MBARI Mapping AUV Operations Taiwan Expedition April 2013 R/V OR5 ------------------------------------ MBARI Science Party: ------------------------------------ Hans Thomas - AUV Supervisor Doug Conlin - AUV Specialist Knute Brekke - ROV Pilot Charlie Paull - Co-Chief Scientist Krystle Anderson Roberto Gwiazda Esther Sumner Xavier Tubau ------------------------------------ Taiwan Science Party: ------------------------------------ Char-Shine Liu - Chief Scientist ------------------------------------ 2013 Tawian Expedition R/V OR5 Areas of Interest in possible order of Mapping AUV surveys: --------------------------------------------------------- A -R119.881818/119.965909/22.21818/22.35 B -R119.2375/119.3291667/22.028125/22.23 C -R119.0175/119.125/22.01667/22.1 D -R119.85/119.91666/22.13333/22.2 E -R120.22/120.3/21.933333/22.016667 F -R120.287719/120.35965/22.11228/22.18246 G -R120.225641/120.330769/22.29487/22.4 H -R120.08333/120.18333/22.13333/22.21666 I -R120.05/120.21666/21.91666/22.083333 J -R120.223077/120.325641/21.68718/21.78974 K -R120.2666/120.3333/21.59/21.67 L -R119.55454/119.61515/21.868181/21.928787 we don't have this data. nan -R119.830556 /119.8875/22.38194/22.43889 we don't have this data. ---------------------------------------------------- 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: ----------------------------------------------------- Example: mbabsorption -C1480.0 -D1000 -F200 -P8.2 -S34.6 -T5 -V Program MBabsorption Version $Id: mbabsorption.c 1891 2011-05-04 23:46:30Z caress $ MB-system Version 5.3.1906 Program Version $Id: mbabsorption.c 1891 2011-05-04 23:46:30Z caress $ MB-system Version 5.3.1906 Input Parameters: Frequency: 200.000000 kHz Temperature: 5.000000 deg C Salinity: 34.600000 per mil Soundspeed: 1480.000000 m/sec Depth: 1000.000000 m pH: 8.200000 Result: Sound absorption: 38.638278 dB/km Here is a table of absorption as a function of depth using: Frequency: 200.000000 kHz Salinity: 34.600000 per mil Soundspeed: 1480.000000 m/sec pH: 8.200000 Temperature: 3.0 to 7.0 deg C as observed in the GOC in 2003 Depth (m) Temperature (deg C) Absorption (dB/km) ------------------------------------------------ 500 7.0 43.692660 600 6.5 42.435442 700 6.0 41.244523 800 5.5 40.119238 900 5.0 39.058837 1000 4.5 38.062494 1100 4.0 37.129318 1200 3.7 36.446439 1300 3.4 35.793096 1400 3.2 35.252111 1500 3.0 34.728429 1600 3.0 34.373295 1700 3.0 34.021471 1800 3.0 33.672959 1900 3.0 33.327758 2000 3.0 32.985868 2100 3.0 32.647289 2200 3.0 32.312021 2300 3.0 31.980065 2400 3.0 31.651419 2500 3.0 31.326084 ----------------------------------------------------- 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: 50 dB spreading loss: 30 absorption: 42 dB/km range gating on: 100 - 200 m depth gating off pulse 60 usec Reson computer ip is 134.89.32.107 AUV-3 laptop ip is 134.89.32.130 workgroup AUV-rack computer is 134.89.32.102 login: auv-rack\zephyr password: rvzephyr ranges set according to vehicle altitude. Available pulse files for the Edgetech systems: 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: ------------------------------------ ------------------------------------ Header of mission script: ------------------------------------ # Mission Summary: # Route File: Area_F_10Hr_m1_v1.rte # Mission File: Area_F_10Hr_m1_v1.cfg # Distance: 47167.192657 (m) # Estimated Time: 32985 (s) 9.163 (hr) # Abort Time: 42880 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 788 (s) # Way Points: 32 # Route Points: 403 # Survey behavior: WaypointDepth # Descent style: Spiral descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 50 dB # Multibeam transmit gain: 220 dB # Multibeam pulse width: 6e-05 usec # Multibeam minimum range fraction: 0.3 # Subbottom enabled # Low sidescan enabled # High sidescan disabled # Benthic imaging camera control disabled: # # Mission Parameters: # Vehicle Survey Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Ascent Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Transit Speed: 1.500000 (m/s) 2.915769 (knots) # Minimum Vehicle Altitude 1: 50 (m) # Abort Vehicle Altitude 1: 15 (m) # Delta Depth Restart 1: 35 (m) # Desired Vehicle Altitude 1: 50 (m) # Desired Vehicle Altitude 2: 50 (m) # Desired Vehicle Altitude 3: 50 (m) # Constant Vehicle Depth 1: 50 (m) # Constant Vehicle Depth 2: 50 (m) # Maximum Vehicle Depth: 711.427275 (m) # Abort Vehicle Depth: 736.427275 (m) # Descent Vehicle Depth: 3 (m) # Spiral descent depth: 578.177917 m # Spiral descent altitude: 50 m # Forward Looking Distance: 100 (m) # Waypoint Spacing: 100 (m) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 120.297899 22.136520 -638.177917 0.000000 3 # 1 120.315319 22.148404 -605.915894 2229.641714 3 # 2 120.319032 22.143681 -527.236603 2878.564296 3 # 3 120.301612 22.131797 -609.346207 5108.261379 3 # 4 120.305324 22.127074 -636.228073 5757.141121 3 # 5 120.322744 22.138958 -575.876862 7986.893573 3 # 6 120.324777 22.133089 -634.766602 8670.503554 3 # 7 120.309928 22.151982 -634.565628 11266.122590 3 # 8 120.308756 22.151183 -633.766724 11416.089140 3 # 9 120.323605 22.132290 -635.815094 14011.710510 3 # 10 120.322433 22.131491 -642.252487 14161.692365 3 # 11 120.307584 22.150383 -631.190018 16757.226638 3 # 12 120.306412 22.149584 -628.571426 16907.193981 3 # 13 120.321261 22.130691 -640.523376 19502.820028 3 # 14 120.320090 22.129892 -635.083237 19652.719340 3 # 15 120.305240 22.148784 -628.034760 22248.319306 3 # 16 120.304068 22.147985 -630.228058 22398.287440 3 # 17 120.318918 22.129092 -635.830475 24993.979180 3 # 18 120.323799 22.120616 -735.795639 26060.225789 3 # 19 120.299749 22.151249 -658.800812 30267.203001 3 # 20 120.301724 22.146385 -640.697205 30843.642738 3 # 21 120.316574 22.127493 -644.022644 33439.249733 3 # 22 120.315402 22.126694 -633.538559 33589.233958 3 # 23 120.300552 22.145586 -647.363312 36184.843293 3 # 24 120.299380 22.144786 -650.137192 36334.878501 3 # 25 120.314230 22.125895 -641.707153 38930.400751 3 # 26 120.313059 22.125095 -657.936752 39080.367949 3 # 27 120.298208 22.143987 -655.032104 41676.042992 3 # 28 120.297037 22.143187 -659.773972 41825.995707 3 # 29 120.311887 22.124296 -673.075974 44421.522651 3 # 30 120.310715 22.123496 -686.075043 44571.573938 3 # 31 120.295865 22.142388 -665.594635 47167.192657 3 # # A total of 403 mission points have been defined. # # Define Mission parameters: #define SURVEY_SPEED 1.500000 #define ASCENTDESCENT_SPEED 1.500000 #define TRANSIT_SPEED 1.500000 #define MISSION_DISTANCE 47167.192657 #define MISSION_TIME 32985 #define MISSION_TIMEOUT 42880 #define DEPTH_MAX 711.427275 #define DEPTH_ABORT 736.427275 #define ALTITUDE_DESIRED 50.000000 #define ALTITUDE_MIN 50.000000 #define ALTITUDE_ABORT 15.000000 #define DELTA_DEPTH_RESTART 35.000000 #define ALTITUDE_DESIRED2 50.000000 #define ALTITUDE_DESIRED3 50.000000 #define DEPTH_CONSTANT 50.000000 #define DEPTH_CONSTANT2 50.000000 #define GPS_DURATION 600 #define DESCENT_DEPTH 3.000000 #define SPIRAL_DESCENT_DEPTH 578.177917 #define SPIRAL_DESCENT_ALTITUDE 50.000000 #define DESCEND_DURATION 300 #define SETPOINT_DURATION 30 #define GPSMINHITS 10 #define ASCENDRUDDER 3.000000 #define ASCENDPITCH 45.000000 #define ASCENDENDDEPTH 2.000000 #define DESCENDRUDDER 2.000000 #define DESCENDPITCH -35.000000 #define RESON_DURATION 6 ----------------------------------------------------------------- Scientist Mapping AUV Deployment Checklist ----------------------------------------------------------------- Location Vessel .................................................| R/V OR5 Captain ................................................| ----------------------------------------------------------------- Date and Time Date ...................................................| Time ...................................................| ----------------------------------------------------------------- Operators Chief Scientist ........................................| Char-Shine Liu Co-Chief Scientist .....................................| Charlie Paull Lead AUV Operator ......................................| Hans Thomas ----------------------------------------------------------------- Mission Verify mission filename ...............................| | ????.cfg Mission contains StartSurvey behavior .................| | No Sonar logging turned on at first waypoint .............| | 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 .....| | Off If beam data desired, sbp & ss off & log mode = 3 ......| | Off Descent time consistent with expected depth ............| | ? seconds Ascent time consistent with expected depth .............| | ? seconds Using desired abort plan ...............................| | Using desired mission timeout ..........................| | ? seconds Using desired survey speed .............................| | 1.5 m/sec ----------------------------------------------------------------- Battery Forward Battery vacuum ok..... .........................| | ? psi Aft Battery vacuum ok..... .............................| | ? psi USBL Transponder function check ........................| | HPR channel 1 Homerpro beacon charged ................................| | Beacon #30 Forward battery charged ................................| | min ? V, max ? V, stack ? V Forward Battery humidity < 15% .........................| | ? % Aft Battery charged ....................................| | min ? V, max ? V, stack ? V Aft Battery 1 humidity < 15% ...........................| | ? % ----------------------------------------------------------------- BPR Enable code ............................................| | A Burn code ..............................................| | C Receive ................................................| | 11.5 Transmit ...............................................| | 12.0 RDF ....................................................| | 160.725 MHz Homer ID ...............................................| | 35 Synchronize time to UTC ................................| | Start BPR logging ......................................| | ~2000Z Check RDF functioning ..................................| | Note launch location ...................................| | 33d 48.3834'N 118d 35.914'W ----------------------------------------------------------------- MVC MVC on and ok .........................................| | Humidity < 10% ........................................| | ? % Ball pressure < 72 kPa ................................| | ? kPa Check latitude for barometric correction................| | ? (approximate center of mission) Check that MVC UTM Zone is correct ....................| | Zone 50 or 51 Check free disk space on vehicle .......................| | ? GB ----------------------------------------------------------------- Winfrog Check that Winfrog UTM Zone is correct ................| | Zone 50 or 51 Check Winfrog nav update configuration .................| | ----------------------------------------------------------------- Reson Reson 6046 on and ok ..................................| | PLC running ...........................................| | ATS server running ....................................| | Recording desired records ..............................| | Verify 6046 data collection mode setting ...............| | mode 45 (7000, 7004, 7006, 7018, 7026, 7027, 7503) Verify good data on last mission .......................| | Sonar logging off .....................................| | Multibeam power set to zero ...........................| | Multibeam pinging at 3 Hz .............................| | Spreading loss set as desired ..........................| | 30 Absorption set as desired ..............................| | 42 dB/km (from table above) Receive gain set as desired ............................| | 50 dB Pulse length set as desired ............................| | 60 usec Water sound speed initially reasonable .................| | 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 ............| | 931G TB on D Reson 6046 BITE diagnosics ok .............. ...........| | all green ----------------------------------------------------------------- Edgetech Edgetech on and ok ....................................| | Edgetech ethernet interface at 100 Mbps ...............| | PLC talking to Edgetech ...............................| | Sonar2k process running ...............................| | Sidescan 110 kHz pulse file set as desired .............| | SS_120_12_8_3_fm_ss.spf Sidescan 410 kHz pulse file set as desired .............| | SS_410_40_2_4_fm_ss.spf Subbottom trigger divisor set as desired ...............| | 1 Subbottom pulse file set as desired ....................| | SB106DW__1_5__4_5__12FM_25MS_BLANK.spf Command multibeam setting change from MVC .............| | Command sidescan on from MVC ..........................| | Set subbottom sweep to 300 msec ......................| | Command subbottom on from MVC .........................| | Check subbottom audible at vehicle ....................| | ----------------------------------------------------------------- Reson UI no longer running on vehicle .............. ...| | ----------------------------------------------------------------- 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 conductivity streaming data ...................| | (cal coefficients updated 10/20/2011) Parosci pressure sensor ok .............................| | Swapped back to s/n 87760 4000 m rated unit Magnetometer ok ........................................| | Obstacle avoidance sensor ok ...........................| | Sector scan Imagenex Iridium tested .........................................| | Dropweight server running .............................| | Antennas in mast ......................................| | Dropweight in place ...................................| | Nose cone on ..........................................| | Farings secured .......................................| | Tailcone propellor engaged and secure .................| | Tailcone oil compensation full ........................| | USBL transponder turned on .............................| | Channel 1 Check tailcone function ..............................| | Turn off SeaBeam and other sonars ......................| | N/A Radio beacon turned on .................................| | Channel 1 160.785 MHz Acoustic modem head deployed ...........................| | Acoustic modem on ......................................| | Acoustic modem working .................................| | ----------------------------------------------------------------- Immediately before Launch Kearfott getting and processing GPS and DVL ...........| | Kearfott aligned ...................................| | Battery usage counter reset ...........................| | Bring batteries online ................................| | Forward batteries are discharging .....................| | Aft batteries are discharging .........................| | Deck tethers removed, dummies installed ...............| | Close faring openings .................................| | ----------------------------------------------------------------- After tethers disconnected Vehicle acoustic modem working .........................| | Radio modem connection ok .............................| | MVC on and ok .........................................| | Humidity < 10% ........................................| | Ball pressure < 72 kPa ................................| | Reson 6046 on and ok ..................................| | Edgetech on and ok ....................................| | Forward battery is discharging ........................| | Aft battery is discharging ............................| | Check fastcat .........................................| | Check pressure sensor .................................| | Check tailcone communication ...........................| | Check kearfott getting GPS ...........................| | Check kearfott getting DVL ...........................| | Check kearfott aligned ...............................| | Inform bridge ready to launch ..........................| | ----------------------------------------------------------------- Immediately after Launch Radio modem connection ok .............................| | USBL tracking head deployed ...........................| | USBL tracking working .................................| | Dropweight server running .............................| | MVC on and ok .........................................| | MVC Humidity < 10% ....................................| | ? % MVC Ball pressure < 72 kPa ............................| | ? kPa Battery humidities < 67% ...............................| | ? %, ? % Both 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 ...............................| | Santa_Monica_Mounds_m1_v4.cfg Using desired abort plan ...............................| | Time to first waypoint consistent with distance .......| | 1000 seconds Set mission timeout ...................................| | 62416 seconds Set initial bearing ...................................| | 224 Save all changes to mission file .......................| | Turn on Winfrog logging ...............................| | Ready to send mission to AUV ..........................| | 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 ----------------------------------------------------------------- Event Log -----------