MBARI Mapping AUV Operations 5 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 5 - Depart Axial 0700L September 6 - Arrive Victoria 1200L September 7 - Transit from Victoria to Seattle September 9 - Thomas, Caress, Conlin, and Tucker return home ------------------------------------ Mapping AUV Survey: This survey will be over northern floor of the caldera. It will include a long transit north along the east caldera wall to get from the last ROV dive site to the area of interest. We will run at a 50 meter altitude. 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. However, we will set the timeout to insure that the vehicle comes off bottom at 0520L, as the ship departs for port at 0700L. ------------------------------------ AUV Mission Script TN199_AUV5_v4.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_AUV5_v4.rte # Mission File: TN199_AUV5_v4.cfg # Distance: 41956.238204 (m) # Estimated Time: 34137 (s) 9.483 (hr) # Abort Time: 21800 (s) # Max battery life: 30600 (s) # Safety margin: 3600 (s) # Ascend time: 5199 (s) # Way Points: 54 # Route Points: 345 # 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 -129.979816 45.926938 -1519.119263 0.000000 3 # 1 -129.988715 45.926938 -1522.701599 690.025968 1 # 2 -129.988156 45.923370 -1523.164886 1088.841241 1 # 3 -129.990478 45.923370 -1523.967285 1268.900148 1 # 4 -129.990607 45.927626 -1524.272186 1741.904827 1 # 5 -129.992584 45.940093 -1533.580933 3135.612781 1 # 6 -129.990607 45.940265 -1528.992554 3290.059504 1 # 7 -129.991682 45.947187 -1532.110199 4063.690355 1 # 8 -129.990220 45.951486 -1531.127472 4554.626073 1 # 9 -129.990392 45.956473 -1530.177795 5108.911945 1 # 10 -129.991381 45.959740 -1528.433441 5479.924567 1 # 11 -129.992971 45.963824 -1520.710327 5950.144348 1 # 12 -129.995379 45.966704 -1524.038269 6320.577424 1 # 13 -129.996582 45.969498 -1536.143738 6644.722108 1 # 14 -129.997442 45.974055 -1538.265472 7155.435845 1 # 15 -129.998904 45.976334 -1546.916626 7432.842413 1 # 16 -130.000967 45.979042 -1561.332489 7773.550363 1 # 17 -130.002988 45.981278 -1588.075378 8067.215324 1 # 18 -130.003762 45.983599 -1588.136017 8331.990288 1 # 19 -130.004407 45.985018 -1588.679993 8497.388609 1 # 20 -130.005223 45.986522 -1587.761536 8676.058592 1 # 21 -130.006986 45.988242 -1588.350159 8910.948046 1 # 22 -130.008706 45.989489 -1582.360443 9103.163069 1 # 23 -130.009350 45.990263 -1582.490417 9202.583680 1 # 24 -130.010769 45.990649 -1583.643219 9320.559910 1 # 25 -130.012059 45.991423 -1581.022583 9452.388605 1 # 26 -130.014208 45.991853 -1580.325439 9625.550542 1 # 27 -130.015756 45.991982 -1578.318085 9746.296137 1 # 28 -130.017690 45.991853 -1579.820251 9896.767730 1 # 29 -130.019539 45.991423 -1576.833130 10047.733022 1 # 30 -130.021989 45.990263 -1579.777954 10277.124719 1 # 31 -130.024397 45.989790 -1580.111481 10470.893586 1 # 32 -130.026503 45.989360 -1577.042053 10640.863076 1 # 33 -130.028954 45.988457 -1575.361359 10855.587317 1 # 34 -130.029986 45.974528 -1580.717773 12405.373962 1 # 35 -130.010468 45.989532 -1583.582062 14656.015181 1 # 36 -130.008920 45.988887 -1582.334381 14795.700148 1 # 37 -130.001440 45.977280 -1559.299591 16209.585125 1 # 38 -130.003289 45.976463 -1554.767975 16379.171606 1 # 39 -130.012403 45.990435 -1581.911652 18084.649894 4 # 40 -130.014982 45.990692 -1578.701050 18286.427868 3 # 41 -130.005223 45.975431 -1556.986481 20143.021684 4 # 42 -130.007158 45.974528 -1559.566101 20323.411555 3 # 43 -130.017304 45.990821 -1580.883484 22297.043195 4 # 44 -130.019539 45.990263 -1578.862610 22480.916134 3 # 45 -130.009092 45.973754 -1559.455536 24485.887656 4 # 46 -130.010898 45.972852 -1575.148112 24658.024000 1 # 47 -130.021688 45.989661 -1581.444672 26704.286584 4 # 48 -130.023924 45.989102 -1579.446228 26888.273449 3 # 49 -130.012833 45.972078 -1560.392741 33187.449682 4 # 50 -130.014852 45.971225 -1563.103546 37560.162484 3 # 51 -130.025944 45.988629 -1579.090332 39676.309667 4 # 52 -130.027922 45.987941 -1577.323853 39847.529034 3 # 53 -130.016915 45.970584 -1560.416016 41956.238204 4 # # A total of 345 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 41956.238204 #define MISSION_TIME 34137 #define MISSION_TIMEOUT 21800 #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 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 GAPS beacon has 2000 pings on the batteries - should be fine. ----------------------------------------------------------------- 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 4, 2006 Time ...................................................| 2103L 0403Z ----------------------------------------------------------------- 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 33.359V MinMax Cell 4.123 - 4.214 V Battery humidity < 67% .................................| X 69% ----------------------------------------------------------------- MVC MVC on and ok .........................................| X Humidity < 10% ........................................| X 4.9% 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 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 range maximum set as desired .................| X 125 m Datastore6046 has enough space for new data ...........| X 28.1 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 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 Edgetech on and ok ....................................| X All batteries are discharging .........................| X Turn off EM300 and other sonars ........................| X Inform bridge ready to launch ..........................| ----------------------------------------------------------------- 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 ...........| start at 5 seconds Turn on Winfrog logging ...............................| ----------------------------------------------------------------- Event Log: ----------- 0403Z (5 Sep) 2003L (4 Sep) Start checklist. 0430Z 2030L On site. Batteries online. INS aligned. 0431Z 2031L Tethers off. 0444Z 2044L Vehicle in water.