@article {Tontini2016,
	title = {{Crustal magnetization and the subseafloor structure of the ASHES vent field, Axial Seamount, Juan de Fuca Ridge: Implications for the investigation of hydrothermal sites}},
	journal = {Geophysical Research Letters},
	volume = {43},
	year = {2016},
	pages = {6205{\textendash}6211},
	abstract = {High-resolution geophysical data have been collected using the Autonomous Underwater Vehicle (AUV) Sentry over the ASHES (Axial Seamount Hydrothermal Emission Study) high-temperature ({\~{}}348{\textdegree}C) vent field at Axial Seamount, on the Juan de Fuca Ridge. Multiple surveys were performed on a 3-D grid at different altitudes above the seafloor, providing an unprecedented view of magnetic data resolution as a function of altitude above the seafloor. Magnetic data derived near the seafloor show that the ASHES field is characterized by a zone of low magnetization, which can be explained by hydrothermal alteration of the host volcanic rocks. Surface manifestations of hydrothermal activity at the ASHES vent field are likely controlled by a combination of local faults and fractures and different lava morphologies near the seafloor. Three-dimensional inversion of the magnetic data provides evidence of a vertical, pipe-like upflow zone of the hydrothermal fluids with a vertical extent of {\~{}}100 m.},
	keywords = {AUV Sentry (Autonomous Underwater Vehicle)},
	doi = {10.1002/2016GL069430},
	author = {Tontini, F C and Crone, T J and de Ronde, C E J and Fornari, D J and Kinsey, J C and Mittelstaedt, E and Tivey, M K}
}
@article {Mittelstaedt2016,
	title = {{Diffuse venting at the ASHES hydrothermal field: Heat flux and tidally modulated flow variability derived from in situ time-series measurements}},
	journal = {Geochemistry, Geophysics, Geosystems},
	volume = {17},
	year = {2016},
	pages = {1435{\textendash}1453},
	abstract = {Time-series measurements of diffuse exit-fluid temperature and velocity collected with a new, deep-sea camera, and temperature measurement system, the Diffuse Effluent Measurement System (DEMS), were examined from a fracture network within the ASHES hydrothermal field located in the caldera of Axial Seamount, Juan de Fuca Ridge. The DEMS was installed using the HOV Alvin above a fracture near the Phoenix vent. The system collected 20 s of 20 Hz video imagery and 24 s of 1 Hz temperature measurements each hour between 22 July and 2 August 2014. Fluid velocities were calculated using the Diffuse Fluid Velocimetry (DFV) technique. Over the similar to 12 day deployment, median upwelling rates and mean fluid temperature anomalies ranged from 0.5 to 6 cm/s and 0 degrees C to similar to 6.5 degrees C above ambient, yielding a heat flux of 0.29 +/- 0.22 MW M-2 and heat output of 3.1 +/- 2.5 kW. Using a photo mosaic to measure fracture dimensions, the total diffuse heat output from cracks across ASHES field is estimated to be 2.05 +/- 1.95 MW. Variability in temperatures and velocities are strongest at semidiurnal periods and show significant coherence with tidal height variations. These data indicate that periodic variability near Phoenix vent is modulated both by tidally controlled bottom currents and seafloor pressure, with seafloor pressures being the dominant influence. These results emphasize the importance of local permeability on diffuse hydrothermal venting at mid-ocean ridges and the need to better quantify heat flux associated with young oceanic crust.},
	keywords = {AUV Sentry (Autonomous Underwater Vehicle), HOV Alvin (Human Occupied Vehicle)},
	doi = {10.1002/2015GC006144},
	author = {Mittelstaedt, E and Fornari, D J and Crone, T J and Kinsey, J C and Kelley, D S and Elend, M J}
}
@article {Medagoda2016,
	title = {{Mid-water current aided localization for autonomous underwater vehicles}},
	journal = {Autonomous Robots},
	volume = {40},
	number = {7, SI},
	year = {2016},
	pages = {1207{\textendash}1227},
	abstract = {Survey-class autonomous underwater vehicles (AUVs) typically rely on Doppler Velocity Logs (DVL) for precision localization near the seafloor. In cases where the seafloor depth is greater than the DVL bottom-lock range, localizing between the surface and the seafloor presents a localization problem since both GPS and DVL observations are unavailable in the mid-water column. This work proposes a solution to this problem that exploits the fact that current profile layers of the water column are near constant over short time scales (in the scale of minutes). Using observations of these currents obtained with the Acoustic Doppler Current Profiler mode of the DVL during descent, along with data from other sensors, the method discussed herein constrains position error. The method is validated using field data from the Sirius AUV coupled with view-based Simultaneous Localization and Mapping (SLAM) and on descents up to 3km deep with the Sentry AUV.},
	keywords = {AUV Sentry (Autonomous Underwater Vehicle)},
	doi = {10.1007/s10514-016-9547-3},
	author = {Medagoda, L and Williams, S B and Pizarro, O and Kinsey, J C and Jakuba, M V}
}
@article {Tontini2013,
	title = {{Geophysical modeling of collapse-prone zones at Rumble III seamount, southern Pacific Ocean, New Zealand}},
	journal = {Geochemistry, Geophysics, Geosystems},
	volume = {14},
	number = {10},
	year = {2013},
	pages = {4667{\textendash}4680},
	abstract = {Catastrophic collapses of submarine volcanoes have the potential to generate major tsunami, threatening many coastal populations. Recognizing the difficulties surrounding anticipations of these events, quantitative assessment of collapse-prone regions based on detailed morphological, geological, and geophysical mapping can still provide important information about the hazards associated with these collapses. Rumble III is one of the shallowest, and largest, submarine volcanoes found along the Kermadec arc, and is both volcanically and hydrothermally active. Previous surveys have delineated major collapse features at Rumble III; based on time-lapse bathymetry, dramatic changes in the volcano morphology have been shown to have occurred over the interval 2007{\textendash}2009. Furthermore, this volcano is located just \~{}300 km from the east coast of the North Island of New Zealand. Here, we present a geophysical model for Rumble III that provides the locations and sizes of potential weak regions of this volcano. Shipborne and near-seafloor geological and geophysical data collected by the AUV Sentry are used to determine the subsurface distribution of weak and unstable volcanic rocks. The resulting model provides evidence for potentially unstable areas located in the Southeastern flank of this volcano which should be included in future hazard predictions.},
	keywords = {AUV Sentry (Autonomous Underwater Vehicle)},
	issn = {1525-2027},
	doi = {10.1002/ggge.20278},
	url = {http://dx.doi.org/10.1002/ggge.20278},
	author = {Tontini, F C and de Ronde, C E J and Kinsey, J C and Soule, A and Yoerger, D and Cocchi, L}
}
@conference {Kaiser2012,
	title = {{Satellite based remote management and operation of a 6000m AUV}},
	booktitle = {Oceans, 2012},
	volume = {Hampton Ro},
	year = {2012},
	abstract = {During a July, 2012 expedition to the Hatteras Transverse Canyon, Blake Ridge, and Cape Fear Diapir, the AUV Sentry, aboard the NOAA Ship Okeanos, conducted experiments into remote operation of an AUV via satellite link. Remote launch, remote engineering, remote data processing and remote watch standing were all explored with varying degrees of success. Remote engineering and troubleshooting was found to be exceptionally promising and worthy of further effort. Remote data processing was a valuable addition for a telepresence enabled cruise where a substantial component of the science team was on shore. Remore watch standing and remote launch were both found to be viable though requiring improvement. Technology infrastructure is discussed along with successes, difficulties, and recommendations for future improvement.},
	keywords = {AUV Sentry (Autonomous Underwater Vehicle)},
	doi = {10.1109/OCEANS.2012.6404900},
	author = {Kaiser, C L and Kinsey, J C and Pinner, W and Yoerger, D R and German, C R and Van Dover, C L}
}
@article {Kinsey2011,
	title = {{Assessing the Deepwater Horizon oil spill with the Sentry autonomous underwater vehicle}},
	journal = {2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	year = {2011},
	pages = {261{\textendash}267},
	abstract = {This paper reports the Sentry autonomous underwater vehicle and its deployment on two cruises in response to the Deepwater Horizon oil spill. The first cruise, in June 2010, coupled Sentry with the TETHYS mass spectrometer to track and localize a subsea hydrocarbon plume at a depth of approximately 1100m going at least 30km from the oil spill site. In December 2010, Sentry mapped and photographed deep-sea biological communities for follow-up observations and sampling with the Alvin manned submersible. These cruises demonstrate how robots and novel sensing technologies contributed to the oil spill assessment and the broader impact of technologies developed for basic research.},
	keywords = {AUV Sentry (Autonomous Underwater Vehicle)},
	doi = {10.1109/IROS.2011.6095008},
	author = {Kinsey, J C and Yoerger, D R and Jakuba, M V and Camilli, Rich and Fisher, C R and German, C R}
}
