T think it would be good to confirm that the vehicle has good vertical control in float mode, even if ballasted a little heavy, using the test tank -- with no prop of course, in case we get to the Default mission while she's underwater.

So perhaps the vehicle should be trimmed in the usual manner.  Then 
configSet VerticalControl.stopDepthExcursion 3 meter 
and try and run ballast_and_trim.xml with a depth of 5 meters,
 a 1 meter deadband,
 and a 10 minute float time.  


configSet VerticalControl.stopDepthExcursion 3 meter

load Maintenance/ballast_and_trim.xml;
set ballast_and_trim.BallastDepth 5 meter;
set ballast_and_trim.HoldDuration 10 minute;
set ballast_and_trim.DepthDeadband 1 meter;
run

First "successful" run on the above test.
http://aosn.mbari.org/sbdlogs/daphne/2012/201205/20120524T145439/

Observations of logs in:
\\Tornado\ProjectLibrary\900739.LRAUV.Data\Testing\2012\2012_05_22_Daphne_TankTest\Logs\20120524T145439

Appears that vehicle was ballasted heavy.
Vehicle appears to have sat on the bottom for 2+ minutes.
Q: Why didn't the mission abort, since 10 m > 5m+1m+3m??
Q: Is there a configSet problem?

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Appears to be a duplicate of the previous run.

http://aosn.mbari.org/sbdlogs/daphne/2012/201205/20120524T162113/

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configSet VerticalControl.stopDepthExcursion 3 meter
configSet VerticalControl.buoyancyNeutral 750 cubic_centimeter
load Maintenance/ballast_and_trim.xml;
set ballast_and_trim.BallastDepth 5 meter;
set ballast_and_trim.HoldDuration 10 minute;
set ballast_and_trim.DepthDeadband 1 meter;
run

Repeat of test with ballast neutral at 750 cc


That should work just fine.  

...20120524T165446

This time mission aborted after depth exceeded smoothDepth at 3.68m, and
kept exceeding smoothDepth at 6.68m. 
Q: Why did configSet work this time? 
Q: Why didn't the abort depth continue to trend down with smoothDepth?

A: Questions are moot.  Abort was due to NAL9601 failure.
Q: Why was NAL9601 trying to collect data?

A: It was incomplete comms from Default.xml that eventually timed out.

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For the 2nd test, tweak the buoyancyNeutral setting to maybe 200 cc's too low so she will tend to dive fast.  The new code should allow the vehicle to run without a mission abort. 

configSet VerticalControl.stopDepthExcursion 3 meter
configSet VerticalControl.buoyancyNeutral 550 cubic_centimeter
load Maintenance/ballast_and_trim.xml;
set ballast_and_trim.BallastDepth 5 meter;
set ballast_and_trim.HoldDuration 10 minute;
set ballast_and_trim.DepthDeadband 1 meter;
run

...20120524T173012

Once again vehicle sat on the bottom, maybe for 40 seconds, but mission did not end!

Q: Appears buoyancyNeutral is set correctly, but not stopDepthExcursion. Why???

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For the 3rd test, set the buyancyNeutral setting even lower, maybe 350 cc's if possible.  The mission should most certainly end.  But the vehicle should rise to the surface before attempting to drop her weight.

configSet VerticalControl.buoyancyNeutral 350 cubic_centimeter
load Maintenance/ballast_and_trim.xml;
set ballast_and_trim.BallastDepth 5 meter;
set ballast_and_trim.HoldDuration 10 minute;
set ballast_and_trim.DepthDeadband 1 meter;
run

...20120524T175653

Once again vehicle sat on the bottom for 2 minutes but mission did not end!

Q: Why? 

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For the 4th test, attach a line and a 1kg weight to the vehicle, and run the test again.  Pull the vehicle up after 15 minutes and confirm that she attempted to drop her weight 10 minutes after she descended below 9 meters.


configSet VerticalControl.buoyancyNeutral 750 cubic_centimeter
load Maintenance/ballast_and_trim.xml;
set ballast_and_trim.BallastDepth 5 meter;
set ballast_and_trim.HoldDuration 10 minute;
set ballast_and_trim.DepthDeadband 1 meter;
run

...20120524T182805

Vehicle sat on bottom for 18 minutes, then mission ended.  Syslog claims it was only 14 minutes!
Then 5 minutes went by running default mission before vehicle was pulled up.
Syslog claims to have attempted to drop the weight.

Q: Once again, why didn't mission end at 9 meters or so?
Q: Why does 14 minutes look more like 18 minutes?


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Does this sequence sound reasonable and achievable? Probably would be worth unplugging the drop weight connector (if possible) to cut down on drop weight wire usage.



******** notes  on how to command vehicle  ***********

configSet VerticalControl.buoyancyNeutral XXX cubic_centimeter

configSet VerticalControl.buoyancyNeutral 750 cubic_centimeter


Let's just get around the Iridium/GPS issue by faking it out. Do this:
"set NAL9601.platform_communications 1 bool"
"set NAL9601.latitude_fix 36.8 degree"
"set NAL9601.longitude_fix -121.whateveryouwant degree"