# 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.


Notes:
Charging terminated due to power supply shutting down for unknown reasons.


Notes:
Batt #99 has a temp of 0.19 on the first sensor. All other values look nominal.


Notes:
charged at constant voltage for about 2H40M since there were problems with the sense voltage. The batts did not charge up too much.


Notes:
stopped charging at 5:00 , arrived at dock.  New log  battery_1080997737.log.


Notes:
Interrupted at the dock. New file = battery_1081083198.log


Notes:
Interrupted back at the dock to switch over to shore power. New log file = battery_1081170531.log


# 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.


Note:
Modified Ashtech.cc so that the logic is proper for fix_quality.


Note:
4th night of Haddock ops. Noticed that tailcone oil comp was low the previous night and topped off before the mission. Noticed that tether connector was oily this morning after AUV recovery; checked oil comp again and it was low. Topped off and will check for possible leaks when AUV is back in the lab. Battery oil comp plunger is slightly below flush level (losing about 1/32"  per night).


Note:
not running biolume during day mission because cables are swapped


Note:
multibeam dive log
AUV launched 1508Z at 26 49.205 121 53.590
CTD wetting loop left on


# 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).


Notes:
First deck test for vehicle before first CTD run for the year 2004. Strange syslog restart occurred. Log files appear incomplete.


Notes:
Syslog file o.k. Matlab plots appear nominal.


Notes:
Failed due to change in AUV directory path for development.


Notes:
First checkout mission in the water for the new year and the first CTD run for 2004.


Notes:
First CTD run of the new year. First gps fix at 19:10; xte = 250m North of line. 2nd fix at 19:49; xte = 310m North of line. 3rd fix at 20:28; xte = 160m North of line. 4th fix at 21:07; xte = 135m North of line. 5th fix at 21:47; xte = 60m North of line. 6th fix at 22:26; xte = 340m North of line. 7th fix at 23:02; xte = 290m.


Notes:
Hydroscat does not seem to be running; no data log.


Notes:
Checkout mission for second CTD run for 2004 (2nd day). Oxygen looks suspect again today: zero reading except for beginning and end. Yesterday it was clipped high.


Notes:
2nd day of CTD run. Dive point from start of line(ref) : 350m at 353 deg. First surface for gps fix at 18:20 utc; xte = 230m N of line. 2nd fix at 18:59 utc; xte = 90m N. 3rd fix at 19:37 utc; xte = 30m N. NOTE: vehicle just took off at a heading of 310 deg: gps message came back with "incomplete GGA? $PASHR, ALTITUDE/SPEED RESTRICTION REACHED*04". Will abort on resurface.


Notes:
Return to Chavez line after gps glitch (PASHR, Altitude/speed reached) caused vehicle to head off at 310 deg versus the nominal 70 deg toward shore. 2900 m at 125 deg.


Notes:
Remaining leg of Chavez/CTD run after GPS glitch caused vehicle to head off on a course of 310 deg (should be about 70 deg) for 40 minutes. Start of dive at 21:00 utc: 11.5 km along line from the start with a xte = 410m South of line. 1st resurface for gps fix = 21:36 utc; xte = 60m S. Closest approach to M1 (ref) at 21:46 utc; 0.3 Nmile North. 2nd gps fix at 22:16 utc; xte = 150m N. 3rd fix at 22:55 utc; xte = 390m N. Final resurface at 23:30 utc from end of line (ref): 300m at 30 deg.


Notes:
tested fixes to gps driver. seems to work nominally.


Notes:
added BIT command to gps driver. got rid of voltage message from battery driver. mission seemed to run fine.


Notes:
GPS driver test: new firmware was downloaded last week to recover from the glitch we had on 2004.029.03. Running a "box" pattern: east for 1000 m, then west for a 1000 m, then south for a 1000 m, and finally east for a 1000 m while running a yoyo between 3 and 50 m.


Notes:
Weather: slight overcast. Swell: 8ft, 10sec. Last GPS fix at 5:45 utc.


Notes:
running off of batteries. xantrex power supply did not power up vehicle. xantrex is dead. each battery was manually turned off with #96bf, then on with #96bd, then watchdog was disabled #96wf.


Notes:
down at 18:06; Surface 18:45, down at 18:46; surface 19:24; down at 19:25; surface 20:02; down at 20:03; surface 20:41; down at 20:42:surface 21:20, down at 21:22; surface at 22:00; down at 22:0; surface at 22:38; down at 22:39; surface at 22:58

seemed okay... 
batteries ended at 3.82 min cell voltage. one battery #99 dropped offline.


Notes:
Test in lab. First one since last CTD run beginning of March. Biolume sensor installed, ready for night ops starting tomorrow.


Notes:
AUV on Zephyr. Interesting GPS plot. Not sure what to make of it.


Notes:
Deck Test for aborted Haddock mission due to weather.


Notes:
Having issues with the USBL: offset seems to be incorrect (was set to 90).


Notes:
Start pt (wrt A1) : 590m at 226 deg. Finally set Winfrog to correctly display Zephyr and AUV location and heading direction. Aborted mission; forgot to check previous AUV data for valid working condition of instruments. All is fine.


Notes:
Start pt from A1 (ref) = 820m at 224 deg and 6:40 utc . 1st resurface for gps at 7:20 utc; xte = 490m W of line. Batteries fine. Clear night, light swell. 2nd gps at 8:02 utc; xte = 290m W of line. Batts o.k. 3rd gps at 8:47 utc; xte = 343m W of line.  Batt ok. 4th gps at 9:32 utc; xte = 244 m W of line. 5th gps at 10:18 utc; xte = 54m W of line.  Batts ok. Aborted at 100m fm wpt due to failure of vehicle to dive.  Ship noted alot of heavy marine layer w/ depth sounder.


Notes:
Deck test at the dock before Haddock night dive.


Notes:
Vehicle checkout before Haddock night op: B1 to B5 line.


Notes:
Start of dive at  5:19 utc and 370m at 296 deg from B1 (ref). 1st resurface for gps fix at 6:00 utc; xte = 480m NW of line. Batts o.k. 2nd surf. 6:47 utc; xte = 448m NW of line. Batts ok. 3rd surf. at 7:33 utc;  xte = 619m NW of line.  Batts ok. 4th gps fix at 8:19 utc; xte = 950m NW of line (strong current evident). Batts o.k. Cloudy skies with light wind and swells. 5th fix at 9:03 utc;  xte = 760m NW of line. Batts o.k. Final fix at 9:39 utc; distance from B5 (ref) = 150m at 265 deg.


Notes:
Test at the dock before Haddock night dive (#3 = 096).


Notes:
Repear of deck test with batteries taking load.


Notes:
Checkout before Haddock night ops: line C1 to C5.


Notes:
Haddock biolume survey. Line C1 to C5. Start of dive 3km from C1 to avoid canyon ridge. Distance from C1 (ref) = 2790m at 303 deg. Dive at 4:59 utc. Appeared to breach at 5:38. Having problems diving in heavy swells. Syslog shows that abort was requested by depth envelope. Will try mission again.


Notes:
Second leg. First leg aborted due to false bottom (marine layer) detected at top of yoyo (closer than 8 meters = abort altitude; came within 5m). Mission aborted again due to depth envelope request.


Notes:
Second attempt after first dive aborted on altitude (due to marine layer). Dive at 5:56 utc; xte = 650m S of line. Aborted again at 6:33 utc due to marine layer.


Notes:
Prior mission aborted again due to false bottom detected by DVL (marine layer). Dive at 6:41 utc; xte = 400m S of line. High swells, full moon. 15km to EOL. 1st resurface for gps fix at 7:18 utc; xte = 70m S of line. Batts o.k. 2nd fix at 8:04 utc; xte = 170m S of line. Batts o.k. 3rd fix at 8:51 utc; xte = 450m S of line. 4th fix at 9:36 utc; xte = 500m S of line. Final surface at 9:56 utc; dist from C5 (ref) = 175m at 248 deg.


Notes:
Deck test at the dock before Haddock night op (4th night). Likely will run D line tonight.


Notes:
Deck test the night before AUV CTD run. Reset system clock.


Notes:
MVC time required reset. Kerfott from multibeam showing up on wireless. Crossbow seemed to need a long warmup. Roll and pitch started high, but returned to nominal after several minutes.
Wireless is picking up signal from Kerfott on Mulitbeam AUV in lab.


Notes:
Vehicle checkout before AUV CTD run. Ship's gyro heading messed up. Will try again.


Notes:
2nd checkout to verify ship's gyro heading on Winfrog. Calibration error, but will continue on with the mission.


Notes:
AUV CTD run down the canyon. Dive at 17:09 utc. Start point = 550 m due south of waypoint.  1st resurface for gps fix at  17:48 utc; xte =  230m South of line. Batts o.k. 2nd gps fix at 18:27utc xte=100m south of line Batts ok 3.96v. 3rd gps fix at 19:05utc xte=138m South of line Batts ok 3.95v. 4th gps fix at 19:44utc xte =65m south Batt ok 3.94v DC. 5th gps fix at 20:24utc  xte = 60m North of line Batts ok, 3.93v.  6th gps fix at 21:03 xte = 180m N Batt ok 3.91v.  7th gps end 300m @315deg from end point.


Notes:
AUVCTD run, 2nd day. Dive at 16:50 utc and a location of 575 m at 243 deg (wypt = ref). 1st resurface for gps fix at 17:28; xte = 110m South of line. Batts o.k. 2nd gps fix at 18:07; batts 3.96V. 3rd gps fix at 18:46; xte = 50m N; Batts at 3.95V. 4th fix at 19:26 xte = 125m N; Batt 3.94V. 5 th gps fix at 20:04 utc; xte = 190m N. Batts = 3.933V. 6th gps fix at 20:43 xte 202m N batts 3.92V.  7th 21:21 xte=200m batts = 3.89


Notes:
dive seemed slow
box mission - 10 minutes @ 300, 10 minutes @ 210, 10 minutes @ 120, 10 minutes @ 30, all at 50 m


Notes:
Deck Test. Mission failed to run. Cause unknown.


Notes:
ftp connection not established to vehicle. telnet and ping work fine.


Notes:
ftp failed to connect. other connections work fine.


Notes:
First mission 3 June 2004. Testing our ability to operate the Edgetech sonars. Setpoint at heading 000 and depth 20 m. Turn subbottom + 100 kHz sidescan + 410 kHz sidescan on. Run 5 minutes at full power, 5 minutes at 50% power, and 5 minutes at 20 minutes power.


Notes:
vehcile checkout on surface. started nornally


Notes:
doing inshore half of line - weather too rough outside
Interesting turns at beginning of mission. Vehicle appeared to yaw north then south. CHeck logs for this
surface at 1748 GMT
battery 97h has another hardware protection fault
dove at 1749 GMT
surface at 1827
batterty 97 still in fault
surfaced at 19:07 gmt
surfaced at 1924 gmt
surface at 1941 - mission end looked kinda wierd


Notes:
dove at 1948 - ETA on surface 
dove at 2002 gmt  
Mission waypoints entered wron - will kill this mission at end of next waypoint


Notes:
CTD 2 appears to be malfunctioning
down at 1552 - should surface at 1629
surface at 1630 dove at 1631
surface at 1709 dove at 1710
surface at 1748 dove at 1749
surface at 1828 dove at 1828
broke surface at 1852 - probably too shallow in a yoyo - dove again at 1854
surface at 1855 dove at 1856


Notes:
dove at 1531 UTC
Wierd GPS behavior at end of mission - didn't get GPS.


Notes:
dove at 1608 UTC
duration of first waypoint too short - vehicle not on line until 1642
estimated surfacing at 1740Z

Clark Terry on at 1640Z
surface at 1745 - got gps - dove at 1749
appears to have aborted at 1845 - should surface by 1915


Notes:
dove at 1932 - surface at 2052
Didn't get GPS at end of mission


Notes:
dove at 1628Z - should surface at 1704Z - checked log files - everything looks OK
surface at 1707 - got GPS - dove - should surface at 1744Z 
surface at 1745 - got GPS - dove at 1747 - should surface at 1823
surface at 1823 - got GPS - dove at 1825 - should surface at 1901Z
surface at 1903 - got GPS - dove at 1904 - should surface at 1940
surface at 1943 - got GPS - dove at 1943 - should surface at 2020
surface at 2023 -  got GPS - dove at 2023 - should surface at 2055
surface at 2100 - got GPS - dove at 2101 - should surface at 2108


Notes:
dove at 1545 - due to surface at 1615 -surface at 1614
dove at 1615 - due to surface at 1655 - surface at 1653
dove at 1654 - due to surface at 1734 - surface at 1734
dove at 1735 - due to surface at 1815 - surface at 1814
dove at 1815 - due to surface at 1855 - surface at 1903 (long spiral up)
dove at 1905 - due to surface at 1945 - surface at 1948
dove at 1949 - ETA at M1 is ~2030 - surface at 2032
dove at 2032 - ETA at L7 is 2112 - surface at 2115
dove at 2116 - ETA at L8 is 2156 - surfaceed at 2157. Killed mission to recover
recoverey complete at 2230. 
Average speed 1.6 m/s


Notes:
dove at 0323 - surface at 0328 - dove at 0329
ETA on surface 0408 - tracking poor - no hits - killed mission at E1M1D1_1


Notes:
dove at 1623 
surface at 1648
2 batts online 
dove at 1650
ended mission at 2112 so we can make it back to dock at reasonable hour - vehicle at waypoint L7


Notes:
Left harbor 0803 (1503)
LISST not responding to predive check; commented out in devices.cfg
On station 0901 (1601)
AUV in water 0912 (1612) USBL tracking
Start mission 0917 (1617)


Notes:
Second attempt at running mission (AUV previously dove, surfaced 2 mins later)
start 0926 (1626)
dive 0928 (1628) hdg 203
L1 surface 0955 (1655)  2 batts online #97 fT  min cell v: 4.05, mean min 4.055
dive 0956 (1656)
L2 surface 1034 (1734) 2 batts 3.97, 4.01
dive 1035 (1735)
L3 surface 1113 (1813) 2 batts 3.91 3.98
dive 1114 (1814)
L4 surface 1153 (1853) 2 batts 3.86, 3.995
dive 1154 (1854)
Brief surfacing at 1231 (1931) no link chatter
L5 surface 1233 (1933) 2 batts 3.80 3.925
dive 1234 (1934)
L6 surface 1315 (2015) 2 batts 3.77 3.91
dive 1316 (2016)
surfaced at Turn (2059)  Aborted Mission


Notes:
dove at 0333 - surface at E1 at 0339
surface at 0415 - got gps - dive at 0416
surface at 0450 - dove at 0451
surface at 0524 - dove at 0525
surface at 0602 - dove at 0603
surface at 0640-dove at 0641
surface at 0717 - dove at 0717
surface at 0729 - dove at 0729
new heading 138
surface at 0805 - dove at 0807
surface at 0836 - dove at 0837
surface at 0908 - dove at 0911
surface at 0948 - dove at 0949
surface at 1024 - dove at 1025
surface at 1034 - dove at 1034


Notes:
dive at 1616                    3 batts min cell v = 4.04, mean min cell v = 4.07
surface 1643 dive 1654  3 batts min cell v = 4.02, mean min cell v = 4.036666
surface 1732 dive 1733  3 batts min cell v = 4.00, mean min cell v = 4.003334
surface 1811 dive 1812  3 batts min cell v = 3.96, mean min cell v = 3.970
surface 1850 dive 1852  3 batts min cell v = 3.93, mean min cell v = 3.943333
surface 1930 dive 1931  3 batts min cell v = 3.93, mean min cell v = 3.943333
surface 2009 dive 2010  3 batts min cell v = 3.91, mean min cell v = 3.916667
surface 2046 dive 2048  3 batts min cell v = 3.89, mean min cell v = 3.903333
surface 2106 end


Notes:
Dive at 1557 course 117
Surface at 1622 Dive at 1624
Surface at 1639 Dive at 1640 course 270
Surface at 1707 Dive at 1708
Surface at 1725 Dive at 1726 course 120
Surface at 1800 Dive at 1802
Surface at 1819 Dive at 1821 course 255
Surface at 1904 Dive at 1906 course 116
Surface at 1939 Dive at 1941
Surface at 1959 Dive at 2000 course 243
Surface at 2051 Dive at 2052 course 116
Surface at 2144 Dive at 2146
Surface at 2149  Slayed


Notes:
Dive 1615 heading 75
Surface 1653 (early) no GPS activity, dive 1654
surf 1721 apparent abort


Notes:
Restart mission "chavez_short.cfg" after depth abort
dive 1810 course 75
surface 1848, no GPS counts, dive 1848
surface 1926, no GPS counts, dive 1927
surface 2004, no GPS counts, dive 2006
surface 2044, no GPS counts, dive 2045
surface 2158, no GPS counts, dive 2159
surface 2208 sss


Notes:
dive 1535 course 204
surface 1607 dive 1607
surface 1618 early


Notes:
surface All science instruments finally initialized; hydroscat and CTD2 had issues earlier.
dive 1535 hdg 117
surface 1602 dive 1603 hdg 117
surface 1616 dive 1617 hdg 270
surface 1702 dive 1703 hdg 120 datalog file sizes are incrementing
surface 1738 dive 1739
surface 1758 dive 1800 hdg 255
surface 1842 dive 1843 hdg 117
surface 1921 dive 1921
surface 1938 dive 1939 hdg 243
surface 2046 dive 2038 hdg 117
surface 2133 dive 2134
surface 2136 slay'ed


Notes:
dive 1551 hdg 117
surface 1618 dive 1618 hdg 117
surface 1636 dive 1638 hdg 270 log file sizes increasing
surface 1704 dive 1705
surface 1722 dive 1723 120
surface 1757 dive 1759
surface 1818 dive 1819 hdg 255
surface 1904 dive 1905 hdg 116
surface 1941 dive 1942
surface 2102 dive 2103 hdg 117


Notes:
Depth Steps.  10 min at 10 meters, then 10 min at 30 meters.   First run with the new ballasting.  The reson housing "Fat Boy" is gone, replaced with 56+ 13 lbs of lead.  Buoyancy was measured at 6.5 lbs in the test tank last night.


Notes:
Third attempt successful.  Trouble earlier w/Seabird 2 not initializing.
Dive 1720  No USBL tracking, lots of noisy returns at random times
Surface 1757 at CHZ_2 as expected.  Decision: continue mission
Dive 1759  surface 1837 as expected
Dive 1838 
Surface 2150 near Chavez Survey Start
Dive 2151 for last short leg to Chavez Survey Start
Surface ~2210; recover


Notes:
running without CTD#2 - it is not talking


Notes:
mission failed to run because tailcone driver couldn't find pics on network


Notes:
1741 Start mission 1743 dive USBL OK
1821 surface 1822 dive 
1900 surface 1900 dive
1939 surface 1940 dive
2018 surface 2019 dive
2135 surface 2137 dive
2208 surface 2209 dive
2220 surface 2221 slay'd


Notes:
dive 0359 surface 0401 dive 0401on track
0421 surface, aborted on depth envelop


Notes:
dive 0427 position 3655.04854 N, 12154.52704 W Mission "restart" since first waypoint had not been reached when "depthEnvelope" abort occurred.
Wrong!  AUV running 'backwards' to E1.  Should have edited mission file to cut out first leg!
surface 0438 dive 0440 heading 208 downline
surface 0508 E1M1D1_1 dive 0509
surface 0543 E1M1D1_2 dive 0544
surface 0618 E1M1D1_3 dive 0618 log filesizes incrementing
surface 0656 E1M1D1_4 dive 0657
surface 0732 E1M1D1_5 dive 0733
surface 0810 E1M1D1_6 dive 0811
surface 0811 more gps hits dive 0813
surface 0827 M1 dive 0828 heading 138
surface 0906 E1M1D1_7 dive 0907
surface 0950 very slow ascent
aborted on "depthEnvelope"


Notes:
restarted mission 0958 headed for E1M1D1_9 from 3642.35139, 12158.13700
1038 surface 1039 dive hdg 138
1115 surface 1116 dive hdg 138 logfile sizes incrementing
1149 surface 1151 dive
1159 surface 1200 dive
1211 surface D1 slay'd


Notes:
1734 start mission
1737 dive 
recovery pole hardware emergency repair; corrosion, broken coupling
surface 1815 dive 1816
surface 1854 dive 1855 logfile sizes increasing
surface 1938 dive 1940
surface 2017 dive 2019
surface 2057 dive 2058
surface 2136 dive 2137
surface 2214 dive 2216
surface 2234 got GPS hits, stayed on surface; slay'd mission


Notes:
Depth steps with nominal gains.  Normal run.  Recovering now because the humidity in the sphere is high.


Notes:
First run.  Two steps; 10 and 30 m.  Itegrators off; gains otherwise the same.


Notes:
KdDepth=.03, added gps behavoir so it will wait for 60 hits before and after.


Notes:
Leave the new gains; Kid = .0006; leave pitch integrator off


Notes:
Out and back to the last waypoint doing yoyos to 12 meters..  We think the Psa916 is performing poorly because of the low angle of incidence, so on the approach to the bottom the Psa data should improve.


Notes:
Final run.  Kept the gains the same, but put the depth integrator back in at .0006.


Notes:
Run over the rim of the canyon at 10 meters altitude.  See if the canyon wall slope improves Psa performance.


Notes:
1641 dive for 2
1701 surface
1702 dive for 3


Notes:
Restart headed for RyanPlume waypoint 3 southernmost
1712 dive for 3
aborted to check disk logs and space


Notes:
1736 dive for RyanPlume waypoint 1 northernmost
1804 surface at wypt 1
file sizes increasing
1805 dive for wypt 2
1823 surface at wypt 2
1825 dive for 3
1841 surface at 3
1842 dive for 1
1909 surface at 1 (local time 1109)
1910 dive for 2
1928 surface at 2
1929 dive for 3
1944 surface at 3
1946 dive for 1
2012 surface at 1
2013 dive for 2
2033 surface at 2
2034 dive for 3
2049 surface at 3
2050 dive for 1
2117 surface at 1
2118 dive for 2
2138 surface at 2
2139 dive for 3


Notes:
previous mission aborted depth envelop
2146 dive for wypt 3
2149 abroted depth envelop


Notes:
previous 2 missions from waypoint 2 aborted on depth
2152 dive for 3 
2204 surface at 3
2204 dive for 1
2230 surface at 1
2231 dive for 2
2251 surface at 2
2252 dive for 3
2255 depth abort


Notes:
previous mission depth abort
2259 dive for 3
2301 depth abort


Notes:
previous 2 missions aborted on depth envelop
2304 dive for 3
2305 depth abort


Notes:
2312 dive for 3
2323 surface at 3
2324 dive for 1
2352 surface at 1
aborted: end of the day


Notes:
1644 start mission
1647 dive
1725 surface
1725 dive
1803 surface
1804 dive
1842 surface
1843 dive
1921 surface
1923 dive
2000 surface
2002 dive
2039 surface
2040 dive
2117 surface
2119 dive
2125 surface
2126 slay'd mission


Notes:
1617 dive for L1
1636 surface at L1
1637 dive for L2
1714 surface at L2
1715 dive for L3
1754 surface at L3
1755 dive for L4
1834 surface at L4
1835 dive for L5
1918 surface at L5
1919 dive for L6
2001 surface at L6
2002 dive for wypt: ryan_m1
2043 surface at ryan_m1
2045 dive for L7; hdg 127
2130 surface at L7
2131 dive for L8
2210 surface at L8
2211 dive for L9
2248 surface at L9  Abort Mission


Notes:
modified mission with shallow depth envelope altitude to get yo-yo's to be more regular
0125 dive
0157 surface at _1
0157 dive for _2
0230 surface at _2
0231 dive for _3
0305 surface at _3
0306 dive for _4
0349 surface at _4
0350 dive for _5   strange USBL behavior
0425 surface at _5  630 meters overshoot
0426 dive for _6
0501 surface at _6  470 meters overshoot
0502 dive for M1
0512 surface at M1
0514 dive for _7
0549 surface at _7  412 meters overshoot
0552 dive for _8


Notes:
ran to waypoint 2, surfaced, got gps, started for 3, aborted


Notes:
restart 1807 minAltitude == 8
1822 surface at wpt 3
1823 dive for wpt 1


Notes:
running triangle roughly west of desired tracks, killed mission


Notes:
fail to dive : supervisor signalHandler caught signal 2


Notes:
dive 1882 3642.92058, 12212.96117
no USBL tracking, decision to pull AUV and swap beacons


Notes:
low speed mission - didn't have good pitch control


Notes:
altitude abort - adjusting dvl TE parameter to 500ms


Notes:
successful - had to change the dvl read timeout to 3 secs though because of the ping intervals. They were causing read timeouts to occur.


Notes:
aborted because deltaT value in Navigation is too small for all the pings we are doing.


Notes:
Yo-yos might look funny. It appears as if the vehicle is getting spurious altitude hits, which might cause it to shift into up-yos early. Perhaps we should adjust the bottom detect amplitude threshold.


Notes:
mission aborted at waypoiint 4 to check logs


Notes:
mission failed with really strange mode. Vehicle appear to have  hit bottom.


Notes:
HS2 failed ~56 minutes before end of mission. When I tested it after aborting the mission, it was outputing a strange binary string.


Notes:
vehicle aborted during descent - changing descend minAltitude to 8m


Notes:
0639 dive for _9
0712 surface at _9
0712 dive for _10
0745 surface at _10
0746 dive for _11
0820 surface at _11
0821 dive for _12
0830 surface at _12
0832 dive for D1
0842 surface at D1


Notes:
1755 Start mision, dive
1759 surface 1800 dive
1818 surface 1819 dive
1835 surface 1836 dive
1903 surface 1904 dive
1925 surface 1926 dive
1941 surface 1942 dive
2009 surface 2010 dive
2031 surface 2032 dive
2046 surface 2047 dive
2113 surface 2114 dive
2136 surface 2137 dive
2151 surface 2152 dive usbl getting ragged
2219 surface 2219 dive
2241 surface 2242 dive wind, swell building
2256 surface Aborted Mission


Notes:
AUV tail was briefly hung in LARS straps upon launch
visual check of prop w/td newTailCone seems OK
1721 start mission
vehicle running  correct direction after mission started
1723 dive 1801 surface
1802 dive 1840 surface
1841 dive 1919 surface
1920 dive 1959 surface
2000 dive 2038 surface
2039 dive 2117 surface
2119 dive  V. weird tracking; gyro??
2152 surface Slay'd mission


Notes:
mission failed with strange bottom hugging behavior


Notes:
missions continue to abort - added minAltitude back into DepthEnvelope behavior. Vehicle seems to be responding slowly to "up" command from yoyo - might be smoother


Notes:
altitude abort - commanded depth filter is screwing us up


Notes:
success - I am now resetting the smoothed depth so the vehicle doesn't hit the bottom


Notes:
aborted before it ran I want to change abort altitude


Notes:
mission ran normally. DynamicControlServer modified to reset depth trajectory and zero integral error at top and bottom of yo. pulled at 2215Z


Notes:
mission script error - don't put parentheses around #define's


Notes:
dive at 1527 - on way to E1
surface at 1533 - on way to E1M1D1_1 - dove at 1535
surface at 1608 - on way to E1M1D1_2 - dove at 1609
ETA on surface 1647
surface at 1646 - on way to E1M1D1_3- dove at 1646
ETA on surface 1724
surface at 1723 - on way to E1M1D1_4 - dove at 1724
ETA on surface 1802
surface at 1803  - on way to E1M1D1_5 - dove at 1804
ETA on surface 1842 
surface at 1840 - dove at 1841 - ETA at waypoint #6 1919
surface at 1917 - dove at 1918 - didn't see GPS fix in telem
surface at M1 at 1933 - dove at 1934 - 131m from waypoint
ETA on surface 2003
surface at 2010 - dove at 2011 - ETA at #8 2049
surface at 2046 - dove at 2047 - ETA at #9 2125
surface at 2124 - dove at 2125 - ETA at #10 2203
surface at 2201 - mission aborted to recover AUV


Notes:
pitch integrator disabled and turnedup Kp depth to .04


Notes:
kp depth set to .06 (was .04)
pitch integrator is turned off (ki pitch set to 0)


Notes:
Kp Depth is now .08
Pitch Integrator turned off


Notes:
aborted because I didn't reset the waypoint coordinates


Notes:
drop weight had been accidentally released


Notes:
vehicle didnt' yoyo - changing dynamic control server so it doesn't reset depth trajectory


Notes:
surface at E1 at 1537 - dove at 1538 - ETA at 1609
lost tracking at 1600
surface at 1609 - dive at 1610 - ETA at waypoint #2 1642
surface at 1643 - dive at 1644 - ETA at waypoint #3 1716
surface at 1717 - dive at 1718 - ETA at waypoint #4 1748
surface at 1755 - dive at 1756 - eta at waypoint #5 1828
surface at 1828 - dive at 1829 - eta at waypoint #6 1900
surface at 1902 -  dive at 1903 - eta at waypoint M1 1918
surface at 1919  - dive at 1920 - eta at wapoint #7 1951
surface at 1953 -  dive at 1953 - eta at waypoint #8 2025
surface at 2023 - dive at 2024 - eta at waypoint #9  2058
surface at 2058 - dive at 2059 - eta at waypoint #10 2130
aborted at waypoint 10 at 2130 - there was a cruise ship right where we were due to surface.


Notes:
launch at 0250
surface at E1 0310 - dive at 0311
ETA at #1 0447
surface at 0447 - dive at 0448
ETA at #2 0426
surface at 0425 - dive at 0426
ETA at #3 0504
surface at 0506 - dive at 0507
ETA at #4 0545
surface at 0544 - dive at 0545
ETA at #5 0623
surface at 0622 - dive at 0623
ETA at #6 0701
surface at 0659 - dive at 0700
ETA at M1 0715
surface at 0716 - dove at 0717
ETA #7 0755
surface at 0753 - dive at 0754
ETA at #8 0832
surface at 0831 - dive at 0832
ETA at #9 0910
surface at 0907 - dive at 0908
ETA at #10 0946
surface at 0943 - dive at 0944
ETA at #11 1022
surface at 1023 - dive at 1024
ETA at #12 0332
surface at 0332 - dive at 0333
ETA at D1 0344
surface at 1044 - end of mission


Notes:
start mission 0334 - dive at 0337
surface at 0342 waypoint 1 - dive at 0344
ETA 0416 to waypoint 2
surface at 0417 waypoint 2 - dive at 0418
ETA 0450 to waypoint 3
surface at 0451 waypoint 3 - dive at 0452
ETA 0524 to waypoint 4
surface at 0528 - dive at 0529
ETA 0601 to waypoint 5
surface at 0602 - dive at 0603
ETA 0635 to waypoint 6
surface at 0635 - dive at 0636
ETA 0708 to waypoint M1
surface 0710 - dive at 0711
ETA 0714 at waypoint M1
surface at 0727 - dive at 0728
ETA 0802 at waypoint 7
surface at 0800 - dive at 0802
ETA 0836 at waypoint 8
surface at 0833 - dive at 0834
ETA 0908 at waypoint 9
surface at 0906 - dive at 0907
ETA 0941 at waypoint 10
surface at 0940 - dive at 0941
ETA 1015 at waypoint 11
surface at 1013 - dive at 1014
ETA 1022 at waypoint 12
surface at 1023 - dive at 1023
ETA 1033 at HaddockD1
surface 1034 Slay'd mission


Notes:
dive at 0337
surface at E1
0345 dive: 3655.74036 12154.01115
surface at 0417 dive at 0418 (E1M1D1_1)
noticed that DGPS input to sonardyne topside not working - need to fix
surface at 0451 - dive at 0453: 3652.45612 12156.24385  (_2)
poor tracking
surface 0521 - aborted depth envelope


Notes:
0532 dive: 3651.03461 12157.15626 
headed for wypt E1M1D1_4
surface 0541 aborted depthEnvelope


Notes:
0545 dive: 3650.65887 12157.41690 for E1M1D1_4
tracking good until about 0555
hit pattern suggested an abort, but AUV did not surface
0601 running downline to wypt _4
0620 surface
0621 dive: 3649.09563 12158.65933
no tracking; running downline to wypt _5
0657 surface near wypt_5
did not receive GPS fix via Freewave
0658 dive
no tracking; running downline to wypt_6
0734 surface
0736 dive: 3645.76697 12200.99828 for M1
tracking west of the line about 250 meters
0750 surface M1
0751 dive: 3645.15872 12201.14520 for wypt_7
tracking better for a while
0827 surface
0828 dive: 3643.68243 12159.5937 for wypt_8
no tracking; running downline
0903 surface
0904 dive: 3642.34124 12158.02500 for wypt_9
0936 surface
0937 dive: 3641.02045 12156.46706 for wypt_10
1012 surface
1013 dive: 3639.61710 12154.89185 for wypt_11
1046 surface
1047 dive: 3638.23304 12153.33172 for wypt_12
1055 surface
1056 dive: 3637.91301 12152.92744 for wypt D1
1106 surface -- slayed mission

Vehicle appears to have static roll bias of ~-5 degrees.


Notes:
First run w/new batts B4 33.35 4.19 4.14
                                  B3 33.44 4.19 4.17
ISUS failed to init, slayed


Notes:
dive at 1430 UTC - ETA on surface 1500
surface at 1451 - dive at 1453
surface at 1517 - dive at 1518 - ETA on surface 1540
surface at 1543 - dive at 1545 - ETA on surface 1600
surface at 1600
CTD 1 test program was still running - copied log from test logs


Notes:
vehicle surfaced after diving at LOCO #4. MVC was not responding. Recovered and opened up tail. 5V LED still lit. toggled power and MVC came back up.


Notes:
aborted because isus failed to start - recovered and reset power


Notes:
side scans and sub-bottom are turned off
under at 1933
vehicle surface 1944
Multibeam looks OK.


Notes:
dive at 1814
EdgeSurvey_1 - surface at 1855 - dive at 1904
EdgeSurvey_3 - surface at 1946 - didn't get gps fix
EdgeSurvey_4 - surface at 2037 - got gps - dive at 2039
mission finished at 2122


Notes:
surface LOCO C 1545
surface LOCO #4 1618
surface LOCO #5 1646
surface LOCO #6 1716
surface LOCO #7 1744
surface LOCO #8 1812
surface LOCO B   1844
surface LOCO #9 1912
surface LOCO #10 1940
surface LOCO #11 2006
surface LOCO C 2026
surface LOCO #1 2050
surface LOCO #2 2119
surface LOCO #3 2142
surface LOCO A 2202


Notes:
mission terminate because battery b3 wasn't discharging.


Notes:
0303 Start mission 
0306 dive for LOCO_A 36 56.4069  121 57.2541
0320 surface "at" LOCO_A
0321 dive for LOCO_4  no telemetry
ETA 0349
aborted because battery b6 had overtemp


Notes:
mission aborted because of improperly configured depth envelope


Notes:
short run to E1 to check MVC seal.
Dive at 0347


Notes:
0330 AUV in water, getting some tracking on the surface
0335 start mission
0338 dive 3655.37332 12153.92116
0340 surface briefly, then back down
0341 surface HaddockE1
0342 dive 3655.74836 12154.03172
0414 surface E2
0415 dive 3654.14971 12155.14051
0430 no tracking
0448 surface no position update via Freewave
0449 dive
0453 some tracking
0517 surface aborted depthEnvelope 3651.01845 12157.22139


Notes:
0529 dive 3651.02525 12157.20186
0537 surface (3)
0538 dive 3650.83541 12157.36567
0615 surface (4)
0616 dive 3649.13459 12158.65497
0653 surface (5)
0654 dive 3647.51490 12159.75698
0730 surface (6)
0732 dive 3645.85265 12200.77572
0747 surface (M1)
0747 dive 3645.20843 12201.06379
0821 surface (7)
0821 dive 3643.85913 12159.52413
0856 surface (8)
0857 dive 3642.43648 12158.01258
0929 surface
0939 dive 3641.02599 12156.43805
0952 surface: no Freewave traffic,  RDF sounded weak
 decided to recover AUV.  No obvious exterior damage or signs of battery fire, drop weight intact, strobe flashing.  Hydroscat leds dark.  Turned off strobe and batteries with magnet.  Flushed CTD loops.  Noticed that at 0930 batts min cell voltage was 3.56, mean min cell voltage 3.87


Notes:
AUV lifting strap pushed LISST input tube into fairing.  Removed top fairing, foam pack, reinserted tube, closed up AUV.
0340 In the water
0345 start mission
no syslog, starting/stopping syslog no help. slayed mission, will reboot AUV-2


Notes:
MVC hard drive crashed at end of mission. The vacuum gauge has been reading low, so we probably pulled >10 psi of vacuum.


Notes:
no sonar data in datastore - needed to add Mqueue to sysinit.3


Notes:
dive at Oct 18 17:00:54 : GpsUtils::parseFix() - GPGGA,170054.00,3650.83122,N,12207.76992,W,1,06,1.4,-0.50,M,-32.92,M,, 
Tracking shows some sort of bias - looks like pole is clocked to port
SUrface at 21:14:19


Notes:
Checking out creation of syslog file  -- OK


Notes:
slayed mission to reset time @ waypoint ChavezSurveyEnd


Notes:
1632 dive 36 56.05244 121 54.09680
1638 surface Slayed Mission : Squall approaching


Notes:
surface check to see if navigation really works. MIssion ended normal. Looking at data


Notes:
Initial checkout and rerun of Day 1 last mission (Friday 12/9/05) Homing1.cfg.

Maximum duration 1600 sec, surface NLT 0855.


Notes:
Changed capture radius to 5 m.
Outbound to Dock Outbound 1, turn and drive to Default Surfacing with 5 m home on Dock 1 Transponder.

Start time 0910.
Surface NLT 0940.


Notes:
Changed mission to 1 meter capture radius.
Outbound to Dock 1 Outbound, turn and waypoint to Default Surface with home to Dock 1 Xpr.

Start time 0948
Surface NLT 1018


Notes:
Changed mission to 5 meter capture radius.
Outbound to Dock 2 Outbound, turn and waypoint to Default Surface with home to Dock 1 Xpr.

Batt cell volts before start: 4.04, 4.05, 4.04, 4.05, 4.04, 4.05, 4.05, 4.04.

Start time 1028
Surface NLT 1126

ETA 1113

Actual surface at 1112.


Notes:
Changed mission to x meter capture radius.
Outbound to Dock x Outbound, turn and waypoint to Default Surface with home to Dock 2 Transponder.

Battery at start of mission.
31.78 1.55 14.74
3.96, 3.98, 3.97, 3.97, 3.96, 3.98, 3.98, 3.97

Start time 1157
Surface NLT 1227
ETA 1216

Actual surface at 1216


Notes:
Changed mission to 1 meter capture radius.
Outbound to Dock 3 Outbound, turn and waypoint to Default Surface 3 with home to Dock 2 Transponder.

Battery at start of mission.
31.39 2.21 15.23
3.92, 3.93, 3.92, 3.92, 3.91, 3.93, 3.93, 3.92

Start time 1249
Surface NLT 1347
ETA 1339

Actual surface at 1336.


Notes:
Changed mission to 1 meter capture radius.
Outbound to Outbound 4, turn and waypoint to Default Surface 3 with home to Dock 2 Transponder.  

Battery at start of mission.
30.89 1.73 15.42 
3.85, 3.87, 3.85, 3.85, 3.85, 3.86, 3.87, 3.85

Start time 1415
Surface NLT 1432
ETA 1427

Actual surface at 1427.


Notes:
Battery at start of mission.
30.70 1.66 15.13
3.83, 3.84, 3.83, 3.83, 3.82, 3.84, 3.84, 3.83

Increased gains on position control loop.

Start time 1443
Surface NLT 1500
ETA 1452

Actual surface at 1454


Notes:
Battery at start of mission.
30.62 1.66 15.13
3.82, 3.83, 3.82, 3.82, 3.82, 3.83, 3.83, 3.82

Increased gains on position control loop.

Start time 1503
Surface NLT 1516
ETA  1519

Actual surface at 1514


Notes:
2058 - dive
2113 - surface at chavez_survey_start
2114 - dive at chavez_survey_start
2210 - dive at ACI_6
2249 - dive at ACI_5
2326 - surface at ACI_4
0006 - surface at ACI_3
0042 - ETA at ACI_2
0130 - ETA at ACI_1
0206 - ETA at chavez_survey_end
1630- recover vehicle south of M1 after mission had aborted, dropweight released


Notes:
26 minute total run. Everything looks OK. DOwnloading data


Notes:
killed mission. we had the altitudes programmed too high


Notes:
Minumum altitude set to 50m - the vehicle won't dive until it gets into deep enough water.
Dive at 2005
surface 2123


Notes:
dive at Apr  4 21:50:58 : GpsUtils::parseFix() - GPGGA,215058.00,3650.31351,N,12151.14247,W,1,07,1.3,-5.20,M,-32.64,M,, 
Surface 2240
Vehicle riding low at surface - might be due to freshwater lens from all this rain.


Notes:
started mission at C1.5 (36 46.42724, 121 55.56772) at 2000 en route to M2
mission ran slower than normal
recovered at C1.375 instead of C1


Notes:
aborted at first waypoint because ascent took a LOONG time


Notes:
navigation doesn't look so good. changing kearfott code to force a position reset.


Notes:
recovered near LOCO 4 at 36 54.2569N 121 55.2254W


Notes:
2336 dive at Loco1  36 49.45847  121 48.87440

mission error -- was 2x too long, should have been 2 laps (4 legs)


Notes:
failed hydroscat
too many open files in system


# 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.


# 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


