# 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: 20101215m1_1v1.rte # Mission File: 20101215m1_1v1.cfg # Distance: 2416.218691 (m) # Estimated Time: 2920 (s) 0.811 (hr) # Abort Time: 3796 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 300 (s) # Way Points: 3 # Route Points: 48 # Survey behavior: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 50 # Multibeam transmit gain: 220 # Multibeam minimum range fraction: 0.4 # Subbottom enabled # Low sidescan enabled # High sidescan enabled # Benthic imaging camera control disabled: # # Mission Parameters: # Vehicle Survey Speed: 1.300000 (m/s) 2.527000 (knots) # Vehicle Ascent Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Transit Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 50 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 25 (m) # Delta Depth Restart: 25 (m) # Maximum Vehicle Depth: 153.148925 (m) # Abort Vehicle Depth: 178.148925 (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 -121.835763 36.820341 -100.205395 0.000000 3 # 1 -121.838674 36.809704 -151.856724 1208.347455 3 # 2 -121.852039 36.807961 -180.830669 2416.218691 4 # # A total of 48 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 3796; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 153.148925; abortDepth = 178.148925; 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 = 600; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # # Acoustic update - 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 2 # Segment length 39.563802 meters # Minimum depth: 178.148925 meters looking forward 50.000000 meters along route # Maximum depth: 180.970789 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 128.148925 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.807961; longitude = -121.852039; duration = 91; # abortOnTimeout = True; initialDepth = 126.159140; finalDepth = 128.148925; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.681744 # Actual altitude: 52.681744 # Commanded vehicle depth: 128.148925 # Seafloor depth: -180.830669 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 210.73; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.07; MB_Bottom_Detect_Filter_Max_Range = 210.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 50.627638 meters # Minimum depth: 176.159140 meters looking forward 50.000000 meters along route # Maximum depth: 178.575322 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 126.159140 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.808018; longitude = -121.851601; duration = 116; initialDepth = 122.948485; finalDepth = 126.159140; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.681744 # Actual altitude: 52.681744 # Commanded vehicle depth: 126.15914 # Seafloor depth: -178.575322 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 210.73; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.07; MB_Bottom_Detect_Filter_Max_Range = 210.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 50.627597 meters # Minimum depth: 172.948485 meters looking forward 50.000000 meters along route # Maximum depth: 176.248638 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 122.948485 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.808091; longitude = -121.851041; duration = 116; initialDepth = 118.238842; finalDepth = 122.948485; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.300153 # Actual altitude: 53.300153 # Commanded vehicle depth: 122.948485 # Seafloor depth: -176.248638 # behavior reson { duration = 6; SBP_Duration = 200.000; SBP_Power = 0.0; LoSS_Power = 0.0; HiSS_Power = 0.0; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 213.20; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.32; MB_Bottom_Detect_Filter_Max_Range = 213.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 50.627557 meters # Minimum depth: 168.238842 meters looking forward 50.000000 meters along route # Maximum depth: 172.466906 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 118.238842 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.808164; longitude = -121.850481; duration = 116; initialDepth = 116.013448; finalDepth = 118.238842; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.221197 # Actual altitude: 54.221197 # Commanded vehicle depth: 118.238842 # Seafloor depth: -172.460039 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 216.88; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.69; MB_Bottom_Detect_Filter_Max_Range = 216.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 50.627516 meters # Minimum depth: 166.013448 meters looking forward 50.000000 meters along route # Maximum depth: 168.811863 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 116.013448 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.808237; longitude = -121.849921; duration = 116; initialDepth = 113.452684; finalDepth = 116.013448; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.221197 # Actual altitude: 54.221197 # Commanded vehicle depth: 116.013448 # Seafloor depth: -168.811863 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 216.88; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.69; MB_Bottom_Detect_Filter_Max_Range = 216.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 50.627476 meters # Minimum depth: 163.452684 meters looking forward 50.000000 meters along route # Maximum depth: 165.250906 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 113.452684 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.808310; longitude = -121.849360; duration = 116; initialDepth = 112.562810; finalDepth = 113.452684; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.798415 # Actual altitude: 52.798415 # Commanded vehicle depth: 113.452684 # Seafloor depth: -164.640417 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 211.19; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.12; MB_Bottom_Detect_Filter_Max_Range = 211.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 50.627436 meters # Minimum depth: 162.562810 meters looking forward 50.000000 meters along route # Maximum depth: 164.179340 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 112.562810 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.808383; longitude = -121.848800; duration = 116; initialDepth = 110.812464; finalDepth = 112.562810; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.481165 # Actual altitude: 51.481165 # Commanded vehicle depth: 112.56281 # Seafloor depth: -164.043975 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 205.92; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 50.627395 meters # Minimum depth: 160.812464 meters looking forward 50.000000 meters along route # Maximum depth: 162.769984 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 110.812464 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.808456; longitude = -121.848240; duration = 116; initialDepth = 109.280222; finalDepth = 110.812464; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.481165 # Actual altitude: 51.481165 # Commanded vehicle depth: 110.812464 # Seafloor depth: -162.099081 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 205.92; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 50.627355 meters # Minimum depth: 159.280222 meters looking forward 50.000000 meters along route # Maximum depth: 161.441063 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 109.280222 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.808529; longitude = -121.847680; duration = 116; initialDepth = 106.146785; finalDepth = 109.280222; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.160841 # Actual altitude: 52.160841 # Commanded vehicle depth: 109.280222 # Seafloor depth: -161.441063 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 208.64; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.86; MB_Bottom_Detect_Filter_Max_Range = 208.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 50.627314 meters # Minimum depth: 156.146785 meters looking forward 50.000000 meters along route # Maximum depth: 159.312203 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 106.146785 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.808603; longitude = -121.847120; duration = 116; initialDepth = 104.377664; finalDepth = 106.146785; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.508403 # Actual altitude: 52.508403 # Commanded vehicle depth: 106.146785 # Seafloor depth: -158.655188 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 210.03; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.00; MB_Bottom_Detect_Filter_Max_Range = 210.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 50.627274 meters # Minimum depth: 154.377664 meters looking forward 50.000000 meters along route # Maximum depth: 156.760807 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 104.377664 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.808676; longitude = -121.846560; duration = 116; initialDepth = 103.832258; finalDepth = 104.377664; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.508403 # Actual altitude: 52.508403 # Commanded vehicle depth: 104.377664 # Seafloor depth: -156.760807 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 210.03; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.00; MB_Bottom_Detect_Filter_Max_Range = 210.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 50.627233 meters # Minimum depth: 153.832258 meters looking forward 50.000000 meters along route # Maximum depth: 154.939218 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 103.832258 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.808749; longitude = -121.845999; duration = 116; initialDepth = 103.677418; finalDepth = 103.832258; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.383143 # Actual altitude: 52.383143 # Commanded vehicle depth: 103.832258 # Seafloor depth: -154.939218 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 209.53; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.95; MB_Bottom_Detect_Filter_Max_Range = 209.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 50.627193 meters # Minimum depth: 153.677418 meters looking forward 50.000000 meters along route # Maximum depth: 154.617152 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 103.677418 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.808822; longitude = -121.845439; duration = 116; initialDepth = 103.200860; finalDepth = 103.677418; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.10696 # Actual altitude: 51.10696 # Commanded vehicle depth: 103.677418 # Seafloor depth: -154.012222 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 204.43; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.44; MB_Bottom_Detect_Filter_Max_Range = 204.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 50.627152 meters # Minimum depth: 153.200860 meters looking forward 50.000000 meters along route # Maximum depth: 155.016922 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 103.200860 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.808895; longitude = -121.844879; duration = 116; initialDepth = 102.194603; finalDepth = 103.200860; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.593568 # Actual altitude: 50.593568 # Commanded vehicle depth: 103.20086 # Seafloor depth: -153.794428 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 202.37; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 202.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 50.627112 meters # Minimum depth: 152.194603 meters looking forward 50.000000 meters along route # Maximum depth: 153.641261 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 102.194603 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.808968; longitude = -121.844319; duration = 116; initialDepth = 102.567095; finalDepth = 102.194603; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.286845 # Actual altitude: 51.286845 # Commanded vehicle depth: 102.194603 # Seafloor depth: -153.481448 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 205.15; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 205.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 50.627072 meters # Minimum depth: 152.567095 meters looking forward 50.000000 meters along route # Maximum depth: 154.287759 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 102.567095 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.809041; longitude = -121.843759; duration = 116; initialDepth = 100.549931; finalDepth = 102.567095; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.286845 # Actual altitude: 51.286845 # Commanded vehicle depth: 102.567095 # Seafloor depth: -152.818817 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 205.15; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 205.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 50.627031 meters # Minimum depth: 150.549931 meters looking forward 50.000000 meters along route # Maximum depth: 152.398362 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 100.549931 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.809114; longitude = -121.843198; duration = 116; initialDepth = 99.792094; finalDepth = 100.549931; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.848431 # Actual altitude: 51.848431 # Commanded vehicle depth: 100.549931 # Seafloor depth: -152.398362 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 207.39; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 50.626990 meters # Minimum depth: 149.792094 meters looking forward 50.000000 meters along route # Maximum depth: 150.723564 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 99.792094 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.809187; longitude = -121.842638; duration = 116; initialDepth = 100.622893; finalDepth = 99.792094; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.848431 # Actual altitude: 51.848431 # Commanded vehicle depth: 99.792094 # Seafloor depth: -150.703443 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 207.39; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 50.626951 meters # Minimum depth: 150.622893 meters looking forward 50.000000 meters along route # Maximum depth: 151.439564 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 100.622893 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.809260; longitude = -121.842078; duration = 116; initialDepth = 100.335199; finalDepth = 100.622893; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.911349 # Actual altitude: 50.911349 # Commanded vehicle depth: 100.622893 # Seafloor depth: -150.656400 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 203.65; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 50.626909 meters # Minimum depth: 150.335199 meters looking forward 50.000000 meters along route # Maximum depth: 151.566063 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 100.335199 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.809333; longitude = -121.841518; duration = 116; initialDepth = 100.100736; finalDepth = 100.335199; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.831034 # Actual altitude: 50.831034 # Commanded vehicle depth: 100.335199 # Seafloor depth: -151.166233 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 203.32; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.33; MB_Bottom_Detect_Filter_Max_Range = 203.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 50.626870 meters # Minimum depth: 150.100736 meters looking forward 50.000000 meters along route # Maximum depth: 150.841125 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 100.100736 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.809406; longitude = -121.840958; duration = 116; initialDepth = 99.569765; finalDepth = 100.100736; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.831034 # Actual altitude: 50.831034 # Commanded vehicle depth: 100.100736 # Seafloor depth: -150.332079 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 203.32; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.33; MB_Bottom_Detect_Filter_Max_Range = 203.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 50.626829 meters # Minimum depth: 149.569765 meters looking forward 50.000000 meters along route # Maximum depth: 150.596947 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 99.569765 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.809479; longitude = -121.840398; duration = 116; initialDepth = 99.805435; finalDepth = 99.569765; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.808071 # Actual altitude: 50.808071 # Commanded vehicle depth: 99.569765 # Seafloor depth: -150.377836 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 203.23; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 54.351354 meters # Minimum depth: 149.805435 meters looking forward 50.000000 meters along route # Maximum depth: 151.970961 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 99.805435 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.809552; longitude = -121.839837; duration = 125; initialDepth = 101.002854; finalDepth = 99.805435; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.808071 # Actual altitude: 50.808071 # Commanded vehicle depth: 99.805435 # Seafloor depth: -149.805435 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 203.23; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 50.784180 meters # Minimum depth: 151.002854 meters looking forward 50.000000 meters along route # Maximum depth: 153.026964 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 101.002854 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.809631; longitude = -121.839236; duration = 117; initialDepth = 99.542853; finalDepth = 101.002854; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.259335 # Actual altitude: 50.259335 # Commanded vehicle depth: 101.002854 # Seafloor depth: -151.262189 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 201.04; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.10; MB_Bottom_Detect_Filter_Max_Range = 201.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - 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 78.696535 meters # Minimum depth: 149.542853 meters looking forward 50.000000 meters along route # Maximum depth: 151.856724 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 99.542853 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.809704; longitude = -121.838674; duration = 181; # abortOnTimeout = True; initialDepth = 96.853924; finalDepth = 99.542853; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.313871 # Actual altitude: 52.313871 # Commanded vehicle depth: 99.542853 # Seafloor depth: -151.856724 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 209.26; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.93; MB_Bottom_Detect_Filter_Max_Range = 209.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.189109 meters # Minimum depth: 146.853924 meters looking forward 50.000000 meters along route # Maximum depth: 148.843949 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 96.853924 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.810397; longitude = -121.838484; duration = 118; initialDepth = 94.154140; finalDepth = 96.853924; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.313871 # Actual altitude: 52.313871 # Commanded vehicle depth: 96.853924 # Seafloor depth: -148.843949 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 209.26; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.93; MB_Bottom_Detect_Filter_Max_Range = 209.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.189100 meters # Minimum depth: 144.154140 meters looking forward 50.000000 meters along route # Maximum depth: 147.097221 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 94.154140 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.810847; longitude = -121.838361; duration = 118; initialDepth = 93.293371; finalDepth = 94.154140; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.943081 # Actual altitude: 52.943081 # Commanded vehicle depth: 94.15414 # Seafloor depth: -147.097221 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 211.77; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.18; MB_Bottom_Detect_Filter_Max_Range = 211.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.189092 meters # Minimum depth: 143.293371 meters looking forward 50.000000 meters along route # Maximum depth: 144.044555 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 93.293371 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.811298; longitude = -121.838238; duration = 118; initialDepth = 90.849340; finalDepth = 93.293371; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.943081 # Actual altitude: 52.943081 # Commanded vehicle depth: 93.293371 # Seafloor depth: -143.615596 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 211.77; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.18; MB_Bottom_Detect_Filter_Max_Range = 211.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.197397 meters # Minimum depth: 140.849340 meters looking forward 50.000000 meters along route # Maximum depth: 143.068997 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 90.849340 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.811749; longitude = -121.838114; duration = 120; initialDepth = 88.649940; finalDepth = 90.849340; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.207897 # Actual altitude: 52.207897 # Commanded vehicle depth: 90.84934 # Seafloor depth: -143.057237 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 208.83; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.180760 meters # Minimum depth: 138.649940 meters looking forward 50.000000 meters along route # Maximum depth: 141.008390 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 88.649940 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.812208; longitude = -121.837989; duration = 115; initialDepth = 85.962581; finalDepth = 88.649940; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.207897 # Actual altitude: 52.207897 # Commanded vehicle depth: 88.64994 # Seafloor depth: -140.764912 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 208.83; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.189065 meters # Minimum depth: 135.962581 meters looking forward 50.000000 meters along route # Maximum depth: 138.601268 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 85.962581 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.812650; longitude = -121.837868; duration = 118; initialDepth = 84.910506; finalDepth = 85.962581; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.638687 # Actual altitude: 52.638687 # Commanded vehicle depth: 85.962581 # Seafloor depth: -138.601268 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 210.55; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.06; MB_Bottom_Detect_Filter_Max_Range = 210.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.189056 meters # Minimum depth: 134.910506 meters looking forward 50.000000 meters along route # Maximum depth: 136.812790 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 84.910506 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.813100; longitude = -121.837745; duration = 118; initialDepth = 82.791669; finalDepth = 84.910506; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.638687 # Actual altitude: 52.638687 # Commanded vehicle depth: 84.910506 # Seafloor depth: -136.406571 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 210.55; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.06; MB_Bottom_Detect_Filter_Max_Range = 210.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.189048 meters # Minimum depth: 132.791669 meters looking forward 50.000000 meters along route # Maximum depth: 135.376752 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.791669 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.813551; longitude = -121.837621; duration = 118; initialDepth = 80.789858; finalDepth = 82.791669; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.769522 # Actual altitude: 51.769522 # Commanded vehicle depth: 82.791669 # Seafloor depth: -134.561191 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 207.08; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.71; MB_Bottom_Detect_Filter_Max_Range = 207.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.036961 meters # Minimum depth: 130.789858 meters looking forward 50.000000 meters along route # Maximum depth: 132.497696 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 80.789858 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.814002; longitude = -121.837498; duration = 120; initialDepth = 78.226521; finalDepth = 80.789858; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.769522 # Actual altitude: 51.769522 # Commanded vehicle depth: 80.789858 # Seafloor depth: -132.422222 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 207.08; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.71; MB_Bottom_Detect_Filter_Max_Range = 207.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.341107 meters # Minimum depth: 128.226521 meters looking forward 50.000000 meters along route # Maximum depth: 131.455461 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 78.226521 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.814460; longitude = -121.837373; duration = 116; initialDepth = 77.429936; finalDepth = 78.226521; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.815537 # Actual altitude: 52.815537 # Commanded vehicle depth: 78.226521 # Seafloor depth: -131.042058 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 211.26; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.13; MB_Bottom_Detect_Filter_Max_Range = 211.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.189022 meters # Minimum depth: 127.429936 meters looking forward 50.000000 meters along route # Maximum depth: 128.138022 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.429936 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.814903; longitude = -121.837251; duration = 118; initialDepth = 77.528465; finalDepth = 77.429936; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.815537 # Actual altitude: 52.815537 # Commanded vehicle depth: 77.429936 # Seafloor depth: -128.138022 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 211.26; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.13; MB_Bottom_Detect_Filter_Max_Range = 211.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.189012 meters # Minimum depth: 127.528465 meters looking forward 50.000000 meters along route # Maximum depth: 128.815593 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.528465 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.815354; longitude = -121.837128; duration = 118; initialDepth = 74.641314; finalDepth = 77.528465; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.708086 # Actual altitude: 50.708086 # Commanded vehicle depth: 77.528465 # Seafloor depth: -127.815447 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 202.83; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 202.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.189004 meters # Minimum depth: 124.641314 meters looking forward 50.000000 meters along route # Maximum depth: 128.185897 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.641314 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.815804; longitude = -121.837005; duration = 118; initialDepth = 69.426202; finalDepth = 74.641314; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.544583 # Actual altitude: 53.544583 # Commanded vehicle depth: 74.641314 # Seafloor depth: -128.185897 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 214.18; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.42; MB_Bottom_Detect_Filter_Max_Range = 214.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.876525 meters # Minimum depth: 119.426202 meters looking forward 50.000000 meters along route # Maximum depth: 125.620617 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 69.426202 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.816255; longitude = -121.836881; duration = 119; initialDepth = 66.138027; finalDepth = 69.426202; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.185067 # Actual altitude: 55.185067 # Commanded vehicle depth: 69.426202 # Seafloor depth: -124.611269 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 220.74; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 220.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.501455 meters # Minimum depth: 116.138027 meters looking forward 50.000000 meters along route # Maximum depth: 119.344268 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.138027 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.816711; longitude = -121.836756; duration = 116; initialDepth = 62.598448; finalDepth = 66.138027; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.185067 # Actual altitude: 55.185067 # Commanded vehicle depth: 66.138027 # Seafloor depth: -119.344268 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 220.74; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 220.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.188978 meters # Minimum depth: 112.598448 meters looking forward 50.000000 meters along route # Maximum depth: 116.610479 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.598448 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.817156; longitude = -121.836635; duration = 118; initialDepth = 59.687688; finalDepth = 62.598448; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.012031 # Actual altitude: 54.012031 # Commanded vehicle depth: 62.598448 # Seafloor depth: -116.610479 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 216.05; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.60; MB_Bottom_Detect_Filter_Max_Range = 216.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.188968 meters # Minimum depth: 109.687688 meters looking forward 50.000000 meters along route # Maximum depth: 112.522364 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.687688 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.817607; longitude = -121.836511; duration = 118; initialDepth = 56.634089; finalDepth = 59.687688; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.012031 # Actual altitude: 54.012031 # Commanded vehicle depth: 59.687688 # Seafloor depth: -112.522364 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 216.05; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.60; MB_Bottom_Detect_Filter_Max_Range = 216.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.188960 meters # Minimum depth: 106.634089 meters looking forward 50.000000 meters along route # Maximum depth: 109.504746 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.634089 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.818057; longitude = -121.836388; duration = 118; initialDepth = 55.679149; finalDepth = 56.634089; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.870657 # Actual altitude: 52.870657 # Commanded vehicle depth: 56.634089 # Seafloor depth: -109.504746 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 211.48; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.15; MB_Bottom_Detect_Filter_Max_Range = 211.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.716090 meters # Minimum depth: 105.679149 meters looking forward 50.000000 meters along route # Maximum depth: 107.366325 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.679149 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.818508; longitude = -121.836265; duration = 119; initialDepth = 53.969271; finalDepth = 55.679149; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.870657 # Actual altitude: 52.870657 # Commanded vehicle depth: 55.679149 # Seafloor depth: -107.366325 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 211.48; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.15; MB_Bottom_Detect_Filter_Max_Range = 211.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.661803 meters # Minimum depth: 103.969271 meters looking forward 50.000000 meters along route # Maximum depth: 106.010147 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.969271 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.818963; longitude = -121.836140; duration = 116; initialDepth = 53.098660; finalDepth = 53.969271; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.040876 # Actual altitude: 52.040876 # Commanded vehicle depth: 53.969271 # Seafloor depth: -106.010147 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 208.16; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 208.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.188933 meters # Minimum depth: 103.098660 meters looking forward 50.000000 meters along route # Maximum depth: 103.882831 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.098660 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.819409; longitude = -121.836018; duration = 118; initialDepth = 50.328904; finalDepth = 53.098660; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.040876 # Actual altitude: 52.040876 # Commanded vehicle depth: 53.09866 # Seafloor depth: -103.801255 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 208.16; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 208.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.681475 meters # Minimum depth: 100.328904 meters looking forward 50.000000 meters along route # Maximum depth: 103.796122 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 50.328904 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.819860; longitude = -121.835895; duration = 126; initialDepth = 50.205395; finalDepth = 50.328904; speed = 1.300000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.282225 # Actual altitude: 53.282225 # Commanded vehicle depth: 50.328904 # Seafloor depth: -103.611129 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 168.75; HiSS_Range = 168.75; MB_Range = 213.13; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.31; MB_Bottom_Detect_Filter_Max_Range = 213.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - 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 = 1; } # Set sonar parameters # Waypoint type: 3 # Commanded altitude: 53.282225 # Sonar parameter altitude: 53.282225 # Commanded vehicle depth: 50.205395 # Seafloor depth: -100.205395 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 200.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 168.75; HiSS_Mode = 1; HiSS_Power = 100.0; HiSS_Range = 168.75; MB_Power = 220; MB_Range = 213.13; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.31; MB_Bottom_Detect_Filter_Max_Range = 213.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 0.000000 meters # Minimum depth: 100.205395 meters looking forward 50.000000 meters along route # Maximum depth: 103.796122 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 153.148925 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 50.205395 meters set by local depth and desired altitude # Vehicle survey speed: 1.300000 m/s behavior waypoint_depth { latitude = 36.820341; longitude = -121.835763; duration = 600; initialDepth = 50.205395; finalDepth = 50.205395; speed = 1.300000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 191.712624; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 191.712624; 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 = 200.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 168.75; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 168.75; MB_Power = 0; MB_Range = 200.00; MB_Rate = 4; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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; } # ####################################################### ####################################################### ####################################################### #######################################################