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 second 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. During the first mission the battery apparently shut down as the vehicle neared the surface. We will plan an 8 hour rather than 8.5 hour mission. We are deploying at a point where the water depth is 1730 m, meaning the vehicle must spin down to 1680 m. We allow 1.00 hours for descent and 0.75 hour for ascent. The total mission duration can be 8.0 hours, so we have 6.25 hours on the bottom. We should cover 33.75 km. We set the mission timer to 7.25 hours or 26100 seconds. Vehicle pitch limit changed from 30 degrees to 45 degrees. This should allow for a faster ascent and descent. ------------------------------------ # 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: DavidsonSurvey02_50m_v2.rte # Mission File: DavidsonSurvey02_50m_v2.cfg # Distance: 31902.716768 (m) # Estimated Time: 27793 (s) 7.720 (hr) # Abort Time: 26100 (s) # Max battery life: 30600 (s) # Safety margin: 3600 (s) # Ascend time: 5630 (s) # Way Points: 23 # Route Points: 273 # 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 -122.738264 35.724312 -1850.737030 0.000000 3 # 1 -122.712949 35.752278 -1704.526672 3854.963364 4 # 2 -122.711436 35.751368 -1711.304535 4024.958116 3 # 3 -122.736752 35.723402 -1773.043060 7879.990589 4 # 4 -122.735239 35.722492 -1672.297089 8050.024580 3 # 5 -122.709924 35.750457 -1701.766602 11904.929540 4 # 6 -122.708411 35.749547 -1708.474670 12074.926811 3 # 7 -122.733727 35.721582 -1578.749390 15929.900887 4 # 8 -122.732215 35.720672 -1627.244141 16099.864612 3 # 9 -122.706898 35.748636 -1694.971954 19954.818584 4 # 10 -122.705386 35.747726 -1676.134583 20124.745628 3 # 11 -122.730702 35.719762 -1667.387177 23979.661316 4 # 12 -122.723612 35.726172 -1373.506287 24937.060828 3 # 13 -122.731265 35.734414 -1852.929199 26083.654739 4 # 14 -122.719638 35.747366 -1539.123047 27863.857073 3 # 15 -122.707716 35.742509 -1699.148071 29068.923873 4 # 16 -122.703006 35.739713 -1559.372894 29595.750818 1 # 17 -122.701681 35.741037 -1607.594574 29785.271906 1 # 18 -122.707274 35.743834 -1750.295258 30378.559327 1 # 19 -122.706391 35.745159 -1766.699097 30545.803571 1 # 20 -122.700798 35.742362 -1656.885162 31139.083916 1 # 21 -122.699915 35.743687 -1609.051361 31306.328895 1 # 22 -122.705655 35.746336 -1703.305634 31902.716768 1 # # A total of 273 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 31902.716768 #define MISSION_TIME 27793 #define MISSION_TIMEOUT 26100 #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 ......................................| 33.22V MinMax Cell 3.994 - 4.218 V Battery humidity < 67% .................................| 69% ----------------------------------------------------------------- MVC MVC on and ok .........................................| Humidity < 10% ........................................| 9.1% Ball pressure < 72 kPa ................................| 72.0 kPa Check that UTM Zone is correct ........................| Zone 10 ----------------------------------------------------------------- Reson Reson 6046 on and ok ..................................| PLC running ...........................................| Recording desired records ..............................| Sonar logging off .....................................| Multibeam power set to zero ...........................| Multibeam pinging at 2 Hz .............................| Spreading loss set as desired ..........................| 20 Absorption set as desired ..............................| 40 dB/km Receive gain set as desired ............................| 70 dB Pulse length set as desired ............................| 30 usec Water sound speed set as desired .......................| 1484 m/sec Multibeam range set as desired..........................| 125 m Multibeam range minimum set as desired .................| 25 m Multibeam range maximum set as desired .................| 125 m Multibeam depth minimum set as desired .................| 25 m Multibeam depth maximum set as desired .................| 125 m Datastore6046 has enough space for new data ...........| 50.7 GB free ----------------------------------------------------------------- Edgetech Edgetech on and ok ....................................| PLC talking to Edgetech ...............................| Sonar2k process running ...............................| Subbottom trigger divisor set as desired ...............| 1 Subbottom pulse file set as desired ....................| 2-10 kHz 20 msec Subbottom gain set as desired ..........................| 32 Subbottom AGC off ......................................| ----------------------------------------------------------------- Kearfott INS Kearfott on ...........................................| Kearfott getting and processing GPS ...................| Kearfott getting DVL ..................................| ----------------------------------------------------------------- General Clocks synchronized and in proper time zone ...........| Fastcat conductivity streaming data ...................| Parosci pressure sensor ok ........ ...................| Iridium tested .........................................| Dropweight server running .............................| Antennas in mast ......................................| CTD wetting tube off ..................................| Dropweight in place ...................................| Nose cone on ..........................................| Farings secured .......................................| Tailcone oil compensation full ........................| USBL transponder turned on .............................| Check tailcone function ..............................| Radio beacon turned on .................................| Channel 1 160.785 MHz ----------------------------------------------------------------- Immediately before Launch Check RDF with bridge .................................| Kearfott getting and processing GPS ...................| Kearfott aligned ...................................| Bring batteries online ................................| Battery usage counter reset ...........................| Deck tethers removed, dummies installed ...............| Radio modem connection ok .............................| MVC on and ok .........................................| Humidity < 10% ........................................| Ball pressure < 72 kPa ................................| Reson 6046 on and ok ..................................| Edgetech on and ok ....................................| All batteries are discharging .........................| Inform bridge ready to launch ..........................| ----------------------------------------------------------------- Immediately after Launch Radio modem connection ok .............................| USBL tracking working .................................| ? until it dives Dropweight server running .............................| MVC on and ok .........................................| MVC Humidity < 10% ....................................| Battery humidity < 67% .................................| MVC Ball pressure < 72 kPa ............................| Kearfott getting and processing GPS ...................| Kearfott aligned ......................................| Reson 6046 on and ok ..................................| Edgetech on and ok ....................................| DVL pinging ............................................| All batteries are discharging .........................| USBL tracking head deployed ...........................| 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 5 seconds Turn on Winfrog logging ...............................| ----------------------------------------------------------------- Event Log: -----------