AUV Missions and CTD Casts
HY-01-03
05 November 2001

Date	Time	DecLat	DecLon	Log	
10/8/01	12:26	70.03017	-20.29033	Tried to run a mission inbound to the ship, but initiated the mission in the wrong directory.  run_mission script on Willet couldn't ftp file (because it was in a different directory) but because there was another mission script of the same name in $AUV/missions on the MVC, that mission was run instead.  Data in 2001.281.03.  Vehicle aborted at depth, no slip link when it surfaced.  CD on modem ok, terminal server ok, but no IP.  Hypothesis that Access server flipped baud rates -- had seen this before in the cold.	
10/8/01	12:10	70.02857	-20.28717	Ran mission checkout.cfg -- data in 2001.281.02.  3 minutes outbound at 230 T, 15 m; 2 minutes at reciprocal heading; spiral ascent.  Vehicle aborted at depth, saw evidence of serial timeouts in Kearfott data.  Speculated that depth abort was caused by Kearfott timeout, changed vehicle configuration to do dynamic control via the Octans gyro.	
10/11/01	20:10	81.92583	-30.04933	CTD cast 006, filename(s):
hy0103ctd06.dat     (only downcast to ~ 2000m)
hy0103ctd06b.dat  (rest of downcast to3000 and upcast to 2000)   
hy0103ctd06c.dat   (upcast rom 2000m to surface)     Cast depth: 2999.2db  , water depth: 3269m   OXYGEN DONE	
10/11/01	4:58	81.41850	-30.99700	CTD Cast 001 Filename HLY0103CTD01.DAT.                                                   (FOR ALL ENTRIES: POSITION AND TIME FIX IS WHEN CTD IS AT BOTTOM OF CAST;; SEE CTD DATA SHEETS FOR FURTHER DETAILS).      Cast depth: 197 m. Water depth:220m           OXYGEN DONE	
10/11/01	7:51	81.43100	-30.93167	CTD cast 002,  filename HY0103CTD02.DAT  Cast depth 291m,  Water depth:301m   OXYGEN DONE	
10/11/01	11:19	81.54900	-30.67300	CTD cast 003 . Filename: HY0103CTD03.dat
(this lat. and lon.position is taken from the surface BEFORE the cast) Cast depth: 1000db (from this cast on, cast depth is measured by pressure in dbar), Water depth: 1198m	
10/11/01	13:55	81.60250	-30.48717	CTD cast 004. Filename: hy0103ctd04.dat  Cast depth: 1997.5db  Water depth: 2091m	
10/11/01	17:16	81.74650	-30.08933	CTD cast 005, filename: hy0103ctd05.dat  Cast depth: 2791.7db,  water depth: 3000m                 OXYGEN DONE	
10/12/01	2:14	82.01567	-29.74600	CTD cast 007, filename: hy0103ctd07.dat  Cast depth: 2995.3db, water depth:3380m	
10/12/01	5:31	82.11633	-29.55783	CTD cast 008, filename: hy0103CTD08.dat  Cast depth: 2983.3db, water depth: 3496m	
10/13/01	8:17	81.84117	-21.78793	mission 2001.286.02 

note from DJ - Currents ar small - approx. .11 knots 
note from Hans - lot of error built up in longitude

data review - data looks typical / as expected	
10/13/01	9:30	81.83677	-21.74093	mission 6 : logfile 2001.286.05

mission to bring vehicle in closer to ship for acoustic abort

bearing 200, 20 meters depth, increased decend time.

mission aborted on launch, parosci bad hit - reset 

new log mission 2001.286.06

disabled doppler aiding from INS (kearfott)

10/13/01	7:30	81.84048	-21.81762	second mission of 10/13/01 : Logfile 2001.286.01

start - range 870 bearing 230.

finish - range 340 bearing 250.	
10/13/01	9:20	81.83765	-21.74782	mission 2001.286.04 

vehicle surfaced - 19:30 min	
10/13/01	8:53	81.83970	-21.76250	mission 5 - 2001.286.04 

straight and level at 25 meters out and back. Attempting to
bring vehicle into a "circle" 

7 min outbound at 090 
14 min inbound at 270 

mission start 52:59 min	
10/13/01	8:50	81.83982	-21.76438	logfile 2001.286.03 

review of data - review of data, something wrong with yo-yo 
behavior. yo-yo removed for next operation.

10/13/01	10:11	81.83293	-21.70907	mission 2001.286.07

vehicle abort test - vehicle was succesfully aborted in drive by
of fantail at range of 160 m. 	
10/13/01	8:26	81.84087	-21.78133	new mission plan : 2001.286.03

set point yo-yo, out to a set point and back to a waypoint.

7 minutes out - 5 minutes back

bearing out   180
depth set   max - 20  min  -7
mission timeout 3000

inbound leg at 340 - 300 seconds	
10/13/01	8:03	81.84140	-21.79687	vehicle submerged at 7:45:50 am UTC

Drew and Rob discussed ballast of vehicle. Decision to continue
with the vehicle as is to prevent ballasting issues that are guesses. 

turn took place at 13:30 minutes into mission 

vehicle surfaced 180 meters range bearing 177. 
normal termination 
	
10/13/01	7:45	81.84117	-21.80887	mission 3 : log 2001.286.02

600 seconds - 900 meters - out and back 
vector across transom 
bearing outbound 290-  inbound 110 for 200 seconds
mission depth 25 meters 
	
10/13/01	7:04	81.83910	-21.83312	First mission of 10/13/01 results:

Tracking looks good, vehicle surfaced and continued running mission. 
Bridge asked about RDF readings ... no reply. Vehicle contact lost
for a short time and resurfaced, vehicle mission terminated. 

	
10/13/01	6:58	81.83895	-21.83580	First mission of the day, 200 meters straight run, duration 180 seconds, heading 130, depth 15 meters.  Data in 2001.286.00.	
10/13/01	8:46	81.84003	-21.76725	mission 2001.286.03

dive at - 27:05 min  (local PC clock) 

turn at 37:31 minutes 

vehicle surfaced 40:15 - not a normal termination

mission ended at 42:41 - Hans mentioend a possible scripting bug 
causing ascend too early. Bearing 254 - Range 546.	
10/13/01	12:06	81.84083	-21.75233	CTD cast 009, filename:  ctd09.dat  Cast depth: 1.8db, water depth: 3544m	
10/13/01	7:20	81.83988	-21.82322	Second mission of day: 

Bearing 230 - 400 seconds - min depth - straight run 

vehicle launch 	
10/16/01	12:32	82.61200	-11.22600	Tried to run mission checkoutOutBack.cfg  -- data in 2001.289.02.  Aborted on its own due to a problem in abort plan.	
10/16/01	11:55	82.61200	-11.22600	Ran mission checkoutOutBack.cfg.  120 seconds at 120 T, 100 seconds at 300 T, all at 50 m.  Data in 2001.289.01.  Mission ran to completion.	
10/16/01	11:52	82.61200	-11.22600	Ran mission checkoutOutBack.cfg -- 2 minutes out at 120 T, then reciprocal heading for 100 seconds, both legs at 50 m depth.   Data in 2001.289.00.  Abort because of syntax error in abortMplan.cfg.	
10/16/01	14:44	82.62733	-11.17833	CTD cast 011, filename: ctd011.dat  Cast depth: 201.281db,  water depth: 1700m  OXYGEN DONE	
10/16/01	9:45	82.61617	-11.32583	CTD cast 010.  Filename ctd010.dat    200m cast for AUV comparison   Cast depth: 199.93db, water depth: 1550m	
10/16/01	12:34	82.61407	-11.22483	First under ice mission -- data in 2001.289.03.  Descend to 5 m at 120 T;  920 seconds at 170 T, 30 m;  return 700 s at 350 T, 30 m.  We initiated an acoustic abort with the vehicle USBL range 60 m relative bearing 220, vehicle surfaced in open water about 50 m aft of the ship, within 10 meters of ice estimated to be greater than 2 m thick.  No ISUS data, or ice profiling sonar data were obtained due to improper setup of $AUV_CONFIG_DIR/devices.cfg.	
10/17/01	12:22	82.57517	-11.90600	Mission 2001.290.06, 2 minutes out, 2 minutes back, 30 m.  After mission found that IPS data log had 0 file size.  Henthorn to investigate.  Ran 0 speed surface mission to confirm that it was logging (data in 2001.290.07) and decided to continue.	
10/17/01	13:10	82.57183	-11.91100	Mission 2001.290.08 -- 15 minutes outbound under open water and then multiyear ice, 15 minutes return very close to ship and then surface in open water.  Got IPS and CTD data and recovered vehicle to deck.	
10/17/01	16:11	82.56050	-11.93767	CTD cast 012, filname: ctd012.dat  Cast depth: 894.2db,  water depth: 918m  OXYGEN DONE	
10/17/01	12:06	82.58100	-11.90233	Attempted to run 2 minutes out, 2 minutes back, multiple aborts due to the fact that we failed to clear the latched acoustic abort prior to deployment.  Data in 2001.290.04.  Vehicle was sent abort via radio because it seemed unable to dive.  2001.290.00 through 2001.290.03 all were acoustic abort tests. 	
10/18/01	20:13	81.94617	-12.31300	CTD cast 013, filename: ctd013.dat  Cast depth: 1324db, water depth: 1348m OXYGEN DONE	
10/18/01	21:20	81.95000	-12.16667	Vehicle unable to dive on its own after many attempts -- upon inspection appears to be ballasted ok but trimmed slightly nose high.  See mission data 2001.291.05 through 2001.291.12.  SLIP comms died after 2001.291.12 -- vehicle recovered to deck.	
10/19/01	14:37	81.68500	-12.69000	Ran mission checkout.cfg -- data in 2001.292.10.  3 minutes inbound at 020 T, 5 minutes outbound at 200 T.  The outbound leg was a mistake, we intended to bring the vehicle closer to the ship.  Vehicle ended up in pancakes and slush, about 1600 m from ship.  Recovered to deck in 4-6 feet of swell.  Dynamic control ok.	
10/19/01	14:23	81.68500	-12.68333	Repositioned ship before this run.  Ran checkout.cfg -- outbound at 020 for 3 minutes, return at 200 for 3 minutes.  Data in 2001.292.09.  Dove promptly upon start of descend behavior, good tracking at range of about 700 meters -- surfaced at 14:32 -- reasonable if not beautiful depth control.	
10/19/01	17:39	81.71667	-13.02700	CTD cast 014, filename: ctd014.dat  Cast depth: 1907db, Water depth: 1985m  OXYGEN DONE	
10/19/01	13:26	81.67667	-12.71833	Ran mission checkout.cfg -- data in 2001.292.07.  Tried to run out at 260 at 15 m, back at reciprocal 080.  Aborted by user because vehicle would not clear surface.	
10/19/01	13:24	81.67500	-12.71167	Ran mission checkout.cfg, data in 2001.292.06.  Mission terminated due to Octans not responding -- commented octansServer out of devices.cfg.	
10/19/01	13:34	81.67833	-12.73000	Ran mission checkout.cfg -- 5 minutes at 060 T, 15 m depth.  Vehicle dove at 13:37 but aborted due to violation of depth envelope.  Data in 2001.292.08	
10/20/01	10:01	81.87467	-13.71983	CTD cast 015, filename:ctd15b.dat  (ctd015.dat was downcast to 700m)  Cast depth: 1812.1 db, water depth: 1808m    OXYGEN DONE	
10/20/01	21:43	82.01400	-11.20400	CTD cast 016, filename: ctd016.dat  Cast depth: 1000.9db,  Water depth: 1067m  OXYGEN DONE	
10/21/01	12:10	81.81300	-14.64333	CTD cast 017, filename:ctd017.dat  Cast depth:  2157.0 db  water depth: 2157m  (oxygen thrown out due to open air vents during collection)	
10/21/01	16:35	81.64283	-15.33633	ctd cast 018, filename: CTD018.dat  Cast depth: 1969.2db,  water depth: 1967m  OXYGEN DONE	
10/22/01	23:47	81.19617	-15.99583	CTD cast 021, filename: ctd021.dat  Cast depth: 2144db, water depth: 2144m	
10/22/01	11:01	81.51095	-15.34545	Ready for CTD casts since 08:00 local but CTD winch system is down.  Standing by for CTD operations.	
10/22/01	19:56	81.32267	-15.62350	CTD cast 020, filename: ctd020.dat  Cast depth: 1992db, Water depth: 2020m OXYGEN DONE	
10/22/01	16:40	81.48350	-15.38800	CTD cast 019, filename: ctdcast019.dat  Cast depth: 2000.9  water depth: 2433m  OXYGEN DONE	
10/23/01	7:15	80.91583	-16.32167	CTD cast 023, filename: ctd023.dat  Cast depth: 1481.9db, water depth: 1497m	
10/23/01	9:39	80.83650	-16.43517	CTD cast 024, filename: ctd024.dat   Cast depth: 996.8 db, water depth: 996m	
10/23/01	12:32	80.75467	-16.60467	CTD cast 025, filename: ctd025.dat  Cast depth: 458 db, water depth: 473m	
10/23/01	13:41	80.73983	-16.61850	CTD cast 026, filename: ctd026.dat   Cast depth:  191db, Water depth: 211m	
10/23/01	14:54	80.73815	-16.58447	Ran mission BuoyLaunch.cfg -- data in 2001.296.09.  Attempt to launch live buoy.  Ran vehicle inbound to ship at 290 T at 50 m depth, then rotate, download, launch, all while circling.  Rotate behavior timed out, launcher unable to find the live buoy. After mission attempted to run buoyTest program but still unable to find buoy.  	
10/23/01	15:38	80.74192	-16.55703	Ran mission waypoint.cfg -- data in 2001.296.10.  Performance nominal.	
10/23/01	15:58	80.74195	-16.53582	Ran mission checkout_yoyo.cfg -- data in 2001.296.11.  Waypoint with yoyo depth control.  Performance nominal, some oscillation about commanded pitch.  After mission tried one more time to rotate via buoyTest but unsuccessful.  Recovered vehicle to deck after this mission.	
10/23/01	4:30	80.99817	-16.12483	CTD cast 022, filename: ctd022.dat  Cast depth: 1921db, Water depth: 1921m	
10/24/01	13:26	80.96833	-16.43192	Ran mission ctd_yoyo.cfg -- data in 2001.297.04.  One hour CTD data acquisition run with heading control via setpoint instead of waypoint.  Hans Thomas added exit to Kearfott due to concerns that it might reset if battery voltage dropped below 19.0 VDC.  	
10/24/01	14:59	80.92547	-16.40350	Ran mission ctd_yoyo.cfg -- data in 2001.297.05.  One hour CTD data acquisition run at heading 180 T, depth control from 7-500 meters via yoyo behavior.	
10/24/01	10:53	81.01260	-16.03923	Ran mission ctd_yoyo.cfg -- data in 2001.297.03.  One hour CTD data acquisition run with heading control via waypoint and depth control by yoyo behavior from 7 to 500 meters.  Probably just to the south of the Atlantic layer.	
10/25/01	9:32	81.24047	-15.63398	Ran mission surface_run.cfg to reposition vehicle with respect to ship -- data in 2001.298.01 and 2001.298.02.	
10/25/01	9:43	81.23802	-15.64493	Ran mission ice_triangle.cfg -- data in 2001.298.03.  2 leg under ice run, initial heading 55 T for 1200 seconds, return leg at 180 T for 2000 seconds.  Unsuccessful attempt to abort mission acoustically at the end of the mission.	
10/25/01	10:47	81.22738	-15.72175	Ran mission swim_close.cfg --data in 2001.298.04.  Reposition vehicle in lead	
10/25/01	11:01	81.22400	-15.72008	Ran mission ice_triangle.cfg -- data in 2001.298.05.  Under ice run straight and level at 30 meters.	
10/25/01	12:07	81.21067	-15.69900	Ran mission ice_triangle.cfg -- data in 2001.298.06.  Trans lead yoyo mission between 10 and 50 meters along a bearing of 120 T, then return to lead at a bearing of 250 T.	
10/25/01	17:32	81.25667	-15.67533	CTD cast 027, filename: ctd027.dat  Cast depth: 2000.6db,  water depth: 2237m  OXYGEN DONE	
10/25/01	8:37	81.25065	-15.58075	Ran mission ice_triangle.cfg -- data in 2001.298.00.  15 minutes per leg, at constant depth 30 meters, to measure ice thickness of different type of ice.	
10/26/01	18:51	81.06333	-15.74183	CTD cast 028, filename: ctd028.dat
done for JPL guys to help determine reason for ice melt
only went to 500m   Cast depth: 504db, Water depth: 2165m	
10/27/01	4:37	81.25083	-18.39417	CTD cast 029, filename: ctd029.dat
done for JPL guys   Cast depth:  4.6 db, Water depth: 500m	
10/27/01	11:32	81.31500	-18.90183	CTD cast 033, filename: ctd033.dat  Cast depth: 537.4, Water depth: 558m	
10/27/01	22:06	81.41250	-18.65967	CTD cast 032, filename: ctd032.dat  Cast depth: 749.2db , Water depth: 763m  (oxygen thrown out due to broken dispenser)	
10/27/01	11:31	81.50533	-18.46250	CTD cast 030, filename: ctd030.dat  Cast depth: 1500db, Water depth: 1800m	
10/27/01	17:02	81.59050	-18.21150	CTD cast 031, filename: ctd031b.dat  Cast depth: 1367.9db,  Water depth: 1407m  OXYGEN DONE	
10/28/01	1:21	81.21766	-19.10183	CTD cast 034, filename: ctd034.dat  Cast depth: 441.6db, Water depth: 440m	
10/28/01	7:57	80.94883	-19.79383	CTD cast 036, filename: ctd036.dat  Cast depth: 101.0db, Water depth: 119m	
10/28/01	11:40	81.12733	-19.29483	CTD cast 037, filename: ctd037.dat  Cast depth: 292.2db, Water depth: 312m OXYGEN DONE	
10/29/01	23:51	80.39500	-12.43466	CTD cast 038, filename: ctd038.dat  Cast depth: 164db, Water depth: 186m	
10/30/01	0:00	81.05233	-19.60233	CTD cast 035, filename: ctd035.dat Cast depth: 169.4 db. Water depth: 171m	
10/30/01	3:17	80.49500	-12.41816	CTD cast 039, filename: ctd039.dat  Cast depth: 687.2db, Water depth: 697m	
10/30/01	8:00	80.58766	-12.58766	CTD cast 040, filename: ctd040.dat  Cast depth: 1044.8db, Water depth: 1064m	
10/31/01	13:11	78.86167	-9.19800	CTD cast 041, filename: ctd041.dat
Beginning of Fram Straight transect   Cast depth: 194.3db  , Water depth: 213m  OXYGEN DONE	
10/31/01	22:31	78.85950	-7.15433	CTD cast 045, filename: ctd045.dat  Cast depth: 1000.7db, Water depth: 1321m	
10/31/01	19:52	78.85867	-7.64733	CTD cast 044, filename: ctd044.dat  Cast depth: 1097.4db, Water depth: 1103m	
10/31/01	15:23	78.87066	-8.63316	CTD cast 042, filename: ctd042.dat  Cast depth: 199db, Water depth: 255m  OXYGEN DONE	
10/31/01	17:28	78.86250	-8.15866	CTD cast 043, filename: ctd043.dat  Cast depth: 910.9  , Water depth: 917m OXYGEN DONE	
11/1/01	1:40	78.86783	-6.36783	CTD cast 046, filename: ctd046.dat  Cast depth:  1996db, Water depth: 2080m	
11/1/01	5:21	78.85500	-5.59133	CTD cast047, filename: ctd047.dat  Cast depth: 2546db, Water depth: 2566m	
11/1/01	9:57	78.86066	-4.79600	CTD cast 048, filename: ctd048.dat  Cast depth: 2740db, Water depth: 2751m	
11/1/01	13:36	78.85950	-4.04683	CTD cast 049, filename: ctd049.dat  Cast depth: 2359.2db, Water depth: 2350m	
11/1/01	17:39	78.86467	-3.27866	CTD cast 050, filename:ctd050.dat, Cast depth: 2359.4db, Cast depth: 2380m	
11/1/01	21:44	78.86100	-2.47516	CTD cast 051, filename:ctd051.dat  Cast depth: 2475db, Water depth: 2464m OXYGEN DONE	
11/2/01	18:20	0.00000	0.00000	CAST 052, Filename: ctd052.dat  Cast Depth: 2490db, Water depth: 2501m OXYGEN DONE