Test #61

-   oneway command fixed
- 	2D Sparton cal with pitching motion
- 	3D Sparton cal with pitching motion
- 	DAT no longer logs azimuth if vector magnitude isn't good





- Drive outside of 1km and launch
- Transit vehicle to  36.8154, -121.869
**  Done ** TTH

Nav/Compass
- Run calibrateSparton3D.xml until we get something <10 or so
**  Done ** TTH
- Run box waypoints and look at nav accuracy.
**  Running, default parameters ** TTH
**  Resent with 5 laps, 12 hours ** TTH


If 3D isn't working well...
- Run calibrateSparton2DWithPitch.xml until we get something <10 or so
- Run box waypoints and look at nav 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 


DOCK LOCATIONS AND RUN INFO:


Run #1: HDG:   LOC: 
Log: 
Rot offset: 0.0
Min Range: 

Run #1: HDG:30   LOC: 36.82333, -121.82802
Log: 20120217T185551
Rot offset: 0.0
Min Range: ??  No DAT data visible.  DAT modem may not be responding. It may
be one-way again.