MBARI Mapping AUV Operations
11 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 fifth survey will be over the southern side of Davidson Seamount
summit, adjacent to surveys 1-3.

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.

The battery once again shut off during the fourth mission. We now
think that the battery is shutting down because one cell reaches
the low voltage criterea. We think the battery life is 7 hours. We
will set a mission timout of 6 hours to insure we get the vehicle
to the surface with power.

We are deploying at a point where the water depth is 1656 m,
meaning the vehicle must spin down to 1606 m. We allow 1.00 hours
for descent and 1.00 hour for ascent. The total mission duration can
be 7 hours, so we have 5 hours on the bottom. We have been 
achieving 4.9 km/hr with all the ups and downs, so we should cover
24.5 km. We set the mission timer to 6 hours or 21600 seconds.

------------------------------------
# This MBARI Mapping AUV mission file has been generated
# by the MB-System program mbm_route2mission run by
# user <caress> on cpu <maury> at <Wed Oct 11 09:27:23 PDT 2006>
# 
# Mission Summary:
#     Route File:               DavidsonSurvey05_50m.rte
#     Mission File:             DavidsonSurvey05_50m.cfg
#     Distance:                 35647.334400 (m)
#     Estimated Time:           30918 (s)  8.588 (hr)
#     Abort Time:               20615 (s)
#     Max battery life:         30600 (s)
#     Safety margin:            3600 (s)
#     Ascend time:              6384 (s)
#     Way Points:               17
#     Route Points:             331
#     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:
#   <number> <longitude (deg)> <latitude (deg)> <topography (m)> <distance (m)> <type>
#   0 -122.731039 35.720775 -1656.819092 0.000000 3
#   1 -122.753560 35.684126 -1568.636871 4546.690195 4
#   2 -122.755239 35.684813 -1586.501862 4716.690195 3
#   3 -122.732719 35.721462 -1581.117035 9263.380389 4
#   4 -122.734399 35.722149 -1612.076111 9433.380389 3
#   5 -122.756919 35.685499 -1618.484009 13980.070584 4
#   6 -122.758599 35.686186 -1583.519989 14150.070584 3
#   7 -122.736080 35.722835 -1724.805328 18696.760779 4
#   8 -122.737760 35.723522 -1820.016388 18866.760779 3
#   9 -122.760278 35.686873 -1557.570465 23413.450973 4
#   10 -122.761958 35.687559 -1609.366211 23583.450973 3
#   11 -122.739440 35.724209 -1912.439758 28130.141168 4
#   12 -122.748973 35.712821 -1884.321259 29659.485271 3
#   13 -122.736524 35.707731 -1699.632355 30919.172955 4
#   14 -122.744031 35.695515 -1726.415802 32434.736344 3
#   15 -122.756479 35.700604 -1622.749176 33694.424028 4
#   16 -122.746720 35.716310 -1915.263672 35647.334400 1
# 
# A total of 331 mission points have been defined.
# 
# Define Mission parameters:
#define MISSION_SPEED      1.500000
#define MISSION_DISTANCE   35647.334400
#define MISSION_TIME       30918
#define MISSION_TIMEOUT    20615
#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 11, 2006 
Time ...................................................| 1843L 0143Z
-----------------------------------------------------------------
	Operators 
Chief Scientist ........................................| David Caress, MBARI
Scientist ..............................................| Lonny Lundsten, MBARI
AUV Operator ...........................................| Hans Thomas, MBARI
AUV Operator ...........................................| Doug Conlin, MBARI
-----------------------------------------------------------------
	Battery 
Batteries charged ......................................| X 33.197V MinMax Cell 3.992 - 4.213 V
Battery humidity < 67% .................................| X 67%
-----------------------------------------------------------------
	MVC 
MVC on and ok  .........................................| X
Humidity < 10%  ........................................| X 9.8%
Temperature  ...........................................| X 35.4 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 32.4 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  .............................| 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
USBL tracking head deployed  ...........................| X
Vehicle INS and GPS position agree.  ...................| X
Acoustic modem head deployed ...........................| X
Acoustic modem on ......................................| X
Acoustic modem working .................................| X
-----------------------------------------------------------------
	Mission 
Sonar logging turned on at first waypoint  .............| X
Sonar logging not turned off until after last waypoint .| X
Descent time consistent with expected depth ............| X
Time to first waypoint consistent with distance  .......| X
Ascent time consistent with expected depth .............| X
Ready to launch mission  ...............................| X
Set USBL interrogation rate to desired rate  ...........| X start at 5 seconds
Turn on Winfrog logging  ...............................| X
-----------------------------------------------------------------

Event Log:
-----------
1932Z 1232L Vehicle in water
	This was a bad deployment. The LARS capture head came loose
	and washed back halfway on the tracks. This trapped the AUV
	in the LARS. Eventually, the AUV worked its way loose by
	coming out the forward end of the LARS, fortunately not working
	too much under the Zephyr's stern. Not what we planned....
	Also, the port forward fire hose on the LARS came off the frame.
1940Z 1240L Start mission  DavidsonSurvey05_50m.cfg
	Not getting GPS.
1945Z 1245L Now getting GPS
1956Z 1256L Still having trouble getting GPS
2002Z 1302L Still having trouble getting GPS
	Going to recover to see what's wrong.
	Have to wait for LARS to get rebuilt.
20019Z 1319L Power cycling the GPS receiver (not sure how Hans did that)
	solved the problem. Will now run a shortened mission.
	Weather is worsening too, another squall is approaching.
2032Z 1332L Weren't able to get sonars to restart. The LARS is fixed.
	We're going to recover.
2049Z 1349L Vehicle on deck. Recovery went ok.



-----------------------------------------------------------------
Scientist Mapping AUV Deployment Checklist 
-----------------------------------------------------------------
	Location
Vessel .................................................| R/V Zephyr
Captain ................................................| Aaron Gregg
Expedition .............................................| Davidson Seamount October 2006
-----------------------------------------------------------------
	Date and Time 
Date ...................................................| October 11, 2006 
Time ...................................................| 1546l 2237Z
-----------------------------------------------------------------
	Operators 
Chief Scientist ........................................| David Caress, MBARI
Scientist ..............................................| Lonny Lundsten, MBARI
AUV Operator ...........................................| Hans Thomas, MBARI
AUV Operator ...........................................| Doug Conlin, MBARI
-----------------------------------------------------------------
	Battery 
Batteries charged ......................................| X 33.240V MinMax Cell 3.994 - 4.217 V
Battery humidity < 67% .................................| X 67%
-----------------------------------------------------------------
	MVC 
MVC on and ok  .........................................| X
Humidity < 10%  ........................................| X 9.8%
Temperature  ...........................................| X 35.4 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 32.4 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     ...................................| 
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  .............................| X
USBL tracking working  .................................| X ? until it dives
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
USBL tracking head deployed  ...........................| X
Vehicle INS and GPS position agree.  ...................| X
Acoustic modem head deployed ...........................| X
Acoustic modem on ......................................| X
Acoustic modem working .................................| X
-----------------------------------------------------------------
	Mission 
Sonar logging turned on at first waypoint  .............| X
Sonar logging not turned off until after last waypoint .| X
Descent time consistent with expected depth ............| X
Time to first waypoint consistent with distance  .......| X
Ascent time consistent with expected depth .............| X
Ready to launch mission  ...............................| X
Set USBL interrogation rate to desired rate  ...........| X start at 5 seconds
Turn on Winfrog logging  ...............................| X
-----------------------------------------------------------------

Event Log:
-----------