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.




