloba bidi bileja ndekelu wa tshilamba tshiebe, udi mua kupingana panyima pa tshipepele tshikole tshimane kupita bua kuangata bimanu ne kuangata tshingoma tshiebe.
Malu adi apetangana¶
- Dibutuka dia buatu ne dipanduka mu mayi mashika
- Kayak wa mu mbuu ne paddleboard lupepele lua ku muelelu wa mâyi ne dipanduka dia njila wa mazuwa
- Mudimu wa dikeba ne dipandisha dia helikoptere ne dituma dia bintu bia mu mayi
- Mupenyi udi umueneka pa mukuna anyi pa mayi
Miaba ne buludiki bua mbulamatadi¶
- Tshibambalu tshia Royal National Lifeboat Institution (
RNLI, UK) & Royal Yachting Association (RYA): Mukanda wa dipanduka mu mbuu: Lee Shore Seamanship, Anchor Dragging Prevention, Fouled Propeller Clearing, and Lifeboat Rescue Protocols. - Balami ba ku muelelu wa mâyi ba mu États-Unis (
USCGTshibambalu tshia diendesha dia mazuwa ne Chapman Piloting & Seamanship): Heavy-Weather Anchoring Scope Ratios, Catenary Physics, Emergency Towing, and Abandon-Ship / Surf-Zone Beaching Procedures. - Dienda dia mazuwa a mu États-Unis ne dia pa buloba bujima (Mikenji ya pa buayi ya ku mbuu -
OSR]. - BoatUS Foundation & Marine Accident Investigation Branch (
MAIB, Royaume-Uni): Malu adi menzeke mu mazuwa a dijikija lutetuku adi afika ku nkula ya Lee ne lufu lua bantu mu tshikondo tshia diumusha dia propeller mu mâyi. - Bulongolodi bua pa buloba bujima bua malu a pa mâyi (
IMO): Nsombelu wa dikenga ne bukubi bia pa mayi pa buloba bujima (GMDSS) Mishindu yaMAYDAY,PAN-PAN,DSC, neEPIRBKuenza mudimu.