# This MBARI Mapping AUV mission file has been generated # by the MB-System program mbm_route2mission run by # user on cpu at # # Program mbm_route2mission version: # : mbm_route2mission 2261 2016-01-07 01:49:22Z caress r # # Mission Summary: # Route File: 2016_WallTest_15v1.rte # Mission File: 2016_WallTest_15v1.cfg # Distance: 8269.957829 (m) # Estimated Time: 7331 (s) 2.037 (hr) # Abort Time: 9531 (s) # Max battery life: 68400 (s) # Safety margin: 1800 (s) # Ascend time: 1121 (s) # Way Points: 29 # Route Points: 29 # Survey Behaviors: # Behavior for waypoint mode 0: WaypointDepth # Behavior for waypoint mode 1: WaypointWall # Behavior for waypoint mode 2: WaypointWall # Behavior for waypoint mode 3: WaypointWall # Behavior for waypoint mode 4: WaypointWall # Descent style: Waypoint descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 20 dB # Multibeam transmit gain: 218 dB # Multibeam pulse width: 6e-05 usec # Multibeam minimum range fraction: 0.3 # Multibeam maximum range fraction: 5.0 # 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: 40 (m) # Abort Vehicle Altitude 1: 20 (m) # Delta Depth Restart 1: 20 (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: 969.154556 (m) # Abort Vehicle Depth: 989.154556 (m) # Descent Vehicle Depth: 3 (m) # Waypoint Spacing: 2000 (m) # Maximum climb rate: 36.0 (degrees) # 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 -121.972032 36.798672 -105.294687 0.000000 3 # 1 -121.971315 36.789318 -348.363022 1039.711262 1 # 2 -121.982140 36.774989 -810.603729 2899.875273 1 # 3 -121.983664 36.773565 -861.286102 3108.338513 1 # 4 -121.985957 36.772405 -913.532104 3350.086294 1 # 5 -121.991306 36.774773 -945.598145 3894.984632 1 # 6 -121.993636 36.774809 -951.245651 4102.967752 7 # 7 -121.995683 36.773685 -946.785843 4324.156752 1 # 8 -121.997835 36.773667 -954.717163 4516.228613 1 # 9 -121.998119 36.774034 -962.327148 4564.138573 1 # 10 -121.998911 36.773829 -963.587240 4638.354791 1 # 11 -121.999874 36.773992 -968.060221 4726.223537 1 # 12 -122.000113 36.774376 -967.970866 4773.918782 1 # 13 -122.000816 36.774136 -970.521240 4842.024880 1 # 14 -122.001757 36.774280 -973.525360 4927.559366 1 # 15 -122.002018 36.774682 -974.873210 4977.931191 1 # 16 -122.002608 36.774316 -976.212484 5044.468362 1 # 17 -122.004872 36.774424 -982.200378 5246.841302 1 # 18 -122.006971 36.775169 -989.127823 5451.592201 3 # 19 -122.000703 36.776227 -943.799179 6023.164000 1 # 20 -121.993577 36.775848 -943.366455 6660.513393 1 # 21 -121.994623 36.774827 -953.375656 6807.293912 7 # 22 -121.995683 36.773685 -946.785843 6965.410323 1 # 23 -121.997850 36.773655 -952.676300 7158.839171 1 # 24 -121.999867 36.773980 -968.047150 7342.427124 1 # 25 -122.001757 36.774280 -973.525360 7514.356630 1 # 26 -122.004872 36.774424 -982.200378 7792.819666 1 # 27 -122.006949 36.775169 -989.154556 7995.775763 3 # 28 -122.005410 36.777308 -934.913925 8269.957829 3 # # A total of 29 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 9531; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 969.154556; abortDepth = 989.154556; minAltitude = 40.000000; abortAltitude = 20.000000; deltaDepthRestart = 20.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 1121; 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 reson { duration = 6; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 274.182066 meters # Minimum depth: 934.913925 meters looking forward 0.000000 meters along route # Maximum depth: 934.913925 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.154556 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 884.913925 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777308; longitude = -122.005410; duration = 548; # abortOnTimeout = True; initialDepth = 939.154556; finalDepth = 884.913925; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 884.913925 # Seafloor depth: -934.913925 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_wall behavior to get to end of line 27 # Segment length 202.956097 meters # Minimum depth: 989.154556 meters looking forward 0.000000 meters along route # Maximum depth: 989.154556 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.154556 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 939.154556 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.775169; longitude = -122.006949; lastLatitude = 36.774424; lastLongitude = -122.004872; duration = 405; # abortOnTimeout = True; initialDepth = 932.200378; finalDepth = 939.154556; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; useWallEstimator = True; wallFeedForward = False; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 939.154556 # Seafloor depth: -989.154556 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_wall behavior to get to end of line 26 # Segment length 278.463036 meters # Minimum depth: 982.200378 meters looking forward 0.000000 meters along route # Maximum depth: 982.200378 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.154556 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 932.200378 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774424; longitude = -122.004872; lastLatitude = 36.774280; lastLongitude = -122.001757; duration = 556; # abortOnTimeout = True; initialDepth = 923.525360; finalDepth = 932.200378; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; useWallEstimator = True; wallFeedForward = False; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 932.200378 # Seafloor depth: -982.200378 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_wall behavior to get to end of line 25 # Segment length 171.929506 meters # Minimum depth: 973.525360 meters looking forward 0.000000 meters along route # Maximum depth: 973.525360 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.154556 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 923.525360 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774280; longitude = -122.001757; lastLatitude = 36.773980; lastLongitude = -121.999867; duration = 343; # abortOnTimeout = True; initialDepth = 918.047150; finalDepth = 923.525360; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; useWallEstimator = True; wallFeedForward = False; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 923.52536 # Seafloor depth: -973.525360 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_wall behavior to get to end of line 24 # Segment length 183.587953 meters # Minimum depth: 968.047150 meters looking forward 0.000000 meters along route # Maximum depth: 968.047150 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.154556 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 918.047150 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773980; longitude = -121.999867; lastLatitude = 36.773655; lastLongitude = -121.997850; duration = 367; # abortOnTimeout = True; initialDepth = 902.676300; finalDepth = 918.047150; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; useWallEstimator = True; wallFeedForward = False; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 918.04715 # Seafloor depth: -968.047150 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_wall behavior to get to end of line 23 # Segment length 193.428848 meters # Minimum depth: 952.676300 meters looking forward 0.000000 meters along route # Maximum depth: 952.676300 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.154556 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 902.676300 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773655; longitude = -121.997850; lastLatitude = 36.773685; lastLongitude = -121.995683; duration = 386; # abortOnTimeout = True; initialDepth = 896.785843; finalDepth = 902.676300; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; useWallEstimator = True; wallFeedForward = False; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 902.6763 # Seafloor depth: -952.676300 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_wall behavior to get to end of line 22 # Segment length 158.116411 meters # Minimum depth: 946.785843 meters looking forward 0.000000 meters along route # Maximum depth: 946.785843 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.154556 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 896.785843 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773685; longitude = -121.995683; lastLatitude = 36.774827; lastLongitude = -121.994623; duration = 316; # abortOnTimeout = True; initialDepth = 903.375656; finalDepth = 896.785843; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; useWallEstimator = True; wallFeedForward = False; } ####################################################### # Reset sonar parameters # Waypoint type: 7 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 896.785843 # Seafloor depth: -946.785843 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # 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 21 # Segment length 146.780519 meters # Minimum depth: 953.375656 meters looking forward 0.000000 meters along route # Maximum depth: 953.375656 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.154556 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 903.375656 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774827; longitude = -121.994623; duration = 293; # abortOnTimeout = True; initialDepth = 893.366455; finalDepth = 903.375656; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 903.375656 # Seafloor depth: -953.375656 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 637.349393 meters # Minimum depth: 943.366455 meters looking forward 0.000000 meters along route # Maximum depth: 943.366455 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.154556 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 893.366455 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.775848; longitude = -121.993577; duration = 1274; # abortOnTimeout = True; initialDepth = 893.799179; finalDepth = 893.366455; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 893.366455 # Seafloor depth: -943.366455 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 571.571799 meters # Minimum depth: 943.799179 meters looking forward 0.000000 meters along route # Maximum depth: 943.799179 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.154556 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 893.799179 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776227; longitude = -122.000703; duration = 1143; # abortOnTimeout = True; initialDepth = 939.127823; finalDepth = 893.799179; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 893.799179 # Seafloor depth: -943.799179 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_wall behavior to get to end of line 18 # Segment length 204.750899 meters # Minimum depth: 989.127823 meters looking forward 0.000000 meters along route # Maximum depth: 989.127823 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.154556 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 939.127823 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.775169; longitude = -122.006971; lastLatitude = 36.774424; lastLongitude = -122.004872; duration = 409; # abortOnTimeout = True; initialDepth = 932.200378; finalDepth = 939.127823; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; useWallEstimator = True; wallFeedForward = False; wallControlOff = True; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 939.127823 # Seafloor depth: -989.127823 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_wall behavior to get to end of line 17 # Segment length 202.372940 meters # Minimum depth: 982.200378 meters looking forward 0.000000 meters along route # Maximum depth: 982.200378 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.154556 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 932.200378 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774424; longitude = -122.004872; lastLatitude = 36.774316; lastLongitude = -122.002608; duration = 404; # abortOnTimeout = True; initialDepth = 926.212484; finalDepth = 932.200378; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; useWallEstimator = True; wallFeedForward = False; wallControlOff = True; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 932.200378 # Seafloor depth: -982.200378 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_wall behavior to get to end of line 16 # Segment length 66.537171 meters # Minimum depth: 976.212484 meters looking forward 0.000000 meters along route # Maximum depth: 976.212484 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.154556 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 926.212484 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774316; longitude = -122.002608; lastLatitude = 36.774682; lastLongitude = -122.002018; duration = 133; # abortOnTimeout = True; initialDepth = 924.873210; finalDepth = 926.212484; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; useWallEstimator = True; wallFeedForward = False; wallControlOff = True; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 926.212484 # Seafloor depth: -976.212484 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_wall behavior to get to end of line 15 # Segment length 50.371825 meters # Minimum depth: 974.873210 meters looking forward 0.000000 meters along route # Maximum depth: 974.873210 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.154556 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 924.873210 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774682; longitude = -122.002018; lastLatitude = 36.774280; lastLongitude = -122.001757; duration = 100; # abortOnTimeout = True; initialDepth = 923.525360; finalDepth = 924.873210; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; useWallEstimator = True; wallFeedForward = False; wallControlOff = True; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 924.87321 # Seafloor depth: -974.873210 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_wall behavior to get to end of line 14 # Segment length 85.534486 meters # Minimum depth: 973.525360 meters looking forward 0.000000 meters along route # Maximum depth: 973.525360 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.154556 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 923.525360 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774280; longitude = -122.001757; lastLatitude = 36.774136; lastLongitude = -122.000816; duration = 171; # abortOnTimeout = True; initialDepth = 920.521240; finalDepth = 923.525360; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; useWallEstimator = True; wallFeedForward = False; wallControlOff = True; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 923.52536 # Seafloor depth: -973.525360 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_wall behavior to get to end of line 13 # Segment length 68.106098 meters # Minimum depth: 970.521240 meters looking forward 0.000000 meters along route # Maximum depth: 970.521240 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.154556 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 920.521240 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774136; longitude = -122.000816; lastLatitude = 36.774376; lastLongitude = -122.000113; duration = 136; # abortOnTimeout = True; initialDepth = 917.970866; finalDepth = 920.521240; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; useWallEstimator = True; wallFeedForward = False; wallControlOff = True; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 920.52124 # Seafloor depth: -970.521240 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_wall behavior to get to end of line 12 # Segment length 47.695245 meters # Minimum depth: 967.970866 meters looking forward 0.000000 meters along route # Maximum depth: 967.970866 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.154556 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 917.970866 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774376; longitude = -122.000113; lastLatitude = 36.773992; lastLongitude = -121.999874; duration = 95; # abortOnTimeout = True; initialDepth = 918.060221; finalDepth = 917.970866; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; useWallEstimator = True; wallFeedForward = False; wallControlOff = True; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 917.970866 # Seafloor depth: -967.970866 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_wall behavior to get to end of line 11 # Segment length 87.868746 meters # Minimum depth: 968.060221 meters looking forward 0.000000 meters along route # Maximum depth: 968.060221 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.154556 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 918.060221 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773992; longitude = -121.999874; lastLatitude = 36.773829; lastLongitude = -121.998911; duration = 175; # abortOnTimeout = True; initialDepth = 913.587240; finalDepth = 918.060221; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; useWallEstimator = True; wallFeedForward = False; wallControlOff = True; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 918.060221 # Seafloor depth: -968.060221 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_wall behavior to get to end of line 10 # Segment length 74.216218 meters # Minimum depth: 963.587240 meters looking forward 0.000000 meters along route # Maximum depth: 963.587240 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.154556 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 913.587240 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773829; longitude = -121.998911; lastLatitude = 36.774034; lastLongitude = -121.998119; duration = 148; # abortOnTimeout = True; initialDepth = 912.327148; finalDepth = 913.587240; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; useWallEstimator = True; wallFeedForward = False; wallControlOff = True; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 913.58724 # Seafloor depth: -963.587240 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_wall behavior to get to end of line 9 # Segment length 47.909960 meters # Minimum depth: 962.327148 meters looking forward 0.000000 meters along route # Maximum depth: 962.327148 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.154556 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 912.327148 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774034; longitude = -121.998119; lastLatitude = 36.773667; lastLongitude = -121.997835; duration = 95; # abortOnTimeout = True; initialDepth = 904.717163; finalDepth = 912.327148; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; useWallEstimator = True; wallFeedForward = False; wallControlOff = True; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 912.327148 # Seafloor depth: -962.327148 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_wall behavior to get to end of line 8 # Segment length 192.071861 meters # Minimum depth: 954.717163 meters looking forward 0.000000 meters along route # Maximum depth: 954.717163 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.154556 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 904.717163 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773667; longitude = -121.997835; lastLatitude = 36.773685; lastLongitude = -121.995683; duration = 384; # abortOnTimeout = True; initialDepth = 896.785843; finalDepth = 904.717163; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; useWallEstimator = True; wallFeedForward = False; wallControlOff = True; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 904.717163 # Seafloor depth: -954.717163 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_wall behavior to get to end of line 7 # Segment length 221.189000 meters # Minimum depth: 946.785843 meters looking forward 0.000000 meters along route # Maximum depth: 946.785843 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.154556 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 896.785843 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773685; longitude = -121.995683; lastLatitude = 36.774809; lastLongitude = -121.993636; duration = 442; # abortOnTimeout = True; initialDepth = 901.245651; finalDepth = 896.785843; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; useWallEstimator = True; wallFeedForward = False; wallControlOff = True; } ####################################################### # Reset sonar parameters # Waypoint type: 7 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 896.785843 # Seafloor depth: -946.785843 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # 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 6 # Segment length 207.983120 meters # Minimum depth: 951.245651 meters looking forward 0.000000 meters along route # Maximum depth: 951.245651 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.154556 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 901.245651 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774809; longitude = -121.993636; duration = 415; # abortOnTimeout = True; initialDepth = 895.598145; finalDepth = 901.245651; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 901.245651 # Seafloor depth: -951.245651 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 544.898338 meters # Minimum depth: 945.598145 meters looking forward 0.000000 meters along route # Maximum depth: 945.598145 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.154556 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 895.598145 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774773; longitude = -121.991306; duration = 1089; # abortOnTimeout = True; initialDepth = 863.532104; finalDepth = 895.598145; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 895.598145 # Seafloor depth: -945.598145 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 241.747781 meters # Minimum depth: 913.532104 meters looking forward 0.000000 meters along route # Maximum depth: 913.532104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.154556 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 863.532104 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.772405; longitude = -121.985957; duration = 483; # abortOnTimeout = True; initialDepth = 811.286102; finalDepth = 863.532104; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 863.532104 # Seafloor depth: -913.532104 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 208.463240 meters # Minimum depth: 861.286102 meters looking forward 0.000000 meters along route # Maximum depth: 861.286102 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.154556 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 811.286102 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773565; longitude = -121.983664; duration = 416; # abortOnTimeout = True; initialDepth = 760.603729; finalDepth = 811.286102; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 811.286102 # Seafloor depth: -861.286102 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 1860.164011 meters # Minimum depth: 810.603729 meters looking forward 0.000000 meters along route # Maximum depth: 810.603729 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.154556 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 760.603729 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774989; longitude = -121.982140; duration = 3720; # abortOnTimeout = True; initialDepth = 298.363022; finalDepth = 760.603729; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 760.603729 # Seafloor depth: -810.603729 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 1039.711262 meters # Minimum depth: 348.363022 meters looking forward 0.000000 meters along route # Maximum depth: 348.363022 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.154556 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 298.363022 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789318; longitude = -121.971315; duration = 2079; # abortOnTimeout = True; initialDepth = 55.294687; finalDepth = 298.363022; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 298.363022 # Seafloor depth: -348.363022 # behavior reson { duration = 6; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 2; } # Set sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Sonar parameter altitude: 50 # Commanded vehicle depth: 55.294687 # Seafloor depth: -105.294687 # behavior reson { duration = 6; MB_Power = 218; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### # # Waypoint behavior to get to start of line 1 # Segment length 0.000000 meters # Minimum depth: 105.294687 meters looking forward 0.000000 meters along route # Maximum depth: 105.294687 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.154556 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 55.294687 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint { latitude = 36.798672; longitude = -121.972032; duration = 600; depth = 55.294687; speed = 1.500000; } # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 180.0; pitch = -35.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 40.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 180.0; 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 reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 300.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### ####################################################### ####################################################### #######################################################