• Water test largely successful
• Mechanical notes:
  • Weight balancing imperfect
  • No necessary changes made evident by water test
• Electrical notes:
  • No failures, no drastic changes necessary
  • New E-stop circuit would be nice to have
• Software notes:
  • Likely cause of DVL drift identified:
    • ~1.8 degree angle of sub during calibration
    • Calibrating the sub at an angle would account for upward drift as sub moves farther away from wall, would also account for the sub drifting downward on return
      • Matches both observed competition behaviors
    • Potential solutions - use depth sensor data, DVL altitude data, or just calibrate with help from a 2D bubble level (listed in order of viability)
  • Next step: Write z position controller to use altitude data from DVL rather than DVL position data (altitude less likely to be skewed by initial angle)
  • Sonoptix outputting good data
    • Tested using slalom pole and tape measure
    • Measured distances matched output data
• Overall notes:
  • Sub capable of doing a barrel roll!!
    • Requires 50% thruster output (more than we use for anything else)
    • Very smooth, however, it would break DVL lock
  • Sub incapable of pitching 360 degrees
    • Too pitch stable, and too short of a lever arm
    • As long as we can barrel roll, pitching 360 degrees is useless
  • Water test ended early
    • All goals were accomplished in 2 hours and 45 minutes
  • No failures - nothing needs to be addressed that was not covered in Thursday meeting other than new altitude-based z-control
  • Good attendance
    • Several people came
    • If more people could bring swimsuits next time, it would be very helpful
  • Pool water very cold
    • If anyone has a wetsuit and would like to get in the water with the sub, please bring it next time
• Good job, everyone!