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 1960 m, meaning the vehicle must spin down to 1890 m. We allow 1.25 hours for descent and 1.25 hour for ascent. The total mission duration can be 8.5 hours, so we have 6.0 hours on the bottom. We have been achieving 4.9 km/hr with all the ups and downs, so we should cover 29.4 km. We set the mission timer to 7.25 hours or 26100 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: DavidsonSurvey04_70m.rte # Mission File: DavidsonSurvey04_70m.cfg # Distance: 30563.088361 (m) # Estimated Time: 27862 (s) 7.740 (hr) # Abort Time: 26100 (s) # Max battery life: 30600 (s) # Safety margin: 3600 (s) # Ascend time: 6784 (s) # Way Points: 15 # Route Points: 274 # Mapping sonar control enabled: # # Mission Parameters: # Desired Vehicle Altitude: 65 (m) # Minimum Vehicle Altitude: 70 (m) # Abort Vehicle Altitude: 25 (m) # Maximum Vehicle Depth: 3350 (m) # Abort Vehicle Depth: 3400 (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 -122.782044 35.659791 -1960.499349 0.000000 3 # 1 -122.789845 35.656406 -2194.898112 799.711969 1 # 2 -122.828857 35.625757 -3138.844971 5701.642984 4 # 3 -122.830618 35.627252 -3073.920654 5931.685790 3 # 4 -122.791614 35.657866 -2258.435974 10830.398792 4 # 5 -122.793375 35.659361 -2303.015564 11060.398356 3 # 6 -122.832379 35.628746 -2969.266602 15959.141090 4 # 7 -122.834140 35.630241 -3069.412415 16189.179814 3 # 8 -122.795136 35.660856 -2279.369202 21087.875395 4 # 9 -122.799265 35.659791 -2373.568848 21479.824754 3 # 10 -122.800427 35.644104 -2571.078491 23222.825245 4 # 11 -122.813429 35.633900 -2938.581055 24855.759233 3 # 12 -122.822962 35.641834 -2780.417603 26088.336979 4 # 13 -122.797793 35.662146 -2414.218506 29292.380834 1 # 14 -122.784694 35.658025 -2035.458822 30563.088361 1 # # A total of 274 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 30563.088361 #define MISSION_TIME 27862 #define MISSION_TIMEOUT 26100 #define DEPTH_MAX 3350.000000 #define DEPTH_ABORT 3400.000000 #define ALTITUDE_DESIRED 65.000000 #define ALTITUDE_MIN 70.000000 #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 10, 2006 Time ...................................................| 1843L 0143Z ----------------------------------------------------------------- Operators Chief Scientist ........................................| David Caress, MBARI Scientist ..............................................| Lonny Lundsten, MBARI AUV Operator ...........................................| Hans Thomas, MBARI AUV Operator ...........................................| Doug Conlin, MBARI ----------------------------------------------------------------- Battery Batteries charged ......................................| X 33.17V MinMax Cell 3.989 - 4.209 V Battery humidity < 67% .................................| X 67% ----------------------------------------------------------------- MVC MVC on and ok .........................................| X Humidity < 10% ........................................| X 9.1% Temperature ...........................................| X 37.8 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 36.5 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 .............................| USBL tracking working .................................| ? until it dives Dropweight server running .............................| MVC on and ok .........................................| MVC Humidity < 10% ....................................| Battery humidity < 67% .................................| MVC Ball pressure < 72 kPa ............................| Kearfott getting and processing GPS ...................| Kearfott aligned ......................................| Reson 6046 on and ok ..................................| Edgetech on and ok ....................................| DVL pinging ............................................| All batteries are discharging .........................| USBL tracking head deployed ...........................| Vehicle INS and GPS position agree. ...................| Acoustic modem head deployed ...........................| Acoustic modem on ......................................| Acoustic modem working .................................| ----------------------------------------------------------------- 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 ...............................| Set USBL interrogation rate to desired rate ...........| start at 5 seconds Turn on Winfrog logging ...............................| ----------------------------------------------------------------- Event Log: ----------- 0224Z 1924L Vehicle in water