MBARI Mapping AUV Operations 27 February 2017 R/V Rachel Carson Iceberg and Mapping AUV Surveys in Monterey Bay - Iceberg/TRN testing - Mapping AUV 1 testing ------------------------------------ Science Party: ------------------------------------ Steve Rock - Chief Scientist Brett Hobson - Engineer Rob McEwen - Engineer Rich Henthorn - Engineer David Caress - Engineer Hans Thomas - AUV Supervisor Erik Trauschke - AUV Specialist Doug Conlin - AUV Specialist ------------------------------------ Ship's Crew: ------------------------------------ Aaron Gregg - Captain Paul Ban - Mate Mark Aiello - Engineer Lee Morrow - Assistant Engineer Greg Maudlin - Bosun Josh Thompson - Deckhand ------------------------------------ Science Plan: ------------------------------------ Go to Iceberg test area. Deploy Iceberg AUV and run wall test missions. Deploy MAUV1 and run patch test mission to test multibeam function. The multibeam has been producing poor data (narrow swath, many artifacts). The major change for today is a new transmit wet cable. ------------------------------------ Precruise: ------------------------------------ ExpeditionID 5844 ShipName rcsn ShipSeqNum 454 Purpose Iceberg AUV testing. StatCode plnd ExpdChiefScientist Brett Hobson ExpdPrincipalInvestigator Brett Hobson ScheduledStartDtg 2/27/2017 3:00:00 PM GMT ScheduledEndDtg 2/28/2017 12:30:00 AM GMT EquipmentDesc Equipment Requested: AUV Equipment Details: Iceberg AUV; Port side AUV LARS crane, Strb. pole with USBL tracking. Participants MBARI Personnel: Brett Hobson, Steve Rock, Rob McEwen, Rich Henthorn. RegionDesc PlannedTrackDesc Track Info: On the edge of the shelf near the intersection of Soquel and Monterey canyons: 36.800 -121.969 Track Outside Monterey Bay: NO Track In Restricted Areas: NO MBNMS Permit Compliance: YES Planned Sample Collection: NO CDFW Permit Compliance: NOT_APPLICABLE Track in SMP Area: NOT_SURE SMPA Collection Permit Compliance: NOT_SURE Waypoints to be visited ======================= Order Waypoint Name Latitude Longitude Depth ----- ----------------------- --------- ----------- ----- 0 specialOps-check 0.00000 0.00000 0 m in DDD MM.MMM format ==> 0 0.000 0 0.000 0 permits-check 0.00000 0.00000 0 m in DDD MM.MMM format ==> 0 0.000 0 0.000 StartDtg GMT EndDtg GMT Accomplishments ScientistComments SciObjectivesMet OperatorComments AllEquipmentFunctioned OtherComments UpdatedBy isModified 0 ---------------------------------------------------- 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 -C1481.4642 -D400 -F400 -P6.15 -S34.4630 -T3.8190 -V Program Version $Id: mbabsorption.c 2261 2016-01-07 01:49:22Z caress $ MB-system Version 5.5.2289 Input Parameters: Frequency: 400.000000 kHz Temperature: 3.819000 deg C Salinity: 34.463000 per mil Soundspeed: 1481.464200 m/sec Depth: 400.000000 m pH: 6.150000 Result: Sound absorption: 91.068597 dB/km mbabsorption -C1481.4642 -D1000 -F400 -P6.15 -S34.4630 -T3.8190 -V Program Version $Id: mbabsorption.c 2261 2016-01-07 01:49:22Z caress $ MB-system Version 5.5.2279 Input Parameters: Frequency: 400.000000 kHz Temperature: 3.819000 deg C Salinity: 34.463000 per mil Soundspeed: 1481.464200 m/sec Depth: 1000.000000 m pH: 6.150000 Result: Sound absorption: 87.409205 dB/km ----------------------------------------------------- Communication Devices and Mapping Sensors: ----------------------------------------------------- First Mapping AUV: ------------------- USBL AVTRAK6 Beacon: 1902 Benthos Acoustic Modem: S14=10,s18=11 Homerpro Beacon: #30 RDF Frequency: 160.785 MHz Paroscientific pressure sensor Model: 8CB4000I Serial Number: 123917 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: 2 DVL Model: WHN300 DNL Serial Number: Reson Multibeam Echosounder Model: 7125 - 400 kHz projecter + 200/400 kHz receive head Edgetech Model: FSAU Second Mapping AUV: ---------------------- USBL AVTRAK6 Beacon: 1711 Benthos Acoustic Modem: S14=10,s18=12 Homerpro Beacon: #23 RDF Frequency: 160.785 MHz Paroscientific pressure sensor Model: 8CB4000I Serial Number: 123326 Features: 4000 m depth rating SeaBird CTD Model: SBE49 Serial Number: 37 Features: 6000 m depth rating Kearfott SeaDeViL inertial navigations system INS Model: T24 INS Serial Number: 7 DVL Model: WHN300 DNL Serial Number: Reson Multibeam Echosounder Model: 7125 Edgetech Model: FSAU? Iceberg AUV: ---------------------- Paroscientific pressure sensor Model: ? Serial Number: ? Features: ? m depth rating SeaBird CTD Model: ? Serial Number: ? Features: ? 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 DeltaT Multibeam Echosounder (forward): Model: 837A Serial Number: ? Frequency: 260 kHz DeltaT Multibeam Echosounder (aft): Model: 837A Serial Number: ? Frequency: 260 kHz ----------------------------------------------------- Computer IP Settings: ----------------------------------------------------- First Mapping AUV: ---------------- Reson computer ip is 134.89.32.107 Reson computer GigE ip is 192.9.0.101 User: reson Password: reppe 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/ Second Mapping AUV: ---------------- Reson computer ip is 134.89.32.108 Reson computer GigE ip is 192.9.0.102 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/ Iceberg AUV: ---------------- Reson computer ip is 134.89.32.109 User: reson Password: reppe TRN computer ip is MVC ip is 134.89.32.35 (dorado1 dorado1) MVC logs at /home/dorado1/auv-qnx-dev/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 Rachel Carson data repository ----------------- 134.89.23.21 ipil User: ventana Password: venta1na ----------------------------------------------------- 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: Max 220 dB for First Mapper, 218 dB for Second Mapper - using 218 for both to avoid mistakes receive gain: 45 dB spreading loss: 30 absorption: 100 dB/km range gating on: 100 - 200 m depth gating off pulse 33 usec ranges set according to 0.4 * intended 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" Sonardyne Beacons: MAUV1: AVTRAK 6: MAUV1 code=1902, MAUV2 code=1711, TAT(turnaroundtime)=320, CIS=7, EC=1 serial port: 9 ------------------------------------ What's new in these operations: ------------------------------------ We will MAUV2 in FM mode but MAUV1 in CW mode. MAUV1 seems to have a problem running FM pulses because it currently has an old revision of the transmit board. Running side looking DVL reporting JANUS beam velocities (radial beam coordinates) (EX bit setting 00XXX) ----------------------------------------------------------------- Scientist Mapping AUV Deployment Checklist ----------------------------------------------------------------- Location Vessel .................................................| R/V Rachel Carson Captain ................................................| Aaron Gregg ----------------------------------------------------------------- Date and Time Date ...................................................| February 27, 2017 Time ...................................................| 1600Z 0800L 20 February ----------------------------------------------------------------- Operators Chief Scientist ........................................| David Caress Mission Scripting & Data Processing ....................| David Caress Lead AUV Operator ......................................| Hans Thomas ----------------------------------------------------------------- AUV Indicate which Mapping AUV is being deployed ...........| X | Iceberg - MAUV2 tail + Iceberg midbody ----------------------------------------------------------------- Vehicle Preparation Check surface water density ...........................| X | AUV ballasting consistent with surface water density ..| X | 5.5 lbs positive Antennas in mast ......................................| X | Dropweight in place ...................................| X | Nose cone on ..........................................| X | Farings secured .......................................| X | Tailcone propellor engaged and secure .................| X | Tailcone oil compensation full ........................| X | USBL Transponder function check ........................| X | AVTRAK 6: MAUV1 code=1902, MAUV2 code=1711, TAT(turnaroundtime)=320, CIS=7, EC=1 USBL Transponder responder mode disabled ..............| X | Homerpro beacon charged ................................| X | MAUV1 beacon #23, MAUV2 & Iceberg beacon #30 Check RDF with bridge ..................................| X | 160.785 MHz - !! Not working !! Acoustic modem settings ................................| X | MAUV1: S14=10,s18=11,s6=8 MAUV2: S14=10,s18=12,s6=5 ----------------------------------------------------------------- Battery Aft Battery vacuum ok..... .............................| X | 4.0 psi Forward Battery vacuum ok..... .........................| X | 3.0.0 psi Aft Battery charged ....................................| X | average voltage 31.50 V ip 134.89.32.129 aft Aft Battery 1 humidity < 15% ...........................| X | 25.2% Forward battery charged ................................| X | average voltage 31.2 V ip 134.89.32.134 forward Forward Battery humidity < 15% .........................| X | 16.6% ----------------------------------------------------------------- AMT Pressure Recorder Beacon Avtrak II address ...............................| | N/A RDF ....................................................| | Synchronize time to UTC ................................| | Start AMT logging ......................................| | Check RDF functioning ..................................| | Note launch location ...................................| | ----------------------------------------------------------------- MVC MVC on and ok .........................................| X | Humidity < 10% ........................................| X | 8.2% Ball pressure < 72 kPa ................................| X | 72.0 kPa Check latitude for barometric correction................| X | 36.77 Check that MVC UTM Zone is correct ....................| X | Zone 10 Check free disk space on MVC ...........................| X | 14.3 GB ----------------------------------------------------------------- Winfrog Check that Winfrog UTM Zone is correct ................| X | Zone 10 Check Winfrog nav update configuration .................| X | Check Winfrog master time zone is UTC ..................| X | No, local Check Winfrog computer NTP .............................| X | No ----------------------------------------------------------------- Reson Reson 7125 on and ok ..................................| XX | PLC running ...........................................| XX | No PLC on Iceberg No NTP client running on Reson computer ...............| XX | Recording desired records ..............................| X | Verify 7kcenter data collection mode setting ...........| X | 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 .....................................| X | Multibeam power set to zero ...........................| X | Confirm external triggering enabled ....................| X | enabled, MVC is master Confirm 1 PPS is set to rising edge ....................| X | Multibeam pinging at 3.0 Hz ...........................| X | Multibeam either fully 200 kHz or fully 400 kHz .......| X | 400 Spreading loss set as desired ..........................| X | 30 Absorption set as desired ..............................| X | 110 dB/km Water sound speed set as desired .......................| X | hard set to 1480 m/s due to no CTD Receive gain set as desired ............................| X | 31 dB Pulse modulation set as desired ........................| X | CW Pulse length set as desired ............................| X | 33 usec Multibeam mode (number of beams) set as desired ........| X | wide coverage = 512 beams Multibeam coverage angle set as desired ................| X | 165 degrees Multibeam range set as desired..........................| X | 200 m Multibeam range minimum set as desired .................| X | 15 m Multibeam range maximum set as desired .................| X | 200 m Multibeam depth minimum set as desired .................| X | depth gating off Multibeam depth maximum set as desired .................| X | depth gating off Data storage has enough space for new data ............| X | 1.2 TB GB on D:/Data Test data logging by 7kcenter .........................| X | Kearfott records making it into 7kcenter ...............| X | 1003 1012 1013 Reson BITE diagnosics ok ...............................| XX | all green including cap bank ----------------------------------------------------------------- Reson UI no longer running on vehicle ..................| XX | ----------------------------------------------------------------- TRN Process running on the Reson Computer TRN on ................................................| XX | Running on Reson computer on cygwin TRN maps loaded and set to run .........................| XX | TheWall_2m.bo TRN server running ....................................| XX | trn_server ----------------------------------------------------------------- Side-looking DVL Side-looking DVL ok ....................................| XX | ----------------------------------------------------------------- Imagenex DeltaT's DeltaT's on and ok ....................................| XX | DeltaT beamformers (fwd, aft) running .................| XX | Running on Reson computer DeltaT's logging space ................................| X | 1.2 TB on D-drive of Reson DeltaT aft (11) bottom picking algorithm ..............| X | bottom following - DeltaT server parameters DeltaT forward (12) bottom picking algorithm ..........| X | max returns DeltaT ranges .........................................| X | Downward=100 m, Forward=100 m DeltaT's receive gains ................................| X | Downward=12, Forward=12 DeltaT's receive gains in deltaT cfg file ..............| X | Downward=12, Forward=12 DeltaT's trigger delay ................................| X | Downward=100 msec, Forward=100 msec DeltaT's sector size ..................................| X | Downward=120 degree, Forward=60 degree DeltaT's triggering ...................................| X | Run DeltaT server .....................................| X | DeltaT's logging .......................................| X | DeltaT listed in devices.cfg ...........................| X | ----------------------------------------------------------------- Cathx Cameras CathyX camera on and ok ................................| X | No CathyX camera today CathyX camera logging space ............................| | 452 GB out of 452 GB, directory 12_9_15 ----------------------------------------------------------------- Kearfott INS Kearfott on ...........................................| XX | Using s/n 5 Kearfott getting and processing GPS ...................| XX | Kearfott getting and processing DVL ...................| XX | ----------------------------------------------------------------- General Clocks synchronized and in proper time zone ...........| X | Fastcat CTD ok .........................................| X | New CTD today... still using static sound speed set to 1480 m/s Parosci pressure sensor ok .............................| XX | s/n 123326 4000 m rated unit - increased significant digits Magnetometer ok ........................................| X | no magnetometer Obstacle avoidance sensor ok ...........................| X | Iridium tested .........................................| XX | Dropweight server running .............................| XX | Check tailcone function ..............................| X | Vehicle acoustic modem working .........................| X | Not on the pole Turn off SeaBeam and other sonars ......................| X | N/A Radio beacon turned on .................................| XX | Channel 1 160.785 MHz, RDF not working!! Acoustic modem head deployed ...........................| X | Not deployed, not on the pole right now Ship acoustic modem on .................................| X | Not on Ship acoustic modem working ............................| X | Not on ----------------------------------------------------------------- Immediately before Launch Kearfott getting and processing GPS and DVL ...........| XX | Kearfott aligned ...................................| XX | Bring batteries online ................................| XX | Forward batteries are discharging .....................| XX | Aft batteries are discharging .........................| XX | All power supplies to off state .......................| XX | Deck tethers removed, dummies installed ...............| XX | Close faring openings .................................| XX | ----------------------------------------------------------------- After tethers disconnected Radio modem connection ok .............................| XX | MVC on and ok .........................................| XX | Humidity < 10% ........................................| XX | Ball pressure < 72 kPa ................................| XX| Reson 6046 on and ok ..................................| XX | Edgetech on and ok ....................................| X | No Edgetech TRN computer on and ok ................................| X | DeltaT's on and ok ....................................| X | Cannot tell Cathyx camera on and ok ...............................| X | No Cathyx cameras Forward battery is discharging ........................| XX | Aft battery is discharging ............................| XX | Check fastcat .........................................| XX | No CTD Check pressure sensor .................................| XX | Check tailcone communication ...........................| XX | Vehicle acoustic modem working .........................| XX | Check kearfott getting GPS ...........................| XX | Check kearfott getting DVL ...........................| XX | Check kearfott aligned ...............................| XX | Inform bridge ready to launch ..........................| XX | ----------------------------------------------------------------- Immediately after Launch Radio modem connection ok .............................| XX | Dropweight server running .............................| XX | USBL tracking head deployed ...........................| XX | USBL tracking working .................................| XX | MVC on and ok .........................................| XX | MVC Humidity < 10% ....................................| XX | MVC Ball pressure < 72 kPa ............................| XX | Battery humidities < 67% ...............................| XX | All batteries are discharging .........................| XX | Reson 6046 on and ok ..................................| XX | Edgetech on and ok ....................................| X | No Edgetech Kearfott getting and processing GPS ...................| XX | Check kearfott getting DVL ...........................| XX | Kearfott aligned ......................................| XX | Vehicle INS and GPS position agree. ...................| XX | ----------------------------------------------------------------- Start Mission 20160130m1 Verify mission filename ...............................| X | 2017_WallTest_1v3Ed.cfg Using desired Log_Mode .................................| X | 2 Using desired multibeam transmit power .................| X | 218 Using desired abort plan ...............................| X | ascent time 7200 seconds Time to first waypoint consistent with distance .......| X | 600 seconds Set mission timeout ...................................| X | 10857 seconds Set initial bearing ...................................| X | 210 Save all changes to mission file .......................| X | Confirm all test programs on MVC are killed ............| X | Ready to send mission to AUV ..........................| X | Turn on Winfrog logging ...............................| | Send mission ..........................................| X | Set USBL interrogation rate to desired rate ...........| X | 5 sec to start, 15 sec later ----------------------------------------------------------------- Start Mission 20160130m1 Verify mission filename ...............................| X | 2017_WallTest_1v3Ed5.cfg Using desired Log_Mode .................................| X | 2 Using desired multibeam transmit power .................| X | 218 Using desired abort plan ...............................| X | ascent time 7200 seconds Time to first waypoint consistent with distance .......| X | 600 seconds Set mission timeout ...................................| X | 9000 seconds Set initial bearing ...................................| X | 270 Save all changes to mission file .......................| X | Confirm all test programs on MVC are killed ............| X | Ready to send mission to AUV ..........................| X | Turn on Winfrog logging ...............................| | Send mission ..........................................| X | Set USBL interrogation rate to desired rate ...........| X | 5 sec to start, 15 sec later ----------------------------------------------------------------- Event Log --------- 1600Z 0800L 27 February 2017 Left dock Moss Landing <-- Iceberg AUV - 20170227m1/2017_WallTest_1v3Ed.cfg --> 1715Z 0915L Starting checklist on Iceberg AUV RDF not working on Iceberg AUV, will go anyway but be careful 1815Z 1015L Iceberg AUV in water 1823Z 1023L Sending mission 20170227m1/2017_WallTest_1v3Ed.cfg 1826Z 1026L Iceberg AUV under water, 2.33 hour mission With no RDF we will track the vehicle continuously 1901Z 1101L Discussion - seems the DVL parameters aren't exactly what Steve and Rob want Going to abort the mission after it passes the wall. 1918Z 1118L Iceberg AUV aborted (did it by itself) and driving up. 1929Z 1129L Iceberg AUV on surface (visual by bridge) 1934Z 1134L Iceberg AUV on deck <-- MAUV1 - 20170227m3/2017_Patch_1v1.cfg --> 1936Z 1136L Starting MAUV1 checklist 2007Z 1207L MAUV1 in water 2014Z 1214L Sending mission 20170227m3/2017_Patch_1v1.cfg to MAUV1 2016Z 1216L MAUV1 under water EOL @ 1355L <-- Iceberg AUV - 20170227m3/2017_WallTest_1v3Ed5.cfg --> 2032Z 1232L Iceberg AUV in water 2037Z 1237L Sending mission 20170227m3/2017_WallTest_1v3Ed5.cfg to Iceberg AUV 2041Z 1241L Iceberg AUV under water 2155Z 1355L Iceberg AUV aborted, ascending, apparently when it failed to find the wall and went north instead of west along the wall. 2206Z 1406L MAUV1 at end of line, will begin ascending 2210Z 1410L Iceberg AUV on surface 2215Z 1415L MAUV1 on surface 2217Z 1417L Iceberg AUV on deck <-- MAUV1 - 20170227m3/2017_Patch_1v1.cfg --> 2221Z 1421L MAUV1 on surface 2230Z 1430L MAUV1 on deck