Development of the DORADO mapping vehicle for multibeam, subbottom, and sidescan science missions.

Oceanographic science is frequently hindered by a lack of spatial and temporal resolution for most parameters oceanographic science desires to measure. This paper discusses our effort to advance the current state of bathymetric mapping as part of the Monterey Bay Aquarium Research Institute (MBARI) charter. MBARI scientists and engineers, in consultation with the external community, have produced a new multibeam mapping autonomous underwater vehicle (AUV) system. The system is intended to reduce some of the impediments encountered by science trying to resolve specific portions of the oceans bottom. Starting with the established and in-house developed Dorado AUV technology, MBARI engineering refined the AUV into a full ocean depth capable and now operational multibeam mapping system (MBAUV). The MBAUV system conducts regular multibeam bathymetry, subbottom, and sidescan surveys for oceanographic science. MBAUV is a torpedo-shaped, 6000 m rated vehicle operating the aforementioned sonars simultaneously. The endurance of the MBAUV is approximately 8 h at 3 kn and is designed to support 16 h operations at 3 kn by adding an additional battery section. This paper describes the basics of the MBAUV and our design trades and modifications to the Dorado AUV in support of multibeam mapping missions. The paper also reviews a sampling of the results from a series of missions that demonstrate the performance of various subsystems and the science quality data available from the MBAUV. © 2007 Wiley Periodicals, Inc. [ABSTRACT FROM AUTHOR]