Full-Speed Simulator
		        8 June 2016

			Agenda


*** Discussion Topics:

* Examing hours versus tasks remaining.  Who is going to do what?

       Used/Total (hours)

  Rob    22/140
  Rich   59/240
  Kent  126/200
  Hans    0/ 20

* How to test the new gnc code?

* How to proceed with the new gnc code?  Consolidate Servers?

* Propose any other simulation work for next year?

*** Specific Tasks: ***

  * Kent - Consolidate Navigation, Layered Control and Dynamic Control Servers??

  * Animation - Rob.  Expand Prof. Rock's Matlab animation to 3D.  This can/will
    show where the Imagenexes have problems.

  * Other stuff:

    - Investigate why the CPU is not (even close to being) fully loaded when the
      VM is.
    - Expand the Qnx Vm disk space from 1G, which is limiting.
    - Learn how to change the Qnx Vm to a static IP and back.
    - Investigate how to get the Qnx Vm to "see" moonjelly over wifi.  Otherwise
      any CVS work requires physical presence at Mbari.
    - Develop more formal pre-dive test proceedure:
      - Simulation of the upcoming missions.
      - Lab1.cfg deck mission on the vehicle. (Kearfott aligned, magnet in or out?)
      - On-vehicle unit hardware tests:
         * Imagenex
	 * Kearfott
	 * Dvl

  * Look further at water-column modeling. (Rob?)


*** Schedule ***

Kent: 

Rob:  Will start on animation.

Rich: Can't start until July.  6 June I2map, 9 June Camera deployment.


*** Notes from Last Time: ***

Test plan for the new gnc code:
   - Various fast simulations.
       * Document the simulations and pass/fail.
   - Real-time deck test on the vehicle.

Metric for success?
  - Ask Hans.
  - Simpler code.
  - Faster simulation.  Measure before and after.

*** Notes ***

What caused Monday's abort?  Kent will take a look.

Rob started simulating the latest gnc code; will continue.

What to do next for gnc code development:

1. Simulate existing gnc code.
2. Down-merge latest updates from trunk to FastSim
3. Down-merge latest updates from FastSim to gnc.
4. Decide upon further improvements.
5. Implement further improvements.
6. Repeat 1-3.
7. Develop specific sea-qualification tests.
8. Vehicle deck tests.
9. Piggyback sea trial.