Rover Dive Notes Summary
P. McGill

Dive 1, Pt. Lobos, 11Jul06
* Accelerometers were on vehicle
* Descended at 36 m/min
* Rover moved on schedule
* Treads slipped on wheels, hung up on frame
* Comp oil levels way down
* Couldn't talk to modem, too noisy (no baffle on topside xducer)
* Emergency drop-weight release tough to pull, finally successful
* Lost drop weight

Dive 2, Pt. Lobos, 18Jul06
* Accelerometers were on vehicle
* Descended at 39 m/min
* Rover moved on schedule
* Oil seen leaking from motor shaft seals
* Successful acoustic drop-weight release

Dive 3, Atlantis, 6Aug06
* Descended at 32 m/min
* Observed with Alvin (Sherman, McGill)
* All moves successful
* Had acoustic comms, but burn wire didn't release weight
* Pulled manual release

Dive 4, Atlantis, 10Aug06
* Descended at ~40 m/min
* Observed with Alvin (Chase)
* All moves successful but turn failed
* Couldn't establish acoustic comms, topside xducer trailing ship
* Pulled manual release

Dive 5, Atlantis, 17Aug06
* Descended at ~40 m/min
* Observed with Alvin (Pargett)
* All moves successful
* Successful acoustic drop-weight release, burn time 12 min

Dive 6, Pt. Lobos, 18Dec06
* Launched w/out spar buoy by request of Lobos crew
* Descended at 39 m/min
* Software problem (task scheduling error), program didn't run
* First time with baffle on acoustic modem topside xducer?
* Successful acoustic drop-weight release, burn time 12 min

Dive 7, Pt. Lobos, 2Jan07
* Four cycled of drive 10 (?)m and raise and lower Stbd rack 
* rack limit was too high, did not penetrate sediment before hitting forward limit switch
* Tested and driving turning into the current
* Acoustically released drop weight, which was recovered by ROV
* Optode data showed signs of drift

Dive 8, W. Flyer, 31Jan07
* Descended at ? m/min
* Nav bad, could find Rover with ROV until searching for 1 hr 39 min
* Software problem (unitialized var), program didn't run
* Successful acoustic drop-weight release, burn time 11 min

Dive 9, W. Flyer, 2Feb07
* Descended at 36 m/min
* Rover mission software started in midwater, aborted acoustically
* Raised rack from down position acoustically so it wouldn't impact first
* First successful insertion/removal of BR chamber (stbd)
* Sediment switch sticking
* Successful turns into current
* First BR oxygen measurement, 36 hrs
* Chamber left in down position after measurement
* Successful acoustic drop-weight release, burn time 11 min

Dive 10, Pt. Lobos, 29May07
* Descended at 37 m/min
* First dive with both chambers, completed 3 cycles
* Port chamber switch not working, insertion hits bottom limit, lifts whole Rover
* Successful acoustic drop-weight release, burn time 12 min
* Fitting knocked off of stbd motor housing, lost lots of oil on recovery

Dive 11, W. Flyer, 7Jun07
* Descended at 37 m/min
* 2 successful cycles before starting long mission
* Bubbles released from port chamber when valves opened
* No ROV dive due to weather, drop-weight released acoustically, burn time 12 min
* Strobe beacon lens smashed during recovery

Dive 12, Pt. Lobos, 10Sep07
* Descended at 32 m/min
* Rover mission didn't start due to software bug
* Drop-weight released acoustically, burn time 12 min

Dive 13, W. Flyer, 20Sep07
* Descended at 36 m/min
* Stbd propulsion motor controller shut down with error after about 25 sec of motion, Rover drove in circles
* Drop-weight released acoustically, burn time 12 min

Dive 14, W. Flyer, 21Sep07
* Descended at 37 m/min
* Ran motors slower and increased current limit, stbd propulsion motor controller didn't shut down, all moves successful
* Stbd BR chamber valves not working (kinked hose?)
* Neither ring manifold nor single nozzle chamber cleaner was very effective
* Ref optode data somewhat noisy, but don't know what is normal for ambient water
* Successful 36-hour incubation on port chamber
* Drop-weight released acoustically, burn time 12 min

Dive 15, Pt. Lobos, 7Nov07
* Rover took 24 min to reach bottom
* Rover completed 2 cycles successfully, and was left to start long 19-day mission
* Rover was recovered on 26Nov07
* Only one incubation was performed. On the second measurement cycle, the stbd rack motor controller faulted, the error wasn't handled correctly, and the software was hung trying to abort the mission
* Drop-weight released acoustically, burn time 8 min