MBARI Mapping AUV Operations 13 October 2006 R/V Zephyr Davidson Seamount surveys 7 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:7 This seventh survey will be over the southern side of Davidson Seamount summit, covering gaps and providing crossing for surveys 5 and 6.. We will run at a 50 meter altitude. The subbottom gain will be set to 64 . The battery lasted for 7 hours during missions 5 and 6. We think the battery life is 7.5 hours. We will set a mission timout of 6;5 hours to insure we get the vehicle to the surface with power. We are deploying at a point where the water depth is 1312 m, meaning the vehicle must spin down to 1250 m. We allow 1.00 hours for descent and 1.00 hour for ascent. The total mission duration can be 7.5 hours, so we have 5.5 hours on the bottom. We have been achieving 4.9 km/hr with all the ups and downs, so we should cover 26.95 km. We set the mission timer to 6.5 hours or 23400 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: DavidsonSurvey07_50m_v2.rte # Mission File: DavidsonSurvey07_50m_v2.cfg # Distance: 18490.695876 (m) # Estimated Time: 19072 (s) 5.298 (hr) # Abort Time: 21105 (s) # Max battery life: 30600 (s) # Safety margin: 3600 (s) # Ascend time: 5894 (s) # Way Points: 29 # Route Points: 175 # 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 -122.722758 35.723488 -1312.115509 0.000000 1 # 1 -122.723564 35.721559 -1314.576202 226.024093 1 # 2 -122.726769 35.719459 -1464.157990 597.879598 1 # 3 -122.734172 35.720396 -1587.248383 1275.467332 1 # 4 -122.735487 35.718431 -1630.666595 1523.747914 1 # 5 -122.735174 35.716785 -1685.567719 1708.488152 1 # 6 -122.737344 35.715943 -1681.017639 1925.848163 1 # 7 -122.738316 35.713068 -1617.630493 2256.613464 1 # 8 -122.743609 35.712779 -1677.209015 2736.456906 1 # 9 -122.744780 35.711067 -1688.323364 2953.881018 1 # 10 -122.746327 35.708669 -1726.294250 3254.411024 1 # 11 -122.748316 35.705505 -1756.430054 3648.767878 1 # 12 -122.743841 35.708318 -1602.526672 4159.854275 1 # 13 -122.744051 35.705172 -1607.193024 4509.293649 1 # 14 -122.746570 35.701251 -1574.915619 5000.260072 1 # 15 -122.743211 35.700665 -1487.679260 5311.012150 1 # 16 -122.755079 35.693283 -1486.829010 6661.271106 1 # 17 -122.759189 35.688642 -1555.539581 7296.277426 1 # 18 -122.754913 35.690335 -1393.248627 7726.328347 1 # 19 -122.758504 35.684512 -1630.481934 8449.284724 1 # 20 -122.756904 35.679754 -1764.804626 8996.492421 1 # 21 -122.762970 35.675342 -1601.521423 9731.866126 1 # 22 -122.770958 35.677464 -1758.380219 10492.086401 1 # 23 -122.802428 35.653685 -2316.658875 14373.830005 1 # 24 -122.797423 35.654010 -2400.190186 14828.315274 1 # 25 -122.787201 35.660590 -2069.252563 16006.738269 1 # 26 -122.783455 35.661212 -1940.017700 16352.744103 1 # 27 -122.781610 35.672614 -2056.968201 17628.305386 1 # 28 -122.772792 35.675562 -1769.414246 18490.695876 1 # # A total of 175 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 18490.695876 #define MISSION_TIME 19072 #define MISSION_TIMEOUT 21105 #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 12, 2006 Time ...................................................| 0534L 1234Z ----------------------------------------------------------------- Operators Chief Scientist ........................................| David Caress, MBARI Scientist ..............................................| Lonny Lundsten, MBARI AUV Operator ...........................................| Hans Thomas, MBARI AUV Operator ...........................................| Doug Conlin, MBARI ----------------------------------------------------------------- Battery Batteries charged ......................................| X 33.145V MinMax Cell 3.982 - 4.206 V Battery humidity < 67% .................................| X 67% ----------------------------------------------------------------- MVC MVC on and ok .........................................| X Humidity < 10% ........................................| X 9.2% Temperature ...........................................| X 37.6 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 - Egdetech data stopped during last mission - ok here 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 29.1 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 ...............................| 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