# 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: 20110418MAUVTest_1v1.rte # Mission File: 20110418MAUVTest_1v1.cfg # Distance: 1471.663366 (m) # Estimated Time: 1954 (s) 0.543 (hr) # Abort Time: 2541 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 300 (s) # Way Points: 4 # Route Points: 15 # Survey behavior: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 30 # Multibeam transmit gain: 220 # Multibeam minimum range fraction: 0.5 # 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) # Desired Vehicle Altitude: 50 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 30 (m) # Delta Depth Restart: 20 (m) # Maximum Vehicle Depth: 94.747087 (m) # Abort Vehicle Depth: 119.747087 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 100 (m) # Waypoint Spacing: 100 (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 -121.834021 36.820866 -84.696004 0.000000 3 # 1 -121.834693 36.815640 -111.496745 582.962643 3 # 2 -121.838241 36.816210 -114.815033 905.687328 3 # 3 -121.836336 36.821077 -90.224223 1471.663366 4 # # A total of 15 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 2700; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 94.747087; abortDepth = 119.747087; minAltitude = 50.000000; abortAltitude = 30.000000; 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 - 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 3 # Segment length 143.240606 meters # Minimum depth: 90.224223 meters looking forward 100.000000 meters along route # Maximum depth: 94.834170 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 94.747087 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 40.224223 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.821077; longitude = -121.836336; duration = 286; # abortOnTimeout = True; initialDepth = 45.240656; finalDepth = 40.224223; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 40.224223 # Seafloor depth: -90.224223 # behavior reson { duration = 6; SBP_Duration = 200.0; 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 = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 104.810304 meters # Minimum depth: 95.240656 meters looking forward 100.000000 meters along route # Maximum depth: 98.519811 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 94.747087 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 45.240656 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.819845; longitude = -121.836818; duration = 209; initialDepth = 49.210205; finalDepth = 45.240656; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 45.240656 # Seafloor depth: -95.240656 # behavior reson { duration = 6; SBP_Duration = 200.0; 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 = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.071010 meters # Minimum depth: 99.210205 meters looking forward 100.000000 meters along route # Maximum depth: 104.251746 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 94.747087 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.210205 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.818944; longitude = -121.837171; duration = 214; initialDepth = 54.419660; finalDepth = 49.210205; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 49.210205 # Seafloor depth: -99.210205 # behavior reson { duration = 6; SBP_Duration = 200.0; 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 = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 102.549862 meters # Minimum depth: 104.419660 meters looking forward 100.000000 meters along route # Maximum depth: 108.457064 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 94.747087 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.419660 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.818023; longitude = -121.837531; duration = 205; initialDepth = 58.615467; finalDepth = 54.419660; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 54.41966 # Seafloor depth: -104.419660 # behavior reson { duration = 6; SBP_Duration = 200.0; 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 = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 108.304256 meters # Minimum depth: 108.615467 meters looking forward 100.000000 meters along route # Maximum depth: 114.619510 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 94.747087 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.615467 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.817142; longitude = -121.837877; duration = 216; initialDepth = 64.815033; finalDepth = 58.615467; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 58.615467 # Seafloor depth: -108.615467 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.0; 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 = 25.00; 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 - 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 115.501172 meters # Minimum depth: 114.815033 meters looking forward 100.000000 meters along route # Maximum depth: 123.886580 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 94.747087 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.815033 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.816210; longitude = -121.838241; duration = 231; # abortOnTimeout = True; initialDepth = 69.747087; finalDepth = 64.815033; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 64.815033 # Seafloor depth: -114.815033 # behavior reson { duration = 6; SBP_Duration = 200.0; 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 = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.913071 meters # Minimum depth: 119.747087 meters looking forward 100.000000 meters along route # Maximum depth: 127.756310 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 94.747087 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 69.747087 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.816006; longitude = -121.836971; duration = 203; initialDepth = 61.833372; finalDepth = 69.747087; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.724979 # Actual altitude: 55.724979 # Commanded vehicle depth: 69.747087 # Seafloor depth: -125.472066 # behavior reson { duration = 6; SBP_Duration = 200.0; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 222.90; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.86; MB_Bottom_Detect_Filter_Max_Range = 222.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 105.310442 meters # Minimum depth: 111.833372 meters looking forward 100.000000 meters along route # Maximum depth: 118.530141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 94.747087 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.833372 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.815826; longitude = -121.835851; duration = 210; initialDepth = 58.079755; finalDepth = 61.833372; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 56.696769 # Actual altitude: 56.696769 # Commanded vehicle depth: 61.833372 # Seafloor depth: -118.530141 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.0; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 226.79; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.35; MB_Bottom_Detect_Filter_Max_Range = 226.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.79; 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 77.058271 meters # Minimum depth: 108.079755 meters looking forward 100.000000 meters along route # Maximum depth: 112.129930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 94.747087 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.079755 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.815640; longitude = -121.834693; duration = 154; # abortOnTimeout = True; initialDepth = 54.323105; finalDepth = 58.079755; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.696769 # Actual altitude: 56.696769 # Commanded vehicle depth: 58.079755 # Seafloor depth: -111.496745 # behavior reson { duration = 6; SBP_Duration = 200.0; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 226.79; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.35; MB_Bottom_Detect_Filter_Max_Range = 226.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.510792 meters # Minimum depth: 104.323105 meters looking forward 100.000000 meters along route # Maximum depth: 107.976320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 94.747087 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.323105 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.816330; longitude = -121.834605; duration = 201; initialDepth = 49.992983; finalDepth = 54.323105; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.41699 # Actual altitude: 53.41699 # Commanded vehicle depth: 54.323105 # Seafloor depth: -107.595510 # behavior reson { duration = 6; SBP_Duration = 200.0; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 213.67; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.71; MB_Bottom_Detect_Filter_Max_Range = 213.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.510798 meters # Minimum depth: 99.992983 meters looking forward 100.000000 meters along route # Maximum depth: 103.626881 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 94.747087 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.992983 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.817232; longitude = -121.834489; duration = 201; initialDepth = 49.319396; finalDepth = 49.992983; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.633898 # Actual altitude: 53.633898 # Commanded vehicle depth: 49.992983 # Seafloor depth: -103.626881 # behavior reson { duration = 6; SBP_Duration = 200.0; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 214.54; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.82; MB_Bottom_Detect_Filter_Max_Range = 214.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.510802 meters # Minimum depth: 99.319396 meters looking forward 100.000000 meters along route # Maximum depth: 101.211593 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 94.747087 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.319396 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.818133; longitude = -121.834373; duration = 201; initialDepth = 42.950678; finalDepth = 49.319396; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.633898 # Actual altitude: 53.633898 # Commanded vehicle depth: 49.319396 # Seafloor depth: -100.081465 # behavior reson { duration = 6; SBP_Duration = 200.0; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 214.54; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.82; MB_Bottom_Detect_Filter_Max_Range = 214.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.510807 meters # Minimum depth: 92.950678 meters looking forward 100.000000 meters along route # Maximum depth: 99.522601 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 94.747087 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 42.950678 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.819034; longitude = -121.834257; duration = 201; initialDepth = 34.746358; finalDepth = 42.950678; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.571923 # Actual altitude: 56.571923 # Commanded vehicle depth: 42.950678 # Seafloor depth: -99.522601 # behavior reson { duration = 6; SBP_Duration = 200.0; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 226.29; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.29; MB_Bottom_Detect_Filter_Max_Range = 226.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.861173 meters # Minimum depth: 84.746358 meters looking forward 100.000000 meters along route # Maximum depth: 91.893235 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 94.747087 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 34.746358 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.819935; longitude = -121.834141; duration = 207; initialDepth = 34.696004; finalDepth = 34.746358; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 57.146877 # Actual altitude: 57.146877 # Commanded vehicle depth: 34.746358 # Seafloor depth: -91.893235 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.0; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 228.59; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.57; MB_Bottom_Detect_Filter_Max_Range = 228.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.59; 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: 57.146877 # Sonar parameter altitude: 57.146877 # Commanded vehicle depth: 34.696004 # Seafloor depth: -84.696004 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 200.0; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; HiSS_Mode = 1; HiSS_Power = 100.0; HiSS_Range = 200; MB_Power = 220; MB_Range = 228.59; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.57; MB_Bottom_Detect_Filter_Max_Range = 228.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.59; 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: 84.696004 meters looking forward 100.000000 meters along route # Maximum depth: 90.845993 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 94.747087 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 34.696004 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.820866; longitude = -121.834021; duration = 1000; initialDepth = 34.696004; finalDepth = 34.696004; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 65.0; 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 = 185.204687; 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 = 200.0; 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 = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.00; 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; } # ####################################################### ####################################################### ####################################################### #######################################################