- Transit to 3km 

- Run Ballast and Trim

- Verify the Dvl is logging

- Restart logs

- Run triangle_control_speed_compare.xml in Engineering

  This is a long mission that does four laps around a triangle contained
  within the four pre-existing waypoings BoxWpt*.  The entire mission takes
  about 10 hours.

  The objective is to determine power versus range for various
  configurations.  A secondary objective is to test control loop behavior and
  interaction. 

  Each lap has three speeds; 1.0, .75 and .60 m/s.  The triangle is shaped so
  that each leg lasts approximately 40 minutes.

  Lap1: Mass fixed; Buoyancy fixed; Elevator deadband zeroed.
  Lap2: Mass fixed; Buoyancy fixed; Elevator deadband 0.5 deg.
  Lap3: Mass fixed; Buoyancy control on; Elevator deadband zeroed.
  Lap4: Mass fixed; Buoyancy control on; Elevator deadband 0.5 deg.


- At night, keepstation

- Time permitting, we'll also run a single-lap version of this with:

  Lap1: Mass fixed 2mm behind neutral; Buoyancy fixed; Elevator deadband
  zeroed.
  Lap2: Elevator and Buoyancy fixed, mass control only.  Deadbands zeroed.

- Ballast and Trim again to see how much it has changed.

20 June

 Ballast and trim; buoyancyNeutral = 480cc, massDefault = -.7cm

 set VerticalControl.stopDepthExcursion to 15m

 Ran the long mission; worked without a problem except it timed out.
 20120620T193111

 Ran it again overnight.  The vehicle couldn't hold depth on the .6 m/s 
 leg on the last two laps.  Contains a Config dir. 
 20120621T052324  

21 June

 Ballast and trim; buoyancyNeutral = 505cc, massDefault = -.75cm

 Running t.c.speed_onelap with deadbands zeroed, buoyancy held at 505, mass
 held at -.80 cm.  Objective is to determine induced drag from the elevator
 and fuselage.
 20120621T160251

- Rerun the above but with mass at -.75 (neutral).  This should be the lowest
  drag configuration.  We'll see if the drag is different now that the
  vehicle appears to weigh 25 g more. (Done)
  20120621T160251

- restart logs; set StopDepthExcursion to 15 meters, Run a mass control only
  with elevators locked. (Done).  First and second legs failed; mass didn't
  move forward??.  The slow speed leg eventually got down to depth.
  This dir contains a Config dir.  
  20120621T224824.  

- restart logs; Run triangle_control_speed_onelap.xml
  StopDepthExcursion to 15 meters, Speed1=.90 m/s, Speed2=.85 m/s, and Speed3
  = .50 m/s.  Buoyancy fixed at 505 (check). Mass fixed.
  20120622T014020
  
- restart logs; Run triangle_control_speed_onelap.xml with the mass at -.85,
  StopDepthExcursion to 15 meters.  Buoyancy and mass fixed.  Elev deadband
  ??. 20120622T045247

- restart logs; Run triangle_control_speed_onelap.xml with elevDeadband = 1.0 arcdeg,
  StopDepthExcursion = 15 meter.
  20120622T080505; includes the following.

- configSet HorizontalControl.rudDeadband 1.0 degree; Run
  triangle_control_speed_onelap.xml with StopDepthExcursion = 15 meter,
  elevDeadband = 1.0 arcdeg.
  20120622T080505

- Run back at 15 m?? 
  20120622T152900