09/17/2013 Findings and Outstanding Issues: - Surface comms timeout can cause infinite time on the surface with the current mission implementation. - Surfacing speed in a mission (other than default) should be set to 1 m/s for normal surfacing (e.g. running yo-yos) - Altitude envelope is almost always in a higher aggregate than surface behaviors. This doesn't allow the vertical mode to shift to 1 and also holds the buoyancy from pumping fully buoyant. Not a bad thing in this case - Further discussion on whether envelope behavior should be onboard and not at the mission level will take place - The bottoming was caused specifically by the vehicle becoming extremely nose heavy and diving. Speed was cut in half near the bottom which exacerbated the problem. The reason for the trim change is being investigated and may be related to the mass shifter lead screw breaking - The surfacing architecture outlined in JIRA TETHYS-454 would have prevented the beaching and would have had the vehicle at the surface 27 hours sooner. Had the vehicle driven offshore, it would have been on the surface much sooner as well - Horizontal control checking would have prevented the beaching and had the vehicle on the surface much sooner. The location would have been near the offshore envelope setting (2km in this case). - The vehicle has little awareness of its operating state. CBIT should consider identifying an out of trim state (e.g. diving pitched down, elevators negative trying to pitch up). Chronological sequence of events (all times in GMT): Log Name: 20130912T181327 2013-09-12T18:13:27.217Z,1379009607.217 - Log start Control issue: 1379020067 - The vehicle is climbing out of a yo-yo and exhibits an unexplained pitch down. Prop stayed powered and on at 300 rpm throughout. See climbout_1_046.jpg and alt_climbout_1_046.jpg Bottom hit: The vehicle spends over 60 minutes on the surface pitched down and struggled with comms. One message was sent from the vehicle with 9 more in the queue. At time 1379022731 (1.3105) the vehicle times out from the first 30 minute Iridium and begins to dive. Within 6 seconds, the vehicle experiences a pitch > 0 degrees likely due to wave motion and is kicked back into surface comms. 2013-09-12T22:23:03.742Z,1379024583.742 [Radio_Freewave](INFO): Powering down The vehicle times out after the second 30 minute Iridium comms timeout and is underwater completely 20 seconds later. The platform_communications variable is not toggled. During this dive the vehicle is extremely nose heavy. The elevator pitch is negative despite the vehicle being pitched down beyond 30 degrees at times. It is unknown at this time if the mass shifter lead screw breakage contributed to the change in trim. About 70 seconds later, the vehicle executes the NeedComms aggregate and invokes GoToSurface due to the vehicle pitch going positive. This reduces the prop speed to 150 rpm. The vertical mode remains in pitch mode. Note that the AltitudeEnvelope call is above all the surfacing aggregates in the mission. This prevented buoyancy from pumping positive and the vertical mode from going to "surface" or 1. At this time, the vehicle is 1.8m off the bottom. 2 seconds later, the vehicle exhibits a downward pitch change. 2013-09-12T22:24:15.686Z,1379024655.686 [CANON_ESP_box:NeedComms:A](INFO): Aggregate::initialize CANON_ESP_box:NeedComms:A 2013-09-12T22:24:16.102Z,1379024656.102 [CANON_ESP_box:SurfaceComms] Running Loop=1 2013-09-12T22:24:16.103Z,1379024656.103 [CANON_ESP_box:SurfaceComms](INFO): Aggregate::initialize CANON_ESP_box:SurfaceComms 2013-09-12T22:24:16.103Z,1379024656.103 [CANON_ESP_box:SurfaceComms:A.GoToSurface] Running Loop=1 2013-09-12T22:24:16.103Z,1379024656.103 [CANON_ESP_box:SurfaceComms:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. Mass shifter failure: 2013-09-12T23:08:52.438Z,1379027332.438 [ThrusterServo](INFO): Powering down This short power cycle is noted at time 1.77 in the plot where voltage goes to 0. One can notice a slight downward change in pitch for the duration of the power cycle. See image thruster_cycle_1379027332.jpg 2013-09-12T23:15:37.665Z,1379027737.665 [VerticalControl](CRITICAL): Failure to ascend, stopping mission after 300.014191 seconds, depthRate=0.001489 m/s, pitch=-16.787109 deg. At time 1.8102 we see the mission stop and vertical mode change. Prop speed stays the same as the default mission is initialized. A noticable pitch change occurs at this point from -17 degrees to -35 degrees. The most likely cause for this pitch change is the buoyancy pumping from 300cc to 925 cc. See mission_end_1379027737.jpg