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	<title>Taylor Glacier or Bust!</title>
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	<link>http://kristofrichmond.wordpress.com</link>
	<description>Travels and travails of an aught-niner.</description>
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		<title>Taylor Glacier or Bust!</title>
		<link>http://kristofrichmond.wordpress.com</link>
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		<item>
		<title>Home Sweet Home</title>
		<link>http://kristofrichmond.wordpress.com/2009/12/13/home-sweet-home/</link>
		<comments>http://kristofrichmond.wordpress.com/2009/12/13/home-sweet-home/#comments</comments>
		<pubDate>Sun, 13 Dec 2009 02:49:20 +0000</pubDate>
		<dc:creator>kristofrichmond</dc:creator>
				<category><![CDATA[Uncategorized]]></category>

		<guid isPermaLink="false">http://kristofrichmond.wordpress.com/?p=427</guid>
		<description><![CDATA[Ay&#231;a picked me up at the Moline airport on Thursday evening. My trip back home passed without incident, except for a suitcase which had only been checked through to O&#8217;Hare. That showed up today. I am now happily back in Iowa, with temperatures reminding me of the early days in Antarctica. The West Lake Bonney [...]<img alt="" border="0" src="http://stats.wordpress.com/b.gif?host=kristofrichmond.wordpress.com&amp;blog=9508265&amp;post=427&amp;subd=kristofrichmond&amp;ref=&amp;feed=1" width="1" height="1" />]]></description>
			<content:encoded><![CDATA[<p>Ay&ccedil;a picked me up at the Moline airport on Thursday evening.  My trip back home passed without incident, except for a suitcase which had only been checked through to O&#8217;Hare.  That showed up today.  I am now happily back in Iowa, with temperatures reminding me of the early days in Antarctica.<br />
<div id="attachment_428" class="wp-caption aligncenter" style="width: 490px"><a href="http://kristofrichmond.files.wordpress.com/2009/12/100_2597.jpg"><img src="http://kristofrichmond.files.wordpress.com/2009/12/100_2597.jpg?w=480&#038;h=567" alt="" title="Home Sweet Home" width="480" height="567" class="size-full wp-image-428" /></a><p class="wp-caption-text">Kristof, Ay&ccedil;a, Buddy and Angelo enjoy an evening at home on the sofa.</p></div><br />
The West Lake Bonney ENDURANCE project has come to a successful end.  ENDURANCE itself will fly back to the US at the end of December.  Our season went extremely well, and there is talk of proposing future field campaigns for ENDURANCE or possible successor vehicles, so you may yet be reading updates from me here in the future.  I&#8217;ll still put up a link to a picture album from this season once I upload it in the next week or two, but for now, this is Kristof, over and out.</p>
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		<slash:comments>3</slash:comments>
	
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			<media:title type="html">kristofrichmond</media:title>
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		<media:content url="http://kristofrichmond.files.wordpress.com/2009/12/100_2597.jpg" medium="image">
			<media:title type="html">Home Sweet Home</media:title>
		</media:content>
	</item>
		<item>
		<title>Green</title>
		<link>http://kristofrichmond.wordpress.com/2009/12/09/green/</link>
		<comments>http://kristofrichmond.wordpress.com/2009/12/09/green/#comments</comments>
		<pubDate>Wed, 09 Dec 2009 09:06:04 +0000</pubDate>
		<dc:creator>kristofrichmond</dc:creator>
				<category><![CDATA[Uncategorized]]></category>

		<guid isPermaLink="false">http://kristofrichmond.wordpress.com/?p=420</guid>
		<description><![CDATA[Today was suffused with the color of growing things. Shilpa, Chris and I took Peter&#8217;s advice and walked over from our hotel to the Riccarton Bush. This is a patch of primordial forest which was set aside by the Dean family when they homesteaded this part of New Zealand, and has been preserved ever since. [...]<img alt="" border="0" src="http://stats.wordpress.com/b.gif?host=kristofrichmond.wordpress.com&amp;blog=9508265&amp;post=420&amp;subd=kristofrichmond&amp;ref=&amp;feed=1" width="1" height="1" />]]></description>
			<content:encoded><![CDATA[<p>Today was suffused with the color of growing things.  Shilpa, Chris and I took Peter&#8217;s advice and walked over from our hotel to the Riccarton Bush.  This is a patch of primordial forest which was set aside by the Dean family when they homesteaded this part of New Zealand, and has been preserved ever since.  It is about a 45 minute walk from the center of Christchurch, right in the middle of present-day suburbia.  It was perfect for a group of people looking to readjust from the splendors of the Dry Valleys.  Instead of being immense, dry, and shades of brown, blue, and white with only the wind blowing through, it was intimate, aromatic, <em>green</em> and filled with birdsong.<br />
<div id="attachment_422" class="wp-caption aligncenter" style="width: 490px"><a href="http://kristofrichmond.files.wordpress.com/2009/12/img_8043.jpg"><img src="http://kristofrichmond.files.wordpress.com/2009/12/img_8043.jpg?w=480&#038;h=519" alt="" title="Walking in the Bush" width="480" height="519" class="size-full wp-image-422" /></a><p class="wp-caption-text">Breathing in the earthy aromas and taking in the verdant scenery of the Riccarton Bush.</p></div></p>
<p>We finished our excursion at the restaurant housed in the old Dean residence, which had some of the best eggplant lasagna, chocolate dessert and apricot tea ever.  And we sat in the middle of a rose garden, under an arbor topped with pink blooms.  What a perfect closing parenthesis to our Antarctic experience.</p>
<div id="attachment_423" class="wp-caption aligncenter" style="width: 490px"><a href="http://kristofrichmond.files.wordpress.com/2009/12/img_8055.jpg"><img src="http://kristofrichmond.files.wordpress.com/2009/12/img_8055.jpg?w=480&#038;h=538" alt="" title="Smelling the Roses" width="480" height="538" class="size-full wp-image-423" /></a><p class="wp-caption-text">Taking time.</p></div><br />
<div id="attachment_424" class="wp-caption aligncenter" style="width: 520px"><a href="http://kristofrichmond.files.wordpress.com/2009/12/img_8059.jpg"><img src="http://kristofrichmond.files.wordpress.com/2009/12/img_8059.jpg?w=510&#038;h=328" alt="" title="Under the Arbor" width="510" height="328" class="size-full wp-image-424" /></a><p class="wp-caption-text">Shilpa, Kristof and Chris enjoy a luncheon with tea under the arbor in the rose garden.</p></div>
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			<media:title type="html">kristofrichmond</media:title>
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		<media:content url="http://kristofrichmond.files.wordpress.com/2009/12/img_8043.jpg" medium="image">
			<media:title type="html">Walking in the Bush</media:title>
		</media:content>

		<media:content url="http://kristofrichmond.files.wordpress.com/2009/12/img_8055.jpg" medium="image">
			<media:title type="html">Smelling the Roses</media:title>
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			<media:title type="html">Under the Arbor</media:title>
		</media:content>
	</item>
		<item>
		<title>&#8220;Civilization&#8221;</title>
		<link>http://kristofrichmond.wordpress.com/2009/12/08/civilization/</link>
		<comments>http://kristofrichmond.wordpress.com/2009/12/08/civilization/#comments</comments>
		<pubDate>Tue, 08 Dec 2009 10:23:02 +0000</pubDate>
		<dc:creator>kristofrichmond</dc:creator>
				<category><![CDATA[Uncategorized]]></category>

		<guid isPermaLink="false">http://kristofrichmond.wordpress.com/?p=399</guid>
		<description><![CDATA[For Antarctica, everything today ran quite smoothly. Ivan the TerraBus picked us up in McMurdo around noon and dropped us off at the Pegasus airfield. We were on board the C-17 taking us back by 3:30. The flight back was uneventful&#8212;I slept most of the way. We landed to the sights and smells of Christchurch [...]<img alt="" border="0" src="http://stats.wordpress.com/b.gif?host=kristofrichmond.wordpress.com&amp;blog=9508265&amp;post=399&amp;subd=kristofrichmond&amp;ref=&amp;feed=1" width="1" height="1" />]]></description>
			<content:encoded><![CDATA[<p>For Antarctica, everything today ran quite smoothly.  <a href="antarctican/#Ivan">Ivan the TerraBus</a> picked us up in McMurdo around noon and dropped us off at the Pegasus airfield.  We were on board the C-17 taking us back by 3:30.  The flight back was uneventful&mdash;I slept most of the way.  We landed to the sights and smells of Christchurch at around 8:30 pm, passed through customs, dropped of our <a href="antarctican/#ECW">ECW</a> and hopped on the shuttle to the Windsor B&amp;B, our home away from in Christchurch.</p>
<p>The most striking impressions: the muggyness when I got off the plane, the smell of grass and flowers stepping out of the airport, the currently impending darkness of night.  My first nightfall since <a href="2009/10/22/last-sunset/">mid-October</a>.</p>
<p>I gave Chris his camera back, haven&#8217;t gotten mine working yet, and didn&#8217;t ask anyone for their photos before they headed off to bed, so no pictures from today.</p>
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			<media:title type="html">kristofrichmond</media:title>
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		<item>
		<title>Cleaning Up</title>
		<link>http://kristofrichmond.wordpress.com/2009/12/07/cleaning-up/</link>
		<comments>http://kristofrichmond.wordpress.com/2009/12/07/cleaning-up/#comments</comments>
		<pubDate>Mon, 07 Dec 2009 07:37:27 +0000</pubDate>
		<dc:creator>kristofrichmond</dc:creator>
				<category><![CDATA[Uncategorized]]></category>

		<guid isPermaLink="false">http://kristofrichmond.wordpress.com/?p=393</guid>
		<description><![CDATA[Today was (if everything goes according to plan) the last day in Antarctica for four members of Team ENDURANCE, including me. We spent it cleaning up, packing, and returning stuff we checked out at the beginning of the season. I helped out the team at the BFC. The four of us leaving tomorrow just had [...]<img alt="" border="0" src="http://stats.wordpress.com/b.gif?host=kristofrichmond.wordpress.com&amp;blog=9508265&amp;post=393&amp;subd=kristofrichmond&amp;ref=&amp;feed=1" width="1" height="1" />]]></description>
			<content:encoded><![CDATA[<p>Today was (if everything goes according to plan) the last day in Antarctica for four members of Team ENDURANCE, including me. We spent it cleaning up, packing, and returning stuff we checked out at the beginning of the season.  I helped out the team at the <a href="antarctican/#BFC">BFC</a>.<br />
 <div id="attachment_395" class="wp-caption aligncenter" style="width: 520px"><a href="http://kristofrichmond.files.wordpress.com/2009/12/img_7219.jpg"><img src="http://kristofrichmond.files.wordpress.com/2009/12/img_7219.jpg?w=510&#038;h=382" alt="" title="Emma and Leah in BFC" width="510" height="382" class="size-full wp-image-395" /></a><p class="wp-caption-text">Emma and Leah checking all of our field gear back in to the BFC.</p></div><br />
<div id="attachment_394" class="wp-caption aligncenter" style="width: 520px"><a href="http://kristofrichmond.files.wordpress.com/2009/12/img_7217.jpg"><img src="http://kristofrichmond.files.wordpress.com/2009/12/img_7217.jpg?w=510&#038;h=382" alt="" title="Shilpa" width="510" height="382" class="size-full wp-image-394" /></a><p class="wp-caption-text">Shilpa at the pee bottle washing station at the BFC.  We used the bottles in the field when an outhouse was too far away, or too hard to get to (like from your sleeping bag).  But they do appreciate it if you clean out your own before checking it back in.</p></div><br />
The four of us leaving tomorrow just had our <a href="antarctican/#bag_drag">bag drag</a>, and now it&#8217;s off to the ENDURANCE good-bye party at Southern X-posure, one of the three local drinking establishments.</p>
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			<media:title type="html">kristofrichmond</media:title>
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		<media:content url="http://kristofrichmond.files.wordpress.com/2009/12/img_7219.jpg" medium="image">
			<media:title type="html">Emma and Leah in BFC</media:title>
		</media:content>

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			<media:title type="html">Shilpa</media:title>
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		<item>
		<title>Bot Day</title>
		<link>http://kristofrichmond.wordpress.com/2009/12/06/bot-day/</link>
		<comments>http://kristofrichmond.wordpress.com/2009/12/06/bot-day/#comments</comments>
		<pubDate>Sun, 06 Dec 2009 10:39:24 +0000</pubDate>
		<dc:creator>kristofrichmond</dc:creator>
				<category><![CDATA[Uncategorized]]></category>

		<guid isPermaLink="false">http://kristofrichmond.wordpress.com/?p=387</guid>
		<description><![CDATA[Today was Bot Day in McMurdo. Both this year and last, Team ENDURANCE has maintained a friendly rivalry with another underwater robotic vehicle doing Antarctic exploration. While ENDURANCE is a large vehicle outfitted with a slew of sensors, carries all its power on board, and is capable of maneuvering autonomously, the rival robot is remotely [...]<img alt="" border="0" src="http://stats.wordpress.com/b.gif?host=kristofrichmond.wordpress.com&amp;blog=9508265&amp;post=387&amp;subd=kristofrichmond&amp;ref=&amp;feed=1" width="1" height="1" />]]></description>
			<content:encoded><![CDATA[<p>Today was Bot Day in McMurdo.  Both this year and last, Team ENDURANCE has maintained a friendly rivalry with another underwater robotic vehicle doing Antarctic exploration.  While ENDURANCE is a large vehicle outfitted with a slew of sensors, carries all its power on board, and is capable of maneuvering autonomously, the rival robot is remotely operated and powered, and has two video cameras as its only sensors <em>but</em> is thin enough to fit down a 10-inch drill hole.  To highlight this last fact, it is dubbed <a href="http://scini2009.mlml.calstate.edu/">SCINI</a> (pronounced &#8220;skinny&#8221;), and team SCINI refers to ENDURANCE as &#8220;fatty&#8221; (they even came up with an acronym to make PHATTI, though none of us remembers what that was right now).<br />
<div class="wp-caption aligncenter" style="width: 520px"><a href="http://scini2009.mlml.calstate.edu/"><img alt="" src="http://scini2009.mlml.calstate.edu/wp-content/uploads/2009/08/pic224.jpg" title="SCINI vehicle" width="510" height="343" /></a><p class="wp-caption-text">The SCINI vehicle in the test tank at MBARI (my old playing grounds while doing my thesis).  Courtesy Stacey Kim, Moss Landing Marine Labs.</p></div><br />
This afternoon, SCINI had an open house, where the McMurdo populace was invited to come down to a dive shack on the sea ice in front of town and watch the vehicle drive around.  They even gave us a chance to drive it ourselves.  I made a valiant effort to sabotage their vehicle by driving it into a rock, but was foiled because they had the power on the thrusters turned down, and the protective metal cage in front of the camera dome bounced off harmlessly.</p>
<p>Then tonight, Peter and Bill gave the Sunday Science Lecture on ENDURANCE.  The lectures are open to the entire McMurdo community and are held in the <a href="antarctican/#Galley">Galley</a>.  It was pretty impressive to see all the work that we&#8217;ve done over the past 6 weeks&mdash;the past two years, in fact&mdash;summarized and displayed.  The Galley was full, and there were a lot of interesting questions.  The lecture was recorded, and should be <a href="http://www.mcmurdo.usap.gov/multimedia/ScienceLectureIndex.html">viewable on the McMurdo Station server</a> in a few days.<br />
<div id="attachment_390" class="wp-caption aligncenter" style="width: 490px"><a href="http://kristofrichmond.files.wordpress.com/2009/12/img_7216.jpg"><img src="http://kristofrichmond.files.wordpress.com/2009/12/img_7216.jpg?w=480&#038;h=640" alt="" title="ENDURANCE; or How I Learned to Stop Worrying and Love the Bot" width="480" height="640" class="size-full wp-image-390" /></a><p class="wp-caption-text">The awesome poster we got made to advertise the Sunday Night Science Lecture.  That's Bill Stone doing Slim Pickens.</p></div></p>
<p>Tomorrow, Peter, Chris, Shilpa and I pack our bags and get ready to leave for New Zealand on Tuesday.  The remaining team stays for another five days and prepares ENDURANCE and all accompanying cargo for shipment back to the US.</p>
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			<media:title type="html">kristofrichmond</media:title>
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		<media:content url="http://scini2009.mlml.calstate.edu/wp-content/uploads/2009/08/pic224.jpg" medium="image">
			<media:title type="html">SCINI vehicle</media:title>
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			<media:title type="html">ENDURANCE; or How I Learned to Stop Worrying and Love the Bot</media:title>
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		<title>Back in MacTown</title>
		<link>http://kristofrichmond.wordpress.com/2009/12/05/back-in-mactown/</link>
		<comments>http://kristofrichmond.wordpress.com/2009/12/05/back-in-mactown/#comments</comments>
		<pubDate>Sat, 05 Dec 2009 13:53:40 +0000</pubDate>
		<dc:creator>kristofrichmond</dc:creator>
				<category><![CDATA[Uncategorized]]></category>

		<guid isPermaLink="false">http://kristofrichmond.wordpress.com/?p=379</guid>
		<description><![CDATA[This morning, I got up still slightly groggy from last night&#8217;s escapades. Since we are returning to Christchurch on Tuesday, Peter, Chris, Shilpa and I were prioritized to leave Lake Bonney on the early flight at around 10 am. We packed up our stuff and helped Emma get ready for leaving camp by moving some [...]<img alt="" border="0" src="http://stats.wordpress.com/b.gif?host=kristofrichmond.wordpress.com&amp;blog=9508265&amp;post=379&amp;subd=kristofrichmond&amp;ref=&amp;feed=1" width="1" height="1" />]]></description>
			<content:encoded><![CDATA[<p>This morning, I got up still slightly groggy from <a href="2009/12/04/final-hurrah/">last night&#8217;s escapades</a>.  Since we are returning to Christchurch on Tuesday, Peter, Chris, Shilpa and I were prioritized to leave Lake Bonney on the early flight at around 10 am.  We packed up our stuff and helped Emma get ready for leaving camp by moving some empty barrels and taking down some empty tents.  When the helo landed, we finished putting on our <a href="antarctican/#ECW">ECW</a>, brought our gear up for the helo tech to pack in, clambered in, buckled up, and we were off.  As our last views of Lake Bonney passed by in the windows, I&#8217;d wager we were all thinking about the great times we&#8217;ve had there and whether we&#8217;d ever see this beautiful panorama again.</p>
<div id="attachment_380" class="wp-caption aligncenter" style="width: 520px"><a href="http://kristofrichmond.files.wordpress.com/2009/12/img_7205.jpg"><img src="http://kristofrichmond.files.wordpress.com/2009/12/img_7205.jpg?w=510&#038;h=382" alt="" title="Shilpa in Helo" width="510" height="382" class="size-full wp-image-380" /></a><p class="wp-caption-text">Shilpa got the window seat on the ride back from Lake Bonney to McMurdo.</p></div><br />
<div id="attachment_381" class="wp-caption aligncenter" style="width: 520px"><a href="http://kristofrichmond.files.wordpress.com/2009/12/img_7207.jpg"><img src="http://kristofrichmond.files.wordpress.com/2009/12/img_7207.jpg?w=510&#038;h=382" alt="" title="Kristof in Helo" width="510" height="382" class="size-full wp-image-381" /></a><p class="wp-caption-text">My view wasn't quite as good.</p></div>
<p>After a 32 minute flight, we arrived in McMurdo.  Just like when we arrived at the beginning of the season, it felt like we&#8217;d been gone a long time, but yet had never left.  We all took showers, did some laundry, ate some fresh fruit and salad in <a href="antarctican/#Galley">the Galley</a>, and once again took up the accoutrements of normal, civilized life.<br />
<div id="attachment_382" class="wp-caption aligncenter" style="width: 520px"><a href="http://kristofrichmond.files.wordpress.com/2009/12/img_7208.jpg"><img src="http://kristofrichmond.files.wordpress.com/2009/12/img_7208.jpg?w=510&#038;h=358" alt="" title="Hotel California Bunk Room" width="510" height="358" class="size-full wp-image-382" /></a><p class="wp-caption-text">My bed in the Bunk Room in the dorm called Hotel California, where Chris, Maciej, Jim and I have been put.  There have been weather delays of more than a month for some of the large parties going out to the field this year, and the town is bursting at the seams trying to accommodate everyone.</p></div></p>
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			<media:title type="html">Shilpa in Helo</media:title>
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		<media:content url="http://kristofrichmond.files.wordpress.com/2009/12/img_7207.jpg" medium="image">
			<media:title type="html">Kristof in Helo</media:title>
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		<title>Final Hurrah</title>
		<link>http://kristofrichmond.wordpress.com/2009/12/04/final-hurrah/</link>
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		<pubDate>Fri, 04 Dec 2009 13:51:53 +0000</pubDate>
		<dc:creator>kristofrichmond</dc:creator>
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		<description><![CDATA[Bill, Chris and I just got back from climbing up the Matterhorn. The Taylor Valley Matterhorn, that is. After finishing packing in the &#8216;bothouse, we came back to camp and then headed out for a 9-hr hike that we just finished. We didn&#8217;t make it all the way up, but the climb and views were [...]<img alt="" border="0" src="http://stats.wordpress.com/b.gif?host=kristofrichmond.wordpress.com&amp;blog=9508265&amp;post=370&amp;subd=kristofrichmond&amp;ref=&amp;feed=1" width="1" height="1" />]]></description>
			<content:encoded><![CDATA[<p>Bill, Chris and I just got back from climbing up the Matterhorn.  The Taylor Valley Matterhorn, that is.  After finishing packing in the &#8216;bothouse, we came back to camp and then headed out for a 9-hr hike that we just finished.  We didn&#8217;t make it all the way up, but the climb and views were astounding.  The <a href="antartican/#ventifact">ventifact</a> rocks towards the top were crazy.<br />
<div id="attachment_371" class="wp-caption aligncenter" style="width: 520px"><a href="http://kristofrichmond.files.wordpress.com/2009/12/img_7166.jpg"><img src="http://kristofrichmond.files.wordpress.com/2009/12/img_7166.jpg?w=510&#038;h=409" alt="" title="Sprocket Rock" width="510" height="409" class="size-full wp-image-371" /></a><p class="wp-caption-text">A ventifact formation we dubbed 'Sprocket Rock' after the ENDURANCE cat mascot Sprocket.  Look, he's about to pounce on that bird!</p></div><br />
<div id="attachment_372" class="wp-caption aligncenter" style="width: 520px"><a href="http://kristofrichmond.files.wordpress.com/2009/12/img_7180.jpg"><img src="http://kristofrichmond.files.wordpress.com/2009/12/img_7180.jpg?w=510&#038;h=382" alt="" title="On the Matterhorn" width="510" height="382" class="size-full wp-image-372" /></a><p class="wp-caption-text">Three happy dudes.</p></div></p>
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			<media:title type="html">Sprocket Rock</media:title>
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			<media:title type="html">On the Matterhorn</media:title>
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		<title>Last Day for ENDURANCE</title>
		<link>http://kristofrichmond.wordpress.com/2009/12/03/last-day-for-endurance/</link>
		<comments>http://kristofrichmond.wordpress.com/2009/12/03/last-day-for-endurance/#comments</comments>
		<pubDate>Thu, 03 Dec 2009 12:21:44 +0000</pubDate>
		<dc:creator>kristofrichmond</dc:creator>
				<category><![CDATA[Uncategorized]]></category>

		<guid isPermaLink="false">http://kristofrichmond.wordpress.com/?p=362</guid>
		<description><![CDATA[The final day for ENDURANCE has come and gone. We started off with a successful mission, getting in the last bathymetry, and also a few field demonstrations of new robotic capabilities. Then it was time to start packing up. ENDURANCE is much too heavy, and has too many fragile instruments, to be transported fully assembled. [...]<img alt="" border="0" src="http://stats.wordpress.com/b.gif?host=kristofrichmond.wordpress.com&amp;blog=9508265&amp;post=362&amp;subd=kristofrichmond&amp;ref=&amp;feed=1" width="1" height="1" />]]></description>
			<content:encoded><![CDATA[<p>The final day for ENDURANCE has come and gone.  We started off with a successful mission, getting in the last bathymetry, and also a few field demonstrations of new robotic capabilities.<br />
<div id="attachment_363" class="wp-caption aligncenter" style="width: 520px"><a href="http://kristofrichmond.files.wordpress.com/2009/12/img_7121.jpg"><img src="http://kristofrichmond.files.wordpress.com/2009/12/img_7121.jpg?w=510&#038;h=377" alt="" title="Team ENDURANCE" width="510" height="377" class="size-full wp-image-363" /></a><p class="wp-caption-text">Kristof, Chris, Emma, Vickie, Rachel, Shilpa, Peter and Bill pose with ENDURANCE after its final mission.</p></div></p>
<p>Then it was time to start packing up.  ENDURANCE is much too heavy, and has too many fragile instruments, to be transported fully assembled.  The <a href="botspeak/#syntactic">syntactic</a> flotation has to come off, the <a href="botspeak/#sonde">sonde</a>, <a href="botspeak/#DVL">DVL</a>, <a href="botspeak/#USBL">USBL</a>, cameras, batteries, etc., have to be removed and packed up.  So we spent the rest of the day making sure we&#8217;d be ready for the first sets of helo flights of our stuff scheduled to go out tomorrow.<br />
<div id="attachment_364" class="wp-caption aligncenter" style="width: 520px"><a href="http://kristofrichmond.files.wordpress.com/2009/12/img_7123.jpg"><img src="http://kristofrichmond.files.wordpress.com/2009/12/img_7123.jpg?w=510&#038;h=510" alt="" title="Taking off Syntactic" width="510" height="510" class="size-full wp-image-364" /></a><p class="wp-caption-text">I work on removing one of the <a>syntactic</a> flotation blocks.</p></div><br />
<div id="attachment_365" class="wp-caption aligncenter" style="width: 520px"><a href="http://kristofrichmond.files.wordpress.com/2009/12/img_7136.jpg"><img src="http://kristofrichmond.files.wordpress.com/2009/12/img_7136.jpg?w=510&#038;h=477" alt="" title="Packing Syntactic" width="510" height="477" class="size-full wp-image-365" /></a><p class="wp-caption-text">Bill, Peter and Chris working on packing the syntactic blocks into boxes for shipment back to McMurdo.</p></div><br />
<div id="attachment_366" class="wp-caption aligncenter" style="width: 520px"><a href="http://kristofrichmond.files.wordpress.com/2009/12/img_7139.jpg"><img src="http://kristofrichmond.files.wordpress.com/2009/12/img_7139.jpg?w=510&#038;h=687" alt="" title="Disassembly in the &#39;Bothouse" width="510" height="687" class="size-full wp-image-366" /></a><p class="wp-caption-text">Peter, Emma and Bill working on disassembling ENDURANCE and packing up the 'bothouse.</p></div></p>
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			<media:title type="html">Team ENDURANCE</media:title>
		</media:content>

		<media:content url="http://kristofrichmond.files.wordpress.com/2009/12/img_7123.jpg" medium="image">
			<media:title type="html">Taking off Syntactic</media:title>
		</media:content>

		<media:content url="http://kristofrichmond.files.wordpress.com/2009/12/img_7136.jpg" medium="image">
			<media:title type="html">Packing Syntactic</media:title>
		</media:content>

		<media:content url="http://kristofrichmond.files.wordpress.com/2009/12/img_7139.jpg" medium="image">
			<media:title type="html">Disassembly in the &#39;Bothouse</media:title>
		</media:content>
	</item>
		<item>
		<title>Zen</title>
		<link>http://kristofrichmond.wordpress.com/2009/12/02/zen/</link>
		<comments>http://kristofrichmond.wordpress.com/2009/12/02/zen/#comments</comments>
		<pubDate>Wed, 02 Dec 2009 11:59:09 +0000</pubDate>
		<dc:creator>kristofrichmond</dc:creator>
				<category><![CDATA[Uncategorized]]></category>

		<guid isPermaLink="false">http://kristofrichmond.wordpress.com/?p=353</guid>
		<description><![CDATA[Today, we had another successful run through the narrows into the east lobe of Lake Bonney with 4 km traverse, 8 sonde drops and bathymetry coverage of 30% of the lake. Ho-hum. I&#8217;m going to talk about Zen. The Zen Garden, that is. Behind the ridge above Lake Bonney Camp, about half-way up the side [...]<img alt="" border="0" src="http://stats.wordpress.com/b.gif?host=kristofrichmond.wordpress.com&amp;blog=9508265&amp;post=353&amp;subd=kristofrichmond&amp;ref=&amp;feed=1" width="1" height="1" />]]></description>
			<content:encoded><![CDATA[<p>Today, we had another successful run through the narrows into the east lobe of Lake Bonney with 4 km traverse, 8 sonde drops and bathymetry coverage of 30% of the lake.  Ho-hum.  I&#8217;m going to talk about Zen.</p>
<p>The Zen Garden, that is.  Behind the ridge above Lake Bonney Camp, about half-way up the side of the valley, is a wide shelf covered with the cinders from a small cone further up the mountainside, undisturbed for millions of years by water or ice.  Only the howling Antarctic winds have come through and carved amazing shaped out of the larger boulders which lie strewn about on the bed of small reddish pumice pebbles.  It truly bears an uncanny resemblance to a manicured Japanese sculpture garden, and last Saturday, when we celebrated Thanksgiving, it became the goal of a small hike I took in the afternoon.  It was probably the most unforgettable place I&#8217;ve ever been.<br />
<div id="attachment_358" class="wp-caption aligncenter" style="width: 520px"><a href="http://kristofrichmond.files.wordpress.com/2009/12/zengardenoverview.png"><img src="http://kristofrichmond.files.wordpress.com/2009/12/zengardenoverview.png?w=510&#038;h=189" alt="" title="Zen Garden Overview" width="510" height="189" class="size-full wp-image-358" /></a><p class="wp-caption-text">The high shelf holding the Zen Garden.  The cinder cone on the side of the mountain to the right of the Sollas Glacier is the source of the reddish pebble field covering the plain below.  The boulders are chunks of the surrounding bedrock.</p></div><br />
<div id="attachment_354" class="wp-caption aligncenter" style="width: 520px"><a href="http://kristofrichmond.files.wordpress.com/2009/12/img_7033.jpg"><img src="http://kristofrichmond.files.wordpress.com/2009/12/img_7033.jpg?w=510&#038;h=382" alt="" title="Big Zen Rock" width="510" height="382" class="size-full wp-image-354" /></a><p class="wp-caption-text">A typical view in the Zen Garden.</p></div><br />
<div id="attachment_357" class="wp-caption aligncenter" style="width: 520px"><a href="http://kristofrichmond.files.wordpress.com/2009/12/img_7065.jpg"><img src="http://kristofrichmond.files.wordpress.com/2009/12/img_7065.jpg?w=510&#038;h=494" alt="" title="Kristof with Rock" width="510" height="494" class="size-full wp-image-357" /></a><p class="wp-caption-text">I had the best time running around from rock to rock.  This one rested just so, that one had ridiculous holes carved through it, the view behind that one was stunning.  Each was better than the next.</p></div><br />
<div id="attachment_355" class="wp-caption aligncenter" style="width: 520px"><a href="http://kristofrichmond.files.wordpress.com/2009/12/img_7059.jpg"><img src="http://kristofrichmond.files.wordpress.com/2009/12/img_7059.jpg?w=510&#038;h=471" alt="" title="Sliver Rock" width="510" height="471" class="size-full wp-image-355" /></a><p class="wp-caption-text">The fragile shapes left by the carving of the wind are completely unbelievable. This was once a four-foot diameter boulder.  The wispy shell is all that remains.</p></div><br />
<div id="attachment_359" class="wp-caption aligncenter" style="width: 520px"><a href="http://kristofrichmond.files.wordpress.com/2009/12/zenmastah.png"><img src="http://kristofrichmond.files.wordpress.com/2009/12/zenmastah.png?w=510&#038;h=164" alt="" title="Zen Mastah" width="510" height="164" class="size-full wp-image-359" /></a><p class="wp-caption-text">The Zen Master contemplating the oneness of all existence.</p></div></p>
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		<slash:comments>3</slash:comments>
	
		<media:content url="http://0.gravatar.com/avatar/e80cb998d484f931c6935260242d55fc?s=96&#38;d=identicon&#38;r=G" medium="image">
			<media:title type="html">kristofrichmond</media:title>
		</media:content>

		<media:content url="http://kristofrichmond.files.wordpress.com/2009/12/zengardenoverview.png" medium="image">
			<media:title type="html">Zen Garden Overview</media:title>
		</media:content>

		<media:content url="http://kristofrichmond.files.wordpress.com/2009/12/img_7033.jpg" medium="image">
			<media:title type="html">Big Zen Rock</media:title>
		</media:content>

		<media:content url="http://kristofrichmond.files.wordpress.com/2009/12/img_7065.jpg" medium="image">
			<media:title type="html">Kristof with Rock</media:title>
		</media:content>

		<media:content url="http://kristofrichmond.files.wordpress.com/2009/12/img_7059.jpg" medium="image">
			<media:title type="html">Sliver Rock</media:title>
		</media:content>

		<media:content url="http://kristofrichmond.files.wordpress.com/2009/12/zenmastah.png" medium="image">
			<media:title type="html">Zen Mastah</media:title>
		</media:content>
	</item>
		<item>
		<title>Winding Down</title>
		<link>http://kristofrichmond.wordpress.com/2009/12/01/winding-down/</link>
		<comments>http://kristofrichmond.wordpress.com/2009/12/01/winding-down/#comments</comments>
		<pubDate>Tue, 01 Dec 2009 12:34:21 +0000</pubDate>
		<dc:creator>kristofrichmond</dc:creator>
				<category><![CDATA[Uncategorized]]></category>

		<guid isPermaLink="false">http://kristofrichmond.wordpress.com/?p=344</guid>
		<description><![CDATA[The days left at Lake Bonney are becoming very few. ENDURANCE has completed all of the major science objectives: profiling the entire west lobe biogeochemistry, obtaining bathymetry of the entire lake, exploring the contact between the glacier and the lake bed. And it&#8217;s demonstrated the engineering objectives to make it all possible, too. Yesterday, ENDURANCE [...]<img alt="" border="0" src="http://stats.wordpress.com/b.gif?host=kristofrichmond.wordpress.com&amp;blog=9508265&amp;post=344&amp;subd=kristofrichmond&amp;ref=&amp;feed=1" width="1" height="1" />]]></description>
			<content:encoded><![CDATA[<p>The days left at Lake Bonney are becoming very few.  ENDURANCE has completed all of the major science objectives: profiling the entire west lobe biogeochemistry, obtaining bathymetry of the entire lake, exploring the contact between the glacier and the lake bed.  And it&#8217;s demonstrated the engineering objectives to make it all possible, too.  Yesterday, ENDURANCE completed a mission where we detached the communications fiber after it was initialized in the water.  It got all the data, found its way back to the melthole and came right up to the surface&mdash;all by itself.<br />
Now we&#8217;re trying to figure out what else to do to really show off its capabilities.  Not that we&#8217;re lacking in ideas.  ENDURANCE is proving to be a great platform for experimenting with new ways of doing robotic science in extreme environments, just as everyone had hoped.  I&#8217;m working on a method for ensuring ENDURANCE can get back to the melthole, even if the <a href="botspeak/#DVL">DVL</a> navigation sensor has a failure.  Chris is perfecting the automated <a href="botspeak/#sonde">sonde</a> drop routine to handle the outages the sonde&#8217;s sonar altimeter is experiencing due to poor reflections off of the soft lake bottom sediments.  Shilpa is updating the system executive module to properly handle the new functionality.  We hope to pull off a totally autonomous mission with full science sampling and return home in the face of some outages by the time we leave.</p>
<p>Missions have become much less stressfull.  As opposed to the early days where we were constantly monitoring telemetry, issuing commands for things that ENDURANCE couldn&#8217;t yet do on its own, tracking from the surface to make sure we had exact GPS coordinates for sonde drops, the &#8216;bot is now pretty much off on its own.<br />
<div id="attachment_345" class="wp-caption aligncenter" style="width: 520px"><a href="http://kristofrichmond.files.wordpress.com/2009/12/img_7001.jpg"><img src="http://kristofrichmond.files.wordpress.com/2009/12/img_7001.jpg?w=510&#038;h=382" alt="" title="Watching the Visualizer" width="510" height="382" class="size-large wp-image-345" /></a><p class="wp-caption-text">Bill, Chris, Shilpa, and Peter watching the sonar data visualizer, waiting around for the 'bot to finish its mission.</p></div><br />
We still &#8220;watch over its shoulder&#8221; via the data coming on the fiber-optic tether, but there&#8217;s not much else to do for missions once the bot is initialized and sent off in the morning.<br />
<div id="attachment_346" class="wp-caption aligncenter" style="width: 520px"><a href="http://kristofrichmond.files.wordpress.com/2009/12/img_7007.jpg"><img src="http://kristofrichmond.files.wordpress.com/2009/12/img_7007.jpg?w=510&#038;h=461" alt="" title="Shilpa Tends, Vickie Sleeps" width="510" height="461" class="size-full wp-image-346" /></a><p class="wp-caption-text">For a change, Vickie gets a rest and Shilpa tends the fiber while the 'bot is out doing its rounds.  Up till recently, Vickie would be out on the ice tracking the 'bot's magnetic beacon and getting GPS fixes for sonde drop locations, and Shilpa would be at mission control checking telemetry, issuing commands, writing comments in the data log, etc.</p></div><br />
<div id="attachment_347" class="wp-caption aligncenter" style="width: 490px"><a href="http://kristofrichmond.files.wordpress.com/2009/12/img_7008.jpg"><img src="http://kristofrichmond.files.wordpress.com/2009/12/img_7008.jpg?w=480&#038;h=640" alt="" title="Shilpa Tends, Peter Sleeps" width="480" height="640" class="size-full wp-image-347" /></a><p class="wp-caption-text">Hmm, Shilpa doing the fiber tending seems to have a calming effect on everyone.</p></div><br />
<div id="attachment_348" class="wp-caption aligncenter" style="width: 520px"><a href="http://kristofrichmond.files.wordpress.com/2009/12/img_7010.jpg"><img src="http://kristofrichmond.files.wordpress.com/2009/12/img_7010.jpg?w=510&#038;h=382" alt="" title="Shilpa Tends, Bill Does Push-Ups" width="510" height="382" class="size-full wp-image-348" /></a><p class="wp-caption-text">Well, not on <em>everyone</em>. (Bill doing push-ups).</p></div></p>
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		<slash:comments>1</slash:comments>
	
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			<media:title type="html">kristofrichmond</media:title>
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		<media:content url="http://kristofrichmond.files.wordpress.com/2009/12/img_7001.jpg?w=510" medium="image">
			<media:title type="html">Watching the Visualizer</media:title>
		</media:content>

		<media:content url="http://kristofrichmond.files.wordpress.com/2009/12/img_7007.jpg" medium="image">
			<media:title type="html">Shilpa Tends, Vickie Sleeps</media:title>
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		<media:content url="http://kristofrichmond.files.wordpress.com/2009/12/img_7008.jpg" medium="image">
			<media:title type="html">Shilpa Tends, Peter Sleeps</media:title>
		</media:content>

		<media:content url="http://kristofrichmond.files.wordpress.com/2009/12/img_7010.jpg" medium="image">
			<media:title type="html">Shilpa Tends, Bill Does Push-Ups</media:title>
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