**********DRAFT************* Santa Monica Basin Mapping AUV Expedition R/V Zephyr Monterey Bay Aquarium Research Institute Sunday Jun 4 2006 to Saturday June 10 2006 Expedition Report by David Caress R/V Zephyr Shipboard Party Captain Aaron Gregg Mate Paul Ban Engineer Matt Noyes DMO AUV Supervisor Hans Thomas DMO AUV Operator Duane Thompson DMO AUV Operator Doug Conlin Chief Scientist David Caress Shore Data Processing Party Principal Investigator Charlie Paull Bill Ussler Rendy Keaten Bill Normark (USGS) David Caress ############################################################################ Summary by David Caress ############################################################################ The June 2006 Santa Monica Basin Expedition was the first sustained expeditionary use of the MBARI Mapping AUV, and as such was an important milestone in the development of this autonomous deep-ocean seafloor mapping system. The Mapping AUV was operated from R/V Zephyr for five consecutive days, successfully collecting high quality multibeam bathymetry, subbottom seismic, and sidescan sonar data covering all of the intended targets. The primary scientific goal of this field program was to image the subsurface and seafloor characteristics of a 30 m high, 0.5 km wide, and 1 km long mound situated at 820 m depth in Santa Monica Basin. This mound is known to be associated with an active gas vent at the peak of a 16 m high, 180 m diameter mud volcano, chemosynthetic communities, and near seafloor gas hydrates. Secondary goals included mapping sediment waves and scour features near the Redondo Canyon channel where it enters the basin floor, mapping a second, nearby seafloor mound also apparently capped by a mud volcano, and collecting s continuous subbottom profile from the primary mound to ODP site 1015 in order to connect the local stratigraphy to rock samples cored by ODP. All of these goals were achieved during five days of operation. The operational statistics for the Mapping AUV reflect the utility and efficiency that this platform brings to the task of high resolution deep-sea mapping. Over five days, and six missions, the Mapping AUV collected survey data for 34.9 hours, covering 174.9 km of trackline. Each of the three mapping sonars pinged 242879 times, and the multibeam sonar collected in excess of 50 million good soundings. The AUV operated at altitudes of 60-90 meters, achieving lateral bathymetric resolution better than 2 meters. The vertical precision of the multibeam bathymetry should ultimately be better than 30 cm following further data processing (e.g. tidal corrections and navigation adjustment). The AUV INS-derived navigation was outstanding, allowing the generation of not merely useful but visually also pleasing maps before any navigation processing or correction. Scientifically and operationally, this expedition was a complete success. ############################################################################ Achknowledgements ############################################################################ The success of the Santa Monica Basin Expedition resulted from the hard work and competence of the R/V Zephyr's crew, the AUV Operations team, and the science party (i.e. data processing crew). Thanks especially to Captain Aaron Greg, Paul Ban, and Matt Noyes of the Zephyr and to AUV Supervisor Hans Thomas. This expedition also represents the culmination of several years of effort by the Mapping AUV development team, including Lead Engineer Bill Kirkwood, Hans Thomas, Mark Sibenac, Rob McEwen, Rich Henthorn, Paul McGill, Farley Shane, Andrew Hamilton, the ROV Ventana pilots, Duane Thompson, Doug Conlin, Scott Jensen, and Karen Salamy. ############################################################################ Problems and Lessons Learned ############################################################################ Things to do before the next Mapping AUV Expedition (Davidson Seamount in July): - Have speed of sound from CTD fed into 7k in real time for use in beamforming. - Allow event records to be sent to the PLC for inclusion in the 7k files. - Order shallow rated pressure sensor - Need to do a Cassius calibration on the USBL - Automate extraction of SBP data in segy files broken up by lines. - Get 7k update to allow recording of compressed image data. - Add fan to battery for cooling during rapid recharging. ############################################################################ Pre-Cruise by Charlie Paull: ############################################################################ Santa Monica Mapping AUV survey June 4 to 10, 2006 Pre-cruise draft 5/8/06 A field program involving the mapping AUV and the Zephyr will entail data collection during the day within the Santa Monica Basin off Los Angeles and data analysis within a temporary shore-based facility located in an apartment near the docks in Marina Del Rey. The main target of this survey is a seafloor mound that is on the floor of the basin. This mound is known to be associated with an active gas vent, chemosynthetic communities, and near seafloor gas hydrates. A secondary target is a series of sediment wave structures that are also nearby that will be investigated if time allows. We anticipate the first three days of AUV deployments will be spent collecting a systematic grid of chirp seismic data and full multibeam coverage of the gas hydrate mound area and the chemosynthetic communities to the northwest. The Zephyr will be tied up in Marina Del Rey on Monday, Tuesday, Wednesday and Thursday nights. Because we are uncertain as to what the chirp data will show, we will process the first day's data overnight and decide whether the line spacing for the chirp data needs to be incresed. A temporary data processing center will be set up within the Marine Harbor Apartments, 4500 Via Marina, Marina Del Rey, CA 90292 which are adjacent to the slip that has been arranged for the Zephyr. These apartments sleep 2 persons each. Thus, D. Caress, B. Normark, C. Paull and B. Ussler will stay in these apartments. Another room in a nearby Best Western Jamaica Bay Inn has been reserved and will be occupied by R. Keaten. All DMO people will be staying on the ship. In the event that adequate coverage is achieved of the mound are during the first three days of the survey, two other local targets will be surveyed: (1) A series of huge sediment waves that are outside the main channel of Redondo Canyon. This survey covers the area where Tiburon vibracores T-797 VC-34 and T-797 VC-35 were collected; and (2) The last day of surveying might involve running a tie line to ODP site 1015. This site is ~18.5 km southwest of the mound and has a well-known shallow seafloor stratigraphy. To do this we would launch the AUV near ODP site 1015, conduct a tiny grid over the three boreholes and run directly back over to the mound grid. Science party: Dave Caress will be riding the Zephyr as chief Scientist and staying in the apartments at night. The rest of the science party will be staying ashore and processing data at night so decisions about the next dayÕs operations can be made. Charlie Paull (PI) Bill Ussler (PM) R. Keaten Bill Normark (USGS) Zephyr schedule: Sunday June 4, 04:00 Ð Depart Moss Landing (with Dave Caress on board) Monday June 5, 06:00 Ð Arrive at the Ògas hydrate moundÓ operating area and deploy AUV Monday June 5, 17:00 Ð Arrive Marina Del Rey (MDR) dock facility. ? The Zephyr will be docked at slip A101 near Bora Bora Way. Offload extra vessel crew member. Tuesday through Thursday, June 6, 7, and 8, 05:00 Ð Depart MDR and return 17:00 Friday, June 9, 05:00 Ð Depart MDR with extra crew member and perform AUV ops. Friday, June 9, 16:00 Ð Begin transit to Moss Landing immediately after AUV is recovered. Saturday June 10, ~22:00 Ð Estimated arrival back at Moss Landing This gives 5 days of operation within the Santa Monica Basin. Shore based science party schedule: A rental van and a car will be used to get to Marina Del Rey. Bill Ussler and C. Paull will pick up these vehicles from the Monterey airport on Friday June 2th at 16:00, and load the computer and plotting gear into the van. Depart on Monday June 5th at 07:00 from MBARI and drive to Marina Del Rey to set up the computers and plotter associated with the mobile multibeam and chirp processing system in dockside apartments on Monday afternoon. This group will be prepared to begin processing data as soon as the Zephyr docks. Based on the data, recommendations as the plan for the following data will be generated, so that the following dayÕs mission is upgraded. We anticipate leaving early Friday morning, if not sooner. Coordinates of Relevant Sites Associated with this Survey: Top of main mound 33.799263 N 118.646413 W 798 m Center of Other CBC site 33.803677 N 118.656625 W 822 m ODP Site 1015A 33.715423 N 118.819753 W 911.9 m ODP Site 1015B 33.715355 N 118.818643 W 912.6 m ODP Site 1015A 33 42.9254 N 118 49.185 2 W 911.9 m ODP Site 1015B 33 42.9213 N 118 49.1186 W 912.6 m Sediment Wave Field T-797 VC-34 33.753707 N 118.540803 W 680 m T-797 VC-35 33.753715 N 118.544173 W 650 m ------------------------------------ ############################################################################ Daily Log: ############################################################################ Note: this log incorporates the logs associated with individual days of Mapping AUV operation. These are found in the MappingAUVOps data archives (currently mounted on afp://heckel.shore.mnbari.org/Volumes/RAID/caress/MappingAUVOps The Mapping AUV data are organized by operation day (e.g. 20060606) and a log named something like 20060606Notes.txt can be found in each day's directory. ---------------------------------------------------------------------------- 20060604 - The transit down: ---------------------------------------------------------------------------- R/V Zephyr Shipboard Party Captain Aaron Gregg Mate Paul Ban Engineer Matt Noyes DMO AUV Supervisor Hans Thomas Chief Scientist David Caress 0625L Zephyr leaves dock 0700L Hans serves french toast 0940L Wake up, we've gone past Point Sur. We're riding ok because we're running with the wind and swell. Coming home may not be so much fun. The Big Sur coastline is of course beautiful. 1015L Into fog... 1420L Gray, offshore San Simeon, cell phone works 1551L Gray, offshore Morro Bay, cell phone doesn't work 1830L Gray, offshore Pt. Sal (south of Pismo Beach) 2114L Night, rounding Pt. Arguello and Pt. Conception, seeing oil platforms. ---------------------------------------------------------------------------- 20060605 - First day of operation: ---------------------------------------------------------------------------- R/V Zephyr Shipboard Party Captain Aaron Gregg Mate Paul Ban Engineer Matt Noyes DMO AUV Supervisor Hans Thomas Chief Scientist David Caress We will deploy on the shelf at: Lon: 118 W 36.003 Lat: 33 N 51.374 Depth: -87.376 m The intent is to run an 8.75 hour survey over the target mound at 100 m altitude and 350 m spacing. This plan is embodied in the route SMBSurveyPlan01.rte with waypoints: -118.600049 33.856228 -87.376059 3 215.708054 0.000000 0.000000 -0.015113 ## WAYPOINT STARTLINE -118.614742 33.838597 -368.705009 1 207.608911 2381.630357 2400.313854 -0.084696 ## WAYPOINT -118.635196 33.804660 -843.088928 1 127.074503 6594.826236 6696.415678 -0.009873 ## WAYPOINT -118.627360 33.799878 -849.401840 1 216.875453 7493.515494 7595.262211 -0.003747 ## WAYPOINT -118.641900 33.783148 -874.488434 4 306.778498 9785.994350 9888.095579 0.003875 ## WAYPOINT ENDLINE -118.644963 33.784997 -872.623886 3 36.780631 10136.011980 10238.140707 0.015876 ## WAYPOINT STARTLINE -118.630443 33.801763 -846.796921 4 306.778534 12430.623609 12533.167765 0.004995 ## WAYPOINT ENDLINE -118.633506 33.803612 -844.013916 3 216.781786 12780.590425 12883.198775 0.002789 ## WAYPOINT STARTLINE -118.648026 33.786846 -871.418854 4 306.783180 15075.187976 15178.435940 -0.012794 ## WAYPOINT ENDLINE -118.651089 33.788695 -872.290695 3 36.782942 15425.196535 15528.461975 0.007476 ## WAYPOINT STARTLINE -118.636569 33.805461 -840.513351 4 306.783219 17719.780013 17824.399912 0.005972 ## WAYPOINT ENDLINE -118.639632 33.807310 -838.650681 3 216.784098 18069.737748 18174.425881 0.001727 ## WAYPOINT STARTLINE -118.654152 33.790544 -870.008224 4 306.787864 20364.307156 20473.981715 0.000759 ## WAYPOINT ENDLINE -118.657215 33.792393 -864.880280 3 36.781758 20714.306646 20824.042563 0.010396 ## WAYPOINT STARTLINE -118.642696 33.809160 -837.624756 4 306.779025 23008.897614 23120.803283 -0.001151 ## WAYPOINT ENDLINE -118.645760 33.811009 -838.196518 3 216.779418 23358.921291 23471.124150 -0.027845 ## WAYPOINT STARTLINE -118.660278 33.794241 -869.904373 4 306.783668 25653.533847 25768.171931 -0.008143 ## WAYPOINT ENDLINE -118.663342 33.796090 -872.988922 3 36.782449 26003.599313 26118.266174 0.002188 ## WAYPOINT STARTLINE -118.648823 33.812858 -841.093826 4 306.768996 28298.252054 28414.945660 0.019781 ## WAYPOINT ENDLINE -118.651887 33.814706 -842.056152 3 216.783606 28648.201685 28764.943285 0.002487 ## WAYPOINT STARTLINE -118.666406 33.797938 -876.540421 4 18.213610 30942.840383 31060.879936 0.003672 ## WAYPOINT ENDLINE -118.664523 33.802989 -866.134766 3 126.220718 31529.555922 31647.699033 0.021587 ## WAYPOINT STARTLINE -118.637040 33.786741 -868.987793 4 37.313362 34647.814670 34766.161512 0.000135 ## WAYPOINT ENDLINE -118.633122 33.791178 -869.196615 3 306.390676 35259.150569 35377.508441 -0.003046 ## WAYPOINT STARTLINE -118.660432 33.807426 -844.918701 4 36.712110 38364.250964 38486.275810 -0.014216 ## WAYPOINT ENDLINE -118.657148 33.811228 -853.724121 3 125.858721 38884.174548 39006.542133 -0.001353 ## WAYPOINT STARTLINE -118.630183 33.795499 -863.034587 4 125.858721 41929.863359 42052.608930 -0.010300 ## WAYPOINT ENDLINE However, the only previous 7125 multibeam data we collected at a 100 m altitude achieved only a 325 m wide swath using a gain of 67 dB. Immediately on launch, we will try an 80 dB gain at 87 m altitude to judge if a wide enough swath will be obtained. If not, we will conduct a survey with a 300 m line spacing and a 90 m altitude. SMBSurveyPlan02.rte -118.600453 33.855133 -89.528605 3 205.646333 0.000000 0.000000 -0.024873 ## WAYPOINT STARTLINE -118.604082 33.848564 -188.030823 1 223.840545 802.174352 809.140443 -0.110648 ## WAYPOINT -118.614108 33.839576 -356.447266 1 209.214163 2163.961641 2181.689627 -0.087363 ## WAYPOINT -118.637385 33.803508 -843.824951 1 125.466570 6707.563093 6805.593762 -0.011791 ## WAYPOINT -118.630471 33.799532 -852.001139 1 216.163929 7484.875098 7582.979570 -0.020157 ## WAYPOINT -118.641523 33.786477 -870.016418 4 305.602614 9257.937322 9356.317197 -0.011278 ## WAYPOINT ENDLINE -118.644187 33.788016 -868.419037 3 35.602614 9557.937322 9656.347549 0.022586 ## WAYPOINT STARTLINE -118.633297 33.801152 -849.349228 4 305.602614 11329.745266 11428.524997 0.009446 ## WAYPOINT ENDLINE -118.635961 33.802692 -845.455933 3 215.602614 11629.745266 11728.572342 -0.002192 ## WAYPOINT STARTLINE -118.646851 33.789556 -867.648941 4 305.602614 13401.553210 13501.323768 -0.006528 ## WAYPOINT ENDLINE -118.649515 33.791095 -866.884918 3 35.602614 13701.553210 13801.331253 0.012072 ## WAYPOINT STARTLINE -118.638625 33.804232 -842.470917 4 305.602614 15473.361154 15574.470195 0.004863 ## WAYPOINT ENDLINE -118.641289 33.805771 -839.403244 3 215.602614 15773.361154 15874.517721 0.007153 ## WAYPOINT STARTLINE -118.652179 33.792635 -861.703796 4 305.602614 17545.169097 17651.185570 -0.009714 ## WAYPOINT ENDLINE -118.654843 33.794174 -860.024109 3 35.602614 17845.169097 17951.211069 0.005423 ## WAYPOINT STARTLINE -118.643954 33.807310 -840.567490 4 305.602614 19616.977041 19725.046028 -0.004489 ## WAYPOINT ENDLINE -118.646618 33.808850 -842.954697 3 215.602614 19916.977041 20025.083759 -0.020088 ## WAYPOINT STARTLINE -118.657508 33.795713 -862.966873 4 305.602614 21688.784985 21798.846957 -0.007337 ## WAYPOINT ENDLINE -118.660172 33.797252 -868.009872 3 35.602614 21988.784985 22098.896892 0.012093 ## WAYPOINT STARTLINE -118.649283 33.810389 -846.326172 4 305.602614 23760.592929 23873.279543 -0.002359 ## WAYPOINT ENDLINE -118.651947 33.811928 -847.438492 3 215.602614 24060.592929 24173.289927 -0.006052 ## WAYPOINT STARTLINE -118.662836 33.798791 -869.355515 4 305.602614 25832.400873 25946.381196 -0.008481 ## WAYPOINT ENDLINE -118.665501 33.800330 -871.207748 3 35.602614 26132.400873 26246.392451 0.004938 ## WAYPOINT STARTLINE -118.654612 33.813468 -849.820740 4 305.602614 27904.208816 28019.220268 -0.000217 ## WAYPOINT ENDLINE -118.657277 33.815007 -852.134094 3 215.602614 28204.208816 28319.272894 -0.019957 ## WAYPOINT STARTLINE -118.668166 33.801869 -873.272430 4 16.523811 29976.016760 30091.410575 0.000934 ## WAYPOINT ENDLINE -118.666828 33.805870 -866.761230 3 125.468541 30436.730560 30552.179964 0.015677 ## WAYPOINT STARTLINE -118.637961 33.789276 -866.906820 4 34.301863 33681.857641 33797.613062 -0.002513 ## WAYPOINT ENDLINE -118.635369 33.792560 -868.707031 3 305.214351 34118.103437 34233.874702 0.003979 ## WAYPOINT STARTLINE -118.664004 33.808866 -856.986898 4 37.622888 37327.483446 37447.469500 -0.003327 ## WAYPOINT ENDLINE -118.661124 33.812093 -854.950195 3 125.389412 37773.789990 37893.793811 0.008136 ## WAYPOINT STARTLINE -118.632776 33.795845 -863.819336 4 125.389412 40957.463653 41077.961727 -0.024958 ## WAYPOINT ENDLINE Subbottom: trigger divisor = 1 AGC off gain set 128 110 kHz sidescan - on 410 kHz sidescan - off Multibeam settings gain: 80 dB spreading loss: 20 absorption: 40 dB/km Reson computer ip is 134.89.32.107 Scientist Mapping AUV Deployment Checklist ------------------ MVC X Batteries charged X MVC on and ok X 0.6% Humidity < 10% X 72 kPa Ball pressure < 72 kPa Reson X 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 Datastore6046 has enough space for new data X 20 Spreading loss set as desired X 40 dB/km Absorption set as desired X 80 dB Receive gain set as desired X 30 usec Pulse length set as desired Edgetech X Edgetech on and ok X Sonar process running X 1 Subbottom trigger divisor set as desired X 2-10 kHz Subbottom pulse file set as desired X 128 Subbottom gain set as desired X Subbottom AGC off Kearfott INS X Kearfott on X Kearfott getting and processing GPS X Kearfott getting DVL General X 67% Battery humidity < 67% X Clocks synchronized and in proper time zone X CTD wetting tube off X Dropweight server running X Dropweight in place X Nose cone on X Farings secured X Tailcone oil compensation full N/A Acoustic modem head deployed N/A Acoustic modem on X Iridium tested Mission X Sonar logging turned on at first waypoint X Sonar logging not turned off until after last waypoint Descent time consistent with expected depth Ascent time consistent with expected depth Immediately before Launch X Deck tether removed, dummy installed X Tailcone oil compensation full X Radio modem connection ok X MVC on and ok X Humidity < 10% X Ball pressure < 72 kPa X Kearfott getting and processing GPS X Kearfott aligned X Reson 6046 on and ok X PLC running X Edgetech on and ok X Sonar2k running X All batteries are discharging Immediately after Launch X Radio modem connection ok X USBL tracking working N/A Acoustic modem working X 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 PLC running X Edgetech on and ok X Sonar2k running X DVL pinging X All batteries are discharging X Vehicle INS and GPS position agree. X Ready to launch mission Event Log: ----------- 0000L Continuing transit to Santa Monica Bay from Moss Landing 0200L Hans up to stand watch with Aaron 0530L Dave is up 1347Z 0647L Approaching deployment site - gray and cloudy 1353Z 0653L On site 1445Z 0745L Preparing for launch - problem with ip addressing and radio modem 1452Z 0752L Problem with ip number resolved 1505Z 0805L Vehicle in water 1510Z 0810L Trying to decide which mision to run. Collecting a bit of multibeam bathymetry using a short static test mission. Got one ping, shows a 170 m swath width in 70 m depth - not even 120 degree swath. Performance could be bad because the vehicle is at the surface - we'll just have to decide. We'll go with 90 m altitude, 300 m line spacing, and 80 dB receive gain. 1532Z 0832L Can't execute mission with visual basic gui - too large at 34000 lines 1533Z 0833L Executing mission SMBSurveyPlan02.cfg 1534Z 0834L Vehicle under water 1539Z 0839L Tracking looking ok 1558Z 0858L Haven't gotten a hit for 10 minutes - moving down the line 1604Z 0904L Still haven't gotten a hit 1605Z 0905L Got a tracking hit on the AUV 1609Z 0909L Tracking good - vehicle looks to be on line. 1700Z 1000L Vehicle appears to have stopped - has it aborted? 1707Z 1007L Vehicle is definitely drifting upward - it has aborted and will drop the weight on it's way up - now about 500 m deep according to USBL 1715Z 1015L Lowering acoustic modem xducer into water - trying to manually drop the weight. Vehicle has responded that the weight is successfully commanded to drop First real use of acoustic modem!! Vehicle now at 395 m depth according to USBL 1724Z 1024L Vehicle at 285 m depth from USBL 1736Z 1036L Our hypothesis is that the vehicle aborted due to the acrosstrack error threshold being exceeded. The vehicle was flying over a strip of territory for which there is no pre-existing multibeam data. The grid was filled in with a global model, which was too shallow. The vehicle was thus commanded to fly shallower, and at higher altitude, than necessary, and probably lost DVL lock. Going into free intertial and then back out causes a nav tear, which if larger than the specified acrosstrack error parameter, will cause an abort. 1742Z 1042L Vehicle at surface 1758Z 1058L Vehicle on deck 1929Z 1229L Working to get back in the water The abort was actually caused by the mission script commanding that the vehicle dive too steeply. This in turn was caused by the step in the topographic model between multibeam coverage and fill-in from a global model. We are disabling this abort condition in the WaypointDepth behavior. I have also regenerated the grid using spline interpolation rather than the global model to fill in the gap. We have another, shorter mission to run. The drop weight was successfully commanded to drop by acoustic modem. However, the weight itself got hung up and did not fall out after the burn wire. Hans installed a new burn wire and drop weight and also cleaned up the faring where the weight hung up. The multibeam bathymetry achieved only a 200 m swath at 70 m altitude - we will run this next mission at 75 m altitude with multibeam gain set to 70 dB. The subbottom and sidescan look good. 1956Z 1256L Vehicle back in the water. 1958Z 1258L Vehicle not getting GPS - INS was aligned on deck. 2000Z 1300L INS now getting and processing GPS 2003Z 1303L Start mission SMBSurveyPlan03.cfg 2005Z 1305L Mission fails to run - oops PLC not running. 2014Z 1314L Start mission SMBSurveyPlan03.cfg 2015Z 1315L Vehicle under water. 2054Z 1354L Tracking is good. 2223Z 1523L Haven't gotten a tracking hit in 20 minutes. Have followed the expected track for 20 minutes, now heading back to the last tracking point, which just happens to have been right on top of the gas seep mound. 2238Z 1538L Haven't heard from it.... 2254Z 1554L Trying to use the acoustic modem to range to the vehicle Ranged to it at 800 meters, which then increased to 910 meters The vehicle must have passed under us and moved down towards end of survey. 2304Z 1604L Zephyr is surrounded by porpoises. 2337Z 1637L Vehicle is on its way up, but is drifting up slowly. The vehicle ascent time is only 300 seconds, so the vehicle has finished it's mission and will probably drop the weight. Need to fix this problem in the mbm_route2mission script. 0001Z 1701L Vehicle at surface Aaron and Hans are nervous because we are on the edge of the shipping lanes and a car carrier is approaching. 0014Z 1714L Vehicle on deck. The mbm_route2mission script has been fixed so that the ascend time will be correct. The drop weight server did not time out (barely). 1845L At the dock, met by Charlie Paull, Bill Normark, Rendy Keaten, Duane Thompson, Doug Conlin ---------------------------------------------------------------------------- 20060605/20060606 - First night of data processing: ---------------------------------------------------------------------------- 2000L Trying to process data in the nearest of two apartments to the Zephyr (Caress, Paull, Keaten, Ussler, Normark). The scheme is to have a Mac Xserve be the primary data server and processing machine, and to network it with several Mac laptops so that everyone can edit bathymetry simultaneously. We can't get the Xserve to work when networked with the laptops. As soon as we plug it into the network switch, it bogs down. We have edited the /etc/hosts file on all machines, adding hard coded entries for each using ip numbers such as 192.168.1.1 that are reserved for "noloop" networking. Hans suspects that it is trying to do DNS (name resolving) even though we have tried to turn that all off. As a workaround, we're networking the laptops together, and using two small (72GB) hard drives mounted on one as the data repository. Also, one of the two power supplies used to charge the AUV has failed.during charging. Hans is nervouse about having only one power supply left, so tomorrow Doug will drive north to get two more backup power supplies from MBARI. Tom Hoover will drive them down from MBARI and meet Doug in Paso Robles. 0100L Bathymetry editing is complete. Caress and Paull lay out the next mission - we will try to map the mound with a 200 m line spacing. Caress continues to process data until 0400. ---------------------------------------------------------------------------- 20060606 - Second day of operation: ---------------------------------------------------------------------------- R/V Zephyr Shipboard Party Captain Aaron Gregg Mate Paul Ban Engineer Matt Noyes DMO AUV Supervisor Hans Thomas DMO AUV Operator Duane Thompson Chief Scientist David Caress We will deploy on the shelf at: Lon: 118 W 36.003 Lat: 33 N 51.374 Depth: -87.376 m The intent is to run an 8 hour survey over the target mound at 60 m altitude and 200 m spacing. Since we found that the USGS bathymetry is 10 m deeper than reality, we are generating the mission script using a desired altitude of 70 m. This plan is embodied in the route SMBSurveyPlan05.rte with waypoints: -118.602527 33.856516 -90.887472 3 232.752282 0.000000 0.000000 -0.033208 ## WAYPOINT STARTLINE -118.607540 33.853231 -151.851705 1 223.732208 589.745442 593.133879 -0.084467 ## WAYPOINT -118.619639 33.842342 -364.839071 1 210.853250 2236.642158 2254.428715 -0.095483 ## WAYPOINT -118.639287 33.813879 -791.794271 1 211.999258 5879.716424 5924.329129 -0.101130 ## WAYPOINT -118.646028 33.804545 -839.471436 1 305.663039 7088.493313 7135.185273 0.012574 ## WAYPOINT -118.660259 33.812784 -854.627116 1 215.929337 8691.924027 8738.750273 -0.000299 ## WAYPOINT -118.667650 33.803974 -870.016251 4 126.059440 9884.738173 9931.753570 -0.004313 ## WAYPOINT ENDLINE -118.665883 33.802937 -868.978745 3 36.059440 10084.738173 10131.760178 0.007298 ## WAYPOINT STARTLINE -118.658451 33.811753 -854.262833 4 126.059440 11280.346531 11327.853489 0.001434 ## WAYPOINT ENDLINE -118.656685 33.810715 -853.644714 3 216.059440 11480.346531 11527.856398 0.007911 ## WAYPOINT STARTLINE -118.664117 33.801899 -867.757431 4 126.059440 12675.954889 12724.433412 -0.014462 ## WAYPOINT ENDLINE -118.662350 33.800861 -865.885254 3 36.059440 12875.954889 12924.449792 0.020870 ## WAYPOINT STARTLINE -118.654918 33.809677 -853.085556 4 126.059440 14071.563247 14121.114434 0.005103 ## WAYPOINT ENDLINE -118.653151 33.808639 -849.984512 3 216.059440 14271.563247 14321.143949 0.020536 ## WAYPOINT STARTLINE -118.660584 33.799823 -864.841873 4 126.059440 15467.171605 15518.312610 -0.013109 ## WAYPOINT ENDLINE -118.658817 33.798785 -863.202103 3 36.059440 15667.171605 15718.322630 0.022557 ## WAYPOINT STARTLINE -118.651385 33.807601 -846.327255 4 126.059440 16862.779963 16916.402365 0.003314 ## WAYPOINT ENDLINE -118.649618 33.806563 -843.831207 3 216.059440 17062.779963 17116.422739 0.018630 ## WAYPOINT STARTLINE -118.657051 33.797748 -861.080948 4 126.059440 18258.388321 18313.942874 -0.008352 ## WAYPOINT ENDLINE -118.655284 33.796710 -858.602936 3 36.059440 18458.388321 18513.968993 0.015542 ## WAYPOINT STARTLINE -118.647852 33.805525 -840.917358 4 126.059440 19653.996679 19711.592584 0.010357 ## WAYPOINT ENDLINE -118.646085 33.804487 -839.361145 3 216.059440 19853.996679 19911.607184 0.013338 ## WAYPOINT STARTLINE -118.653518 33.795672 -856.767349 4 126.059440 21049.605037 21109.174586 -0.005420 ## WAYPOINT ENDLINE -118.651752 33.794634 -857.376907 3 36.059440 21249.605037 21309.179467 0.004880 ## WAYPOINT STARTLINE -118.644319 33.803449 -838.883194 4 126.059440 22445.213395 22507.192521 -0.013590 ## WAYPOINT ENDLINE -118.642553 33.802411 -841.057083 3 216.059440 22645.213395 22707.211407 -0.000739 ## WAYPOINT STARTLINE -118.649986 33.793596 -858.621002 4 126.059440 23840.821753 23904.538771 -0.019754 ## WAYPOINT ENDLINE -118.648219 33.792558 -861.492096 3 36.059440 24040.821753 24104.566183 -0.004762 ## WAYPOINT STARTLINE -118.640786 33.801373 -844.703568 4 126.059440 25236.430111 25301.385539 -0.002287 ## WAYPOINT ENDLINE -118.639020 33.800335 -849.478607 3 216.059440 25436.430111 25501.497469 -0.006572 ## WAYPOINT STARTLINE -118.646453 33.791520 -864.473404 4 126.059440 26632.038469 26698.142014 -0.020262 ## WAYPOINT ENDLINE -118.644687 33.790482 -865.177551 3 36.059440 26832.038469 26898.151316 -0.002672 ## WAYPOINT STARTLINE -118.637254 33.799297 -854.209808 4 126.059440 28027.646827 28094.205128 -0.001749 ## WAYPOINT ENDLINE -118.635488 33.798259 -856.332214 3 216.059440 28227.646827 28294.242489 -0.014147 ## WAYPOINT STARTLINE -118.642921 33.789444 -866.081558 4 126.059440 29423.255185 29490.037739 -0.000352 ## WAYPOINT ENDLINE -118.641155 33.788406 -867.263992 3 36.059440 29623.255185 29690.046004 0.002414 ## WAYPOINT STARTLINE -118.633722 33.797220 -860.618881 4 126.059440 30818.863543 30885.809854 0.010767 ## WAYPOINT ENDLINE -118.631956 33.796182 -862.332291 3 216.059440 31018.863543 31085.834856 -0.026363 ## WAYPOINT STARTLINE -118.639389 33.787367 -868.170929 4 65.456866 32214.471901 32281.577990 -0.004065 ## WAYPOINT ENDLINE -118.635311 33.788988 -868.153971 3 305.105044 32632.705339 32699.819779 -0.001172 ## WAYPOINT STARTLINE -118.667519 33.807253 -866.791341 4 34.083400 36237.838739 36305.455330 0.004240 ## WAYPOINT ENDLINE -118.664408 33.811228 -856.575195 3 123.950869 36764.511927 36832.244466 0.000262 ## WAYPOINT STARTLINE -118.630125 33.792618 -868.919108 4 123.950869 40550.705408 40619.687265 0.009157 ## WAYPOINT ENDLINE Subbottom: trigger divisor = 1 AGC off gain set 128 110 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 ------------------ MVC X Batteries charged X MVC on and ok X 0.3% Humidity < 10% X 72 kPa Ball pressure < 72 kPa Reson X 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 Datastore6046 has enough space for new data X 20 Spreading loss set as desired X 40 dB/km Absorption set as desired X 70 dB Receive gain set as desired X 30 usec Pulse length set as desired Edgetech X Edgetech on and ok X Sonar process running X 1 Subbottom trigger divisor set as desired X 2-10 kHz Subbottom pulse file set as desired X 128 Subbottom gain set as desired X Subbottom AGC off Kearfott INS X Kearfott on X Kearfott getting and processing GPS X Kearfott getting DVL General X 67% Battery humidity < 67% X Clocks synchronized and in proper time zone X CTD wetting tube off X Dropweight server running X Dropweight in place X Nose cone on X Farings secured X Tailcone oil compensation full N/A Acoustic modem head deployed N/A Acoustic modem on X Iridium tested Immediately before Launch X Deck tether removed, dummy installed X Tailcone oil compensation full X Radio modem connection ok X MVC on and ok X Humidity < 10% X Ball pressure < 72 kPa X Kearfott getting and processing GPS X Kearfott aligned X Reson 6046 on and ok X PLC running X Edgetech on and ok X Sonar2k running X All batteries are discharging Immediately after Launch X Radio modem connection ok X USBL tracking working N/A Acoustic modem working X 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 PLC running X Edgetech on and ok X Sonar2k running X DVL pinging X All batteries are discharging X Vehicle INS and GPS position agree. X Ready to launch mission Mission X 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 Ascent time consistent with expected depth Event Log: ----------- 1300Z 0600L Leave dock 1425Z 0715L On site 1449Z 0749L Vehicle in water. 1515Z 0815L Start mission SMBSurveyPlan05.cfg 1536Z 0836L Hans is deleting files from windows box ambergris - the filesystem is full and so Winfrog isn't working. 1616Z 0916L Winfrog back, vehicle tracking good so far. Yesterday the USBL didn't work well when the vehicle was > 650 m deep. Today we will stay on top of the AUV when it goes deep to minimize USBL slant range. 1645Z 0945L Lost tracking as vehicle is nearing the main survey pattern. 1656Z 0956L Deployed acoustic modem - now on pole - getting vehicle at 800 m slant range. 1700Z 1000L The Benthos acoustic modem deck box allows listening to the hydrophone returns. We can hear the outgoing USBL pulse and the vehicle's return pulse. So, the USBL ought to be working. Hans is investigating Sonardyne settings. 1712Z 1012L Hans found that the USBL max range was set to 500 m, ergo the lack of "deep" tracking. The max range is now set to 2000 m and the max depth to 1000 m. Tracking is now working well. 1722Z 1022L Vehicle finishing first main survey line 1738Z 1038L Dave is going to bed as per Hans' instructions. 1740Z 1040L Vehicle turning down onto transverse #3 1758Z 1058L Pulled up Sonardyne tracking pole 1815Z 1115L Vehicle turning down onto transverse #5 (to SW) 1835Z 1135Z Vehicle turning up onto transverse #6 (to NE) 1852Z 1152L Vehicle turning down onto transverse #7 (to SW) 1909Z 1209L Vehicle turning up onto transverse #8 (to NE) 1925Z 1225L Vehicle turning down onto transverse #9 (to SW) 1943Z 1243L Vehicle turning up onto transverse #10 (to NE) 2000Z 1300L USBL getting some wild outliers, Hans making adjustments (pulse length 8 ms) 2001Z 1301L Vehicle has made turn down onto transverse #11 (to SW) 2010Z 1310L USBL tracking much improved 2018Z 1318L Vehicle turning up onto transverse #12 (to NE) 2035Z 1835L Vehicle turning down onto transverse #13 (to SW) 2125Z 1425L Vehicle turning up onto tranverse #14 (to NE) 2203Z 1503L Vehicle down with tranverse #15 (to SW) and turning onto cross line #1 (to NW) 2250Z 1550L Vehicle turning onto cross line #2 (to SE) 2337Z 1637L Vehicle reached end of line and end of mission, begginning spiral ascent from depth of 820 m 0016Z 1716L Vehicle at surface. No modem connection - did batteries shut down? 0028Z 1728L Vehicle on deck. Drop weight dropped. Clearly the battery shut down. ==> Found limit of battery life ==> Successfully tested dropping drop weight. 0038Z 1738L Vehicle recorded 6.5 GBytes data: -rwxrwxrwx+ 1 Reson None 213199236 Jun 6 00:08 20060605_235145.s7k -rwxrwxrwx+ 1 Reson None 211204384 Jun 6 16:35 20060606_151947.s7k -rwxrwxrwx+ 1 Reson None 212663284 Jun 6 16:50 20060606_153457.s7k -rwxrwxrwx+ 1 Reson None 212695728 Jun 6 17:05 20060606_155001.s7k -rwxrwxrwx+ 1 Reson None 212731400 Jun 6 17:20 20060606_160501.s7k -rwxrwxrwx+ 1 Reson None 212616896 Jun 6 17:35 20060606_162011.s7k -rwxrwxrwx+ 1 Reson None 212526844 Jun 6 17:51 20060606_163531.s7k -rwxrwxrwx+ 1 Reson None 212522280 Jun 6 18:07 20060606_165115.s7k -rwxrwxrwx+ 1 Reson None 212563596 Jun 6 18:23 20060606_170708.s7k -rwxrwxrwx+ 1 Reson None 212538572 Jun 6 18:38 20060606_172258.s7k -rwxrwxrwx+ 1 Reson None 212569496 Jun 6 18:54 20060606_173845.s7k -rwxrwxrwx+ 1 Reson None 212574356 Jun 6 19:10 20060606_175429.s7k -rwxrwxrwx+ 1 Reson None 212565848 Jun 6 19:25 20060606_181011.s7k -rwxrwxrwx+ 1 Reson None 212568860 Jun 6 19:41 20060606_182549.s7k -rwxrwxrwx+ 1 Reson None 212631400 Jun 6 19:57 20060606_184127.s7k -rwxrwxrwx+ 1 Reson None 212599196 Jun 6 20:12 20060606_185709.s7k -rwxrwxrwx+ 1 Reson None 212570720 Jun 6 20:28 20060606_191243.s7k -rwxrwxrwx+ 1 Reson None 212593780 Jun 6 20:44 20060606_192823.s7k -rwxrwxrwx+ 1 Reson None 212565588 Jun 6 20:59 20060606_194401.s7k -rwxrwxrwx+ 1 Reson None 212589544 Jun 6 21:15 20060606_195937.s7k -rwxrwxrwx+ 1 Reson None 212580672 Jun 6 21:31 20060606_201513.s7k -rwxrwxrwx+ 1 Reson None 212598280 Jun 6 21:46 20060606_203054.s7k -rwxrwxrwx+ 1 Reson None 212577452 Jun 6 22:02 20060606_204636.s7k -rwxrwxrwx+ 1 Reson None 212569948 Jun 6 22:18 20060606_210223.s7k -rwxrwxrwx+ 1 Reson None 212530416 Jun 6 22:34 20060606_211813.s7k -rwxrwxrwx+ 1 Reson None 212524576 Jun 6 22:50 20060606_213405.s7k -rwxrwxrwx+ 1 Reson None 212503072 Jun 6 23:05 20060606_214956.s7k -rwxrwxrwx+ 1 Reson None 212483672 Jun 6 23:21 20060606_220551.s7k -rwxrwxrwx+ 1 Reson None 212526232 Jun 6 23:37 20060606_222140.s7k -rwxrwxrwx+ 1 Reson None 212533228 Jun 6 23:53 20060606_223733.s7k -rwxrwxrwx+ 1 Reson None 212492312 Jun 7 00:09 20060606_225322.s7k -rwxrwxrwx+ 1 Reson None 212506816 Jun 7 00:25 20060606_230912.s7k -rwxrwxrwx+ 1 Reson None 170286432 Jun 7 00:37 20060606_232500.s7k 0103Z 1803L The battery is programmed to shut off after 150 amp-hours of discharge; this is what shut the vehicle down. The vehicle pulls 15 amps at 30.4 V for 456 W. Looks like battery lasted about 8.5 hours - in the future we will run 7.5 hour missions. 1850L Zephyr at the dock. ---------------------------------------------------------------------------- 20060606/20060607 - Second night of data processing: ---------------------------------------------------------------------------- 2000L During the day we obtained advice from Todd Ruston of MBARI IS about how to get the Xserve to network without being connected to the internet. He suggested the following: - Turn off Software Update and automated setting of date and time. - Use a special file to force the Xserve to use traditional Unix "flat file" networking definitions rather than the IPV6 scheme Macs now normally use. This should force the Xserve to use the /etc/hosts file and nothing else to define ip numbers. - Create a directory called /etc/lookupd - In this directory create /etc/lookupd/hosts - In this file put one line: LookupOrder FF We did the above, and it works! We are now using the intended data processing scheme where everything sits on the large Xserve drives, and those filesystems are mounted by the laptops and editing is done locally on the laptops. Doug successfully got the two backup power supplies from MBARI, meeting Tom Hoover in Paso Robles. 0000L Bathymetry editing is complete. Paull, Normark, and Caress lay out the next mission - we will survey an area of scour and overflow features west of the Redondo Canyon channel after it emerges onto the Santa Monica Basin floor. Caress manages to get a subbottom data plot out on the large plotter, and generates a full set of plot files before retiring to the ship at 0200L. ---------------------------------------------------------------------------- 20060607 - Third day of operation: ---------------------------------------------------------------------------- R/V Zephyr Shipboard Party Captain Aaron Gregg Mate Paul Ban Engineer Matt Noyes DMO AUV Supervisor Hans Thomas DMO AUV Operator Duane Thompson DMO AUV Operator Doug Conlin Chief Scientist David Caress We will deploy on the shelf at: Lon: -118.551824 Lat: 33.842745 Depth: -89.285767 The intent is to run an 7.5 hour survey over scour features of the lower section of a submarine canyon. The waypoints are: -118.551824 33.842745 -89.285767 3 179.178742 0.000000 0.000000 -0.016052 ## WAYPOINT STARTLINE -118.550153 33.795326 -476.256755 1 174.004915 5261.184106 5278.581552 -0.172493 ## WAYPOINT -118.547041 33.773720 -614.059001 1 173.513171 7674.651785 7704.704689 -0.064850 ## WAYPOINT -118.542157 33.742068 -677.840851 4 83.710007 11213.922218 11245.598812 -0.000645 ## WAYPOINT ENDLINE -118.540443 33.742247 -679.440292 3 353.710007 11373.922218 11405.676999 -0.019180 ## WAYPOINT STARTLINE -118.545226 33.774110 -618.959457 4 83.710007 14935.164252 14971.117961 -0.012106 ## WAYPOINT ENDLINE -118.543512 33.774289 -614.021164 3 173.710007 15095.164252 15131.217516 -0.001712 ## WAYPOINT STARTLINE -118.538729 33.742427 -697.216766 4 83.710007 18656.406286 18697.498179 -0.003783 ## WAYPOINT ENDLINE -118.537016 33.742606 -703.026672 3 353.710007 18816.406286 18857.618844 -0.016536 ## WAYPOINT STARTLINE -118.541798 33.774469 -612.990097 4 83.710007 22377.648321 22421.431568 0.006122 ## WAYPOINT ENDLINE -118.540084 33.774648 -609.818115 3 173.710007 22537.648321 22581.466392 0.002843 ## WAYPOINT STARTLINE -118.535302 33.742786 -704.285355 4 83.710007 26098.890355 26145.368439 -0.002021 ## WAYPOINT ENDLINE -118.533589 33.742965 -695.948746 3 353.710007 26258.890355 26305.689118 0.043887 ## WAYPOINT STARTLINE -118.538370 33.774828 -632.127274 4 83.710007 29820.132389 29870.202897 0.000833 ## WAYPOINT ENDLINE -118.536656 33.775007 -625.376709 3 173.413505 29980.132389 30030.440421 -0.008297 ## WAYPOINT STARTLINE -118.533328 33.753726 -669.791504 1 270.552212 32360.220723 32413.947592 -0.011265 ## WAYPOINT -118.546350 33.753669 -654.849976 4 45.406256 33566.507897 33623.985810 0.027226 ## WAYPOINT ENDLINE -118.534942 33.763348 -640.377645 1 45.406256 35072.872849 35131.270629 0.010599 ## WAYPOINT Subbottom: trigger divisor = 1 AGC off gain set 128 110 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 ------------------ MVC X Batteries charged X MVC on and ok X 0.4% Humidity < 10% X 72 kPa Ball pressure < 72 kPa Reson X 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 Datastore6046 has enough space for new data X 20 Spreading loss set as desired X 40 dB/km Absorption set as desired X 70 dB Receive gain set as desired X 30 usec Pulse length set as desired Edgetech X Edgetech on and ok X Sonar process running X 1 Subbottom trigger divisor set as desired X 2-10 kHz Subbottom pulse file set as desired X 128 Subbottom gain set as desired X Subbottom AGC off Kearfott INS X Kearfott on X Kearfott getting and processing GPS X Kearfott getting DVL General X 69% Battery humidity < 67% X Clocks synchronized and in proper time zone X CTD wetting tube off X Fastcat conductivity streaming data X Dropweight server running X Dropweight in place X Nose cone on X Farings secured X Tailcone oil compensation full N/A Acoustic modem head deployed N/A Acoustic modem on X Iridium tested Immediately before Launch X Deck tether removed, dummy installed X Tailcone oil compensation full X Radio modem connection ok X MVC on and ok X Humidity < 10% X Ball pressure < 72 kPa X Kearfott getting and processing GPS X Kearfott aligned X Reson 6046 on and ok X PLC running X Edgetech on and ok X Sonar2k running X All batteries are discharging Immediately after Launch X Radio modem connection ok X USBL tracking working N/A Acoustic modem working X 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 PLC running X Edgetech on and ok X Sonar2k running X DVL pinging X All batteries are discharging X Vehicle INS and GPS position agree. X Ready to launch mission Mission X 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 Ascent time consistent with expected depth Event Log: ----------- 1245Z 0545L Leave dock 1400Z 0700L On site 1440Z 0740L Vehicle in water. 1452Z 0752L Start mission SMBSurveyPlan06.cfg MVC mission 2006.158.001 1454Z 0754L Vehicle under water 1528Z 0828L Tracking good as vehicle runs down the slope - vehicle depth 172 meters 1548Z 0848L Tracking good as vehicle runs down the slope - vehicle depth 317 meters 1617Z 0917L Tracking good as vehicle runs down the slope - vehicle depth 571 meters 1645Z 0945L Large ship traffic - we're moving north away from the vehicle - we will pick it up again when it comes north on the next line. 1720Z 1020L Tracking the vehicle again on northward line. 1800Z 1100L Vehicle turning south on third main line. Tracking fine. 1900Z 1200L Hans going below, Duane watching, vehicle on fourth main line northward, depth 592m, tracking fine. 1929Z 1229L Vehicle turning south on fifth main line, depth 558m, fine tracking. Duane going below, Doug watching. 2014Z 1314L Vehicle turning north on sixth main line, depth 626m, tracking fine. 2057Z 1357L Vehicle turning south on seventh main line, vehicle depth 577m, tracking fine. 2126Z 1426L Vehicle turning west on cross track line, vehicle depth 609m, tracking fine. 2140Z 1440L Vehicle turning to northeast across track line, vehicle depth 602m, tracking fine with horizontal ranges in excess of 600m. 2158Z 1458L Vehicle at end of line, starting to ascend, vehicle depth 585m, tracking fine. 2224Z 1524L Vehicle at surface, visual and radio modem ok. 2228Z 1528L Battery gas guage reads 117.7 amp hours min cell 3.70 V max cell 3.71 V Average current 15.7 amps 2239Z 1539L Vehicle on deck. 2243Z 1543L Looks like there's data: -rwxrwxrwx+ 1 Reson None 211148788 Jun 7 15:12 20060607_145650.s7k -rwxrwxrwx+ 1 Reson None 212583180 Jun 7 15:27 20060607_151209.s7k -rwxrwxrwx+ 1 Reson None 212674940 Jun 7 15:43 20060607_152740.s7k -rwxrwxrwx+ 1 Reson None 212742068 Jun 7 15:58 20060607_154254.s7k -rwxrwxrwx+ 1 Reson None 212676804 Jun 7 16:13 20060607_155811.s7k -rwxrwxrwx+ 1 Reson None 212651440 Jun 7 16:28 20060607_161304.s7k -rwxrwxrwx+ 1 Reson None 212614124 Jun 7 16:44 20060607_162833.s7k -rwxrwxrwx+ 1 Reson None 212626704 Jun 7 16:59 20060607_164407.s7k -rwxrwxrwx+ 1 Reson None 212561420 Jun 7 17:15 20060607_165946.s7k -rwxrwxrwx+ 1 Reson None 212602276 Jun 7 17:31 20060607_171527.s7k -rwxrwxrwx+ 1 Reson None 212625924 Jun 7 17:46 20060607_173100.s7k -rwxrwxrwx+ 1 Reson None 212545456 Jun 7 18:02 20060607_174639.s7k -rwxrwxrwx+ 1 Reson None 212545816 Jun 7 18:18 20060607_180219.s7k -rwxrwxrwx+ 1 Reson None 212643524 Jun 7 18:33 20060607_181758.s7k -rwxrwxrwx+ 1 Reson None 212668024 Jun 7 18:49 20060607_183331.s7k -rwxrwxrwx+ 1 Reson None 212613060 Jun 7 19:04 20060607_184904.s7k -rwxrwxrwx+ 1 Reson None 212630800 Jun 7 19:20 20060607_190440.s7k -rwxrwxrwx+ 1 Reson None 212511724 Jun 7 19:36 20060607_192020.s7k -rwxrwxrwx+ 1 Reson None 212567336 Jun 7 19:51 20060607_193600.s7k -rwxrwxrwx+ 1 Reson None 212628000 Jun 7 20:07 20060607_195135.s7k -rwxrwxrwx+ 1 Reson None 212583820 Jun 7 20:22 20060607_200712.s7k -rwxrwxrwx+ 1 Reson None 212583620 Jun 7 20:38 20060607_202246.s7k -rwxrwxrwx+ 1 Reson None 212625120 Jun 7 20:54 20060607_203823.s7k -rwxrwxrwx+ 1 Reson None 212639728 Jun 7 21:09 20060607_205354.s7k -rwxrwxrwx+ 1 Reson None 212629524 Jun 7 21:25 20060607_210921.s7k -rwxrwxrwx+ 1 Reson None 212598428 Jun 7 21:40 20060607_212458.s7k -rwxrwxrwx+ 1 Reson None 212542800 Jun 7 21:56 20060607_214027.s7k -rwxrwxrwx+ 1 Reson None 29999232 Jun 7 21:58 20060607_215605.s7k 2259Z 1559L Got Iridium update sent when vehicle hit the surface. 2326Z 1626L Bathymetry data look good - 250 m swath at 60 m altitude - must be a more backscattering bottom than at the mound. 1710L Zephyr at the dock ---------------------------------------------------------------------------- 20060607/20060608 - Third night of data processing: ---------------------------------------------------------------------------- 1900L A second power supply has failed - good thing that we got the two spares from MBARI.Bathymetry editing goes smoothly as the data quality is much better today. This is attributed to the higher sand content of the seafloor around the Redondo Canyon channel compared to the muddy seafloor around the mound site. 1100L Paull and Caress design a survey that fills in the gaps at the mound site and then explores an apparent fault trace extending obliquely up the slope to the NW. Depending on the results of this limited exploration, we will either spend the last day surveying the fault trace in detail or we will survey a second apparent mud volcano under the shipping lanes and then have the AUV transit to an ODP site to connect the mound site stratigraphy to the drill samples. The initial view of today's bathymetry survey is spectacular. The first grid shows wonderful detail in the scours and sediment waves, and shows no evidence of navigation offsets. The INS has performed wonderfully. 0015L Caress actually sleeps in the apartment, as least for a few hours. 0500L Caress off to the Zephyr. ---------------------------------------------------------------------------- 20060608 - Fourth day of operation: ---------------------------------------------------------------------------- R/V Zephyr Shipboard Party Captain Aaron Gregg Mate Paul Ban Engineer Matt Noyes DMO AUV Supervisor Hans Thomas DMO AUV Operator Duane Thompson DMO AUV Operator Doug Conlin Chief Scientist David Caress We will deploy on the shelf at: Lon: 118 W 36.003 Lat: 33 N 51.374 Depth: -87.376 m The intent is to run an 8 hour survey over the target mound at 60 m altitude and 200 m spacing. We will be filling in the survey of 20060606, for which the multibeam coverage had gaps due to poor sonar returns from the very soft bottom. Since we found that the USGS bathymetry is 12 m deeper than reality, we are generating the mission script using a desired altitude of 72 m. This plan is embodied in the route SMBSurveyPlan07.rte with waypoints: -118.600222 33.855018 -89.484093 1 205.656903 0.000000 0.000000 -0.022322 ## WAYPOINT -118.617738 33.823328 -589.216370 1 206.296611 3870.421791 3910.368333 -0.053681 ## WAYPOINT -118.632776 33.796882 -861.319107 1 214.354861 7117.073802 7172.884090 -0.024378 ## WAYPOINT -118.639978 33.787778 -868.051712 1 306.082358 8327.118744 8383.060433 -0.001646 ## WAYPOINT -118.641937 33.788931 -866.663493 1 35.988515 8549.041803 8604.990550 0.006794 ## WAYPOINT -118.634620 33.797631 -859.270182 1 306.613791 9728.083976 9784.221982 0.023641 ## WAYPOINT -118.636348 33.798668 -856.693197 1 215.991803 9925.175167 9981.369294 0.002381 ## WAYPOINT -118.643666 33.789968 -866.069565 1 304.069040 11104.209224 11160.575214 -0.017420 ## WAYPOINT -118.645567 33.791005 -865.047607 1 36.621451 11314.464213 11370.838315 0.014562 ## WAYPOINT -118.638077 33.799705 -852.422119 1 306.616171 12502.768602 12559.915554 0.014617 ## WAYPOINT -118.639805 33.800742 -847.481033 1 215.991563 12699.834746 12757.047097 0.012874 ## WAYPOINT -118.647123 33.792042 -862.920492 1 304.073307 13878.864198 13937.184898 -0.020254 ## WAYPOINT -118.649024 33.793079 -860.662109 1 35.956766 14089.169871 14147.507384 0.020865 ## WAYPOINT -118.641764 33.801722 -842.780197 1 306.617217 15259.945767 15319.617167 0.001935 ## WAYPOINT -118.645221 33.803796 -838.484009 1 216.565121 15654.098121 15713.812444 0.000650 ## WAYPOINT -118.652596 33.795211 -856.815506 1 306.612493 16825.783310 16887.215897 0.001494 ## WAYPOINT -118.654325 33.796248 -857.313904 1 36.026145 17022.908328 17084.346986 0.003097 ## WAYPOINT -118.646950 33.805006 -839.695709 1 306.628430 18210.233382 18273.680685 -0.009712 ## WAYPOINT -118.648678 33.806043 -842.098068 1 216.061082 18407.268112 18470.732432 -0.001529 ## WAYPOINT -118.656111 33.797227 -859.921061 1 304.080037 19602.891790 19668.297813 -0.022612 ## WAYPOINT -118.658012 33.798265 -862.206624 1 36.683474 19813.189281 19878.610186 0.006612 ## WAYPOINT -118.650407 33.807080 -844.788330 1 306.625831 21018.070565 21085.578540 -0.023082 ## WAYPOINT -118.652135 33.808117 -847.533122 1 216.062967 21215.148644 21282.679464 -0.002308 ## WAYPOINT -118.659568 33.799302 -863.210342 1 306.337935 22410.719315 22480.503700 -0.027332 ## WAYPOINT -118.661412 33.800396 -865.582357 1 36.062444 22620.180014 22689.981425 0.019635 ## WAYPOINT -118.653979 33.809212 -851.848958 1 301.841625 23815.770479 23886.768122 -0.014345 ## WAYPOINT -118.655708 33.810076 -853.357910 1 214.830731 24002.307598 24073.316792 -0.001986 ## WAYPOINT -118.662852 33.801203 -866.120773 1 305.869406 25188.042710 25260.049101 -0.029241 ## WAYPOINT -118.664926 33.802413 -867.983724 1 36.064162 25422.343112 25494.367164 0.012665 ## WAYPOINT -118.657494 33.811228 -853.682220 1 306.363452 26617.867229 26690.568844 0.000212 ## WAYPOINT -118.659337 33.812323 -854.685628 1 214.914939 26827.342005 26900.049252 0.007913 ## WAYPOINT -118.666597 33.803335 -868.977783 1 344.901119 28029.629160 28102.624237 -0.009081 ## WAYPOINT -118.672705 33.821081 -842.118327 1 12.090072 30077.409487 30152.930041 0.038034 ## WAYPOINT -118.670458 33.830588 -802.538981 1 12.167763 31152.111634 31228.511756 0.059075 ## WAYPOINT -118.668729 33.837848 -692.243571 1 231.118186 31973.016680 32057.117358 0.011191 ## WAYPOINT -118.680656 33.829551 -776.797526 1 321.091171 33410.133039 33507.444478 -0.043285 ## WAYPOINT -118.685841 33.834736 -724.607585 1 51.119476 34159.214978 34258.518217 0.058531 ## WAYPOINT -118.673915 33.843033 -638.344279 1 321.091757 35596.283216 35702.642069 0.054748 ## WAYPOINT -118.678063 33.847182 -615.690511 1 231.120508 36195.510773 36302.306813 -0.001805 ## WAYPOINT -118.689990 33.838885 -711.687744 1 231.120508 37632.540516 37745.067998 -0.060962 ## WAYPOINT We noted in processing the bathymetry last night that every 10th ping had interference in the outer beams, corresponding to an interference source going off every 5 seconds. Only the USBL operates at a 5 second repeat interval. The USBL is being set to interrogate the vehicle every 15 seconds instead of every 5 seconds. This is the maximum rep interval the Sonardyne USBL allows. Subbottom: trigger divisor = 1 AGC off gain set 128 110 kHz sidescan - on 410 kHz sidescan - off Multibeam settings gain: 72 dB spreading loss: 20 absorption: 40 dB/km Reson computer ip is 134.89.32.107 Scientist Mapping AUV Deployment Checklist ------------------ MVC X Batteries charged X MVC on and ok X 0.7% Humidity < 10% X 71.1 kPa Ball pressure < 72 kPa Reson X 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 Datastore6046 has enough space for new data X 20 Spreading loss set as desired X 40 dB/km Absorption set as desired X 70 dB Receive gain set as desired X 30 usec Pulse length set as desired Edgetech X Edgetech on and ok X Sonar process running X 1 Subbottom trigger divisor set as desired X 2-10 kHz Subbottom pulse file set as desired X 128 Subbottom gain set as desired X Subbottom AGC off Kearfott INS X Kearfott on X Kearfott getting and processing GPS X Kearfott getting DVL General X 69% Battery humidity < 67% X Clocks synchronized and in proper time zone X CTD wetting tube off X Fastcat conductivity streaming data X Dropweight server running X Dropweight in place X Nose cone on X Farings secured X Tailcone oil compensation full N/A Acoustic modem head deployed N/A Acoustic modem on X Iridium tested Immediately before Launch X Bring batteries online X Deck tethers removed, dummies installed X Tailcone oil compensation full X Radio modem connection ok X MVC on and ok X Humidity < 10% X Ball pressure < 72 kPa X Kearfott getting and processing GPS X need forced position Kearfott aligned X Reson 6046 on and ok X PLC running X Edgetech on and ok X Sonar2k running X All batteries are discharging Immediately after Launch X Radio modem connection ok X USBL tracking working N/A Acoustic modem working X 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 PLC running X Edgetech on and ok X Sonar2k running X DVL pinging X All batteries are discharging X Vehicle INS and GPS position agree. X Ready to launch mission Mission X 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 Ascent time consistent with expected depth Event Log: ----------- 1240Z 0540L Leave dock 1330Z 0630L On site 1456Z 0656L Vehicle in water. 1502Z 0702L INS position does not agree with GPS - Hans has to finess forcing the GPS positions in.. 1517Z 0717L Starting mission SurveyPlan07.cfg We noted in processing the bathymetry last night that every 10th ping had interference in the outer beams, corresponding to an interference source going off every 5 seconds. Only the USBL operates at a 5 second repeat interval. The USBL is being set to interrogate the vehicle every 15 seconds instead of every 5 seconds. This is the maximum rep interval the Sonardyne USBL allows. 1519Z 0719L Vehicle under water 1530Z 0730L Tracking ok as vehicle runs down the line 1610Z 0810L Tracking ok as vehicle runs down the line 530 m depth 1900Z 1200L Vehicle turning north onto transverse #12, tracking fine, depth 803 m 1933Z 1233L Vehicle turning north onto transverse #14, tracking fine, depth 812 m 1952Z 1252L Vehicle turning south onto transverse #15, tracking fine, depth 809 m 2008Z 1308L Vehicle turning north onto transit, tracking fine, depth 813 m 2030Z 1330L Vehicle turning NNE at next waypoint, tracking fine, depth 776 m. 2200Z 1500L Vehicle at end of mission, starting ascent from 650 m 2228Z 1528L Vehicle at surface, modem connected, all well. 131.76 amp hours at end of survey, about expected cell voltage min max : 3.64 V - 3.67 V Getting GPS 2240Z 1540L Vehicle on deck 2250Z 1550L Data collected: -rwxrwxrwx+ 1 Reson None 211231640 Jun 8 15:36 20060608_142125.s7k -rwxrwxrwx+ 1 Reson None 212775324 Jun 8 15:51 20060608_143623.s7k -rwxrwxrwx+ 1 Reson None 212739580 Jun 8 16:06 20060608_145134.s7k -rwxrwxrwx+ 1 Reson None 212741404 Jun 8 16:21 20060608_150618.s7k -rwxrwxrwx+ 1 Reson None 212725420 Jun 8 16:36 20060608_152134.s7k -rwxrwxrwx+ 1 Reson None 212659572 Jun 8 16:52 20060608_153635.s7k -rwxrwxrwx+ 1 Reson None 212617976 Jun 8 17:08 20060608_155210.s7k -rwxrwxrwx+ 1 Reson None 212527296 Jun 8 17:23 20060608_160756.s7k -rwxrwxrwx+ 1 Reson None 212550164 Jun 8 17:39 20060608_162338.s7k -rwxrwxrwx+ 1 Reson None 212568064 Jun 8 17:55 20060608_163920.s7k -rwxrwxrwx+ 1 Reson None 212581884 Jun 8 18:10 20060608_165458.s7k -rwxrwxrwx+ 1 Reson None 212634120 Jun 8 18:26 20060608_171031.s7k -rwxrwxrwx+ 1 Reson None 212609920 Jun 8 18:41 20060608_172604.s7k -rwxrwxrwx+ 1 Reson None 212585572 Jun 8 18:57 20060608_174137.s7k -rwxrwxrwx+ 1 Reson None 212570344 Jun 8 19:12 20060608_175707.s7k -rwxrwxrwx+ 1 Reson None 212615028 Jun 8 19:28 20060608_181242.s7k -rwxrwxrwx+ 1 Reson None 212615348 Jun 8 19:43 20060608_182811.s7k -rwxrwxrwx+ 1 Reson None 212573016 Jun 8 19:59 20060608_184342.s7k -rwxrwxrwx+ 1 Reson None 212585308 Jun 8 20:14 20060608_185910.s7k -rwxrwxrwx+ 1 Reson None 212568088 Jun 8 20:30 20060608_191445.s7k -rwxrwxrwx+ 1 Reson None 212626068 Jun 8 20:46 20060608_193019.s7k -rwxrwxrwx+ 1 Reson None 212661792 Jun 8 21:01 20060608_194556.s7k -rwxrwxrwx+ 1 Reson None 212623960 Jun 8 21:17 20060608_200138.s7k -rwxrwxrwx+ 1 Reson None 212591512 Jun 8 21:33 20060608_201723.s7k -rwxrwxrwx+ 1 Reson None 212594600 Jun 8 21:48 20060608_203257.s7k -rwxrwxrwx+ 1 Reson None 212671368 Jun 8 22:03 20060608_204817.s7k -rwxrwxrwx+ 1 Reson None 212671848 Jun 8 22:18 20060608_210318.s7k -rwxrwxrwx+ 1 Reson None 212610144 Jun 8 22:34 20060608_211838.s7k -rwxrwxrwx+ 1 Reson None 212565768 Jun 8 22:49 20060608_213355.s7k -rwxrwxrwx+ 1 Reson None 144244492 Jun 8 22:59 20060608_214928.s7k 1715L Zephyr at the dock. ---------------------------------------------------------------------------- 20060608/20060609 - Fourth night of data processing: ---------------------------------------------------------------------------- 1600L We took a group photo on the dock (missing Rendy and Bill Normark unfortunately). We then packed up much of the processing gear, including the Xserve and plotter, and loaded it into the van. Bill Ussler and Duane Thompson are driving home tonight - Bill's daughter is graduating from high school tomorrow. 1130L All of the bathymetry data have been edited, and enough of the subbottom profiles plotted to decide that the last survey will be over the second apparent mud volcano, and then on out to the ODP site. 0030L Caress again sleeps in the apartment, as least for a few hours. 0500L Caress off to the Zephyr. ---------------------------------------------------------------------------- 20060609 - Fifth and final day of operation: ---------------------------------------------------------------------------- R/V Zephyr Shipboard Party Captain Aaron Gregg Mate Paul Ban Engineer Matt Noyes DMO AUV Supervisor Hans Thomas Chief Scientist David Caress We will deploy on the shelf at: Lon: 118 W 36.312 Lat: 33 N 51.655 Depth: -92.596 m The intent is to run an 8 hour survey, including ascent from 860 m, starting on the shelf, transiting through the existing mound survey, performing s small survey of another mound and posible mud volcano under the shipping lanes, and then transiting another 16 WSW to ODP site 1015. This will provide a continuous subbottom profile from the mounds to the ODP site, connecting the stratigraphy at the sites of interest to the rocks sampled by ODP. This mission will entail two unusual risks: 1. Part of the mission track, including the mound survey, will lie under the active shipping lanes. Therefore we expect to be unable to track the vehicle continuously during the mission. Also, should the vehicle abort under the shipping lanes, the recovery would be complicated. 2. The latter half of the mission traverses a region with no multibeam coverage - our map there derives from a global model. We have anecdotal knowledge from Bill Normark that the bottom is flat across this region and that the depth at the ODP site is 915 m. We have generated today's mission SMBSurveyPlan09.cfg using the following parameters: min altitude: 60 m desired altitude: 50 m (achieved by commanded depth over topo model) so that the vehicle should mostly fly by altitude control rather than commanded depth control. The waypoints are: -118.605196 33.860916 -92.596285 1 219.828418 0.000000 0.000000 -0.085302 ## WAYPOINT -118.621542 33.844032 -361.379913 1 214.860615 2407.104707 2425.040672 -0.115865 ## WAYPOINT -118.663889 33.791523 -873.897354 1 214.489834 9427.168105 9476.399946 0.008369 ## WAYPOINT -118.670573 33.783111 -899.381149 1 298.730825 10546.772403 10596.749410 -0.001175 ## WAYPOINT -118.672013 33.783745 -899.753235 1 33.745841 10697.531222 10747.519019 0.001779 ## WAYPOINT -118.665560 33.792100 -876.025146 1 298.677065 11800.133000 11852.350181 -0.010444 ## WAYPOINT -118.667001 33.792733 -880.614670 1 212.455249 11950.909509 12003.243348 -0.015974 ## WAYPOINT -118.673223 33.784264 -899.919022 1 295.090020 13052.821651 13106.055607 -0.015540 ## WAYPOINT -118.674606 33.784782 -899.303574 1 32.861387 13193.192894 13246.432532 -0.002077 ## WAYPOINT -118.668499 33.792964 -883.482941 1 296.138417 14262.430494 14316.345547 -0.002565 ## WAYPOINT -118.670112 33.793598 -889.186874 1 211.455779 14427.514940 14481.583418 -0.018958 ## WAYPOINT -118.675931 33.785358 -899.522446 1 301.845999 15488.424235 15543.066940 0.009412 ## WAYPOINT -118.677199 33.785992 -899.852753 1 30.896392 15625.292388 15679.952819 -0.007622 ## WAYPOINT -118.672186 33.793252 -893.746643 1 119.784036 16554.711362 16609.805459 0.003760 ## WAYPOINT -118.663544 33.789276 -872.917755 1 215.089106 17468.414772 17523.820937 -0.013100 ## WAYPOINT -118.665042 33.787433 -882.840637 1 299.061250 17715.443000 17771.106822 -0.050505 ## WAYPOINT -118.674721 33.791754 -894.726410 1 212.488856 18731.812861 18789.210444 -0.002150 ## WAYPOINT -118.676162 33.789795 -892.920746 1 118.602798 18986.784895 19044.227121 0.049128 ## WAYPOINT -118.666424 33.785531 -888.708893 1 227.157822 20005.043084 20062.883414 -0.042385 ## WAYPOINT -118.668153 33.784148 -898.960007 1 242.248049 20226.773523 20284.889906 -0.030555 ## WAYPOINT -118.821817 33.713808 -916.574707 1 345.436523 36460.862153 36523.558356 0.002215 ## WAYPOINT -118.822356 33.715424 -916.200684 1 92.462857 36646.928156 36709.625129 -0.000299 ## WAYPOINT -118.813914 33.715245 -918.323242 1 1.007106 37429.645079 37492.345342 -0.000328 ## WAYPOINT -118.813914 33.717400 -918.080078 1 1.007106 37668.659437 37731.359840 0.002127 ## WAYPOINT Subbottom: trigger divisor = 1 AGC off gain set 128 110 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 Greg Expedition .............................................| Santa Monica Basin ----------------------------------------------------------------- Date and Time Date ...................................................| June 9, 2006 Time ...................................................| 0730L 1430L ----------------------------------------------------------------- Operators Chief Scientist ........................................| David Caress, MBARI Lead AUV Operator ......................................| Hans Thomas, MBARI Lead Ship's Officer on Watch ...........................| Aaron Greg, MBARI ----------------------------------------------------------------- Battery Batteries charged ......................................| X Battery humidity < 67% .................................| X 67% ----------------------------------------------------------------- MVC MVC on and ok .........................................| X Humidity < 10% ........................................| X 1.9% Ball pressure < 72 kPa ................................| X 70.2 kPa ----------------------------------------------------------------- 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 Datastore6046 has enough space for new data ...........| X 32 GB free ----------------------------------------------------------------- Edgetech Edgetech on and ok ....................................| X Sonar process running .................................| X Subbottom trigger divisor set as desired ...............| X 1 Subbottom pulse file set as desired ....................| X 2-10 kHz Subbottom gain set as desired ..........................| X 128 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 Iridium tested .........................................| X Dropweight server running .............................| X CTD wetting tube off ..................................| X Dropweight in place ...................................| X Nose cone on ..........................................| X Farings secured .......................................| X Tailcone oil compensation full ........................| X Acoustic modem head deployed ...........................| N/A Acoustic modem on ......................................| N/A ----------------------------------------------------------------- Immediately before Launch Kearfott getting and processing GPS ...................| X Kearfott aligned ...................................| X Bring batteries online ................................| X Deck tethers removed, dummies installed ...............| X Tailcone oil compensation full ........................| 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 PLC running ...........................................| X Edgetech on and ok ....................................| X Sonar2k running .......................................| X All batteries are discharging .........................| X ----------------------------------------------------------------- Immediately after Launch Radio modem connection ok .............................| X USBL tracking working .................................| X Acoustic modem working .................................| N/A 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 PLC running ...........................................| X Edgetech on and ok ....................................| X Sonar2k running .......................................| X DVL pinging ............................................| X All batteries are discharging .........................| X Vehicle INS and GPS position agree. ...................| 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 Ascent time consistent with expected depth .............| X Ready to launch mission ...............................| X ----------------------------------------------------------------- Event Log: ----------- 1240Z 0545L Leave dock 1330Z 0630L On site 1356Z 0656L Vehicle is just now getting GPS - maneuvering to align 1416Z 0716L INS aligned. 1430Z 0730L Back on site. 1435Z 0735L USBL not coming up - Sonardyne head cannot find it's tranceiver.. 1436Z 0736L USBL ok. Cycled power and reseated cable 1448Z 0748L Vehicle in water 1450Z 0750L DVL sees bottom, One tracking hit so far. 1452Z 0752L Start mission SMBSurveyPlan09.cfg 1455Z 0755L Vehicle under water. 1507Z 0807L Tracking sporadic, turned USBL rep rate up to 5 sec 1519Z 0819L Haven't had an USBL hit for several minutes 1522Z 0822L USBL hit 460 m dead ahead, depth 388 m 1629Z 0929L Tracking fine 1638Z 0938L Tracking fine, vehicle entering shipping lanes, depth 792 m 1651Z 0951L Tracking fine, vehicle entering mound survey pattern, depth 819 m 1731Z 1031L Tracking fine, vehicle running mound survey pattern, depth 831 m 1758Z 1058L Tracking fine, vehicle running mound survey pattern, depth 836 m 1905Z 1205L Tracking fine, vehicle past mound survey pattern and starting long run to ODP site, depth 839 m 2005Z 1305L Tracking fine, vehicle on long run to ODP site, depth 829 m Tracking shows AUV running a bit north of the intended line 2026Z 1326L Tracking fine, vehicle on long run to ODP site, depth 847 m, vehicle now exiting shipping lanes. Tracking from in front of the vehicle moves the tracking to the south of the planned line. Apparently there is a heading bias to the USBL head. Hans found that applying a heading bias of -10 degrees puts the AUV tracking onto the planned line. 2100Z 1400L Tracking fine, vehicle on long run to ODP site, depth 847 m, 2212Z 1512L Tracking fine, vehicle has reached ODP site and is doing a short bowtie survey before ascent, depth 848 m. 2232Z 1532L Vehicle has reached end of survey and is beginning ascent from depth 845 m. 2235Z 1535L Vehicle depth 783 m. 2236Z 1536L Vehicle depth 760 m. 2239Z 1539L Vehicle depth 690 m. 2242Z 1542L Vehicle depth 622 m. 2246Z 1546L Vehicle depth 527 m. 2250Z 1550L Vehicle depth 432 m. 2254Z 1554L Vehicle depth 347 m. 2256Z 1556L Vehicle depth 282 m. 2300Z 1600L Vehicle depth 218 m. 2304Z 1604L Vehicle depth 108 m. 2309Z 1609L Vehicle at surface, modem connect ok. Battery condition: 128.36 amp-hrs cell voltage spread: 3.67 3.69 There are data! Got GPS. 2320Z 1620L Vehicle on deck. Start transit home to Moss Landing. ETA tomorrow night. Five successful deployments = 1 successful expedition. There is sunlight here - this is the first time we have seen the sun since we passed Point Sur last Sunday morning. Data recorded: -rwxrwxrwx+ 1 Reson None 211120492 Jun 9 15:13 20060609_145710.s7k -rwxrwxrwx+ 1 Reson None 212514744 Jun 9 15:30 20060609_151350.s7k -rwxrwxrwx+ 1 Reson None 212491060 Jun 9 15:46 20060609_153005.s7k -rwxrwxrwx+ 1 Reson None 212421928 Jun 9 16:02 20060609_154615.s7k -rwxrwxrwx+ 1 Reson None 212392916 Jun 9 16:19 20060609_160242.s7k -rwxrwxrwx+ 1 Reson None 212396792 Jun 9 16:36 20060609_161918.s7k -rwxrwxrwx+ 1 Reson None 212360900 Jun 9 16:53 20060609_163615.s7k -rwxrwxrwx+ 1 Reson None 212387984 Jun 9 17:10 20060609_165326.s7k -rwxrwxrwx+ 1 Reson None 212385744 Jun 9 17:27 20060609_171028.s7k -rwxrwxrwx+ 1 Reson None 212332432 Jun 9 17:44 20060609_172731.s7k -rwxrwxrwx+ 1 Reson None 212350288 Jun 9 18:01 20060609_174433.s7k -rwxrwxrwx+ 1 Reson None 212373612 Jun 9 18:18 20060609_180144.s7k -rwxrwxrwx+ 1 Reson None 212419148 Jun 9 18:35 20060609_181847.s7k -rwxrwxrwx+ 1 Reson None 212317604 Jun 9 18:52 20060609_183550.s7k -rwxrwxrwx+ 1 Reson None 212298476 Jun 9 19:10 20060609_185249.s7k -rwxrwxrwx+ 1 Reson None 212344264 Jun 9 19:27 20060609_190959.s7k -rwxrwxrwx+ 1 Reson None 212287480 Jun 9 19:44 20060609_192704.s7k -rwxrwxrwx+ 1 Reson None 212303420 Jun 9 20:01 20060609_194421.s7k -rwxrwxrwx+ 1 Reson None 212304328 Jun 9 20:19 20060609_200141.s7k -rwxrwxrwx+ 1 Reson None 212312052 Jun 9 20:36 20060609_201901.s7k -rwxrwxrwx+ 1 Reson None 212345724 Jun 9 20:53 20060609_203621.s7k -rwxrwxrwx+ 1 Reson None 212359696 Jun 9 21:11 20060609_205340.s7k -rwxrwxrwx+ 1 Reson None 212311932 Jun 9 21:28 20060609_211059.s7k -rwxrwxrwx+ 1 Reson None 212251032 Jun 9 21:45 20060609_212818.s7k -rwxrwxrwx+ 1 Reson None 212249260 Jun 9 22:03 20060609_214538.s7k -rwxrwxrwx+ 1 Reson None 212290540 Jun 9 22:20 20060609_220258.s7k -rwxrwxrwx+ 1 Reson None 147634832 Jun 9 22:32 20060609_222017.s7k Things to do before the next Mapping AUV Expedition (Davidson Seamount in July): - Have speed of sound from CTD fed into 7k in real time for use in beamforming. - Allow event records to be sent to the PLC for inclusion in the 7k files. - Order shallow rated pressure sensor - Need to do a Cassius calibration on the USBL - Automate extraction of SBP data in segy files broken up by lines. - Get 7k update to allow recording of compressed image data. - Add fan to battery for cooling during rapid recharging. 1900L Caress completes editing the bathymetry. It's getting a bit rough. ---------------------------------------------------------------------------- 20060610 - Completing transit home:: ---------------------------------------------------------------------------- R/V Zephyr Shipboard Party Captain Aaron Gregg Mate Paul Ban Engineer Matt Noyes DMO AUV Supervisor Hans Thomas Chief Scientist David Caress 0200L Caress up to stand watch, Hans to bed. About to round Point Arguello. Weather now gray. 0800L Now offshore Morro Bay. The ride is surprisingly nice, much nicer than down around Point Conception and Point Arguello. 1000L Offshore San Simeon. The wind is picking up, but it is still a good ride. 1015L Changed my mind - it's starting to get bumpy just as Hans cooks breakfast. 1130L Hans make pancakes and fruit yogurt.Offshore Silver Peak, though the mountains are in clouds. Examination of the survey of the ODP sites shows no evidence of the sites. However, the extremely flat topography makes it possible to see the roll bias artifact, which produces a mismatch of 1.6 m at the edge of the 150 m wide swath. 0.5 * arctan(1.16/75.0) = 0.44 degrees roll bias, up to starboard. 1145L Applying this value (roll bias = +0.44 degrees) makes the roll bias artifact disappear - we will use this for all of the data. 1307L Offshore Junipero Serra Peak and approaching Point Sur. 1327L It's only partly cloudy now. Mt.Carmel is clearly visible to the right of Point Sur in the distance. I expect that Boy Scout Troop 60, with scoutmaster Mike McCann, is just about reaching the summit of Mt. Carmel now. ############################################################################ Data Summaries: ############################################################################ ---------------------------------------------------------------------------- Mission Time (hrs) Distance (km) Pings Good Soundings ---------------------------------------------------------------------------- 20060605-1 1.5247 6.4647 6854 1131432 20060605-2 2.8121 13.9909 15208 3058989 20060606 8.2992 41.6972 59986 12400381 20060607 7.0249 35.7044 50787 11585291 20060608 7.6408 38.6914 55239 11646312 20060609 7.587 38.3601 54805 10263137 ---------------------------------------------------------------------------- Total 34.8887 174.9087 242879 50085542 ---------------------------------------------------------------------------- Notes: 1. Time and distance while logging survey data. These values do not include AUV descent and ascent. 2. Each ping generated one record each of multibeam, sidescan, and subbottom data 3. Good soundings are the multibeam soundings left unflagged after editing ---------------------------------------------------------------------------- Day 20060605 Mission 1: ---------------------------------------------------------------------------- Data Totals: Number of Records: 6854 Number of Subbottom Records: 6855 Number of Secondary Sidescan Records: 6855 Bathymetry Data (256 beams): Number of Beams: 1754624 Number of Good Beams: 1131432 64.48% Number of Zero Beams: 9762 0.56% Number of Flagged Beams: 613430 34.96% Navigation Totals: Total Time: 1.5247 hours Total Track Length: 6.4647 km Average Speed: 4.2401 km/hr ( 2.2920 knots) Start of Data: Time: 06 05 2006 15:41:36.847000 JD156 Lon: -118.6005 Lat: 33.8551 Depth: 88.3051 meters Speed: 4.9993 km/hr ( 2.7023 knots) Heading: 159.8614 degrees Sonar Depth: 3.0866 m Sonar Altitude: 73.5114 m End of Data: Time: 06 05 2006 17:13:05.599000 JD156 Lon: -118.6350 Lat: 33.8059 Depth: 678.2678 meters Speed: 1.2300 km/hr ( 0.6649 knots) Heading: 276.2270 degrees Sonar Depth: 450.5044 m Sonar Altitude: 169.4381 m Limits: Minimum Longitude: -118.6368 Maximum Longitude: -118.5992 Minimum Latitude: 33.8053 Maximum Latitude: 33.8558 Minimum Sonar Depth: 1.5438 Maximum Sonar Depth: 683.4113 Minimum Altitude: 72.5873 Maximum Altitude: 169.5980 Minimum Depth: 62.5124 Maximum Depth: 843.5485 ---------------------------------------------------------------------------- Day 20060605 Mission 2: ---------------------------------------------------------------------------- Data Totals: Number of Records: 15208 Number of Subbottom Records: 15203 Number of Secondary Sidescan Records: 15202 Bathymetry Data (256 beams): Number of Beams: 3893248 Number of Good Beams: 3058989 78.57% Number of Zero Beams: 31189 0.80% Number of Flagged Beams: 803070 20.63% Navigation Totals: Total Time: 2.8121 hours Total Track Length: 13.9909 km Average Speed: 4.9753 km/hr ( 2.6894 knots) Start of Data: Time: 06 05 2006 20:21:48.150001 JD156 Lon: -118.6018 Lat: 33.8559 Depth: 89.0074 meters Speed: 5.7158 km/hr ( 3.0896 knots) Heading: 175.4832 degrees Sonar Depth: 15.2137 m Sonar Altitude: 63.5368 m End of Data: Time: 06 05 2006 23:10:31.566000 JD156 Lon: -118.6350 Lat: 33.7924 Depth: 920.6296 meters Speed: 4.9913 km/hr ( 2.6980 knots) Heading: 125.5150 degrees Sonar Depth: 793.5482 m Sonar Altitude: 60.6220 m Limits: Minimum Longitude: -118.6650 Maximum Longitude: -118.6000 Minimum Latitude: 33.7917 Maximum Latitude: 33.8573 Minimum Sonar Depth: 15.1447 Maximum Sonar Depth: 793.9485 Minimum Altitude: 56.4432 Maximum Altitude: 73.5315 Minimum Depth: 86.1092 Maximum Depth: 867.3701 ---------------------------------------------------------------------------- Day 20060606: ---------------------------------------------------------------------------- Data Totals: Number of Records: 59986 Number of Subbottom Records: 59985 Number of Secondary Sidescan Records: 59980 Bathymetry Data (256 beams): Number of Beams: 15356416 Number of Good Beams: 12400381 80.75% Number of Zero Beams: 153784 1.00% Number of Flagged Beams: 2802251 18.25% Navigation Totals: Total Time: 8.2992 hours Total Track Length: 41.6972 km Average Speed: 5.0242 km/hr ( 2.7158 knots) Start of Data: Time: 06 06 2006 15:19:47.883998 JD157 Lon: -118.6025 Lat: 33.8565 Depth: 43.6609 meters Speed: 4.4890 km/hr ( 2.4265 knots) Heading: 65.6533 degrees Sonar Depth: 21.1103 m Sonar Altitude: 59.6892 m End of Data: Time: 06 06 2006 23:37:44.994998 JD157 Lon: -118.6301 Lat: 33.7926 Depth: 864.6152 meters Speed: 5.1302 km/hr ( 2.7731 knots) Heading: 125.2295 degrees Sonar Depth: 798.8431 m Sonar Altitude: 57.0032 m Limits: Minimum Longitude: -118.6688 Maximum Longitude: -118.6007 Minimum Latitude: 33.7865 Maximum Latitude: 33.8577 Minimum Sonar Depth: 18.8977 Maximum Sonar Depth: 800.0269 Minimum Altitude: 49.8032 Maximum Altitude: 71.0694 Minimum Depth: 85.9824 Maximum Depth: 872.3455 ---------------------------------------------------------------------------- Day 20060607: ---------------------------------------------------------------------------- Data Totals: Number of Records: 50787 Number of Subbottom Records: 50784 Number of Secondary Sidescan Records: 50780 Bathymetry Data (256 beams): Number of Beams: 13001472 Number of Good Beams: 11585291 89.11% Number of Zero Beams: 88907 0.68% Number of Flagged Beams: 1327274 10.21% Navigation Totals: Total Time: 7.0249 hours Total Track Length: 35.7044 km Average Speed: 5.0825 km/hr ( 2.7473 knots) Start of Data: Time: 06 07 2006 14:56:50.417999 JD158 Lon: -118.5518 Lat: 33.8427 Depth: 42.1060 meters Speed: 5.2701 km/hr ( 2.8487 knots) Heading: 326.8824 degrees Sonar Depth: 18.3876 m Sonar Altitude: 60.3939 m End of Data: Time: 06 07 2006 21:58:20.062000 JD158 Lon: -118.5350 Lat: 33.7634 Depth: 640.5667 meters Speed: 5.2375 km/hr ( 2.8311 knots) Heading: 46.4660 degrees Sonar Depth: 568.6946 m Sonar Altitude: 62.5725 m Limits: Minimum Longitude: -118.5539 Maximum Longitude: -118.5317 Minimum Latitude: 33.7405 Maximum Latitude: 33.8442 Minimum Sonar Depth: 15.4070 Maximum Sonar Depth: 630.5509 Minimum Altitude: 51.8648 Maximum Altitude: 79.8993 Minimum Depth: 85.0728 Maximum Depth: 706.8260 ---------------------------------------------------------------------------- Day 20060608: ---------------------------------------------------------------------------- Data Totals: Number of Records: 55239 Number of Subbottom Records: 55235 Number of Secondary Sidescan Records: 55234 Bathymetry Data (256 beams): Number of Beams: 14141184 Number of Good Beams: 11646312 82.36% Number of Zero Beams: 134633 0.95% Number of Flagged Beams: 2360239 16.69% Navigation Totals: Total Time: 7.6408 hours Total Track Length: 38.6914 km Average Speed: 5.0638 km/hr ( 2.7372 knots) Start of Data: Time: 06 08 2006 14:21:25.231000 JD159 Lon: -118.6002 Lat: 33.8550 Depth: 41.5388 meters Speed: 5.7031 km/hr ( 3.0828 knots) Heading: 257.2149 degrees Sonar Depth: 18.5049 m Sonar Altitude: 60.0427 m End of Data: Time: 06 08 2006 21:59:51.933998 JD159 Lon: -118.6900 Lat: 33.8389 Depth: 707.7075 meters Speed: 5.1451 km/hr ( 2.7811 knots) Heading: 232.5863 degrees Sonar Depth: 635.8584 m Sonar Altitude: 62.1052 m Limits: Minimum Longitude: -118.6908 Maximum Longitude: -118.5992 Minimum Latitude: 33.7870 Maximum Latitude: 33.8562 Minimum Sonar Depth: 17.7129 Maximum Sonar Depth: 796.7571 Minimum Altitude: 51.4554 Maximum Altitude: 89.0272 Minimum Depth: 85.7350 Maximum Depth: 869.9764 ---------------------------------------------------------------------------- Day 20060609: ---------------------------------------------------------------------------- Data Totals: Number of Records: 54805 Number of Subbottom Records: 54809 Number of Secondary Sidescan Records: 54806 Bathymetry Data (256 beams): Number of Beams: 14030080 Number of Good Beams: 10263137 73.15% Number of Zero Beams: 10507 0.07% Number of Flagged Beams: 3756436 26.77% Navigation Totals: Total Time: 7.5870 hours Total Track Length: 38.3601 km Average Speed: 5.0560 km/hr ( 2.7330 knots) Start of Data: Time: 06 09 2006 14:57:11.187000 JD160 Lon: -118.6052 Lat: 33.8609 Depth: 79.1123 meters Speed: 5.3518 km/hr ( 2.8928 knots) Heading: 162.5422 degrees Sonar Depth: 20.9110 m Sonar Altitude: 60.1952 m End of Data: Time: 06 09 2006 22:32:24.340999 JD160 Lon: -118.8139 Lat: 33.7174 Depth: 897.9268 meters Speed: 5.1660 km/hr ( 2.7924 knots) Heading: 5.0635 degrees Sonar Depth: 829.5361 m Sonar Altitude: 58.8662 m Limits: Minimum Longitude: -118.8231 Maximum Longitude: -118.6040 Minimum Latitude: 33.7132 Maximum Latitude: 33.8619 Minimum Sonar Depth: 20.6555 Maximum Sonar Depth: 829.9712 Minimum Altitude: 54.7769 Maximum Altitude: 65.0784 Minimum Depth: 85.4887 Maximum Depth: 901.5945