Test two had ROV over the side in more waves, and we tested a range of target tensions and pay-in/haul-out speeds.  At the end we rotated the ship into the trough and things sped up enough to trip the system off on low-oil in the slackwire compensator.  

Minor takeaways is that the 700kg target tension may be better in general than 500kg, it's just further away from a slack-wire condition so it happens less often.  Also the vehicle is awash a little less that appeared to be more stable in general. Data analysis could indicate if the RPM's were more or less extreme in the different target-tension settings.

The major takeaway is the effect of the pay-out and haul in speed limits, We tested these one at a time. The pay-out speed limit looked good as there was no slack in the cable, the system had plenty of speed to pull things tight.  But, as we limited the pay out speed, the system was effetively lowering the ROV back into the water slowly after the bigger waves.  This led to sizeable tension peaks of up to 3tons or so.  Limiting the haul-in speed did naturally cause slack-wire events, but the subsequent tension peaks as it became tight again were smaller, 1400kg peak or so.  It's possible that by limiting the haul-in speed, the traction winch is spinning slower when the tension comes back on, so the motor torques can slow it down and pay out quickly. We are limited in the Tension control tuning by the "guitar-mode" oscillation, so it is what it is.  If it could be tuned tigher it could then tolerate slack-wire by limiting the subsequent tension peak and as long as nothing jumps a sheave, this isn't a bad solution...

Testing notes:
- Deployed and ran w/500kg tension target first
- At 760seconds or so, switched to 300kg.
- At 1140 seconods, switched to 700kg.
- At 1480 seconds, switched back to 300kg and experimented with down thrust,  no noticiable winch speed change, but should be looked at more carefully.


Testing of payuout spd limit:
- @500kg target tension, 
 -- First, 15rpm
     then, 14RPM 
     then, 13RPM at 2050 sec
     then, 12RPM at 2250 sec
     then, 11RPM at 2520 sec
     then, 10RPM at 2676 sec
     then, 9RPM at 2050 sec

Testing of haul-in spd limit (with payout at 18RPM and targ tension = 500kg)
  -- First, haulin at 20RPM
      then, 15RPM at 3575 sec
      then, 14RPM at 3912 sec
      then, 13RPM at ? sec

Testing of haul-in spd limit (with payout at 18RPM, and targ tension = 700kg)
  -- First, haulin at 18RPM
      then, 16RPM at 5040 sec
      then, 14RPM at 5190 sec
      then, 12RPM at 5300 sec
      then, 10RPM at 5480 sec

Test ended due to slackwire oil alarm.




