2 Dec 2009 Begin the second pass of Test Tank 3. Present: Rob logging, Thomas ballasting, and Brian being the brains, Mike supervising. Checklist: 14:20 Section 2 - 2.1 Freewave working. 2.2 s/w version - not available 2.3 platform_battery_charge - 196.79 Ah. 2.5 Onboard.Pressure - 8.59 psia. 2.6 surfaceThreshold - 0.2 m. 2.7 batteryThreshold - 20 Ah. 2.8 abortDepth - 100m. 14:25 Section 3 - 3.1 OK 3.2 Skipped. 3.3 Skipped. 3.4 Turning the dvl on with the "@" sign. 3.5 sendDataToShore TRUE - OK 3.6 useSim FALSE - OK 3.7 Changed to ExternalSim_enable = 0 in simulator.cfg. 3.8 2009-12-02T21:37:00.90800Z [SBIT](INFO): Beginning Startup BIT 2009-12-02T21:37:06.26400Z [ThrusterServo](INFO): Powering down thruster 2009-12-02T21:37:41.28400Z [SBIT](INFO): SBIT PASSED Deferred 3.12 buoyancyDefault - 945 cc. 3.13 Skipped; see above. 3.14 Onboard.Humidity - 14.99% 3.15 Skipped; see above. Begin Tank Test Section I 14:43 2. 4.999 cm forward battery limit. (Thomas: Center of mass 0.5969m) -4.999 cm aft limit. 3. 109.84 cc outside; string pot measurement. platform_buoyancy_position. 947.87 cc 4. Verified 5,6 Cals skipped. 7. 14:53 Started Lab1.xml. yawing from east thru north to west, now aligning. Rudder reacting correctly. 14:55 pitching down, then up. 14:58 Elevator moved in the correct direction, but didn't appear to reach full deflection. Log 20091202T213632. 8. Skipped. 9. There are two things: watchdog reset and emergency board reset. Brian will first kill the code, which will cause a watchdog reset. He'll then exit the code, which will disable the heartbeats and disarm the watchdog. Now the emergency board will reset the cpu in 4 minutes. Because this is the second reset, the emergency board goes into emergency mode. The three logs are: 20091202T215926 20091202T221019 20091202T221338 Also an Ir SOS message was received. Can't check a, c., or e. B says that GPS doesn't matter here because the software is assumed to be hosed so nothing is reading the GPS. II Tank Tests 15:20 Put the vehicle in the tank; monitoring humidity. Prop turning because the vehicle is trying to surface. Wire burning??? Vehicle quickly pulled. The log dir is 20091202T221338. 15:26 Iridium working well, good strength. 15:38 B is pulling the data with zmodem. It seems very slow. Killed it. Now tarred it. trying ymodem, getting about 40 kbps. Thomas has added 400g. Fiddling with the oil. 1. The vehicle is approximately neutral with xx ccs pumped out. 2. 16:47 Started pumping it positive. Log file 20091202T234710. It should have reached max buoyancy and steady state before the end of the log. 11:30 Vehicle was negatively buoyant this morning with all the oil pumped out.???? Thomas removed the 400g. 12:16 225 cc external; floating with just the tip of the antenna out; about 3". 12:20: Restarting the logs 3. 12:20 Start with fully buoyant. See 20091203T192006 Buoyancy at: 945.86 cc Following are approximate. See data logs for actuals. Antenna gone at: pitch -34.4 degrees mass 4.25 cm Antenna gone at: pitch 13.1 degrees mass -5.0 cm 4. Skipped 5. Test in progress at 13:10. Brian "maintained" at 175 cc. Vehicle was very slightly buoyant, so the tip of the tail and the nose were barely breaking the surface at the extreme pitches. 20091203T195345 6. 7. Lab1Abort.xml running. weight just dropped at 14:45. Brian killed the misson, and did a "maintain 50 cc" to keep the oil inside. Otherwise the default behavior will pump the oil out. Note: Vehicle abort depth is set to 7 meters in the configuration file. B now "maintaining" mass displacements. At +4.00 cm; nose down, antenna about 1/2 out of the water. Now to +5.00 mast barely out 14:53 moving the mass to -3.0 cm. 14:55 now to -5.0; pitch 2.7 deg. Mast fully out. Thomas zip-tied on external weight bags. 9. 15:24 Applicable logs: 20091203T222155 Lab1Abort_atl_envelope.xml He also turned on depth control at 5 m. Appears that altitude envelope took over and commanded the vehicle upward via pitch control. Since there is no prop it couldn't surface. After 30 min the mission timed out and the default mission automatically reinitialized and surfaced the vehicle with the buoyancy engine. 10. 16:15 20091203T231432 Towed vehicle North/South mostly… Looked like easily above 1 m/s Brett ran the LXT usbl. It was getting responses with good range and reasonable bearings.