MBARI Mapping AUV Operations 22 June 2011 R/V Zephyr Mapping AUV Testing ------------------------------------ MBARI Science Party: ------------------------------------ Hans Thomas - AUV Supervisor David Caress - Chief Scientist in abstentia Doug Conlin - AUV Specialist ------------------------------------ Ship's Crew: ------------------------------------ Aaron Gregg - Captain Phil Sammit - Mate Jim Boedecker - Engineer ----------------------------------------------------- Calculating absorption with reasonable parameters: ----------------------------------------------------- mbabsorption -C1505.0 -D2100 -F200 -P8.2 -S34.6 -T5 -V Program MBabsorption Version $Id: mbabsorption.c 1891 2011-05-04 23:46:30Z caress $ MB-system Version 5.3.1895 Program Version $Id: mbabsorption.c 1891 2011-05-04 23:46:30Z caress $ MB-system Version 5.3.1895 Input Parameters: Frequency: 200.000000 kHz Temperature: 5.000000 deg C Salinity: 34.600000 per mil Soundspeed: 1505.000000 m/sec Depth: 2100.000000 m pH: 8.200000 Result: Sound absorption: 33.896843 dB/km ----------------------------------------------------- Sonar Settings: ----------------------------------------------------- Subbottom - on pulse SB106DW__1_5__4_5__12FM.spf AGC off gain 128 110 kHz sidescan - on range 175 m pulse SS_120__12__8_3__FM_SS.spf 410 kHz sidescan - off range 175 m pulse SS_410__40__2_4__FM_SS.spf Multibeam settings transmit power: 220 dB receive gain: 50 dB spreading loss: 30 absorption: 38 dB/km range gating on: 20 - 175 m depth gating off pulse 60 usec Reson computer ip is 134.89.32.107 AUV-3 laptop ip is 134.89.32.130 workgroup AUV-rack computer is 134.89.32.102 login: auv-rack\zephyr password: rvzephyr ranges set according to vehicle altitude. Available pulse files for the Edgetech systems: 1-6 kHz SBP: SB106DW__1_5__4_5__12FM.spf ** SB106DW__1_5__4_5__33FM_TSB.spf SB106DW__1_5__5_5__12FM.spf SB106DW__1_5__6_5__12FM.spf SB106DW__1_5__6__20FM_TSB.spf SB106DW__1__2_5__66FM_TSB.spf 410 kHz sidescan: SS_410__40__2_4__FM_SS.spf ** SS_410__40__5__FM_SS.spf 110 kHz sidescan: SS_120__12__8_3__FM_SS.spf ** SS_120__12__20__FM_SS.spf ------------------------------------ What's new in this survey: ------------------------------------ Testing to see if changing the subbottom receive arrays solves the problem of subbottom noise appearing at depths of 900 m and more. Dave Caress is in Germany, so Hans and Doug are running a pre-generated test mission. The vehicle will run from the shelf into the canyon below the narrows, reaching about 1500 m depth before spinning up. ------------------------------------ Header of mission script: ------------------------------------ # 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: 20110622_SBPtest_1v1.rte # Mission File: 20110622_SBPtest_1v1.cfg # Distance: 9614.945654 (m) # Estimated Time: 8998 (s) 2.500 (hr) # Abort Time: 11698 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 2046 (s) # Way Points: 8 # Route Points: 94 # Survey behavior: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 50 # Multibeam transmit gain: 220 # Multibeam minimum range fraction: 0.3 # Subbottom enabled # Low sidescan enabled # High sidescan disabled # Benthic imaging camera control disabled: # # Mission Parameters: # Vehicle Survey Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Ascent Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Transit Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 50 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 25 (m) # Delta Depth Restart: 25 (m) # Maximum Vehicle Depth: 1680.289242 (m) # Abort Vehicle Depth: 1705.289242 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 100 (m) # Waypoint Spacing: 100 (m) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -121.964928 36.723680 -107.500203 0.000000 3 # 1 -122.011741 36.717100 -1432.526611 4244.134227 1 # 2 -122.019692 36.709077 -1404.003113 5382.791517 1 # 3 -122.026710 36.705051 -1372.803619 6152.507936 1 # 4 -122.035819 36.703309 -1363.742950 6988.829424 1 # 5 -122.044331 36.702317 -1397.319550 7757.122574 1 # 6 -122.056949 36.703158 -1526.169922 8888.095123 1 # 7 -122.059002 36.696818 -1709.447754 9614.945654 4 # # A total of 94 mission points have been defined. # # Define Mission parameters: #define SURVEY_SPEED 1.500000 #define ASCENTDESCENT_SPEED 1.500000 #define TRANSIT_SPEED 1.500000 #define MISSION_DISTANCE 9614.945654 #define MISSION_TIME 8998 #define MISSION_TIMEOUT 11698 #define DEPTH_MAX 1680.289242 #define DEPTH_ABORT 1705.289242 #define ALTITUDE_DESIRED 50.000000 #define ALTITUDE_MIN 50.000000 #define ALTITUDE_ABORT 25.000000 #define DELTA_DEPTH_RESTART 25.000000 #define GPS_DURATION 600 #define DESCENT_DEPTH 3.000000 #define SPIRAL_DESCENT_DEPTH 0.000000 #define SPIRAL_DESCENT_ALTITUDE 0.000000 #define DESCEND_DURATION 300 #define SETPOINT_DURATION 30 #define GPSMINHITS 10 #define ASCENDRUDDER 3.000000 #define ASCENDPITCH 45.000000 #define ASCENDENDDEPTH 2.000000 #define DESCENDRUDDER 3.000000 #define DESCENDPITCH -30.000000 #define RESON_DURATION 6 # ####################################################### ----------------------------------------------------------------- Scientist Mapping AUV Deployment Checklist ----------------------------------------------------------------- Location Vessel .................................................| R/V Zephyr Captain ................................................| Aaron Gregg ----------------------------------------------------------------- Date and Time Date ...................................................| June 23, 2011 Time ...................................................| 1615ZZ 0815L ----------------------------------------------------------------- Operators Chief Scientist ........................................| David Caress, MBARI Lead AUV Operator ......................................| Hans Thomas, MBARI Lead Ship's Officer on Watch ...........................| Aaron Gregg ----------------------------------------------------------------- Battery Forward Battery vacuum ok..... .........................| 2.75 psi Aft Battery vacuum ok..... .............................| 2.25 psi USBL Transponder function check ........................| good Forward battery charged ................................| max 4.081 V, min 4.074 V, stack 32.61 V Forward Battery humidity < 15% .........................| 23% Aft Battery charged ....................................| max 4.054 V, min 4.074 V, stack 32.50 V Aft Battery 1 humidity < 15% ...........................| 4% ----------------------------------------------------------------- MVC MVC on and ok .........................................| check Humidity < 10% ........................................| 3.4% Ball pressure < 72 kPa ................................| 73.8 kPa Check latitude for barometric correction................| 36.65 Check that MVC UTM Zone is correct ....................| Zone 10 Check free disk space on vehicle .......................| 47.7 GB Remove old nohup.out files .............................| ----------------------------------------------------------------- Winfrog Check that Winfrog UTM Zone is correct ................| Zone 10 Check Winfrog nav update configuration .................| ----------------------------------------------------------------- Reson Reson 6046 on and ok ..................................| check PLC running ...........................................| check ATS server running ....................................| check Recording desired records ..............................| check Verify 6046 data collection mode setting ...............| mode 45 Verify raw data collection mode setting ................| 7000, 7004, 7006, 7018, 7503 Sonar logging off .....................................| check Multibeam power set to zero ...........................| check Multibeam pinging at 3 Hz .............................| check Spreading loss set as desired ..........................| 30 Absorption set as desired ..............................| 34 dB/km Receive gain set as desired ............................| 50 dB Pulse length set as desired ............................| 60 usec Water sound speed set as desired .......................| 1491 Multibeam range set as desired..........................| 175 m Multibeam range minimum set as desired .................| 20 m Multibeam range maximum set as desired .................| 175 m Multibeam depth minimum set as desired .................| depth gating off Multibeam depth maximum set as desired .................| depth gating off Datastore6046 has enough space for new data ...........| 309 GB free Reson 6046 BITE status link control humidity ...........| this value has disappeared Reson 6046 BITE diagnosics ok .............. ...........| all green Reson UI not still running on vehicle .............. ...| check ----------------------------------------------------------------- Edgetech Edgetech on and ok ....................................| check Edgetech ethernet interface at 100 Mbps ...............| check PLC talking to Edgetech ...............................| check Sonar2k process running ...............................| check Sidescan 110 kHz pulse file set as desired .............| SS_120_12_8_3_fm_ss.spf Sidescan 410 kHz pulse file set as desired .............| SS_410_40_2_4_fm_ss.spf Subbottom trigger divisor set as desired ...............| 1 Subbottom pulse file set as desired ....................| SB106DW_1_5_4_5_12_FM.spf Subbottom gain set as desired ..........................| 128 Subbottom AGC off ......................................| off Command multibeam setting change from MVC .............| check Command sidescan on from MVC ..........................| check Command subbottom on from MVC .........................| check Check subbottom audible at vehicle ....................| check ----------------------------------------------------------------- Kearfott INS Kearfott on ...........................................| check Kearfott getting and processing GPS ...................| check Kearfott getting and processing DVL ...................| check ----------------------------------------------------------------- General Clocks synchronized and in proper time zone ...........| check Fastcat conductivity streaming data ...................| check Parosci pressure sensor ok ........ ...................| check Magnetometer ok ............. ........ ................| check eH sensor ok ........ .................................| N/A Optical backscatter sensor ok ........ ................| N/A CDOM sensor ok .........................................| N/A Obstacle avoidance sensor ok ...........................| N/A Iridium tested .........................................| check Dropweight server running .............................| check eH sensor cap removed .................................| N/A Antennas in mast ......................................| check Dropweight in place ...................................| check Nose cone on ..........................................| check Farings secured .......................................| check Tailcone propellor engaged and secure .................| check Tailcone oil compensation full ........................| chec USBL transponder turned on .............................| Channel 1 Check tailcone function ..............................| check Turn off SeaBeam and other sonars ......................| N/A Radio beacon turned on .................................| Channel 1 160.785 MHz Acoustic modem head deployed ...........................| check Acoustic modem on ......................................| check Acoustic modem working .................................| check ----------------------------------------------------------------- Immediately before Launch Check RDF with bridge .................................| check Kearfott getting and processing GPS and DVL ...........| check Kearfott aligned ...................................| check Battery usage counter reset ...........................| not resetting Bring batteries online ................................| check Forward batteries are discharging .....................| check Aft batteries are discharging .........................| check Deck tethers removed, dummies installed ...............| check Close faring openings .................................| check ----------------------------------------------------------------- After tethers disconnected Vehicle acoustic modem working .........................| check Radio modem connection ok .............................| check MVC on and ok .........................................| check Humidity < 10% ........................................| check Ball pressure < 72 kPa ................................| check Reson 6046 on and ok ..................................| check Edgetech on and ok ....................................| check Forward battery is discharging ........................| check Aft battery is discharging ............................| check Check fastcat .........................................| check Check pressure sensor .................................| check Check tailcone communication ...........................| check Check kearfott getting GPS ...........................| check Check kearfott getting DVL ...........................| check Check kearfott aligned ...............................| check Inform bridge ready to launch ..........................| check ----------------------------------------------------------------- Immediately after Launch Radio modem connection ok .............................| ok USBL tracking head deployed ...........................| ok USBL tracking working .................................| ok Dropweight server running .............................| ok MVC on and ok .........................................| ok MVC Humidity < 10% ....................................| 3.4% MVC Ball pressure < 72 kPa ............................| 73.8 kpa Battery humidities < 67% ...............................| ok All batteries are discharging .........................| ok Reson 6046 on and ok ..................................| ok Edgetech on and ok ....................................| ok Kearfott getting and processing GPS ...................| ok Check kearfott getting DVL ...........................| ok Kearfott aligned ......................................| ok Vehicle INS and GPS position agree. ...................| ok ----------------------------------------------------------------- Mission Verify mission filename ...............................| 20110622_SBPtest_1v1.cfg Mission contains StartSurvey behavior .................| No Sonar logging turned on at first waypoint .............| ok Sonar logging not turned off until after last waypoint .| ok Subbottom enabled or not, as desired ...................| On Low frequency sidescan enabled or not, as desired ......| On High frequency sidescan enabled or not, as desired .....| Off If beam data desired, sbp & ss off & 100 m range .......| ok Descent time consistent with expected depth ............| ok Ascent time consistent with expected depth .............| ok Using desired abort plan ...............................| ok Time to first waypoint consistent with distance .......| ok Using desired mission timeout ..........................| 60639 seconds Ready to launch mission ...............................| Set USBL interrogation rate to desired rate ...........| 5 sec to start, 15 sec later Turn on Winfrog logging ...............................| ----------------------------------------------------------------- On Bottom Confirm navigation if spiral descent with aided nav ...| Send start survey command ................ ............| Set USBL interrogation rate to desired rate ...........| 15 sec ----------------------------------------------------------------- Event Log ----------- 1400Z 0700L Leave dock Moss Landing