# Miscellaneous

Note:
Underway first set of sea trial missions.


Note:
Onsite, ready to deploy vehicle at about 36 44N 121 54.5 W


Note:
Beginning range test for modem and RDF beacon. Vehicle gps log in gpsLog.33.


Note:
Gain up all the way on ADF, intermittent contact via radio.  Range 2.2 km.  Last good vehicle position 36 44.041N 121 54.550W  Zephyr at 36 44.031N 121 56.169.


Note:
Lost RDF beacon at ships position 36 44.252N 121 56.983.


Note:
Vehicle secured on deck, transit to harbor


Note:
Underway for second day of sea trials of DMO-1.


Note:
Observed about 10 common dolphins at 36 42.12N  122 00.677W


Note:
Vehicle deployed and ship manuevering for first mission.


Note:
Battery sn 84 showed fault Fm (mvc watchdog timeout) before operations.  Went away when cycled power to batteries.


# MissionData

Notes:
Vehicle assumed proper heading, was observed to dive and then resurface.  Performance nominal.  Battery current from sn86 (battery 3) appeared low.  Discussed implications and decided to proceed.


Notes:
Vehicle appears susceptible to surface effects, took appropriate heading and followed it to within about 10 degrees.  Decide to proceed to pitch control


Notes:
Depth control to 0.1 m after about 250 s elapsed of setpoint.  Appears that depth loop could be more aggressive and integrator not taking out offset


Notes:
Took about 120 seconds for transient to die out at step in commanded depth.  Control to 5 cm after that.


Notes:
Tracking outbound to 660 meters, then lost tracking, at about the time the vehicle should have turned.  First hit 550 m on the inbound leg, then solid tracking from about 350 m.


Notes:
Vehicle observed to broach about 5 minutes into the yo yo leg.  Suspecting battery sn86 is offline.  Some overshoot on upper part of vertical pattern.  Tried to reset sn 86 micro.


Notes:
Attempting to test speed range of vehicle.  Successful control to 1.0 kt wrt bottom


Notes:
Pitch control to about +/- 1 degree, pitch excursion near surface at 300 sec elapsed.


Notes:
10 minute out and back mission to check system before depth testing.  Need to check to make sure that all batteries are on line.  Tracking out to 600 m on outbound leg, a few hits at 700 m.  Picked it up at about 300 m on the inbound leg.  All three batteries appear to be delivering current.


Notes:
Depth test to 100 meters, spiral descent and ascent.  Will measure descent rate from this mission.  Vehicle on surface at about 10 minutes elapsed.  Dive rate measured at 20 meters per minute.  Battery performance nominal.  Proceeding with 200 m test.


Notes:
May have overwritten data on AUV-1 in /data/2003.052.05.  Check files.  Vehicle data appears nominal,  qtalk to batteries and they appear fine.  Proceeding with 500 m test.


Notes:
Attempting to tie the MBARI AUV depth record.  Performance and tracking appeared nominal from surface vessel.  Will transit back to deeper water before testing to 1000 meters.  Batteries still on line after mission.


Notes:
Transit back to site for 1000 m depth test.


Notes:
Attempting to double MBARI AUV depth record.  Tracking intermittent past about 800 meters.   Performance nominal, but after mission battery 3 (serial number 86) was found to be offline,  fault condition fT, which indicates temperature fault.  Decide to pull vehicle after this mission in order to diagnose the issue.


Notes:
Deck test mission before first week of data acquisition operations.


Notes:
Battery 84 found in f- state after mission.  All clear fault state, but battery off.


Notes:
Vehicle tracking indicates out/back track as intended.  Performance nominal, batteries all still on and unfaulted.   DVL data good, Flow sensor on ctd 1 showing 0 for most of the mission.  Reinecker to examine CTD data further.


Notes:
Attempting to follow terrain at heading 320 for 10 minutes at 40 m altitude.  Odd wiggle in the tracking data at about 9 minutes elapsed.  Performance nominal.  Battery 85 found to be in watchdog fault mode.  After this mission, removed bluefinBattDriver from devices.cfg, reset battery 85, then immediately started driver in order to toggle watchdog.


Notes:
Attempting to do altitude terminated yoyo's.  Have removed bluefinBattDriver from devices.cfg and running it independently of supervisor.  Yoyo's were not symmetric in ascend and descend.  Battery 85 was found in the "fm" condition after the mission.


Notes:
Vehicle is tracking toward waypoint D.  Battery 85 still in "fm" fault state. Turned it off and then on, restarted driver.  In discharge state at the beginning of the mission.  50 m difference between gps fix and DR at the end of the mission.


Notes:
Should go all the way to waypoint C, altitude terminated yoyos.  Reset batteries before this mission, confirmed that they are all in discharge mode.  Battery 85 in "fm" fault mode after the mission.  Had given the waypoint behavior extra time to reach waypoint, as well as the yoyo behavior.  Appeared to continue yoyo behavior instead of continue to ascend behavior.  Made for some odd tracking.


Notes:
30 minute mission to waypoint D, altitude terminated yo yo behavior 20 m from the bottom.  Should get about halfway to the waypoint.  Overshooting on the top end of the yoyo.


Notes:
Switched position of yoyo behavior for 2 minute mission.  Unclear as to how the end of the waypoint behavior will be handled.


Notes:
20 minute waypoint mission, will not reach waypoint C.  About 1.5 m overshoot in altitude.


Notes:
Waypoint mission to waypoint C, should reach it; range is 860 m.


Notes:
Removed yoyo from waypoint mission, running multiple waypoints.  Seemed to hit both waypoints.


Notes:
Deck test prior to AUVCTD2003099.  Vehicle on shore power but batteries enabled.


Notes:
Vehicle on battery power,  tether disconnected.  All batteries fine at the end of the mission.


Notes:
Vehicle checkout mission before first AUVCTD data acquisition.  Will check ctd data after mission, as well as battery states.  5 minutes at 270, 5 minutes at 090.  Batteries all still in discharge state.  Downloading data to examine during transit to starting waypoint.


Notes:
Seeing some heading diversions in the USBL tracking data at 10:36 elapsed.


Notes:
Re run of previous to get to waypoint.  Did not appear to get to the waypoint.  Bears further investigation.


Notes:
First data acquisition mission of 900200 project.  Started mission about 350 meters from the intended waypoint.  Fuhrmann points out that there is a difference between waypoint on Winfrog and the waypoint in the previous mission script.  Trackpoint calculated depths match surface DR at 15 minutes elapsed.  Descent rate appears to be greater than 20 m/minute.  Vehicle performance appears nominal from surface tracking.  Ascend appeared to be slow -- checking data before next mission.  Batteries all in discharge state.  Data appear nominal.


Notes:
Took about 1200 seconds to complete down/up cycle, so extended mission to 3600 s.  Changed ascend pitch from 10 to 20 degrees.  Vehicle observed to broach at 19:00 elapsed.  Passed within about 1 nmile of M-1 mooring during this mission.  Vehicle performance appears nominal from tracking data.  In previous mission it appears that the vehicle speed is actually faster than it thinks it is.  3 cycles took about 56 minutes -- reducing mission time by 4 minutes.


Notes:
Vehicle visible just beneath surface at 38:00 elapsed.  Antenna never broke the surface as far as could be seen.


Notes:
Breeze building to about 12 kts true, may be the last mission.  Vehicle tracking indicating poor heading control at 09:00 elapsed.  Standing by to attempt to abort the mission.  Vehicle on surface at 17:17 elapsed.  Syslog indicates that mission aborted due to depth envelope at t = 288 s.  Terminated off of a short range at 100 m depth -- Brian confirms layer on depth sounder


Notes:
Removed abortAltitude from depthEnvelope behavior.  Appeared to abort on 2003.099.09, trying again.  Brian reports the bait school is no longer showing on the depth sounder at 04:00 elapsed.  Vehicle ADF heard briefly at 36:00 elapsed.  Seeing layer of scattering at 100 m.  Set duct centered and trailing edge high after mission for recovery.


Notes:
Heading of 70 programmed: actual appears to be 90 (outward). Indicates strong currents from the north. Heading back equals 230, programmed = 250. Battery status: ser84 fm, ser85 d, ser86 fm. Indicates watchdog error.


Notes:
Run test mission again with BlueFin Battery bandaid driver (resets detected watchdog erros).  After mission, checking battery status, watchdog error came up on 84 and 86 immediately following telnet operation. Bandaid reset both batteries. Syslog is not logging battery info.


Notes:
First data run of the day toward waypoint C (toward shore).  Vehicle tracking data appears nominal. Mission appeared to run to completion, but no modem contact at the surface. Batteries appear to be down. Recovering vehicle and will attempt to turn watchdog timer off on deck thru qtalk.


Notes:
Deck test mission. After last mission, batteries had the following errors: ser84 = fm, ser85 = fc, and ser86 = fm. Used the command wf to turn off watchdogs on 84 and 86. Left 85 in the off state. After mission: things look good, ready for next data run.


Notes:
Operations nominal. Checked batteries: all working as planned with ser85 off.


Notes:
Nominal bearing to M1 mooring: 71 deg at 4585 meters at start of mission. Noticeable front on water surface at start of mission. Closest approach to M1: 0.25 Nmile (northside) at 20:54 utc. Batteries checked out o.k.


Notes:
Start of mission 0.25 Nmile north of M1. Weather: drizzle started before mission end, slight chp, small swells.


Notes:
Last run of the day toward C1. Transect mission heading of 45. Weather: hasn't changed since the beginning of the last mission. This run will complete the transect from 36 43.320' N, -122 12.042' W  to  36 46.380' N, -121 56.088' W. Total distance covered ~24 km (4 runs at 60 min, last run at 30 min). Endpoint: 630 m, 230 deg from C1.


# Purchases

Item:
Additional oil can for tailcone comp oil.


# TaskList

TaskDescription:
Install chafe gear on capture mechanism hoses.


TaskDescription:
Order and modify D-rings for BOT lift straps.


TaskDescription:
Design and fabricate new Zephyr deck cradle for vehicle tail section.


TaskDescription:
Confirm that the current version of code is running on the MVC


TaskDescription:
Purchase fab and test new can for tailcone compensation fluid.


TaskDescription:
Ship batteries to Bluefin for analysis and repair RMA 2003-01.  Fedex number is 2479-59211


TaskDescription:
Replace vacuum gauge in main pressure housing.


TaskDescription:
Modify tow hook to fit in ALTEX CTD nose section.


# VehicleMaintenance

Notes:
Replaced disk drive s/n Z1372856T with disk s/n 81A50308A.  Used /usr/bin/QNX_disk_copy, needed to fix script.  BIOS of MVC is not set up to recognize the second hard drive.


Notes:
Connected vehicle shore tether conductors 6 and 7 to current sense high and low respectively.  Beware that there is now a hot conductor on the vehicle tether.


Notes:
Replaced vacuum gauge for main electronics housing.


Notes:
mkdir /auv/altex/onboard/missions on new disk.  Don't know why the missions directory was not copied with disk copy.


Notes:
Swapped battery in USBL beacon s/n 2181.  Battery voltage measured at 16.22.  Performed before vehicle acoustic testing in San Diego 10-11 March 2003.


Notes:
hard disk image problems. placed old and new drive into vehicle to figure out why imaging was wrong.


Notes:
Hard drive replaced and tested with Lab1 mission


Reason:
Vehicle check before missions week 7 April

Notes:
Checked tailcone compensator level and pressure (5 psi).


Reason:
Prep for AUVCTD missions starting week 7 April

Notes:
Ballasted vehicle in test tank with DMO tail, 3 kW-hr battery section, ALTEX nose section.  Vehicle was neutral with 5 lbs added on top of the fairing at the lift point.  2 lb lead pack in nose on top of OBS, 3 lb lead pack at the HS2.


Notes:
Checked comp pressure of batteries -- sn 84 = 2.5 psi; sn 85 2.5 psi; sn 86 1.75 psi.  Note that about 0.5 psi lost by bleeding guage before measurement.


Notes:
Checked to make sure that battery cover plate fasteners on sn 84 and 85 were still torqued to spec (they were).  S/N 84 and 86 both had 4 psi of pressure (up from 2.5 yesterday, presumably temperature related.)


Notes:
Battery comp pressures 84 = 2.0, 85 = 3.0, 86 = 2.5.  Topped off to 4.5


# WeatherObservation

Notes:
Forecast for increasing wind from NW today with rain.


Notes:
Weather obs during range test of RDF and modem.  Glassy swell, should be good conditions for range test


Notes:
Breeze back down, swell a little confused.


Notes:
Lumpy seas, wind to 15 kts, higher gusts at M-1.


Notes:
Winds about 20 kts from NWest out at NOAA buoy 42.


Notes:
Coming onto station AUVCTD2003100 at M1.5.


