MBARI Mapping AUV Operations 8 October 2006 R/V Zephyr Davidson Seamount R/V Zephyr Shipboard Party Aaron Gregg - Master Paul Ban - Mate Matt Noyes - Engineer Perry Shoemake - Mate David Caress - Chief Scientist Hans Thomas - AUV Supervisor Doug Conlin - AUV Operator Lonny Lundsten - Scientist ------------------------------------ ------------------------------------ Mapping AUV Survey: This survey will be over the central summit of Davidson Seamount We will run at a 50 meter altitude. The subbottom gain will be set to 32. We are deploying at a point where the water depth is 1725 m, meaning the vehicle must spin down to 1675 m. We allow 1.25 hours for descent and 1 hour for ascent. The total mission duration can be 8.5 hours, so we have 6.25 hours on the bottom. We should cover 33.75 km. Vehicle pitch limit changed from 30 degrees to 45 degrees. This should allow for a faster ascent and descent. The mission timeout should be at 7.5 hours = 27000 seconds. ------------------------------------ # This MBARI Mapping AUV mission file has been generated # by the MB-System program mbm_route2mission run by # user on cpu at # # Mission Summary: # Route File: DavidsonSurvey01_50m.rte # Mission File: DavidsonSurvey01_50m.cfg # Distance: 35567.019868 (m) # Estimated Time: 29978 (s) 8.327 (hr) # Abort Time: 21678 (s) # Max battery life: 30600 (s) # Safety margin: 3600 (s) # Ascend time: 5321 (s) # Way Points: 19 # Route Points: 304 # Mapping sonar control enabled: # # Mission Parameters: # Desired Vehicle Altitude: 45 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 25 (m) # Maximum Vehicle Depth: 2250 (m) # Abort Vehicle Depth: 2300 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 100 (m) # Waypoint Spacing: 100 (m) # GPS Duration: 600 (s) # Descend Rate: 0.23 (m/s) # Ascend Rate: 0.36 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -122.699794 35.736097 -1728.802795 0.000000 3 # 1 -122.725258 35.707986 -1624.288116 3876.212392 4 # 2 -122.726770 35.708896 -1546.746002 4046.212392 3 # 3 -122.701306 35.737008 -1660.814331 7922.424784 4 # 4 -122.703006 35.737947 -1565.878906 8108.036356 3 # 5 -122.728282 35.709807 -1519.412506 11976.678586 4 # 6 -122.729794 35.710717 -1554.582184 12146.678586 3 # 7 -122.704330 35.738830 -1520.640106 16022.890978 4 # 8 -122.705843 35.739740 -1519.317383 16192.890978 3 # 9 -122.731305 35.711628 -1594.297516 20069.103369 4 # 10 -122.732817 35.712538 -1701.074860 20239.103369 3 # 11 -122.707355 35.740651 -1598.082245 24115.315761 4 # 12 -122.708867 35.741562 -1678.935455 24285.315761 3 # 13 -122.734329 35.713449 -1751.982391 28161.528153 4 # 14 -122.734209 35.716016 -1745.867513 28446.480089 3 # 15 -122.715192 35.716405 -1768.417725 30167.106595 4 # 16 -122.706704 35.725775 -1687.594452 31459.177384 3 # 17 -122.723612 35.738094 -1749.788737 33509.635820 1 # 18 -122.701092 35.740743 -1617.629069 35567.019868 1 # # A total of 304 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 35567.019868 #define MISSION_TIME 29978 #define MISSION_TIMEOUT 21678 #define DEPTH_MAX 2250.000000 #define DEPTH_ABORT 2300.000000 #define ALTITUDE_DESIRED 45.000000 #define ALTITUDE_MIN 50.000000 #define ALTITUDE_ABORT 25.000000 #define GPS_DURATION 600 #define DESCENT_DEPTH 3.000000 #define DESCEND_DURATION 300 #define SETPOINT_DURATION 30 #define GPSMINHITS 30 #define ASCENDRUDDER 3.000000 #define ASCENDPITCH 30.000000 #define ASCENDENDDEPTH 2.000000 #define DESCENDRUDDER 3.000000 #define DESCENDPITCH -30.000000 #define MAXCROSSTRACKERROR 30 #define RESON_DURATION 6 ------------------------------------ Subbottom: trigger divisor = 1 AGC off gain set 32 **** this is lower than previous surveys - want to try to resolve thin surficial sediments 110 kHz sidescan - on 410 kHz sidescan - off Multibeam settings gain: 70 dB spreading loss: 20 absorption: 40 dB/km Reson computer ip is 134.89.32.107 ----------------------------------------------------------------- Scientist Mapping AUV Deployment Checklist ----------------------------------------------------------------- Location Vessel .................................................| R/V Zephyr Captain ................................................| Aaron Gregg Expedition .............................................| Davidson Seamount October 2006 ----------------------------------------------------------------- Date and Time Date ...................................................| October 8, 2006 Time ...................................................| 1530L 0403Z ----------------------------------------------------------------- Operators Chief Scientist ........................................| David Caress, MBARI Scientist ..............................................| Lonny Lundsten, MBARI AUV Operator ...........................................| Hans Thomas, MBARI AUV Operator ...........................................| Doug Conlin, MBARI ----------------------------------------------------------------- Battery Batteries charged ......................................| X 33.22V MinMax Cell 3.994 - 4.218 V Battery humidity < 67% .................................| X 69% ----------------------------------------------------------------- MVC MVC on and ok .........................................| X Humidity < 10% ........................................| X 9.1% Ball pressure < 72 kPa ................................| X 72.0 kPa Check that UTM Zone is correct ........................| X Zone 10 ----------------------------------------------------------------- Reson Reson 6046 on and ok ..................................| X PLC running ...........................................| X Recording desired records ..............................| X Sonar logging off .....................................| X Multibeam power set to zero ...........................| X Multibeam pinging at 2 Hz .............................| X Spreading loss set as desired ..........................| X 20 Absorption set as desired ..............................| X 40 dB/km Receive gain set as desired ............................| X 70 dB Pulse length set as desired ............................| X 30 usec Water sound speed set as desired .......................| X 1484 m/sec Multibeam range set as desired..........................| X 125 m Multibeam range minimum set as desired .................| X 25 m Multibeam range maximum set as desired .................| X 125 m Multibeam depth minimum set as desired .................| X 25 m Multibeam depth maximum set as desired .................| X 125 m Datastore6046 has enough space for new data ...........| X 50.7 GB free ----------------------------------------------------------------- Edgetech Edgetech on and ok ....................................| X PLC talking to Edgetech ...............................| X Sonar2k process running ...............................| X Subbottom trigger divisor set as desired ...............| X 1 Subbottom pulse file set as desired ....................| X 2-10 kHz 20 msec Subbottom gain set as desired ..........................| X 32 Subbottom AGC off ......................................| X ----------------------------------------------------------------- Kearfott INS Kearfott on ...........................................| X Kearfott getting and processing GPS ...................| X Kearfott getting DVL ..................................| X ----------------------------------------------------------------- General Clocks synchronized and in proper time zone ...........| X Fastcat conductivity streaming data ...................| X Parosci pressure sensor ok ........ ...................| X Iridium tested .........................................| X Dropweight server running .............................| X Antennas in mast ......................................| X CTD wetting tube off ..................................| X Dropweight in place ...................................| X Nose cone on ..........................................| X Farings secured .......................................| X Tailcone oil compensation full ........................| X USBL transponder turned on .............................| X Check tailcone function ..............................| X Radio beacon turned on .................................| X Channel 1 160.785 MHz ----------------------------------------------------------------- Immediately before Launch Check RDF with bridge .................................| X Kearfott getting and processing GPS ...................| X Kearfott aligned ...................................| X USBL tracking head deployed ...........................| Bring batteries online ................................| X Battery usage counter reset ...........................| X Deck tethers removed, dummies installed ...............| X Radio modem connection ok .............................| X MVC on and ok .........................................| X Humidity < 10% ........................................| X Ball pressure < 72 kPa ................................| X Reson 6046 on and ok ..................................| X Edgetech on and ok ....................................| X All batteries are discharging .........................| X Inform bridge ready to launch ..........................| X ----------------------------------------------------------------- Immediately after Launch Radio modem connection ok .............................| X USBL tracking working .................................| Dropweight server running .............................| X MVC on and ok .........................................| X MVC Humidity < 10% ....................................| X Battery humidity < 67% .................................| X MVC Ball pressure < 72 kPa ............................| X Kearfott getting and processing GPS ...................| X Kearfott aligned ......................................| X Reson 6046 on and ok ..................................| X Edgetech on and ok ....................................| X DVL pinging ............................................| X All batteries are discharging .........................| X Vehicle INS and GPS position agree. ...................| Acoustic modem head deployed ...........................| Acoustic modem on ......................................| Acoustic modem working .................................| ----------------------------------------------------------------- Mission Sonar logging turned on at first waypoint .............| Sonar logging not turned off until after last waypoint .| Descent time consistent with expected depth ............| Time to first waypoint consistent with distance .......| Ascent time consistent with expected depth .............| Ready to launch mission ...............................| Set USBL interrogation rate to desired rate ...........| start at 10 seconds Turn on Winfrog logging ...............................| ----------------------------------------------------------------- Event Log: ----------- 0840L Left dock at MBARI 1515L Arrived on site Davidson Seamount Winds about 20 knots - sea state a bit sloppy Winds are moderating - we will wait an hour or so to deploy the first mission 2346 1646L Start checklist 0000Z 1700L Now 9 October 2006 in GMT 0012Z 1712L Rebooting MVC because syslog client is not running. 0017Z 1717L Syslog messages still not getting echoed to topside laptop. The syslog messages are being logged on the MVC but are not getting received on the topside. Probably a network problem on the laptop. Proceeding with checklist 0049Z 1749L Vehicle in water Deployment was messy - vehicle was caught sideways in the LARS but got loose ok.