Test #63 - Test receive on DAT array - Fly at correct altitude - Initially run -3 degree rotation offset - Drive outside of 1km and launch - Transit vehicle to 36.817, -121.82 - run dat_on.xml and verify DAT data to shore 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 and altitude set to 9m. Start with oneway off. - run homing_altitude with oneway set to 90m and monitor modem to see if it reboots. *** 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 (6 or 7) and a timeout long enough to go for the night but ideally time out early in the morning. In the morning (no earlier than 6 a.m.) begin sending the vehicle back towards the dock. Thur morning dawn: Run depthlimit to 280 m. Stop depth and abort depth will be set to 295m and 300m respectively. Max depth should be set to 285m. Brian will configure/run this unless Mike wants to. Configure abortDepth = 300 m; stopDepth = 295 m; Restart application Run transit 3km to: 36.774 -121.977 with a timeout duration of 3.5 hrs Then run depthLimit as follows: load Engineering/depthLimit.xml;set depthLimit.Depth 280 m; set depthLimit.MaxDepth 285 m; run TETHYS GOPRO files info Times are video time. File GPPR0026 Camera installed and started by BH and TH on Hurricane RHIB. Vehicle released at 00:01:24 Dive at 00:17:30 Surface at 00:39:46 On Surface until end of file 00:43:11 File GP010026 Vehicle on surface for entire file 00:43:16 File GP020026 Vehicle on surface at start of file Misson start at 00:12:45? Dive at 00:14:30 Surface 00:30:00 Still on surface at end of file 00:43:16 File GP030026 Vehicle on surface at start of file Mission start at 00:04:00 Dive at 00:04:30 ***** Dock near miss at 00:15:34 to 00:15:44 ***** Surface at 00:22:27 Still on Surface at end of fiel 00:46:30 File GP040026 Vehicle on surface at start of file. Mission start at 00:21:00 Dive at 00:22:00 Dark after 00:23:15 File end at 00:49:10 Moonrise at 1749, 99% of moon visible Sunset was at 1808 File GP050026 Dark at file start On Surface (Moonlight?!) 00:39:00 File end at 00:49:10 File GP060026 Dark entire file File end at 00:06:23 DOCK LOCATIONS AND RUN INFO: Monday: Run #1: HDG: 96 LOC: 36.82327 , -121.82765 Log: 20120305T220845 Rot offset: -3 Alt cmd: 9 m Min Range: 4m Run #2: HDG: 89 LOC: 36.82314 , -121.8278 Log: 20120306T005404 Rot offset: -3 Alt cmd: 9 m Min Range: 4m? Tuesday: Run #3: HDG: 340 LOC: 36.8232 , -121.82762 Log: 20120306T163541 Rot offset: -3 Alt cmd: 9.5 m Min Range: 2m No apparent contact. Data ends suddenly. (1) Close miss low and left. Run #4: HDG: 010 LOC: 36.82322 , -121.82762 Log: 20120306T174906 Rot offset: -3 Alt cmd: 10 m Min Range: 2m Vehicle turns 160 deg at 6 deg/sec. It makes a big hook right, but missed left this time. (2) Maybe contact. Missed low and left. Full resolution data - no contact. Run #5: HDG: 015 LOC: 36.82325 , -121.82759 Log: 20120306T195152 Rot offset: -2 Alt cmd: 10 m Min Range: 1.3 m Probably grazed it. Vehicle heading jumps 3 degrees at the crucial moment. No recorded dock motion. Data ends suddenly. (3) Maybe contact. Low and right. Full resolution data - probably not. Run #6: HDG: 020 LOC: 36.82325 , -121.82759 Log: 20120306T200735 Rot offset: -2 Alt cmd: 10 m oneway: 90 m Min Range: unknown - oneway didn't produce data after 90m. Run #7: HDG: 040 LOC: 36.82318 , -121.82755 Log: 20120306T211243 Rot offset: -2 Alt cmd: 10 m Min Range: 2 m (4) Contact: Vehicle heading jumps 70 degrees in 5 seconds at 5790 seconds; but no recorded dock heading change. Full resolution data - no contact. Run #8: HDG: 060 LOC: 36.82318 , -121.82759 Log: 20120306T223726 Rot offset: -2 Alt cmd: 9.5 m Min Range: 1.5m (5) Contact; both dock and vehicle motion. Full res data - Contact! Run #9: HDG: 060 LOC: 36.82317 , -121.82759 Log: 20120306T233801 Rot offset: -2 Alt cmd: 9.5 m Min Range: .9 m (alt good). Grazed it on the right. Vehicle heading moves 12 degrees in 20 sec, but no dock motion. (6) Maybe; low and right. Full res - nope. Run #10: HDG: 070 LOC: Log: 20120307T004715 Rot offset: -2 Alt cmd: 9.5 m Min Range: < 1 m. Vehicle apparently hit the dock, may have hooked it with a fin. Both dock and vehicle heading jump ~10 degrees. (7) Contact. Full res - Contact! Wednesday Run #11: HDG: 290 LOC: 36.82336 , -121.82802 Log: 20120307T171153 Rot offset: -2 Alt cmd: 9.5 m Min Range: 6 m measured, but probably < 1m. Probably clipped it with a fin. Vehicle heading changes ~18 deg in 60 seconds, but the dock doesn't move. (8) Maybe. Right and low. Full Res - still a maybe. -- GOPRO CAMERA ON -- Run #12: HDG: 315 LOC: 36.82338 , -121.82787 Log: 20120307T181646 Rot offset: -2 Alt cmd: 9.5 m Min Range: misfire. Vehicle didn't home correctly Run #13: HDG: 350 LOC: 36.82331 , -121.82776 Log: 20120307T192933 Rot offset: -2 Alt cmd: 9.5 m Min Range: saw vehicle. Low and to the left (if you're watching the screen. So we missed right as usual). Also off angle due to approach lineup overshoot. Will fix in next run. See time 3:33. Nearest reported range 5.5m; projected horizontal miss of ~1 meter, and it did appear low from the data. (9) Close miss; right and low. Run #14: HDG: 350 LOC: 36.82333 , -121.82773 Log: 20120307T200837 Rot offset: -2 Alt cmd: 10.5 m Min Range: 1.7m. Very close. Vehicle has a 10 degree change in 10 sec in heading. Probably grazed it. Lowered resolution on lat/lon, heading; increased it on altitude. (10) Maybe; passed left. Full res - Contact! Run #15: HDG: 005 LOC: Log: 20120307T210053 Rot offset: -2 Alt cmd: 10.5 m Min Range: drove way off course. Oneway did provide data though. Run #16: HDG: 055 LOC: 36.82321 , -121.82761 Log: 20120307T221802 Rot offset: -2 Alt cmd: 10.5 m Min Range: 2.3; probably closer. No dock motion; vehicle heading not available. (11) Maybe. Full res - no. Run #17: HDG: 070 LOC: 36.82318 , -121.82762 Log: 20120307T230335 Rot offset: -2 Alt cmd: 9.5 m (it was too high last time) Min Range: 0.79 m (12) Contact. Full res - Contact!