MBARI Mapping AUV Operations 26 June 2006 R/V Point Lobos Science Party: Hans Thomas ROV Pilots: ? ROV-mounted Repeat Mapping Suveys of Monterey Canyon The Mapping AUV has been mounted on ROV Ventana for repeat mapping operations this week - June 26,27,28,29 We are limited to the 1000 m site due to a short tether. Our priorities are, in order, 1000 m site, 520 m site, 100 m site, 300 m site. All lines will be run at a 20 meter altitude. The 100 m repeat mapping waypoints are: -121.803950 36.801491 -94.642021 3 81.128120 0.000000 0.000000 0.025473 ## WAYPOINT STARTLINE -121.795847 36.802425 -73.018545 4 351.128120 730.283323 739.564135 0.076092 ## WAYPOINT ENDLINE -121.795903 36.802737 -73.018545 3 261.128120 765.283323 774.564135 0.038747 ## WAYPOINT STARTLINE -121.804006 36.801803 -122.472006 4 351.128120 1495.566647 1512.774703 -0.257674 ## WAYPOINT ENDLINE -121.804061 36.802116 -126.133953 3 81.128120 1530.566647 1548.560419 0.058552 ## WAYPOINT STARTLINE -121.795959 36.803049 -73.018545 4 351.128120 2260.849970 2301.771925 0.442173 ## WAYPOINT ENDLINE -121.796014 36.803362 -41.357548 3 261.128120 2295.849970 2373.187439 -2.243469 ## WAYPOINT STARTLINE -121.804117 36.802428 -126.453892 4 351.128120 3026.133293 3123.467268 0.006174 ## WAYPOINT ENDLINE -121.804173 36.802740 -121.174545 3 81.128120 3061.133293 3158.950626 0.038185 ## WAYPOINT STARTLINE -121.796070 36.803674 -49.686197 4 351.128120 3791.416617 3907.673207 1.595333 ## WAYPOINT ENDLINE -121.796126 36.803986 -70.569019 3 261.128120 3826.416617 3949.882293 -0.035080 ## WAYPOINT STARTLINE -121.804228 36.803053 -119.906912 4 351.128120 4556.699940 4683.609944 0.044106 ## WAYPOINT ENDLINE -121.804284 36.803365 -115.283125 3 81.128120 4591.699940 4718.983371 0.122746 ## WAYPOINT STARTLINE -121.796181 36.804298 -62.053700 4 351.128120 5321.983263 5458.772654 0.007171 ## WAYPOINT ENDLINE -121.796237 36.804611 -71.302557 3 261.128120 5356.983263 5495.501759 -0.313551 ## WAYPOINT STARTLINE -121.804340 36.803677 -117.065048 4 351.128120 6087.266587 6233.483500 -0.150683 ## WAYPOINT ENDLINE -121.804395 36.803989 -117.337099 3 81.128120 6122.266587 6268.536016 0.036095 ## WAYPOINT STARTLINE -121.796292 36.804923 -73.865835 4 351.128120 6852.549910 7006.754738 -0.014186 ## WAYPOINT ENDLINE -121.796348 36.805235 -73.400974 3 261.128120 6887.549910 7041.791055 -0.022821 ## WAYPOINT STARTLINE -121.804451 36.804302 -118.284229 4 351.128120 7617.833233 7776.470132 -0.033508 ## WAYPOINT ENDLINE -121.804507 36.804614 -115.612961 3 81.128120 7652.833233 7811.662737 -0.006137 ## WAYPOINT STARTLINE -121.796404 36.805548 -72.973213 4 351.128120 8383.116557 8544.849253 0.055947 ## WAYPOINT ENDLINE -121.796459 36.805860 -69.410540 3 261.128120 8418.116557 8580.044247 0.011139 ## WAYPOINT STARTLINE -121.804562 36.804926 -104.504221 4 351.128120 9148.399880 9314.161268 0.359423 ## WAYPOINT ENDLINE -121.804618 36.805239 -95.489065 3 81.128120 9183.399880 9350.753105 -0.000683 ## WAYPOINT STARTLINE -121.796515 36.806172 -64.261844 4 351.128120 9913.683203 10084.610132 0.262475 ## WAYPOINT ENDLINE -121.796570 36.806484 -64.770523 3 261.128120 9948.683203 10119.700539 -0.025403 ## WAYPOINT STARTLINE -121.804673 36.805551 -85.200394 4 351.128120 10678.966527 10856.215380 0.261095 ## WAYPOINT ENDLINE -121.804729 36.805863 -70.960230 3 81.128120 10713.966527 10894.020944 0.122037 ## WAYPOINT STARTLINE -121.796626 36.806797 -73.018545 4 351.128120 11444.249850 11636.512922 -0.192428 ## WAYPOINT ENDLINE -121.796682 36.807109 -73.018545 3 261.128120 11479.249850 11671.512922 0.290153 ## WAYPOINT STARTLINE -121.804785 36.806175 -50.693783 4 71.870964 12209.533173 12424.741170 0.022154 ## WAYPOINT ENDLINE -121.802147 36.806841 -63.227587 3 171.128120 12456.173116 12677.571515 0.194139 ## WAYPOINT STARTLINE -121.801186 36.801448 -65.188841 4 81.128120 13060.524996 13309.525194 0.538782 ## WAYPOINT ENDLINE -121.798485 36.801760 -62.556484 3 351.128120 13303.952770 13562.939335 0.089966 ## WAYPOINT STARTLINE -121.799446 36.807152 -56.941319 4 351.128120 13908.304649 14179.760424 0.106869 ## WAYPOINT ENDLINE The 300 m repeat mapping waypoints are: -121.844025 36.795575 -230.984985 3 45.000000 0.000000 0.000000 -0.156625 ## WAYPOINT STARTLINE -121.846042 36.791766 -249.699870 1 45.000000 459.263674 480.282126 0.288038 ## WAYPOINT -121.847610 36.792214 -237.487244 1 45.000000 607.770011 629.577033 -0.190467 ## WAYPOINT -121.845818 36.796023 -242.574361 1 45.000000 1059.576329 1107.202592 -0.098864 ## WAYPOINT -121.847759 36.796546 -256.209493 1 45.000000 1242.274148 1290.634467 -0.146640 ## WAYPOINT -121.849552 36.792737 -245.501160 1 45.000000 1694.079917 1761.580421 0.104937 ## WAYPOINT -121.850298 36.793558 -258.507528 1 45.000000 1806.981517 1875.329009 -0.159649 ## WAYPOINT -121.844954 36.791862 -251.547161 4 45.000000 2319.599724 2397.162314 -0.280657 ## WAYPOINT ENDLINE -121.844813 36.792157 -283.345390 3 45.000000 2354.599724 2444.668716 -0.060101 ## WAYPOINT STARTLINE -121.850116 36.793800 -277.871834 4 45.000000 2861.611464 2954.014266 -0.121808 ## WAYPOINT ENDLINE -121.849975 36.794094 -287.475288 3 45.000000 2896.611464 2990.310378 -0.392701 ## WAYPOINT STARTLINE -121.844672 36.792451 -287.403954 4 45.000000 3403.623204 3499.711419 -0.022400 ## WAYPOINT ENDLINE -121.844531 36.792746 -287.823860 3 45.000000 3438.623204 3534.744002 0.008620 ## WAYPOINT STARTLINE -121.849834 36.794389 -304.918945 4 45.000000 3945.634944 4042.727569 -0.135071 ## WAYPOINT ENDLINE -121.849693 36.794683 -307.022537 3 45.000000 3980.634944 4077.808538 0.024256 ## WAYPOINT STARTLINE -121.844390 36.793040 -287.397598 4 45.000000 4487.646684 4585.255857 0.025865 ## WAYPOINT ENDLINE -121.844249 36.793334 -286.524895 3 45.000000 4522.646684 4620.267748 -0.007050 ## WAYPOINT STARTLINE -121.849552 36.794977 -307.542442 4 45.000000 5029.658424 5127.797738 -0.017854 ## WAYPOINT ENDLINE -121.849411 36.795272 -307.030556 3 45.000000 5064.658424 5162.805338 0.035757 ## WAYPOINT STARTLINE -121.844108 36.793629 -286.062462 4 45.000000 5571.670164 5670.319066 0.033984 ## WAYPOINT ENDLINE -121.843967 36.793923 -284.025101 3 45.000000 5606.670164 5705.439469 0.067937 ## WAYPOINT STARTLINE -121.849270 36.795566 -303.887909 4 45.000000 6113.681904 6213.248199 0.079904 ## WAYPOINT ENDLINE -121.849129 36.795861 -297.280945 3 45.000000 6148.681904 6248.889563 0.182624 ## WAYPOINT STARTLINE -121.843826 36.794218 -260.882801 4 45.000000 6655.693644 6761.276674 0.508315 ## WAYPOINT ENDLINE -121.843685 36.794512 -249.388443 3 45.000000 6690.693644 6798.118746 0.219395 ## WAYPOINT STARTLINE -121.848988 36.796155 -282.346992 4 45.000000 7197.705384 7310.385554 -0.017071 ## WAYPOINT ENDLINE -121.848847 36.796449 -262.287262 3 45.000000 7232.705384 7352.260971 0.160940 ## WAYPOINT STARTLINE -121.843544 36.794806 -239.068462 4 45.000000 7739.717124 7861.659450 -0.482751 ## WAYPOINT ENDLINE The 520 m repeat mapping waypoints are: -121.900036 36.792438 -414.915446 3 45.000000 0.000000 0.000000 -0.163816 ## WAYPOINT STARTLINE -121.906459 36.792065 -474.637533 1 45.000000 574.568222 601.917124 0.087908 ## WAYPOINT -121.906309 36.789750 -474.515422 1 45.000000 831.757469 859.720039 -0.111050 ## WAYPOINT -121.900185 36.790048 -422.471069 1 45.000000 1379.196557 1437.510224 0.025733 ## WAYPOINT -121.899961 36.787808 -433.085205 1 45.000000 1628.557915 1687.340079 -0.092163 ## WAYPOINT -121.906085 36.787509 -470.274170 1 45.000000 2176.012912 2263.989346 0.068325 ## WAYPOINT -121.905338 36.786912 -488.658651 1 45.000000 3316.558704 3435.474482 -0.164767 ## WAYPOINT -121.905950 36.792695 -504.371628 4 45.000000 3960.477469 4082.475810 -0.068688 ## WAYPOINT ENDLINE -121.905559 36.792720 -511.322800 3 45.000000 3995.475495 4119.604349 -0.066132 ## WAYPOINT STARTLINE -121.904999 36.786948 -508.808960 4 45.000000 4637.781473 4765.495213 -0.274372 ## WAYPOINT ENDLINE -121.904608 36.786973 -514.227554 3 45.000000 4672.782105 4800.990219 -0.218777 ## WAYPOINT STARTLINE -121.905168 36.792745 -515.559387 4 45.000000 5315.088138 5446.864912 -0.022037 ## WAYPOINT ENDLINE -121.904777 36.792769 -515.774384 3 45.000000 5350.077531 5482.028671 0.018987 ## WAYPOINT STARTLINE -121.904217 36.786998 -523.184143 4 45.000000 5992.273014 6125.129567 -0.077102 ## WAYPOINT ENDLINE -121.903826 36.787022 -528.665131 3 45.000000 6027.265012 6160.765329 -0.006366 ## WAYPOINT STARTLINE -121.904386 36.792794 -514.441818 4 45.000000 6669.571156 6803.759331 0.047158 ## WAYPOINT ENDLINE -121.903995 36.792818 -510.127602 3 45.000000 6704.560533 6839.204893 0.087011 ## WAYPOINT STARTLINE -121.903435 36.787047 -531.778122 4 45.000000 7346.756126 7482.343869 -0.047878 ## WAYPOINT ENDLINE -121.903044 36.787071 -532.573730 3 45.000000 7381.748108 7517.349675 0.002420 ## WAYPOINT STARTLINE -121.903604 36.792843 -502.774605 4 45.000000 8024.054363 8161.561150 0.234422 ## WAYPOINT ENDLINE -121.903213 36.792867 -493.131142 3 45.000000 8059.043723 8198.049797 0.058955 ## WAYPOINT STARTLINE -121.902653 36.787096 -525.484314 4 45.000000 8701.239427 8843.792207 0.151644 ## WAYPOINT ENDLINE -121.902262 36.787120 -513.421318 3 45.000000 8736.231393 8881.125642 0.192857 ## WAYPOINT STARTLINE -121.902822 36.792892 -489.500061 4 45.000000 9378.537759 9528.164649 -0.031737 ## WAYPOINT ENDLINE -121.902431 36.792917 -478.127342 3 45.000000 9413.535720 9565.500143 0.161797 ## WAYPOINT STARTLINE -121.901871 36.787145 -495.893921 4 45.000000 10055.842141 10213.402184 0.419555 ## WAYPOINT ENDLINE -121.901479 36.787169 -484.704063 3 45.000000 10090.923067 10250.224518 0.343486 ## WAYPOINT STARTLINE -121.902040 36.792941 -464.563759 4 45.000000 10733.236491 10900.648413 0.308718 ## WAYPOINT ENDLINE -121.901649 36.792966 -448.728752 3 45.000000 10768.234436 10939.724064 -0.330672 ## WAYPOINT STARTLINE -121.901088 36.787194 -464.356384 4 45.000000 11410.547916 11599.618220 0.452589 ## WAYPOINT ENDLINE -121.900697 36.787219 -449.129623 3 45.000000 11445.548466 11637.992918 -0.159263 ## WAYPOINT STARTLINE -121.901258 36.792990 -438.926758 4 45.000000 12087.751396 12292.059618 0.255976 ## WAYPOINT ENDLINE The 1000 m repeat mapping waypoints are: -122.011008 36.775529 -955.446289 3 41.761839 0.000000 0.000000 -0.251234 ## WAYPOINT STARTLINE -122.007199 36.778890 -969.156820 1 313.832576 504.511906 528.899112 -0.064899 ## WAYPOINT -122.009141 36.780421 -984.720785 1 220.912087 747.147053 773.617173 -0.085378 ## WAYPOINT -122.012838 36.777060 -989.148438 1 324.582159 1244.974027 1275.751946 0.230298 ## WAYPOINT -122.014032 36.778442 -1004.926676 1 132.787206 1431.691855 1463.973944 -0.011353 ## WAYPOINT -122.009703 36.775151 -913.213318 4 42.786323 1963.279162 2010.803870 0.377568 ## WAYPOINT ENDLINE -122.009434 36.775380 -925.136154 3 312.682181 1998.232936 2050.586279 -0.178044 ## WAYPOINT STARTLINE -122.013741 36.778642 -1008.653030 4 42.787379 2526.156755 2611.225860 -0.039323 ## WAYPOINT ENDLINE -122.013472 36.778871 -1010.592194 3 132.673335 2561.109764 2646.245791 0.017028 ## WAYPOINT STARTLINE -122.009165 36.775610 -949.201508 4 42.661209 3088.956744 3190.868644 -1.726506 ## WAYPOINT ENDLINE -122.008896 36.775840 -991.420486 3 312.673257 3123.991141 3247.819149 -0.930272 ## WAYPOINT STARTLINE -122.013203 36.779101 -1010.804886 4 42.555780 3651.837322 3791.839966 -0.050556 ## WAYPOINT ENDLINE -122.012935 36.779331 -1011.555374 3 132.673180 3686.809866 3826.824643 0.027203 ## WAYPOINT STARTLINE -122.008628 36.776070 -999.619644 4 42.785320 4214.655247 4355.117085 0.001384 ## WAYPOINT ENDLINE -122.008359 36.776299 -1001.131073 3 312.681870 4249.608834 4390.930280 -0.034353 ## WAYPOINT STARTLINE -122.012666 36.779561 -1013.143021 4 42.786376 4777.529460 4920.376301 -0.018540 ## WAYPOINT ENDLINE -122.012397 36.779790 -1012.360611 3 132.673024 4812.482283 4955.375037 -0.018708 ## WAYPOINT STARTLINE -122.008090 36.776529 -995.802124 4 42.660207 5340.326069 5486.802284 0.069831 ## WAYPOINT ENDLINE -122.007821 36.776759 -986.380722 3 312.672947 5375.360279 5524.226762 -0.000824 ## WAYPOINT STARTLINE -122.012128 36.780020 -1010.420471 4 42.661263 5903.203266 6056.617986 0.021589 ## WAYPOINT ENDLINE -122.011859 36.780250 -1011.108246 3 132.681636 5938.236714 6091.706846 -0.004164 ## WAYPOINT STARTLINE -122.007552 36.776988 -979.126602 4 42.553220 6466.154945 6623.095676 0.163896 ## WAYPOINT ENDLINE -122.007284 36.777218 -974.529663 3 312.672791 6501.127971 6658.961207 -0.117053 ## WAYPOINT STARTLINE -122.011591 36.780479 -1009.377289 4 42.660763 7028.969362 7190.509648 -0.015226 ## WAYPOINT ENDLINE -122.011322 36.780709 -1004.261032 3 132.672714 7064.002717 7225.964089 0.189533 ## WAYPOINT STARTLINE -122.007015 36.777448 -969.805969 4 42.659205 7591.843309 7759.417948 0.296916 ## WAYPOINT ENDLINE -122.006746 36.777678 -967.645569 3 312.672636 7626.877333 7795.097592 0.183380 ## WAYPOINT STARTLINE -122.011053 36.780939 -991.565964 4 42.660261 8154.717126 8328.412082 0.149755 ## WAYPOINT ENDLINE -122.010784 36.781169 -955.437744 3 132.681326 8189.750388 8381.741547 -0.104605 ## WAYPOINT STARTLINE -122.006477 36.777907 -955.612259 4 132.681326 8717.665426 8929.766646 0.589443 ## WAYPOINT ENDLINE ROV altitude: 20 meters Multibeam settings Reson computer ip is 134.89.32.107 sound absorption off spreading loss: 20 absorption: 40 dB/km spreading loss 52 dB receive gain as appropriate - in February we used 30 dB but had absorption off - try 50 dB to start pulse length 50 usec - shorter pulse allows DVL interference full output power Sound speed as appropriate - in February we used 1487 m/sec SBP settings trigger divisor = 1 2-10 kHz sweep 20 msec pulse 400 msec range gain 128 agc off Sidescans settings max range 300 m pulse 3 msec 110 kHz pulse 4 msec 410 kHz ----------------------------------------------------------------- Scientist Mapping AUV Deployment Checklist ----------------------------------------------------------------- Location Vessel .................................................| R/V Point Lobos Captain ................................................| Brian Ackerman Expedition .............................................| Repeat Mapping June 2006 ----------------------------------------------------------------- Date and Time Date ...................................................| June 26, 2006 Time ...................................................| 0630L 1330L ----------------------------------------------------------------- Operators Chief Scientist ........................................| David Caress, MBARI, absent Lead AUV Operator ......................................| Hans Thomas, MBARI Lead Ship's Officer on Watch ...........................| Brian Ackerman, MBARI ----------------------------------------------------------------- Battery Batteries charged ......................................| N/A Battery humidity < 67% .................................| N/A ----------------------------------------------------------------- MVC MVC on and ok .........................................| Humidity < 10% ........................................| Ball pressure < 72 kPa ................................| ----------------------------------------------------------------- Reson Reson 6046 on and ok ..................................| PLC running ...........................................| Recording desired records ..............................| Sonar logging off .....................................| Multibeam power set to zero ...........................| Multibeam pinging at 2 Hz .............................| Spreading loss set as desired ..........................| Absorption set as desired ..............................| Receive gain set as desired ............................| Pulse length set as desired ............................| Datastore6046 has enough space for new data ...........| ----------------------------------------------------------------- Edgetech Edgetech on and ok ....................................| Sonar process running .................................| Subbottom trigger divisor set as desired ...............| Subbottom pulse file set as desired ....................| Subbottom gain set as desired ..........................| Subbottom AGC off ......................................| ----------------------------------------------------------------- Kearfott INS Kearfott on ...........................................| Kearfott getting and processing GPS ...................| Kearfott getting DVL ..................................| ----------------------------------------------------------------- General Clocks synchronized and in proper time zone ...........| Fastcat conductivity streaming data ...................| N/A Iridium tested .........................................| N/A Dropweight server running .............................| N/A CTD wetting tube off ..................................| N/A Dropweight in place ...................................| N/A Nose cone on ..........................................| Farings secured .......................................| Tailcone oil compensation full ........................| N/A Acoustic modem head deployed ...........................| Acoustic modem on ......................................| ----------------------------------------------------------------- Immediately before Launch Kearfott getting and processing GPS ...................| Kearfott aligned ...................................| Bring batteries online ................................| N/A Deck tethers removed, dummies installed ...............| N/A Tailcone oil compensation full ........................| N/A Radio modem connection ok .............................| N/A MVC on and ok .........................................| Humidity < 10% ........................................| Ball pressure < 72 kPa ................................| Reson 6046 on and ok ..................................| PLC running ...........................................| Edgetech on and ok ....................................| Sonar2k running .......................................| All batteries are discharging .........................| N/A ----------------------------------------------------------------- Immediately after Launch Radio modem connection ok .............................| N/A USBL tracking working .................................| Acoustic modem working .................................| Dropweight server running .............................| N/A MVC on and ok .........................................| MVC Humidity < 10% ....................................| Battery humidity < 67% .................................| N/A MVC Ball pressure < 72 kPa ............................| Kearfott getting and processing GPS ...................| Kearfott aligned ......................................| Reson 6046 on and ok ..................................| PLC running ...........................................| Edgetech on and ok ....................................| Sonar2k running .......................................| DVL pinging ............................................| All batteries are discharging .........................| Vehicle INS and GPS position agree. ...................| ----------------------------------------------------------------- Mission Sonar logging turned on at first waypoint .............| Sonar logging not turned off until after last waypoint .| Descent time consistent with expected depth ............| Ascent time consistent with expected depth .............| Ready to launch mission ...............................| ----------------------------------------------------------------- Event Log: -----------