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Anhaus, Philipp; Katlein, Christian; Matero, Ilkka; Nicolaus, Marcel; Arndt, Stefanie; Krampe, Daniela; Lange, Benjamin Allen; Regnery, Julia; Rohde, Jan; Schiller, Martin (2023): Positioning and telemetry from ROV survey PS122/5_62-65 on 2020-09-15, survey 1 [dataset]. PANGAEA, https://doi.org/10.1594/PANGAEA.952787, In: Anhaus, P et al. (2023): Positioning and telemetry from remotely operated vehicle (ROV) surveys during the MOSAiC expedition 2019/20 [dataset publication series]. PANGAEA, https://doi.org/10.1594/PANGAEA.952676

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Abstract:
The horizontal position of the remotely operated vehicle (ROV) during the Multidisciplinary drifting Observatory for the Study of Arctic Climate (MOSAiC) expedition between November 2019 and September 2020 was measured using an acoustic Long Base Line (LBL) positioning system (LinkQuest Pinpoint). The position was recorded in the SPOT.ON survey systems software (OceanModulesTM). The track was smoothed from initial acoustic fixes and cleaned for most obvious outliers. The position is in a floe-fixed, relative coordinate system (X, Y) with the origin (X=0 m, Y=0 m) at the ROV hole. A quality flag for the position is introduced based on the time to the closest fix with “1” indicating good positon (fix reached <= 3s), “2” medium position (fix reached > 3s & <= 5s), and “3” bad position (fix reached > 5s). Depending on the scientific aim, a position with quality flag “3” can still be useful. Vehicle depth was measured by the integrated pressure sensor and calibrated to 0 during pre-survey procedures, when the top side of the vehicle was at the same level as the water surface. Vehicle attitude (roll, pitch, heading) was measured with an onboard inertial measuring unit (IMU, Microstrain) with three axis accelerometer, magnetometer and gyroscope. Depth was measured by a pressure sensor (Keller A-21Y, Keller AG) included in the main electronics housing of the ROV.
Keyword(s):
BEAST; MOSAiC expedition; Remotely operated vehicle (ROV); Sea ice
Related to:
Katlein, Christian; Schiller, Martin; Belter, Hans Jakob; Coppolaro, Veronica; Wenslandt, David; Nicolaus, Marcel (2017): A New Remotely Operated Sensor Platform for Interdisciplinary Observations under Sea Ice. Frontiers in Marine Science, 4, 281, https://doi.org/10.3389/fmars.2017.00281
Nicolaus, Marcel; Perovich, Donald K; Spreen, Gunnar; Granskog, Mats A; von Albedyll, Luisa; Angelopoulos, Michael; Anhaus, Philipp; Arndt, Stefanie; Belter, Hans Jakob; Bessonov, Vladimir; Birnbaum, Gerit; Brauchle, Jörg; Calmer, Radiance; Cardellach, Estel; Cheng, Bin; Clemens-Sewall, David; Dadic, Ruzica; Damm, Ellen; de Boer, Gijs; Demir, Oguz; Dethloff, Klaus; Divine, Dmitry V; Fong, Allison A; Fons, Steven W; Frey, Markus M; Fuchs, Niels; Gabarró, Carolina; Gerland, Sebastian; Goessling, Helge; Gradinger, Rolf; Haapala, Jari; Haas, Christian; Hamilton, Jonathan; Hannula, Henna-Reetta; Hendricks, Stefan; Herber, Andreas; Heuzé, Céline; Hoppmann, Mario; Høyland, Knut Vilhelm; Huntemann, Marcus; Hutchings, Jennifer K; Hwang, Byongjun; Itkin, Polona; Jacobi, Hans-Werner; Jaggi, Matthias; Jutila, Arttu; Kaleschke, Lars; Katlein, Christian; Kolabutin, Nikolai; Krampe, Daniela; Kristensen, Steen Savstrup; Krumpen, Thomas; Kurtz, Nathan; Lampert, Astrid; Lange, Benjamin Allen; Lei, Ruibo; Light, Bonnie; Linhardt, Felix; Liston, Glen E; Loose, Brice; Macfarlane, Amy R; Mahmud, Mallik; Matero, Ilkka; Maus, Sönke; Morgenstern, Anne; Naderpour, Reza; Nandan, Vishnu; Niubom, Alexey; Oggier, Marc; Oppelt, Natascha; Pätzold, Falk; Perron, Christophe; Petrovsky, Tomasz; Pirazzini, Roberta; Polashenski, Chris; Rabe, Benjamin; Raphael, Ian; Regnery, Julia; Rex, Markus; Ricker, Robert; Riemann-Campe, Kathrin; Rinke, Annette; Rohde, Jan; Salganik, Evgenii; Scharien, Randall K; Schiller, Martin; Schneebeli, Martin; Semmling, Maximilian; Shimanchuk, Egor; Shupe, Matthew D; Smith, Madison M; Smolyanitsky, Vasily M; Sokolov, Vladimir; Stanton, T; Stroeve, Julienne C; Thielke, Linda; Timofeeva, Anna; Tonboe, Rasmus Tage; Tavri, Aikaterini; Tsamados, Michel; Wagner, David N; Watkins, Daniel; Webster, Melinda; Wendisch, Manfred (2022): Overview of the MOSAiC expedition: Snow and sea ice. 10(1), https://doi.org/10.1525/elementa.2021.000046
Project(s):
FRontiers in Arctic marine Monitoring (FRAM)
Multidisciplinary drifting Observatory for the Study of Arctic Climate (MOSAiC)
Sea Ice Physics @ AWI (AWI_SeaIce)
Funding:
Alfred Wegener Institute, Helmholtz Centre for Polar and Marine Research, Bremerhaven (AWI), grant/award no. AFMOSAiC-1_00: Multidisciplinary drifting Observatory for the Study of Arctic Climate
Alfred Wegener Institute, Helmholtz Centre for Polar and Marine Research, Bremerhaven (AWI), grant/award no. AWI_PS122_00: Multidisciplinary drifting Observatory for the Study of Arctic Climate / MOSAiC
Coverage:
Latitude: 89.072596 * Longitude: 107.467006
Date/Time Start: 2020-09-15T04:58:17 * Date/Time End: 2020-09-15T11:44:00
Minimum DEPTH, water: -0.3 m * Maximum DEPTH, water: 77.0 m
Event(s):
PS122/5_62-65 * Latitude: 89.072596 * Longitude: 107.467006 * Date/Time: 2020-09-15T04:45:00 * Elevation: -4274.7 m * Sensor URI: sensor.awi.de * Location: Arctic Ocean * Campaign: PS122/5 (MOSAiC20192020) * Basis: Polarstern * Method/Device: Remotely operated sensor platform BEAST (BEAST)
Comment:
Horizontal position (X,Y):
• Leg 1: Scale factors and offsets to successfully improve positions for surveys PS122_1_5_62_20191102_1 and PS122_1_6_16_20191105_1 were obtained by comparing positions of markers from the ROV and a terrestrial laser scanner (RIEGL). Scale factors and offsets for surveys PS122_1_6_31_20191106_1, PS122_1_6_118_20191110_1, PS122_1_7_18_20191112_1, PS122_1_7_55_20191113_1 are based on estimates but will be improved also using markers.
• Leg 4: Positions for surveys PS122_4_48_213_20200726_1 and PS122_4_49_105_20200728_1 are partly distorted probably due to usage of drifting transponder(s) or erroneous transponder position configuration. Retrieving suitable scale factors and offsets was not successful so far.
• Leg 5: probably due to drifting transponder(s). Retrieving suitable scale factors and offsets was not successful so far.
Parameter(s):
#NameShort NameUnitPrincipal InvestigatorMethod/DeviceComment
1 DATE/TIMEDate/TimeAnhaus, PhilippGeocode
2 Survey IDSurvey IDAnhaus, PhilippSurvey Number
3 Distance, relative, XDist rel XmAnhaus, Philipp
4 Distance, relative, YDist rel YmAnhaus, Philipp
5 Quality flag, positionQF posAnhaus, Philipp
6 Time in secondsTimesAnhaus, PhilippTime to closest acoustic fix
7 DEPTH, waterDepth watermAnhaus, PhilippPressure sensor, Keller A-21YGeocode
8 HeadingHeaddegAnhaus, PhilippInertial measuring unit, Microstrain
9 Roll angleRolldegAnhaus, PhilippInertial measuring unit, Microstrain
10 Pitch anglePitchdegAnhaus, PhilippInertial measuring unit, Microstrain
License:
Creative Commons Attribution 4.0 International (CC-BY-4.0)
Status:
Curation Level: Enhanced curation (CurationLevelC) * Processing Level: PANGAEA data processing level 3 (ProcLevel3)
Size:
242072 data points

Data

Download dataset as tab-delimited text — use the following character encoding:

1 
Date/Time		2 
Survey ID		3 
Dist rel X [m]		4 
Dist rel Y [m]		5 
QF pos		6 
Time [s]		7 
Depth water [m]		8 
Head [deg]		9 
Roll [deg]		10 
Pitch [deg]
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2020-09-15T05:21:4017.26-93.2610.462.6170.41.30.1
2020-09-15T05:21:4117.40-94.3710.202.6170.51.20.2
2020-09-15T05:21:4217.55-95.3510.152.6170.61.40.0
2020-09-15T05:21:4317.67-96.1710.402.6170.41.50.2
2020-09-15T05:21:4317.78-96.8510.322.6170.71.30.7
2020-09-15T05:21:4417.87-97.4011.052.6170.51.20.7
2020-09-15T05:21:4517.94-97.8211.772.6170.81.00.2
2020-09-15T05:21:4618.00-98.1512.502.6170.61.00.0
2020-09-15T05:21:4618.04-98.4023.222.6170.71.3-0.5
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2020-09-15T05:21:4818.06-98.7824.162.6170.51.20.5
2020-09-15T05:21:4918.02-98.8423.432.6170.71.20.5
2020-09-15T05:21:5017.97-98.9012.712.6170.71.30.2
2020-09-15T05:21:5117.90-98.9611.982.6171.11.40.3
2020-09-15T05:21:5117.80-99.0411.262.6170.04.11.5
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2020-09-15T05:21:5317.55-99.3410.192.7154.15.21.7
2020-09-15T05:21:5417.38-99.6110.242.7143.35.02.0
2020-09-15T05:21:5417.19-99.9310.432.8133.95.01.1
2020-09-15T05:21:5517.00-100.2810.292.9128.74.80.8
2020-09-15T05:21:5616.84-100.6010.012.9118.64.60.0
2020-09-15T05:21:5616.70-100.9010.392.9109.44.4-0.1
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2020-09-15T05:21:5816.51-101.4011.062.888.94.10.5
2020-09-15T05:21:5916.45-101.6011.782.887.64.30.5
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2020-09-15T05:22:0116.48-102.0312.542.887.13.60.9
2020-09-15T05:22:0116.55-102.1211.822.789.74.20.6
2020-09-15T05:22:0216.66-102.1811.092.790.13.70.2
2020-09-15T05:22:0316.81-102.2310.372.790.03.5-0.1
2020-09-15T05:22:0416.99-102.2510.362.690.22.9-0.7
2020-09-15T05:22:0417.20-102.2410.122.690.32.1-1.1
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2020-09-15T05:22:12111.33-102.0823.552.791.24.51.1
2020-09-15T05:22:13111.76-102.0912.832.792.12.82.2
2020-09-15T05:22:14112.18-102.1012.102.793.52.51.6
2020-09-15T05:22:15112.58-102.1211.382.793.82.71.2
2020-09-15T05:22:15112.97-102.1510.652.794.23.01.2
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2020-09-15T05:22:17113.69-102.2610.372.694.22.60.7
2020-09-15T05:22:17114.00-102.3310.362.693.12.51.9
2020-09-15T05:22:18114.27-102.3910.102.684.54.02.1
2020-09-15T05:22:19114.50-102.4410.072.766.94.90.9
2020-09-15T05:22:20114.69-102.4710.462.846.75.91.4
2020-09-15T05:22:20114.85-102.4910.272.831.36.01.2
2020-09-15T05:22:21114.96-102.4810.082.918.45.61.0
2020-09-15T05:22:22115.05-102.4310.242.93.85.31.4
2020-09-15T05:22:23115.10-102.3510.482.9357.65.01.3
2020-09-15T05:22:23115.12-102.2310.032.9352.35.21.5
2020-09-15T05:22:24115.12-102.0610.112.9350.04.81.2
2020-09-15T05:22:25115.10-101.8510.422.8346.22.60.8
2020-09-15T05:22:25115.06-101.5810.302.8346.72.00.1
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2020-09-15T05:36:26139.00-77.3010.042.8358.21.8-1.0
2020-09-15T05:36:26139.01-76.6710.282.8358.31.9-1.3
2020-09-15T05:36:27139.02-76.0410.452.9358.21.8-1.3
2020-09-15T05:36:28139.02-75.4210.142.8357.81.6-0.8
2020-09-15T05:36:29139.04-74.8110.112.8357.91.9-0.8
2020-09-15T05:36:29139.06-74.2110.392.9358.21.9-0.9
2020-09-15T05:36:30139.08-73.6310.332.8358.02.0-1.0
2020-09-15T05:36:31139.10-73.0210.042.9358.12.0-1.1
2020-09-15T05:36:31139.13-72.4110.222.9357.91.9-1.2
2020-09-15T05:36:32139.16-71.8110.512.9357.71.9-1.4
2020-09-15T05:36:33139.20-71.2011.232.8357.21.8-1.5
2020-09-15T05:36:34139.23-70.5911.962.8357.01.7-1.3
2020-09-15T05:36:34139.26-69.9811.352.8357.01.7-1.1
2020-09-15T05:36:35139.28-69.3510.632.8357.02.0-1.1
2020-09-15T05:36:36139.30-68.7110.102.8357.42.0-1.0
2020-09-15T05:36:37139.29-68.0510.822.8357.22.0-1.3
2020-09-15T05:36:37139.28-67.3811.552.8357.11.7-1.2
2020-09-15T05:36:38139.25-66.7012.272.8357.21.7-1.2
2020-09-15T05:36:39139.23-66.0113.002.8357.41.8-1.3
2020-09-15T05:36:39139.19-65.3312.922.8357.12.0-1.2
2020-09-15T05:36:40139.16-64.6412.192.9357.21.7-0.9
2020-09-15T05:36:41139.14-63.9511.472.8357.21.7-1.0
2020-09-15T05:36:42139.11-63.2710.742.8357.21.7-1.1
2020-09-15T05:36:42139.10-62.6010.022.9357.01.8-1.3
2020-09-15T05:36:43139.10-61.9410.232.8357.11.7-1.2
2020-09-15T05:36:44139.09-61.3110.492.9357.11.8-1.1
2020-09-15T05:36:45139.09-60.6910.182.8357.11.8-1.0
2020-09-15T05:36:45139.09-60.0610.252.8356.51.7-1.1
2020-09-15T05:36:46139.10-59.4210.372.9355.21.8-1.1
2020-09-15T05:36:47139.10-58.7810.362.8355.31.8-0.9
2020-09-15T05:36:47139.11-58.1510.032.8355.31.8-1.1
2020-09-15T05:36:48139.10-57.5110.312.8355.41.9-1.1
2020-09-15T05:36:49139.11-56.8710.422.8355.32.0-1.0
2020-09-15T05:36:50139.11-56.2310.192.9355.41.9-0.9
2020-09-15T05:36:50139.09-55.5910.122.8355.61.8-1.0
2020-09-15T05:36:51139.06-54.9510.432.8355.31.7-1.2
2020-09-15T05:36:52139.02-54.2910.292.9355.21.9-1.5
2020-09-15T05:36:53138.97-53.6210.072.9355.22.0-1.2
2020-09-15T05:36:53138.90-52.9510.292.9355.31.8-1.0
2020-09-15T05:36:54138.81-52.2610.432.9355.51.6-0.9
2020-09-15T05:36:55138.69-51.5610.152.8355.31.6-1.0
2020-09-15T05:36:55138.55-50.8310.052.8355.31.8-1.1
2020-09-15T05:36:56138.38-50.0910.382.8355.11.8-1.3
2020-09-15T05:36:57138.17-49.3210.342.8355.21.8-1.3
2020-09-15T05:36:58137.92-48.5110.022.9355.21.8-1.2
2020-09-15T05:36:58137.66-47.6710.252.9355.51.8-0.9
2020-09-15T05:36:59137.38-46.8310.482.9355.51.9-0.8
2020-09-15T05:37:00137.12-46.0110.222.9355.41.8-1.0
2020-09-15T05:37:00136.89-45.2110.172.9355.21.8-1.4
2020-09-15T05:37:01136.78-44.5010.362.8355.21.9-1.4
2020-09-15T05:37:02136.79-43.9010.362.9355.11.9-1.2
2020-09-15T05:37:03136.90-43.3710.082.9355.21.8-0.9
2020-09-15T05:37:03137.10-42.9210.282.9355.51.8-0.8
2020-09-15T05:37:04137.34-42.5010.442.9355.41.9-1.0
2020-09-15T05:37:05137.60-42.0810.242.9355.51.9-1.3
2020-09-15T05:37:06137.83-41.6710.092.8355.42.0-1.2
2020-09-15T05:37:06138.03-41.2310.432.9356.92.0-1.2
2020-09-15T05:37:07138.20-40.7610.292.8357.52.0-1.1
2020-09-15T05:37:08138.34-40.2510.082.8357.21.8-1.2
2020-09-15T05:37:08138.44-39.7310.202.8356.61.7-1.4
2020-09-15T05:37:09138.49-39.1710.532.9356.61.8-1.3
2020-09-15T05:37:10138.52-38.5910.132.9356.71.8-0.8
2020-09-15T05:37:11138.54-37.9910.082.8356.91.6-0.8
2020-09-15T05:37:11138.54-37.3910.352.9356.81.7-0.8
2020-09-15T05:37:12138.52-36.7810.372.9356.91.9-0.8
2020-09-15T05:37:13138.50-36.1610.012.9356.91.8-0.7
2020-09-15T05:37:14138.49-35.5310.172.9356.91.9-0.9
2020-09-15T05:37:14138.47-34.9010.472.8356.91.7-0.8
2020-09-15T05:37:15138.46-34.2710.252.8356.71.8-0.3
2020-09-15T05:37:16138.44-33.6410.112.8356.81.9-0.1
2020-09-15T05:37:16138.42-32.9910.322.8357.01.80.0
2020-09-15T05:37:17138.40-32.3610.402.8357.01.9-0.1
2020-09-15T05:37:18138.38-31.7410.072.8356.91.8-0.3
2020-09-15T05:37:19138.35-31.1110.292.8356.92.1-0.3
2020-09-15T05:37:19138.33-30.4810.442.8356.72.10.0
2020-09-15T05:37:20138.31-29.8610.282.8356.71.80.5
2020-09-15T05:37:21138.29-29.2510.042.8356.81.80.8
2020-09-15T05:37:22138.26-28.6410.422.8356.72.00.7
2020-09-15T05:37:22138.24-28.0210.302.8356.82.20.4
2020-09-15T05:37:23138.23-27.3910.132.8356.82.10.2
2020-09-15T05:37:24138.21-26.7710.222.8356.82.20.4
2020-09-15T05:37:24138.19-26.1410.512.8356.82.20.6
2020-09-15T05:37:25138.17-25.5110.162.8356.62.00.8
2020-09-15T05:37:26138.15-24.8710.072.9356.62.01.2
2020-09-15T05:37:27138.13-24.2310.332.9356.81.91.4
2020-09-15T05:37:27138.11-23.6010.402.9356.92.10.9
2020-09-15T05:37:28138.09-22.9810.022.8356.92.10.3
2020-09-15T05:37:29138.07-22.3510.192.8356.71.8-0.1
2020-09-15T05:37:29138.06-21.7310.472.8356.81.8-0.2
2020-09-15T05:37:30138.05-21.1210.262.8356.82.00.2
2020-09-15T05:37:31138.05-20.5110.142.8356.92.20.8
2020-09-15T05:37:32138.05-19.8910.292.8356.52.21.4
2020-09-15T05:37:32138.04-19.2910.432.8356.72.21.4
2020-09-15T05:37:33138.04-18.6810.112.8356.82.11.1
2020-09-15T05:37:34138.03-18.0710.322.8357.12.00.6
2020-09-15T05:37:35138.03-17.4510.402.8356.92.00.4
2020-09-15T05:37:35138.02-16.8210.292.8356.62.30.4
2020-09-15T05:37:36138.00-16.2010.012.8356.62.30.7
2020-09-15T05:37:37137.96-15.5710.722.9356.61.90.8
2020-09-15T05:37:37137.92-14.9311.442.9356.61.90.7
2020-09-15T05:37:38137.87-14.3012.172.8356.71.80.5
2020-09-15T05:37:39137.82-13.6712.892.8356.61.90.2
2020-09-15T05:37:40137.76-13.0323.052.8356.52.10.1
2020-09-15T05:37:40137.71-12.4012.322.8356.42.10.4
2020-09-15T05:37:41137.66-11.7611.602.8356.32.10.5
2020-09-15T05:37:42137.61-11.1310.872.8356.12.20.6
2020-09-15T05:37:43137.57-10.5110.152.8356.42.20.8
2020-09-15T05:37:43137.55-9.8810.342.8356.81.81.0
2020-09-15T05:37:44137.53-9.2710.382.8356.51.60.6
2020-09-15T05:37:45137.51-8.6610.032.8356.51.70.5
2020-09-15T05:37:45137.50-8.0510.312.8359.32.30.6
2020-09-15T05:37:46137.49-7.4510.412.8359.62.00.5
2020-09-15T05:37:47137.49-6.8510.132.8359.01.80.4
2020-09-15T05:37:48137.49-6.2710.172.8358.92.00.6
2020-09-15T05:37:48137.49-5.7110.472.8358.82.10.7
2020-09-15T05:37:49137.49-5.1710.252.8358.71.90.6
2020-09-15T05:37:50137.50-4.6610.032.8358.82.00.7
2020-09-15T05:37:51137.51-4.2010.252.8358.82.00.7
2020-09-15T05:37:51137.53-3.8010.472.8358.71.90.8
2020-09-15T05:37:52137.56-3.4510.122.8358.62.20.9
2020-09-15T05:37:53137.60-3.1810.062.8358.72.21.0
2020-09-15T05:37:53137.65-2.9810.422.8358.92.01.0
2020-09-15T05:37:54137.70-2.8410.302.8359.02.01.1
2020-09-15T05:37:55137.76-2.7610.022.8358.72.00.8
2020-09-15T05:37:56137.83-2.7010.272.8358.62.20.7

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