03-June-2004
Mark Sibenac

Multibeam AUV testing


Configuration:
 -Multibeam tail
 -Multibeam mid-body with SSS/SBP
 -Multibeam nose with cobalt (134=84h) and polymer (56)

07:15 left dock
07:30 switchover from 100base-t to freewave took about 5 minutes.
07:53 deck test mission of Lab1.cfg (2004.155.07)
07:56 7.9% relative humidity in mvc sphere
07:59 killed deck test mission successfully
08:08 deck test mission of launchWithProp.cfg (2004.155.08) with heezen (wireless)
08:10 killed successfully with heezen (wireless)
08:22 raised AUV into LARS with straps
08:28 started launchWithProp.cfg (2004.155.09) with heezen (wireless)
08:29 dropped AUV in water
08:30 mission killed
08:38 started MultiSonarSet.cfg (2004.155.10)
      three sonar power settings
      setpoint: heading north for about 18 minutes
      depth=20m
08:58 vehicle surfaced
09:01 getlogs
      elevator looks very nice
      rudder was noisy, but acceptable
      overall mission success. collected over 1000 sss and sbp data points
09:12 started MultiSonarWay.cfg (2004.155.11)
      long waypoint mission
09:14 vehicle submerged
09:38 vehicle surfaced
      collected 2049 sbp records. mission deemed success. control looks okay too.
09:49 started (2004.155.12)
09:51 vehicle submerged
10:46 suface gps get
13:00 recovery
13:03 connected shore tether, and TCP/IP connections switched over gracefully and quickly.
13:20 dave plotted one of the sbp files, and it looks great! success! still needs some work, though.
13:30 dave plotted one of the sss low files, and it looks great! success! still needs some work, though.