MBARI Mapping AUV Operations 4 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 - Successful Mapping AUV survey of south end of caldera. September 4 - Planned Mapping AUV survey of rift zone north of caldera. September 5 - Planned Mapping AUV survey of caldera.floor September 6 - 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 rift zone north of the caldera. It will include a long transit south through the east rim survey and adjacent to the 1998 flow survey to end at tomorrow's ROPOS dive spot in the south caldera survey. We will run at a 90 meter altitude for the primary survey. During the transit south the altitude will switch to 50 m as we come to the 1998 Flow survey. The subbottom gain will be set to 32. Once again 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 5.18 km/hour, we should cover 32.8 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_AUV4_v3.rte # Mission File: TN199_AUV4_v3_90m.cfg # Distance: 34092.513447 (m) # Estimated Time: 28824 (s) 8.007 (hr) # Abort Time: 21884 (s) # Max battery life: 30600 (s) # Safety margin: 3600 (s) # Ascend time: 5115 (s) # Way Points: 36 # Route Points: 351 # Mapping sonar control enabled: # # Mission Parameters: # Desired Vehicle Altitude: 85 (m) # Minimum Vehicle Altitude: 90 (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 -130.033812 45.991595 -1497.417999 0.000000 3 # 1 -130.031533 45.990134 -1491.220306 239.813149 1 # 2 -130.030772 46.014792 -1593.746002 2980.335637 4 # 3 -130.027543 46.014741 -1585.901978 3230.381794 3 # 4 -130.028309 45.991036 -1497.995026 5865.044148 4 # 5 -130.025085 45.991681 -1522.201630 6124.826013 3 # 6 -130.024315 46.014689 -1583.711517 8682.067117 4 # 7 -130.021087 46.014638 -1581.918823 8932.036096 3 # 8 -130.021817 45.992627 -1524.863495 11378.451958 4 # 9 -130.018507 45.993616 -1530.188080 11657.365953 3 # 10 -130.017858 46.014586 -1584.428497 13987.998376 4 # 11 -130.014630 46.014534 -1586.301208 14237.970122 3 # 12 -130.015498 45.993788 -1522.586975 16544.149392 4 # 13 -130.012274 45.993788 -1497.720032 16793.838036 3 # 14 -130.011402 46.014482 -1589.009064 19094.249718 4 # 15 -130.032264 46.004105 -1590.851237 21078.804797 3 # 16 -130.007545 45.994003 -1472.895671 23297.916615 4 # 17 -130.001311 45.995851 -1487.956543 23822.554257 3 # 18 -129.996024 45.987984 -1478.037109 24787.887173 1 # 19 -130.000022 45.982696 -1477.106283 25452.052676 1 # 20 -129.996067 45.978268 -1471.923523 26031.674787 1 # 21 -129.994218 45.975345 -1475.619232 26386.647372 4 # 22 -129.993487 45.972465 -1473.784729 26711.629730 1 # 23 -129.993100 45.968854 -1479.401215 27113.982553 1 # 24 -129.990478 45.965027 -1493.012054 27585.256914 1 # 25 -129.989059 45.961545 -1473.968414 27987.478032 1 # 26 -129.988156 45.956902 -1506.193909 28508.105019 1 # 27 -129.983685 45.950798 -1513.328491 29269.734614 1 # 28 -129.989876 45.951443 -1530.702698 29754.897175 1 # 29 -129.991381 45.947230 -1532.018402 30237.335172 1 # 30 -129.990220 45.940394 -1529.474030 31002.222170 1 # 31 -129.992326 45.940222 -1533.184357 31166.596563 1 # 32 -129.990349 45.927755 -1523.617188 32560.275020 1 # 33 -129.988457 45.927841 -1521.211914 32707.254278 1 # 34 -129.987512 45.921565 -1523.258138 33408.505451 1 # 35 -129.993702 45.917180 -1535.929688 34092.513447 1 # # A total of 351 mission points have been defined. ------------------------------------ Subbottom: trigger divisor = 1 AGC off gain set 32 **** 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 3, 2006 Time ...................................................| 2230L 0530Z ----------------------------------------------------------------- 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 33.33V MinMax Cell 4.118 - 4.211 V Battery humidity < 67% .................................| X 67% ----------------------------------------------------------------- MVC MVC on and ok .........................................| X Humidity < 10% ........................................| X 4.7% Ball pressure < 72 kPa ................................| X 74.7 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 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 range maximum set as desired .................| X 125 m Datastore6046 has enough space for new data ...........| X 33.2 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 32 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 1 160.785 MHz ----------------------------------------------------------------- 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 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 Inform bridge ready to launch ..........................| X ----------------------------------------------------------------- Immediately after Launch Acoustic modem head deployed ...........................| Acoustic modem on ......................................| Radio modem connection ok .............................| USBL tracking working .................................| Acoustic modem working .................................| 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 ..................................| PLC running ...........................................| Edgetech on and ok ....................................| Sonar2k running .......................................| DVL pinging ............................................| All batteries are discharging .........................| Vehicle INS and GPS position agree. ...................| ----------------------------------------------------------------- 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 ...........| 10 seconds ----------------------------------------------------------------- Event Log: ----------- 0530Z (4 Sep) 2230L (3 Sep) Start checklist. 0545Z 2245L Have to restart INS alignment 0555Z 2255L On site. 0600Z 2300L INS aligned, ready to launch. 0613Z 2313L Vehicle in water. 0615Z 2315L We have USBL tracking.