MBARI Mapping AUV Operations 3 September 2006 R/V Thomas G. Thompson TN199 Expedition to the Juan de Fuca Ridge (Endeavor Segment and Axial Seamount) R/V Thompson Shipboard Party Scientist Affiliation Participation --------- ----------- ------------- David Butterfield UW/Vents Program Chief Scientist/Chemistry David Caress MBARI AUV - Lead Scientist David Clague MBARI AUV - Principal Investigator Doug Conlin MBARI AUV - AUV Specialist Jenny Paduan MBARI AUV - Geology Technician Hans Thomas MBARI AUV - DMO AUV Supervisor Paul Tucker MBARI AUV - Crane Specialist Vincent Auger CSSF ROPOS Sheryl Bolton University of Washington Microbiology Nathan Buck UW/Vents Program Chemistry Steven Bucklew CSSF ROPOS Jon Bumgardner PMEL Engineering Engineering William Chadwick OSU/Vents Program Geology Dan Cormany CSSF ROPOS Raphaelle Dancette University of Quebec Ecology Leigh Evans OSU/Vents Program Chemistry Angela Kouris University of Washington Biology Francoise Labonte University of Quebec Geophysics Emily Laity SUNY/Buffalo Geology Geoffrey Lebon UW/Vents Program Chemistry Haru Matsumoto OSU/Vents Program Acoustics Pamela Maynard University of Washington Microbiology Susan Merle OSU/Vents Program Data Manager/Geology Reuben Mills CSSF ROPOS Scott Nooner Scripps Inst. of Oceanography Geophysics Andrew Opatkiewicz University of Washington Microbiology Jonathan Rose University of Victoria Biology John Shanley PMEL Engineering Engineering Dean Steinke CSSF ROPOS Keith Tamburri CSSF ROPOS Officers -------- Al McClenaghan Captain John K. Wilson Chief Mate Tom Drake 2nd Mate Eric T. Haroldson 3rd Mate Engineers --------- Paul Schroeder Chief Engineer James T. Swanton 1st Assistant Engineer Richard D. Leonard 2nd Assistant Engineer Jan Gawel 3rd Assistant Engineer Engine Room David A Bartell Oiler Colin J. Street Oiler Russell R. Rowley Oiler Mario S. Yordan Oiler Deck Crew --------- Anthony N. Monocandilos Able Bodied Seaman Brian W. Clampitt Able Bodied Seaman Richard P. Chase Able Bodied Seaman Michael A. Hansen Able Bodied Seaman Jeffrey R. Artingstall Able Bodied Seaman Frank L Spetla Jr. Able Bodied Seaman Stewards Department ------------------- Shawn M. Lindenmuth Chief Steward Hasheem A. Bell Steward Assistant Victoria Simms Steward Assistant Marine Technicians ------------------ William Martin Robert Hagg ------------------------------------ Cruise Timeline: August 17 - Conlin, Thompson, & Frank travel to Seattle to begin mob onto Thompson August 19 - Western Flyer arrives Newport Oregon with Caress, Thomas, and Tucker August 20 - Thomas, Caress and Tucker drive to Seattle August 22 - leave Seattle, arrive Victoria August 23 - Clague and Paduan arrive Victoria August 24 - leave Victoria August 25 - Arrive Endeavor segment 2 pm local, CTD and ROPOS dive at Mothra vent site August 26 - Mapping AUV dive at Endeavor canceled due to bad weather August 28 - First Mapping AUV dive at Axial, on northeast caldera rim, goes bad. Vehicle veers off expected track and is lost from tracking at 0130 Aug 29. Vehicle runs out batteries and ascends as a dead vehicle. AUV is not located by radio finder until 0300L Aug 30. August 31 - Mapping AUV test - successful no problems. September 1 - Successful Mapping AUV survey of 1998 lava flow. September 2 - Successful Mapping AUV survey of northeast caldera rim. September 3 - Planned Mapping AUV survey of south end of caldera. September 5 - arrive Victoria September 7 - transit from Victoria to Seattle September 9 - Thomas, Caress, Conlin, and Tucker return home ------------------------------------ Mapping AUV Survey: This survey will be over the southern end of the caldera. We will run at a 50 meter altitude. The subbottom gain will be set lower than usual, to 32. We have plenty of time tonight, so we will run an 8 hour mission. Allowing 1 hour for descent and 0.67 hour for ascent, we have 6.33 hours of surveying on bottom. Assuming 5.0 km/hour, we should cover 31.65 km . The mission timeout should be at 8 hours - 0.67 hours = 7.33 hours = 26388 seconds ------------------------------------ AUV Mission Script TN199_AUV3_v3.cfg: # 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: TN199_AUV3_v3.rte # Mission File: TN199_AUV3_v3.cfg # Distance: 32789.548924 (m) # Estimated Time: 27993 (s) 7.776 (hr) # Abort Time: 21839 (s) # Max battery life: 30600 (s) # Safety margin: 3600 (s) # Ascend time: 5160 (s) # Way Points: 34 # Route Points: 325 # 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 -130.009833 45.936773 -1547.459635 0.000000 3 # 1 -130.015764 45.935096 -1549.510742 496.161790 1 # 2 -130.014260 45.932216 -1545.748535 836.752674 1 # 3 -130.011165 45.928735 -1546.184896 1291.989088 1 # 4 -130.010263 45.926543 -1545.869303 1545.424137 1 # 5 -130.007641 45.923620 -1545.469238 1928.587071 1 # 6 -130.004417 45.921557 -1542.993815 2267.777978 1 # 7 -129.976091 45.906813 -1560.404785 5008.216643 1 # 8 -130.007980 45.906461 -1550.612732 7482.125859 4 # 9 -130.008015 45.908036 -1553.107910 7657.125859 3 # 10 -129.976082 45.908380 -1554.659668 10134.338670 4 # 11 -129.976117 45.909955 -1550.505615 10309.338670 3 # 12 -130.008051 45.909611 -1547.544647 12786.551481 4 # 13 -130.008086 45.911186 -1543.508850 12961.551481 3 # 14 -129.976151 45.911530 -1547.178070 15438.764292 4 # 15 -129.976185 45.913104 -1548.515015 15613.764292 3 # 16 -130.008121 45.912761 -1537.317291 18090.977104 4 # 17 -130.008156 45.914335 -1533.558380 18265.977104 3 # 18 -129.976220 45.914679 -1547.860657 20743.189915 4 # 19 -129.976254 45.916254 -1542.722107 20918.189915 3 # 20 -130.008192 45.915910 -1524.392517 23395.402726 4 # 21 -130.008227 45.917485 -1525.963623 23570.402726 3 # 22 -129.984215 45.917645 -1533.448405 25432.710574 4 # 23 -129.984473 45.919192 -1530.455566 25605.806960 3 # 24 -130.008262 45.919060 -1522.439972 27450.770707 4 # 25 -130.008297 45.920634 -1516.644318 27625.770707 3 # 26 -129.984816 45.920783 -1527.812012 29446.765930 4 # 27 -129.985117 45.922416 -1522.526367 29629.748819 3 # 28 -130.002783 45.922287 -1544.695638 30999.770107 4 # 29 -130.006093 45.924522 -1547.315918 31356.911872 1 # 30 -130.008672 45.927359 -1545.431478 31730.214822 1 # 31 -130.009575 45.929551 -1545.954753 31983.649560 1 # 32 -130.012455 45.932732 -1545.534180 32401.704450 1 # 33 -130.014217 45.935999 -1550.293945 32789.548924 1 # # A total of 325 mission points have been defined. # ------------------------------------ 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 198.48.81.208 instead of 134.89.32.107 Prior to this dive, the GAPS transponder had pinged about 3000 times on the current batteries. The estimated max number of pings on a battery set is 10000. ----------------------------------------------------------------- Scientist Mapping AUV Deployment Checklist ----------------------------------------------------------------- Location Vessel .................................................| R/V Thomas Thompson Captain ................................................| Al McClenaghan Expedition .............................................| TN1999 - NEMO 2006 - Axial Seamount August 2006 ----------------------------------------------------------------- Date and Time Date ...................................................| September 1, 2006 Time ...................................................| 1641L 2341Z ----------------------------------------------------------------- Operators Chief Scientist ........................................| David Butterfield, PMEL/OSU Lead Mapping AUV Scientist .............................| David Caress, MBARI MBARI PI ..............................................| David Clague, MBARI Lead AUV Operator ......................................| Hans Thomas, MBARI Lead Ship's Officer on Watch ...........................| Al McClenaghan, UW ----------------------------------------------------------------- Battery Batteries charged ......................................| X 33.29V MinMax Cell 4.211 - 4.108 V Battery humidity < 67% .................................| X 67% ----------------------------------------------------------------- MVC MVC on and ok .........................................| X Humidity < 10% ........................................| X 5.9% Ball pressure < 72 kPa ................................| X 72.9 kPa Check that UTM Zone is correct ........................| X Zone 9 ----------------------------------------------------------------- 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 75 dB Pulse length set as desired ............................| X 30 usec Water sound speed set as desired .......................| X 1491 m/sec Multibeam range set as desired..........................| X 120 m Multibeam range minimum set as desired .................| X 20 m Multibeam range maximum set as desired .................| X 125 m Multibeam depth minimum set as desired .................| X 20 m Multibeam range maximum set as desired .................| X 125 m Datastore6046 has enough space for new data ...........| X 41.9 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 Channel 1 Check tailcone function ..............................| X Radio beacon turned on .................................| X Channel 1 ----------------------------------------------------------------- Immediately before Launch Check RDF with bridge .................................| X Kearfott getting and processing GPS ...................| X Kearfott aligned ...................................| X USBL tracking head deployed ...........................| X Bring batteries online ................................| X Battery usage counter reset ...........................| X Deck tethers removed, dummies installed ...............| X Tailcone oil compensation full ........................| 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 PLC running ...........................................| X Edgetech on and ok ....................................| X Sonar2k running .......................................| X All batteries are discharging .........................| X Turn off EM300 and other sonars ........................| X ----------------------------------------------------------------- Immediately after Launch Acoustic modem head deployed ...........................| X Acoustic modem on ......................................| X Radio modem connection ok .............................| X USBL tracking working .................................| X Acoustic modem working .................................| X 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 PLC running ...........................................| X Edgetech on and ok ....................................| X Sonar2k running .......................................| X DVL pinging ............................................| X All batteries are discharging .........................| X Vehicle INS and GPS position agree. ...................| 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 10 seconds actually ----------------------------------------------------------------- Event Log: ----------- 0411Z (2 Sep) 2211L (1 Sep) Start checklist. 0430Z 2230L On site -129.973198 45.977397 0451Z 2251L Vehicle in water. 0501Z 2301L Start mission TN199_AUV1_v1.cfg - set ascent and descent rudder to 3 degrees - goes faster up and down. - set mission timeout to 22800 seconds = 0520L. 0505Z 2305L AUV under water - diving to south 0506Z 2306L AUV coming back to start point for descent 0507Z 2307L AUV starting spiral descent 0508Z 2308L AUV in spiral descent 70 m 0512Z 2312L AUV in spiral descent 171 m - getting some bad tracking hits - acoustic modem working ok. 0521Z 2321L AUV in spiral descent 407 m 0531Z 2331L AUV in spiral descent 660 m 0535Z 2335L AUV in spiral descent 750 m 0549Z 2349L AUV in spiral descent 1080 m 0559Z 2359L AUV in spiral descent 1345 m - getting altitude 159 0604Z 0004L AUV at 90 m altitude - running toward first waypoint. 0605Z 0005L AUV on line - 1430 m depth. 0707Z 0007L Acoustic modem out of water - ship heading downline in pursuit. AUV depth 1412 m. 0733Z 0033L AUV on line, 1424 m depth, tracking good, on line, all ok. 0742Z 0042L AUV on line, 1413 m depth, tracking good, on line, all ok. 0840Z 0140L AUV on line, 1461 m depth, tracking good, on line, all ok. 0923Z 0223L AUV on line, 1379 m depth, tracking good, on line, all ok. 1014Z 0314L AUV on line, 1388 m depth, tracking good, on line, all ok. 1146Z 0446L AUV on line, 1373 m depth, tracking good, on line, all ok. 1244Z 0524L AUV starting spiral ascent 1226Z 0526L AUV in spiral ascent 1301 m depth 1241Z 0541L AUV in spiral ascent 798 m depth 1252Z 0552L AUV in spiral ascent 422 m depth 1304Z 0604L AUV at surface 1312Z 0612L AUV got GPS, mission killed. 1339Z 0639L Vehicle on deck. This mission has involved about 2000 USBL pings. Sonar data collected: -rwxrwxrwx+ 1 Reson None 211265068 Sep 2 07:20 20060902_070527.s7k -rwxrwxrwx+ 1 Reson None 212759404 Sep 2 07:34 20060902_072006.s7k -rwxrwxrwx+ 1 Reson None 212776644 Sep 2 07:49 20060902_073450.s7k -rwxrwxrwx+ 1 Reson None 212812776 Sep 2 08:04 20060902_074935.s7k -rwxrwxrwx+ 1 Reson None 212741584 Sep 2 08:19 20060902_080420.s7k -rwxrwxrwx+ 1 Reson None 212754192 Sep 2 08:33 20060902_081902.s7k -rwxrwxrwx+ 1 Reson None 212764508 Sep 2 08:48 20060902_083347.s7k -rwxrwxrwx+ 1 Reson None 212779960 Sep 2 09:03 20060902_084831.s7k -rwxrwxrwx+ 1 Reson None 212712680 Sep 2 09:18 20060902_090317.s7k -rwxrwxrwx+ 1 Reson None 212723212 Sep 2 09:32 20060902_091802.s7k -rwxrwxrwx+ 1 Reson None 212761704 Sep 2 09:47 20060902_093247.s7k -rwxrwxrwx+ 1 Reson None 212718204 Sep 2 10:02 20060902_094733.s7k -rwxrwxrwx+ 1 Reson None 212727008 Sep 2 10:17 20060902_100218.s7k -rwxrwxrwx+ 1 Reson None 212764312 Sep 2 10:31 20060902_101703.s7k -rwxrwxrwx+ 1 Reson None 212850312 Sep 2 10:46 20060902_103149.s7k -rwxrwxrwx+ 1 Reson None 212809188 Sep 2 11:01 20060902_104634.s7k -rwxrwxrwx+ 1 Reson None 212694944 Sep 2 11:16 20060902_110120.s7k -rwxrwxrwx+ 1 Reson None 212747656 Sep 2 11:30 20060902_111605.s7k -rwxrwxrwx+ 1 Reson None 212825664 Sep 2 11:45 20060902_113049.s7k -rwxrwxrwx+ 1 Reson None 212762816 Sep 2 12:00 20060902_114532.s7k -rwxrwxrwx+ 1 Reson None 212695244 Sep 2 12:15 20060902_120018.s7k -rwxrwxrwx+ 1 Reson None 121719400 Sep 2 12:23 20060902_121503.s7k Looks good.