NOAA NMFS ROV Operations

> USE OF A REMOTELY OPERATED VEHICLE AS A
>
> FISHERIES SURVEY TOOL
>
> NOAA

Southwest Fisheries Science Center

Tim P. Lynch^1^, Deanna R. Pinkard^2^ and John L. Butler^2^

November 2004

# 

# 

#  ^1^NSW Marine Parks Authority 

# Jervis Bay Marine Park

#  PO Box 89 

#  Huskisson, New South Wales 2540

Australia

#  <tim.lynch@npws.nsw.gov.au>

#  ^2^NOAA Southwest Fisheries Center

#  8604 La Jolla Shores Drive

#  La Jolla, CA 92037

USA

# 

#  Deanna.Pinkard@noaa.gov

#  John.Butler@noaa.gov

> Table of Contents

List of
Tables........................................................................................3

[List of Figures 3](#__RefHeading___Toc88459984)

1\. Executive
Summary............................................................................4

[2. Introduction 5](#introduction)

[2.1 ROV Project Management 5](#rov-project-management)

[2.2 Abalone research objectives and null hypotheses
5](#__RefHeading___Toc88459988)

[3. Overview of the ROV System 7](#overview-of-the-rov-system)

[3.1 The ROV 7](#the-rov)

[3.2 The ROV console and heads up display
7](#the-rov-console-and-heads-up-display)

[3.2.1 Directional Hydrophone, Transponder and Trackpoint
8](#directional-hydrophone-transponder-and-trackpoint)

[3.2.2 Pitch and Roll Sensor 8](#pitch-and-roll-sensor)

[3.2.3 DGPS and GIS 8](#dgps)

[3.2.4 Tracking and Data Processing Software- WinFrog & Ribbit
9](#tracking-and-data-processing-software--winfrog-ribbit)

[3.3 The Tether 9](#the-tether)

[3.4 Vessel and Cranes 10](#vessel-and-cranes)

[3.5 Clump weight and cable counter 10](#clump-weight-and-cable-counter)

[4. Abalone survey techniques 11](#habitat-mapping-and-transects)

[4.1 Survey design 11](#__RefHeading___Toc88460000)

[4.2 Habitat Mapping and Transects 11](#habitat-mapping-and-transects-1)

[4.3 Data collection 12](#data-collection)

[5. Analysis strategies 12](#analysis-strategies)

[5.1 Determining transect area 12](#determining-transect-area)

[5.2 Population estimates 13](#population-estimates)

[5.3 Refinements to the base model 15](#refinements-to-the-base-model)

[6. Project Management 15](#project-management)

[6.1 Timing and Logistics 15](#timing-and-logistics)

[6.2 Team structure 15](#team-structure)

[6.3 OH&S 16](#ohs)

[6.4 NOAA Corps and Scientists on-board communications
16](#noaa-corps-and-scientists-on-board-communications)

[7. Discussion 17](#discussion)

[8. Acknowledgements 18](#acknowledgements)

[9. References 19](#references)

[10. Tables 19](#__RefHeading___Toc88460016)

11\.
Figures..........................................................................................24

12\.
Appendixes.................................................................................\...28

[]{#__RefHeading___Toc88459984 .anchor}

# 

# 

# 

# 

#  

# 

# List of Tables

## Table 1. Summary statistics of 2002-2004 abalone cruises

> List of Figures

Figure 1. Diagrammatic representation of the ROV console and placement
of devices on the ROV.

Figure 2. Captured image of WinFrog screen as viewed during a dive.

Figure 3. Quantitative Measurement Software (QMS) video grab. Lasers are
used as reference points to measure between particular points on the
image (blue and red dots).

Figure 4. Bathymetry map of white abalone habitat with transect tracts
(black lines), abalone sightings (yellow circles), and abalone shell
sightings (red circles) at San Clemente Island.

[1. Executive Summary]{.underline}

To minimize negative impacts on organisms being studied it is important
to use non-destructive sampling methods when possible. Depending on the
life history characteristics and habitat type of the study organism this
can be a large challenge. SCUBA diving surveys are a natural choice for
non-destructive sampling, but animals that occur in relatively deep
water (\> 30 m) cannot be studied effectively by these means due to the
time-consuming nature of SCUBA surveys. Manned submersibles have been
used to study deep dwelling organisms, but are costly in general,
especially when extensive and repeat surveying is necessary. The use of
remotely operated vehicles (ROVs) is a relatively low cost,
non-destructive method that is ideal for surveying many deep dwelling
organisms.

The use of ROVs to survey invertebrates and fishes has moved from a
design and development phase to a standard procedure at the NOAA
Fisheries South West Fisheries Science Center (SWFSC). The aim of this
manuscript is to document the scientific and technical knowledge of the
SWFSC ROV program to assist others working with ROVs, and to compile the
extensive knowledge acquired during the design phase of the ROV program.
The study organisms to date have included the white abalone (*Haliotis
sorenseni*) and various rockfish species. These case studies will
provide examples of the ability of scientists to use ROV surveys to
study organisms ranging from slow-moving invertebrates to highly active
fish. Use of an ROV for stock assessment has proven to provide a large
amount of information with a reasonable amount of effort and expense.
Additionally, surveys are captured by video and still camera for
permanent documentation. The ROV program design described in this
manuscript has proven useful for many purposes and is worthy of
emulation by others seeking similar survey methods.

# 2. Introduction

## 2.1 ROV Project Management

The sampling techniques used for stock assessment in fisheries biology
could be described as trying to count trees, which you can't see, that
keep moving around. While the use of SCUBA diving has allowed biologists
to study a number of marine species, excursions are limited to shallow
depths. When scientists want to conduct research on living creatures at
depths greater than 20 or 30 meters below the surface, they often need
to resort to increasingly complicated and expensive machines. In recent
years the use of remotely operated vehicles (ROVs) has increased in
popularity as a research tool for studies of deeper living organisms.

At the NOAA SWFSC a ROV program based around a Phantom DS4 ROV has been
in place since 1999. Since the inception of the program, 22 ROV cruises
have been completed, with studies focused on squid fecundity, rock fish
population assessment, and abalone conservation.

Although ROVs are now commonly used by researchers, they are typically
not "off the shelf" items. Rather, they are complicated systems
comprised of mechanics, electronics, and computers, where, in most
cases, each component has been designed for a broad range of
applications and must be adapted for specific use on the ROV. When
combined with the extreme operational conditions in which ROVs operate,
this adaptive engineering means that there is a high potential for
multiple equipment failures during cruises. In addition to these
technical difficulties, ROVs are often tasked to multiple programs, and
at least for research, must be used within the rigorous demands of
scientific design.

All of these facts make project management of ROV operations a demanding
task. In such a complex working environment, the in-house knowledge of
protocols that resides in the cumulative experience of staff is vital to
the smooth operation of ROV programs. The problem with in-house
knowledge, especially in small teams, is that it can be easily lost when
staff members leave the organization. To combat this project management
dilemma this document attempts to consolidate the technical knowledge
developed since the inception of the ROV program in 1999.

**2.2 Examples of ROV research objectives**

NOAA research on the endangered white abalone (*Haliotis* *sorenseni*)
is focused on stock assessment at various locations in its geographical
range. As the species has been over-exploited and lives beyond
SCUBA-safe depths, ROV surveys are used to locate, count, estimate size
and photograph abalone. A secondary aim is to map the locations of
individual white abalone so at a later date brood stock can be collected
for a captive breeding program. The majority of suitable habitat in
California is currently being sampled which will increase the confidence
of the population estimate.

# 

NOAA rockfish research has used ROV sampling techniques to assess
southern California rockfish populations and to provide ground-truthing
for sonar surveys aimed to identify rockfish assemblages. Additionally,
the ROV is used to ground-truth sonar classification of rockfish
habitat. The target rockfish species are found well below
diver-accessible depths (\~200 m), so the use of the ROV for video
transects is very valuable. The ROV is used to survey fish schools,
photograph fish for identification, and provide a view of the bottom for
bottom-typing. Key species, such as cowcod and vermillion rockfish, are
identified, counted, and measured.

# 3. Overview of the ROV System

## 3.1 The ROV 

The specifications of the Phantom DS4 ROV were chosen based on the
physical and biological requirements of the sampling design. The Phantom
is powered laterally by four ½ horsepower motors, vertically by two ¼
horsepower motors, and can dive to a maximum operating depth of 600
meters. The optical infrastructure consists of both streaming video and
digital still cameras. While the base ROV unit is fairly simple, the
system can be modified to fit the needs of a specific project (a list of
overboard ROV equipment and specifications is provided in Appendix I).
For example, in the case of the white abalone project, precise
positioning data for the ROVs location on the bottom is necessary so
brood stock can be collected by SCUBA divers. Obtaining this data
requires implementing a vehicle tracking system that consists of a
multi-beacon mounted on the ROV and a directional hydrophone mounted on
the support vessel. The ROV also sends bearing, speed, depth, altimeter,
temperature, and pitch and roll data back up the tether cable. These
data are combined with a Differential Global Positioning System (DGPS)
and Pitch and Roll sensor on the support vessel and then fed into a
computer program called WinFrog. The program combines all of these data
(and data from any other instrument that is added to the system) to be
plotted on a computer screen displaying the ROVs position in real time.
This allows for accurate estimates of transect distance to be obtained
for each ROV dive.

Two sets of lasers are included on the ROV: one is spaced 10 cm apart
for measuring abalone, and the second set is comprised of three
horizontally aligned lasers with two fixed and one that is angled and
therefore wanders. This second set of lasers provides a metric: when the
wandering laser and outer fixed laser cross, the vehicle is \~ 2 m from
this point. This allows for an accurate estimate of transect width.

## 3.2 The ROV console and heads up display

The more components to a ROV system the more complex the console
arrangement becomes. It is also interesting to note that the system
hardware and software are of varying ages. For instance, the Trackpoint
technology is at least 30 years old. The ROV on-screen display that
displays video and bearing information is also fairly antiquated, but
like Trackpoint is robust technology. The on-screen display can also
display text, allowing for meta-data to be recorded for each dive.

Due to the need to accurately plot the position of the ROV on the bottom
the console arrangements for the abalone project are particularly
complex, leading to the need for prior technical knowledge. To ease this
reliance on personal knowledge the console components and arrangement
are documented and diagrammed (Figure 1) so that set up and break down
processes can be successful, even with inexperienced staff. A component
list of the console equipment and software is provided in Appendix II.

### 3.2.1 Directional Hydrophone, Transponder and Trackpoint

By mounting a directional hydrophone on the side of the research vessel
and a transponder on the ROV, surface tracking of the ROV during dives
is possible. The transponder is located on the top of the ROV and needs
to be activated before each dive. It "pings" at a rate of once every two
seconds. The output data from these instruments are initially displayed
on the Trackpoint monitor plotting the location of the ROV in relation
to the relative position of the boat. This data is also sent to the ROV
tracking program, WinFrog, for display on the computer monitor, hence
the Trackpoint monitor provides a built-in redundancy in case of
computer malfunctions. These data are crucial to launch, retrieval and
piloting of the ROV as the ROV can never stray either too far from the
vessel or too close to the propellers.

When moving between sites the directional hydrophone can remain bolted
into position as long as the vessel does not exceed a speed of
approximately eight knots.

### 3.2.2 DGPS

Positional data from a Differential Global Positioning System (DGPS)
located on the surface are used along with the positional information
obtained from the hydrophone/transponder in WinFrog to determine the
actual location of the ROV. The distances from the DGPS antenna (ideally
located near the center of the ship) to the bow and stern of the ship
are measured and offsets are entered. This information, along with the
directional hydrophone/transponder data collected by the Trackpoint
system, is used to determine and display the precise location of the ROV
in relation to the ship at any given time. The estimated error of the
current DGPS system is approximately 3 m. For accurate mapping of the
ROV position onto both the WinFrog display and later into a geographic
Information System (GIS) it is important that the datum used in the DGPS
is known (the current system uses WGS 84). The latitude and longitude
data from a particular dive (displayed as a track line) are exported
from the WinFrog program and stored as permanent maps using ArcView GIS
(ESRI, 2004).

### 3.2.3 Pitch and Roll Sensor 

On a large vessel such as the David Starr Jordan, pitch and roll can be
in the order of 20 -- 30 meters in moderate seas, which means the DGPS
positions also waiver by this distance, even if the ROV is traveling in
a straight line. If estimates of ROV transect area are required this
error needs to be removed. The pitch and roll sensor is a large
gyroscope that provides data to the Trackpoint system to adjust the
range and bearing to the ROV for the movement of the ship and
correspondingly movement of the directional hydrophone. Like the
directional hydrophone, the pitch and roll sensor needs to be correctly
orientated, but in this case it is bolted onto the ship along its
midline. It is important that the offsets of the hydrophone, GPS
antennas and pitch and roll sensors are accurately entered into the
WinFrog program.

### 3.2.4 Tracking and Data Processing Software- WinFrog & Ribbit

The positional information from the directional hydrophone, pitch and
roll sensor data, DGPS and the ROV's flight data are all processed and
displayed in the program WinFrog (Thales Geosolutions, 2004). The
graphical display is used both for navigation of the ROV and to log dive
data (Fig 2). For navigation the program can display both the ROV and
ship sizes and positions relative not only to each other, but also to a
geo-referenced background such as a bathymetry map. The display is
simultaneously relayed to the bridge, allowing the helm to adjust the
speed of drift of the research vessel to maintain position along a
transect line. All data are saved in various file formats (see Appendix
IX). The file types generated from WinFrog are .DAT, .LOG, and .RAW
files. Comma delimited .DAT files are automatically created from the
.RAW files, and include some of the main measurements of interest,
including position, depth, and altimeter data. The .RAW files include
all data collected during the dive, and can be viewed and saved in the
ascii file format in the WinFrog sister program, Ribbit. WinFrog can
also record text as .LOG files which allow for events of interest (such
as the discovery of an abalone) to be logged manually during the dive.
WinFrog has many other options that are very useful in ROV operation,
including map overlays and distance calculations. There are numerous
settings that must be properly adjusted prior to successful use of the
program, so it is recommended that a sufficient understanding of the
program be reached well before cruise time (see Appendix VIII).

## 3.3 The Tether

The tether secures the ROV to the boat and delivers power and commands
from the console to the ROV via the junction box. It also carries images
and data from the ROV, through its umbilical connection, and back up the
cable to the console. To fulfill this task it contains 32 small wires
bundled and sealed within plastic sheaths. Due to this complexity and
the fragility of the wires, it is the weakest link of the ROV system.
Tether care and management is crucial to cruise success. To maintain the
integrity of the tether there should be no bends less than 2 feet in
diameter, padding should be placed at any friction points, floats should
be attached to the tether near the ROV, and nothing heavy should be
placed onto the tether. It is also of great benefit to have a tether
real to coil and uncoil the tether. Effective on deck tether management
is vital to maintaining the integrity of the tether.

Never reach the end of your tether. There are two ends of the tether,
the end where the tether is attached to the boat, and the clump weight
end. If the tether reaches either end, stress is placed onto the
umbilical and the ROV pilot loses control of the vehicle and any extra
length of tether that may be necessary to avoid problems.

## 3.4 Vessel and Cranes

ROV operations, even to a greater extent than most work at sea, are
highly weather dependent. Surface conditions must allow the support
vessel to maintain its position above the ROV, and subsurface conditions
must also allow the ROV to maintain its position under the support
vessel. The horse power of the ROV motors determines the speed through
the water and is an important factor in whether operations are
successful in the case that conditions are unfavorable. For the Phantom
DS4 both surface drift and subsurface currents of less than 2.5 knots
are required in order for safe and effective ROV operations to take
place. The operation of the ROV is highly dependent on the vessel speed.
If the vessel moves too fast across the bottom (\> 1 knot) depending on
the specific survey technique, it can be very difficult for the ROV
pilot to keep the vehicle near the vessel, and in turn impede collection
of realistic data. The skill of the helm to maintain slow speeds along a
predetermined transect in variable wind and current conditions cannot be
under-emphasized. For the abalone study, a ship speed across the bottom
of ½ knott is ideal, although not always possible in certain conditions.

A crane is used to maneuver the ROV while it is on deck and at the
surface of the water. Clear instructions and communication are needed
between the vessel crew and research scientists for smooth ROV
operations. The crane operator must be in excellent communication with
the scientists, the ROV pilot, the clump weight tender, and the helm
(Appendix VI).

## 3.5 Clump weight and cable counter

A 350 lb clump weight is used to minimize drag on the ROV tether cable.
The weight is attached to a wire cable and lowered over the side of the
vessel to a depth of 5 m. The ROV, after being flown 20-40 m away from
the boat, is then joined by the tether to the wire by means of straps
and carabineers. Both the tether and the wire are then lowered together
and additional carabineers are attached at 10 m intervals. When lowering
the weight a cable counter is used to determine the length of cable
deployed. The first connection is 5 m above the clump weight and
includes a protective plastic sleeve around the ROV cable, as this is
the point of greatest strain. The length of "flying" tether is
determined by the substrate conditions. In complex rocky terrain shorter
lengths are used to minimize the chance of entanglement, while in
habitat comprised of simple sandy bottoms longer lengths allow for
greater freedom of movement. In strong currents longer lengths of tether
may be needed to navigate down to the bottom.

# 

Cable counter and depth sounder displays are useful to have in the
laboratory, as the position of the weight should generally be maintained
10 m above the bottom. It is imperative that a weak link is established
in the cable so that the vessel will not be dragged under if the clump
weight snags onto the bottom.

# 

# 4. Habitat Mapping and Transects 

## 4.1 Habitat Mapping and Transects 

When sampling is focused on specific habitats, bathymetric mapping prior
to ROV surveys provides very useful information. Multi-beam sonar
techniques are used to produce detailed contour maps of the bottom, with
bathymetric relief used as a surrogate for rocky habitat type (Figure
1). Once a site has been selected the ship steams to a position up-wind
from the likely habitat. The ROV is deployed to the windward side, dived
to the habitat and a transect begins (Appendixes III -- V). The helm
then maneuvers the ship along a bearing that travels along the depth
stratum and allows the ROV to maintain contact with the rocky habitat
(Appendix X).

Each replicate is a strip transect of approximately 1-2 km in direct
length with a field of view determined by the speed, height off the
bottom, position, pitch, and roll of the ROV. The vehicle flies between
0.5- 1 m above the substrate along each transect, following the middle
contour of a single depth strata. Transect tracklines of the ROV across
the substrate are plotted for each dive on a map.

## 4.3 Data collection

A variety of data are collected by the ROV system including accurate
position, speed, distance, temperature, date, and time. These data are
collected and recorded (WinFrog .DAT files) at 2-second intervals and
provide the information necessary to calculate search effort.

WinFrog can also record text notes as events (pressing F10). The text
notes are compiled in a log text file (.LOG) including the date, time,
depth, and position of the ROV for each event recorded. The most
important data events recorded, the counts of abalone on the transect,
are generated in this manner by making a text note when an animal is
spotted. Abalone shells and the sighting of any other abalone species
are also recorded. In addition, any other pertinent information or
events during the dive are recorded. For example, a text note of start
transect is made once the ROV has reached operating depth and
encountered rocky habitat. If traversing sand or other unsuitable
abalone habitat a note of "off transect" is made and "on transect" is
recorded when rocky habitat is once again encountered.

Other data collected include VHS and DVCAM video footage. The video
footage is recorded continuously throughout the transect. The first data
role of the video is to record metadata, generated as text on the ROV
console. Another role is to record the position of the lasers fixed to
the ROV. These lasers are used for measuring distances, field of view
and the sizes of animals.

# 5. Analysis strategies

## 5.1 Determining transect area

The key information obtained by the ROV are counts of abalone along the
transect line at each depth and the transect length and width. By
determining the area of transect surveyed and averaging the number of
abalone sited, a mean density, with known variation, can be produced for
each depth stratum. With this information an extrapolation can be
performed, using the total known area of habitat, to estimate the
abalone population; hence testing the first null hypothesis (section
1.2).

Determining transect length, width, and quality with accuracy and
precision involves a combination of automated and manual
post-processing. The ROV trackline, data stream, and video feeds include
"off-transect" components which need to be excluded from the calculation
of transect area. Transects can go "off-transect" if the ROV loses the
reef, needs to move long distances (\>100m) between patches of reef, or
is moving too fast to be searching effectively. Similarly, when the ROVs
pitch changes radically, for instance to fly over an obstacle, the
transect is no longer being searched for abalone and this section needs
to be discarded from the area calculation. Transects can also be
"off-transect" if the ROV does a complete loop and doubles over the
previous path. This makes the sub-sample a pseudo-replicate and it must
also be discarded from the transect.

Determining when transects are "on" or "off-transect" can be achieved in
three ways: GIS analysis of the trackline over the Bathymetry layer,
computer notes made on the WinFrog .LOG file by pushing the F10 button,
and by post processing of the video. Of these analyses the post
processing provides the most precise and accurate data for most
off-transect occurrences. This is because bathymetry imaging is of a
lower precision than the video footage and is not useful for pitch or
speed, while there is the potential for F10 notes in the .LOG file to be
forgotten by the operator during very active ROV flights.

Once those parts of the video footage that are "off transect" have been
identified and excluded from analysis, the length and width of the
transect can be calculated. Even when "on-transect", the transect width
is variable as the ROV dips and rises to maneuver over the substrate.
Using reference lasers mounted in a fixed configuration within the video
field of view, the width of these transects can be computed during
post-processing. This is undertaken using Quantitative Measurement
Software (QMS; Green Sky Imaging, 2004). The software can acquire and
process video images based on a photo-overlap, fixed-time interval,
fixed-distance interval, or randomly sampling. In the case of our
abalone transects, photo-overlaps will be used, as total transect area
(τ) rather than sub-samples of the transect are needed for the mean
density of abalone ($\overline{X}$) to be determined (See section
2.1.6).

The software uses the geometry of the laser references on each
overlapping video frame to determine the range to center of the image,
center width of the image, area below center and the x-y scale
information over the entire field of view (Figure 3). By using this data
from the overlapping video images both length and width and hence
transect area (τ ) can be calculated (Figure 3).

The measures of the laser path over the transect need to be further
adjusted to take into account the roll of the ROV and the pitch of the
camera array. Even though this data is captured every two seconds
(unlike the continuous collection of laser sightings by the video-photo
overlaps), an extrapolating algorithm in the QMS software provides a
correction, filling in the gaps between each "ping" of data.

## [5.2 Population estimates]{.mark}

[]{.mark}

[To answer the primary research question of the white abalone population
estimate, the following extrapolation using survey counts of abalone and
areas of known habitat can be performed. This base model assumes that
locations where suitable white abalone habitat exists yet are not
sampled are similar in abalone density to those locations sampled. If
all areas of suitable habitat are not included in the extrapolation then
the population size will be an underestimate. Alternatively, if areas
sampled are where the main remnants of the population remain, then the
extrapolation will be an over-estimate. Densities at sampled sites will
be compared and evaluated to determine the best estimate to use for
extrapolations to sites that are not sampled so that a total population
estimate can be obtained.]{.mark}

[]{.mark}

[The population estimate and variance, expressed as a confidence
interval, can be determined as follows:]{.mark}

[]{.mark}

[First, define the mean densities of abalone (]{.mark}$\overline{X}$[)
within each depth strata at each location,]{.mark}

[]{.mark}

[]{.mark}$${\overline{X}}_{x}\text{==}\ \frac{1}{N_{x}}\sum_{i = 1}^{N_{x}}\left\lbrack \nu_{i}\tau_{i} \right\rbrack$$

[]{.mark}$${\overline{X}}_{y}\text{==}\ \frac{1}{N_{y}}\sum_{i = 1}^{N_{y}}\left\lbrack \nu_{i}\tau_{i} \right\rbrack$$

[]{.mark}$${\overline{X}}_{z}\text{==}\ \frac{1}{N_{z}}\sum_{i = 1}^{N_{z}}\left\lbrack \nu_{i}\tau_{i} \right\rbrack$$

> []{.mark}

[]{.mark}

[where, ν = transect count of abalone]{.mark}

[ τ = transect area m^2^ ("effort on" transect length m x field of view
in m)]{.mark}

[*x* = 30 -- 40m depth strata]{.mark}

[*y* = 40 -- 50m depth strata]{.mark}

[*z* = 50 -- 60m depth strata]{.mark}

[N = Number of samples per strata]{.mark}

[]{.mark}

[Second, determine the location population estimate (µ) as,]{.mark}

[]{.mark}

> [µ= Σ\[*X~x~*(φ*~x~*), *X~y~*(φ *~y~*), *X~z~*(φ*~z~*)\]]{.mark}

[]{.mark}

[where, φ = total area of sampled location habitat, for each depth
stratum (*x*, *y*, and *z*)]{.mark}

[]{.mark}

[Third, calculate the 95% confidence intervals of the locations
population estimates as:]{.mark}

[]{.mark}

[CI= Σ\[(]{.mark}$\overline{X}$[*~x~* ± 1.96 (*σ~x~*/√n*~x~*),
(]{.mark}$\overline{X}$[*~y~* ± 1.96 (*σ~y~*/√n *σ~y~*),]{.mark}
$\overline{X}$[*~z~* ± 1.96 (*σ~z~*/√n *σ~z~*)\]]{.mark}

[]{.mark}

[If all locations where suitable white abalone habitat exists are
sampled, then the global population (µ~t~), that is all members of the
species, can be calculated as,]{.mark}

[]{.mark}

> [µ~t~ = µ~i~ + µ~ii~ + µ~iii~........ µ~n~]{.mark}

[]{.mark}

[and the confidence we have in this estimate can be expressed in
confidence intervals as,]{.mark}

[]{.mark}

[CI~t~ = CI~i~ + CI~ii~ + CI~iii~..........CI~n~]{.mark}

[]{.mark}

## [5.3 Refinements to the base model]{.mark}

[]{.mark}

[A major constraint of the model is the spread of sampling over all
possible habitats within the global distribution of white abalone and
the variability of abalone densities throughout its range. The model
assumes that the population estimate is based on a representative
sample. Power analysis using the current sample may provide insight into
how much more sampling is necessary to achieve an estimate with a
predictable error for management purposes.]{.mark}

# 

# 6. Project Management

## 6.1 Timing and Logistics 

The planning horizon for each ROV cruise commences 6 months ahead of the
cruise with a request for ship time. Ship time is a block of NOAA
resources dedicated to each facility. How the time is allocated is
related to the research priorities included in the NOAA corporate plan
and implemented by each facilities director of research. Ship time is
also dependent on the US federal budget.

To test gear, procure spares and pack the ROV, the team needs several
weeks of preparation prior to the first cruise of every sampling season.
A checklist for logistics is provided in Appendix XII.

## 6.2 Team structure 

Running a ROV program requires a team of personnel with a variety of
divergent skills. Of critical importance is staff with technical
experience in ROV systems. These include mechanical skills (for
replacing thrusters, maintaining vacuum seals and managing the cable
systems), electrical/electronic skills (for trouble shooting and
repairing tether connections, running power safely and repairing the
various electronic boards in the system), piloting skills (for flying
the ROV to collect data) and computer skills (to integrate the ROV data
producing hardware with real time computer logging of the ROVs
position).

With so much expensive technical equipment to worry about the scientific
aims of the project can be overshadowed. It is therefore important that
other staff take ownership of the survey design, data collection,
metadata logging, data back-ups, archiving and analysis. Writing of
cruise reports, internal reports to NOAA management, popular articles,
and journal publications are another set of tasks where one or several
team members should focus their efforts.

The bridge officers are another integral part of the team and require
fine helm skills to navigate safely in the hazardous operating
environment where cables and a ROV are deployed from the deck. The
project also requires skilled deck crew with crane, winch and cable
experience. In particular, the bosun works closely with team scientists
when loading and unloading at the dock as well as during ROV deployment
and retrieval.

The project also needs personnel that can "translate" between all of
these various specialists as jargon and incorrect assumptions over roles
and responsibilities can foil the projects objectives.

## 6.3 OH&S

Occupational health and safety is the responsibility of all staff,
including both NOAA corps and scientists. A modern method of controlling
risk is Job Safety Analysis (JSA). This involves all members of teams
involved in particular tasks meeting and breaking the task into its
component steps, identifying the risks involved in each step and
developing safe work practices to remove these risks. JSA's are not
prescriptive documents, but rather are verbal, collaborative agreements
that are performed by the team for each new task and are adapted to each
new experience. When a new member joins the team they are briefed in the
safe work practices developed by the JSA. This briefing occurs on site
immediately before the task is performed.

In JSA the use of protective gear should be a last resort. Rather,
removing personnel from the area of risk is the first principle. The key
is to develop safe work practices. ROV tasks, which require Job Safety
Analysis (JSA), include loading and unloading vessels, Laboratory and
ROV setup, ROV deployment, ROV transects and ROV recovery.

## 6.4 NOAA Corps and Scientists on-board communications

ROV operations require clear communications between the lab, the helm,
and the deck. This allows for not only successful science, but also the
avoidance of catastrophic events, such as entanglement of the propellers
by the ROV tether or the snagging of the clump-weight on the bottom.
Communication needs to involve both ROV personnel and ship personnel, as
the rigors of the scientific technique must be consistent with safe
boating and the limitations of tide, sea, swell and wind. The language
of sailors and scientists is also often infused with colloquialisms and
jargon adding to the potential for confusion.

The key to successful ROV operations is early and repeated briefings
between the scientists, the captain, the officers, and the boson. From
these briefings standard guidelines (Appendix X) can be developed so all
staff are working under the same assumptions.

Smaller vessels can allow for direct verbal communication between
scientists and crew during ROV flights. The complexity of communication
links increase, however, with the size of the boat. Larger vessels often
have various watches, so the helm rotates between a number of officers
and communication between the lab, bridge and deck is often conducted
via radio. On an ocean going vessel, such as the 53m R/V David Starr
Jordan, radio/ships telephone communication links need to be established
between the lab and the bridge, the lab and the deck scientists, the
deck bosun and the bridge, the deck bosun and the crane operator, and
the bridge and the engine room (to stop propeller rotation in an
emergency).

An additional communication tool is to run two screens from the computer
running the WinFrog program to both bridge and the lab. This allows the
bridge to see what the lab sees for the location of transects and of the
ROV in relation to the ship. Of added interest to the bridge is that the
WinFrog view allows for an excellent visualization of the ship rate and
direction of drift.

# 7. Discussion

As the focus of marine science moves from extraction to conservation the
use of ROVs will inevitably increase. This is because conservation
focused research requires that non-destructive sampling techniques be
developed. As marine biologists increase their use of ROVs a prime
consideration is how can ROV systems be adapted for quantitative
ecology? Precisely determining search effort is the main problem of
video analysis and it is in this area that the SWFC research on white
abalone is establishing a robust solution.

By integrating DGPS, directional hydrophones, and pitch and roll sensors
with frame analysis of the ROV path, for the first time an accurate and
precise estimate of ROV search effort can be achieved. This will allow
for a precise stock estimate to be produced for white abalone.

Following stock assessment the next phase of the work is to continue
sampling to develop an extended time series. The time series will
provide performance assessment of the recovery plan by monitoring the
response of the abalone population to protection and other conservation
measures, such as re-seeding. To avoid seasonal confounding of the data,
or pseudo-replication, a single yearly data point should be established
for each sampled location by repeating surveys at the same time each
year.

As the project moves into this new phase the efficiency of the current
transect length should be scrutinized. The key questions are:

1.  Is the current transect length optimal for developing time series
    data?

2.  What is the power of the current design and is it acceptable to
    management?

What will be the most efficient designs over the long term involves a
number of considerations and may be an ideal question for modeling using
computer simulations of the data already collected. Of primary
importance is the biology of the white abalone. If the species is
patchily distributed rather than uniformly or randomly, then a greater
number of shorter transects within more detailed strata may be ideal.
The power of time series to detect change is also greatly enhanced if
the design moves from being randomized to including repeated measures
(Bausell and Li, 2002).

These statistical considerations, however, are limited by the logistical
constraints of transiting to sites, launching and retrieving the ROV,
crew fatigue, and the weather. While power modeling may indicate one
design optimal, cost benefit analysis and unforeseen technical
difficulties may limit what can actually be achieved. The combination of
modeling and cost benefit analysis is necessary to find the level of
sampling necessary to detect a change in the population that can be
discussed with management for future funding opportunities.

A further task that is included in the planning horizon is the
establishment of a captive breeding and release program. Once again the
ROV will be an invaluable tool for this project, providing dive-planning
information. Due to the depth and scarcity of the white abalone
distribution, divers collecting abalone will have limited dive times.
The ROV will be used to conduct the search and then direct divers to the
location of specimens. Following the establishment of a captive breeding
program the ROV could also be used in experiments to determine the
optimum size of white abalone for release back into the wild.

# 8. Acknowledgements

Thanks to Scott Mau and David Murfin for participating in the
preparation of the logistics section, Frank M. Caimi for help with the
statistics, and Benjamin Maurer and Anthony Cossio for their
participation in the cruises and help with the ROV system.

# 9. References 

ArcView v 9.0. 2004. Environmental Systems Research Institute, Inc.
(ESRI).

Bausell, R.B. and Y.F. Li. 2002. Power analysis for experimental
research- a practical guide for the biological, medical, and social
sciences. Cambridge University Press. Cambridge, U.K.

# 

# Davis, G.E., Richards, D.V., Haaker, P.L., Parker, D.O. 1992. Abalone population declines and fishery management in southern California. *In:* Sheperd S.A., M.J. Tegner, and S.A. Guzman del Proo (eds.), *Abalone of the World: Biology, Fisheries, and Culture*. Fishing News Books: 237-249.

Davis, G.E., Haaker, P.L., and Richards, D.V. 1998. The perilous
condition of white abalone, *Haliotis sorenseni*, Bartshc, 1940. Journal
of Shellfish Research 17: 871-875.

Green Sky Imaging, LLC and Washington State Department of Fish and
Wildlife (or GSI/WSDFW).

Haaker, P.L., Richards, D.V., and Taniguchi, I. 2000. White abalone
program. October 9-25, 1999 Cruise report. CDFG, 330 Golden Shore Suite
50, Long Beach, California, 90802.

Hobday, A.J., and Tegner, M.J. 2000. Status review of white abalone
(*Haliotis sorenseni*) throughout its range in California and Mexico.
NOAA Technical Memorandum. NOAA-TM-NMFS-SWR-035. US Department of
Commerce.

Kocak D.M., Jagielo, T.H, Wallace, F., and Kloske, J. 2004. Remote
Sensing using Laser Projection Photogrammetry for Underwater Surveys.
Proceedings, IEEE International Geoscience and Remote Sensing Symposium
2004: 1-4.

Lafferty, K.D., M.D. Behrens, G.E. Davis, P.L. Haaker, D.J. Kushner,
D.V. Richards, I.K. Taniguchi, M.J. Tegner. 2004. Habitat of endangered
white abalone, *Haliotis sorenseni*. Biological Conservation 116:
191-194.

Ribbit Basic Version v2.2.0. Copyright 1996-2004. Fugro Pelagos, Inc.
San Diego, California USA.

WinFrog v3.4.0 Copyright 1993-2004. Fugro Pelagos, Inc. San Diego,
California USA.

[]{.mark}

[]{.mark}

[]{#__RefHeading___Toc88460016 .anchor}

10\. Tables

## Table 1

![](media/image1.wmf){width="6.625694444444444in"
height="0.9166666666666666in"}

11\. Figures

Figure 1

![](media/image2.png){width="2.234645669291339in"
height="1.5633858267716536in"}![](media/image2.png){width="1.0720472440944881in"
height="1.1633858267716535in"}![](media/image3.png){width="1.1952755905511812in"
height="0.7937007874015748in"}![](media/image2.png){width="1.1307086614173227in"
height="1.108267716535433in"}![](media/image2.png){width="2.869291338582677in"
height="1.2334645669291338in"}![](media/image4.jpeg){width="0.7791338582677165in"
height="0.6992125984251969in"}![](media/image4.jpeg){width="0.7791338582677165in"
height="0.6992125984251969in"}

Figure 2

> ![](media/image5.png){width="7.483333333333333in"
> height="4.966666666666667in"}

Figure 3

![](media/image6.jpeg){width="5.998611111111111in"
height="4.498611111111111in"}

Figure 4

![](media/image7.wmf){width="5.815972222222222in"
height="6.161111111111111in"}

12\. Appendixes

# 

# Appendix I- Overboard Equipment and ROV Configuration

# 

-   DOE Phantom DH2+2 Remotely Controlled Vehicle (rated to 600 m)

-   Four forward/reverse 0.5 hp electrical thrusters

-   Lateral 0.25 hp thruster

-   Vertical 0.25 hp thruster

-   CCD high definition video camera w/ 180° tilt

    -   \>450 lines of resolution

    -   F1.8 to F2.7 lens

    -   12:1 zoom

    -   Sensitivity = 7 lux (without added lighting)

-   Flux-gate compass

-   Altimeter sensor

-   Depth sensor

-   Temperature sensor

-   Lights 2 250 Watt Deep Sea Lighting

-   Kongsberg simrad 650m digital "Mini Red" sonar head (P/N
    971-20650000)

-   ORE 4330B transponder/responder

-   RDI ADCP/DVL

-   Five horizontal lasers

    -   Class III Diode

    -   635 nm

    -   15 milliwatt

    -   300 m depth rating

    -   2 Fixed 60 cm apart, 1 wandering

    -   2 Camera mounted 10.5 cm apart

# Appendix II- Onboard Equipment and Software

-   #1 and #2 14" Sony display monitors PVM-14N5A/14N5E/14N5U

-   DOE On Screen Display Unit

-   Panasonic SVHS recorder AG-7400

-   Panasonic AC adaptor AG 640

-   Kongsberg simrad sonar receiver unit

-   Garmin GPSmap 182

-   KVH Azimuth 1000 flux gate compass

-   Edgeport 8 multiport unit

-   ORE Trackpoint II Plus C/DM 4410D-01

-   ORE 4610 hydrophone (22-30kHz)

-   Hydrophone deck cable 4110B

-   ORE 4324C multibeacon charger

-   DOE PCU-78 hand control unit

-   ROV umbilicals

    -   #1 \~ 600ft DOE (Type N 19)

    -   #2 \~ 450ft DOE (Type N 19)

    -   #3 \~ 2250ft DOER

-   Dell laptop Inspiron 5000 computer

    -   IPS tracking software

-   Dell laptop Inspiron 8000 computer

    -   Kongsberg Simrad MS 1000 scanning sonar processor software

-   Dell laptop Inspiron 3000 computer

    -   Backup

# 

# 

#  

# Appendix III- Work Day Start Up Check list

1\. Confirm that heading, depth, and altimeter readouts are displayed on
monitors.

2\. Confirm that information from the on-screen display are streaming to
data files by simulating a dive and checking the raw data files.

3\. Check DVCam (DSR25) preferences to be sure that time stamp is in
real time (Set the clock to GMT, then set time code: Menu- time code-
TC1-free run- time code: make preset; h:m:s).

4\. Proceed with pre-dive checkouts

# Appendix IV- Pre-deployment Checks

A. Vehicle checks

1)  Are the bridle and umbilical and rig (ties --ropes) secured on the
    ROV?

2)  Are all the plugs secure?

3)  Are there any tools or other equipment sitting on the ROV?

4)  Does the ROV have good vacuum seals?

5)  Turn power on -- is there 240 volts?

6)  Are the video and still cameras working (zoom, tilt, strobe)?

7)  Are the lights working?

8)  Are the lasers working and calibrated?

9)  Are all four thrusters working?

10) Is the transponder plug moved to the on position?

11) Have the batteries for the strobes been changed?

B. Console Checks

1)  Has the heads up display been checked for new date, dive id,
    locations, drivers?

2)  Are new VHS and DVCam tapes in the recorders?

3)  Have the WinFrog .DAT and .LOG files been named for the next dive?

4)  Have the cameras dates and times been checked?

5)  Are the WinFrog I/O devices showing green for the Trackpoint,CSI,
    Leica, KVH, OSD, DVL?

# Appendix V- Transect Checks

A. Start Transect Checks

1)  Activate WinFrog session (Fx button).

2)  Mark 'Start Transect' with F10 when habitat is first encountered.

3)  Start video and DVcam tapes recording (hold down rec. and push
    play).

4)  Enter into Access log: start time (GMT) start position (Lat. Long --
    Deg, min, dec secs), Start depth.

5)  Push text button to display console information for 5 seconds (also
    must be done every time a tape is switched).

6)  Periodically check depth of clump weight vs. depth and maintain
    contact with deck to adjust when necessary.

7)  Record all events with F10- *especially* when ROV is off transect
    (i.e. out of suitable habitat or driving complications) and back on
    transect.

B. End Transect Checks

1)  Mark 'End Transect' with F10.

2)  End WinFrog session (Stop button).

3)  Stop VHS and DVcam tapes.

4)  Turn off lasers.

5)  Enter into Access log: stop time (GMT), stop position (Lat. Long --
    Degrees, minutes, decimal secs), stop depth, number of abalone
    spotted, notes.

6)  Monitor clump weight depth as ROV is ascending.

7)  Alert pilot of number of turns in cable prior to surfacing.

# Appendix VI- ROV Deployment

A. Personnel

1.  Minimum of 5 scientists and 2 crew members, comprised of the
    following:

> S~1~- Reelperson, deck communications
>
> S~2~- Reelperson/tether manager
>
> S~3-~ sling/wire tender
>
> S~4~- ROV pilot
>
> S~5~- Recorder, lab communications
>
> C~1~- crane operator
>
> C~2~- clump weight tender

B. Hydrophone deployment

1.  Loosen bolts securing hydrophone pole (S~1~ or S~2~).

2.  Hydrophone lowered to vertical position on starboard side using the
    main winch, and hydrophone mount stays (C~2~).

3.  Hydrophone stays (2 forward, 2 aft) secured (S~1~ and S~2~).

4.  Hydrophone checked for approximate 90º position (using wood block)
    and secured to side of boat with strap (C~2~ and S~2~ or S~2~).

5.  Hydrophone should be positioned using aft stays (C~2~), and secured
    using forward stays (S~1~ or S~2~).

C. Clump weight (C~2~ and S~2~)

1.  Clump weight (\~300 lbs) deployed with CTD winch off port side 5m
    below the surface.

2.  Tighten clamps on clump weight cable and secure one line to the
    cable, one line to the tether, and clip cable and tether together.

3.  Lower clump weight until desired depth is reached (10m above the
    bottom, 15m in high relief areas), securing the cable to the tether
    every 5m.

4.  Last umbilical tag is secured to cable in a triangular fashion when
    clump is 10-15m off the bottom.

D. ROV

S1 assigns tasks to S2, S3, S4 and S5

1.  ROV deployed using main crane off port side. (Note: vessel should
    always be positioned so port side deployment of ROV is done on the
    windward side. This prevents the vessel from being blown down onto
    ROV or its umbilical).

2.  Alert bridge that ROV is in the water (C~2~).

3.  ROV will run out to the port side of vessel, between the bow and the
    clump weight to its working radius (\~30-40m; S~3~).

4.  

5.  ROV umbilical attached to the clump weight cable (\~ 5m above
    weight), and tether held taught.

6.  ROV and clump weight lowered simultaneously with depths of both ROV
    and weight called out to both the CTD winch operator and the ROV
    pilot.

7.  ROV pilot surveys the bottom while staff monitor sea floor depth
    (S~3~), ROV depth (S~3~), position of the vessel (S~3~), and the
    clump weight depth (C~1~, C~2,~ S~1~, S~2,~ S~3,~ S~4~).

E. General notes

Launch should not be started until bridge has alerted deck and lab that
screws are disengaged. Depending on conditions it may be necessary to
position the boat at a given distance from the target site.

# Appendix VII- ROV Recovery

> S~1~- Reelperson, deck communications
>
> S~2~- sling/wire tender
>
> S~3~- ROV pilot
>
> S~4~- Recorder, lab communications
>
> C~1~- crane operator
>
> C~2~- clump weight tender/bosun
>
> S1 assigns personel to S2, S3 and S4
>
> 1\. Lab alerts deck and bridge that recovery is desired (S~4~).

2.  ROV pilot (S~3~) tilts the cameras down and turns off the lasers and
    lights.

3.  Captain will position surface vessel for recovery, with wind on port
    side, and advise the lab when recovery can begin.

4.  ROV will run out to vessels port side to a length that will allow it
    to surface in a safe manner (S~3~).

5.  Clump weight will be raised simultaneously with ROV, \~5m at a time
    in order to allow ROV team to detach umbilical from the cable (S~2,~
    C~1~, and C~2~).

6.  Deck crew (S~2~) will alert pilot when ROV is visible from the
    surface so pilot can position his/herself on the deck for surface
    driving.

7.  Once the final tag has been detached, clump weight will be brought
    aboard (S~2,~ C~1~, and C~2~).

8.  ROV will then be recovered using the main crane and a recovery hook
    and lanyard ((S~1,~ S~2,~ S~3,~ C~1~, and C~2~).

9.  Once ROV has been recovered the hydrophone stays can be released and
    hydrophone will then be raised and secured (see Appendix V, section
    B).

#  

# Appendix VIII- post dive checks

A. Vehicle breakdown

1.  Secure vehicle with straps to the deck.

2.  Download digital camera pictures.

3.  Connect laptop to USB download whip on vehicle.

4.  Click *download* button on Nikon view camera screen three times.

5.  Once download complete click *download* button again until letters
    are black.

6.  Replace camera strobe batteries with fresh set.

7.  Power down.

8.  De-activate transponder by moving transponder plug to the off
    position.

9.  Clear thrusters of debris.

10. Check seal integrity.

11. Re-vacuum hull and motor canisters is necessary.

12. Rinse vehicle with fresh water.

13. If last dive of the day, do a complete system check (see Appendix
    III, section A).

B. Lab breakdown

1.  Turn off sonar.

2.  If last dive of the day, backup data files.

3.  Collect radios and recharge.

# Appendix VIII- Setting up the WinFrog Program.

Prior to the first dive, the WinFrog settings must be entered and/or
adjusted. If a previous WinFrog project has been saved, it is best to
work from the saved project and make necessary edits. To begin a
completely new session requires a large number of settings to be
entered, although there is a project wizard to start the process
(details listed below):

I. Starting using the Project Wizard

A. Start a new project: File-'project configuration'-new project

1\. Set 'General Projection' to appropriate time/date period (WG584 UTM
for California)

> 2\. Set 'Specific Projection' to appropriate lat/long zone (Zone 11
> for Southern California)

4.  Step through remainder of the project wizard as is required for
    specific project

5.  

B. Set up graphics to be displayed

> 1\. View- Graphics (1 for small ship window and 1 for large
> ship/ROV/map window); I/O Devices; Vehicle text (1 for vessel and 1
> for ROV)

C. In I/O Devices window add all devices

1\. specific for each set up, but for NMFS ROV use the following:

> GPS- (NMEA GPS for Leica and CSI); double click to assign com and Baud
> rate

Gyro- KVH; double click to assign com and Baud rate

OSD- Generic; double click to assign com and Baud rate (4800)

Trackpoint- USBL; double click to assign com and Baud rate

ADCP- Speed log- RDI; double click to assign com and Baud rate

D. Edit I/O Devices

1\. Right click to edit devices in the following order:

> Time (dummy), depth (ROV depth), Altimeter (ROV), temperature
> (magnetometer signal), Roll (ROV), Pitch (ROV), and one extra dummy
>
> 2\. Settings are automatically saved in C://Nav Dat/OSD_settings

E. Add Vehicles: Configure- Vehicles- add new vehicle

1\. If the vessel is one that has not previously been entered, add the
new vessel

2\. Turn off any ships not used

3\. Configure vehicle outline: outline-ship

F. Configure vehicle devices

1\. Turn off Kalman filter

2\. Uncheck Dead Recon

G. Add devices:

1\. Enter all specifications for GPS, gyro, Trackpoint

> 2\. Edit all devices: make CSI primary GPS and add offsets (measure
> from central reference point); make Leica secondary GPS and add
> offsets; check with ships heading and add offsets for Gyro heading if
> necessary; configure Trackpoint conducer 1 by adding offsets

H. Configure vehicle rings

1\. Number of rings= 3; Separation= 10.0 m

I. Set up ROV (Crocus II) configurations

1\. Make primary vehicle

> 2\. Configure vehicle- Devices- add all speed log options, all OSD
> options, and

Trackpoint beacon

> 3\. Edit devices: Speed log/RDI= primary; Speed log heading=
> secondary; ROV= check Altimeter and depth of ROV as no offsets; OSD=
> make primary; USBL Beacon= make primary, no offsets, and accuracy 7.0
> m

J. Add offsets to Trackpoint

> 1\. F2 (system)- F2 (offsets)- F1- enter X , Y , and Z offsets of
> hydrophone

#### II. Procedures once the WinFrog primary settings are established

A. Before each dive

> 1\. Configure- Data Events- Setup- change to 'Manual Start'- save with
> appropriate filename

2\. File- Edit working files- choose Logs- enter appropriate filename

[Appendix X- NOAA Corps and Scientist operation briefing]{.underline}

-   The lab places a cross on the WinFrog display at the point where the
    transect is to start.

The bridge is to advise the lab when the ship is ready - 15 minutes of
drift time away from the transect start (10 minutes for ROV deployment,
plus 5 minutes for the ROV to dive to operating depth).

-   One scientist, who is also the observer on the ROV console, sends
    and receives all lab communication between the bridge and the deck.

-   The bridge navigates the ship so the wind is on the port side for
    deployment.

-   The ideal speed of the boat over the ground for ROV transects is
    between 0.3-05 knots

-   If the end of the tether is reached, from the clump weight, then the
    ROV begins to be towed by the boat and control is lost.

-   The lab is to keep the WinFrog display on-line during deployment to
    assist the bridge in navigation and drift prediction. At all other
    times, unless necessary, the display should also be available to the
    helm for naviagtion.

-   Abort the ROV launch if ROV cannot dive to the bottom and stay with
    the ship at the same time (usually when the drift is greater than
    1-knot).

-   The bridge is to advise the lab when the speed and direction of the
    ship needs to changed to maintain transect depth or ship safety.

-   The command "De-clutch" is to be used to stop propellers if the
    tether is in immediate danger of fouling the props.

#  

# Appendix XII- Mobilization logistics checklist

# 

#### Shore 

-   Check inventory with the MS Access asset database Re-supply
    inventory as needed

-   Check spare propeller shafts and propellers are available and right
    size

-   Book 24-foot stake bed truck for both loading and unloading (Be
    mindful of cultural events, for example the gay pride parade around
    the 1^st^ of August, as stake bed truck availability becomes
    reduced)

-   Book SWFC vehicles (F150 pickup or similar) for loading and
    unloading.

-   Book a similar truck to unload.

-   Book 3 personnel to drive trucks for unloading.

-   Check availability of small forklift (SWFC) and large forklift (Camp
    Elliot) for loading and unloading.

-   Retrieve Hydrophone Pole and mounting bracket from Camp Elliot

-   TB checks for all ship board staff.

Boat

-   Confer with NOAA Corps to obtain support vessel specs

-   Power specifications for ROV a

-   DS4 requires 110 v/AC with a 30 amp breaker or

-   220 v/AC with a 15 amp breaker for main transformer power

-   Peripheral equipment requires 110 v/AC of clean continual power 3-4
    outlets

-   DS4 operations require one davit, or A-frame for clump weight
    deployment and one crane, or davit for vehicle deployment. Available
    deck space

-   Cable and wiring routings and distances

    -   Clump weight weighs 300 lbs

    -   Vehicle weighs \~ 320 LBS

    -   Umbilical reel weighs 800+ lbs (w/cable)

-   Check availability of loading cranes and crane crew for vessel

-   Check available lab space. The abalone project needs approximately
    3x8 desk space required for control modules

-   Seating for at least two (pilot, recorder)

-   Berths for all scientific crew