R/V McArthur Proto-ALTEX Vehicle Sea Trials 17 January 2000 Begin with Source Code tag Ver1-3. UTC Time: 1620 UTC 17 January 2000 PST Time: 0820 PST 17 January 2000 Mission Script Name: mis0.cfg Mission Data Directory: 2000.017.00 Purpose of Mission: Confirm proper operation of the mission timer. Description of Mission: Setpoint at 030 degrees T for 80 seconds with a 40 second mission timer. Results: Performance nominal in all respects. Vehicle was observed to come to heading and the mission aborted at the appropriate time. We had attached a floating polypropylene line and float to the stern of the vehicle for this mission. UTC Time: 1644 UTC 17 January 2000 PST Time: 0844 PST 17 January 2000 Mission Script Name: mis1.cfg Mission Data Directory: 2000.017.01 Purpose of Mission: Confirm proper termination of a mission. Description of Mission: Setpoint at 030 degrees T for 80 seconds with a 40 second mission timer. Results: The vehicle ran normally at the surface at an observed heading of an estimated 030 degrees for 40 seconds and then shut down properly. UTC Time: 1705 UTC 17 January 2000 PST Time: 0905 PST 17 January 2000 Mission Script Name: mis1a.cfg Mission Data Directory: 2000.017.02 Purpose of Mission: Test multiple setpoints in a single mission. Attempt to run the vehicle submerged. Description of Mission: Setpoint at 180 degrees T depth 0m for 30 seconds then setpoint at 60 seconds commanded depth 2m heading 180 degrees T. Results: Script file unable to load apparently due to errors caused by CTRL-M characters inserted by Windows editor. Resolved the issue by editing in EMACS on Seastar. UTC Time: 1732 UTC 17 January 2000 PST Time: 0932 PST 17 January 2000 Mission Script Name: mis1a.cfg Mission Data Directory: 2000.017.03 Purpose of Mission: Test multiple setpoints in a single mission. Attempt to submerge. Description of Mission: Unchanged from above. Results: Script file properly ingested but vehicle unable to dive due to the tether. Decided to try the same mission again without the tether and float. UTC Time: 1743 UTC 17 January 2000 PST Time: 0943 PST 17 January 2000 Mission Script Name: mis1a.cfg Mission Data Directory: 2000.017.04 Purpose of Mission: Unchanged from above. Description of Mission: Unchanged from above. Results: The vehicle was just able to dive. Performance nominal in all respects. This was the first submerged run of the vehicle. UTC Time: 1803 UTC 17 January 2000 PST Time: 1003 PST 17 January 2000 Mission Script Name: mis2.cfg Mission Data Directory: 2000.017.05 Purpose of Mission: Confirm the proper operation and vehicle dynamics of the launch behavior. Description of Mission: Launch, followed by a 60 second setpoint. Results: The launch was effective and the performance of the vehicle was nominal. Rob noted that the thruster current was not measured when the thruster was running in reverse. UTC Time: 1830 UTC 17 January 2000 PST Time: 1030 PST 17 January 2000 Mission Script Name: mis2a.cfg Mission Data Directory: 2000.017.06 Purpose of Mission: Confirm the proper operation of the depth envelope. Description of Mission: Launch, then 60 seconds at 210 degrees T at 5 m commanded depth. The depth envelope was set to 3 m max depth. Commanded depth should be clipped at 3 m. Results: The performance of the vehicle was nominal, observed to run at 3 meters depth. UTC Time: 1843 UTC 17 January 2000 PST Time: 1043 PST 17 January 2000 Mission Script Name: mis2b.cfg Mission Data Directory: 2000.017.08 (2000.017.07 empty due to script failure) Purpose of Mission: Confirm the proper operation of the abort mode of depth envelope. Description of Mission: Launch, then 60 second setpoint at 210 degrees T commanded depth of 5m. Abort depth set to 3 m. Results: The vehicle aborted its mission when it reached 3 m depth. UTC Time: 1900 UTC 17 January 2000 PST Time: 1100 PST 17 January 2000 Mission Script Name: mis3b.cfg Mission Data Directory: 2000.017.09 Purpose of Mission: Confirm min altitude aspect of depth envelope. Description of Mission: 60 second setpoint at 210 degrees T, 8 m commanded depth. Minimum altitude set to 10 m in depth envelope in 14 meters of water. The vehicle should fly at a measured depth of 4 m. Results: Performance nominal, the vehicle was observed to fly at 4 meters. Updated code to Ver1-4, or possibly Ver1-4-1. Check CVS UTC Time: 2210 UTC 17 January 2000 PST Time: 1410 PST 17 January 2000 Mission Script Name: mis4.cfg Mission Data Directory: 2000.017.019 (several data sets taken for Crossbow tests) Purpose of Mission: Confirm proper operation of the ascend behavior. Description of Mission: Launch, then 60 second setpoint at 030 degrees T followed by an ascend behavior at 30 degrees T, 30 degrees of pitch. Results: Performance nominal, vehicle appears to run on the surface briefly. A timing issue? UTC Time: 2222 UTC 17 January 2000 PST Time: 1422 PST 17 January 2000 Mission Script Name: mis4a.cfg Mission Data Directory: 2000.017.20 Purpose of Mission: Confirm proper operation of launch behavior in AbortOnTimeout = False mode. Description of Mission: Same as mis4.cfg, but with the launch set to go to 5 m but timed for 20 seconds. Mission should proceed as in mis4.cfg. Results: Performance nominal, mission proceeded upon launch timeout. UTC Time: 2230 UTC 17 January 2000 PST Time: 1430 PST 17 January 2000 Mission Script Name: mis4b.cfg Mission Data Directory: 2000.017.21 Purpose of Mission: Confirm proper operation of launch behavior in AbortOnTimeout = True mode. Description of Mission: Launch set to go to 5m in 20 seconds. It will be unable to do so and should abort the mission at that time. Results: Performance nominal, mission aborted as expected. UTC Time: 2244 UTC 17 January 2000 PST Time: 1444 PST 17 January 2000 Mission Script Name: mis7a.cfg Mission Data Directory: 2000.017.23 (2000.017.22 launch speed -1.0 no dive) Purpose of Mission: Confirm operation of setpoint in multiple leg mode. Description of Mission: Launch, then 2 leg setpoint. Starts at 030 degrees T for 60 seconds then 210 degrees T all at 5 meters. Results: Performance nominal. UTC Time: 2302 UTC 17 January 2000 PST Time: 1502 PST 17 January 2000 Mission Script Name: mis6a.cfg Mission Data Directory: 2000.017.24 Purpose of Mission: Collect vehicle dynamics data at commanded step function in depth. Description of Mission: 4 setpoints, the first at 030 T 3 meters, the second at 030 6 meters, the third at 210 at 6 meters, the fourth at 210 degrees at 3 meters. Results: Performance nominal, data to be investigated further by Rob and Jim. UTC Time: 2344 UTC 17 January 2000 PST Time: 1544 PST 17 January 2000 Mission Script Name: mis7b.cfg Mission Data Directory: 2000.017.25 Purpose of Mission: Multiple setpoint with 4 legs, extended mission to investigate yaw dynamics. Description of Mission: 2 minute setpoint at 030 to clear ship then a 4-leg setpoint starting at 360 degrees T with each leg 4 minutes long. Results: Performance nominal, data to be inspected carefully tonight by control team. UTC Time: 0008 UTC 18 January 2000 PST Time: 1608 PST 17 January 2000 Mission Script Name: mis8a.cfg Mission Data Directory: 2000.018.00 Purpose of Mission: Test descend behavior in terminate at depth mode. Description of Mission: Launch, descend to 5 m at 030 degrees, then setpoint at 030 degrees to 6 meters, ascend. Results: Data not yet examined. Later determined to have failed. UTC Time: 0010 UTC 18 January 2000 PST Time: 1610 PST 17 January 2000 Mission Script Name: mis8b.cfg Mission Data Directory: 2000.018.01 Purpose of Mission: Test of descend behavior in terminate at altitude mode. Description of Mission: Launch, descend to 8 meters altitude, setpoint for 30 seconds at 030 T at 6 meters, ascend. Results: Data not yet examined. Later determined to have failed. R/V McArthur Proto-ALTEX Vehicle Sea Trials 18 January 2000 Vehicle now has source code tag Ver1-5 UTC Time: 1645 UTC 18 January 2000 Local Time: 0845 PST 18 January 2000 Mission Script Name: mis8a.cfg Mission Data Directory: 2000.018.10 Purpose of Mission: Test depth terminated mode of descend behavior. Description of Mission: Launch, then descend followed by setpoint at a different heading and depth. Results: Layered control performance nominal. Some dynamic overshoot. CTD changes to not appear to have been effective - a version issue? UTC Time: 1708 UTC 18 January 2000 Local Time: 0908 PST 18 January 2000 Mission Script Name: mis8b.cfg Mission Data Directory: 2000.018.11 Purpose of Mission: Test altitude termination mode of descend behavior. Description of Mission: As described in mis8b.cfg except the descend behavior is set to terminate at 15 meters altitude in 21 meters of water. Results: Layered control behavior nominal. Altitude transient upon end of backdown, which caused early termination of descend behavior. UTC Time: 1719 UTC 18 January 2000 Local Time: 0919 PST 18 January 2000 Mission Script Name: mis8c.cfg Mission Data Directory: 2000.018.12 Purpose of Mission: Test altitude termination mode of descend behavior. Description of Mission: As above except added a setpoint between launch and descend. Results: Seems to be a transient in commanded depth between the first setpoint and the descend behavior. This was noted to need attention. UTC Time: 1742 UTC 18 January 2000 Local Time: 0942 PST 18 January 2000 Mission Script Name: mis9a.cfg Mission Data Directory: 2000.018.13 Purpose of Mission: Test yo-yo behavior. Description of Mission: 4 minute setpoint with simultaneous yo-yo between 3 and 7 meters. Results: Layered control behavior is nominal. May be some dynamic control issues as measured depth lags and undershoots commanded depth. UTC Time: 1800 UTC 18 January 2000 Local Time: 1000 PST 18 January 2000 Mission Script Name: mis11a.cfg Mission Data Directory: 2000.018.15 (2000.018.14 was nulled out) Purpose of Mission: Same as mis9a but yo-yo terminated at 12 meters altitude. Description of Mission: 4 minute setpoint with simultaneous yo-yo from 3 meters to 12 meters above the bottom. Results: Performance nominal but data bears inspection. UTC Time: 1809 UTC 18 January 2000 Local Time: 1009 PST 18 January 2000 Mission Script Name: transit1.cfg Mission Data Directory: 2000.018.16 Purpose of Mission: Position vehicle closer to the ship. Description of Mission: 4 minute setpoint Results: Vehicle failed to dive upon transition from backdown launch to setpoint. UTC Time: 1814 UTC 18 January 2000 Local Time: 1014 PST 18 January 2000 Mission Script Name: transit1.cfg Mission Data Directory: 2000.018.17 Purpose of Mission: Same as above. Description of Mission: Same as above. Results: Performance nominal. UTC Time: 1829 UTC 18 January 2000 Local Time: 1029 PST 18 January 2000 Mission Script Name: dynamic20.cfg Mission Data Directory: 2000.018.18 Purpose of Mission: Test of dynamic control. Description of Mission: 2 minute setpoint at 5 m followed by 2 minute setrudder with the rudder deflected 20 degrees at the same depth. Initial heading of 020 degrees T. Results: Vehicle failed to dive. Setrudder interfered with launch. Aaron proceeded to modify behavior.h and setrudder.h. Rebuilt affected code. UTC Time: 1845 UTC 18 January 2000 Local Time: 1045 PST 18 January 2000 Mission Script Name: dynamic20.cfg Mission Data Directory: 2000.018.19 Purpose of Mission: Test of dynamic control. Description of Mission: Same as above. Results: Vehicle dead reckoning appeared to give nominal results. Data to be examined by controls team later. UTC Time: 1900 UTC 18 January 2000 Local Time: 1100 PST 18 January 2000 Mission Script Name: dynamic10.cfg Mission Data Directory: 2000.018.20 Purpose of Mission: Test of dynamic control. Description of Mission: Same as dynamic20 but with 10 degree setrudder. Results: Vehicle dead reckoning appeared to give nominal results. Data to be examined by controls team later. UTC Time: 1905 UTC 18 January 2000 Local Time: 1105 PST 18 January 2000 Mission Script Name: dynamic5.cfg Mission Data Directory: 2000.018.21 Purpose of Mission: Test of dynamic control. Description of Mission: Same as dynamic20 but with 5 degree setrudder. Results: Mission script failed to ingest due to presence of ^M characters from Windows clipboard. As Tom had already fixed this problem this appears to be a version issue. UTC Time: 1909 UTC 18 January 2000 Local Time: 1109 PST 18 January 2000 Mission Script Name: dynamic5.cfg Mission Data Directory: 2000.018.22 Purpose of Mission: Test of dynamic control. Description of Mission: Same as dynamic20 but with 5 degree setrudder. Results: Vehicle dead reckoning appeared to give nominal results. Data to be examined by controls team later. UTC Time: 1922 UTC 18 January 2000 Local Time: 1122 PST 18 January 2000 Mission Script Name: dynamic0.cfg Mission Data Directory: 2000.018.23 Purpose of Mission: Test of dynamic control. Description of Mission: Same as dynamic20 but with 0 degree setrudder. Results: Vehicle dead reckoning appeared to give nominal results. Data to be examined by controls team later. This was the last dive of the morning dive series. Source code tag Ver1-6 now on the vehicle. UTC Time: 2306 UTC 18 January 2000 Local Time: 1506 PST 18 January 2000 Mission Script Name: dynamic2a.cfg Mission Data Directory: 2000.018.27 (24,25,26 were test missions after lunch) Purpose of Mission: Dynamic control testing. Description of Mission: 2.5 minute setpoint at 310 and 5 meters then 2 minutes -2 degrees setrudder, then 2 minute setpoint at 130 and 5 meters followed by 2 minute setrudder positive 2 degrees. Results: Data to be examined by controls team later. UTC Time: 2328 UTC 18 January 2000 Local Time: 1528 PST 18 January 2000 Mission Script Name: mis9a.cfg Mission Data Directory: 2000.018.28 Purpose of Mission: Test of change to yo-yo dynamics. Description of Mission: 4 minute setpoint with simultaneous yo-yo from 3-7 meters. Results: Vehicle dynamics appear to be improved. UTC Time: 2342 UTC 18 January 2000 Local Time: 1542 PST 18 January 2000 Mission Script Name: gps1.cfg Mission Data Directory: 2000.018.29 Purpose of Mission: Test speed of GPS acquisition. Description of Mission: 2 minute setpoint at 5 meters followed by 2 minute setpoint at 0 speed, 0 meters depth. Results: Vehicle appeared to acquire GPS fixes at the beginning and end of the mission. UTC Time: 2359 UTC 18 January 2000 Local Time: 1559 PST 18 January 2000 Mission Script Name: gps2.cfg Mission Data Directory: 2000.018.30 Purpose of Mission: Simulate GPS data acquisition in the middle of a mission. Description of Mission: Launch, setpoint to 5 meters for 2 minutes, then ascend to surface and setpoint at 0 meters 0 speed. Then a second launch, setpoint to 5 meters and a final setpoint at 0 meters, 0 speed. Results: Vehicle failed to dive. Cause of the abort was determined to have been a bad data return from the psa916 altimeter. Before this mission Aaron made changes to the launch behavior so that one mission can contain multiple launches. UTC Time: 0011 UTC 19 January 2000 Local Time: 1611 PST 18 January 2000 Mission Script Name: gps2.cfg Mission Data Directory: 2000.019.01 Purpose of Mission: Same as above. Description of Mission: Same as above. Results: Data not yet examined but layered control appeared to execute properly. UTC Time: 0030 UTC 19 January 2000 Local Time: 1630 PST 18 January 2000 Mission Script Name: transit2.cfg Mission Data Directory: 2000.019.02 Purpose of Mission: Transit to ship. Description of Mission: 4 minute setpoint. Results: Performance appeared nominal. R/V McArthur Proto-ALTEX Vehicle Sea Trials 19 January 2000 Vehicle now has source code Ver1-7. UTC Time: 1619 UTC 19 January 2000 Local Time: 0819 PST 19 January 2000 Mission Script Name: xbow1.cfg Mission Data Directory: 2000.019.07 Purpose of Mission: Test heading control of vehicle with Crossbow DMU as navigation sensor. Description of Mission: 0 meter setpoint at 020 degrees T for 1 minute. Results: Vehicle appeared to be under heading control. UTC Time: 1630 UTC 19 January 2000 Local Time: 0830 PST 19 January 2000 Mission Script Name: xbow1a.cfg Mission Data Directory: 2000.019.0 8 Purpose of Mission: Repeat and extension of mission above. Description of Mission: Extension of mission xbow1.cfg to 2 minutes and added depth_envelope. Results: Performance appeared nominal. UTC Time: 1637 UTC 19 January 2000 Local Time: 0837 PST 19 January 2000 Mission Script Name: xbow2.cfg Mission Data Directory: 2000.019.09 Purpose of Mission: Test horizontal control of vehicle with Crossbow DMU as navigation sensor. Description of Mission: 30 second setpoint at 0 m commanded depth, then 60 second setpoint with commanded depth 3 m. Results: Depth control appeared nominal. Paroscientific pressure sensor data rate seemed to be slowed down to about 2 Hz. Vehicle was observed to overshoot commanded pitch. UTC Time: 1645 UTC 19 January 2000 Local Time: 0845 PST 19 January 2000 Mission Script Name: xbow3.cfg Mission Data Directory: 2000.019.10 Purpose of Mission: Extension of previous mission. Description of Mission: Same as xbow2.cfg but 3 m setpoint was extended to 120 seconds. Results: Performance nominal. Some overshoot in pitch at start of dive. Took ~ 1 minute to get to 3 meters. UTC Time: 1655 UTC 19 January 2000 Local Time: 0855 PST 19 January 2000 Mission Script Name: xbow4.cfg Mission Data Directory: 2000.019.11 and 2000.019.12 Purpose of Mission: Test back-down launch with Crossbow as navigation sensor. Description of Mission: Same as previous mission with the addition of launch behavior. Results: Missions aborted on power domain error. Launches with negative speed cause the domain error in OdyTailcone. UTC Time: 1702 UTC 19 January 2000 Local Time: 0902 PST 19 January 2000 Mission Script Name: xbow5.cfg Mission Data Directory: 2000.019.13 Purpose of Mission: Confirm vehicle dynamics at heading change with Crossbow as navigation sensor. Description of Mission: Straight ahead launch, then 2 minutes at 020, followed by 2 minutes at 200 degrees T, all at 3 meters depth. Results: Aborted due to CTD failure. UTC Time: 1704 UTC 19 January 2000 Local Time: 0904 PST 19 January 2000 Mission Script Name: xbow5.cfg Mission Data Directory: 2000.019.14 Purpose of Mission: Confirm vehicle dynamics at heading change with Crossbow as navigation sensor. Description of Mission: Straight ahead launch, then 2 minutes at 020, followed by 2 minutes at 200 degrees T, all at 3 meters depth. Results: Aborted due to bad PSA916 data. UTC Time: 1715 UTC 19 January 2000 Local Time: 0915 PST 19 January 2000 Mission Script Name: xbow5a.cfg Mission Data Directory: 2000.019.15 Purpose of Mission: Confirm vehicle dynamics at heading change with Crossbow as navigation sensor. Description of Mission: Straight ahead launch, then 2 minutes at 200, followed by 2 minutes at 020 degrees T, all at 3 meters depth. Results: No results reported. UTC Time: 1739 UTC 19 January 2000 Local Time: 0939 PST 19 January 2000 Mission Script Name: xbow6.cfg Mission Data Directory: 2000.019.16 Purpose of Mission: Confirm vehicle dynamics at commanded depth change with Crossbow as navigation sensor. Description of Mission: Straight ahead launch, then 2 minutes at 260 degrees T at 3 meters, followed by 2 minutes at 260 degrees T and 5 meters. Results: Aborted due to bad PSA916 data. UTC Time: 1742 UTC 19 January 2000 Local Time: 0942 PST 19 January 2000 Mission Script Name: xbow6.cfg Mission Data Directory: 2000.019.17 Purpose of Mission: Confirm vehicle dynamics at commanded depth change with Crossbow as navigation sensor. Description of Mission: Attempt to repeat previous mission. Results: Aborted due to bad PSA916 data, decided to recover vehicle and implement increased fault tolerance for altimeter. UTC Time: 2020 UTC 19 January 2000 Local Time: 1220 PST 19 January 2000 Mission Script Name: xbow6.cfg Mission Data Directory: 2000.019.21 Purpose of Mission: Test of back-down launch with Crossbow as navigation sensor. Description of Mission: Launch, then 2 minute setpoint at 050 degrees T and 3 m. Results: High pitch overshoot but performance otherwise good. UTC Time: 2029 UTC 19 January 2000 Local Time: 1229 PST 19 January 2000 Mission Script Name: xbow7.cfg Mission Data Directory: 2000.019.22 Purpose of Mission: Confirm vehicle dynamics at step function in commanded depth. Description of Mission: Launch, 2 minute setpoint at 230 and 3 meters, followed by 2 minute setpoint at 230 degrees 5 meters. Results: Aborted on CTD driver failure. Serial communication to CTD show data streaming appropriately. Cause of failure not apparent. UTC Time: 2033 UTC 19 January 2000 Local Time: 1233 PST 19 January 2000 Mission Script Name: xbow7.cfg Mission Data Directory: 2000.019.23 Purpose of Mission: Confirm vehicle dynamics at step function in commanded depth. Description of Mission: Launch, 2 minute setpoint at 230 and 3 meters, followed by 2 minute setpoint at 230 degrees 5 meters. Results: Vehicle drove under ship. Evidence in logs of vehicle striking ship. Performance and recovery otherwise nominal. Logs show that PSA916 altimeter gave -999.99 to navigation which caused some problems with depth envelope. UTC Time: 2048 UTC 19 January 2000 Local Time: 1248 PST 19 January 2000 Mission Script Name: xbow7.cfg Mission Data Directory: 2000.019.24 Purpose of Mission: Confirm vehicle dynamics at step function in commanded depth. Description of Mission: Launch, 2 minute setpoint at 030 and 3 meters, followed by 2 minute setpoint at 030 degrees 5 meters. Results: Performance nominal, managed to avoid hitting anything. UTC Time: 2106 UTC 19 January 2000 Local Time: 1306 PST 19 January 2000 Mission Script Name: xbow8.cfg Mission Data Directory: 2000.019.25 Purpose of Mission: Dynamic control testing. Description of Mission: Launch, descend at fixed pitch, setpoint, ascend at fixed pitch. Results: Abort due to CTD failure, CTD found to be at S> prompt. UTC Time: 2110 UTC 19 January 2000 Local Time: 1310 PST 19 January 2000 Mission Script Name: xbow8.cfg Mission Data Directory: 2000.019.26 Purpose of Mission: Dynamic control testing. Description of Mission: Launch, descend at fixed pitch, setpoint, ascend at fixed pitch. Results: Data to be examined by controls team. UTC Time: 2110 UTC 19 January 2000 Local Time: 1310 PST 19 January 2000 Mission Script Name: xbow8.cfg Mission Data Directory: 2000.019.26 Purpose of Mission: Dynamic control testing. Description of Mission: Launch, descend at fixed pitch, setpoint, ascend at fixed pitch. Results: Data to be examined by controls team. Dive rate found to be 12 meters/minute. UTC Time: 2130 UTC 19 January 2000 Local Time: 1330 PST 19 January 2000 Mission Script Name: jim1.cfg Mission Data Directory: 2000.019.27 Purpose of Mission: Dynamic control testing. Description of Mission: Launch, descend at fixed pitch, 2 minute setpoint at 12 m depth, ascend at fixed pitch. KdPitch set to 2.0. Results: Mission aborted due to syntax error in mission script. UTC Time: 2147 UTC 19 January 2000 Local Time: 1347 PST 19 January 2000 Mission Script Name: jim1.cfg Mission Data Directory: 2000.019.28 Purpose of Mission: Dynamic control testing. Description of Mission: Launch, descend at fixed pitch, 2 minute setpoint at 12 m depth, ascend at fixed pitch. KdPitch set to 2.0 in vehicle.cfg. Results: Data to be examined by controls team. Mission logs show that the vehicle was following the bottom. UTC Time: 2201 UTC 19 January 2000 Local Time: 1401 PST 19 January 2000 Mission Script Name: jim1.cfg Mission Data Directory: 2000.019.29 Purpose of Mission: Dynamic control testing. Description of Mission: Launch, descend at fixed pitch, 2 minute setpoint at 12 m depth, ascend at fixed pitch. KdPitch set to 6.0 in vehicle.cfg. Results: Mission aborted due to CTD failure. UTC Time: 2203 UTC 19 January 2000 Local Time: 1403 PST 19 January 2000 Mission Script Name: jim1.cfg Mission Data Directory: 2000.019.30 Purpose of Mission: Dynamic control testing. Description of Mission: Launch, descend at fixed pitch, 2 minute setpoint at 12 m depth, ascend at fixed pitch. KdPitch set to 6.0 in vehicle.cfg. Results: Data to be examined by controls team. Some oscillation in elevator seen. Reset kdPitch to 2.0. UTC Time: 2219 UTC 19 January 2000 Local Time: 1419 PST 19 January 2000 Mission Script Name: getgps1.cfg Mission Data Directory: 2000.019.31 Purpose of Mission: Test ability to acquire GPS fix at the end of a mission. Description of Mission: Launch, descend, setpoint, ascend, then 2 minutes on the surface at 0 speed to acquire GPS fix. Vehicle should either acquire 10 good fixes or wait for 2 minutes. Results: The mission seemed to work, but the GPS did not acquire valid fixes. Aaron suspects that he has a logic problem in the getgps behavior. UTC Time: 2241 UTC 19 January 2000 Local Time: 1441 PST 19 January 2000 Mission Script Name: getgps1.cfg Mission Data Directory: 2000.019.32 Purpose of Mission: Test ability to acquire GPS fix at the end of a mission. Description of Mission: Rerun of previous mission after modification to getGPS.cc. Results: Failed due to negative contact with tailCone. Later determined to have been caused by water in the aft sphere.