MBARI Mapping AUV Operations 11 January 2015 R/V Rachel Carson Iceberg AUV Testing Monterey Canyon / Soquel Canyon confluence ------------------------------------ Science Party: ------------------------------------ Brett Hobson - Chief Scientist Steve Rock - Engineer (Stanford) Rob McEwen - Engineer Rich Henthorn - Engineer David Caress - Engineer - Missing (overslept) Hans Thomas - AUV Supervisor D.J. Osborne - ROV Pilot Mike Burczinski - ROV Pilot ------------------------------------ Ship's Crew: ------------------------------------ Paul Ban - Mate Mark Aiello - Engineer Greg Maudlin - Bosun Josh Thompson - Deckhand Azure - Deckhand ------------------------------------ Science Plan: ------------------------------------ Iceberg AUV testing at Monterey Canyon / Soquel Canyon confluence. Sidelooking multibeam, dual DeltaT's. Cathx camera system is on ROV Ventana for interactive testing ------------------------------------ Precruise: ------------------------------------ [Revised on 1/7 to update participant list.] Iceberg AUV wall following testing at 1000m wall site. · Steve Rock · ROV Ventana and MAUV1. MAUV 1 with Iceberg AUV nose and midbody configured for port side-looking DVL, both Imagenex DeltaTs,Reson multibeam and TRN. Ship to be configured with USBL and acoustic modem. · Brett Hobson, Rob McEwen, Rich Henthorn, Steve Rock, Mike Risi, Ventana pilots. · · Depart ML at 0700 and steam 9 nMi to 36.799, -121.976. All AUV missions will be started at this site and recovered near 36.775, -121.996. · · · · · rcsn333 · 5463 ---------------------------------------------------- David W. Caress Software Engineer Monterey Bay Aquarium Research Institute 7700 Sandholdt Road Moss Landing, CA 95039 caress@mbari.org http://www.mbari.org/~caress/ Phone: 831-775-1775 Fax: 831-775-1620 ----------------------------------------------------- Calculating absorption with reasonable parameters: ----------------------------------------------------- mblevitus -R-122.104060/36.700320 -Osoundspeed.txt -V Program MBLEVITUS Version $Id: mblevitus.c 2241 2015-05-12 21:00:35Z caress $ MB-system Version 5.5.2256 Location for mean annual water velocity profile: Requested: -122.1041 longitude 36.7003 latitude Used: 237.5000 longitude 36.5000 latitude Values defined directly by Levitus database: 26 Values assuming deepest salinity and temperature: 20 Velocity points written: 46 Output file: soundspeed.txt Mean annual water column profile: Depth Temperature Salinity Velocity 0.0000 13.0230 33.2640 1498.1851 10.0000 12.8020 33.2820 1497.6289 20.0000 12.4730 33.3260 1496.7334 30.0000 12.0730 33.3490 1495.5599 50.0000 11.1330 33.4080 1492.6958 75.0000 10.1140 33.5250 1489.6215 100.0000 9.4380 33.6590 1487.7380 125.0000 8.9870 33.7960 1486.6539 150.0000 8.6940 33.9050 1486.1083 200.0000 8.2470 34.0280 1485.4022 250.0000 7.7400 34.0780 1484.3585 300.0000 7.1960 34.1080 1483.1226 400.0000 6.4150 34.1660 1481.7805 500.0000 5.6920 34.2260 1480.6169 600.0000 5.1830 34.2870 1480.2789 700.0000 4.7710 34.3430 1480.3113 800.0000 4.4070 34.3930 1480.5215 900.0000 4.1080 34.4330 1480.9810 1000.0000 3.8190 34.4630 1481.4642 1100.0000 3.5640 34.4870 1482.0790 1200.0000 3.3180 34.5010 1482.7166 1300.0000 3.1210 34.5270 1483.5773 1400.0000 2.9220 34.5420 1484.4153 1500.0000 2.7450 34.5560 1485.3470 1750.0000 2.4180 34.6040 1488.2009 2000.0000 2.0690 34.6180 1490.9303 2500.0000 0.0000 0.0000 1499.4709 3000.0000 0.0000 0.0000 1508.1036 3500.0000 0.0000 0.0000 1516.8223 4000.0000 0.0000 0.0000 1525.6207 4500.0000 0.0000 0.0000 1534.4928 5000.0000 0.0000 0.0000 1543.4323 5500.0000 0.0000 0.0000 1552.4324 6000.0000 0.0000 0.0000 1561.4868 6500.0000 0.0000 0.0000 1570.5890 7000.0000 0.0000 0.0000 1579.7322 7500.0000 0.0000 0.0000 1588.9095 8000.0000 0.0000 0.0000 1598.1141 8500.0000 0.0000 0.0000 1607.3390 9000.0000 0.0000 0.0000 1616.5771 9500.0000 0.0000 0.0000 1625.8213 10000.0000 0.0000 0.0000 1635.0642 10500.0000 0.0000 0.0000 1644.2985 11000.0000 0.0000 0.0000 1653.5166 11500.0000 0.0000 0.0000 1662.7111 12000.0000 0.0000 0.0000 1671.8743 mbabsorption -C1484.3585 -D250 -F200 -P6.15 -S34.0780 -T7.7 -V Program Program Version $Id: mbabsorption.c 2258 2015-10-06 04:57:28Z caress $ MB-system Version 5.5.2259 Input Parameters: Frequency: 200.000000 kHz Temperature: 7.700000 deg C Salinity: 34.078000 per mil Soundspeed: 1484.358500 m/sec Depth: 250.000000 m pH: 6.150000 Result: Sound absorption: 45.393184 dB/km ----------------------------------------------------- Sensor Model and Serial Numbers: ----------------------------------------------------- Mapping AUV (Alpha): ------------------- Paroscientific pressure sensor Model: 8CB4000I Serial Number: 87760 Features: 4000 m depth rating SeaBird CTD Model: SBE49 Serial Number: 0037 Features: 6000 m depth rating Kearfott SeaDeViL inertial navigations system INS Model: T24 INS Serial Number: 002 DVL Model: WHN300 DNL Serial Number: Reson Multibeam Echosounder Model: 7125 Edgetech Model: FSAU? New Mapping AUV (Beta): ---------------------- Paroscientific pressure sensor Model: 8CB4000I Serial Number: 123326 Features: 4000 m depth rating SeaBird CTD Model: SBE49 Serial Number: 0161 Features: 6000 m depth rating Kearfott SeaDeViL inertial navigations system INS Model: T24 INS Serial Number: ? DVL Model: WHN300 DNL Serial Number: Reson Multibeam Echosounder Model: 7125 Edgetech Model: FSAU? ----------------------------------------------------- Computer IP Settings: ----------------------------------------------------- Original Mapping AUV (Alpha): ---------------- Reson computer ip is 134.89.32.107 Edgetech computer ip is 134.89.32.38 User: administrator Password: admin MVC ip is 134.89.32.35 (dorado1 dorado1) MVC logs at /home/dorado1/auv-qnx/auv/altex/onboard/logs/ New Mapping AUV (Beta): ---------------- Reson computer ip is 134.89.32.108 Edgetech computer ip is 134.89.32.109 User: administrator Password: admin MVC ip is 134.89.32.36 (dorado1 dorado1) MVC logs at /home/dorado1/auv-qnx/auv/altex/onboard/logs/ AUV Group Laptops: ----------------- Shackelton laptop ip is 134.89.32.40 AUV-rack computer is 134.89.22.129 ----------------------------------------------------- Sonar Settings: ----------------------------------------------------- Subbottom - on pulse SB106DW__1_5__4_5__12FM_25ms_BLANK.spf AGC off Spherical spreading correction off Sub-bottom amplifier configured to be always on (to reduce noise perhaps) 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: 25 dB spreading loss: 30 absorption: 33 dB/km range gating on: 100 - 200 m depth gating off pulse 60 usec ranges set according to vehicle altitude. Available pulse files for the Edgetech systems: 2-16 kHz SBP: SB216D_2_10_20MS_SB.spf ** 1-6 kHz SBP: SB106DW__1_5__4_5__12FM.spf SB106DW__1_5__4_5__12FM_25MS_BLANK.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 spherical correction set to "1" ------------------------------------ What's new in this survey: ------------------------------------ Attempting to get good pictures with the new CathX camera system. ------------------------------------ Header of mission script: ------------------------------------ ----------------------------------------------------------------- Scientist Mapping AUV Deployment Checklist ----------------------------------------------------------------- Location Vessel .................................................| R/V Rachel Carson Captain ................................................| Paul Ban ----------------------------------------------------------------- Date and Time Date ...................................................| November 23, 2015 Time ...................................................| ----------------------------------------------------------------- Operators Chief Scientist ........................................| Brett Hobson Mission Scripting & Data Processing ....................| Rob McEwen Lead AUV Operator ......................................| Hans Thomas ----------------------------------------------------------------- Mission Mission generation commands in file mission.cmd ........| | Rob is hand coding missions Verify mission filename ...............................| | PortTrimCHecCathyx.cfg first, then others Mission contains StartSurvey behavior .................| | No Sonar logging turned on at first waypoint .............| | Imagenex DeltaT and Cathyx cameras Sonar logging not turned off until after last waypoint .| | Subbottom enabled or not, as desired ...................| | On Low frequency sidescan enabled or not, as desired ......| | On High frequency sidescan enabled or not, as desired .....| | On If beam data desired, sbp & ss off & log mode = 3 ......| | Off Multibeam transmit gain set to correct maximum .........| | 218 for new Mapping AUV, 220 for original Mapping AUV Descent time consistent with expected depth ............| | 300 seconds Ascent time consistent with expected depth .............| | 300 seconds Using desired abort plan ...............................| | 7200 second ascent Using desired mission timeout ..........................| | 62700 seconds Using desired survey speed .............................| | 1.5 m/sec ----------------------------------------------------------------- Vehicle Preparation Check surface water density ...........................| | N/A AUV ballasting consistent with surface water density ..| | Ballasted in tank previously - 6 lbs positive Antennas in mast ......................................| | Dropweight in place ...................................| | Nose cone on ..........................................| | Farings secured .......................................| | Tailcone propellor engaged and secure .................| | Tailcone oil compensation full ........................| | USBL transponder turned on .............................| | super submini quickset B2 Check RDF with bridge ..................................| | 160.785 MHz ----------------------------------------------------------------- Battery Forward Battery vacuum ok..... .........................| | 2.50 psi Aft Battery vacuum ok..... .............................| | 2.50 psi USBL Transponder function check ........................| | super submini quickset B2 Homerpro beacon charged ................................| | Beacon #30 Forward battery charged ................................| | Min 4.075 V, Max 4.097V, Stack 32.69 V Forward Battery humidity < 15% .........................| | 17.0% Aft Battery charged ....................................| | Min 3.924 V, Max 3.944V, Stack 31.45 V Aft Battery 1 humidity < 15% ...........................| | 11.0% Battery usage counter reset ...........................| | No, not fully charged ----------------------------------------------------------------- BPR Beacon Avtrak II address ...............................| | 1305 RDF ....................................................| | 156.675 MHz Homer ID ...............................................| | 35 Synchronize time to UTC ................................| | Start BPR logging ......................................| | Check RDF functioning ..................................| | Note launch location ...................................| | No BPR for this mission | ----------------------------------------------------------------- MVC MVC on and ok .........................................| | Humidity < 10% ........................................| | 6.7% Ball pressure < 72 kPa ................................| | 72.9 kPa Check latitude for barometric correction................| | 36.70 Check that MVC UTM Zone is correct ....................| | Zone 10 Check free disk space on MVC ...........................| | 88.6 GB ----------------------------------------------------------------- Winfrog Check that Winfrog UTM Zone is correct ................| | Zone 10 Check Winfrog nav update configuration .................| | Check Winfrog master time zone is UTC ..................| | No, someone changed it back to local Check Winfrog computer NTP .............................| | ----------------------------------------------------------------- Reson Reson 7125 on and ok ..................................| | No Reson today PLC running ...........................................| | Recording desired records ..............................| | Verify 7kcenter data collection mode setting ...........| | 1003, 1006, 1008, 1010, 1012, 1013, 1015, | 1016, 7000, 7002, 7004, 7006, 7007, | 7011, 7017, 7021, 7027, 7028, | 7503, 7504, 7610, 7611, 7612, 7613 Sonar logging off .....................................| | Multibeam power set to zero ...........................| | Confirm external triggering enabled ....................| | enabled, MVC is master Multibeam pinging at 3.0 Hz ...........................| | Multibeam either fully 200 kHz or fully 400 kHz .......| | 200 Spreading loss set as desired ..........................| | 30 Absorption set as desired ..............................| | 45 dB/km Receive gain set as desired ............................| | 25 dB Pulse length set as desired ............................| | 60 usec Water sound speed set as desired .......................| | Multibeam mode (number of beams) set as desired ........| | wide coverage = 512 beams Multibeam coverage angle set as desired ................| | 165 degrees Multibeam range set as desired..........................| | 200 m Multibeam range minimum set as desired .................| | 15 m Multibeam range maximum set as desired .................| | 200 m Multibeam depth minimum set as desired .................| | depth gating off Multibeam depth maximum set as desired .................| | depth gating off Data storage has enough space for new data ............| | 929 GB on D:/Data Test data logging by 7kcenter .........................| | Reson BITE diagnosics ok ...............................| | all green ----------------------------------------------------------------- Edgetech Edgetech on and ok ....................................| | PLC talking to Edgetech ...............................| | Sonar2k process running ...............................| | Edgetech BITE values ..................................| | Check data logging directory for Edgetech .............| | 111 GB on F Sidescan 110 kHz pulse file set as desired .............| | SS_120_12_8_3_fm_ss.spf Sidescan 110 kHz trigger mode set to external ..........| | Sidescan 410 kHz pulse file set as desired .............| | SS_410_40_2_4_fm_ss.spf Sidescan 410 kHz trigger mode set to external ..........| | Subbottom trigger divisor set as desired ...............| | 1 Subbottom pulse file set as desired ....................| | SB106DW__1_5__4_5__12FM_25ms_BLANK.spf Subbottom trigger mode set to external .................| | Command multibeam setting change from MVC .............| | Command sidescan on from MVC ..........................| | Edgetech starts logging - set to auto log - 3474.jsf Set subbottom sweep to 300 msec ......................| | Command subbottom on from MVC .........................| | Edgetech starts logging - set to auto log Check subbottom audible at vehicle ....................| | Edgetech pinging disabled from MVC ....................| | ----------------------------------------------------------------- Reson UI no longer running on vehicle ..................| | ----------------------------------------------------------------- TRN Computer TRN on ................................................| | DeltaT beamformers running ............................| | TRN maps loaded .......................................| | TRN server running ....................................| | trn_server ----------------------------------------------------------------- Imagenex DeltaT's DeltaT's on and ok ....................................| | DeltaT's logging space ................................| | 384 GB on drive D (TRN computer) DeltaT downward (11) bottom picking algorithm .........| | bottom following DeltaT forward (12) bottom picking algorithm ..........| | max returns DeltaT ranges .........................................| | Downward=100 m, Forward=100 m DeltaT's receive gains ................................| | Downward=12, Forward=12 DeltaT's receive gains in deltaT cfg file ..............| | Downward=12, Forward=12 DeltaT's trigger delay ................................| | Downward=100 msec, Forward=100 msec DeltaT's sector size ..................................| | Downward=120 degree, Forward=120 degree DeltaT's triggering ...................................| | Run DeltaT_test to confirm data logging ................| | DeltaT's logging .......................................| | DeltaT listed in devices.cfg ...........................| | ----------------------------------------------------------------- Cathx Cameras CathyX camera on and ok ................................| | CathyX camera logging space ............................| | 452 GB out of 452 GB, directory 12_9_15 ----------------------------------------------------------------- Kearfott INS Kearfott on ...........................................| | Using s/n 2 Kearfott getting and processing GPS ...................| | Kearfott getting and processing DVL ...................| | ----------------------------------------------------------------- General Clocks synchronized and in proper time zone ...........| | Fastcat CTD ok .........................................| | Parosci pressure sensor ok .............................| | s/n 87760 4000 m rated unit - increased significant digits Magnetometer ok ........................................| | no magnetometer Obstacle avoidance sensor ok ...........................| | Iridium tested .........................................| | Dropweight server running .............................| | Check tailcone function ..............................| | Vehicle acoustic modem working .........................| | Turn off SeaBeam and other sonars ......................| | N/A Radio beacon turned on .................................| | Channel 1 160.785 MHz Acoustic modem head deployed ...........................| | Not deployed Ship acoustic modem on .................................| | Not on Ship acoustic modem working ............................| | Not on ----------------------------------------------------------------- Immediately before Launch Kearfott getting and processing GPS and DVL ...........| | X Kearfott aligned ...................................| | X Bring batteries online ................................| | X Forward batteries are discharging .....................| | X Aft batteries are discharging .........................| | X All power supplies to off state .......................| | X Deck tethers removed, dummies installed ...............| | X Close faring openings .................................| | ----------------------------------------------------------------- After tethers disconnected Radio modem connection ok .............................| | MVC on and ok .........................................| | Humidity < 10% ........................................| | Ball pressure < 72 kPa ................................| | Reson 6046 on and ok ..................................| | No Reson Edgetech on and ok ....................................| | No Edgetech TRN computer on and ok ................................| | DeltaT's on and ok ....................................| | unable to tell Cathyx camera on and ok ...............................| | Forward battery is discharging ........................| | Aft battery is discharging ............................| | Check fastcat .........................................| | Check pressure sensor .................................| | Check tailcone communication ...........................| | Vehicle acoustic modem working .........................| | Check kearfott getting GPS ...........................| | Check kearfott getting DVL ...........................| | Check kearfott aligned ...............................| | Inform bridge ready to launch ..........................| | ----------------------------------------------------------------- Immediately after Launch Radio modem connection ok .............................| | Dropweight server running .............................| | USBL tracking head deployed ...........................| | USBL tracking working .................................| | MVC on and ok .........................................| | MVC Humidity < 10% ....................................| | MVC Ball pressure < 72 kPa ............................| | Battery humidities < 67% ...............................| | All batteries are discharging .........................| | Reson 6046 on and ok ..................................| | Edgetech on and ok ....................................| | Kearfott getting and processing GPS ...................| | Check kearfott getting DVL ...........................| | Kearfott aligned ......................................| | Vehicle INS and GPS position agree. ...................| | ----------------------------------------------------------------- Start Mission Verify mission filename ...............................| | PortTrimCheckCathx.cfg Using desired Log_Mode .................................| | N/A Using desired multibeam transmit power .................| | N/A Using desired abort plan ...............................| | ascent time 7200 seconds Time to first waypoint consistent with distance .......| | 1000 seconds Set mission timeout ...................................| | 858 seconds Set initial bearing ...................................| | 180 Save all changes to mission file .......................| | Confirm all test programs on MVC are killed ............| | Ready to send mission to AUV ..........................| | Turn on Winfrog logging ...............................| | Send mission ..........................................| | Set USBL interrogation rate to desired rate ...........| | 5 sec to start, 15 sec later ----------------------------------------------------------------- On Bottom Confirm navigation if spiral descent with aided nav ...| | Send start survey command ................ ............| | Set USBL interrogation rate to desired rate ...........| | 15 sec ----------------------------------------------------------------- Start Mission Verify mission filename ...............................| | PortAllNoReturn.cfg Using desired Log_Mode .................................| | N/A Using desired multibeam transmit power .................| | N/A Using desired abort plan ...............................| | ascent time 7200 seconds Time to first waypoint consistent with distance .......| | 1000 seconds Set mission timeout ...................................| | 1200 seconds Set initial bearing ...................................| | 270 Save all changes to mission file .......................| | Confirm all test programs on MVC are killed ............| | Ready to send mission to AUV ..........................| | ----------------------------------------------------------------- Event Log -----------