  Dark soliton states of Bose-Einstein condensates in harmonic traps are
studied both analytically and computationally by the direct solution of the
Gross-Pitaevskii equation in three dimensions. The ground and self-consistent
excited states are found numerically by relaxation in imaginary time. The
energy of a stationary soliton in a harmonic trap is shown to be independent of
density and geometry for large numbers of atoms. Large amplitude field
modulation at a frequency resonant with the energy of a dark soliton is found
to give rise to a state with multiple vortices. The Bogoliubov excitation
spectrum of the soliton state contains complex frequencies, which disappear for
sufficiently small numbers of atoms or large transverse confinement. The
relationship between these complex modes and the snake instability is
investigated numerically by propagation in real time.
