          

                                BRIEF SUMMARY OF MISSIONS

** Short Vehicle, Kft up, 70 01.66', 20 17.196', 8 Oct.  Fjord near Tromso
   where we almost lost it.

281.03 - 5 Min straight and level. Got lost afterwards.

** Short Vehicle, Kft ??, 79 8.17', 31 59.2897', 10 Oct.  Where?

283.00 - 4 Min. run at 15 meters.  Comms lost soon after; vehicle pulled.

** Short Vehicle, Kft up, 81 50.335', 21 50.367', 13 Oct.  No ice in sight.

286.00 - Short run terminated on erroneous altitude because Kft up.

286.01 - 8 Min., 15m

286.02 - 13 Min, 25m, out & back at 290.

286.03 - 15 Min yoyo checkout; 20 to 7 meters

286.04 - 24 Min at 25 meters out & back.

286.05 - Aborted by Parosci hit.

286.06 - Move closer to ship; 5 Min at 25 m.

286.07 - Move closer to ship; 5 Min at 20 m.

286.08 - Test acoustic abort; 8 Min at 25 m.


** Short Vehicle, Kft up, 82 36.72', 11 13.56', 16 Oct.

289.01 - 8 Min. run at 50 m, out & back at 120

289.03 - FIRST long under ice run.  50m depth, 30 Min.  Ips and Isus were 
         shut OFF.

** Short Vehicle, Kft up, 82 34.86', 11 54.14', 17 Oct.

290.04 - Wouldn't dive ???

290.06 - 8 min. run.  Ips log empty.

290.08 - 30 Min. under ice run.  Spiral down to 50 m, 350 for 15 min, 170
         for 15 min, spiral up.  

**  Long Vehicle, 81 57', 12 10'E **

291.00-04 - Not recorded.  These were probably runs on deck.

291.05 - Failed to run due to Ips abort.

291.06 - Aborted by the operator because of failure to dive. 
           - The descent behavior was using pitch control with a 10 Degree 
             setpoint.

291.07 - Aborted by the operator because it failed to dive and
         a collision with the ice was imminent.
           - Pitch control; 10 Degrees.

291.08 - Aborted by the operator because of failure to dive. 
           - Pitch control; 15 Degrees.

291.09 - Aborted by the operator because of failure to dive. 
           - Pitch control; 5 Degrees.

291.10 - Aborted by the operator because of failure to dive. 
           - 10 Sec surface run followed by 15 Sec of +10 Deg pitch up.
	   - No ips log.

291.11 - Aborted by the operator because the vehicle was in a patch of ice.

291.12 - The small boat assisted this launch.
           - Vehicle dove.
	   - The operator issued an acoustic abort, but the vehicle had
	     aborted moments early due to an IPS driver crash.
	   - Comms were lost.
	   - 25 Meters, 3 Min.

On Deck:   - Drew & crew reballasted the vehicle.
           - Sib & Hans fixed the comms problem.
	   - Parosci problem ocurred.  Drew & crew fixed it.

Software Changes:  
 - Added code to prevent non-essential sensor from aborting the mission.
 - Hans?

** Long Vehicle, 81 40.5',  12 42.7' Kft up **

292.00-05 - Deck runs.

292.06 - Octans driver crash aborted the mission moments after it started.
	   - Operator removed octansServer from devices.cfg.
	   - Crossbow now provides heading.

292.07 - Aborted by the operator because of failure to dive. 
           - Lost comms?

292.08 - The vehicle dove but the depth envelope terminated the mission
         because of a depth overrun.
           - Vehicle was 78 Deg bow down.
	   - Long inital surface run.
	   - Launch had -10 Degree pitch control.
	   - 15 Meters, 5 Min.
	   - Ips aborted at 225 sec.
	   - CTD interesting.

292.09 - Out & back.  The vehicle dove and the mission was not prematurely terminated.
           - 20 Meters
	   - No flow measurement on CTD2
	   - Depth/Pitch control marginal.
	   - There are some Parosci dropouts.
	   - Dvl water layer tracking good.
	   - Kearfott position estimate reasonable.

292.10 - 7 Minute out & back.  Mission ran to completion.
           - Depth/Pitch control marginal.
	   - Ips died at 225 Seconds.
	   - Dvl water layer tracking giving reasonable results.
	   - Kearfott position estimate reasonable.
	   - There are some Parosci dropouts.
	   - Battery low.

** Long Vehicle; Kft up; 80 44.298'; 16 35.068' **

296.09 - First attempted buoy launch. Straight, then circle for 15
	 min, at 50 meters.
296.10 - Unreachable waypoint test; 10 min, 30 meters
296.11 - Unreachable waypoint test; 14 min, 25 meters

** Open water deep sections near Svalbard, Short Vehicle, no Ips, Kft Down **
   81 00.756'; 16 07.354'

297.03 - Yoyo to 500 m.  Partial waypoint followed by a setpoint.  
          - The headings were supposed to be identical, but are obviously
            different in the Nav Plot.  Possible causes are cross current or
            initial position error.
          - Dvl water lock poor.  Lock vs. lost appears periodic, perhaps due
            to water mass and bottom pings interleaved.
          - Good CTD data.
          - Speed variation due caused by climb/descend is 1.5/1.1 m/sec.
          - Propulsion was using 1.5 Amps more to descend.

297.04 - Yoyo to 500 m with setpoint only.  
          - Rudder trimmed 2 degrees to starboard. 
          - Science data.

297.05 - Yoyo to 500 m
          - Octans hosed.
          - Science data.

** Under Ice Triangle Runs, Short Vehicle with Ips, Kft Down **
   81 15.0340; 15 34.8450'  

298.00 - 1350 meter triangle partially under ice, Ips active, 30 meters
          - Depth/Pitch control poor; +/- 1 meter for the first leg, but
            it subsequently decreases to half that.  External disturbance
            or transient?
          - Spiral ascent and descent
          - Kearfott nav hosed.
          - Dvl water lock extremely poor.
          - Parosci noisy.
          - Science data looks good.
          - Elevator trimmed to -1 Deg.

298.03 - 1350 meter triangle partially under ice, Ips active, 30 meters
          - Elevator trimmed to -4 Deg; nose heavy or too buoyant??
          
298.05 - 1350 meter triangle partially under ice, Ips active, 30 meters
          - Depth/Pitch control not smooth; +/- approx. 60 cm in depth. ?
	  - Setpoint control
	  - Rudder and Elevator appear to have a 2 degree deadband
	  - Dvl water lock never achieved
          - Dvl temperature measurement now looks whacky

298.06 - 500m North, 2500m @ 120, 2400m @ 250, yoyos to 50 m.
	  
