MBARI Mapping AUV Operations 3 December 2009 R/V Zephyr Deep Canyon Mapping ------------------------------------ MBARI Science Party: ------------------------------------ David W. Caress - Chief Scientist in abstentia Hans Thomas - AUV Supervisor Doug Conlin - AUV Specialist Duane Thompson - AUV Specialist Charlie Paull - Principal Investigator in abstentia ------------------------------------ Ship's Crew: ------------------------------------ Aaron Gregg - Captain Paul Ban - Mate Matt Noyes - Guest Engineer (now chief engineer of Western Flyer) Olin Jordan - Relief crew ----------------------------------------------------- Calculating absorption with reasonable parameters: ----------------------------------------------------- mbabsorption -C1481.0 -D300 -F200 -P8.2 -S34.14 -T12 -V Program MBabsorption Version $Id: mbabsorption.c 1770 2009-10-19 17:16:39Z caress $ MB-system Version 5.1.2beta12 Program Version $Id: mbabsorption.c 1770 2009-10-19 17:16:39Z caress $ MB-system Version 5.1.2beta12 Input Parameters: Frequency: 200.000000 kHz Temperature: 12.000000 deg C Salinity: 34.140000 per mil Soundspeed: 1481.000000 m/sec Depth: 300.000000 m pH: 8.200000 Result: Sound absorption: 53.890223 dB/km ----------------------------------------------------- Sonar Settings: ----------------------------------------------------- Subbottom - on pulse 2_10_20 AGC off gain 128 110 kHz sidescan - on range 337.5 m pulse 122_22_fm 410 kHz sidescan - off Multibeam settings transmit power: 220 dB receive gain: 83 dB spreading loss: 20 absorption: 28 dB/km range gating on: 15 - 300 m depth gating off pulse 30 usec Reson computer ip is 134.89.32.107 AUV-3 laptop ip is 134.89.32.130 workgroup ranges set according to vehicle altitude. ------------------------------------ What's new in this survey: ------------------------------------ This is the first use of the Mapping AUV since the MVC sphere partially flooded in September. This leg will include two surveys: 1. Survey in lower Carmel Canyon and Monterey Canyon below survey 1. 2. Survey in deep Monterey Canyon ------------------------------------ # This MBARI Mapping AUV mission file has been generated # by the MB-System program mbm_route2mission run by # user on cpu at # # Mission Summary: # Route File: 2009MBCanyon_5v1.rte # Mission File: 2009MBCanyon_5v1.cfg # Distance: 38807.652866 (m) # Estimated Time: 27017 (s) 7.505 (hr) # Abort Time: 35123 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 315 (s) # Way Points: 136 # Route Points: 474 # Survey behavior: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 80 # Multibeam transmit gain: 220 # Multibeam minimum range fraction: 0.4 # Subbottom enabled # Low sidescan enabled # High sidescan disabled # Benthic imaging camera control disabled: # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 50 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 30 (m) # Maximum Vehicle Depth: 335.620239 (m) # Abort Vehicle Depth: 360.620239 (m) # Descent Vehicle Depth: 3 (m) # Waypoint Spacing: 75 (m) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -121.827476 36.796908 -83.708028 0.000000 3 # 1 -121.823293 36.794370 -205.739848 467.543635 3 # 2 -121.825086 36.791801 -223.209635 794.326018 1 # 3 -121.828951 36.790089 -228.342122 1188.087818 1 # 4 -121.831117 36.790104 -229.433777 1381.376285 1 # 5 -121.832984 36.791441 -235.829549 1604.443262 1 # 6 -121.835169 36.792252 -254.100667 1819.153387 1 # 7 -121.838642 36.792342 -263.463460 2129.221826 1 # 8 -121.843124 36.793288 -281.739827 2542.650919 1 # 9 -121.846746 36.794926 -291.219788 2913.420200 1 # 10 -121.851060 36.796728 -297.553385 3347.137071 1 # 11 -121.853637 36.799252 -307.552653 3709.404192 1 # 12 -121.854832 36.801039 -313.833740 3934.555895 1 # 13 -121.856774 36.802406 -337.115194 4164.805675 1 # 14 -121.858025 36.803067 -333.850403 4298.352297 4 # 15 -121.858865 36.801985 -335.602254 4439.829861 3 # 16 -121.857614 36.800874 -328.436605 4606.159624 1 # 17 -121.856232 36.799597 -321.743876 4793.942330 1 # 18 -121.854832 36.798290 -324.777466 4985.336459 1 # 19 -121.853637 36.796593 -316.828593 5201.735417 1 # 20 -121.852012 36.795647 -311.448344 5380.710208 1 # 21 -121.849155 36.794070 -300.609375 5689.898625 1 # 22 -121.846186 36.792853 -290.784505 5987.220389 1 # 23 -121.843012 36.791982 -280.502869 6286.504439 1 # 24 -121.840080 36.791231 -264.948039 6561.044040 1 # 25 -121.837671 36.790375 -255.110046 6796.036600 1 # 26 -121.835375 36.789383 -233.331238 7028.628612 1 # 27 -121.832368 36.788557 -232.716797 7312.118273 1 # 28 -121.828988 36.788572 -216.498128 7613.714290 1 # 29 -121.826822 36.789413 -213.814860 7828.347528 1 # 30 -121.825235 36.790510 -212.198812 8015.048849 1 # 31 -121.823723 36.791771 -206.325948 8209.494930 4 # 32 -121.824189 36.792117 -221.339925 8266.099997 3 # 33 -121.825907 36.790870 -224.593384 8472.566530 1 # 34 -121.828055 36.789638 -228.789551 8707.914740 1 # 35 -121.831416 36.789458 -233.749268 9008.502046 1 # 36 -121.833526 36.790194 -248.410095 9213.729034 1 # 37 -121.835673 36.791080 -253.123291 9429.094870 1 # 38 -121.839016 36.791771 -269.030518 9737.035765 1 # 39 -121.842545 36.792583 -280.940592 10064.546702 1 # 40 -121.846373 36.793829 -295.500244 10433.048643 1 # 41 -121.850780 36.795782 -311.993530 10881.979022 1 # 42 -121.853599 36.797975 -317.961711 11231.956433 1 # 43 -121.856045 36.800648 -331.320679 11600.219159 1 # 44 -121.858398 36.802541 -345.452108 11897.119384 1 # 45 -121.859855 36.802541 -347.318197 12027.062500 3 # 46 -121.860153 36.801670 -331.464762 12127.323261 4 # 47 -121.858417 36.800003 -308.338949 12368.611622 1 # 48 -121.856942 36.798621 -287.347921 12570.667745 1 # 49 -121.855840 36.797704 -278.783101 12712.072133 1 # 50 -121.854701 36.796142 -261.307475 12912.980826 1 # 51 -121.852796 36.794881 -245.645935 13133.149780 1 # 52 -121.850275 36.793394 -252.701436 13412.092496 1 # 53 -121.847605 36.792072 -230.571533 13691.865090 1 # 54 -121.845252 36.791441 -235.834554 13913.162656 1 # 55 -121.842283 36.790765 -229.492676 14188.495725 1 # 56 -121.839595 36.789909 -220.475993 14446.547576 1 # 57 -121.837167 36.788707 -185.871623 14700.895080 1 # 58 -121.834161 36.787881 -195.371053 14984.386853 1 # 59 -121.830295 36.787566 -190.640645 15331.075175 1 # 60 -121.826636 36.788302 -176.677083 15667.716381 1 # 61 -121.824227 36.790059 -172.073486 15957.915750 1 # 62 -121.822770 36.791321 -149.785278 16148.926838 1 # 63 -121.822957 36.792703 -215.669678 16303.141619 4 # 64 -121.824189 36.793288 -203.059387 16430.877429 3 # 65 -121.825534 36.793063 -172.621460 16553.417037 1 # 66 -121.827924 36.791681 -182.636983 16816.073717 1 # 67 -121.829549 36.791366 -181.682068 16965.196385 1 # 68 -121.830837 36.791771 -163.009196 17088.654085 1 # 69 -121.832200 36.792928 -165.887451 17265.455498 1 # 70 -121.834254 36.793349 -190.536825 17454.578404 1 # 71 -121.836215 36.793844 -195.366374 17637.962697 1 # 72 -121.838343 36.793619 -217.561727 17829.539987 1 # 73 -121.840715 36.793964 -238.348531 18044.582278 1 # 74 -121.843665 36.794881 -235.958272 18326.773861 1 # 75 -121.847643 36.796413 -258.391215 18720.258026 1 # 76 -121.850518 36.797975 -267.803792 19029.879384 1 # 77 -121.853188 36.801234 -280.372823 19462.918249 1 # 78 -121.855989 36.803442 -303.720194 19812.851735 4 # 79 -121.860321 36.800318 -339.019328 20332.010483 3 # 80 -121.857465 36.797704 -287.274170 20718.079836 1 # 81 -121.854757 36.794836 -224.340312 21117.664445 1 # 82 -121.850107 36.792042 -197.492879 21635.532804 1 # 83 -121.843180 36.789999 -217.477865 22293.925649 1 # 84 -121.837895 36.787986 -180.718262 22815.671241 1 # 85 -121.834441 36.786980 -155.003042 23143.528433 1 # 86 -121.830352 36.786619 -164.605306 23510.630722 1 # 87 -121.826262 36.787476 -139.129761 23887.706832 1 # 88 -121.823162 36.789924 -127.508046 24275.377239 1 # 89 -121.821874 36.791411 -119.873108 24476.462203 1 # 90 -121.822173 36.793243 -207.337646 24681.507748 4 # 91 -121.823517 36.793784 -203.575399 24815.634624 3 # 92 -121.825571 36.794115 -158.842712 25002.540500 1 # 93 -121.827924 36.792988 -160.034587 25246.862024 1 # 94 -121.829829 36.792718 -163.172323 25419.437035 1 # 95 -121.831528 36.794009 -142.656789 25628.068551 1 # 96 -121.835879 36.794926 -181.370728 26029.363214 1 # 97 -121.839128 36.794745 -219.320516 26319.955653 1 # 98 -121.843105 36.795827 -215.785706 26694.569342 1 # 99 -121.847045 36.797254 -238.023560 27080.112562 1 # 100 -121.849659 36.798756 -249.418905 27366.771397 1 # 101 -121.852199 36.801850 -267.752197 27778.086199 1 # 102 -121.855037 36.803983 -277.502726 28124.663946 3 # 103 -121.858958 36.803217 -343.349691 28484.681273 1 # 104 -121.860695 36.802766 -351.120565 28647.478581 1 # 105 -121.861087 36.801550 -352.544352 28786.918983 1 # 106 -121.861386 36.800363 -356.730998 28921.237874 1 # 107 -121.861386 36.799282 -360.620239 29041.220319 3 # 108 -121.856886 36.795106 -246.187500 29654.272007 3 # 109 -121.849958 36.800498 -239.936829 30514.474735 3 # 110 -121.848390 36.799101 -239.249939 30723.286703 1 # 111 -121.846186 36.797990 -221.486735 30955.353309 1 # 112 -121.842825 36.796728 -204.813680 31286.304010 1 # 113 -121.840379 36.796127 -214.449422 31514.511953 3 # 114 -121.843441 36.789113 -179.834473 32339.311930 3 # 115 -121.849846 36.790585 -195.516296 32933.699454 3 # 116 -121.844225 36.798125 -206.018331 33909.052581 3 # 117 -121.840771 36.797029 -194.837423 34240.410097 1 # 118 -121.839296 36.795737 -216.013143 34434.992920 1 # 119 -121.835617 36.795857 -175.648234 34763.483610 1 # 120 -121.831173 36.795016 -135.261820 35170.848703 1 # 121 -121.829381 36.793844 -136.434875 35376.952065 1 # 122 -121.827364 36.794295 -134.925415 35563.710031 1 # 123 -121.825347 36.795827 -120.562408 35811.238596 4 # 124 -121.826262 36.796533 -86.442434 35924.372234 3 # 125 -121.827775 36.795226 -112.263763 36122.441978 1 # 126 -121.829175 36.794911 -118.906016 36252.208069 1 # 127 -121.830837 36.795827 -132.145203 36431.988871 1 # 128 -121.835449 36.796758 -165.097371 36856.282941 1 # 129 -121.838624 36.796638 -188.728394 37139.828806 1 # 130 -121.840360 36.797855 -183.207031 37345.321702 1 # 131 -121.843068 36.798651 -195.268229 37602.536021 1 # 132 -121.845458 36.798666 -202.824036 37815.794000 1 # 133 -121.847531 36.799837 -213.085897 38041.832362 1 # 134 -121.850948 36.802045 -246.382446 38432.927846 1 # 135 -121.853861 36.804479 -262.803060 38807.652866 4 # # A total of 474 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 38807.652866 #define MISSION_TIME 27017 #define MISSION_TIMEOUT 35123 #define DEPTH_MAX 335.620239 #define DEPTH_ABORT 360.620239 #define ALTITUDE_DESIRED 50.000000 #define ALTITUDE_MIN 50.000000 #define ALTITUDE_ABORT 30.000000 #define GPS_DURATION 600 #define DESCENT_DEPTH 3.000000 #define SPIRAL_DESCENT_DEPTH 0.000000 #define SPIRAL_DESCENT_ALTITUDE 0.000000 #define DESCEND_DURATION 300 #define SETPOINT_DURATION 30 #define GPSMINHITS 10 #define ASCENDRUDDER 3.000000 #define ASCENDPITCH 45.000000 #define ASCENDENDDEPTH 2.000000 #define DESCENDRUDDER 3.000000 #define DESCENDPITCH -30.000000 #define MAXCROSSTRACKERROR 30 #define RESON_DURATION 6 # ####################################################### ----------------------------------------------------------------- Scientist Mapping AUV Deployment Checklist ----------------------------------------------------------------- Location Vessel .................................................| R/V Zephyr Captain ................................................| Aaron Gregg ----------------------------------------------------------------- Date and Time Date ...................................................| December 9, 2009 Time ...................................................| 1500Z 0700L (9 December) ----------------------------------------------------------------- Operators Chief Scientist ........................................| David Caress, MBARI Lead AUV Operator ......................................| Hans Thomas, MBARI Lead Ship's Officer on Watch ...........................| Aaron Gregg ----------------------------------------------------------------- Battery Forward Battery vacuum ok..... .........................| 2.50 psi Aft Battery vacuum ok..... .............................| 2.75 psi USBL Transponder function check ........................| good Forward battery charged ................................| max 4.140 V, min 4.133, stack 33.10 V Forward Battery humidity < 15% .........................| 20% Aft Battery charged ....................................| max 4.139 V, min 4.133, stack 33.08 V Aft Battery 1 humidity < 15% ...........................| 12% ----------------------------------------------------------------- MVC MVC on and ok .........................................| Humidity < 10% ........................................| 1.3% Ball pressure < 72 kPa ................................| 66.6 kPa Check latitude for barometric correction............... | 36.80 Check that MVC UTM Zone is correct ....................| Zone 10 ----------------------------------------------------------------- Winfrog Check that Winfrog UTM Zone is correct ................| Zone 10 Check Winfrog nav update configuration ................ | good ----------------------------------------------------------------- Reson Reson 6046 on and ok ..................................| good PLC running ...........................................| good ATS server running ....................................| good Recording desired records ..............................| verified in previous mission Sonar logging off .....................................| good Multibeam power set to zero ...........................| good Multibeam pinging at 2 Hz .............................| good Spreading loss set as desired ..........................| 20 Absorption set as desired ..............................| 40 dB/km Receive gain set as desired ............................| 80 dB Pulse length set as desired ............................| 30 usec Water sound speed set as desired .......................| 1480 m/sec Multibeam range set as desired..........................| 300 m Multibeam range minimum set as desired .................| 20 m Multibeam range maximum set as desired .................| 300 m Multibeam depth minimum set as desired .................| depth gating off Multibeam depth maximum set as desired .................| depth gating off Datastore6046 has enough space for new data ...........| 58.3 GB free Reson 6046 BITE status link control humidity ...........| 12.97% Reson 6046 BITE diagnosics ok .............. ...........| all green except 12V RXP - ok ----------------------------------------------------------------- Edgetech Edgetech on and ok ....................................| good PLC talking to Edgetech ...............................| good Sonar2k process running ...............................| good Command multibeam setting change from MVC .............| good Command sidescan on from MVC ..........................| good Command subbottom on from MVC .........................| good Check subbottom audible at vehicle ....................| good Sidescan 110 kHz pulse file set as desired .............| SS_122_22_fm.spf Subbottom trigger divisor set as desired ...............| 1 Subbottom pulse file set as desired ....................| 216d_2_10_20_fm.spf Subbottom gain set as desired ..........................| 128 Subbottom AGC off ......................................| good ----------------------------------------------------------------- Kearfott INS Kearfott on ...........................................| good Kearfott getting and processing GPS ...................| good Kearfott getting and processing DVL ...................| good ----------------------------------------------------------------- General Clocks synchronized and in proper time zone ...........| good Fastcat conductivity streaming data ...................| good Parosci pressure sensor ok ........ ...................| good eH sensor ok ........ .................................| N/A Optical backscatter sensor ok ........ ................| N/A Magnetometer ok ............. ........ ................| good CDOM sensor ok .........................................| Not installed Obstacle avoidance sensor ok ...........................| Not working right - commented out of datalogging Iridium tested .........................................| - Not working - antenna will be replaced before next mission - go anyway Dropweight server running .............................| good eH sensor cap removed .................................| N/A Antennas in mast ......................................| good Dropweight in place ...................................| good Nose cone on ..........................................| good Farings secured .......................................| good Tailcone propellor engaged and secure .................| good Tailcone oil compensation full ........................| good USBL transponder turned on .............................| Channel 1 Check tailcone function ..............................| good Turn off SeaBeam and other sonars ......................| N/A Radio beacon turned on .................................| Channel 1 160.785 MHz Acoustic modem head deployed ...........................| good Acoustic modem on ......................................| good Acoustic modem working .................................| good ----------------------------------------------------------------- Immediately before Launch Check RDF with bridge .................................| good Kearfott getting and processing GPS and DVL ...........| good Kearfott aligned ...................................| good Battery usage counter reset ...........................| good Bring batteries online ................................| good Forward batteries is discharging ......................| good Aft batteries is discharging ..........................| good Deck tethers removed, dummies installed ...............| good Close faring openings .................................| good ----------------------------------------------------------------- After tethers disconnected Vehicle acoustic modem working .........................| good Radio modem connection ok .............................| good MVC on and ok .........................................| good Humidity < 10% ........................................| good Ball pressure < 72 kPa ................................| good Reson 6046 on and ok ..................................| good Edgetech on and ok ....................................| good Forward battery is discharging ........................| good Aft battery is discharging ............................| good Check fastcat .........................................| good Check pressure sensor .................................| good Check tailcone communication ...........................| good Check kearfott getting GPS ...........................| good Check kearfott getting DVL ...........................| good Check kearfott aligned ...............................| good Inform bridge ready to launch ..........................| good ----------------------------------------------------------------- Immediately after Launch Radio modem connection ok .............................| good USBL tracking head deployed ...........................| good USBL tracking working .................................| good Dropweight server running .............................| good MVC on and ok .........................................| good MVC Humidity < 10% ....................................| good MVC Ball pressure < 72 kPa ............................| good Battery humidities < 67% ...............................| forward 21% aft 11% All batteries are discharging .........................| good Reson 6046 on and ok ..................................| good Edgetech on and ok ....................................| good Kearfott getting and processing GPS ...................| good Check kearfott getting DVL ...........................| good Kearfott aligned ......................................| good Vehicle INS and GPS position agree. ...................| good ----------------------------------------------------------------- Mission Verify mission filename ...............................| 2009MBCanyon_5v1.cfg Mission contains StartSurvey behavior .................| No it shouldn't Sonar logging turned on at first waypoint .............| good Sonar logging not turned off until after last waypoint .| good Descent time consistent with expected depth ............| good Ascent time consistent with expected depth .............| good Using desired abort plan ...............................| good Time to first waypoint consistent with distance .......| good Using desired mission timeout ..........................| 26100 seconds = 7.25 hours Ready to launch mission ...............................| Set USBL interrogation rate to desired rate ...........| 5 sec to start, 15 sec later Turn on Winfrog logging ...............................| ----------------------------------------------------------------- On Bottom Confirm navigation if spiral descent with aided nav ...| Send start survey command ................ ............| Set USBL interrogation rate to desired rate ...........| 15 sec ----------------------------------------------------------------- Event Log: ----------- 1605Z/0805L - mission started 2011Z/1211L - at 19.8km, end of line 78 (modem update) 2017Z/1217L - at end of line 79 (modem update, 50m altitude, 253m depth) 2106Z/1306L - end of line 80 (modem update, 59m altitude, 129m depth) 2146Z/1346L - vehicle checkin at end of line 102, packet didn't come thru 2202Z/1402L - vehicle checkin at end of line 107, 49m altitude, 302m depth 2226Z/1426L - vehicle checkin, packet didn't come thru