# This MBARI Mapping AUV mission file has been generated # by the MB-System program mbm_route2mission run by # user on cpu at # # Mission Summary: # Route File: 20130205WaypointWallTest1v1.rte # Mission File: 20130205WaypointWallTest1v1.cfg # Distance: 1433.280765 (m) # Estimated Time: 1938 (s) 0.538 (hr) # Abort Time: 2519 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 300 (s) # Way Points: 4 # Route Points: 28 # Survey behavior: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 40 dB # Multibeam transmit gain: 220 dB # Multibeam pulse width: 6e-05 usec # Multibeam minimum range fraction: 0.3 # Subbottom disabled # Low sidescan disabled # High sidescan disabled # Benthic imaging camera control disabled: # # Mission Parameters: # Vehicle Survey Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Ascent Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Transit Speed: 1.500000 (m/s) 2.915769 (knots) # Minimum Vehicle Altitude 1: 50 (m) # Abort Vehicle Altitude 1: 25 (m) # Delta Depth Restart 1: 25 (m) # Desired Vehicle Altitude 1: 50 (m) # Desired Vehicle Altitude 2: 50 (m) # Desired Vehicle Altitude 3: 50 (m) # Constant Vehicle Depth 1: 50 (m) # Constant Vehicle Depth 2: 50 (m) # Maximum Vehicle Depth: 176.436436 (m) # Abort Vehicle Depth: 201.436436 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 50 (m) # Waypoint Spacing: 50 (m) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -121.969731 36.800144 -100.757365 0.000000 3 # 1 -121.970441 36.794455 -202.280273 634.372077 3 # 2 -121.968566 36.794503 -202.732178 801.758574 3 # 3 -121.969253 36.800168 -99.603566 1433.280765 4 # # A total of 28 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 2519; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 176.436436; abortDepth = 201.436436; minAltitude = 50.000000; abortAltitude = 25.000000; deltaDepthRestart = 25.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 300; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # # Acoustic update 1 - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior delta_t { duration = 6; logMode = 0; # MVC logging (0=Off, 1=On) } # ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 77.684599 meters # Minimum depth: 99.603566 meters looking forward 50.000000 meters along route # Maximum depth: 101.947688 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 176.436436 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.603566 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.800168; longitude = -121.969253; duration = 155; # abortOnTimeout = True; initialDepth = 51.020860; finalDepth = 49.603566; speed = 1.500000; maxCrossTrackError = 40; #Meters; Maximum cross-track displacement standOff = 50; #Meters; Stand off from the wall sonarTimeOut = 20; #Seconds; rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.421842 # Actual altitude: 50.421842 # Commanded vehicle depth: 51.02086 # Seafloor depth: -101.442702 # behavior delta_t { duration = 6; #logMode = 1; # MVC logging (0=Off, 1=On) receiveGain = 1; # Range is 1 to 20dB gainEq = 1; # Gain equalization (0=Off, 1=On) range = 50; # Set sonar range (1 to 150m) nBeams = 120; # Number of sonar beams (120, 240, or 480) beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed) sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees) averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots) } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 50.227111 meters # Minimum depth: 101.020860 meters looking forward 50.000000 meters along route # Maximum depth: 102.243910 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 176.436436 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 51.020860 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.799471; longitude = -121.969169; duration = 100; initialDepth = 51.382064; finalDepth = 51.020860; speed = 1.500000; maxCrossTrackError = 40; #Meters; Maximum cross-track displacement standOff = 50; #Meters; Stand off from the wall sonarTimeOut = 20; #Seconds; rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.421842 # Actual altitude: 50.421842 # Commanded vehicle depth: 51.02086 # Seafloor depth: -101.442702 # behavior delta_t { duration = 6; #logMode = 1; # MVC logging (0=Off, 1=On) receiveGain = 2; # Range is 1 to 20dB gainEq = 0; # Gain equalization (0=Off, 1=On) range = 150; # Set sonar range (1 to 150m) nBeams = 120; # Number of sonar beams (120, 240, or 480) beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed) sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees) averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots) } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.227111 meters # Minimum depth: 101.382064 meters looking forward 50.000000 meters along route # Maximum depth: 102.467816 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 176.436436 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 51.382064 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.799021; longitude = -121.969114; duration = 100; initialDepth = 51.656497; finalDepth = 51.382064; speed = 1.500000; maxCrossTrackError = 40; #Meters; Maximum cross-track displacement standOff = 50; #Meters; Stand off from the wall sonarTimeOut = 20; #Seconds; rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.421842 # Actual altitude: 50.421842 # Commanded vehicle depth: 51.02086 # Seafloor depth: -101.442702 # behavior delta_t { duration = 6; #logMode = 1; # MVC logging (0=Off, 1=On) receiveGain = 3; # Range is 1 to 20dB gainEq = 0; # Gain equalization (0=Off, 1=On) range = 150; # Set sonar range (1 to 150m) nBeams = 120; # Number of sonar beams (120, 240, or 480) beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed) sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees) averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots) } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.227111 meters # Minimum depth: 101.656497 meters looking forward 50.000000 meters along route # Maximum depth: 102.998347 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 176.436436 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 51.656497 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.798570; longitude = -121.969059; duration = 100; initialDepth = 52.661870; finalDepth = 51.656497; speed = 1.500000; maxCrossTrackError = 40; #Meters; Maximum cross-track displacement standOff = 50; #Meters; Stand off from the wall sonarTimeOut = 20; #Seconds; rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.421842 # Actual altitude: 50.421842 # Commanded vehicle depth: 51.02086 # Seafloor depth: -101.442702 # behavior delta_t { duration = 6; #logMode = 1; # MVC logging (0=Off, 1=On) receiveGain = 4; # Range is 1 to 20dB gainEq = 0; # Gain equalization (0=Off, 1=On) range = 150; # Set sonar range (1 to 150m) nBeams = 120; # Number of sonar beams (120, 240, or 480) beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed) sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees) averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots) } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.227110 meters # Minimum depth: 102.661870 meters looking forward 50.000000 meters along route # Maximum depth: 107.134037 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 176.436436 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.661870 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.798120; longitude = -121.969005; duration = 100; initialDepth = 57.279986; finalDepth = 52.661870; speed = 1.500000; maxCrossTrackError = 40; #Meters; Maximum cross-track displacement standOff = 50; #Meters; Stand off from the wall sonarTimeOut = 20; #Seconds; rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.421842 # Actual altitude: 50.421842 # Commanded vehicle depth: 51.02086 # Seafloor depth: -101.442702 # behavior delta_t { duration = 6; #logMode = 1; # MVC logging (0=Off, 1=On) receiveGain = 5; # Range is 1 to 20dB gainEq = 0; # Gain equalization (0=Off, 1=On) range = 150; # Set sonar range (1 to 150m) nBeams = 120; # Number of sonar beams (120, 240, or 480) beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed) sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees) averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots) } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.227110 meters # Minimum depth: 107.279986 meters looking forward 50.000000 meters along route # Maximum depth: 114.178667 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 176.436436 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.279986 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.797669; longitude = -121.968950; duration = 100; initialDepth = 64.534010; finalDepth = 57.279986; speed = 1.500000; maxCrossTrackError = 40; #Meters; Maximum cross-track displacement standOff = 50; #Meters; Stand off from the wall sonarTimeOut = 20; #Seconds; rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.421842 # Actual altitude: 50.421842 # Commanded vehicle depth: 51.02086 # Seafloor depth: -101.442702 # behavior delta_t { duration = 6; #logMode = 1; # MVC logging (0=Off, 1=On) receiveGain = 6; # Range is 1 to 20dB gainEq = 0; # Gain equalization (0=Off, 1=On) range = 150; # Set sonar range (1 to 150m) nBeams = 120; # Number of sonar beams (120, 240, or 480) beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed) sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees) averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots) } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.227109 meters # Minimum depth: 114.534010 meters looking forward 50.000000 meters along route # Maximum depth: 124.442165 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 176.436436 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.534010 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.797218; longitude = -121.968895; duration = 100; initialDepth = 74.421478; finalDepth = 64.534010; speed = 1.500000; maxCrossTrackError = 40; #Meters; Maximum cross-track displacement standOff = 50; #Meters; Stand off from the wall sonarTimeOut = 20; #Seconds; rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.421842 # Actual altitude: 50.421842 # Commanded vehicle depth: 51.02086 # Seafloor depth: -101.442702 # behavior delta_t { duration = 6; #logMode = 1; # MVC logging (0=Off, 1=On) receiveGain = 7; # Range is 1 to 20dB gainEq = 0; # Gain equalization (0=Off, 1=On) range = 150; # Set sonar range (1 to 150m) nBeams = 120; # Number of sonar beams (120, 240, or 480) beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed) sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees) averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots) } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.227109 meters # Minimum depth: 124.421478 meters looking forward 50.000000 meters along route # Maximum depth: 137.569295 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 176.436436 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.421478 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.796768; longitude = -121.968841; duration = 100; initialDepth = 88.013233; finalDepth = 74.421478; speed = 1.500000; maxCrossTrackError = 40; #Meters; Maximum cross-track displacement standOff = 50; #Meters; Stand off from the wall sonarTimeOut = 20; #Seconds; rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.421842 # Actual altitude: 50.421842 # Commanded vehicle depth: 51.02086 # Seafloor depth: -101.442702 # behavior delta_t { duration = 6; #logMode = 1; # MVC logging (0=Off, 1=On) receiveGain = 8; # Range is 1 to 20dB gainEq = 0; # Gain equalization (0=Off, 1=On) range = 150; # Set sonar range (1 to 150m) nBeams = 120; # Number of sonar beams (120, 240, or 480) beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed) sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees) averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots) } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.227108 meters # Minimum depth: 138.013233 meters looking forward 50.000000 meters along route # Maximum depth: 152.937108 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 176.436436 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 88.013233 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.796317; longitude = -121.968786; duration = 100; initialDepth = 103.538092; finalDepth = 88.013233; speed = 1.500000; maxCrossTrackError = 40; #Meters; Maximum cross-track displacement standOff = 50; #Meters; Stand off from the wall sonarTimeOut = 20; #Seconds; rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.421842 # Actual altitude: 50.421842 # Commanded vehicle depth: 51.02086 # Seafloor depth: -101.442702 # behavior delta_t { duration = 6; #logMode = 1; # MVC logging (0=Off, 1=On) receiveGain = 9; # Range is 1 to 20dB gainEq = 0; # Gain equalization (0=Off, 1=On) range = 150; # Set sonar range (1 to 150m) nBeams = 120; # Number of sonar beams (120, 240, or 480) beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed) sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees) averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots) } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.227109 meters # Minimum depth: 153.538092 meters looking forward 50.000000 meters along route # Maximum depth: 169.263791 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 176.436436 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 103.538092 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.795867; longitude = -121.968731; duration = 100; initialDepth = 119.893571; finalDepth = 103.538092; speed = 1.500000; maxCrossTrackError = 40; #Meters; Maximum cross-track displacement standOff = 50; #Meters; Stand off from the wall sonarTimeOut = 20; #Seconds; rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.421842 # Actual altitude: 50.421842 # Commanded vehicle depth: 51.02086 # Seafloor depth: -101.442702 # behavior delta_t { duration = 6; #logMode = 1; # MVC logging (0=Off, 1=On) receiveGain = 10; # Range is 1 to 20dB gainEq = 0; # Gain equalization (0=Off, 1=On) range = 150; # Set sonar range (1 to 150m) nBeams = 120; # Number of sonar beams (120, 240, or 480) beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed) sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees) averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots) } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.227107 meters # Minimum depth: 169.893571 meters looking forward 50.000000 meters along route # Maximum depth: 186.440038 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 176.436436 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 119.893571 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.795416; longitude = -121.968677; duration = 100; initialDepth = 137.151349; finalDepth = 119.893571; speed = 1.500000; maxCrossTrackError = 40; #Meters; Maximum cross-track displacement standOff = 50; #Meters; Stand off from the wall sonarTimeOut = 20; #Seconds; rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.421842 # Actual altitude: 50.421842 # Commanded vehicle depth: 51.02086 # Seafloor depth: -101.442702 # behavior delta_t { duration = 6; #logMode = 1; # MVC logging (0=Off, 1=On) receiveGain = 11; # Range is 1 to 20dB gainEq = 0; # Gain equalization (0=Off, 1=On) range = 150; # Set sonar range (1 to 150m) nBeams = 120; # Number of sonar beams (120, 240, or 480) beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed) sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees) averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots) } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 51.566497 meters # Minimum depth: 187.151349 meters looking forward 50.000000 meters along route # Maximum depth: 202.313917 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 176.436436 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 137.151349 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.794965; longitude = -121.968622; duration = 103; initialDepth = 151.403347; finalDepth = 137.151349; speed = 1.500000; maxCrossTrackError = 40; #Meters; Maximum cross-track displacement standOff = 50; #Meters; Stand off from the wall sonarTimeOut = 20; #Seconds; rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.421842 # Actual altitude: 50.421842 # Commanded vehicle depth: 51.02086 # Seafloor depth: -101.442702 # behavior delta_t { duration = 6; #logMode = 1; # MVC logging (0=Off, 1=On) receiveGain = 12; # Range is 1 to 20dB gainEq = 0; # Gain equalization (0=Off, 1=On) range = 150; # Set sonar range (1 to 150m) nBeams = 120; # Number of sonar beams (120, 240, or 480) beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed) sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees) averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots) } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 66.687842 meters # Minimum depth: 201.403347 meters looking forward 50.000000 meters along route # Maximum depth: 203.138018 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 176.436436 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 151.403347 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.794503; longitude = -121.968566; duration = 133; # abortOnTimeout = True; initialDepth = 151.370530; finalDepth = 151.403347; speed = 1.500000; maxCrossTrackError = 40; #Meters; Maximum cross-track displacement standOff = 50; #Meters; Stand off from the wall sonarTimeOut = 20; #Seconds; rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.421842 # Actual altitude: 50.421842 # Commanded vehicle depth: 51.02086 # Seafloor depth: -101.442702 # behavior delta_t { duration = 6; #logMode = 1; # MVC logging (0=Off, 1=On) receiveGain = 14; # Range is 1 to 20dB gainEq = 0; # Gain equalization (0=Off, 1=On) range = 150; # Set sonar range (1 to 150m) nBeams = 120; # Number of sonar beams (120, 240, or 480) beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed) sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees) averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots) } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 50.015886 meters # Minimum depth: 201.370530 meters looking forward 50.000000 meters along route # Maximum depth: 202.295991 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 176.436436 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 151.370530 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.794484; longitude = -121.969313; duration = 100; initialDepth = 151.436436; finalDepth = 151.370530; speed = 1.500000; maxCrossTrackError = 40; #Meters; Maximum cross-track displacement standOff = 50; #Meters; Stand off from the wall sonarTimeOut = 20; #Seconds; rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.421842 # Actual altitude: 50.421842 # Commanded vehicle depth: 51.02086 # Seafloor depth: -101.442702 # behavior delta_t { duration = 6; #logMode = 1; # MVC logging (0=Off, 1=On) receiveGain = 15; # Range is 1 to 20dB gainEq = 0; # Gain equalization (0=Off, 1=On) range = 150; # Set sonar range (1 to 150m) nBeams = 120; # Number of sonar beams (120, 240, or 480) beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed) sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees) averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots) } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 50.682769 meters # Minimum depth: 201.436436 meters looking forward 50.000000 meters along route # Maximum depth: 202.477496 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 176.436436 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 151.436436 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.794469; longitude = -121.969873; duration = 101; initialDepth = 130.539152; finalDepth = 151.436436; speed = 1.500000; maxCrossTrackError = 40; #Meters; Maximum cross-track displacement standOff = 50; #Meters; Stand off from the wall sonarTimeOut = 20; #Seconds; rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.421842 # Actual altitude: 50.421842 # Commanded vehicle depth: 51.02086 # Seafloor depth: -101.442702 # behavior delta_t { duration = 6; #logMode = 1; # MVC logging (0=Off, 1=On) receiveGain = 16; # Range is 1 to 20dB gainEq = 0; # Gain equalization (0=Off, 1=On) range = 150; # Set sonar range (1 to 150m) nBeams = 120; # Number of sonar beams (120, 240, or 480) beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed) sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees) averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots) } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 81.054920 meters # Minimum depth: 180.539152 meters looking forward 50.000000 meters along route # Maximum depth: 202.280273 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 176.436436 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 130.539152 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.794455; longitude = -121.970441; duration = 162; # abortOnTimeout = True; initialDepth = 116.609418; finalDepth = 130.539152; speed = 1.500000; maxCrossTrackError = 40; #Meters; Maximum cross-track displacement standOff = 50; #Meters; Stand off from the wall sonarTimeOut = 20; #Seconds; rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.421842 # Actual altitude: 50.421842 # Commanded vehicle depth: 51.02086 # Seafloor depth: -101.442702 # behavior delta_t { duration = 6; #logMode = 1; # MVC logging (0=Off, 1=On) receiveGain = 17; # Range is 1 to 20dB gainEq = 0; # Gain equalization (0=Off, 1=On) range = 150; # Set sonar range (1 to 150m) nBeams = 120; # Number of sonar beams (120, 240, or 480) beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed) sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees) averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots) } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.240655 meters # Minimum depth: 166.609418 meters looking forward 50.000000 meters along route # Maximum depth: 180.118791 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 176.436436 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 116.609418 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.795182; longitude = -121.970350; duration = 100; initialDepth = 99.895913; finalDepth = 116.609418; speed = 1.500000; maxCrossTrackError = 40; #Meters; Maximum cross-track displacement standOff = 50; #Meters; Stand off from the wall sonarTimeOut = 20; #Seconds; rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.421842 # Actual altitude: 50.421842 # Commanded vehicle depth: 51.02086 # Seafloor depth: -101.442702 # behavior delta_t { duration = 6; #logMode = 1; # MVC logging (0=Off, 1=On) receiveGain = 18; # Range is 1 to 20dB gainEq = 0; # Gain equalization (0=Off, 1=On) range = 150; # Set sonar range (1 to 150m) nBeams = 120; # Number of sonar beams (120, 240, or 480) beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed) sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees) averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots) } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.240657 meters # Minimum depth: 149.895913 meters looking forward 50.000000 meters along route # Maximum depth: 165.928309 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 176.436436 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 99.895913 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.795632; longitude = -121.970294; duration = 100; initialDepth = 84.683716; finalDepth = 99.895913; speed = 1.500000; maxCrossTrackError = 40; #Meters; Maximum cross-track displacement standOff = 50; #Meters; Stand off from the wall sonarTimeOut = 20; #Seconds; rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.421842 # Actual altitude: 50.421842 # Commanded vehicle depth: 51.02086 # Seafloor depth: -101.442702 # behavior delta_t { duration = 6; #logMode = 1; # MVC logging (0=Off, 1=On) receiveGain = 19; # Range is 1 to 20dB gainEq = 0; # Gain equalization (0=Off, 1=On) range = 150; # Set sonar range (1 to 150m) nBeams = 120; # Number of sonar beams (120, 240, or 480) beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed) sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees) averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots) } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.240658 meters # Minimum depth: 134.683716 meters looking forward 50.000000 meters along route # Maximum depth: 149.168343 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 176.436436 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 84.683716 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.796083; longitude = -121.970238; duration = 100; initialDepth = 72.432751; finalDepth = 84.683716; speed = 1.500000; maxCrossTrackError = 40; #Meters; Maximum cross-track displacement standOff = 50; #Meters; Stand off from the wall sonarTimeOut = 20; #Seconds; rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.421842 # Actual altitude: 50.421842 # Commanded vehicle depth: 51.02086 # Seafloor depth: -101.442702 # behavior delta_t { duration = 6; #logMode = 1; # MVC logging (0=Off, 1=On) receiveGain = 20; # Range is 1 to 20dB gainEq = 0; # Gain equalization (0=Off, 1=On) range = 150; # Set sonar range (1 to 150m) nBeams = 120; # Number of sonar beams (120, 240, or 480) beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed) sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees) averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots) } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.240659 meters # Minimum depth: 122.432751 meters looking forward 50.000000 meters along route # Maximum depth: 134.268602 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 176.436436 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 72.432751 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.796533; longitude = -121.970182; duration = 100; initialDepth = 63.793696; finalDepth = 72.432751; speed = 1.500000; maxCrossTrackError = 40; #Meters; Maximum cross-track displacement standOff = 50; #Meters; Stand off from the wall sonarTimeOut = 20; #Seconds; rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.421842 # Actual altitude: 50.421842 # Commanded vehicle depth: 51.02086 # Seafloor depth: -101.442702 # behavior delta_t { duration = 6; #logMode = 1; # MVC logging (0=Off, 1=On) receiveGain = 12; # Range is 1 to 20dB gainEq = 0; # Gain equalization (0=Off, 1=On) range = 150; # Set sonar range (1 to 150m) nBeams = 120; # Number of sonar beams (120, 240, or 480) beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed) sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees) averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots) } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.240661 meters # Minimum depth: 113.793696 meters looking forward 50.000000 meters along route # Maximum depth: 123.393506 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 176.436436 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.793696 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.796984; longitude = -121.970125; duration = 100; initialDepth = 57.447674; finalDepth = 63.793696; speed = 1.500000; maxCrossTrackError = 40; #Meters; Maximum cross-track displacement standOff = 50; #Meters; Stand off from the wall sonarTimeOut = 20; #Seconds; rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.421842 # Actual altitude: 50.421842 # Commanded vehicle depth: 51.02086 # Seafloor depth: -101.442702 # behavior delta_t { duration = 6; #logMode = 1; # MVC logging (0=Off, 1=On) receiveGain = 12; # Range is 1 to 20dB gainEq = 0; # Gain equalization (0=Off, 1=On) range = 150; # Set sonar range (1 to 150m) nBeams = 120; # Number of sonar beams (120, 240, or 480) beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed) sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees) averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots) } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.240662 meters # Minimum depth: 107.447674 meters looking forward 50.000000 meters along route # Maximum depth: 113.276948 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 176.436436 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.447674 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.797435; longitude = -121.970069; duration = 100; initialDepth = 53.329018; finalDepth = 57.447674; speed = 1.500000; maxCrossTrackError = 40; #Meters; Maximum cross-track displacement standOff = 50; #Meters; Stand off from the wall sonarTimeOut = 20; #Seconds; rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.421842 # Actual altitude: 50.421842 # Commanded vehicle depth: 51.02086 # Seafloor depth: -101.442702 # behavior delta_t { duration = 6; #logMode = 1; # MVC logging (0=Off, 1=On) receiveGain = 12; # Range is 1 to 20dB gainEq = 0; # Gain equalization (0=Off, 1=On) range = 150; # Set sonar range (1 to 150m) nBeams = 120; # Number of sonar beams (120, 240, or 480) beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed) sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees) averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots) } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.240663 meters # Minimum depth: 103.329018 meters looking forward 50.000000 meters along route # Maximum depth: 107.542159 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 176.436436 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.329018 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.797885; longitude = -121.970013; duration = 100; initialDepth = 52.444588; finalDepth = 53.329018; speed = 1.500000; maxCrossTrackError = 40; #Meters; Maximum cross-track displacement standOff = 50; #Meters; Stand off from the wall sonarTimeOut = 20; #Seconds; rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.421842 # Actual altitude: 50.421842 # Commanded vehicle depth: 51.02086 # Seafloor depth: -101.442702 # behavior delta_t { duration = 6; #logMode = 1; # MVC logging (0=Off, 1=On) receiveGain = 12; # Range is 1 to 20dB gainEq = 0; # Gain equalization (0=Off, 1=On) range = 150; # Set sonar range (1 to 150m) nBeams = 120; # Number of sonar beams (120, 240, or 480) beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed) sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees) averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots) } # # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.240664 meters # Minimum depth: 102.444588 meters looking forward 50.000000 meters along route # Maximum depth: 103.290347 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 176.436436 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.444588 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.798336; longitude = -121.969957; duration = 100; initialDepth = 52.322213; finalDepth = 52.444588; speed = 1.500000; maxCrossTrackError = 40; #Meters; Maximum cross-track displacement standOff = 50; #Meters; Stand off from the wall sonarTimeOut = 20; #Seconds; rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.421842 # Actual altitude: 50.421842 # Commanded vehicle depth: 51.02086 # Seafloor depth: -101.442702 # behavior delta_t { duration = 6; #logMode = 1; # MVC logging (0=Off, 1=On) receiveGain = 12; # Range is 1 to 20dB gainEq = 0; # Gain equalization (0=Off, 1=On) range = 150; # Set sonar range (1 to 150m) nBeams = 120; # Number of sonar beams (120, 240, or 480) beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed) sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees) averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots) } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.240666 meters # Minimum depth: 102.322213 meters looking forward 50.000000 meters along route # Maximum depth: 103.707259 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 176.436436 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.322213 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.798786; longitude = -121.969901; duration = 100; initialDepth = 51.251548; finalDepth = 52.322213; speed = 1.500000; maxCrossTrackError = 40; #Meters; Maximum cross-track displacement standOff = 50; #Meters; Stand off from the wall sonarTimeOut = 20; #Seconds; rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.421842 # Actual altitude: 50.421842 # Commanded vehicle depth: 51.02086 # Seafloor depth: -101.442702 # behavior delta_t { duration = 6; #logMode = 1; # MVC logging (0=Off, 1=On) receiveGain = 12; # Range is 1 to 20dB gainEq = 0; # Gain equalization (0=Off, 1=On) range = 150; # Set sonar range (1 to 150m) nBeams = 120; # Number of sonar beams (120, 240, or 480) beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed) sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees) averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots) } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.240668 meters # Minimum depth: 101.251548 meters looking forward 50.000000 meters along route # Maximum depth: 102.751137 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 176.436436 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 51.251548 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.799237; longitude = -121.969844; duration = 100; initialDepth = 50.719002; finalDepth = 51.251548; speed = 1.500000; maxCrossTrackError = 40; #Meters; Maximum cross-track displacement standOff = 50; #Meters; Stand off from the wall sonarTimeOut = 20; #Seconds; rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.421842 # Actual altitude: 50.421842 # Commanded vehicle depth: 51.02086 # Seafloor depth: -101.442702 # behavior delta_t { duration = 6; #logMode = 1; # MVC logging (0=Off, 1=On) receiveGain = 12; # Range is 1 to 20dB gainEq = 0; # Gain equalization (0=Off, 1=On) range = 150; # Set sonar range (1 to 150m) nBeams = 120; # Number of sonar beams (120, 240, or 480) beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed) sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees) averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots) } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.910544 meters # Minimum depth: 100.719002 meters looking forward 50.000000 meters along route # Maximum depth: 101.502953 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 176.436436 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 50.719002 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.799688; longitude = -121.969788; duration = 101; initialDepth = 50.719002; finalDepth = 50.719002; speed = 1.500000;speed = 1.500000; maxCrossTrackError = 40; #Meters; Maximum cross-track displacement standOff = 50; #Meters; Stand off from the wall sonarTimeOut = 20; #Seconds; rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.421842 # Actual altitude: 50.421842 # Commanded vehicle depth: 51.02086 # Seafloor depth: -101.442702 # behavior delta_t { duration = 6; #logMode = 1; # MVC logging (0=Off, 1=On) receiveGain = 12; # Range is 1 to 20dB gainEq = 0; # Gain equalization (0=Off, 1=On) range = 150; # Set sonar range (1 to 150m) nBeams = 120; # Number of sonar beams (120, 240, or 480) beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed) sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees) averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots) } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior delta_t { duration = 6; logMode = 1; # MVC logging (0=Off, 1=On) receiveGain = 12; # Range is 1 to 20dB gainEq = 0; # Gain equalization (0=Off, 1=On) range = 150; # Set sonar range (1 to 150m) nBeams = 120; # Number of sonar beams (120, 240, or 480) beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed) sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees) averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots) } ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 0.000000 meters # Minimum depth: 100.719002 meters looking forward 50.000000 meters along route # Maximum depth: 101.502953 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 176.436436 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 50.719002 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.800144; longitude = -121.969731; duration = 600; initialDepth = 50.719002; finalDepth = 50.719002; speed = 1.500000; maxCrossTrackError = 40; #Meters; Maximum cross-track displacement standOff = 50; #Meters; Stand off from the wall sonarTimeOut = 20; #Seconds; rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum } ####################################################### # Acoustic update 6 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 185.111491; pitch = -35.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 185.111491; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior delta_t { duration = 6; logMode = 0; # MVC logging (0=Off, 1=On) receiveGain = 12; # Range is 1 to 20dB gainEq = 0; # Gain equalization (0=Off, 1=On) range = 100; # Set sonar range (1 to 150m) nBeams = 120; # Number of sonar beams (120, 240, or 480) beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed) sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees) averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots) } # #######################################################