Test #2

- basic vehicle function
- navigation
- Altitude following
- subsystem checkout



- verify vehicle knows which way North is on all systems

- Drive to 3km and launch

Vehicle released at 0905 at 3km.

- Transit vehicle to 36.804, -121.835 and note navigation error


Mass Servo problem?
	2012/05/03 09:39:04.635 logCritical, [CBIT] Hardware Fault in component: MassServo
	2012/05/03 09:39:04.584 logFault, [MassServo] Overload Error
	2012/05/03 09:37:44.585 logFault, [MassServo] Overload Error
	2012/05/03 09:36:24.556 logFault, [MassServo] Overload Error
	2012/05/03 09:35:04.600 logFault, [MassServo] Overload Error
	2012/05/03 09:33:48.060 logFault, [MassServo] Overload Error

Navigation problem?
	2012/05/03 09:43:28.013 logImportant, [Navigation] Navigation Error 26.1 %DT


- Run ballast and trim

Ran ballast and trim twice.

First run == Ballast of 90 cc and trim of 0.12 cm
Second run == Ballast of 83 cc and trim of 0.34 cm

BK changed ballast to 150 cc.

- If navigation error > 8%dt, run compass calibration
12:20 running compass calibration

	2012-05-03T19:45:09.905Z,1336074309.905 [AHRS_sp3003D](IMPORTANT): Magnetic calibration quality (0[best] to 10000) is 40
	2012-05-03T20:01:36.022Z,1336075296.022 [Navigation](IMPORTANT): Navigation Error 7.8 %DT

Vehicle is in middle of fishing fleet.  Sending to 36.85, -121.87 to get north of fleet.

	2012-05-03T20:51:44.014Z,1336078304.014 [Navigation](IMPORTANT): Navigation Error 4.6 %DT
	2012-05-03T20:51:44.014Z,1336078304.014 [Navigation](IMPORTANT): Navigation Error 4.6 %DT
	2012-05-03T22:50:51.014Z,1336085451.014 [Navigation](IMPORTANT): Navigation Error 2.0 %DT
	

- If a longer run in needed, head for 36.8154, -121.869 (the beginning of boxWaypoints) and run between those waypoints. 

BoxWaypoints modified to:
	Wpt1Lat 36.85 degree;
	Wpt2Lat 36.865 degree;
	Wpt3Lat 36.865 degree;
	Wpt4Lat 36.85 degree;

boxWaypoint depth modified to:
	Depth 20 meter
	MaxDepth 25 meter
	MaxDepthTransit 15 meter


- Begin disabling "best" subsytems and allowing non-best to take over during waypoint navigation. * Reduce mission timeout to stop mission quickly if waypoint is not acheived *
	- Sparton
	- DVL
	- Depth? 


- Altitude following. Could be done via turbulence mission though max depth and waypoints will need to be set to correspond with the boxWaypoints area (~75 m deep). Alternatively a simple altitude following mission will be sent to the vehicle once deployed that will use the same boxWaypoints. Initial altitude will be 20m.   


- Real science data from sea if there's time? Science instruments will be run in tank prior to launch. 


At night: run boxWaypoints with a high loop count 


Recovery at 0830 Friday AM