On the way back from Kelly Lake, we swung by Pavilion Lake to take some shots of the live sub operations underway. This is a very beautiful part of the world.

Next year the team will be diving into a lake called Kelly Lake, and potentially Pavilion Lake at the same time.  This creates a challenge for the communications team.  Both sites must have broadband access to the Space Network Research Federation (SNRF) and the Internet, and be able to communicate from site to site at all times.

Satellite connectivity is great, but in this environment the “terrain mask” (steep rise of the terrain all around us) makes it difficult to hit a satcom “bird” in the sky from these high northern latitudes.  On top of this, satellite transponder time can be expensive (especially considering the amount of “megahertz” or transponder we need!), and adds a significant “latency” to the communications link (in both directions) because the satellites are orbiting so far above the Earth.  This latency can cause problems for some of the operations conducted by this team, and terrestrial interfaces tend to have very low latency.

We took a Trackstick with us in the helicopter, and you can see the path we flew here (thanks to Google Earth!)

So we took off in a helicopter in Lillooet, and flew to Kelly Lake to visit and survey the terrestrial (ground/mountain-based) communications options for communications near the lake.  If we can avoid using a satcom link, we’ll have greater bandwidth and network performance at the 2011 test operations.

We found several options for connectivity or relay on a few mountains surrounding Kelly Lake, and even some options to link the two lakes together for next year’s mission.  This begins a year’s worth of planning “now”.  ; )

- Marc

Pavilion Lake, looking south

One of the DeepWorker chase boats, looking south.

The PLRP 2010 field season has come to a close and I am both saddened by the fact that operations are finished for another year but excited by the prospect of adding the data we’ve collected this year to our growing body of knowledge about this unique lake. I am in awe of the work that has been done by this amazing team and of how much we’ve grown, while maintaining the sense of adventure and camaraderie that to me, helps to define the PLRP.

We’ve taken great strides towards answering many of our research questions and in the process, with every answer we have come up with many more questions that will keep the PLRP team occupied for quite some time. Fortunately, our family continues to grow and every year we welcome new individuals who bring a unique perspective and desire to tease out the mysteries Pavilion has to offer. We have also been blessed this year by the addition of two little members to the PLRP family, Darlene Lim’s daughter Amelia and Greg Slater’s son Joseph. We look forward to the day when they are exploring the lake alongside us.

DeepWorker Pilots and Nuytco Team: 2010

The PLRP provides a wealth of research opportunities, and not just those focused on understanding the processes leading to the formation of the structures at Pavilion Lake but also to understanding fundamental biological, chemical and physical processes. The research contributions from our participating scientists and graduate students have resulted in a number of recent publications and are essential to increasing our understanding of Earth and astrobiological systems. We’re very proud of the role that the PLRP has played in developing operational technologies and protocols that not only help us meet our science objectives but provide important input into future space science missions.

With the addition of our two newest scientist pilots, astronauts Chris Hadfield and Stan Love, we had 34 DeepWorker missions over 10 days of operations. This year we were aided greatly in our pre-season flight planning by the wonderful team from NASA Ames led by Matt Deans and David Lees who developed an amazing flight planning tool that enabled us to search images and flight paths from previous years while building flight plans in Google Earth. Flights this year were planned to collect images of the remaining unexplored regions of the lake, to record detailed images of areas of interest identified from 2008 and 2009 data and to use the submersibles in combination with other analytical tools such as a conductivity, temperature and depth (CTD) instrument and our autonomous underwater vehicle(s) (AUV). Our ability to review post-flight video data in the field, an effort pioneered in 2009, added greatly to our productivity as this information was used immediately by the science backroom team to modify existing flight plans to best optimize our data collection. As part of the daily flight debriefs, we have also continued to apply metrics associated with scientific productivity to understand factors that influence scientific exploration. New this year to the DeepWorker flight repertoire were long ~ 5 hour flights and two night flights to investigate the grazing activity that we suspect may occur in the lake. To add to the innovations this year, Nick Wilkinson designed a fantastic, interactive program for use in classifying the microbialite images. This new tool will allow us to efficiently organize and process our field data over the coming months. Stay tuned for updates.

The Amazing Pavilion Lake Research Project Team: 2010!

In case our DeepWorker operations didn’t keep us busy enough, we had a number of other important activities included in the field schedule this year. The UBC and University of Delaware AUV teams produced fantastic images of the lake bottom that were often used to compliment the DeepWorker flights and give us a better picture of where interesting structures and features are in the lake. Numerous SCUBA dives were performed by our intrepid team of divers to collect water and microbialite samples that were shared between various research groups in an effort to combine and compliment analytical findings. These samples will be characterized from a virology, microbial lipid, isotopic and genetic point of view to provide more information about the role of biology in the formation of the microbialites and what biosignatures may be left behind. Water samples were collected from nearby lakes including Crown, Turquoise, Pear and Kelly Lake to continue to help us put Pavilion Lake in context. Kelly Lake, which also hosts microbialites and has been an area of interest to the PLRP team for many years, was also the focus of significant AUV activities this year. Microbial mats were once again collected from the Cariboo Plateau lakes and giant pancakes were eaten by all (well, almost all). As a new participatory activity this year, our visiting teacherswere given the task of selecting a SCUBA dive based on their understanding of the research questions of interest (on their first day no less!). I’m happy to report that they eagerly interviewed members of the team before presenting their selected dive and rationale to the group for inclusion in the next day’s diving schedule. Community Day was another great success this year with the team happy to show off our work and answer questions from the many visitors we had to the site. Busy indeed!

We plan on continuing our updates throughout the year as we analyze samples and work through the amazing amount of data that were collected. Thanks to all who have read about our activities and through this process, have joined in our adventure. See you next year!

~ Allyson

DORA and UBC-Gavia in the water ready to deploy in Pavilion Lake.

Its now been just over a week since the end of our adventures at Pavilion Lake and, as I start trying to look at all the data we’ve collected, I can’t help but be impressed with our successes. In addition to the image mosaicing that I was working on, and showed pictures of in an earlier post, my specific focus of being up at the lake was running coordinated missions between the two autonomous underwater vehicles (AUVs), that we had on-site from the University of British Columbia and the University of Delaware, and the Deepworker vehicles. Our mission planning goals were twofold; joint objectives and joint missions.

Joint objective style missions measure parameters that are relatively static in time (i.e. photos of microbialites). This means that coordinating different platforms isn’t necessary but coordinating their datasets are. This requires that the timestamps of each data stream be precisely set and that the dataset is georeferenced to a high degree of accuracy. This work was started last year but continued this year by using the collected images from Deepworker and comparing it with AUV collected data (e.g. high-precision bathymetry).

Comparing multibeam bathymetry collected with DORA with detailed imagery from UBC-Gavia.

Joint missions involved a significantly greater degree of coordination as it involved running the vehicles at the same time as the Deepworkers. Our experiment this year was to look at the area of increased salinity at the bottom of the lake. To this end had the Deepworkers crossing the bottom of the basin at about 1 m from the bottom (> 55 m depth), while running UBC-Gavia at 40 m depth. The greatest debate was trying to decide what the minimum safe distance was to be between the two platforms! In the end we ran AUV missions down to 48 m without any problems. Although we’re just starting to process all of this data now, from both styles of missions, we’re excited about what new perspectives these combined datasets might hold.

-Alex

What a week it has been!  Today is the last of my six full days here at Pavilion Lake, and it feels like we’ve done a month’s worth of work.  Days begin with breakfast at 7 am and a team meeting at 7:30, and conclude with science debriefs that often end at 10 or 11 pm.  The pace is not quite as fast and relentless as a Shuttle flight…but it’s close.  It’s one more way in which Pavilion Lake is a good analog for an actual space flight.  (Differences include the excellent food and, on the rare occasions when time permits, being able to go fo a long jog with fresh air and lovely mountain scenery!)

Stan preparing for flight in DeepWorker

With two more “flights” in the Deepworker submarine under my belt since last I wrote, I’ve gotten a lot more familiar with the machine.  Although the miniature submarine looks nothing like a space suit, there are a lot of similarities.  And someday, when humans visit near-Earth asteroids or other objects with very low surface gravity, I expect they’ll do their spacewalks in something that looks a lot more like a Deepworker than a traditional person-shaped space suit. Here’s why.  A small asteroid has such weak gravity that even the slightest nudge with a hand or foot would send a spacewalking astronaut soaring high above the surface, and it might take hours to come back down.  A stronger shove might send an astronaut away at a speed higher than the escape velocity, in which case gravity would not bring them back ever!  Not so good.  On the International Space Station, which of course has no noticeable gravity of its own, astronauts keep from floating away by holding on to special handrails.  Asteroid do not come equipped with handrails.  They do have rough surfaces which might provide hand- and foot-holds, but unfortunately most asteroids are not solid blocks of material.  Instead they are “rubble piles,” flying clumps of sand, gravel, and boulders held together not by material strength, but by their own weak self-gravity.  So if you were moving hand-over-hand across the surface of the asteroid and accidentally pushed yourself off on a suborbital trajectory, you could grab onto a rock to keep yourself down–and the rock would simply come away with you! The practical result is that hands and feet are probably not the best way to move around an asteroid.  Better might be a suit with tiny thrusters that you could use to maneuver yourself around the landscape.  But if you’re not using your hands and feet to move around like a person climbing a tree, there’s no need to enclose them in a flexible suit.  Instead, you could keep them inside a hard pressure shell where they could be used to control thrusters, manipulators, and onboard systems.  Such an arrangement might look a lot like a Deepworker.  As a side benefit, the operator might be a bit more comfortable than in a traditional space suit.

Stan and DeepWorker 7.

Our underwater work here at Pavilion Lake ends this afternoon.  I’ll be the pilot for one of the last two “flights.”  The flight planner, Dr. “Mars” Marinova (who was just recently awarded her Ph.D. from the Geological and Planetary Sciences division at Caltech, where I worked as a postdoc more years ago than I care to admit), set up an especially interesting flight plan for me.  I’ll visit one of the “deep mounds,” outcroppings of microbialites growing on isolated boulders on the otherwise rather flat and monotonous central floor of the lake.  Then I’ll head off to do some vertical transects along the western shore.  These transects begin in deep water, then move upslope through the depth zone where the microbialite population is richest.  As I fly the transects I’ll record video of what I see from the submarine, and keep a running monologue (also recorded on board) of my observations.  It should be a lot of fun…and I’m sure I’ll miss piloting the submarines when the field season ends.
This wraps up Dr. Love’s Underwater Blog.  If I’m fortunate enough to be able to participate here next field season and spend more quality time underwater, I’ll be sure to reactivate the blog.
-Stan

Mike Gernhardt with the DeepWorker barge in the background

This is my third year as a submarine pilot/scientist on the Pavilion Lake Research Project (PLRP) and it is really exciting and informative to be part of this team and to watch the progression and trends in the science and operational methods that are being applied to this expedition.  I originally became involved in the PLRP because of the use of the dual DeepWorker submersible system as an operational analog to the dual Lunar Electric Rover system that my team at NASA is developing.  The really special thing about PLRP is that it’s not a simulation, its real world-class science and the methods that we use to plan the flights collect and analyze the data, and the lessons we learn are directly relevant to future space exploration. It’s also pretty cool that we are seeing things that human eyes have never seen before and in that sense it’s analogous to finding life on Mars or some other planet.

Mike Gernhardt and Bill Todd (front) work as CapCom on the surface vehicle, while Steve Wittig (back) captains the nav boat

The main contributions of our NASA Exploration Analogs and Mission Development team (EAMD) are to perform the operational research necessary to characterize the productivity and effectiveness of the operation and then systematically analyze the data and use the results to refine the operational methods over a multi-year period with the aim of achieving the highest level of scientific return from the human and machine assets deployed during the expedition.  To this end we have developed a variety of metrics that characterize the data, and observation quality along with the operational performance and timeline data.  These metrics are then correlated with the scientific merit metrics that we have developed with the PLRP team to understand the right balance between operational discipline and scientific flexibility. Is the right answer going to be totally rigid flight plans and flight rules to control every minute or the exploration dives, or complete scientific flexibility to explore whatever seems most interesting at the time? Probably neither,  the optimal mix is most likely  somewhere in between and this multi-year research program provides a unique opportunity to find that optimal mix here on earth so that we don’t have to learn those lesson out in space were the expense and consequences are much higher.

-Mike

Mike Gernhardt, ready for deployment in DeepWorker.

In the name of science we have invaded cottage country. The quiet cabins along Pavilion Lake have every bed filled, and there’s a tractor-trailer in the parking lot with NASA painted on it. Instead of fishing boats we have floating science platforms, torpedo-shaped robots, and 1-person submarines.

While digging into the world’s geological history we’re making an unusual racket in a peaceful place, and this is what I hear:

• My roommate’s alarm clock is set to Stayin’ Alive by the Bee Gees. It seems a brutal sentiment at 06:45.
• My bunkbed mattress creaks so loudly that I only roll over when I really have to.
• Breakfast is a hubbub of voices, 50 scientists and researchers from all over, discussing Cheerio flavours and side-scanning sonar.
• Many small fans cooling too many laptops creates a steady low hum in every room.
• The technician’s voice is calm and steady as he reads me the submarine pre-launch checklist.
• The thrusters on my submarine whir and whine, like a sputtering dentist’s drill.
• Radio voices are too loud and urgent to be natural at the bottom of the lake. My own voice sounds alien down there.

The loons calling on the lake are haunting and perfect, and will reclaim the mountain silence as soon as we are gone.

Chris Hadfield

Colonel, Astronaut, submarine pilot

Magical! Driving a sub through the “herms” of Pavilion Lake is absolutely magical! Imagine this: a snow of particulates streaks around the dome. A yellow light permeates the water column as it filters through the planktonic cloud and bounces through the Chara. Microbialites rise up from the bottom like castles shrouded in a mist of microalgae. The natural world is like poetry to an observational scientist, and a dive in the herms is high art. Of course, to someone who studies the shapes and forms of microbialites (like I do), a dive in the herms is also like candy! Microbialites cover up to 90 percent of the lake bottom, and exhibit a variety of different shapes in a space of only a few meters. For a microbialite scientist – Yum!

View from the pilot's seat.

Today I was lucky enough to pilot such a dive to the herms. The herms are an area near the center of Pavilion Lake. Their name is a bit of a misnomer – in fact, it is more of a nickname that stuck! Herms is short for bioherms, which refers to a build up of biological organisms, usually into a mound that rises above the surrounding sea or lake floor. Our Pavilion herms are mounds, but they are probably just sediment mounds that are covered in lots of microbialites, rather than being mounds build up exclusively by microbialites. Nevertheless, they remain a favorite area of the PLRP scientific team, because of the small area, dense ecology, and interesting geochemical and limnological environment.

My mission was to completely circumnavigate two of the herms that we had not mapped in previous years. Navigating the subs through an area of such dense mounds and interesting features has been challenging in the past. The topography can make communication between the surface and subs problematic, and our maps have not always been as accurate as they are now. However, as our research has continued, our knowledge of the area has improved, our communications infrastructure has grown by leaps and bounds, and I daresay, some of us are even getting better at flying these subs! I am proud to say that the circumnavigation went smoothly and we were able to fill in some missing areas in our maps of the herms!

Exploring the herms at 40 feet.

Improving our maps also means raising more questions; such is the nature of exploration, and this dive was no exception. Although many of the morphological trends that I observed were similar to those I have noticed before (adding strength to some of our hypotheses), new subtleties leapt into view. Why, for example, do many of the microbialites along the bottom of the mounds look roughed-up, slightly broken, whitish, and all together kind of crummy? Does it have to do with fluctuating sediment levels at the bases of the mounds? Perhaps. That leads me to questions of how precisely sediment is transported around the mounds: what is the source of the sediment? How often do large sediment flows come down from the surrounding walls? Are the microbialites buried and exposed regularly or does it happen on a timescale of decades or centuries!? For each answer there are new questions, and for each new question there are a handful of associated questions.

Returning to the surface to see a smiling Susan Winnitoy, guiding me back to the barge.

The abundance of new questions is thrilling, and is what keeps bringing us back here. I often find myself chatting with people who are surprised that we haven’t uncovered all of the details of microbialite formation, development, and growth – after all, we have been studying Pavilion Lake for a number of years. Yet that is the appeal of studying microbialites! Microbialite mounds are subject to nearly countless variables – biological, chemical, and physical processes that change through time. Untangling each of those influences is a process – a process that is being helped along by the phenomenal amount of data that we are collecting with the DeepWorker subs, with the GAVIA AUVs, and with our team of SCUBA divers. So, do we understand everything about microbialite formation yet? Nope. Not by far. But with dives like my magical one through the herms, we are getting ever closer! The microbialites of Pavilion Lake have a story to tell, and through our exploration we are listening to the telling.

- Bekah

Click here to view the embedded video.

Hello World!  Greetings from the beautiful shore of Pavilion Lake, BC, where the mountains are high, the lake is clear, and the science is plentiful!

Sunset on our first evening at Pavilion Lake.

I write this sitting in what is probably the most utilized building in camp surrounded by nectarines, apples, and Frankenstein Cookies* (which, deliciously, have just come from the oven).  We pile into this building, called Brock’s House, for breakfast, lunch, and dinner every day.  By day, the room is filled with computers and hard drives and people busily processing data (sometimes while simultaneously watching World Cup Soccer/Football and Tour de France cycling).  Every night, we come together as a group for our nightly science meetings.  We share ideas, ask questions, get weather updates, summarize our daily activities, are introduced to the newest members of Team Pavilion, and say goodbye to those departing.

At our largest, the team will consist of more than 70 people from all corners of the world.  The larger team consists of smaller groups, each with their own objectives that ultimately contribute to PLRP. As I type this, the scuba divers are diving to collect samples and document microbialite growth, while the deep worker subs are exploring the central basin of Pavilion Lake. While a single person pilots the sub, a navigator boat floats above the sub to support the deepwater operations. Meanwhile, at the Hab (Mobile Mission Command Center), located just up the road from Brock’s House where I currently sit, people are processing data. Our camp cooks, Jen and Dana, are busily preparing lunch for 61 hungry people (which is no small task). Ashley has headed to town and will be coming back shortly with a truck filled with boxes of food.  The UBC (University of British Columbia) AUV team was out running missions before breakfast and are presently on Pavilion Lake to deploy some instruments, and the UD (University of Delaware) AUV team is busily planning missions for the afternoon.  I’m part of the UD team, along with Art Trembanis and Jon Gutsche. We work closely with the AUV team from UBC and have been given the team name “Gaviators”.

The UBC AUV team prepares for night ops.

It’s hard to believe that it’s Saturday, and that we now have six days of work behind us.  We arrived on Sunday from Philadelphia, PA via Minneapolis, MN (where we spent a short night due to a late night canceled flight), Denver, CO and finally Vancouver, BC.  The drive from Vancouver to Pavilion Lake was gorgeous, and the snow peaked mountains were unlike anything we left behind in Delaware.

Upon our arrival on site, Art, our advisor who participated in the project last year, began showing us around.  We visited the Hab and Brock’s House, where dinner was waiting for us, and then we wandered down a gravel road and found the lakeside cabins that would be our homes for next two weeks.  Along the way, we met many members of Team Pavilion – some who have spent years participating in the project and others, like myself, who were brand new to it.

We all approach the project from diverse backgrounds.  We are teachers, biologists, geologists, dieticians, engineers, scuba divers, chemists, artists, astronauts, physicists, astronomers, zoologists, and ecologists. The unique perspective that each individual brings to the group is fascinating – how an artist views sonar data or how a teacher will take the work done here at Pavilion and integrate it into their classroom. To view your work through a different lens is both interesting and important. It stimulates questions and conversations that further drive the work in new directions.

In the days since our arrival, we have had great success mapping Pavilion with our AUV named “Dora”.  What is an AUV, you might ask??  AUV is short for Autonomous Underwater Vehicle – basically an underwater robot that is equipped with an array of instruments.  The AUV maneuvers around Pavilion Lake, traveling along “lines” that we plan in a computer before the mission start.  This mission plan is then sent to the AUV and she swims off to collect data while we await on shore for her return.  Mission length is controlled by the battery life of the AUV, and typically ranges from 1.5 to 4 hours.

An underwater landslide feature identified with side-scan sonar in Pavilion Lake

The UD AUV, a Gavia class vehicle, has two sonar systems.  Both sonar systems emit sound pulses that travel through the water and then bounce back towards the vehicle when they hit the lake bottom.  One, called side-scan sonar, characterizes the type of sediment at the lakebed.  The second, interferometric sonar, measures the bathymetry of the lakebed.  Using these two instruments, we will produce a high resolution “image” of the bottom of Pavilion Lake.  We are able to identify trees, microbalite structures, and underwater landslides in these records.  Additionally, the Gavia comes equipped with an Ecopuck sensor, which measures turbidity (how much suspended matter there is in the water) and Chlorophyll A (a measure of primary productivity in the water).  A downward facing camera, an oxygen sensor, a temperature sensor, and depth sensor are further part of her payload.

As I walked down the gravel road this evening in the direction of the setting sun, surrounded by people who, a week ago, were complete strangers to me, I thought about how much we have accomplished in the past week and also how much fun we have had together. I’m certainly delighted to have been “engulfed” by such a wonderful team.

-Steph

*Oh yes, Frankenstein Cookies were successfully thought up by Jen in an attempt to use up some leftover breakfast oatmeal and French toast batter.   Add some butter, sugar, chocolate chips, and flour and bake for 10 minutes.  Result – Delicious!

Jen making early morning Frankenstein Cookies.

Bonjour tout le monde,

Je m’appelle Claudine (ou Poutine si vous voulez) et j’ai la chance de participer au PLRP cette année en tant que membre de l’équipe de UBC-Gavia. Je viens de terminer mes études de 1er cycle en génie des eaux à l’Université Laval, à Québec, et je fais présentement un stage à l’Université de British Columbia sous la supervision de Dr.Bernard Laval.

Notre équipe a donc le mandat de faire fonctionner le AUV (Autonomus Underwater Vehicle) Gavia-UBC et de récolter un maximum de données. Gavia-UBC est principalement équipé d’un CTD (Conductivité, Température, Profondeur), d’un scatteringmeter (chlorophylle, CDOM, Turbidité). Il y a donc beaucoup de données à traiter, ce qui occupe mon temps entre deux réparations de notre véhicule. En effet, notre AUV a éprouvé quelques difficultés depuis notre arrivée à PLRP mais, grâce entre autre à l’équipe du l’Université du Delaware qui nous prête gentiment certaines parties de leur AUV et aux nombreux efforts de l’équipe, nous avons réussi à le faire fonctionner convenablement.

Au moment d’écrire ces lignes, notre UBC-Gavia effectue une mission qui a pour but de couvrir une grande partie du bassin central du Lac Pavilion, à une profondeur constante de 40m. Cette mission dure environ 1h20min et devrait nous apporter de nombreuse données de conductivité que mon équipe traitera avec les logiciels MatLab et Fledermaus. On va encore aller se coucher vers 23h30-minuit, mais cela ne m’empêche pas de participer au club de course de 6h00am! Quel belle expérience à PLRP!

- Claudine Fortier

Claudine et Gavia-UBC

Bekah Shepard explores the highway side of the North Basin of Pavilion Lake. Click the wrench icon in the Google Earth plugin window to slow down the animation speed.

Download the KMZ file for your Google Earth software here: 20100629C