Description of tests run at Blyth on 7 February 2008

Goal:  Evaluate the automated modes of Tiburon2:  station-keep, autohead, autodepth

In all runs, all three automatic modes were "on" unless otherwise noted.  Unless noted, the depth was 2m.

The time recorded in the data files is approximately GMT.  The DVL clock was set to GMT time manually, and approximately.  This time should allow correlation with data recorded by Martin (who also logs GMT).

Also, the GMT time indicated in this log is only a rough indicator of the time the test was actually run.


Test1:  17:39
First test of autostationkeeping.  The vehicle was allowed to hover in place.

Test2:  17:45
Repeat of Test1

Test3:  17:50
Aborted test

In the next series of tests, the pilot input joystick move commands (trying to simulate a step input).  In this mode, a stick motion moves the setpoint for the stationkeeping system.

Test4:  17:56
"small" (approximately 0.5m) step forward

Test5:  18:00
"small" step reverse

Test6:  18:04
"medium" step forward

Test7:  18:05:23
"medium" step reverse

Test8:  18:08:30
large step forward

Test9:  18:09:50
large step reverse

Test10:  18:12
small step starbord

Test11:  18:14:34
small step port

Test12:  18:15:50
medium step starbord

Test13:  18:17:11
medium step port

Test14:  18:18:27
large step starbord

Test15:  18:19:48
large step port
Note:  motion seemed a bit violent (axes coupled).  Not sure what happened.

Test16:  18:21:40
large step port


The next series involved step commands in heading.  Note that only CCW steps were done.  There was a software bug that did not allow the input of CW commands.

Also, note that the tether "hit" a vertical pole on the vehicle (attached so we could observe the vehicle's motion while it was submerged).  This will cause a disturbance on the vehicle of unknown magnitude.

Test17:  18:25:52
small step CCW

Test18:  18:27:10
meduim step CCW

Test19:  18:30:25
large step CCW

Test20:  18:33:58
~30degrees CCW command

Test21:  18:36:21
~270degrees CCW command

The next series of tests were designed to explore the disturbance response characteristics of the system.   A disturbance was added, and then "let go" to see how the vehicle returned to its setpoint.

Test22:  18:45:30
Oscillation (in yaw?) was observed while vehicle was being positioned -- so we logged a little data.

Test23:  18:46:44
Pull aft

Test24:  18:48:04
pull aft

Test25:  18:57:11
pull aft, but the vehicle was not submerged.  Not a valid test.

Test26:  18:59:07
pull aft-starbord

TEst27:  19:00:46
pull starbord

Test28:  ???
We saw the vehicle oscillating, so we took a little data.

Test29:  19:02:51
pull forward-starbord

Test30:  19:07:45
pull forward

Test31:  19:09
We saw oscillations again.  Took data.

Test32:  19:10
oscillations were still present.  Took more data

Test33:  19:11:06
pull port

The last test involved pulling up on the vehicle with the crane, and then releasing the tension.

Test34:  ???
pull vertical
 