# 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 2258 2015-10-06 04:57:28Z caress r # # Mission Summary: # Route File: NewMAUVTest_m4v1.rte # Mission File: NewMAUVTest_m4v1.cfg # Distance: 7963.170470 (m) # Estimated Time: 6265 (s) 1.740 (hr) # Abort Time: 8144 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 300 (s) # Way Points: 17 # Route Points: 17 # Survey Behaviors: # Behavior for waypoint mode 0: WaypointDepth # Behavior for waypoint mode 1: WaypointDepth # Behavior for waypoint mode 2: WaypointDepth # Behavior for waypoint mode 3: WaypointDepth # Behavior for waypoint mode 4: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 25 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 enabled # Low sidescan enabled # High sidescan enabled # 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: 55.762299 (m) # Abort Vehicle Depth: 75.762299 (m) # Descent Vehicle Depth: 3 (m) # Waypoint Spacing: 500 (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 -121.874649 36.819995 -73.257919 0.000000 3 # 1 -121.874612 36.815429 -74.710805 506.663451 3 # 2 -121.880138 36.815489 -75.752665 999.587140 3 # 3 -121.880100 36.819935 -74.064326 1492.917330 3 # 4 -121.874649 36.819995 -73.257919 1979.152605 3 # 5 -121.874612 36.815429 -74.710805 2485.816057 3 # 6 -121.880138 36.815489 -75.752665 2978.739745 3 # 7 -121.880138 36.819905 -74.066971 3468.725456 3 # 8 -121.874612 36.819935 -73.271118 3961.586721 3 # 9 -121.874612 36.815429 -74.710805 4461.572747 3 # 10 -121.880212 36.815429 -75.762299 4961.112067 3 # 11 -121.880212 36.819935 -74.066432 5461.097477 3 # 12 -121.874612 36.820026 -73.243439 5960.707293 3 # 13 -121.874612 36.815429 -74.710805 6470.693043 3 # 14 -121.880138 36.815399 -75.755157 6963.583210 3 # 15 -121.880212 36.819935 -74.066432 7466.945924 3 # 16 -121.874649 36.819995 -73.257919 7963.170470 4 # # A total of 17 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 8144; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 55.762299; abortDepth = 75.762299; 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 = 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 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 16 # Segment length 496.224546 meters # Minimum depth: 73.257919 meters looking forward 0.000000 meters along route # Maximum depth: 73.257919 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 55.762299 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 23.257919 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.819995; longitude = -121.874649; duration = 992; # abortOnTimeout = True; initialDepth = 24.066432; finalDepth = 23.257919; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 23.257919 # Seafloor depth: -73.257919 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; 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 15 # Segment length 503.362714 meters # Minimum depth: 74.066432 meters looking forward 0.000000 meters along route # Maximum depth: 74.066432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 55.762299 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 24.066432 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.819935; longitude = -121.880212; duration = 1006; # abortOnTimeout = True; initialDepth = 25.755157; finalDepth = 24.066432; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 24.066432 # Seafloor depth: -74.066432 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; 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 14 # Segment length 492.890167 meters # Minimum depth: 75.755157 meters looking forward 0.000000 meters along route # Maximum depth: 75.755157 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 55.762299 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 25.755157 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.815399; longitude = -121.880138; duration = 985; # abortOnTimeout = True; initialDepth = 24.710805; finalDepth = 25.755157; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 25.755157 # Seafloor depth: -75.755157 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 35; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; 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 13 # Segment length 509.985750 meters # Minimum depth: 74.710805 meters looking forward 0.000000 meters along route # Maximum depth: 74.710805 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 55.762299 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 24.710805 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.815429; longitude = -121.874612; duration = 1019; # abortOnTimeout = True; initialDepth = 23.243439; finalDepth = 24.710805; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 24.710805 # Seafloor depth: -74.710805 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; 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 12 # Segment length 499.609816 meters # Minimum depth: 73.243439 meters looking forward 0.000000 meters along route # Maximum depth: 73.243439 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 55.762299 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 23.243439 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.820026; longitude = -121.874612; duration = 999; # abortOnTimeout = True; initialDepth = 24.066432; finalDepth = 23.243439; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 23.243439 # Seafloor depth: -73.243439 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; 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 11 # Segment length 499.985410 meters # Minimum depth: 74.066432 meters looking forward 0.000000 meters along route # Maximum depth: 74.066432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 55.762299 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 24.066432 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.819935; longitude = -121.880212; duration = 999; # abortOnTimeout = True; initialDepth = 25.762299; finalDepth = 24.066432; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 24.066432 # Seafloor depth: -74.066432 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; 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 10 # Segment length 499.539320 meters # Minimum depth: 75.762299 meters looking forward 0.000000 meters along route # Maximum depth: 75.762299 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 55.762299 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 25.762299 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.815429; longitude = -121.880212; duration = 999; # abortOnTimeout = True; initialDepth = 24.710805; finalDepth = 25.762299; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 25.762299 # Seafloor depth: -75.762299 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 15; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; 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 9 # Segment length 499.986026 meters # Minimum depth: 74.710805 meters looking forward 0.000000 meters along route # Maximum depth: 74.710805 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 55.762299 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 24.710805 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.815429; longitude = -121.874612; duration = 999; # abortOnTimeout = True; initialDepth = 23.271118; finalDepth = 24.710805; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 24.710805 # Seafloor depth: -74.710805 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 10; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; 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 8 # Segment length 492.861265 meters # Minimum depth: 73.271118 meters looking forward 0.000000 meters along route # Maximum depth: 73.271118 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 55.762299 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 23.271118 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.819935; longitude = -121.874612; duration = 985; # abortOnTimeout = True; initialDepth = 24.066971; finalDepth = 23.271118; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 23.271118 # Seafloor depth: -73.271118 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 45; 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 7 # Segment length 489.985711 meters # Minimum depth: 74.066971 meters looking forward 0.000000 meters along route # Maximum depth: 74.066971 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 55.762299 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 24.066971 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.819905; longitude = -121.880138; duration = 979; # abortOnTimeout = True; initialDepth = 25.752665; finalDepth = 24.066971; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 24.066971 # Seafloor depth: -74.066971 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 40; 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 492.923688 meters # Minimum depth: 75.752665 meters looking forward 0.000000 meters along route # Maximum depth: 75.752665 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 55.762299 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 25.752665 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.815489; longitude = -121.880138; duration = 985; # abortOnTimeout = True; initialDepth = 24.710805; finalDepth = 25.752665; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 25.752665 # Seafloor depth: -75.752665 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 35; 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 5 # Segment length 506.663452 meters # Minimum depth: 74.710805 meters looking forward 0.000000 meters along route # Maximum depth: 74.710805 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 55.762299 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 24.710805 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.815429; longitude = -121.874612; duration = 1013; # abortOnTimeout = True; initialDepth = 23.257919; finalDepth = 24.710805; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 24.710805 # Seafloor depth: -74.710805 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 30; 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 4 # Segment length 486.235275 meters # Minimum depth: 73.257919 meters looking forward 0.000000 meters along route # Maximum depth: 73.257919 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 55.762299 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 23.257919 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.819995; longitude = -121.874649; duration = 972; # abortOnTimeout = True; initialDepth = 24.064326; finalDepth = 23.257919; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 23.257919 # Seafloor depth: -73.257919 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 3 # Segment length 493.330190 meters # Minimum depth: 74.064326 meters looking forward 0.000000 meters along route # Maximum depth: 74.064326 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 55.762299 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 24.064326 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.819935; longitude = -121.880100; duration = 986; # abortOnTimeout = True; initialDepth = 25.752665; finalDepth = 24.064326; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 24.064326 # Seafloor depth: -74.064326 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 2 # Segment length 492.923689 meters # Minimum depth: 75.752665 meters looking forward 0.000000 meters along route # Maximum depth: 75.752665 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 55.762299 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 25.752665 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.815489; longitude = -121.880138; duration = 985; # abortOnTimeout = True; initialDepth = 24.710805; finalDepth = 25.752665; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 25.752665 # Seafloor depth: -75.752665 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; 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 1 # Segment length 506.663451 meters # Minimum depth: 74.710805 meters looking forward 0.000000 meters along route # Maximum depth: 74.710805 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 55.762299 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 24.710805 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.815429; longitude = -121.874612; duration = 1013; # abortOnTimeout = True; initialDepth = 23.257919; finalDepth = 24.710805; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 24.710805 # Seafloor depth: -74.710805 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 15; 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: 23.257919 # Seafloor depth: -73.257919 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 300.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; HiSS_Mode = 1; HiSS_Power = 100.0; HiSS_Range = 200; MB_Power = 218; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 10; 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: 73.257919 meters looking forward 0.000000 meters along route # Maximum depth: 73.257919 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 55.762299 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 23.257919 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint { latitude = 36.819995; longitude = -121.874649; duration = 1000; depth = 23.257919; speed = 1.500000; } ####################################################### # Acoustic update 6 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 45.0; 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 = 45.0; 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 = 25; 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; } # ####################################################### ####################################################### ####################################################### #######################################################