MBARI Mapping AUV Operations 11 October 2006 R/V Zephyr Davidson Seamount R/V Zephyr Shipboard Party Aaron Gregg - Master Paul Ban - Mate Matt Noyes - Engineer Perry Shoemake - Mate David Caress - Chief Scientist Hans Thomas - AUV Supervisor Doug Conlin - AUV Operator Lonny Lundsten - Scientist ------------------------------------ ------------------------------------ Mapping AUV Survey: This fourth survey will be over the southern lower end of Davidson Seamount, We will run at a 70 meter altitude. The subbottom gain will be set higher to 64 in order see if there is any improvement. During first three missions the battery apparently shut down as the vehicle neared the surface. We will revert to the 30 degree pitch limits used successfully during previous expeditions We are deploying at a point where the water depth is 2200 m, meaning the vehicle must spin down to 1290 m. We allow 1.00 hours for descent and 1.00 hour for ascent. The total mission duration can be 8.5 hours, so we have 6.5 hours on the bottom. We have been achieving 4.9 km/hr with all the ups and downs, so we should cover 31.85 km. We set the mission timer to 7.25 hours or 27000 seconds. ------------------------------------ # 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: DavidsonSurvey03_50m_v2.rte # Mission File: DavidsonSurvey03_50m_v2.cfg # Distance: 29485.949693 (m) # Estimated Time: 26156 (s) 7.266 (hr) # Abort Time: 27000 (s) # Max battery life: 30600 (s) # Safety margin: 3600 (s) # Ascend time: 5598 (s) # Way Points: 30 # Route Points: 259 # 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 -122.724856 35.724365 -1342.227020 0.000000 1 # 1 -122.725121 35.722310 -1367.660675 229.177434 1 # 2 -122.733154 35.713632 -1734.631409 1435.108198 1 # 3 -122.729970 35.711992 -1567.379486 1775.742831 1 # 4 -122.706440 35.737832 -1473.319122 5345.360281 1 # 5 -122.704628 35.737093 -1492.062683 5528.569181 1 # 6 -122.707695 35.733248 -1514.847015 6037.274627 1 # 7 -122.718003 35.722634 -1496.209869 7538.890627 1 # 8 -122.726492 35.713296 -1540.402771 8828.143089 1 # 9 -122.727384 35.709558 -1532.086029 9250.503738 1 # 10 -122.722741 35.714678 -1568.370178 9956.796309 1 # 11 -122.702328 35.737345 -1591.730591 13075.841501 1 # 12 -122.700544 35.736621 -1684.979309 13256.042952 1 # 13 -122.725298 35.709221 -1572.891693 17030.627066 1 # 14 -122.723717 35.708234 -1684.002838 17210.728668 1 # 15 -122.714112 35.718830 -1631.100067 18672.208649 1 # 16 -122.720766 35.725339 -1342.569580 19612.069679 1 # 17 -122.721066 35.729257 -1565.407745 20047.462951 1 # 18 -122.718931 35.731865 -1669.840271 20395.236915 1 # 19 -122.715925 35.732586 -1728.335236 20678.593481 1 # 20 -122.708541 35.740843 -1642.854736 21811.956123 1 # 21 -122.710228 35.741919 -1750.348450 22005.633525 1 # 22 -122.717258 35.743144 -1636.158325 22655.646936 1 # 23 -122.722380 35.737922 -1682.250854 23397.231402 1 # 24 -122.721647 35.735657 -1666.141571 23657.041254 1 # 25 -122.724753 35.735464 -1668.795319 23938.725906 1 # 26 -122.734429 35.725321 -1675.245667 25363.941832 1 # 27 -122.732424 35.722015 -1546.482544 25773.000565 1 # 28 -122.716942 35.738716 -1759.760620 28094.930107 1 # 29 -122.703522 35.732586 -1708.628662 29485.949693 1 # # A total of 259 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 29485.949693 #define MISSION_TIME 26156 #define MISSION_TIMEOUT 27000 #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 64 **** 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 134.89.32.107 ----------------------------------------------------------------- Scientist Mapping AUV Deployment Checklist ----------------------------------------------------------------- Location Vessel .................................................| R/V Zephyr Captain ................................................| Aaron Gregg Expedition .............................................| Davidson Seamount October 2006 ----------------------------------------------------------------- Date and Time Date ...................................................| October 9, 2006 Time ...................................................| 1100L 1800Z ----------------------------------------------------------------- Operators Chief Scientist ........................................| David Caress, MBARI Scientist ..............................................| Lonny Lundsten, MBARI AUV Operator ...........................................| Hans Thomas, MBARI AUV Operator ...........................................| Doug Conlin, MBARI ----------------------------------------------------------------- Battery Batteries charged ......................................| X 33.214V MinMax Cell 3.994 - 4.216 V Battery humidity < 67% .................................| X 69% ----------------------------------------------------------------- MVC MVC on and ok .........................................| X Humidity < 10% ........................................| X 9.2% Temperature ...........................................| X 36.1 deg C Ball pressure < 72 kPa ................................| X 71.1 kPa Check that UTM Zone is correct ........................| X Zone 10 ----------------------------------------------------------------- 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 depth maximum set as desired .................| X 125 m Datastore6046 has enough space for new data ...........| X 41.3 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 64 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 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 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 Inform bridge ready to launch ..........................| X ----------------------------------------------------------------- Immediately after Launch Radio modem connection ok .............................| X USBL tracking working .................................| X ? until it dives Dropweight server running .............................| X MVC on and ok .........................................| X MVC Humidity < 10% ....................................| X Battery humidity < 67% .................................| X MVC Ball pressure < 72 kPa ............................| X Kearfott getting and processing GPS ...................| X Kearfott aligned ......................................| X Reson 6046 on and ok ..................................| X Edgetech on and ok ....................................| X DVL pinging ............................................| X All batteries are discharging .........................| X USBL tracking head deployed ...........................| X Vehicle INS and GPS position agree. ...................| X Acoustic modem head deployed ...........................| X Acoustic modem on ......................................| X Acoustic modem working .................................| X ----------------------------------------------------------------- Mission Sonar logging turned on at first waypoint .............| X Sonar logging not turned off until after last waypoint .| X Descent time consistent with expected depth ............| X Time to first waypoint consistent with distance .......| X Ascent time consistent with expected depth .............| X Ready to launch mission ...............................| X Set USBL interrogation rate to desired rate ...........| X start at 5 seconds Turn on Winfrog logging ...............................| X ----------------------------------------------------------------- Event Log: ----------- 1017Z 0317L Start checklist - battery charged 1103Z 0403L INS aligned 1115Z 0415L Vehicle in water 1130Z 0430L Start mission. 1132Z 0432L Vehicle under water 1140Z 0440L Vehicle descending depth 182 m Tracking much better with vehicle at a 30 degree pitch than at a 45 degree pitch as in the first two missions. 1151Z 0451L Vehicle descending depth 509 m 1159Z 0459L Vehicle descending depth 663 m 1209Z 0509L Vehicle descending depth 981 m 1215Z 0515L Vehicle has bottom lock depth 1160 m altitude 177 m 1223Z 0523L Vehicle moving down line - depth 1227 m altitude 50 m End aided navigation USBL interrogation 15 seconds. 1259Z 0559L Vehicle moving down line 1331Z 0631L End of Line 1 - moving to line 2 1334Z 0634L Start of Line 2 1414Z 0714L End of Line 2 1417Z 0717L Start Line 3 1508z 0808L End Line 3, staring turn 1510z 0810L Start Line 4 1514z 0814L Breaking tracking to let ship traffic through. Position: 35 44.072, 122 42.145 1518z 0818L R/V Zephyr is 625 m away from AUV and still tracking 1521z 0821L R/V Zephyr is 850 m away from AUV and still tracking 1523z 0823L R/V Zephyr is 1000 m aqay from AUV and still tracking 1524z 0824L R/V Zephyr is returning to tracking position above the AUV 1555z 0855L End Line 4, starting turn 1558z 0858L Start Line 5 1615z 0915L End Line 5, Start Cross 1626z 0926L Starting section with many small legs 1641z 0941L Start next long leg 1653z 0953L Start next short leg 1657z 0957L Start next long leg 1704z 1004L Start Line 1744z 1044L End Line, Start turn 1749z 1049L Start Line 1822Z 1122L Start last line Vehicle seems offset to the south, perhaps as much as 80 m. 1838Z 1138L Vehicle at end of line and survey, should start coming up Depth 1680 m 1839Z 1139L Vehicle spiraling up - depth 1630 m. 1845Z 1145L Vehicle in ascent - depth 1358 m 1853Z 1153L Vehicle in ascent - depth 1268 m 1900Z 1200L Vehicle in ascent - depth 1128 m 1924Z 1224L Vehicle at surface The vehicle broached the surface hard - Doug saw the tail come several feet out of the water. The battery shut down again. 1936Z 1236L Vehicle on deck Hans dove into the water at 1230L to put the magnet switch into the vehicle. He hoped to prevent the drop weight from dropping. The drop weight was gone anyway - the timer could not have started when the vehicle hit the water as Hans got the magnet in six minutes later and we had the vehicle on board 10 minutes after surfacing.The observation that the vehicle surfaced tail first suggests that the drop weight was already gone so that the vehicle was tail-light. Thus, the drop weight must have burned prior to surfacing. We will change the abort plan back to a 30 degree pitch. Note: right now we have flat calm winds and glassy seas. It's supposed to blow hard by tommorrow. We had a pod of pilot whales just off our bow a bit ago, and Paul, Matt, and Aaron caught several albacore while the vehicle was ascending. Data recorded: -rw-r--r-- 1 caress staff 211291744 Oct 10 05:39 20061010_122308.s7k -rw-r--r-- 1 caress staff 212802700 Oct 10 05:54 20061010_123938.s7k -rw-r--r-- 1 caress staff 212895416 Oct 10 06:10 20061010_125436.s7k -rw-r--r-- 1 caress staff 212810632 Oct 10 06:25 20061010_131011.s7k -rw-r--r-- 1 caress staff 213036556 Oct 10 06:41 20061010_132546.s7k -rw-r--r-- 1 caress staff 213114880 Oct 10 06:57 20061010_134116.s7k -rw-r--r-- 1 caress staff 212953504 Oct 10 07:12 20061010_135713.s7k -rw-r--r-- 1 caress staff 212963872 Oct 10 07:27 20061010_141221.s7k -rw-r--r-- 1 caress staff 212748952 Oct 10 07:42 20061010_142730.s7k -rw-r--r-- 1 caress staff 212778728 Oct 10 07:57 20061010_144216.s7k -rw-r--r-- 1 caress staff 212684364 Oct 10 08:13 20061010_145735.s7k -rw-r--r-- 1 caress staff 212673984 Oct 10 08:28 20061010_151322.s7k -rw-r--r-- 1 caress staff 212675696 Oct 10 08:43 20061010_152836.s7k -rw-r--r-- 1 caress staff 212866064 Oct 10 08:59 20061010_154345.s7k -rw-r--r-- 1 caress staff 212847564 Oct 10 09:13 20061010_155858.s7k -rw-r--r-- 1 caress staff 213103580 Oct 10 09:29 20061010_161342.s7k -rw-r--r-- 1 caress staff 213122060 Oct 10 09:45 20061010_162933.s7k -rw-r--r-- 1 caress staff 212734692 Oct 10 10:00 20061010_164509.s7k -rw-r--r-- 1 caress staff 212666596 Oct 10 10:16 20061010_170036.s7k -rw-r--r-- 1 caress staff 212663200 Oct 10 10:32 20061010_171629.s7k -rw-r--r-- 1 caress staff 212729684 Oct 10 10:47 20061010_173216.s7k -rw-r--r-- 1 caress staff 212866700 Oct 10 11:02 20061010_174717.s7k -rw-r--r-- 1 caress staff 212899964 Oct 10 11:18 20061010_180232.s7k -rw-r--r-- 1 caress staff 212877660 Oct 10 11:33 20061010_181832.s7k -rw-r--r-- 1 caress staff 59085692 Oct 10 11:38 20061010_183347.s7k