# BatteryCharge

Notes:
6 kW-hr battery pack -- had been on balance for 48 hours prior to this charge.  Restarted 8/1/03 at 0820 PDT -- new file is 1059751026.log.


Notes:
Charge after operations AOSN2003216.  5 hours of run time with 6 kW-hr battery pack.  Starting charge at 0825 PDT 05 August 2003.  Charge interrupted at about 3 hours elapsed.  New log file is now battery_1060110554.log.  Complete in about 4 hours.


Notes:
Charge after AOSN2003220 operations.  Started at 1536 local.  Interrupted at 1640 local.  New log file is battery_1060386920.log.  Back on at 1650 PDT.


Notes:
Charge after first day of bioluminescence night operations.  Interrupted after 90 minutes to switch power. New file battery_1060517992.log. Finished after 2 .25 hours.


Notes:
Temporarily stopped for switching over to shore supply at 13:20 GMT. New battery log for continued charging is battery_1060608230.log at 13:26 GMT.  Charging complete by 14:35 GMT.


Notes:
Terminated charging at 13:17 after about 3.5 hours of charging, mostly at 5 amps.   Battery 96 was not quite done with its 3 amp cycle but all others were.


Notes:
Interrupted charging to put ship on shore power.  New file is battery 1060774477.log.


Notes:
Charge following night operations 2003.226.  Interrupted charging after 3 hours to conduct day operations.  Battery 99 not yet finished with 5 amp charge.


Notes:
Stopped charging to switch over to shore power at the dock. Second log file after resuming charge: battery_1060958671.log (5 minute break in charging).  Complete at 0915 PDT.


Notes:
Partial charge after night bioluminescence survey 2003228.


Notes:
Interrupted to swap power while underway.  New file battery_1061061133.log. Charging terminated due to connection being lost to vehicle: Destination host unreachable. Rebooting vehicle or computers doesn't seem to solve the problem.


Notes:
Resumed charging after losing connection to vehicle. Cause: After switching over to starboard generator for hotel power, Aaron adjusted 210V mains not realizing that this dropped the 120V mains to 115V. This resulted in the UPS dropping out and putting the power strip on the backup battery which didn't last very long; thus the Milan hub eventually turned off, closing the LAN. Did not hear any audible alarm from UPS: check with Eric N. on this and perhaps upgrading UPS.


Notes:
Charge after day operations AOSN2003228 glider ops.  A few false starts prior to this.  3 amp charge not complete on battery 99


Notes:
Charge after AUVCTD run 2003230.  Start at 1606 PDT, interrupted at 1725.


Notes:
Prior to ops 2003.232..  Power supply in lab failed after about 30 minutes. Will try to charge on the transit to the starting waypoint tomorrow.


Notes:
Did not finish before reaching waypoint before mission.


Notes:
Stopped charging at 3:45PDT; charged for 43 min. New log file: battery_1061420724.log.  Interrupted again to transfer data.


Notes:
First try mis-entered current, restarted the charger program.


Notes:
After AUVCTD operations 2003.234.  4 hours survey time, started charge at 14:15 PDT.


Notes:
After switching over to shore power, new log is battery_1061850694.log


Notes:
Charge after 2 hour run AUVCTD2003238.  Interrupted after about 45 minutes to swap power.


Notes:
Charge after OCCO2003245 operations.  Only 3 hours of survey were completed.  Interrupted after 40 minutes to switch power.


Notes:
Started charge at 1415 PDT, after 5.5 hours of survey OCCO2003246.  Interrupted after 45 minutes to swap power.


Notes:
Charge after 5 hours of operations AUVCTD2003280.  On at 1530 PDT.  Noticed power supply at 0 Volts.  Restarted at 1545.  New log is 1065566680.  Ships 220 seems flaky; will try again when at the dock and switched over to shore power. New log is 1065568996. Stopped charging at 7:05 PST.


Notes:
Actual date of charge: Oct 9  11:40 AM to 4:45 PM


Notes:
Actual day of charging: 10/16/03 (Th) Start time = 10:40AM Stop time (not fully charged) = 6:12 PM.


Notes:
Actual day of charging = 10/17/03 (Fr). Start time = 7:30 AM. Finished at 10:15 AM.


Notes:
Balancing batteries after extended duration mission 2003308-9.  Starting 11:10 PST 11/06/2003.
Stopped at 5:30 PM PST.


Notes:
Charging after extended mission.  Pack had been in balance mode for 48 hours prior to this charge. Will charge at 3 Amps to see if the balance improves at all. Started at 11:38AM PST, stopped at 5:50PM PST. Restarted the next day 7:30AM PST. Log file = battery_1068651512.log


Notes:
After charge interrupted for deck testing prior to deep ops.  Back on charge at 10:20 PST.  Interrupted to load vehicle on ship at 1242 PST.  Back on charge at 1315 PST, new log file battery_1068671557.  Stopped for the evening at 1815 PST,  MaxVolt 4.12 on all 3 batteries.


Notes:
Charge at 3 amps prior to bioluminescence ops week of 01 December.


Notes:
Start = 12:24 PM. Stopped by unknown person, likely after 4pm.


Notes:
Charge after biolume ops 2003.337.  On charge at 1:50 PST.  Interrupted at 0440 PST with  all batteries having completed 5 and 4 Amp charges.


Notes:
Start at 5:20 AM PST. Charge after biolume operations 2003338.  Interrupted at 0740 PST to remove vehicle from ship. Resumed at 11:00 PST until complete.


Notes:
Charge after BIOLUME2003339 operations. Start: 1:31 AM PST.  Interrupted after 90 minutes and then restarted.  New file battery_1070623001.log, on at 03:20 PST


Notes:
Charge after biolume 2003.340 ops.  On charge at 0210 PST. Charging aborted for unknown reason while transiting back to harbor.  Restart at 3:40 AM PST. New log file: battery_1070710861.


# Miscellaneous

Note:
Underway first set of sea trial missions.


Note:
Onsite, ready to deploy vehicle at about 36 44N 121 54.5 W


Note:
Beginning range test for modem and RDF beacon. Vehicle gps log in gpsLog.33.


Note:
Gain up all the way on ADF, intermittent contact via radio.  Range 2.2 km.  Last good vehicle position 36 44.041N 121 54.550W  Zephyr at 36 44.031N 121 56.169.


Note:
Lost RDF beacon at ships position 36 44.252N 121 56.983.


Note:
Vehicle secured on deck, transit to harbor


Note:
Underway for second day of sea trials of DMO-1.


Note:
Observed about 10 common dolphins at 36 42.12N  122 00.677W


Note:
Vehicle deployed and ship manuevering for first mission.


Note:
Battery sn 84 showed fault Fm (mvc watchdog timeout) before operations.  Went away when cycled power to batteries.


Note:
Observations of vehicle after OCCO day one operations.  Scratches and some (of what appears to be) mud on the underside of the vehicle on the port side forward.  CTD pumped circuit number 2 exhaust appears to be pinched.  OBS is pushed inside fairing.


Note:
While running "td hyrdoscat" : no response from instrument. After checking vehicle noticed no LED lights underneath. Could telnet to device, but no response using


Note:
Battery S/N 99: Temperature sensor number 1 (internal on cell pack) faulty. Fix: disconnected and the connector end grounded. The temperature reading will display close to 0 deg. C.


# MissionData

Notes:
Vehicle assumed proper heading, was observed to dive and then resurface.  Performance nominal.  Battery current from sn86 (battery 3) appeared low.  Discussed implications and decided to proceed.


Notes:
Vehicle appears susceptible to surface effects, took appropriate heading and followed it to within about 10 degrees.  Decide to proceed to pitch control


Notes:
Depth control to 0.1 m after about 250 s elapsed of setpoint.  Appears that depth loop could be more aggressive and integrator not taking out offset


Notes:
Took about 120 seconds for transient to die out at step in commanded depth.  Control to 5 cm after that.


Notes:
Tracking outbound to 660 meters, then lost tracking, at about the time the vehicle should have turned.  First hit 550 m on the inbound leg, then solid tracking from about 350 m.


Notes:
Vehicle observed to broach about 5 minutes into the yo yo leg.  Suspecting battery sn86 is offline.  Some overshoot on upper part of vertical pattern.  Tried to reset sn 86 micro.


Notes:
Attempting to test speed range of vehicle.  Successful control to 1.0 kt wrt bottom


Notes:
Pitch control to about +/- 1 degree, pitch excursion near surface at 300 sec elapsed.


Notes:
10 minute out and back mission to check system before depth testing.  Need to check to make sure that all batteries are on line.  Tracking out to 600 m on outbound leg, a few hits at 700 m.  Picked it up at about 300 m on the inbound leg.  All three batteries appear to be delivering current.


Notes:
Depth test to 100 meters, spiral descent and ascent.  Will measure descent rate from this mission.  Vehicle on surface at about 10 minutes elapsed.  Dive rate measured at 20 meters per minute.  Battery performance nominal.  Proceeding with 200 m test.


Notes:
May have overwritten data on AUV-1 in /data/2003.052.05.  Check files.  Vehicle data appears nominal,  qtalk to batteries and they appear fine.  Proceeding with 500 m test.


Notes:
Attempting to tie the MBARI AUV depth record.  Performance and tracking appeared nominal from surface vessel.  Will transit back to deeper water before testing to 1000 meters.  Batteries still on line after mission.


Notes:
Transit back to site for 1000 m depth test.


Notes:
Attempting to double MBARI AUV depth record.  Tracking intermittent past about 800 meters.   Performance nominal, but after mission battery 3 (serial number 86) was found to be offline,  fault condition fT, which indicates temperature fault.  Decide to pull vehicle after this mission in order to diagnose the issue.


Notes:
Deck test mission before first week of data acquisition operations.


Notes:
Battery 84 found in f- state after mission.  All clear fault state, but battery off.


Notes:
Vehicle tracking indicates out/back track as intended.  Performance nominal, batteries all still on and unfaulted.   DVL data good, Flow sensor on ctd 1 showing 0 for most of the mission.  Reinecker to examine CTD data further.


Notes:
Attempting to follow terrain at heading 320 for 10 minutes at 40 m altitude.  Odd wiggle in the tracking data at about 9 minutes elapsed.  Performance nominal.  Battery 85 found to be in watchdog fault mode.  After this mission, removed bluefinBattDriver from devices.cfg, reset battery 85, then immediately started driver in order to toggle watchdog.


Notes:
Attempting to do altitude terminated yoyo's.  Have removed bluefinBattDriver from devices.cfg and running it independently of supervisor.  Yoyo's were not symmetric in ascend and descend.  Battery 85 was found in the "fm" condition after the mission.


Notes:
Vehicle is tracking toward waypoint D.  Battery 85 still in "fm" fault state. Turned it off and then on, restarted driver.  In discharge state at the beginning of the mission.  50 m difference between gps fix and DR at the end of the mission.


Notes:
Should go all the way to waypoint C, altitude terminated yoyos.  Reset batteries before this mission, confirmed that they are all in discharge mode.  Battery 85 in "fm" fault mode after the mission.  Had given the waypoint behavior extra time to reach waypoint, as well as the yoyo behavior.  Appeared to continue yoyo behavior instead of continue to ascend behavior.  Made for some odd tracking.


Notes:
30 minute mission to waypoint D, altitude terminated yo yo behavior 20 m from the bottom.  Should get about halfway to the waypoint.  Overshooting on the top end of the yoyo.


Notes:
Switched position of yoyo behavior for 2 minute mission.  Unclear as to how the end of the waypoint behavior will be handled.


Notes:
20 minute waypoint mission, will not reach waypoint C.  About 1.5 m overshoot in altitude.


Notes:
Waypoint mission to waypoint C, should reach it; range is 860 m.


Notes:
Removed yoyo from waypoint mission, running multiple waypoints.  Seemed to hit both waypoints.


Notes:
Deck test prior to AUVCTD2003099.  Vehicle on shore power but batteries enabled.


Notes:
Vehicle on battery power,  tether disconnected.  All batteries fine at the end of the mission.


Notes:
Vehicle checkout mission before first AUVCTD data acquisition.  Will check ctd data after mission, as well as battery states.  5 minutes at 270, 5 minutes at 090.  Batteries all still in discharge state.  Downloading data to examine during transit to starting waypoint.


Notes:
Seeing some heading diversions in the USBL tracking data at 10:36 elapsed.


Notes:
Re run of previous to get to waypoint.  Did not appear to get to the waypoint.  Bears further investigation.


Notes:
First data acquisition mission of 900200 project.  Started mission about 350 meters from the intended waypoint.  Fuhrmann points out that there is a difference between waypoint on Winfrog and the waypoint in the previous mission script.  Trackpoint calculated depths match surface DR at 15 minutes elapsed.  Descent rate appears to be greater than 20 m/minute.  Vehicle performance appears nominal from surface tracking.  Ascend appeared to be slow -- checking data before next mission.  Batteries all in discharge state.  Data appear nominal.


Notes:
Took about 1200 seconds to complete down/up cycle, so extended mission to 3600 s.  Changed ascend pitch from 10 to 20 degrees.  Vehicle observed to broach at 19:00 elapsed.  Passed within about 1 nmile of M-1 mooring during this mission.  Vehicle performance appears nominal from tracking data.  In previous mission it appears that the vehicle speed is actually faster than it thinks it is.  3 cycles took about 56 minutes -- reducing mission time by 4 minutes.


Notes:
Vehicle visible just beneath surface at 38:00 elapsed.  Antenna never broke the surface as far as could be seen.


Notes:
Breeze building to about 12 kts true, may be the last mission.  Vehicle tracking indicating poor heading control at 09:00 elapsed.  Standing by to attempt to abort the mission.  Vehicle on surface at 17:17 elapsed.  Syslog indicates that mission aborted due to depth envelope at t = 288 s.  Terminated off of a short range at 100 m depth -- Brian confirms layer on depth sounder


Notes:
Removed abortAltitude from depthEnvelope behavior.  Appeared to abort on 2003.099.09, trying again.  Brian reports the bait school is no longer showing on the depth sounder at 04:00 elapsed.  Vehicle ADF heard briefly at 36:00 elapsed.  Seeing layer of scattering at 100 m.  Set duct centered and trailing edge high after mission for recovery.


Notes:
Deck test prior to AUVCTD2003100 operations.


Notes:
Heading of 70 programmed: actual appears to be 90 (outward). Indicates strong currents from the north. Heading back equals 230, programmed = 250. Battery status: ser84 fm, ser85 d, ser86 fm. Indicates watchdog error.


Notes:
Run test mission again with BlueFin Battery bandaid driver (resets detected watchdog erros).  After mission, checking battery status, watchdog error came up on 84 and 86 immediately following telnet operation. Bandaid reset both batteries. Syslog is not logging battery info.


Notes:
First data run of the day toward waypoint C (toward shore).  Vehicle tracking data appears nominal. Mission appeared to run to completion, but no modem contact at the surface. Batteries appear to be down. Recovering vehicle and will attempt to turn watchdog timer off on deck thru qtalk.


Notes:
Deck test mission. After last mission, batteries had the following errors: ser84 = fm, ser85 = fc, and ser86 = fm. Used the command wf to turn off watchdogs on 84 and 86. Left 85 in the off state. After mission: things look good, ready for next data run.


Notes:
Operations nominal. Checked batteries: all working as planned with ser85 off.


Notes:
Nominal bearing to M1 mooring: 71 deg at 4585 meters at start of mission. Noticeable front on water surface at start of mission. Closest approach to M1: 0.25 Nmile (northside) at 20:54 utc. Batteries checked out o.k.


Notes:
Start of mission 0.25 Nmile north of M1. Weather: drizzle started before mission end, slight chp, small swells.


Notes:
Last run of the day toward C1. Transect mission heading of 45. Weather: hasn't changed since the beginning of the last mission. This run will complete the transect from 36 43.320' N, -122 12.042' W  to  36 46.380' N, -121 56.088' W. Total distance covered ~24 km (4 runs at 60 min, last run at 30 min). Endpoint: 630 m, 230 deg from C1.


Notes:
Deck test mission the day before 4/16 operations.  On battery power on deck of Zephyr.  Batteries ok after mission.


Notes:
Batteries checked after mission and found ok.  Deck test prior to OCCO day one AUV ops.


Notes:
Vehicle checkout mission in the water prior to OCCO day one.  USBL data in AUV2003106.dat.  Tested new dvl code before this mission -- range agreed nicely with charted depth while vehicle at surface.  Batteries checked and ok after mission.  GPS fix not valid at the end of the mission.  Unable to talk to gps after the mission via qtalk.  Determined later that had not been using the right CRLF sequence (^m^j)


Notes:
Running setpoint instead of waypoint because gps is not communicating.  Deciding to attempt to get the data anyway.  About halfway through mission seem to be making about 325 COG.  Battery 84 found off after the mission.  Turned it off and then on and then turned off watchdog.  Altitude termination of yoyo was good with new dvl code.  CTD pumped circuit.  Question regarding ISUS performance during this run.


Notes:
Vehicle performance appears nominal from surface tracking.  Vehicle making 343 COG.  Vehicle track from surface goes through charted waypoint.  Batteries still on after mission.


Notes:
Batteries ok after previous mission, First leg from OCCO waypoint B to waypoint C.  First mission heading into slope and terminating on altitude.  At 07:00 elapsed, vehicle forward progress stopped, but calculated depths from Winfrog indicate that depth is decreasing -- appears to have aborted on altitude.  Will look at altimeter data and reset the minAltitude in the yoyo behavior.  Will check for evidence later of vehicle hitting the bottom.  Batteries ok after mission.


Notes:
Vehicle performance from tracking data appears nominal.  COG reported as 174, appears to be making progress along trackline.  Batteries ok after mission.


Notes:
Second leg of mission from OCCO waypoint B to C.  Appeared to be trying to pitch up at the beginning of the 0 degree setpoint -- should check elevator home.  Reset altitude to 10 meters in yoyo behavior.  Batteries ok after mission


Notes:
First run of leg from OCCO waypoint C to waypoint D.  Observed bait on depth sounder and dolphins off port side of ship at 23:00 minutes elapsed.  Batteries checked and ok after mission.


Notes:
Second run of leg between OCCO waypoint C and D.  Vehicle visible just submerged, at 12:00 elapsed, sea lion following it.  Just getting into a wind line, onshore at about 8 kts.  Batteries checked after mission and ok.


Notes:
First setpoint with altitude terminate at 50 meters for 10 minutes, should get past the steep part of the canyon, then 20 minutes at the same heading with minAltitude of 25 meters.  Vehicle appears stopped at 07:00 elapsed.  Depth sounder showing very steep terrain.  At 13:00 elapsed it appears to be ascending very slowly, now at 70 meters.  At 15:00 elapsed, approximately 60 meters deep.  Surfaced at 23:20 elapsed.
Batteries checked and ok after mission.  Appears to have been very close to bottom, "too shallow" dvl beam flags were set.


Notes:
Vehicle performance appears nominal from tracking data.  Battery 84 found in charge mode after mission, turned off, then on, then wf.


Notes:
Some question as to flow data from previous mission.  Decide to continue the survey because data is not obviously bad.  This is the second leg from OCCO waypoint D to waypoint E.  Vehicle performance appears nominal from tracking data.  Batteries checked after mission and seem ok, although it took two tries for operator to contact battery 86.


Notes:
First run of log from OCCO waypoint E to F.  Passed within about 25 meters of waypoint E at 04:30 elapsed.  Batteries checked and all ok


Notes:
Second run of leg between OCCO waypoints E and F -- scheduled to be the last run of the day.  Batteries checked and ok after mission.


Notes:
Deck test prior to OCCO 2003 108.  Batteries ok after deck test mission, but they did not have the load


Notes:
Deck test prior to OCCO 2003 108.  Rerun of previous with batteries carrying the load.  Batteries checked and ok after the mission.


Notes:
Deck test mission prior to departure for OCCO day 2003.111.  Running battery driver ouside of supervisor.  Batteries all ok after mission.


Notes:
Vehicle checkout mission prior to OCCO 2003.111 data acquisition.  Check GPS fix and batteries after mission.  Vehicle performance from tracking data appears nominal.  CMG about 313.  Acquired gps fix after the mission.  Batteries all ok after mission.


Notes:
Test at sea of waypoint_yoyo behavior.  Performance appears nominal from USBL tracking.  Acquired GPS fix at the end of the mission, batteries all ok.  Observed no flow in CTD boardset 1.


Notes:
First data acquisition run of OCCO 2003.111.  Vehicle observed to breach at 1:30 elapsed, and at 03:00 elapsed.  Initial COG about 330.  Observed on the surface at about 10:00 elapsed.  Surfaced and acquired gps fix at 40:00 elapsed.  Humpbacks spouted at 46:00 elapsed about 1000 meters ahead of ship and vehicle track.  Closest approach to waypoint B about 170 meters.  Odd tracking data at the end of the mission, when depth went from estimated to measured.  Ascent approximately 500 meters from waypoint.  Batteries ok after mission.


Notes:
Vehicle performance from tracking data appears nominal.   Closest approach to waypoint about 190 meters,  where ascent began.  Batteries ok after mission.


Notes:
Vehicle performance from tracking appears nominal.  Final ascent started about 190 meters from waypoint D.  Batteries checked and ok after mission.


Notes:
Vehicle performance appears nominal from tracking data.  Point of closest approach to waypoint E is about 65 meters.  Batteries checked and ok after mission.


Notes:
Vehicle performance appears nominal from surface tracking.  Appeared to start ascent 150 meters from waypoint F.


Notes:
Test in lab prior to mobilizing ship before OCCO day 2003.115


Notes:
Deck test mission prior to departure OCCO day 2003.115.  Batteries checked and ok after mission.


Notes:
Vehicle checkout mission in the water prior to OCCO2003115.  Vehicle performance appears nominal from USBL tracking.  Batteries chedked and ok after mission.  GPS acquired fix; ready for first data acquisition mission.  Noticed that CTD pumps did not seem to be on.


Notes:
Changed getgps behavior at beginning of mission to get 120 fixes, in order to allow CTD pumps extra time to turn on and to allow ISUS lamp to warm up.  Initial vehicle heading appears to be nominal.  Surfaced and acquired GPS fix at 40:00 elapsed.  Started ascent approximately 140 meters from waypoint B.  Batteries checked and ok after mission.  Note no flow measured by CTD board 2, CTD board 1 started measuring flow 1/3 of the way into the mission.  Need to check HS2 channel 1.


Notes:
Two hour mission, starts within 250 meters of waypoint B, proceeds to C, then to D.  Surfaces for GPS fixes halfway through each leg.  Vehicle observed at surface at 11:15 elapsed.  Surfaced at 20:00 elapsed and acquired GPS fix,  all batteries still in discharge mode.  Passed with 60 meters of waypoint C,  Decided to pull the vehicle at the end of the leg due to building wind and seas.  Odd behavior at the end of the second waypoint leg. Review of data: CTD flow sensor 2 is still showing no flow. However, the CT data appears identical to CT 1 data set. Hydrscat channels 1 and 2 are showing erratic data (order of magnitude out of normal range, and inconsistent periods of operation).


Notes:
Deck test mission prior to departure OCCO2003118.   Batteries checked and ok after mission.  ISUS returning all zeros for nitrate and temperature.


Notes:
Vehicle appeared on surface several times unexpectedly during the start of the mission when it should have been submerged. Batteries checked after mission: all o.k. Initial instability recognized: dvl was seeing the bottom and the program was acting accordingly. CTD boardset one is not showing any flow. CTD2 is o.k. Hydroscat is fine. ISUS is showing zero for nitrate and temp.


Notes:
Vehicle ended mission 200 meters, 240 deg. from waypoint B. Batteries fine after mission. CTD2 flow sensor turned off for a time during the mission. CTD1 flow is back on line. ISUS still not working properly.


Notes:
Vehicle location from waypoint C, 45 meters, 35 degrees. LISST cast performed at location: N36 44.325, W121 52.415 in 75 meters of water.  Second LISST cast at location: N36 45.991 W121 53.531, close to waypoint D. Vehicle location closest to waypoint D: 125 meters at 248 degrees.  Batteries are fine. Swell picking up, but wind is dying down.


Notes:
Stopped for LISST cast at 48:00 elapsed 1945 UTC, 36 43.197N 121 53.357W.  
Cast complete at 54:00 elapsed.    Vehicle surfaced 820 meters due south of waypoint W.  Got GPS fixes and continues to waypoint F.  Appears to begin ascent 180 meters to the WSW of waypoint F.  Batteries all in discharge mode after mission.  Batteries checked and ok after mission.


Notes:
Deck test mission Friday before AUVCTD ops 2003.125.


Notes:
Deck test mission prior to departure for AUVCTD2003125.  All systems appear nominal.


Notes:
10 minute test run (west 5 min, then east for 5 min). About halfway along Chavez run where weather/sea conditions are favorable for launch (marginal conditions, sea state 3 with 18-21 mph winds at west most waypoint = decided to come inbound). Batteries o.k. Flow sensor for CTD1 is off.


Notes:
Deck test mission prior to AUVCTD2003126 operations.  Operating with only two batteries today, as sn 84 had oil intrusion issue during AUVCTD2003125.


Notes:
Test mission in the water prior to data acquisition AUVCTD2003126.  Running on 2 batteries only sn's 85 and 86.  Performance from tracking appears nominal.  Batteries checked and ok after mission.  Science sensor look good.


Notes:
Attempting 5 hour mission between M1.5 and C1.5.  Current flowing to the south and west.  Surfaced at 38:00 elapsed and continued, batteries ok, cross track error about 300 meters.  Surfaced at 1:16 elapsed and continued, batteries ok, cross track error about 800 meters.  After first 2 legs, vehicle making about 84 degrees true.  MOB drill at  1:38 elapsed.  Vehicle surfaced for fix at 1:54 elapsed, batteries ok, cross track error 1150 meters.  Surfaced for fix  at 2:34 elapsed,  batteries ok, cross track error 1280 m.  Passed about 0.5 nmile north of M-1 at 3:00 elapsed.  Surfaced for fix at 3:12 elapsed, batteries ok, crosstrack error 1150 m.  Surfaced at 3:52 elapsed, batteries ok, cross track error 900 meters.  Leg seven altitude terminated on side of canyon, so there is a longer ascend at the end of this leg.  Surfaced for fix at 4:36 elapsed, batteries ok, cross track error 550 meters, about 750 meters from the end of line waypoint.  Vehicle appears to be ascending at 4:47 elapsed, about 45 meters from the waypoint.  Surfaced at 5:01 elapsed, appears to be no vehicle power.  Cycled batteries and put shore power to vehicle, all batteries found in discharge state, no faults.  Data logs found to be empty.

Failure mode:
Indeterminate, later determined to be low voltages


Notes:
Deck test the day prior to AUVCTD2003156 operations.  Performance nominal, vehicle appears ready for operations.


Notes:
Deck test mission prior to departure from dock for AUVCTD2003156 operations.  All appears nominal.


Notes:
Vehicle checkout mission at the beginning of AUVCTD2003156 operations.  Data appears nominal, ready for data acquisition missions.


Notes:
5 hour data acquisition mission for AUVCTD2003156.  Surfaced and acquired GPS fixes at 37 minutes elapsed, checked that data was in log files.  All appears ok.  Surfaced for GPS at the end of the second leg at 1:16 elapsed, cross track error about 700 meters.  Logs check ok.  Surfaced for GPS fix at 1:54 elapsed, cross track error about 1150 m.  Checked logs ok.  Surfaced at 2:33 elapsed, cross track error about 1450 m, logs check ok.  Surfaced and acquired fix at 3:12 elapsed, all ok, approximately 400 meters from M-1 mooring at 13:01 PDT.  Cross track error about 1450 m.  Surfaced at 3:50 elapsed,  checked logs, all appear ok.  Cross track error about 1100 m.  Vehicle on surface, mission appeared to end early at 3:53 elapsed.  Need to asses why this mission ended when it did.


Notes:
Previous mission appeared to end early, will need to asses why.  Two legs towards final waypoint of AUVCTD survey.  Surfaced at 46 elapsed, appears ok.  Final ascent appears to be within 50 meters of intended waypoint.


Notes:
10 minute waypoint mission to check the navigation with the DVL in PD0 mode.  Changed in dvl.cfg from PD5 mode.


Notes:
Deck test the day before OCCO2003164 operations.  All appears nominal.


Notes:
5 minute north, turn around, 5 minute south. weather: calm with overcast. mild swell. vehicle o.k.


Notes:
Distance from waypoint 2 (ref) : 85 m at 90 deg. Time required for mission leg = 64 minutes (surface to surface). Checked existence of log files = o.k.


Notes:
At elapsed 38 minutes into the leg (36 49.391, 121 53.982): large collection of birds suggesting bait in the area. Distance from waypoint 3 (ref) before heading off to waypt 4 = 166 m at 230 deg. Distance from waypoint 4 (ref) = 50m at 76 deg. Weather: sunny with calm (only slight chop) seas. Wind up to 10 mph.


Notes:
Mission from waypoint 4 to 5 then on to 6.  Weather: wind up to 15 knots, seas more choppy with moderate sign of white heads. Clouds on horizon. Closest approach to waypoint 5  (ref) : 160 m at 232 deg. Vehicle breached close to waypoint (see syslog at time = 19:56) and received several gps fixes. Vehicle continued on mission, overshooting waypoint by 1700m at heading of 325. Lat and long confirmed correct in mission script.  Distance from wypt 6 (ref) = 20m at 61 deg. Weather at end of mission: increased winds with more chop.


Notes:
Check out mission. 5 minutes north, turn around, 5 minutes south. Review of data:   all looks good.    Weather: 9 ft swells at 9 sec. slight wind. Forecast: wind will pick up by afternoon. Small craft advisory.


Notes:
Point of closest approach: 20 m. Resurface at wpt 2 (ref): 55m @ 100 deg. Weather: still calm, less chop than before. Slight swell.


Notes:
Distance from  wpt 3 (ref) : 290m @ 50 deg. Weather: haze/overcast breaking up. Sun coming out. Seas are still calm. An abundance of by-the-wind jellies on the surface. Approx length of first leg (6100 m) = 70 minutes; second leg (5000m)= 60. Distance from  wpt 4 = 500m at 185 deg. Plan to run next legs from here since distance too short for any real yoyo action before hitting waypoint.


Notes:
Starting from a coord = N36 47.955, W121 54.531(500 m NE of wpt 4). Weather: still hazy; slight chop and swell; wind picking up (6-8 knots). Weather halfway to wpt 5: sunny and clear, wind picking up resulting in moderate chop. Distance from wpt 5 (ref) = 250 m at 225 deg. At N36 49.303 W121 56.977 (1:04 PM), pulled hydrophone and headed over to MVP to check on its status (confirm upward travel event at 1:30PM). AUV still 3000m from wpt 6. Headed back to wpt 6 to wait for vehicle. Closest approach to wpt 6 = 30m; resurfaced at 30m at 238 deg.


Notes:
Deck test the day prior to OCCO2003170 operations.  All appears nominal


Notes:
Checkout = flow1 dropped out for a minute or so at the beginning. All else o.k.


Notes:
Weather: wind 8-10 knots, cloudy and overcast, moderate swell with mild chop.; conditions out at M2/NOAA bouy: 35 knot gusts, small craft advisory; similar conditions like Monday. Closest approach to wpt 1(ref)  = 5m. Resurface at 45m at 80 deg. Weather: skies clearing, high clouds; seas = less swell, slight chop.


Notes:
Breached at 32 minutes into the mission (17:01:42 in sysllog), acquired several GPS fixes. Weather: partly cloudy with high clouds, light wind, mild chop. At end of mission, wpt 4, wind is picking up and conditions are deteriorating; sunny and some high clouds. Will run next leg on the ready to end mission when vehicle surfaces for gps.


Notes:
Weather: conditions deteriorating; winds 16 knots with gusts to 20; white caps prevalent with increased swell activity; close to state 3 conditions. Decided to abort mission once vehicle surfaces for GPS fix between wpt 4 and wpt 5.


Notes:
Second run of deck test. Prior deck test failed: according to syslog in 2003.174.00, the batteries failed to initialize (batteries were properly enabled). Battery comp level checked (plunger has not changed since Friday; 1/8" below main body). Results of log check:


Notes:
Results of mission checkout: all o.k   Weather: low clouds, light breeze, moderate swell with slight chop.


Notes:
Closest approach to wpt  2 (ref)  = 30m. Resurfaced at 45m at 117 deg.


Notes:
Syslog shows a breach at 17:14 during the second leg from Station 2 to Station 3, never got a valid fix, and reset navigation. Resurfaced from wpt 3 (ref): 840m at 310 deg. and obtained valid fixes before heading off to wpt 4.  Passed through waypoint and began ascent approximately 25 meters past it.


Notes:
Closest approach (and resurface) to waypt 5 (ref) = 250m at 235 deg. Weather: wind and chop picking up. Closest approach to wypt 6 = 10 m. Weather: wind 15-20 knots, large swell, moderate chop with whitecaps.


Notes:
Test after GPS code altered by Henthorn to


Notes:
Time was wrong: should be 13:26 utc, but displayed 9:01 utc. Time reset. Question: look into the difference between the GPS output and the converted time displayed (delayed value).


Notes:
This checkout mission will have the updated GPS code (should prevent the jumps in the navigation that we've seen in the past). Weather: sunny and calm conditions, only slight swell, wind at 3-5 knots. After review of data, GPS plot appears not to have been fixed. OBS values are railed indicating a it's blocked. CTD1 flow sensor indicates no flow.


Notes:
Note: after initiating "td GPS" and date, both correspond, but are not correct (5 hours difference from UTC). Something is wrong in the driver after parsing out the data and displaying it (the actual raw data, second item in data string, is fine). Gashler reset computer date to correct UTC time. Reverted to previous code. MVC battery  backup is apparently not functional, and the vehicle had been depowered since its checkout on deck.  Salmon fishing fleet (> 20 vessels) located at about 36 48.6N 121 52.4W -- may prove a challenge to navigation on the next leg.   Ascent began from Station 2 (ref) = 48m at 241 deg. Battery comp refilled at beginning of day (plunger was 3/8" inside main comp body; after refill it's at 1/8" recessed).


Notes:
Successfully navigated through a swarm of fishermen (near middle of wypt 3). Weather: pretty much the same - calm, sunny, slight swell. Closest approach to wypt 4 (ref) = 15 m. Resurface at about the same position (260 deg).


Notes:
Weather: wind picking up (~10 knots) with noticeable chop. slight swell. Closest approach ~10m, resurfacing just about on top of waypoint 6.


Notes:
Checkout mission prior to AUVCTD2003177 operations.  On site at outside end of survey line.  Water appears visibly brown at surface.  Performance from surface tracking appears nominal.  Noted spikes in DVL range data, perhaps scatter from a layer, may make altitude determination difficult.


Notes:
Surfaced for first fix at 38:00 elapsed, approximately 3600 m covered, cross track error about 700 meters.  Surfaced at 1:16 elapsed for fix, cross track error 720 meters.  Surfaced for fix at 1:55 elapsed, cross track error 350 m, along track about 10.8 km.  Surfaced at 2:34 elapsed for fix, crosstrack error about 520 meters.  Passing within about 400 meters of M-1 mooring at 1230 pm PDT.  Surfaced for fix amidst pod of Rissos dolphins at 3:11 elapsed, crosstrack error 580 m.  Surfaced for fix at 3:50 elapsed, 2500 m from end waypoint, crosstrack error 650 m.  Large pod of common dolphins which seem to be feeding about 500 m in front of ship.  Surfaced at 4:25 elapsed for fix, about 300 m from waypoint.  Allowed it to run leg 8, which turned out to be unnecessary, probably because we started out about 600 m along track.  Began ascent about 35 m from waypoint, total mission time 4 hours 36 minutes.


Notes:
All appears nominal.  Deck test mission prior to departure for AUVCTD2003178 operations.


Notes:
Note: didn't get initial hits with the ORE USBL; after restarting deck box, all was fine. CTD1 flow sensor didn't indicate flow until the end of the mission (650 seconds).


Notes:
Actual starting point is (N36 43.236 , W122 11.581) even though we launched a couple hundred meters to the west of the waypoint. Vehicle distance from start waypoint (ref) = 700m at 100deg. Strong currents: the initial checkout mission with 5 minutes north, then 5 minutes south resulted in a cross drift of 200m (east). Weather: sunny, calm seas. Cross error after 36 minutes = 400m south. Weather: wind picked up suddenly (10-14 knots) just after 2nd GPS resurface (17:50utc); slight chop on surface. Tracking having some issues, mostly delay, suspect low battery on vehicle side. Cross track error after 3rd resurface = 215m south. Seemed to be issues with diving after 5th resurface (19:53). May have breached at 19:46. Need to look at syslog. Terminated mission at 19:56 (N36 45.590 W121 59.310).


Notes:
This is a shortened mission (cut from AUVCTDInbound.cfg) to complete the survey (5000m remaining). It includes the last 3 legs (2200s, 2000s, and 2000s). Vehicle failed to dive on the 6th leg after the 5th resurface to acquire GPS fixes (prop active while on surface). Weather: wind has picked up since this morning (10 knots) with gusts; considerately more chop with whitecaps; slight ground swell. Resurfaced at 20:45utc for GPS fixes and continued as normal. Closest approach to final waypoint = 90m.


Notes:
Deck test in lab with new AUVCTD nose and extended battery midbody.


Notes:
Deck test mission prior to sea trials with new ext midbody and auvctd nose.  Having trouble with ISUS, so commented out of devices.cfg


Notes:
Deck test mission prior to departure for sea trials.


Notes:
Three minute checkout at 0 speed on the surface.  Data appears nominal.


Notes:
Test of heading control with new vehicle configuration.  Visually observed the vehicle coming to commmanded heading.  Submerged itself during the course of the run.


Notes:
Checking depth control with 3 minute run commanded 5 meters.  May not have time to dampen transient.  Tracking appears good and the vehicle has remained submerged.  Pitch control was within a degree or so but vehicle did not have time to settle out on commanded depth


Notes:
Mission failed to start.  Syslog indicated DVL caught exception.  ran td DVL after and device appears to be fine.


Notes:
Data appears nominal from surface.   Checked batteries after mission and they are ok.


Notes:
Performance appears nominal from the surface, no breaches observed.  All appears nominal, batteries checked and ok


Notes:
Failed to run, still had a port open to batteries.


Notes:
Run orthogonal to shelf to 100m in yo yo pattern.  Should get good science data.  Data appears nominal.


Notes:
Transit south before depth test to 200m.


Notes:
Vehicle became entangled in the LARS at launch -- trying to find out if the tailcone is still operational.  Vehicle appeared to come to heading and maintain depth ok near the surface.  Vehicle seems ok


Notes:
Vehicle checktou prior to test missions 2003.206.  Performance appears nominal from surface tracking.


Notes:
Performance nominal, checked batteries after the mission and they appear ok.


Notes:
Two 40 minute legs of AUVCTD transect.  Performance appears nominal from the surface.  Checked batteries after the mission and all ok


Notes:
Final 5 legs of standard AUVCTD transect.  Starting out about 13 km from the endpoint of the transect.  Passed within about 100 m of M-1 mooring at 1325 PDT.  Passed about 220 meters from the endpoint of the survey line and started its ascent 320 meters away.  Terminated mission.


Notes:
Deck test prior to AOSN operations 2003.216.  Bathyphotometer is cabled into nose section data acquisition can.  All checks ok


Notes:
Vehicle checkout mission prior to AOSN20003216 operations.  Nitrate values seem low but otherwise everything looks good.


Notes:
Depth test to 200m then 0 speed setpoint for 3 minutes to check the ascent rate with no power and batteries compressed.  Batteries checked and ok after mission.  Vehicle appeared from tracking data to be ascending during 0 speed setpoint.


Notes:
Data acquisition mission starting offshore and heading inshore along canyon axis.  Surfaced and acquired first fix at 38 minutes elapsed.  Surfaced and acquired second fix at 1:18 elapsed, crosstrack error 530 meters.  Surfaced and acquired third fix at 1:57 elapsed,  crosstrack error 650 meters.  Surfaced and acquired fourth fix at 2:35 elapsed, crosstrack error 860 m.  Passing within about 200 meters of M-1 mooring at 1325 PDT 4 August 2003.  Lost power to electronics rack, had to restart Winfrog logging with AOSN2003216B.  Surfaced and acquired fifth fix at 3:15 elapsed, crosstrack error 920 m.  Surfaced and acquired sixth six at 3:53 elapsed, crosstrack error 770 m.  Surfaced and acquired seventh fix at 4:31 elapsed, crosstrack error 400 meters, about 730 m from the end of the survey line.  Beginning ascent within 60 m of final waypoint at 4:42 elapsed.  On surface at 4:51 elapsed.


Notes:
First night operations of SPOKES 2003.  Line A1A5 starting near Santa Cruz harbor and ending at M-1.  This record produced after the fact due to a database problem.


Notes:
Haddock line B1B5 starts near Davenport and goes offshore.


Notes:
Deck test prior to departure for AUVCTD2003218 operations.


Notes:
Vehicle checkout mission prior to AOSN2003218 ops.  Performance appear nominal from tracking data.  Batteries checked and ok after mission.


Notes:
Data acquisition run commencing at 09:17 PDT.  Surfaced and acquired first fix at 39 minutes elapsed, cross track error 390 meters.  Surfaced and acquired second fix at 1:17 elapsed, cross track error 750 meters.  Surfaced and acquired third fix at 1:56 elapsed, crosstrack error about 600 meters.  Surfaced and acquired fourth fix at 2:35 elapsed,  crosstrack error 680 meters.  Passing within about 400m of M-1 mooring at 12:25 PDT 6 August 2003.  Surfaced for fifth fix at 3:15 elapsed, crosstrack error 630 m.  Multiple humpbacks breaching within about 0.5 mile of vehicle track at 3:50 elapsed.  Surfaced and acquired sixth fix at 3:56 elapsed.  Surfaced and acquired seventh fix at 4:33 elapsed.  Ascends to surface about 40 meters from final waypoint at  4:40 elapsed.


Notes:
Isus log contained no data. However seemed to be running the whole time.


Notes:
Since ISUS was locked up after last power cycling (after disconnecting shore ethernet and then connecting Freewave), vehicle recovered, power cycled again, and ISUS checked using td.


Notes:
Dove at 17:35. First surfacing at 38 min elapsed: crosstrack error 385m south of transect. Weather: clear and sunny; wind at 8-10 knots and picking up. Second surfacing at 78 min elapsed: crosstrack error 628m south of transect. Weather: about the same with surface chop increasing. Third surfacing at 116 min; crosstrack error of 567m south of transect. Weather: about the same; swell and chop picking up. Forth surfacing at  156 min; crosstrack error of 670m. Weather: chop with white caps with wind 14-16 knots. Passed 1200 m to the north of M1 at 1345 PDT  (188 min elapsed).
Fifth surfacing at 195 min elapsed; crosstrack error 645m south of transect. Weather: about the same Seas slightly rougher, heavy swell at times. Sixth resurface at 233 min elapsed; crosstrack of 580m south of transect. Weather: more wind, more chop. Final resurface at 278 min elapsed (15:10 PDT). Distance from end waypoint : 347m at 158 deg.


Notes:
Testing to see if Spokes cruise mission loads.


Notes:
Deck test mission prior to departure for night bioluminescenc operations 2003.222


Notes:
Vehicle checkout for Haddock line A1 to A5. 7 minutes at 77 deg and then 2 min at 255 to get closer to A1.


Notes:
Deck test prior to second night of bioluminescent ops AOSN2.


Notes:
Vehicle checkout for Haddock line B1 to B5. 6 minutes at 330 to return to B1.


Notes:
Forgot to plug in Freewave cable instead of tether ethernet. Redoing deck test.


Notes:
Forgot to enable batteries. Let's try again.


Notes:
Due to batteries not being enables on the last deck test, the mission started up the ISUS, but got locked during the destructor phase. Restarting vehicle.


Notes:
Vehicle checkout for Haddock line E1 to E5. 4 minute duration to get back to waypoint E1.


Notes:
Deck test mission prior to day operations during AOSN2 on day 2003.224


Notes:
Vehicle checkout mission prior to day operations AOSN 2003224.  Vehicle performance appears nominal from tracking.


Notes:
Data aquisition run AOSN2 day operations 12 August 2003.  Steady 15 kts at 0700 local with short 5 foot seas, forecast for more wind later. First resurface for gps fix at 39 minutes elapsed; cross track error of 925 m (south of transect) along a track distance of 3800 m. Weather: sunny and clear, seas with less chop and swell; wind died down to 7-9 knots. Second resurface at 1:18 hrs. elapsed; cross track error of 1350 m (south of transect) along a track distance of 7460 m. Third resurface at 1:58 hrs. elapsed; cross track error of 1100 m at a track distance of 10900 m. Weather: wind decreased 2-3 knots; slight chop with moderate swell: quite pleasant compared to this morning. Forth resurface at 2:36 hrs. elapsed; cross track error of 1400 m at a track distance of 14400 m. Closest approach to M1 bouy: 0.25 Nmile at 10:35 PDT (7600 m remaining for survey).   Surfaced and acquired fifth fix at 3:15 elapsed, crosstrack error 1350 m, about 6600 meters to go to the end of the line. 6th resurface at 3:54 hrs. elapsed; cross track error of 990 m; about 3200 m left in the line. Final surfacing at 4:31 hrs. elapsed; distance from end waypoint (ref) = 310 m at 168 deg.


Notes:
Deck test mission prior to AOSN2003225 ops


Notes:
Vehicle checkout for Haddock line D1 to D5.


Notes:
Deck test mission prior to night oeprations AOSN line F1F5.  All looks good.


Notes:
Had to pull vehicle and swap USBL transponder after initial deployment and before this mission.  Night operations for AOSN2003226.  Vehicle performance from USBL appears nominal.


Notes:
Data acquisition mission bioluminescence survey.  Acquired first fix at 0:42 elapsed.  Second fix at 1:28  elapsed.  Third fix at 2:15 elapsed. 4th fix at 3:01 elapsed. 5th fix at 3:47 elapsed. Finished at 3:58 elapsed. Distance from F5 (ref) = 106 m at 173 deg.


Notes:
Deck test mission prior to day operations AOSN2003226


Notes:
Vehicle checkout mission prior to AOSN2003226 day operations.  Will be running standard survey down canyon axis.  All good, proceeding to data aq mission.


Notes:
Canyon axis survey AUV2003226b is the nav file.  Current flowing from N to S.  1st fix 0:38 elapsed.  2nd fix at 1:17, XTE 1220 m S.  3rd fix at 2:01, XTE 1330m S.  4th fix at 2:35, XTE 1550 m S, 11 km to go.  Passing 1000m N of M1 at 3:03, 1045 PDT. 5th fix at 3:15, XTE 1600 m S. 6th fix at 3:54, XTE 1250 m S. 7th fix at 4:32, XTE 570 m S. Final from endpt (ref) = 50m at 175 deg. 4:10 elapsed.


Notes:
Night operation Haddock line E1E5 starts off Soquel and goes to M-1.


Notes:
Night operations bioluminescence survey Haddock line D1D5.  Starts off Monterey and proceeds to M-1.


Notes:
Deck test mission prior to AOSN ops 2003227.  Night bioluminescence survey planned Haddock line C1C5.  All good will proceed with deployment.


Notes:
Vehicle check prior to night ops 2003.227 -- again swapped transponders before mission.  tracking poor with vehicle on surface prior to run, but ok once vehicle submerged.  Appear to be heading into some current.


Notes:
Night bioluminescence survey line C1 to C5, actually starting about 3 km up line due to poor surface conditions in Carmel Bay. XTE at start = 675 m S. 1st fix at 0:45 elapsed, XTE = 550 m S. 2nd fix at  1:32, XTE = 850 m S. While on surface, drifts 240 m SW. 3rd fix at 2:18 el, xte = 1530 m, 11.6 km to go.  4th fix at 3:05  el, xte 1865 m W, 8200 m to go.  5th fix at 3:52  el, xte 1915 m W, 4900 m to go.  Sixth fix at 4: el, about 2200 m to go to end of line.  Terminating on Steve Haddock's suggestion.


Notes:
Deck test prior to night bioluminescence survey 2003228


Notes:
Vehicle checkout for 2nd run of biolume survey from B1 to B5. Heading back to waypoint (5 minutes at 350 deg). Nav data: AUV2003228.dat.


Notes:
2nd run of Biolume survey B1 to B5. Nav data in AUV2003228.dat. 1st fix at 0:42 elapsed, XTE = 250 m E, track length (TL) = 3900 m. 2nd fix at 1:26 el, XTE = 135 m, TL = 7650 m. 3rd fix at 2:12 elapsed, xte = 337 m East, 10.3 km to go.  4th fix at 2:59 elapsed, xte = 580 m, 6400 m to go.  5th fix at 3:45 elapsed, xte = 530 m, 2700 m to go.  Appears to be ascending 160 m to the east of B5 at 4:16 elapsed.


Notes:
Deck test mission prior to AOSN2003228 day operation.  Planned run to coordinate with ASON gliders.


Notes:
Vehicle checkout run in the water prior to AOSN operation coordinated with gliders.


Notes:
Data acquisition mission AOSN2003228 coordinated with gliders.  Underway at 7:18 PDT.  Surfacing 250 m from first waypoint at 0:38 elapsed.  Surfacing midway to second waypoint at 1:22 elapsed, xte = 240 m, 2060 m to go to next waypoint.  Surfaced 190 m from second waypoint at 1:46 elapsed.  Surfaced halfway to z3 at 2:28 elapsed, xte = 175 m, 3300 m from waypoint z3.  Ascending to surface at 3:07 elapsedabout 2500 m due east of the endpoint of the mission.  Surfacing at final waypoint at 4:40 elapsed.


Notes:
Deck test mission prior to AUV2003230 operations.  All ok, will deploy on schedule.


Notes:
Vehicle checkout mission prior to operations 2003.230.  Planned survey down canyon axis.  Appears to be a strong current from the North.  Data from tracking appears nominal.


Notes:
Data acquisition mission AUVCTD 2003.230  survey down canyon axis.  Reuters photographer Susan Regan on board for NYTimes.  Surfaced and acquired first fix at 0:38 elapsed, xte790 m, 3200 m downrange.  Surfaced and acquired second fix at 1:17 elapsed, xte 1200 m, 17.9 km to go.  Surfaced and acquired third fix at 1:57 elapsed, xte = 1100 m, 14.5 km to go.  Resurfaced at 1:59 elapsed, not sure why, getgps behavior active,  allowed to continue.  Resurfaced again, getgps behavior active.  Aborted at 2:03 elapsed.


Notes:
Unexplained issue with the last mission after the third surfacing, attempting to rerun the final 5 legs.  XTE at start of run 1600 m.  Surfaced at 0:19 elapsed.  Aborted to check syslog.


Notes:
5 legs towards inshore end of AUVCTD survey.  Surfaced and acquired fix at 38 elapsed, xte 750 m, 9000 m to go.  Passed 1 nmile to the North of M-1 at 0:55 elapsed, 13:30 PDT.  Surfaced and acquired second fix at 1:17 elapsed, xte 630 m, 5700 m to go.  Surfaced and acquired 3rd fix at 1:56 elapsed, descends, then resurfaced at 1:59 elapsed, was showing getgps behavior, got underway again.  Some color on depth sounder.  Vehicle resurfaced mission over at 2:00 elapsed.


Notes:
Final leg of canyon axis survey.  Starting ascent 90 m from waypoint at 22 min elapsed.


Notes:
Checkout mission for Chavez mission. 5 minutes at 80 deg to get closer to start of survey.


Notes:
Chavez run down the middle of the canyon. Initial dive point from start of line (ref): 500m at 252 deg. Strong SW currents (more southerly). 1st fix - 0:38; XTE = 520 m S; 3300 m. 2nd fix - 1:18; XTE= 700 m S; 6500 m. 3rd fix - 1:56; XTE = 850 m; 10km. 4th fix - 2:35; XTE =  900m S; 13.35km. 5th fix - 3:14; XTE = 830m S; 17.9km. Closest approach to M1: 0.6 Nm. USBL: no hits for the last several minutes. Last hit at N36 45.213, W121 59.988. Reappeared at N36 45.313, W121 59.319. 6th fix - 3:53; XTE= 670m S; 20.6 km. 7th fix - 4:31; XTE = 300m S; 23.8km. Finished at 4:50 ; distance from waypt (ref) = 150m at 145 deg. NAV data in AUV2003232.


Notes:
Deck test mission prior to OCCO August operations 2003.233.  All good, ready to proceed.


Notes:
Vehicle checkout mission prior to OCCO operations.  Vehicle observed on the surface at about 1:30 elapsed.  About 15 meters of water, minAltitude set to 10.  All appears ok


Notes:
Second data acquisition leg from waypoint 1 to waypoint 4.  Surface and acquired fix at 0:42 elapsed, xte about 320 m, about 3200 m to go.   All appears good.


Notes:
Third data acquisition leg OCCO ops 2003.233, from waypoint 4 to waypoint 3.  Surfaced and acquired intermediate fix at 0:32 elapsed, xte = 90 m, 2400 m to go.  Starting ascent at 58 elapsed about 20 m from waypoint 3.  Will visually inspect vehicle after the mission in order to tell if there is anything on it -- nothing was visible.  Checked batteries and all ok.  Power back to 300 W.


Notes:
Fourth data acquisition leg of OCCO ops 2003.233  From waypoint 3 to waypoint 6.  Surfaced and acquired fix at 42 min elapsed, xte at 340 m, 2750 m to go.  Data ok, batteries ok.


Notes:
Fifth data acquisition leg of OCCO ops 2003.233.   It appears from  the USBL data that the vehicle is going closer to 2 kts than 3 kts at about 12 minutes elapsed -- I think that this was an illusion.  Ascending to surface about 30 meters from final waypoint.


Notes:
Deck test mission at the dock prior to departure for AUVCTD operations 2003.234.  All good, proceed with ops.


Notes:
Vehicle checkout mission prior to AUVCTD ops 2003.234.  Near Davenport, Haddock station B1.  3 minutes at 210, then 3 minutes at 030.  Performance  appears nominal from tracking.  All good, proceeding with data acquisition.


Notes:
Data acquisition run due south from Haddock waypoint B1.  Surfaced and acquired first fix at 40 elapsed, xte 40 m, 3500 m along track.  Second fix at 1:22 elapsed, xte 65 m, along track 6800.  3rd fix at 2:01 elapsed, xte 60 m, 10.1 km along track.  4th fix at 2:50 elapsed, xte = 67 m, along track distance13.4 km.  5th fix at 3:30 elapsed, xte 400 m, 16.3 along track.  Appears to be a current from east to west,   Will pull at next surfacing due to time constraints.


Notes:
Deck test mission prior to OCCO2003237 operations.  All good, proceeding with data acquisition operations.


Notes:
Second deck test. Prior one was run at 55 deg heading. Ran this one at 355 deg to obtain the  usual rudder/elevator plots.


Notes:
Running 170 deg. for 5 min and then 55 deg. for 4 min. Flow sensor on CTD 1 started up only at the end of the mission.


Notes:
First of 2 legs. This leg is from waypoint 2 to 1. The 2nd is from 1 -> 4 -> 3 -> 6 -> 5. 1st gps fix at 0:31  elapsed; XTE = 60 m E along a track length of 2600 m. 2nd fix at 1:09. 30 m from end waypoint.


Notes:
Ryan survey from wypt 1 -> 4 -> 3 -> 6 -> 5. Second mission. Nav data in file OCCO2003237. Wind picking up from this morning. Start point: 40 m NE of wypt 1. 1-4: 1st fix at 0:41 XTE = 440 m SW; 4400 m. 2nd fix at 1:05; dist. from wypt 4 (ref) = 280 m at 235 deg. 4-3: 3rd fix at 1: 38; XTE = 80 m W; 2800 m. 4th fix at 2:08; dist. from wypt 3 (ref) = 40 m at 10 deg. 3-6: 5th fix at 2:51; XTE = 375 m SW. 6th fix at 3:26  ; dist. from wypt 6 (ref) = 335 m at 236 deg. 6-5: 7th fix at 4:01; XTE = 100 m W. 8th fix at 4: ; dist. from wypt 5 (ref) = 40 m at 60 deg.


Notes:
Deck test prior to departing the dock for AUVCTD2003238 operations.


Notes:
Vehicle checkout mission prior to AUVCTD2003238 ops.  About 2.5 km from M-1, conditions too rough too deploy outside.  Performance appears nominal from USBL tracking.  Checked batteries and all ok


Notes:
Data acquisition mission along canyon axis, starting about 2.5 km offshore of M-1.  Abearm of M-1, buoy is 0.8 nmile to the south at 0950 PDT.  Surfaced at 38 elapsed, xte 1100m, 7750 m to end of line.  Acquired 2nd fix at 1:18 elapsed, xte 1230, 4500 m to go.  3rd fix at 1:55 elapsed, xte = 790 m, 1450 to go.


Notes:
Deck test prior to departure for AUVCTD2003241 operations.


Notes:
Vehicle check mission prior to AUVCTD2003241 operations.  Ashtech GPS down,  no ships heading information.  Vehicle performance appears nominal.


Notes:
Data acquisition run AUVCTD2003241 operations.  Winfrog data will be garbage because the Ashtech GPS feed is down, we're getting no good heading information.  Bridge appears to be experiencing electrical problems, lost throttles at 13 min elapsed, ADF not working, we will attempt to abort at the first opportunity.  Found 12 V system on ship had low voltage, Lance adjusted and we decided to continue mission.  Now getting good heading info and Winfrog data.  Surfaced and acquired first fix at 38 min elapsed, xte 550 m.  Second surfacing at 1:16 elapsed, xte 925 m, 18.2 km to go.  Third fix at 1:57 elapsed, xte 1350 m 14.8 km to go.  4th fix at 2:36 elapsed, xte 1450 m, 11.4 km to go.  Passing abeam of M-1 about 500 m at 3:10 elapsed, 1210 PDT. 5th fix at 3:15 el, xte 1400, 8 km to go.  6th fix at 3:55 elapsed, xte 1230 m, 4600 m to go.  Ascending for 7th fix at 4:30 elapsed.  Ascending to surface at 4:54 elapsed about 100 m from the final waypoint.


Notes:
Deck test prior to OCCO2003245 operations.  LISST in extended battery midbody.


Notes:
Vehicle checkout mission prior to OCCO2003245 operations.  Coast Guard inspection this morning so the missions were delayed in starting today.  Performance appears nominal from surface tracking data.


Notes:
First data acquisition leg of OCCO2003245 operations.  From waypoint 2 to waypoint 1.  Ascending at 1:03 elapsed about 60 m from waypoint 1.  Performance nominal, will proceed directly with the next mission.


Notes:
No Isus data log created. Shutdown by tailcone (batteries were not enabled and current setting on power supply was too low) may have something to do with it, but
unlikely. Isus driver was still running in background after mission was terminated.


Notes:
Mission in test tank after debugging battery driver.  All checks ok. Will run a series of slightly longer tests.


Notes:
Second test in tank at a heading of 180 for 10 minutes. Killed mission early due to heading (should be at 220).


Notes:
3rd test in tank with a heading of 220 for 10 minutes.


Notes:
Deck test mission on board the Zephyr prior to test operations 2003.280 after vehicle tail rebuild.  Hydroscat failed to initialize, but will make sure it does on powerup tomorrow.  Will charge batteries and proceed with missions tomorrow.


Notes:
Deck test prior to departure operations 2003.280, which will be first at sea testing of rebuilt tail section.  All ok, will proceed to ops area.


Notes:
First in water mission after tail section rebuild.  Data appears nominal from USBL tracking.  Batteries checked and ok after mission.  All appears nominal, will proceed with 1 40 minute leg inbound.


Notes:
Single leg waypoint mission, 2 cycles to 250 m, will inspect data before proceeding.  First deeper run with new main housing and new propulsion unit.  Appears to be a 9 degree compass bias to port.  Will change magnetic declination in worksite.cfg in order to compensate before starting the next run.  Checked batteries after mission and all ok.  Note less structure in CTD data than usual


Notes:
Changed magnetic variation from 15.2 to 6.2 before this mission in order to try to compensate for a compass bias about 9 degrees to port (will appologize to RMcEwen later).  It looks like the sign of the correction is correct, vehicle is reducing crosstrack error.  Surfaced and got first GPS fix at 0:38 elapsed, batteries all ok, xtrack error about 70 meters.  Surfaced for second fix at 1:17 elapsed, crosstrack error 64 m (heading correction looks good) batteries all ok.  Surfaced for third fix at 1:56 elapsed, batteries all ok, xtrack error 45 m.  Surfaced for fourth fix at 2:35 elapsed, xtrack error 75 m, batteries all ok.  Surfaced for fifth fix at 3:15 elapsed, xtrack error 160 m,  batteries all ok, 1950 m to go to end of line.  Ascending 230 m from final waypoint at 3:40 elapsed. Will terminate mission and attempt to recover.


Notes:
Surfaced for first fix at 0:39 elapsed, batteries all ok, cross track error 95 m. 2nd fix at 1:18; xtrack at 50m S. 3rd fix at 1:57; xtrack at 175m S. 4th fix at 2:36; xtrack at 183m S. 5th fix at 3:15 elapsed, xtrack error 255m,  batteries all ok. 6th fix at 3:55; xte = 305m S of line. Elapsed time and closest approach to end of waypt (ref): 4:18 and 265m at 92 deg.


Notes:
1st drive toward shore: generator down; hence hydraulics are out for auv recovery. Plan is to run toward shore and then eventually tow auv into dock. Increased speed from 1.5 to 2.0 for 20 min at a heading of 75 deg.


Notes:
2nd drive toward shore before any towing action. Speed: 2.0 for 30 min at 60 deg. Ended prematurely due to mission timer set to 1200 sec.


Notes:
3rd run to shore before being towed. Performance nominal from surface.


Notes:
Extended mission to find out how long the batteries will last at a load of 290W (typical mission at sea). Stopped at 5:08 utc due to battery driver overhaul.


Notes:
Continuation of extended duration run in test tank. Battery driver was corrected: prior version incorrectly parsed battery query such that number of batteries equalled zero and minimum voltage = 1 million. Mission killed at 14:01 utc the next day (7:02 AM, 10/15) due to battery driver not responding to a low cell voltage of 3.4 V. Checked out battery driver and it appears that the "if" statement which compares minCellVoltage with an abortVoltage might be in error.


Notes:
This mission is being run before charging the batteries after the extended duration test to verify the changes to the battery driver: modified abort and terminate feature for responding to low cell voltage. Note: the hydroscat is hung up (not responding). Results: abort feature (meanMinCellVoltage < 3.4V) worked fine; prop off, waiting for meanMinCellVoltage to reach 3.35V for complete termination of mission. Mission terminated as planned.


Notes:
24 hour mission in test tank.  Starting 1406 PDT on 23 Oct (2106 UTC 23 Oct).  Off at 0700 PDT 24 Oct


Notes:
Deck test after removing HS2 battery.  ISUS not responding, driver, can't open port.


Notes:
Noticed isus seemed to be running at less than 1 Hz.


Notes:
Deck test prior to ballasting for extended survey operations.


Notes:
Isus displayed negative 5 value: check with Luke (he removed it to clear the memory 
last week).


Notes:
Vehicle checkout mission in the water prior to endurance test run.  Performance from tracking appears nominal.  ISUS values noted negative during this mission.


Notes:
Attempting 16 hour mission from C1.5 to M-2 and back, approximately 80 km total.  Surfaces for first fix at 0:42 elapsed, COG for leg 270 instead of 260, xte 670 m.  Second fix at 1:22 elapsed, xte 625 m.  Third fix at 2:04  elapsed, xte 590 m.  On surface at 2:26 elapsed.  Abort request issued by depthEnvelope.  Will try to re-run.


Notes:
Running the same mission less the first three legs, first leg will be short.  After 3 minutes vehicle aborted on depth again.


Notes:
Second data acquisition mission.  From waypoint 1 to waypoint 4.  Performance nominal from tracking data.


Notes:
Third and final data acquisition leg for the day.  From waypoint 4 to waypoint 3.  At about 20 minutes elapsed in this mission the ESP/MVP moorings are about 300 m off our starboard beam, the vehicle is very close to the moorings at 1501 PDT.  Ascending to surface 40 m from waypoint at 1:04 elapsed.  Out of time, will recover to deck.


Notes:
Deck test mission prior to OCCO2003246 operations.


Notes:
Vehicle checkout mission prior to OCCO2003246 operations.  All good, proceeding with data acquisition.


Notes:
Data acquisition mission OCCO2003246.  Ascending at 0:57 elapsed about 25 meters from waypoint 1.  Masses of jellies visible from surface.  ESP/MVP moorings about 600m off ships port side at 1:51 elapsed, 10:08 PDT.  Surfacing at waypoint 4 at 2:09 elapsed, about 270 m from waypoint.  Ascending at 3:12 elapsed about 25 meters from waypoint 3.  Ascending to surface at 5:25 elapsed, 13 m from waypoint 5.  Upon recovery, observed jellyfish tentacle near HS2 port, also on CTD exhaust.


Notes:
Deck test misison prior to OCCO2003248 operations.  LISST in extended midbody.


Notes:
Vehicle checkout mission prior to OCCO2003248 operations.  Vehicle performance nominal from tracking data.  All good, proceeding with data acquisition mission.


Notes:
Data acquisition mission OCCO2003248 operations.  Acquired first fix at 32 elapsed.  Surfacing 12 meters from at waypoint 1 at 57 elapsed.  Ascending 290 m from waypoint 4 at 2:08 elapsed.  ESP/MVP moorings about 400m off the starboard side at 2:35 elapsed.  Approaching final waypoint at 5:29 elapsed.  Ascending about 20 meters from waypoint at 5:31 elapsed.  Upon surfacing, battery 99 found in fT state (max temperature read 99.8C)   q2 command yields:
$99q2 99.8 12.4 12.2 12.4 15.8.
Try turning off, then back on.  
Struck vehicle with ship upon recovery, vehicle appeared to sink.  Remaining in 80 m of water at 36 49.726 121 55.528


Notes:
Mission in test tank after main housing reassembly.  Battery driver not receiving response from "!?" command and removed from devices.cfg but all batteries respond to qtalk (including !? command).  Poor choice of commanded heading.  All ok, now to debug batteries.


Notes:
Deck test in lab after changing Lippert config to properly handle interrupt from battery driver.  All appears ok,  will proceed with tank testing.


Notes:
Scattering layer visible at surface on depth sounder, triggering aborts on altitude.  Re-running same mission, first leg will be short.  Surfaced and acquired fix at 0:23 elapsed, xte  200m.  Second fix at 1:00 elapsed, xte 495 m.  Third fix at 1:41 elapsed, xte 300 m, appears to have overshot intermediate waypoint by 1000 m.  Fourth fix at 2:20 elapsed, xte = 340 m.  Fifth fix at 2:59 elapsed, xte 237 m.  Sixth fix at  3:38 elapsed, xte = 20 m.  Vehicle headed due north after resubmerging, cannot explain this behavior, will terminate when given the chance.  Terminated at 4:20 elapsed.


Notes:
Attempting to continue data acquisition. Fix at 4:40 utc. 2nd fix at 5:20 utc. 3rd fix at 5:59 utc. Distance from M2 (ref): 1184 m at 346 deg. Now, heading back to C1.5. 4th fix at 6:41 utc; xte = 600m N. 5th fix at 7:21 utc; xte = 600m N. 6th fix = 8:01 utc; xte = 450m N. 7th fix at 8:40 utc, xte 330 m north of survey line.  Vehicle breached at 0851 utc, in get gps behavior, but did not appear to get all fixes, should not have surfaced then -- appears unable to dive.  Another get gps behavior at 0902 utc (on maxcycles?)  In similar location (500 m isobath) to altitude issues on outbound leg. Depth sounder showing layer at 20 m.  Another getgps behavior at 0910 utc.  Getgps at 0929 utc.  Aborted at 0535 elapsed, 0936 utc.


Notes:
Attempting to complete data acquisition during extended survey, unable to complete previous mission suspecting false altitude readings from DVL.  Starting 1200 m NW of starting point of AUVCTD line.  Vehicle seems to be underway, depth sounder showing less scattering.  Surfaced and acquired fix at 0:38 elapsed, xte 270 m N.  Vehicle breached at about 0:59 elapsed, speed down, scattering observed on depth sounder.  In getgps behavior at 1:07 elapsed.  In getgps behavior at 1:16 el, depth sounder showing same scattering, vehicle unable to get through it, yoyo terminates on max cycles.


Notes:
Trying to complete survey, vehicle appears to be having diffiiculty dealing with a scattering layer at the surface.  Unable to dive.


Notes:
Attempting to move vehicle out of scattering


Notes:
Another try at getting data acquisition going, depth sounder showing less scattering after transit mission. First fix at 12:03 utc. Started surfacing at 12:30 utc: appears to be end of battery life due to very slow ascent. Surfaced at 13:00 utc. Still have comms with vehicle. Mean min cell voltage at 3.39 V. Final location: N36 44.609, W122 5.345.


Notes:
Deck test mission the day prior to deep testing.  ISUS values negative, assume because the instrument sample volume contained air.  Tested after mission with tap water and ISUS values low but positive.


Notes:
Deck test mission prior to 1000 m testing.  Noted negative ISUS values on deck, perhaps due to empty sampling chamber, or not.


Notes:
Solid tracking to 500m and back with the normal power USBL beacon. Similar ascent rate (prop off) ~= 4.8 m/min.


Notes:
Tracking with normal power USBL sketchy at about 900m, switching over to high power USBL (quality factor of 9 typical) at 950m. Batteries appear fine.


Notes:
Test with bathyphotometer in lab.  Never heard the BP pump start running.  Biolume log contains 0 bytes, but the instrument responds properly via telnet.


Notes:
Deck test mission after mods to DVL and nav code.  Biolume driver not yet implemented for Gen 3 instrument.  Crossbow data appears to be converging on correct value but it seems to be too far east.  When vehicle powered read 45, then 35, now 10 minutes later 27.


Notes:
Deck test mission prior to biolume ops week.  No data in isus log.


Notes:
In water test prior to Biolume ops 2003.336.  No biolume data after mission.  Can telnet to device and print data via "P" command but when we run the driver via td we get a "Buffer full" message.  Recovered to deck, ran td biolume successfully on deck.


Notes:
Cannot get biolume sensor to work via driver in water, commented the driver out of devices and are running anyway.  Vehicle initially making about 190 COG.  Acquired first fix at 0:42 elapsed. xte 1050 m.  Second fix at 1:24 elapsed xte = 1190 m; batteries ok.  Third fix at 2:07 elapsed, xte = 1580 m; batteries all ok.  Surfacing for fix at 2:53 elapsed, xte 1700 m, batteries all ok. Surfaced for fix at 3:39 elapsed. xte = 1770m. batts o.k. Surfaced at 4:27 elapsed. xte = 770m W. 800m to go. batts o.k. Over shot EOL (A5) by a significant amount after passing thru wypt = 1340 m at 112 deg.


Notes:
Deck test mission in lab prior to departure for BIOLUME2003337 operations.  All seems ok.  Old nav code loaded and modified biolume driver.


Notes:
Deck test mission on Zephyr after departure for BIOLUME2003337 operations.  Running with 25 November navigation code, and modified biolume driver after 2003.336 operations.


Notes:
COG from Winfrog indicates an error of approx. +12 deg. 1st fix at 5:31 utc (41 min elapsed); xte = 770m NW. 2nd fix at 6:16 utc; xte = 1140m NW. 3rd fix at 7:02 utc; xte = 2220m NW. batteries o.k. 4th fix at 7:48 utc; xte = 2860m NW. 5th fix at 8:34 utc; xte = 2260m NW. batteries o.k. Surfaced at 9:12  utc; final location w.r.t. B5 (ref) = 645m at 255 deg. Weather and seas : calm all night; foggy most of the time.


Notes:
Deck test mission prior to BIOLUME2003338 operations.  First missions after replacing crossbow and doing hard iron calibratoin.  Noticing 7 second oscillations in pitch and yaw data from the crossbow.  This may prove to be a problem for dynamic control if they persist while the vehicle is in the water.


Notes:
Zeroed AHRS rate sensors with z200 command to crossbow


Notes:
First in water ops with different AHRS, concerned about heading and pitch readings from new instrument.  Vehicle performance difficult to evaluate from tracking, but it appears to have achieved a COG near that commanded.


Notes:
mission did not run, isus driver still running.


Notes:
Vehicle does not appear to be making progress in commanded direction.  Tracking in this region does not appear to be particularly good.  Cannot tell if vehicle achieved 315 on first leg.


Notes:
Vehicle appears to be making COG of about 250 as commanded during initial leg; second leg was commanded at 315 but COG was 350


Notes:
Changed magnetic variation from 15.2 to -15.2.  Commanded heading of 315, COG from Winfrog is about 020.


Notes:
First data acquisistion leg of biolume2003338.  Commanding heading of 270 to make 315 COG.  Playing commanded course conservative in order to pass south of buttress in Carmel canyon.  Vehicles track from USBL appears extremely variable in heading.  Unclear if this is real or an artifact of the terrain


Notes:
Second data acquisition leg of biolume2003338, starting position 235 m to port of line.  COG through 30 min elapsed = 312T.


Notes:
Third data acquisition leg, starting 250 m to port of line.


Notes:
4th data mission leg started 260m to port of line.


Notes:
5th data acq. leg started 150 m to starboard of line. Only covering about 3000m per leg versus 4000m previous night. On next run will go to a duration of 2600s to optimize ending of yoyo near the surface.


Notes:
6th leg of data acq. starting 190m starboard of line. Duration set to 2600 to optimize yoyo ending point. Batteries o.k.


Notes:
7th data acq. leg for Haddock line C1-C5 starting 250m to port of line. Bateries o.k.


Notes:
8th data acq. leg of Haddock line C1-C5 starting 20m to port of line. 2400m remaining to EOL. Batteries o.k. Final surfacing from C5 (ref) = 315m at 360 deg. 12:27 utc.


Notes:
Deck test mission prior to departure from the dock for biolume 2003339 operations.


Notes:
Checkout mission just after performing magnetic calibration (iron cal). Heading of 125 programmed for 5 minutes. Actual 123 deg. Pitch envelope = +/- 0.5 deg (normal). Heading = +/- 1.0 deg.


Notes:
Checkout mission 180 deg for 5 minutes (2nd check of crossbow magnetic cal).  Actual  measured heading = 178 deg.


Notes:
5 min at 317 deg (D1-D5 heading) and then 3 min at 180 to return to D1. Another checkout mission after performing the crossbow calibration. Actual = 309 (according to Winfrog = nav errors) and 178.


Notes:
Dove at 5:19 utc. First fix at 6:07 utc; xte = 400m SW of line. 2nd fix at 6:52 utc; xte = 430m SW of line. Batteries o.k. 3rd fix at 7:42 utc; xte = 590m SW of line. 4th fix at 8:29 utc; xte = 600m SW of line. 2000m remaining. Batteries o.k. Final surfacing from last wypt (D5 = ref) : 200m at 286 deg. 8:55 utc.


Notes:
Deck test before biolume missions for Haddock cruise.


Notes:
Vehicle checkout before biolume line (A1-A5). 5 min at 340 and then 180 for 2 min. Outbound looks fine (~330 deg) and return is at 156 deg.


Notes:
Appears to be a surface current running from west to east.


Notes:
Appears to be a surface current running from west to east. Biolume night run for Haddock (line A1-A5). Dove at 5:21 utc approx. 200m due east of wypt A1. 1st fix at 6:01 utc; xte = 20m west of line. 2nd fix at 6:45 utc; xte = 90m W of line. Batteries o.k. 3rd fix at 7:30 utc; xte = 180m west of line. 4th fix at 0815 utc, xte = 107 m.  5th fix at 09 01 utc, xte = 20 m, batteries all ok.  1600 m to end of line.  On surface at 0921 utc, 4 hrs elapsed, 95 m from waypoint.


Notes:
Deck test at the dock before the biolume survey (line E).


# Purchases

Item:
Additional oil can for tailcone comp oil.


# TaskList

TaskDescription:
Install chafe gear on capture mechanism hoses.


TaskDescription:
Order and modify D-rings for BOT lift straps.


TaskDescription:
Design and fabricate new Zephyr deck cradle for vehicle tail section.


TaskDescription:
Confirm that the current version of code is running on the MVC


TaskDescription:
Purchase fab and test new can for tailcone compensation fluid.


TaskDescription:
Ship batteries to Bluefin for analysis and repair RMA 2003-01.  Fedex number is 2479-59211


TaskDescription:
Replace vacuum gauge in main pressure housing.


TaskDescription:
Modify tow hook to fit in ALTEX CTD nose section.


# VehicleMaintenance

Notes:
Replaced disk drive s/n Z1372856T with disk s/n 81A50308A.  Used /usr/bin/QNX_disk_copy, needed to fix script.  BIOS of MVC is not set up to recognize the second hard drive.


Notes:
Connected vehicle shore tether conductors 6 and 7 to current sense high and low respectively.  Beware that there is now a hot conductor on the vehicle tether.


Notes:
Replaced vacuum gauge for main electronics housing.


Notes:
mkdir /auv/altex/onboard/missions on new disk.  Don't know why the missions directory was not copied with disk copy.


Notes:
Swapped battery in USBL beacon s/n 2181.  Battery voltage measured at 16.22.  Performed before vehicle acoustic testing in San Diego 10-11 March 2003.


Notes:
hard disk image problems. placed old and new drive into vehicle to figure out why imaging was wrong.


Notes:
Hard drive replaced and tested with Lab1 mission


Reason:
Vehicle check before missions week 7 April

Notes:
Checked tailcone compensator level and pressure (5 psi).


Reason:
Prep for AUVCTD missions starting week 7 April

Notes:
Ballasted vehicle in test tank with DMO tail, 3 kW-hr battery section, ALTEX nose section.  Vehicle was neutral with 5 lbs added on top of the fairing at the lift point.  2 lb lead pack in nose on top of OBS, 3 lb lead pack at the HS2.


Notes:
Checked comp pressure of batteries -- sn 84 = 2.5 psi; sn 85 2.5 psi; sn 86 1.75 psi.  Note that about 0.5 psi lost by bleeding guage before measurement.


Notes:
Checked to make sure that battery cover plate fasteners on sn 84 and 85 were still torqued to spec (they were).  S/N 84 and 86 both had 4 psi of pressure (up from 2.5 yesterday, presumably temperature related.)


Notes:
Battery comp pressures 84 = 2.0, 85 = 3.0, 86 = 2.5.  Topped off to 4.5


Notes:
Retorqued battery cover plates to spec and charged with oil to 4.5 psi at 20 C.


Reason:
Vehicle came within 5 meters of bottom on mission 2003.106.08

Notes:
Changed DVL driver funct cvtRange to use minimum beam range instead of average for vehicle range.


Reason:
Noted elevator home position 3 degrees trailing edge down.

Notes:
Edited elevator home position in doradoTailcone.cfg from 141 counts to 105 counts.


Reason:
Difficult interaction between batteries and supervisor -- batteries turning off and ending up in watchdog fault mode.

Notes:
Added wf (watchdog off) command to bluefinBattDriver.  Tested in the lab (see data 2003.105.10 through 14) and on deck prior to deployments of 2003.106.  Battery 84 found in the f- state after first in-water mission 2003.106.01.  OK until 2003.106.10, when battery 84 found in c- (charge mode) state.


Reason:
Vehicle touched bottom during missions 2003.106.

Notes:
Flushed and rinsed CTD sensors, flow sensors, and pumps.  Some grit found in tubing,  may affect data quality in latter portion of operations 2003.106 (OCCO day one).


Reason:
Some oil visible on outside of batteries.

Notes:
Checked oil compensation pressure of batteries.  S/N 84 = 2.0; S/N 85 = 2.5;
S/N 86 = 2.0.  Recharged until pressure gauge on the reservoir read 5.0 psi.


Reason:
Lost gps fix acquisition during mission on 2003.106.*.

Notes:
Checked GPS antenna connector, (it was snug with no sign of water intrusion). Confirmed that GPS was working in the parking lot.  Used qtalk $PASHS,NME,GGA,A,ON ^m^j to confirm serial comms.  Acquired valid fix in parking lot through GPS driver.  Will attempt to operate tomorrow and see if the problem shows up again.  Not particularly satisfying.


Reason:
ISUS improperly configured, giving bad nitrate readings.

Notes:
Changed ISUS firmware to calculate nitrate from the proper portion of the spectrum.  Luke downloaded archived data from the instrument and will reprocess data from AUVCTD099, AUVCTD100, and OCCO2003106.  Need to keep an eye on the ISUS firmware to see if there is a problem with persistence.


Reason:
Check of battery comp pressure and plate fasteners.

Notes:
Battery comp pressures before check 84 = 1.0; 85 = 3.0; 86 = 2.0.  Retorqued fasteners to spec (they didn't seem to need any tightening) and recharged to 6 psi on the reservoir gauge.


Reason:
Routine check of tailcone comp pressure.

Notes:
Recharged to 5 psi.  Removed tailcone from fairing in order to check for air in the compensator.  Tested tailcone after reconnecting and all ok.


Reason:
Hydroscat data deteriorated during the course of day 2003.115

Notes:
Found corroded pressure sensor and drops of water inside HS2 s/n H2010337.  Removed and installed HS2 s/n H2000325.  Checked through driver and seems ok.


Reason:
CTD pumps seem to be turning on late, but might be a issue with the flow sensors.

Notes:
Changed minimum pump frequency in Seabird.cc from 3500 to 1500.  Make, make install.


Reason:
Found negative compensation pressure on battery sn 84.  Observed very small droplets of water at the end of each battery compensation hose.

Notes:
Did not see water alarm in any battery.  Hypothesize that water may be an artifact of refilling the batteries with wet QD's.  Cannot explain negative pressure on battery 84.   Drain contaminated oil from all 3 batteries and recharge.  Retorqued battery cover plates to spec.


Reason:
In conjunction with Jeremy (BFRobotics).  Replace battery firmware on sn84.

Notes:
Attempted to load new version of firmware into battery PIC.  Started bootloader on PIC properly, and we think we successfully transfered the Hex executable from /auv/altex/offboard/batteryBootloader but the new firmware did not appear to run properly on the battery.


Reason:
Changed firmware in batteries 84, 85, 86 from 1.54-2 to 1.55-2.  Resealed battery sn 84, put all  batteries on bus and tested vehicle.

Notes:
Second attempt at reloading battery firmware, RS-485 echo needs to be off for it to work.  SN 84 resealed by Bluefin personnel without the silicone sealant.  Test missions 2003.120.*.


Reason:
Battery 84 showed water fault after missions of 2003.125.

Notes:
Removed battery 84 and noticed oil bulge in the side of the battery similar to that seen in sn 86 after 1000 meter dive during sea trials.  Added 7 lbs of lead at the aft end of the nose section and 5 lbs of lead forward in the tail section. Changed number of batteries in _bluefinBattDriver.cc, make, make install.


Reason:
Changing back to 3 battery configuration

Notes:
Removed the lead that we had added when we put the vehicle in a 2 battery configuration.  Removed 7 lbs forward and 5 lbs aft.


Notes:
Put battery 86 on 100 mA charge over the weekend.   Cell brick 1 now at the same charge as the other 7 bricks.


Reason:
Rebalance battery 54 (loaner from Bluefin) and MBARI s/n 85

Notes:
Put batteries in balance mode until time to charge them.  Robert is adding compensator for batteries in the battery section.


Notes:
Installed small compensator (volume 90 ml) and manifold for battery electronics.  Noted overnight that the compensator had lost volume, some oil inside vehicle section fairing, but it is unclear where the oil is going.


Reason:
Changed CTD driver log to include metadata.

Notes:
This change appeared to affect the isuslog, Hans Thomas made a change so that the new data was properly initialized in isuslog.log.


Reason:
CTD driver config file was not being written to LOGDIR

Notes:
Added system::copyToLogDir to Seabird.cc.  The change was tested but has not yet been checked in.


Reason:
Noticed that elevator actuator seemed loose at connection to ring.

Notes:
Used loctite on fasteners this time,  need to monitor.


Reason:
Replace USBL battery after Ryan mission (OCCO2003.164, 06/13/03).
Fill DCON oil comp to 5 psi.

Notes:
Checked oil comp on batteries: started day with about 0.5 inch (plunger past end of comp body). comp at end of day = 1/8".


Reason:
Added oil to battery comp prior to OCCO2003167 mission while at dock. Gashler noticed that #86 has a bulge on the side indicating delamination of the outer/inner polyurethane jackets. FIlled comp to only 3-3.5 psi (plunger level with bottom of comp), and decided to continue with mission. Will recheck all batteries at end of day.


Reason:
Measured battery oil comp. : plunger slightly depressed by 1/8"= delta from this morning. Removed fairing at the end of the day to evaluate batteries for bulging. #54 and #85 appear o.k. #86 worse than expected: bulging on all visible sides (3). Drew will take pictures and talk to Bluefin about battery status (the one that is being repaired). Have decided to continue with mission on Wednesday.


Reason:
Battery oil comp observation after Ryan cruise (OCCO2003169): level did not change from this morning (plunger about 1/8"  recessed from main body). Will inspect battery: bulges seem to be about the same. Have decided to leave comp pressure alone until the next morning.


Reason:
GPS fix quality has not been properly read, and has caused problems with waypoints in the past.

Notes:
Henthorn made changes to AstechGPS driver,  and the new code was tested on the deck on 24 June.  Tested within supervisor but could not move vehicle so the testing will need to be completed during the operations of OCCO2003176.


Reason:
GPS plotting had bug, needed to resolve interaction with changes Henthorn had made to GPS driver and waypoint behavior.

Notes:
Tested at the dock 25-Jun-2003, tested at sea 26-Jun-2003.


Reason:
Upgrade to 6 kW-hr battery pack in extended midbody.

Notes:
Installed 2 kW-hr batteries sn 96,97, and 99 into the extended battery midbody. Set up all the batteries as masters and turned the watchdog off.


Reason:
Preparations for August 2003 deployments

Notes:
Configured vehicle with 6 kW-hr battery pack in extended battery midbody and AUVCTD nose section.  Used 28.3 pounds in tip of nose, 22 pounds as dummy payload located just forward of third hole from front of midbody.  Put 9 pounds at forward band clamp and 3 pounds at aft band clamp.  Ballasted a total of 9 pounds positive.


Reason:
Vehicle in longer configuration with new midbody.

Notes:
Changed vehicle.cfg to use gains contained in email of R McEwen 07 Feb 2003.


Notes:
Installed T sensor 4122, C sensor 2514 on CTD1.  Installed T sensor 4123, C sensor 2478 on CTD2.


Reason:
Prop seemed loose on shaft, vehicle propulsion had been stressed through entanglement last night.


Reason:
After deployment for night operations AOSN2003226, had no tracking with USBL transponder s/n 2181

Notes:
Robert had noticed that a switch on the electronics board had come loose, he epoxied it in place, but the unit is not functional.  Will diagnose later.


Notes:
Installed LISST instrument.  Ballasted with 17 lbs of lead at forward joining ring and 9 lbs at compensator.  LISST, mounts, pump, and cable all weigh 5 lbs in water.  Removed LISST after ballasting, now have 20 lbs fwd and 11 lbs aft.


Notes:
Installed LISST in extended battery midbody.  Adjusted ballast so that we now have 17 # at forward joining ring and 9 lbs at compensator.  LISST tested and ok.


Reason:
Waypoint yoyo behavior has been observed to terminate early, need to find out why.

Notes:
McEwen added print statement to max_cycles portion of set_finished in the waypoint yoyo behavior.  Will set max_cycles to 1000 from now on in the mission script.


Reason:
Upcoming OCCO ops week of 2 Sept 03 require LISST

Notes:
LISST installed, vehicle reballasted, devices.cfg updated.


Reason:
Vehicle collision with ship, during recovery OCCO2003248 operations.

Notes:
Main housing smashed, vehicle salvaged by ROV.  Pulled hard drive out to soak in isopropanol -- probably futile.  At some point during mission 2003.248.02, battery 99 shutdown due to high temperature.  Suspect that temperature measurement is faulty.  Will need to diagnose.  Other batteries all ok.


Reason:
Battery 99 shut itself off due to temperature fault during mission 2003.248.02.

Notes:
Drained oil from battery sn 99.  A few small particles visible but no water.  Communicated with battery and found it still in battery fault condition.  First temperature after #99q2 command is now 99.21, 98.92, 98.63.  Yesterday it was always 99.80.  Opened electronics cavity, nothing obviously amiss with temperature sensor connector.  Disconnected temperature sensor connector, all temperatures except last now read about 98.  Reseated connector, First sensor still reading about 98C.


Reason:
New tail section assembled, reballasted vehicle.

Notes:
Added 4 lbs to the forward end of the tail section.  There are 20 lbs at the fwd end of the midsection and 11 lbs at the battery compensator.  Vehicle is 9 lbs positive.


Reason:
Battery sensor s/n 99 had failed temperature sensor.

Notes:
Shorted out the bad temperature sensor -- it will always read near 0 C now.  Battery 99 still has 3 good sensors.


Reason:
Repaired main housing and tail section reassembly.

Notes:
New tail section assembled into spare tail fairing, vehicle reintegrated and tank tested.


Reason:
Add oil to tailcone compensator (plunger extends 3 fingers).


Notes:
Removed 3 lb from aft section (aft/mid-section joining ring) and 7 lb from midsection (at battery oil comp). Remaining weights: 4 lb aft-section/mid-section junction, 4 lb battery oil comp., 20 lb mid-section/nose-section junction, and 28 lb tip of nose-section.


Reason:
Checked fastener torques on batteries. Also checked oil in both comps.


Reason:
Installed mid-section retaining "wing-washers" for foam pack. Retightened foam pack's main thru fasteners (fiberglass rods).


Reason:
Modified bulkhead just above and aft of battery oil comp: removed "ears" which were underneath fiberglass support rails, and machined out a pocket for the lower bolts which secured the bulkhead to the rails.

Notes:
This would allow the removal of the bulkhead for easier battery installation/removal/access (i.e. requires only one person vs. two).


Reason:
Cleaned underwater connectors on batteries and battery junction box with isopropyl alcohol and applied silicone grease to both male and female connectors.


Reason:
Remove hydroscat battery, which causes improper instrument operation for AUV ops (strange hangup condition).


Reason:
Install ARGOS transmitter mount on aft-end of mid-section.

Notes:
Mass of xmitter in water ~ 1/4 lb (i.e. nothing to fret over).


Reason:
Science party requests oxygen calibration data in ctd cfg file.

Notes:
Henthorn added cal coefficients to cfg file, read by driver.  Since no sensor is on ctd2, all of the cal coefficients are zero.


Reason:
Crazing found about vent on ISUS endcap during recalibration.

Notes:
ISUS recalibrated and endcap replaced after extended operations 2003.308.*


Notes:
Replaced USBL battery, new battery voltage 16.06 VDC.  Main housing vaccuum 4.0, tailcone compensator volume checked ok.  Battery comp checked and ok, deep transponder charged and switch is in the on position.


Notes:
Reballasted the vehicle at 9 lbs positive with bathphotometer in place.  28.2 lbs in the nose, 7 lbs at aft joining ring  10 lbs at battery compensator, 20 lbs at fwd joining ring.


Reason:
DVL driver code caused navigation bug during mission 2003.308.04

Notes:
McEwen modified and tested new driver, installed the new executable, but left old source code aboard vehicle so we could get back to it if we had problems during bioluminescence sampling week of 01 Dec.


Reason:
Oxygen sensor values seemed to be low during 2003.308 runs and just before.

Notes:
Removed sensor serial number 430103 and installed 430143.  Updated ctdDriver.cfg to reflect the change.


Reason:
Debug messages unnecessarily crowding syslog.

Notes:
McEwnen and Henthorn reduced debug messages going to syslog.


Reason:
Nav bug found in "new" dvl code after 2003.336 biolume operations.

Notes:
Vehicle underestimating its velocity by about half.


Reason:
Biolume driver not functional during 2003.336 operations.  Buffer full error message from driver.

Notes:
Increased maxRecordLength in BiolumeDriver.cc from 256 bytes to 1024.


Reason:
Poor heading reference during 2003.337 biolume operations.

Notes:
Removed Crossbow AHRS sn 0017252 and installed sn 0107382 (sensor just received back from Crossbow after being cal'd).  Performed hard iron cal in MBARI parking lot near volleyball court.  Got device ID (1284) for new AHRS and put in devices.cfg.


Reason:
Bias in heading reference during biolume 2003338 operations.

Notes:
Removed crossbow s/n 0107382 and replaced with 0017252.  Updated devices.cfg with deviceID of 0017252.  Will attempt to perform calibration in the water tonight under tow from the ship.


Reason:
Found that SOc in ctdDriver.cfg was wrong.

Notes:
Changed SOc from 0.03078 to 0.3078 because it had been mistranscribed to ctdDriver.cfg.  Will need to change this in some of the old mission data before submitting to SSDS.


# WeatherObservation

Notes:
Forecast for increasing wind from NW today with rain.


Notes:
Weather obs during range test of RDF and modem.  Glassy swell, should be good conditions for range test


Notes:
Breeze back down, swell a little confused.


Notes:
Lumpy seas, wind to 15 kts, higher gusts at M-1.


Notes:
Winds about 20 kts from NWest out at NOAA buoy 42.


Notes:
Coming onto station AUVCTD2003100 at M1.5.


Notes:
Outbound for OCCO day one AUV ops 2003.106


Notes:
20 kts of wind onshore in Monterey, 20 kts offshore at NOAA 42.  10 ft seas at 8 seconds offshore.


Notes:
On site at OCCO waypoint A, decided to put the launch on hold and re-evaluate the conditions at 07:45 local.  Seas confused and close together, wind appears to be building.


Notes:
Heading to OCCO waypoint A prior to day 2003.111 operations.


Notes:
Groundswell building, vehicle just recovered.


Notes:
Have seen Dall's porpoise, hump back whales, and Pacific Whitesided dolphins so far today.


Notes:
On the way out to start operations 2003.230


