# 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.


# 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:
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:
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:
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:
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:
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:
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:
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:
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:
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.


# Purchases

Item:
Additional oil can for tailcone comp oil.


# TaskList

TaskDescription:
Install chafe gear on capture mechanism hoses.


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


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


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


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


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


TaskDescription:
Replace vacuum gauge in main pressure housing.


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


# VehicleMaintenance

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


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


Notes:
Replaced vacuum gauge for main electronics housing.


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


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


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


Notes:
Hard drive replaced and tested with Lab1 mission


Reason:
Vehicle check before missions week 7 April

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


Reason:
Prep for AUVCTD missions starting week 7 April

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


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


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


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


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


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

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


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

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


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

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


Reason:
Vehicle touched bottom during missions 2003.106.

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


Reason:
Some oil visible on outside of batteries.

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


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

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


Reason:
ISUS improperly configured, giving bad nitrate readings.

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


Reason:
Check of battery comp pressure and plate fasteners.

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


Reason:
Routine check of tailcone comp pressure.

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


Reason:
Hydroscat data deteriorated during the course of day 2003.115

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


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

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


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

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


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

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


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

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


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

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


Reason:
Changing back to 3 battery configuration

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


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


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

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


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


Reason:
Changed CTD driver log to include metadata.

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


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

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


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

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


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

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


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


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


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


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

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


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

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


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

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


Reason:
Preparations for August 2003 deployments

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


Reason:
Vehicle in longer configuration with new midbody.

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


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


# 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.


