
ID	0072
Class	DOCUMENTATION
Severity	1
Status	ready
Models	Auv/Vehicle, Auv/CTD
Found	2026-09-26, OpenWiki pass
Decision needed

Evidence

Three slips in the AUV headers, each checked against HEAD on 2026-09-26:

src/auv/SensorCtd.h:41-44 says "The states are set in <tt>InitialConditionSetup</tt> to the field values at the start position, so a run does not open with a spurious transient from zero", and `src/auv/SensorCtd.h:310` says the method "Seeds the three lag states with the field values". src/auv/SensorCtd.cpp:244-249 (already corrected) and FISH-0060 show that today the environment is unresolved there, so LagT and LagS open at 0; only LagD is seeded, from the position (SensorCtd.cpp:266). The .cpp comment (SensorCtd.cpp:95-96, "so that InitialConditionSetup can seed them") states the intent, not the outcome, but is not wrong.
src/auv/Auv.h:154-156 says the fin signs are pinned by Auv_PositiveRudderYawGivesAPositiveYawRate and Auv_PositiveRudderDiveGivesANoseDownMoment. Neither exists: grep -rn "Auv_PositiveRudder" tests is empty. The test that pins both signs is Auv_FinSignsArePositiveYawAndNoseDownDive (tests/Auv_Test.cpp:1109-1125), which asserts yaw[5] > 0 and dive[4] < 0 for a positive command.
src/auv/Auv.h:394-395 gives the co-simulation variant as examples/input/FMU/AuvSurvey.xml. That file does not exist; examples/input/FMU/ holds only the folder AuvSurvey/ with model.xml, fmu.yaml and documentation/.

Effect

Readers only. A reader of the CTD page expects no start-up transient, which FISH-0060 shows is not true today; a reader of the vehicle page looks for tests and a file that are not there.

Possible fix

SensorCtd.h:41-44,310: say that the intent is to seed from the field, that today only LagD is seeded and LagT/LagS open at 0 until FHSIM-0025/FISH-0060 are resolved, and keep the \xrefitem reviewissue "Review issues" "Review issues" \ref fhsim_fishery_issue_0060 link. When FISH-0060 is fixed the original sentence becomes true again, so this can also be folded into FISH-0060's resolution.
Auv.h:155-156: name Auv_FinSignsArePositiveYawAndNoseDownDive.
Auv.h:395: examples/input/FMU/AuvSurvey/model.xml.

Test that would prove it

grep for the named test and path; a Doxygen build without broken references.

Risk

None; comments only.