The main objective for this mission
was to validate the complete system as an efficient tool
for water sampling. We also intended to assess the
operational procedures, from mission programming to the
logistic aspects. This mission was a
preparation for the first sea trial, to be sheduled in
the short term, as soon as sea state conditions allow.
The AUV was equipped with a Sea-Bird
CTD, logging all data on the on board computer at 16Hz.
Navigation was based on a Long
Baseline (or LBL) acoustic network, with 2 NIBs being deployed about 600 meters apart,
along the river, in about 15 meters of water. The vehicle
software continuously fused ranges to the buoys,
together with compass heading and thruster RPM to
compute the estimated position.
During the mission, the buoys
transmitted vehicle location data to the mission control
station, on the shore,
so that the AUV trajectory could be followed in real
time. At the end, the vehicle surfaced at the
pre-programmed location and immediately started
transmitting her own position by radio.