*** 1 Dec 2022 Thu ***

20221130T222203 Small fins oscillating.

20221129T165323 Med fins oscillating on the transit.  This had all those
docking runs.

*** 2 Dec 2022 Fri ***

Medium rudder and elevator.

20221201T234428 Oscillation gone. kiDepth 0, kiPitchElevator .008, elevDead .1 deg.

20221202T004751 Oscillation gone. kiDepth 0, kiPitchElevator .008, elevDead .1 deg.

20221202T031341 Docked.  Deadbands zeroed.  kiDepth zero.  But these values
are empty in the slate.

20221202T050301 Several docking passes, then dock and overnight stay.

20221202T175415 - restore kiDepth to default, set kiPitchElevator to 0. S&L.
Depth control is good, +/- 20 cm.

Total power 23.3 watts, with 14.3 going to the thruster, both readings steady at
depth.

20221202T183014 - elevDeadband back to 0.5. S&L 30 minutes.  23.4 total,
14.25 to the thruster.  So power savings seems neglidgable.


*** 5 Dec 2022 Mon ***

20221204T012207 3 docking attempts, all misses.  Altitude ballooned several
times ??

figure;plot(data.acoustic_contact_range.time, data.acoustic_contact_range.value);grid on
dynamicDateTicks
set(gca,'fontsize',20)
hold on
plot(data.height_above_sea_floor.time,data.height_above_sea_floor.value,'r')
plot(data.acoustic_contact_range.time, data.acoustic_contact_range.value,'go');grid on
plot(data.VerticalControl.elevatorAngleAction.time,data.VerticalControl.elevatorAngleAction.value*180/pi,'g');
plot(data.platform_orientation.time,data.platform_orientation.value*180/pi,'m');



20221204T212000 flying too low (3.3m alt), hit 72m and did three 2m yoyo.
Docked, 3 tries.

20221205T005950 Docked first try.


20221205T045819 Docked first try.

20221206T020834 8 passes, 2 docks.

20221206T160211 Drifts back after docking.  4 passes, 2 docks.

20221206T195146 Short final reduced from 15 to 8 m.  zero speed drift. Docked.


20221206T212201 Fast USBL mode.  Docked on the first pass, but don't know
why.  Dat buffer overflowed.

20221207T002707 
LineCapture.kiHeadingFinalApproach/LineCapture.kiHeadingTerminalGuidance both
set to 0. No USBL mode.

9 passes, one dock.

(Brian ??)These values were increased per host simulation results that showed a higher
values was needed to achieve docking. Field tests confirm what the simulator
demonstrated.