Changes for test #58

-	Some VerticalControl fixes so we don't dive in surface mode
-	DVL update to not use pings with total beam good values < 3. 
- 	Navigation update to use water speed differently from ground speed
-       oneway command fixed
- 	2D Sparton cal with pitching motion
- 	3D Sparton cal with pitching motion





- Drive outside of 1km.
- Transit vehicle to 36.8144,-121.827

Nav/Compass
- Run calibrateSparton3D.xml
- Run ell_cal_validation.xml? and look at navigation accuracy
- Or boxWaypoints? and look at navigation accuracy


- Run calibrateSparton2DWithPitch.xml
- Run ell_cal_validation.xml? and look at navigation accuracy
- Or boxWaypoints? and look at navigation accuracy 


Homing:
- query dock for heading with the modem command: "compass". Clear the output by typing ctrl-d. 

- Record dock location in template below!

- line up vehicle "downwind" of dock (i.e. if compass reports 180, drive vehicle 360 degrees into dock)

- run homing_altitude with no final approach


*** Record dock location and heading at the beginning of each homing run. Location is shown at this website:
http://share.findmespot.com/shared/faces/viewspots.jsp?glId=0phAUHyXKzGp4mZzmqtTZSo2k6N6JcUyv


Record video from:
rtsp://134.89.12.186/stream1



onboard DAT @rotation value == 281.0



At night: run boxWaypoints with a high loop count 

2D/3D calibration run.

Box Waypoints.
Log: 20120206T235727
W/E: 4.5%DT
N/S 5.0%DT
S/N 6%DT


DOCK LOCATIONS AND RUN INFO:


Run #1: HDG: 360  LOC: 36.82357 , -121.82809
Log: 20120207T163946/
Rot offset: 0.0
Min Range: 1.5m. Watched AUV on video live from dock. Passed to right of dock
and slightly low.  Left 1.3m, down 1.3m, miss distance 1.9m.



Run #2: HDG: 350  LOC: 36.82345 , -121.8282
Log: 20120207T200831
Rot offset: -1.0
Min Range: 2.4m - didn't see vehicle on video. Poor video feed. Missed left
3.3 meters.



Run #3: HDG: 340  LOC: 36.82345 , -121.8282
Log: 20120207T205647
Rot offset: -1.0
Min Range: close. Low and to the right again.  Missed right 1.3m, below .9m,
miss distance 1.9m



Run #4: HDG: 330  LOC: 36.82347 , -121.82823
Log: 20120207T214510
Rot offset: -3.0
Min Range: hit dock! 0.8m - see video for run 4 at time 4:50


Run #5: HDG: 320  LOC: 36.8235 , -121.82819
Log: 20120208T001205
Rot offset: -3.0
Min Range: ~3 m.

Overnight Calibration run was full 3D.
Overnight navigation test, box waypoints.
Log: 20120208T014530
E/W 26%DT, mag cal factor 36.
N/S 8%DT.
S/N 7.8%DT
W/E 20%DT

Run#6  HDG 336 LOC: 36.8234 -121.8281
Log: 20120208T172724
Rot Offset -3.0
Min Range:

Run#7 HDG 89 Dock loc: 36.8234 -121.8281; 
Approach waypoint due east, 450m at 36.8233, -121.8236 
Log: 20120208T191549
Rot Offset -3.0

Dock modem unreachable.  Dock heading unknown.
Ran west 1 km 
Camera unreachable.

Ran dat on.  
Dock at 88 degrees.  
Running back to the eastern approach point. 
Log 20120208T202426.


Run#8 HDG 89 Dock Loc: 36.8230, -121.82797
Approach waypoint due east, 450m at 36.8233, -121.8236 
Rot Offset -3.0
Log: 20120208T212244
Min Range 1.5 m. But Matlab Dat data stops at 10 m out??

Running a 2D/3D cal at the dock now.

Run#9 Dock Heading 220 from run 244.  Dock Spot location at 14:41, 36.8230 -121.8277
Approach waypoint based on the Spot is 36.82076 -121.83259.
Rot Offset -3.0
Camera and modem still unreachable over 2.4GHz.