MBARI Mapping AUV Operations 16 March 2022 R/V Rachel Carson Gulper Run ---------------------------------------------------------------------- Date and Time Last Ballast Date ...................................................| March 16, 2022 Date of lab checks ...................................................| March 16, 2022 Date of deployment ...................................................| Feb 23, 2022 End Waypoint..........................................................| 36.807, -121.824 Lead-in Waypoint......................................................| 3KM Mission timeout.......................................................| 86400 Time of mission start ................................................| 2:01pm Date and time on surface .............................................| ----------------------------------------------------------------------- Operators Checklist Operators .................................................| Jordan, Caress, Randy Prickett Deployment Operators .................................................| Jordan Caress, Randy Pricket, Tnaner Poling ------------------------------------------------------------------------- In Lab Checks ------------------------------------------------------------------------- ------------------------------------------------------------------------- General Check profile.........................................................| x | .....Go to home directory .....Search for current profile .....If wrong profile remove current profile .....Link correct profile .....Logout, log in for new profile to take effect MVC on and ok ...........................................| X | 9.5% humidity Ball pressure < 72 kPa ..............................................| X | 57.7 kPa pressure Using desired abort plan in abortMplan.cfg ...........................| X | Ascent 1000s, Dropweight 3400s (total) Check free disk space on MVC ................................ | X | 90% used Check RDF.............................................................| | Clocks synchronized ................................................| X | ..... to see if xntpd is running, "slay xntpd" to end process, ..... to sync with Rachel Carson ntp server, ..... to restart xntpd with log output ..... Parosci ok ..............................................| X | DVL ok ......................................................| X | GPS check.............................................................| X | USBL Transponder function check .........| X | .....CS:1710,TAT200,BLK100,RXW800,TXW100,NPL181,TPL181,LG14,CIS7,AT8,EC1,RSP0,PPR1 USBL Transponder charged ............................................| X | 2.4/87 IWand check of USBL function..........................................| | Address: 1710 Homerpro beacon charged ..............................................| X | beacon #23; Batteries Ex: Sep 2022 Tailcone working ....................................| X | Check drop weight burn voltage........................................| X |12V -------------------------------------------------------------------------- Battery Aft Battery 134.89.32.129 3.10 Ahr charged ...........................| x | Voltage min: 33.45 max: 33.52 V, capacity: 3.10 Ah Aft Battery humidity < 30% ...........................................| x | 20.2% Forward battery charged 134.89.32.136 3.07 Ahr........................| x | Voltage min: 33.51 V max: 33.57 V, capacity: 3.01 Ah Forward Battery humidity < 30% .......................................| x | 14.1% -------------------------------------------------------------------------- Payload Forward Battery AUX ON (wait 2min)....................................| x | Biolume...............................................................| x | td biolume Fluorometer...........................................................| x | CTD 1.................................................................| x | CTD 2.................................................................| x | Run gulper test program to home the motors (without gulplers).........| x | Cock and install all gulpers in the vehical ..........................| x | LISST.................................................................| x | Iridium tested - 7370 and 0130 .......................................| | -------------------------------------------------------------------------- Closing Up Magnet in MVC.........................................................| | Turn OFF RDF beacon turned on.........................................| x | Channel 1 160.785 MHz USBL plugged into mvc and in vehicle..................................| | Foam installed ......................................................| | Cables and penetrators connected or dummied ..........................| | Fairing rings and bolts secure........................................| | AUV ballasting consistent with surface water density ................| | Antennas in mast ....................................................| | Dropweight in place .................................................| | Tailcone propellor engaged and secure ...............................| | Tailcone oil compensation full ......................................| | 3 fingers Aft Battery vacuum ok.................................................| | 4.8 psi Forward Battery vacuum ok.............................................| | 5.5 psi -------------------------------------------------------------------------- Breaking Tether Set FWD Battery to Discharge .........................................| | Set FWD Battery AUX Port to Discharge ................................| | Set AFT Battery to Discharge .........................................| | Turn ON RDF...........................................................| | Remove magnet.........................................................| | Break Tether..........................................................| | -------------------------------------------------------------------------- On dock MVC on and ok .......................................................| | 8.8% humidity 60.4kPa pressure Parosci ok ...........................................................| | DVL ok ..............................................................| | Compass ok............................................................| | Y: -62.96 deg P: -0.03 deg, R: 1.36 deg GPS check.............................................................| | lat: 3648.1538 N, lon: 12147.2230 W Pull CTD plugs........................................................| | Dropweight server resetting .........................................| | Rig Tow Lines.........................................................| | Lower into water......................................................| | -------------------------------------------------------------------------- Immediately before severing tow line Dropweight server resetting .........................................| X | MVC Humidity consistent with pre-launch value .......................| X | Check gps.............................................................| X | Iridium working IME:7370 and 0130 ....................................| X | Battery humidities consistent with pre-launch values .................| X | All batteries are discharging .......................................| X | -------------------------------------------------------------------------- Start Mission -------------------------------------------------------------------------- Verify mission filename .............................................| | Confirm all test programs on MVC are killed ..........................| | Ready to send mission to AUV ........................................| | Tell Boat Driver Send mission ........................................................| | AUV_HOST=mvc-dmo1-rf run_mission Watch the syslog for any unusal errors .....................| |