MBARI Mapping AUV Operations 10 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 thrid survey will be over the central summit of Davidson Seamount, filling in gaps in the first two surveys We will run at a 50 meter altitude. The subbottom gain will be set higher to 64 in order see if there is any improvement. During both the first and second missions the battery apparently shut down as the vehicle neared the surface. Perhaps the steep ascent is causing the vehicle to pitch out of the water, with the impact somehow causing a power glitch that shuts the vehicle down. We will continue to use a 45 degree pitch but will have the ascent terminate at 15 m depth so that the vehicle hits the surface more gently. We are deploying at a point where the water depth is 1342 m, meaning the vehicle must spin down to 1290 m. We allow 1.00 hours for descent and 1.00 hour for ascent. The total mission duration can be 8.5 hours, so we have 6.5 hours on the bottom. We have been achieving 4.9 km/hr with all the ups and downs, so we should cover 31.85 km. We set the mission timer to 7.25 hours or 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: DavidsonSurvey03_50m_v2.rte # Mission File: DavidsonSurvey03_50m_v2.cfg # Distance: 29485.949693 (m) # Estimated Time: 26156 (s) 7.266 (hr) # Abort Time: 27000 (s) # Max battery life: 30600 (s) # Safety margin: 3600 (s) # Ascend time: 5598 (s) # Way Points: 30 # Route Points: 259 # 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 -122.724856 35.724365 -1342.227020 0.000000 1 # 1 -122.725121 35.722310 -1367.660675 229.177434 1 # 2 -122.733154 35.713632 -1734.631409 1435.108198 1 # 3 -122.729970 35.711992 -1567.379486 1775.742831 1 # 4 -122.706440 35.737832 -1473.319122 5345.360281 1 # 5 -122.704628 35.737093 -1492.062683 5528.569181 1 # 6 -122.707695 35.733248 -1514.847015 6037.274627 1 # 7 -122.718003 35.722634 -1496.209869 7538.890627 1 # 8 -122.726492 35.713296 -1540.402771 8828.143089 1 # 9 -122.727384 35.709558 -1532.086029 9250.503738 1 # 10 -122.722741 35.714678 -1568.370178 9956.796309 1 # 11 -122.702328 35.737345 -1591.730591 13075.841501 1 # 12 -122.700544 35.736621 -1684.979309 13256.042952 1 # 13 -122.725298 35.709221 -1572.891693 17030.627066 1 # 14 -122.723717 35.708234 -1684.002838 17210.728668 1 # 15 -122.714112 35.718830 -1631.100067 18672.208649 1 # 16 -122.720766 35.725339 -1342.569580 19612.069679 1 # 17 -122.721066 35.729257 -1565.407745 20047.462951 1 # 18 -122.718931 35.731865 -1669.840271 20395.236915 1 # 19 -122.715925 35.732586 -1728.335236 20678.593481 1 # 20 -122.708541 35.740843 -1642.854736 21811.956123 1 # 21 -122.710228 35.741919 -1750.348450 22005.633525 1 # 22 -122.717258 35.743144 -1636.158325 22655.646936 1 # 23 -122.722380 35.737922 -1682.250854 23397.231402 1 # 24 -122.721647 35.735657 -1666.141571 23657.041254 1 # 25 -122.724753 35.735464 -1668.795319 23938.725906 1 # 26 -122.734429 35.725321 -1675.245667 25363.941832 1 # 27 -122.732424 35.722015 -1546.482544 25773.000565 1 # 28 -122.716942 35.738716 -1759.760620 28094.930107 1 # 29 -122.703522 35.732586 -1708.628662 29485.949693 1 # # A total of 259 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 29485.949693 #define MISSION_TIME 26156 #define MISSION_TIMEOUT 27000 #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 64 **** 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 9, 2006 Time ...................................................| 1100L 1800Z ----------------------------------------------------------------- Operators Chief Scientist ........................................| David Caress, MBARI Scientist ..............................................| Lonny Lundsten, MBARI AUV Operator ...........................................| Hans Thomas, MBARI AUV Operator ...........................................| Doug Conlin, MBARI ----------------------------------------------------------------- Battery Batteries charged ......................................| X 33.214V MinMax Cell 3.994 - 4.216 V Battery humidity < 67% .................................| X 69% ----------------------------------------------------------------- MVC MVC on and ok .........................................| X Humidity < 10% ........................................| X 9.2% Temperature ...........................................| X 36.1 deg C Ball pressure < 72 kPa ................................| X 71.1 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 41.3 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 64 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 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 .................................| X ? 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: ----------- 1017Z 0317L Start checklist - battery charged 1103Z 0403L INS aligned 1115Z 0415L Vehicle in water