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.