MBARI Mapping AUV Operations
13 October 2006
R/V Zephyr
Davidson Seamount surveys 7

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:7

This seventh survey will be over the southern side of Davidson Seamount
summit, between surveys 4 and 1-3+5.

We will run at a 50 meter altitude. The subbottom gain 
will be set to 64 .

The battery lasted for 7 hours during the fifth mission. We think 
the battery life is 7.5 hours. We will set a mission timout of 
6;5 hours to insure we get the vehicle
to the surface with power.

We are deploying at a point where the water depth is 1656 m,
meaning the vehicle must spin down to 1606 m. We allow 1.00 hours
for descent and 1.00 hour for ascent. The total mission duration can
be 7.5 hours, so we have 5.5 hours on the bottom. We have been 
achieving 4.9 km/hr with all the ups and downs, so we should cover
26.95 km. We set the mission timer to 6.5 hours or 23400 seconds.

------------------------------------
# This MBARI Mapping AUV mission file has been generated
# by the MB-System program mbm_route2mission run by
# user <caress> on cpu <maury> at <Thu Oct 12 04:23:20 PDT 2006>
# 
# Mission Summary:
#     Route File:               DavidsonSurvey06_50m.rte
#     Mission File:             DavidsonSurvey06_50m.cfg
#     Distance:                 33030.814421 (m)
#     Estimated Time:           29644 (s)  8.235 (hr)
#     Abort Time:               23400 (s)
#     Max battery life:         30600 (s)
#     Safety margin:            3600 (s)
#     Ascend time:              6948 (s)
#     Way Points:               16
#     Route Points:             300
#     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:
#   <number> <longitude (deg)> <latitude (deg)> <topography (m)> <distance (m)> <type>
#   0 -122.753343 35.684077 -1587.536621 0.000000 3
#   1 -122.789379 35.655711 -2178.413696 4531.438836 4
#   2 -122.790684 35.656813 -2245.364136 4701.414374 3
#   3 -122.755212 35.684778 -1583.640869 9165.214654 4
#   4 -122.756729 35.685548 -1618.484009 9326.878221 3
#   5 -122.791989 35.657915 -2256.994385 13751.288095 4
#   6 -122.793294 35.659017 -2303.437622 13921.261391 3
#   7 -122.758200 35.686284 -1577.919434 18306.732181 4
#   8 -122.759967 35.687167 -1552.966370 18494.225521 3
#   9 -122.794600 35.660119 -2290.360229 22832.719463 4
#   10 -122.795905 35.661222 -2312.691528 23002.770285 3
#   11 -122.762027 35.687756 -1609.366211 27252.467183 4
#   12 -122.764824 35.687167 -1713.118378 27513.841579 3
#   13 -122.763941 35.673479 -1672.150177 29034.069736 4
#   14 -122.782928 35.658908 -1974.945557 31393.028531 3
#   15 -122.781456 35.673626 -2084.576416 33030.814421 4
# 
# A total of 300 mission points have been defined.
# 
# Define Mission parameters:
#define MISSION_SPEED      1.500000
#define MISSION_DISTANCE   33030.814421
#define MISSION_TIME       29644
#define MISSION_TIMEOUT    23400
#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 12, 2006 
Time ...................................................| 0534L 1234Z
-----------------------------------------------------------------
	Operators 
Chief Scientist ........................................| David Caress, MBARI
Scientist ..............................................| Lonny Lundsten, MBARI
AUV Operator ...........................................| Hans Thomas, MBARI
AUV Operator ...........................................| Doug Conlin, MBARI
-----------------------------------------------------------------
	Battery 
Batteries charged ......................................| X 33.145V MinMax Cell 3.982 - 4.206 V
Battery humidity < 67% .................................| X 67%
-----------------------------------------------------------------
	MVC 
MVC on and ok  .........................................| X
Humidity < 10%  ........................................| X 9.2%
Temperature  ...........................................| X 37.6 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 - Egdetech data stopped during last mission - ok here
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 29.1 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 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  ...............................| 
-----------------------------------------------------------------

Event Log:
-----------
1610Z 0910L Vehicle in water
	Vehicle position needs to be reset - got bad gps.
1617Z 0917L INS intermittently rejecting GPS position
1619Z 0919L Start mission DavidsonSurvey06_50m.cfg
	Failed because test program was running.
1622Z 0922L Start mission DavidsonSurvey06_50m.cfg
	Mission timeout 2252Z 1552L 
1625Z 0925L Vehicle under water.
1629Z 0929L Vehicle has started its descent 
1632Z 0932L Vehicle descending - depth 148 m
1643Z 0943L Vehicle descending - depth 422 m
1702Z 1002L Vehicle descending - depth 946 m
1708Z 1008L Vehicle descending - depth 1100 m
1722Z 1022L Stop surface aiding - heading to start of line
1729Z 1029L Vehicle at starting waypoint, USBL interrrogation rate set to 15 sec
1828z 1128L Vehicle at end of first line,turning
1829z 1129L Vehicle starting up second line
1924z 1224L Vehicle at end of second line, turning
1925z 1225L Vehicle starting down third line
2020z 0120L End Line 3, starting turn
2024z 0124L Start Line 4
2117Z 0217L END LINE 4, starting turn
2121z 0221L Start Line 5
2222Z 1522L Start last line we're going to get
2250Z 1520L Vehicle starting ascent right on time.
2329Z 1629L Vehicle at surface - battery is up.
2345Z 1645L Vehicle on deck.


Data recorded:
-rw-r--r--   1 caress  staff  211337948 Oct 12 10:43 20061012_172823.s7k
-rw-r--r--   1 caress  staff  213007556 Oct 12 11:00 20061012_174347.s7k
-rw-r--r--   1 caress  staff  212831796 Oct 12 11:15 20061012_180032.s7k
-rw-r--r--   1 caress  staff  212707912 Oct 12 11:31 20061012_181527.s7k
-rw-r--r--   1 caress  staff  213077336 Oct 12 11:47 20061012_183138.s7k
-rw-r--r--   1 caress  staff  213038420 Oct 12 12:02 20061012_184708.s7k
-rw-r--r--   1 caress  staff  212784672 Oct 12 12:17 20061012_190219.s7k
-rw-r--r--   1 caress  staff  212772868 Oct 12 12:32 20061012_191714.s7k
-rw-r--r--   1 caress  staff  212721112 Oct 12 12:48 20061012_193214.s7k
-rw-r--r--   1 caress  staff  212741236 Oct 12 13:03 20061012_194801.s7k
-rw-r--r--   1 caress  staff  213079244 Oct 12 13:18 20061012_200307.s7k
-rw-r--r--   1 caress  staff  213065944 Oct 12 13:33 20061012_201835.s7k
-rw-r--r--   1 caress  staff  212646540 Oct 12 13:48 20061012_203346.s7k
-rw-r--r--   1 caress  staff  212636904 Oct 12 14:03 20061012_204841.s7k
-rw-r--r--   1 caress  staff  212928128 Oct 12 14:19 20061012_210350.s7k
-rw-r--r--   1 caress  staff  213145148 Oct 12 14:34 20061012_211911.s7k
-rw-r--r--   1 caress  staff  212805584 Oct 12 14:50 20061012_213442.s7k
-rw-r--r--   1 caress  staff  212882920 Oct 12 15:06 20061012_215007.s7k
-rw-r--r--   1 caress  staff  213133664 Oct 12 15:21 20061012_220622.s7k
-rw-r--r--   1 caress  staff  212913260 Oct 12 15:36 20061012_222146.s7k
-rw-r--r--   1 caress  staff  212695248 Oct 12 15:51 20061012_223641.s7k
-rw-r--r--   1 caress  staff   29029740 Oct 12 15:53 20061012_225150.s7k