January 16, 2000 Cruise Log: Doroado 2000 A Chief Scientist: Jim Bellingham January 16, 2000 0600 McArthur departs San Francisco After passing under Golden Gate Bridge, sea picks up and ship motion becomes quite lively. Working impossible for everyone but Tom O'Reilly! Fortunately, preparations yesterday were quite complete. Equipment secured well, except for one monitor. Science Party: Jim Bellingham (Chief Scientist) Bill Kirkwood Rob McEwen Tom O'Reilly Aaron Marsh Drew Gashler John Reiffel Justin Manley Justin met the ship in Seattle and rode down with her. Weather en route was apparently quite bad. 1530 Arrive off Monterey We pull in very close to harbor and anchor. We are well sheltered from the swells here and conditions are pleasant. Spend the evening making sure that tracking is working as are other systems. There appears to be some communication/power problem with the vehicle which Drew and Aaron et al are working on. January 17, 2000 0730 Start operations. Small boat in water by ~ 0745. Light rain. Seas flat. Foggy. N36( 36'.460 W121( 52'.390 at anchor 0805 AUV in water 0820 AUV 1st mission run: 2000.017.00 mis0.cfg -we pause and countdown prior to mission start -behaviors which initiate aborts should write a message to the screen/syslog -need to complete salinity -time axis screwed up on temp-cond plot -vehicle speed computed too high (5 m/s) resulting DR also too big Aside from minor problems noted above, mission ran well. This was a 40s run on the surface to test mission timer... 0845 2nd mission run: 2000.017.01 mis1.cfg Ran well. Still on surface. Tried to run mis1a.cfg, but vehicle choked on initialization - windows apparently added all to mission file... Mis1a.cfg has the vehicle run on the surface for 30s, then attempt to dive to 2m. Note: vehicle has had a tow float on it for all the runs so far. We see 'pitch down' anomalies in the earlier runs, with coincident prop RPM speed ups, which we interpret as the tow float pulling the tail up and bringing the prop out of the water. 0933 Ran mis1a.cfg (2000.017.03). Vehicle did not make it down. However, Justin, who is in the small boat, says it was "trying mighty hard". 0941 Removed tow float. Ran next mission. Ran 2000.017.04 (Mis1a.cfg again) Visual indications are that the mission ran well - at least he vehicle submerged. Reviewing the mission file, we see that vehicle did submerge, but was taking a long time to approach 2m depth. After the 90s mission, it still had not reached 2m. 1003 Ran mis2.cfg 2000.17.05 This mission tested launch behavior. Backdown seemed to run well. The 3m cutoff we used seems too deep (perhaps back to 2m). Rob notices that heading control loop is saturating the integral term at 5 deg. Vehicle heading is consistently a little high in heading. This appears to be due to a biased output from the yaw rate sensor. 1030 Ran mis2a.cfg 200.17.06 This mission is testing the depth envelope. The control activity plot in the depth plot window shows an anomalously high derivative term (>200!). There is a mystery here. 1040 Running mis2b.cfg 200.017.08 Testing depth abort behavior. Seeing an occasional -999m altimeter reading. John and Aaron mystified by this. Mission proved functionality of abort depth - mission aborted at correct depth. 1055 Running mis3.cfg 2000.017.09 Testing altimeter hold-off portion of depth envelope. 1110 Vehicle back on board. Looking at data from 2000.017.09: depth/altimeter envelope appeared to work. Note: We presently apply a correction to the altimeter to account for pitch. It seems that the beam width of the altimeter is large enough that this correction is giving us erroneous altitudes. They are far too small on diving, when the pitch angle is large. 1332 Made changes to supervisor to launch only the crossbow driver "crossbow". Verified supervisor runs crossbow driver and verified crossbow.log is valid and legible New software "Ver1_4" 1355 AUV back in water Starting mis4.cfg...initialization of crossbow failed. Can't figure out why crossbow isn't working. To keep the ball rolling, Aaron has commented out the code in the supervisor which starts up the crossbow, and recompiled. We will run without the supervisor. 1410 Ran mis4.cfg/2000.017.19 Mission appeared to work well -was testing ascend behavior. 1422 Ran mis4.cfg/2000.017.20 Test of time-out of launch behavior (timeout = false) There do appear to be significant latencies on the state transitions of behaviors. For example, ascend does not shut down for ~ half a second after it exceeds its cut-off depth. 1430 Ran mis4b.cfg :2000.017.21 Test of time-out of launch behavior (timeout = true). Worked. 1435 Started mis7a.cfg... Aaron killed vehicle while it was still on the surface since Justin (who is in the small boat) said the vehicle was not diving. We checked and realized that used too slow a speed for the vehicle to back down. (1.0 m/s commanded on previous missions) 1444 Mis7a.cfg started, 2000.017.23 Multiple setpoint (that is, two setpoints in one setpoint behavior) Msetpoint worked well. Yaw rate seems to converge on zero as run proceeds. Perhaps we are seeing startup transients causing the non-zero yaw rate when the vehicle heading is more-or-less constant. 1502 Mis6a.cfg started: 2000.017.24 This is an out and back with depth changes in the middle of both the out and back legs. Getting data so we can analyze dynamic control performance. Mission ran well. Yaw-rate offset seems to decay away as mission progresses. However, there are substantial yaw oscillations that appear to be larger going out than back (a reciprocal heading). 1545 Mis7b.cfg started. 2000.017.25 This mission was running a big box w N-S and E-W legs to see if the roll oscillation is introducing any acceleration errors in the compass. This was a 20 min. mission. 1606 Mis8a.cfg started. 2000.018.00 Testing descend - depth terminated. 1610 Mis8b.cfg/2000.018.01 Altitude terminated descend. Note: temperature and conductivity do not look right. 1620 AUV back on board. January 18, 2000 0730 Small boat in water. Wind picking up. From the SE, occasional gusts to 34 kts according to the skipper. Skies clearing, low fast moving clouds. We are sheltered well, and forecast is for 10-15 kts winds. So, operations proceed. Some delay putting AUV in water while we check out new software and do revision control housekeeping. Justin in small boat again. 0845 Ran mis8a.cfg. Descend followed by setpoint at different heading and depth. Behavior performance nominal, some dynamic overshoot. CTD changes not yet effective (latest changes from last night not checked in - Tom) Data file : 2000.018.10 0905 Ran mis8b.cfg. Same as above except descend set to terminate @ 15m altitude. Performance nominal. Altitude transient @ end of backdown. Data file: 2000.018.11 0919 Ran mis8c.cfg Same as 8b except added a setpoint b/w launch and descend @ 200( T. Odd date - cannot determine if vehicle dove - Matlab programs not displaying as expected. Data: _.18.12 0942 Ran mis9a.cfg 4 min. setpoint @ 240, yo-yo 3-7m CTD data array renamed. May be some dynamic control issues as mdepth lags and undershoots cmd-depth. Date: _.18.13 1000 Ran mis11a.cfg Same as 9a but altitude (12m) terminated yo-yo. Data: _.018.15 1009 Ran transit1.cfg Vehicle failed to dive after launch. Data: _.018.16 1014 Ran transit1.cfg Changed min altitude Data:_.018.17 Following are dynamic tests for Jim and Rob 1029 Ran dynamic 20.cfg 2 min setpoint to 5 m 2 min setrudder, rudder angle of 020 Vehicle failed to dive - Aaron made modifications in Behavior Setrudder.h.cc Data:_.018.18 1045 Dynamic 20.cfg Data:_.018.19 Small gap noticed in cmd-depth b/w setpoint and setrudder behaviors 1100 Ran dynamic10.cfg Setpoint @ 5m followed by 10( setrudder Data: _.18.20 OK 1105 Failure-Tom's code (dynamic5.cfg) didn't parse out ^M's Data: 18.21 1109 Ran dynamic5.cfg Data 18.22 Same as above but w/5( rudder 1115 Checking crossbow data from last mission Note: need to go thru vehicle tasks and identify parameters which should be config files. 1130 Run 2000.018.23 complete dynamic0.cfg Getting set to recover to deck. 1135 Sunny, winds moderating (~ 14kts @ 225( T). Very pleasant out. 1145 AUV back on deck Doing a series of checks and fixes: a) setting the CTD pump turn-on so it turns on (presently at 5000, needs to be at 3500) b) checking Crossbow data against KVH. General observations: - KVH looks like it lags Crossbow by a few tenths of a second - KVH noisier on pitch & roll, but especially on yaw (5( oscillations in yaw on KVH barely show up on Crossbow). - KVH has apparent overshoots (as compared to Crossbow) on large pitch excursions. Note: Crossbow logged @ 20 Hz c) fixing mission parser so it takes weird characters from windows editors... d) Rob fixing prop speed e) Fixing some matlab routines f) There is a "domain error" occurring during initialization associated with a "pow" call that needs to be isolated and fixed. g) Check results of sett setrudder missions. Vehicle back in water ~ 1445-1500 Bill Kirkwood now out in small boat. 1506 Run dynamic2a.cfg ® 2000.018.27 (has vehicle w ( 2( set rudder) 1528 Run mis9a.cfg ® 2000.018.28 Yo-yo test to confirm changes to dynamic control. 1542 Run gps1.cfg ® 2000.018.29 Test of GPS acquisition w 2 min on surface GPS acquired easily in 2 min at surface at end of mission. Justin has winphrog working!!!! Using ships compass input and generic device in winphrog... 1555 gps2.cfg ® 2000.018.30 Same as the previous .cfg, except this one returns, that is, out & back. 1605 FAILED! PSA got to a bad return just after the mission started 1611 Running gps2.cfg Data: 2000.019.01 Re-run of previous mission psa916 OK Tom says: Navigation gives device drivers a 20-second "grace period" to initialize, etc. after which, if a driver returns bad data (return v91-1), navigation aborts. 1645 AUV back onboard Reviewing data, we discover some interesting things: 1) Parosci depth reading being updated ~0.4s intervals instead of 0.2s. This might be because of the fact that we are running the Crossbow today, but not yesterday...yesterday the parosci update rate was a little closer to 0.2s. 2) Conductivity frequency is only taking on two values. 3) Rate sensors of both KVH and Crossbow relatively noisy. Could this be because of vibration in the sphere (there is a cooling fan & a hard-drive). Note that the Crossbow when subsampled at 5 Hz to be comparable to the KVH, looks the same. However, on looking at he 25 Hz Crossbow data, we see that the noise is fairly "white". This means we could average the Crossbow data and get a smoother rate measurement (possibly by up to a factor of two). 4) Bias of KVH on startup is very noticeable when compared to the Crossbow. KVH bias dies out as mission progresses. Is this because of some filtering done in the KVH. The set-rudder mission shows a very illuminating feature: the Crossbow shoes the rate stabilizing fairly rapidly. The KVH shows the rate decaying towards zero! Maybe the same filtering which is set up to remove biases is removing real rates as well! January 19, 2000 AUV in water sometime about 0805. Wind ~3 kts @ 40(T. Seas are very calm. Slight haze. Testing crossbow Tested heading control on __???__. Extended ste heading control mission. Ran first submerged mission Setpoint 0m followed by setpoint @ 3m ( extended this mission 2 minute submerged run pitch slightly biased negative ~ 1.5( roll biased positive ~ 3.5( 0853 Normal launch, then 2 min setpoint 020/3m x bow4.cfg ® Failed to load mission setpoint twice data will be in ( pow error ® power function gags on negative speed will have to fix at noon. Change next mission to be outback 2min each leg @ 3m. Confirm dynamics @ heading change Xbow5.cfg ® 2000.019.13 CTD aborted mission. Start @ 0905/data in 2000.019.14 Had an abort ~165 seconds due to bad psa916 data. Reran mission, data in 2000.019.15 starts @ 0915. Next ® confirmed/tested vehicle dynamics @ setup function in cmdDepth. Added ascend behavior. 2 min @ 3m 2 min @ 5m ascend } bearing 200 2000.019.16 Failed again due to psa916 Decided to recover to fix 1030 Vehicle on deck 1040 Vehicle on network 1210 Vehicle back in water First dive. Backdown launch & setpoint 2min@050, 3m to test launch behavior Fixed over lunch - Navigation handling of pas916 error - Power domain error on negative thruster current 2000.019.20 - abort. _??_ server already running. Perhaps left behind by _??_ Start @ 1220 pst/ 2000.019.21 Successful launch Backdown to 2m 2 min @ 050, 3m slight bubble on ascent noted pitch overshoot on descend 1225 xbow7.cfg launch. 3m setpoint for 2 min 5m setpoint for 2 min ascend start @ 1229 PST data in 2000.019.22 ( mission terminated due to CTD ( reran @ 1233 data in 2000.019.23 - mission planning error put vehicle under ship - can't tell if contact was made but crossbow data may show it 120s 120s 120s xbow8.cfg launch descend @ 20( setpoint ascend } 5m 1247 Reran xbow7.cfrg Possible transients due to ship __??__ corrupted performance data @ step for commanded depth. 1248 Data in 2000.019.24 1300 Data in 2000.019.25 Ran xbow8.cfg launch 120s descend @ 20( 120s setpoint 120s ascend } @030 failed in CTD? 1310 Data in 2000.019.25 Ran xbow8.cfg Another abort at ascend ~2minutes Mission completed - only required ~2 min 1320 Poor RF contact off port bow. Vehicle towed to stern. 1340 Preparing dynamic controls tests for jim Fixed pitch descent to depth ® setpoint ®fixed pitch ascend Initial runs to 12m @030 w/2 min setpoint Goal - two identical runs, doubling pitch derivative gain between runs 1344 Launch of jim1.cfg 2000.019.27 - aborted on mission syntax error, missing semicolons 1347 Second launch of jim1.cfg ® 2000.019.30 Increase pitch loop derivative term (kpitched) from 2.0 to 6.0. Otherwise identical to mission 28 With derivative term cranked up, we get substantial actuator oscillation, and significant pitch oscillation. Presumably this is because of the latency in the read sensor ® process ® command actuator loop. This suggests some interesting experiments: Intentionally introduce latencies in the actuator command. 1412 Performing getgps test Descend - setpoint -ascend for ~ 3 min Then getgps for 10 hits or 2 min. 1600 Vehicle recovery a little while ago (1500?). Tailcone not responding. On recovering, we find that there has apparently been a leak in a sphere. There is a little water pooled at the bottom of the sphere and considerable moisture. One of the connectors on the bottom of the sphere (the thruster board?) has been heavily corroded, and one of the wires in no longer attached. Looks fixable. But we decide to quit while we are ahead! Start packing up the O-lab. General Observations: 1) need to nail timing on 1/0 2) need to nail latencies of sensors & actuators