# 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: 20110509Test1_1v2.rte # Mission File: 20110509Test1_1v2.cfg # Distance: 4861.142648 (m) # Estimated Time: 4224 (s) 1.173 (hr) # Abort Time: 5491 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 300 (s) # Way Points: 25 # Route Points: 49 # 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: 95.030885 (m) # Abort Vehicle Depth: 120.030885 (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 -121.833237 36.815730 -99.908476 0.000000 3 # 1 -121.833312 36.813957 -104.830112 196.818500 3 # 2 -121.835590 36.814018 -121.308043 400.138374 3 # 3 -121.835590 36.815820 -116.707142 600.060424 3 # 4 -121.833237 36.815730 -99.908476 810.190441 3 # 5 -121.833312 36.813957 -104.830112 1007.008941 3 # 6 -121.835590 36.814018 -121.308043 1210.328816 3 # 7 -121.835590 36.815820 -116.707142 1410.250865 3 # 8 -121.833237 36.815730 -99.908476 1620.380883 3 # 9 -121.833312 36.813957 -104.830112 1817.199382 3 # 10 -121.835590 36.814018 -121.308043 2020.519257 3 # 11 -121.835590 36.815820 -116.707142 2220.441307 3 # 12 -121.833237 36.815730 -99.908476 2430.571324 3 # 13 -121.833312 36.813957 -104.830112 2627.389824 3 # 14 -121.835590 36.814018 -121.308043 2830.709699 3 # 15 -121.835590 36.815820 -116.707142 3030.631748 3 # 16 -121.833237 36.815730 -99.908476 3240.761765 3 # 17 -121.833312 36.813957 -104.830112 3437.580265 3 # 18 -121.835590 36.814018 -121.308043 3640.900140 3 # 19 -121.835590 36.815820 -116.707142 3840.822189 3 # 20 -121.833237 36.815730 -99.908476 4050.952207 3 # 21 -121.833312 36.813957 -104.830112 4247.770707 3 # 22 -121.835590 36.814018 -121.308043 4451.090581 3 # 23 -121.835590 36.815820 -116.707142 4651.012631 3 # 24 -121.833237 36.815730 -99.908476 4861.142648 3 # # A total of 49 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 5491; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 95.030885; abortDepth = 120.030885; 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 24 # Segment length 103.377864 meters # Minimum depth: 99.908476 meters looking forward 100.000000 meters along route # Maximum depth: 106.925891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.908476 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.815730; longitude = -121.833237; duration = 206; # abortOnTimeout = True; initialDepth = 57.901343; finalDepth = 49.908476; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 49.908476 # Seafloor depth: -99.908476 # behavior reson { duration = 6; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000045; 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 24 # Segment length 106.752153 meters # Minimum depth: 107.901343 meters looking forward 100.000000 meters along route # Maximum depth: 116.506866 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.901343 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.815774; longitude = -121.834395; duration = 213; initialDepth = 66.678482; finalDepth = 57.901343; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 57.901343 # Seafloor depth: -107.901343 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000045; 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 23 # Segment length 93.329791 meters # Minimum depth: 116.678482 meters looking forward 100.000000 meters along route # Maximum depth: 119.981602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.678482 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.815820; longitude = -121.835590; duration = 186; # abortOnTimeout = True; initialDepth = 70.030885; finalDepth = 66.678482; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.02866 # Actual altitude: 50.02866 # Commanded vehicle depth: 66.678482 # Seafloor depth: -116.707142 # behavior reson { duration = 6; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000045; MB_Bottom_Detect_Filter_Min_Range = 25.01; MB_Bottom_Detect_Filter_Max_Range = 200.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 106.592259 meters # Minimum depth: 120.030885 meters looking forward 100.000000 meters along route # Maximum depth: 122.240167 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 70.030885 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.814979; longitude = -121.835590; duration = 213; initialDepth = 63.298345; finalDepth = 70.030885; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.02866 # Actual altitude: 50.02866 # Commanded vehicle depth: 70.030885 # Seafloor depth: -120.030885 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000045; MB_Bottom_Detect_Filter_Min_Range = 25.01; MB_Bottom_Detect_Filter_Max_Range = 200.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.11; 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 22 # Segment length 101.641713 meters # Minimum depth: 113.298345 meters looking forward 100.000000 meters along route # Maximum depth: 121.308043 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.298345 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.814018; longitude = -121.835590; duration = 203; # abortOnTimeout = True; initialDepth = 54.927263; finalDepth = 63.298345; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.009698 # Actual altitude: 58.009698 # Commanded vehicle depth: 63.298345 # Seafloor depth: -121.308043 # behavior reson { duration = 6; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000045; MB_Bottom_Detect_Filter_Min_Range = 29.00; MB_Bottom_Detect_Filter_Max_Range = 232.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.678161 meters # Minimum depth: 104.927263 meters looking forward 100.000000 meters along route # Maximum depth: 112.886631 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.927263 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.813988; longitude = -121.834451; duration = 203; initialDepth = 49.203341; finalDepth = 54.927263; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 58.009698 # Actual altitude: 58.009698 # Commanded vehicle depth: 54.927263 # Seafloor depth: -112.886631 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000045; MB_Bottom_Detect_Filter_Min_Range = 29.00; MB_Bottom_Detect_Filter_Max_Range = 232.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.04; 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 21 # Segment length 93.418370 meters # Minimum depth: 99.203341 meters looking forward 100.000000 meters along route # Maximum depth: 104.830112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.203341 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.813957; longitude = -121.833312; duration = 186; # abortOnTimeout = True; initialDepth = 50.138317; finalDepth = 49.203341; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.959368 # Actual altitude: 57.959368 # Commanded vehicle depth: 49.203341 # Seafloor depth: -104.830112 # behavior reson { duration = 6; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000045; MB_Bottom_Detect_Filter_Min_Range = 28.98; MB_Bottom_Detect_Filter_Max_Range = 231.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 103.400130 meters # Minimum depth: 100.138317 meters looking forward 100.000000 meters along route # Maximum depth: 103.364692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 50.138317 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.814799; longitude = -121.833276; duration = 206; initialDepth = 49.908476; finalDepth = 50.138317; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.626771 # Actual altitude: 55.626771 # Commanded vehicle depth: 50.138317 # Seafloor depth: -100.811102 # behavior reson { subsys = SBP; pulseFile = SB106DW__1__2_5__66FM_TSB.spf ; } behavior reson { subsys = LoSS; pulseFile = SS_120__12__20__FM_SS.spf ; } behavior reson { subsys = HiSS; pulseFile = SS_410__40__5__FM_SS.spf ; } behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000045; MB_Bottom_Detect_Filter_Min_Range = 27.81; MB_Bottom_Detect_Filter_Max_Range = 222.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.51; 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 20 # Segment length 103.377864 meters # Minimum depth: 99.908476 meters looking forward 100.000000 meters along route # Maximum depth: 106.925891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.908476 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.815730; longitude = -121.833237; duration = 206; # abortOnTimeout = True; initialDepth = 57.901343; finalDepth = 49.908476; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.672785 # Actual altitude: 50.672785 # Commanded vehicle depth: 49.908476 # Seafloor depth: -99.908476 # behavior reson { duration = 6; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000045; MB_Bottom_Detect_Filter_Min_Range = 25.34; MB_Bottom_Detect_Filter_Max_Range = 202.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 106.752154 meters # Minimum depth: 107.901343 meters looking forward 100.000000 meters along route # Maximum depth: 116.506866 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.901343 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.815774; longitude = -121.834395; duration = 213; initialDepth = 66.678482; finalDepth = 57.901343; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 57.901343 # Seafloor depth: -107.901343 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000045; 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 19 # Segment length 93.329790 meters # Minimum depth: 116.678482 meters looking forward 100.000000 meters along route # Maximum depth: 119.981602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.678482 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.815820; longitude = -121.835590; duration = 186; # abortOnTimeout = True; initialDepth = 70.030885; finalDepth = 66.678482; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.02866 # Actual altitude: 50.02866 # Commanded vehicle depth: 66.678482 # Seafloor depth: -116.707142 # behavior reson { duration = 6; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000045; MB_Bottom_Detect_Filter_Min_Range = 25.01; MB_Bottom_Detect_Filter_Max_Range = 200.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 106.592259 meters # Minimum depth: 120.030885 meters looking forward 100.000000 meters along route # Maximum depth: 122.240167 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 70.030885 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.814979; longitude = -121.835590; duration = 213; initialDepth = 63.298345; finalDepth = 70.030885; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.02866 # Actual altitude: 50.02866 # Commanded vehicle depth: 70.030885 # Seafloor depth: -120.030885 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 5; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000045; MB_Bottom_Detect_Filter_Min_Range = 25.01; MB_Bottom_Detect_Filter_Max_Range = 200.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.11; 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 18 # Segment length 101.641713 meters # Minimum depth: 113.298345 meters looking forward 100.000000 meters along route # Maximum depth: 121.308043 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.298345 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.814018; longitude = -121.835590; duration = 203; # abortOnTimeout = True; initialDepth = 54.927263; finalDepth = 63.298345; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.009698 # Actual altitude: 58.009698 # Commanded vehicle depth: 63.298345 # Seafloor depth: -121.308043 # behavior reson { duration = 6; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000045; MB_Bottom_Detect_Filter_Min_Range = 29.00; MB_Bottom_Detect_Filter_Max_Range = 232.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.678162 meters # Minimum depth: 104.927263 meters looking forward 100.000000 meters along route # Maximum depth: 112.886631 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.927263 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.813988; longitude = -121.834451; duration = 203; initialDepth = 49.203341; finalDepth = 54.927263; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 58.009698 # Actual altitude: 58.009698 # Commanded vehicle depth: 54.927263 # Seafloor depth: -112.886631 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000045; MB_Bottom_Detect_Filter_Min_Range = 29.00; MB_Bottom_Detect_Filter_Max_Range = 232.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.04; 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 17 # Segment length 93.418370 meters # Minimum depth: 99.203341 meters looking forward 100.000000 meters along route # Maximum depth: 104.830112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.203341 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.813957; longitude = -121.833312; duration = 186; # abortOnTimeout = True; initialDepth = 50.138317; finalDepth = 49.203341; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.959368 # Actual altitude: 57.959368 # Commanded vehicle depth: 49.203341 # Seafloor depth: -104.830112 # behavior reson { duration = 6; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000045; MB_Bottom_Detect_Filter_Min_Range = 28.98; MB_Bottom_Detect_Filter_Max_Range = 231.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 103.400130 meters # Minimum depth: 100.138317 meters looking forward 100.000000 meters along route # Maximum depth: 103.364692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 50.138317 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.814799; longitude = -121.833276; duration = 206; initialDepth = 49.908476; finalDepth = 50.138317; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.626771 # Actual altitude: 55.626771 # Commanded vehicle depth: 50.138317 # Seafloor depth: -100.811102 # behavior reson { subsys = SBP; pulseFile = SB106DW__1_5__6__20FM_TSB.spf ; } behavior reson { subsys = LoSS; pulseFile = SS_120__12__20__FM_SS.spf ; } behavior reson { subsys = HiSS; pulseFile = SS_410__40__5__FM_SS.spf ; } behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000045; MB_Bottom_Detect_Filter_Min_Range = 27.81; MB_Bottom_Detect_Filter_Max_Range = 222.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.51; 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 16 # Segment length 103.377864 meters # Minimum depth: 99.908476 meters looking forward 100.000000 meters along route # Maximum depth: 106.925891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.908476 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.815730; longitude = -121.833237; duration = 206; # abortOnTimeout = True; initialDepth = 57.901343; finalDepth = 49.908476; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.672785 # Actual altitude: 50.672785 # Commanded vehicle depth: 49.908476 # Seafloor depth: -99.908476 # behavior reson { duration = 6; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000045; MB_Bottom_Detect_Filter_Min_Range = 25.34; MB_Bottom_Detect_Filter_Max_Range = 202.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 106.752153 meters # Minimum depth: 107.901343 meters looking forward 100.000000 meters along route # Maximum depth: 116.506866 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.901343 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.815774; longitude = -121.834395; duration = 213; initialDepth = 66.678482; finalDepth = 57.901343; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 57.901343 # Seafloor depth: -107.901343 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000045; 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 15 # Segment length 93.329791 meters # Minimum depth: 116.678482 meters looking forward 100.000000 meters along route # Maximum depth: 119.981602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.678482 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.815820; longitude = -121.835590; duration = 186; # abortOnTimeout = True; initialDepth = 70.030885; finalDepth = 66.678482; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.02866 # Actual altitude: 50.02866 # Commanded vehicle depth: 66.678482 # Seafloor depth: -116.707142 # behavior reson { duration = 6; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000045; MB_Bottom_Detect_Filter_Min_Range = 25.01; MB_Bottom_Detect_Filter_Max_Range = 200.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 106.592258 meters # Minimum depth: 120.030885 meters looking forward 100.000000 meters along route # Maximum depth: 122.240167 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 70.030885 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.814979; longitude = -121.835590; duration = 213; initialDepth = 63.298345; finalDepth = 70.030885; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.02866 # Actual altitude: 50.02866 # Commanded vehicle depth: 70.030885 # Seafloor depth: -120.030885 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000045; MB_Bottom_Detect_Filter_Min_Range = 25.01; MB_Bottom_Detect_Filter_Max_Range = 200.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.11; 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 14 # Segment length 101.641714 meters # Minimum depth: 113.298345 meters looking forward 100.000000 meters along route # Maximum depth: 121.308043 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.298345 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.814018; longitude = -121.835590; duration = 203; # abortOnTimeout = True; initialDepth = 54.927263; finalDepth = 63.298345; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.009698 # Actual altitude: 58.009698 # Commanded vehicle depth: 63.298345 # Seafloor depth: -121.308043 # behavior reson { duration = 6; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000045; MB_Bottom_Detect_Filter_Min_Range = 29.00; MB_Bottom_Detect_Filter_Max_Range = 232.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.678161 meters # Minimum depth: 104.927263 meters looking forward 100.000000 meters along route # Maximum depth: 112.886631 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.927263 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.813988; longitude = -121.834451; duration = 203; initialDepth = 49.203341; finalDepth = 54.927263; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 58.009698 # Actual altitude: 58.009698 # Commanded vehicle depth: 54.927263 # Seafloor depth: -112.886631 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000045; MB_Bottom_Detect_Filter_Min_Range = 29.00; MB_Bottom_Detect_Filter_Max_Range = 232.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.04; 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 13 # Segment length 93.418370 meters # Minimum depth: 99.203341 meters looking forward 100.000000 meters along route # Maximum depth: 104.830112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.203341 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.813957; longitude = -121.833312; duration = 186; # abortOnTimeout = True; initialDepth = 50.138317; finalDepth = 49.203341; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.959368 # Actual altitude: 57.959368 # Commanded vehicle depth: 49.203341 # Seafloor depth: -104.830112 # behavior reson { duration = 6; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000045; MB_Bottom_Detect_Filter_Min_Range = 28.98; MB_Bottom_Detect_Filter_Max_Range = 231.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.400130 meters # Minimum depth: 100.138317 meters looking forward 100.000000 meters along route # Maximum depth: 103.364692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 50.138317 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.814799; longitude = -121.833276; duration = 206; initialDepth = 49.908476; finalDepth = 50.138317; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.626771 # Actual altitude: 55.626771 # Commanded vehicle depth: 50.138317 # Seafloor depth: -100.811102 # behavior reson { subsys = SBP; pulseFile = SB106DW__1_5__4_5__33FM_TSB.spf ; } behavior reson { subsys = LoSS; pulseFile = SS_120__12__20__FM_SS.spf ; } behavior reson { subsys = HiSS; pulseFile = SS_410__40__5__FM_SS.spf ; } behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000045; MB_Bottom_Detect_Filter_Min_Range = 27.81; MB_Bottom_Detect_Filter_Max_Range = 222.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.51; 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 12 # Segment length 103.377864 meters # Minimum depth: 99.908476 meters looking forward 100.000000 meters along route # Maximum depth: 106.925891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.908476 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.815730; longitude = -121.833237; duration = 206; # abortOnTimeout = True; initialDepth = 57.901343; finalDepth = 49.908476; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.672785 # Actual altitude: 50.672785 # Commanded vehicle depth: 49.908476 # Seafloor depth: -99.908476 # behavior reson { duration = 6; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.34; MB_Bottom_Detect_Filter_Max_Range = 202.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 106.752153 meters # Minimum depth: 107.901343 meters looking forward 100.000000 meters along route # Maximum depth: 116.506866 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.901343 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.815774; longitude = -121.834395; duration = 213; initialDepth = 66.678482; finalDepth = 57.901343; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 57.901343 # Seafloor depth: -107.901343 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 70; 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 11 # Segment length 93.329791 meters # Minimum depth: 116.678482 meters looking forward 100.000000 meters along route # Maximum depth: 119.981602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.678482 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.815820; longitude = -121.835590; duration = 186; # abortOnTimeout = True; initialDepth = 70.030885; finalDepth = 66.678482; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.02866 # Actual altitude: 50.02866 # Commanded vehicle depth: 66.678482 # Seafloor depth: -116.707142 # behavior reson { duration = 6; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.01; MB_Bottom_Detect_Filter_Max_Range = 200.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 106.592259 meters # Minimum depth: 120.030885 meters looking forward 100.000000 meters along route # Maximum depth: 122.240167 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 70.030885 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.814979; longitude = -121.835590; duration = 213; initialDepth = 63.298345; finalDepth = 70.030885; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.02866 # Actual altitude: 50.02866 # Commanded vehicle depth: 70.030885 # Seafloor depth: -120.030885 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.01; MB_Bottom_Detect_Filter_Max_Range = 200.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.11; 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 10 # Segment length 101.641713 meters # Minimum depth: 113.298345 meters looking forward 100.000000 meters along route # Maximum depth: 121.308043 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.298345 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.814018; longitude = -121.835590; duration = 203; # abortOnTimeout = True; initialDepth = 54.927263; finalDepth = 63.298345; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.009698 # Actual altitude: 58.009698 # Commanded vehicle depth: 63.298345 # Seafloor depth: -121.308043 # behavior reson { duration = 6; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.00; MB_Bottom_Detect_Filter_Max_Range = 232.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.678162 meters # Minimum depth: 104.927263 meters looking forward 100.000000 meters along route # Maximum depth: 112.886631 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.927263 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.813988; longitude = -121.834451; duration = 203; initialDepth = 49.203341; finalDepth = 54.927263; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 58.009698 # Actual altitude: 58.009698 # Commanded vehicle depth: 54.927263 # Seafloor depth: -112.886631 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.00; MB_Bottom_Detect_Filter_Max_Range = 232.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.04; 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 9 # Segment length 93.418370 meters # Minimum depth: 99.203341 meters looking forward 100.000000 meters along route # Maximum depth: 104.830112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.203341 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.813957; longitude = -121.833312; duration = 186; # abortOnTimeout = True; initialDepth = 50.138317; finalDepth = 49.203341; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.959368 # Actual altitude: 57.959368 # Commanded vehicle depth: 49.203341 # Seafloor depth: -104.830112 # behavior reson { duration = 6; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.98; MB_Bottom_Detect_Filter_Max_Range = 231.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 103.400129 meters # Minimum depth: 100.138317 meters looking forward 100.000000 meters along route # Maximum depth: 103.364692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 50.138317 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.814799; longitude = -121.833276; duration = 206; initialDepth = 49.908476; finalDepth = 50.138317; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.626771 # Actual altitude: 55.626771 # Commanded vehicle depth: 50.138317 # Seafloor depth: -100.811102 # behavior reson { subsys = SBP; pulseFile = SB106DW__1_5__4_5__12FM.spf ; } behavior reson { subsys = LoSS; pulseFile = SS_120__12__8_3__FM_SS.spf ; } behavior reson { subsys = HiSS; pulseFile = SS_410__40__2_4__FM_SS.spf ; } behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.81; MB_Bottom_Detect_Filter_Max_Range = 222.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.51; 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 8 # Segment length 103.377864 meters # Minimum depth: 99.908476 meters looking forward 100.000000 meters along route # Maximum depth: 106.925891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.908476 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.815730; longitude = -121.833237; duration = 206; # abortOnTimeout = True; initialDepth = 57.901343; finalDepth = 49.908476; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.672785 # Actual altitude: 50.672785 # Commanded vehicle depth: 49.908476 # Seafloor depth: -99.908476 # behavior reson { duration = 6; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.34; MB_Bottom_Detect_Filter_Max_Range = 202.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 106.752154 meters # Minimum depth: 107.901343 meters looking forward 100.000000 meters along route # Maximum depth: 116.506866 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.901343 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.815774; longitude = -121.834395; duration = 213; initialDepth = 66.678482; finalDepth = 57.901343; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 57.901343 # Seafloor depth: -107.901343 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 50; 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 7 # Segment length 93.329790 meters # Minimum depth: 116.678482 meters looking forward 100.000000 meters along route # Maximum depth: 119.981602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.678482 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.815820; longitude = -121.835590; duration = 186; # abortOnTimeout = True; initialDepth = 70.030885; finalDepth = 66.678482; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.02866 # Actual altitude: 50.02866 # Commanded vehicle depth: 66.678482 # Seafloor depth: -116.707142 # behavior reson { duration = 6; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.01; MB_Bottom_Detect_Filter_Max_Range = 200.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 106.592259 meters # Minimum depth: 120.030885 meters looking forward 100.000000 meters along route # Maximum depth: 122.240167 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 70.030885 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.814979; longitude = -121.835590; duration = 213; initialDepth = 63.298345; finalDepth = 70.030885; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.02866 # Actual altitude: 50.02866 # Commanded vehicle depth: 70.030885 # Seafloor depth: -120.030885 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.01; MB_Bottom_Detect_Filter_Max_Range = 200.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.11; 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 6 # Segment length 101.641713 meters # Minimum depth: 113.298345 meters looking forward 100.000000 meters along route # Maximum depth: 121.308043 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.298345 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.814018; longitude = -121.835590; duration = 203; # abortOnTimeout = True; initialDepth = 54.927263; finalDepth = 63.298345; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.009698 # Actual altitude: 58.009698 # Commanded vehicle depth: 63.298345 # Seafloor depth: -121.308043 # behavior reson { duration = 6; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.00; MB_Bottom_Detect_Filter_Max_Range = 232.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.678162 meters # Minimum depth: 104.927263 meters looking forward 100.000000 meters along route # Maximum depth: 112.886631 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.927263 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.813988; longitude = -121.834451; duration = 203; initialDepth = 49.203341; finalDepth = 54.927263; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 58.009698 # Actual altitude: 58.009698 # Commanded vehicle depth: 54.927263 # Seafloor depth: -112.886631 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.00; MB_Bottom_Detect_Filter_Max_Range = 232.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.04; 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 5 # Segment length 93.418370 meters # Minimum depth: 99.203341 meters looking forward 100.000000 meters along route # Maximum depth: 104.830112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.203341 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.813957; longitude = -121.833312; duration = 186; # abortOnTimeout = True; initialDepth = 50.138317; finalDepth = 49.203341; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.959368 # Actual altitude: 57.959368 # Commanded vehicle depth: 49.203341 # Seafloor depth: -104.830112 # behavior reson { duration = 6; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.98; MB_Bottom_Detect_Filter_Max_Range = 231.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 103.400130 meters # Minimum depth: 100.138317 meters looking forward 100.000000 meters along route # Maximum depth: 103.364692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 50.138317 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.814799; longitude = -121.833276; duration = 206; initialDepth = 49.908476; finalDepth = 50.138317; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.626771 # Actual altitude: 55.626771 # Commanded vehicle depth: 50.138317 # Seafloor depth: -100.811102 # behavior reson { subsys = SBP; pulseFile = SB106DW__1_5__5_5__12FM.spf ; } behavior reson { subsys = LoSS; pulseFile = SS_120__12__8_3__FM_SS.spf ; } behavior reson { subsys = HiSS; pulseFile = SS_410__40__2_4__FM_SS.spf ; } behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.81; MB_Bottom_Detect_Filter_Max_Range = 222.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.51; 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 4 # Segment length 103.377864 meters # Minimum depth: 99.908476 meters looking forward 100.000000 meters along route # Maximum depth: 106.925891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.908476 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.815730; longitude = -121.833237; duration = 206; # abortOnTimeout = True; initialDepth = 57.901343; finalDepth = 49.908476; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.672785 # Actual altitude: 50.672785 # Commanded vehicle depth: 49.908476 # Seafloor depth: -99.908476 # behavior reson { duration = 6; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.34; MB_Bottom_Detect_Filter_Max_Range = 202.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 106.752153 meters # Minimum depth: 107.901343 meters looking forward 100.000000 meters along route # Maximum depth: 116.506866 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.901343 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.815774; longitude = -121.834395; duration = 213; initialDepth = 66.678482; finalDepth = 57.901343; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 57.901343 # Seafloor depth: -107.901343 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; 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 3 # Segment length 93.329791 meters # Minimum depth: 116.678482 meters looking forward 100.000000 meters along route # Maximum depth: 119.981602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.678482 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.815820; longitude = -121.835590; duration = 186; # abortOnTimeout = True; initialDepth = 70.030885; finalDepth = 66.678482; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.02866 # Actual altitude: 50.02866 # Commanded vehicle depth: 66.678482 # Seafloor depth: -116.707142 # behavior reson { duration = 6; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.01; MB_Bottom_Detect_Filter_Max_Range = 200.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 106.592259 meters # Minimum depth: 120.030885 meters looking forward 100.000000 meters along route # Maximum depth: 122.240167 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 70.030885 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.814979; longitude = -121.835590; duration = 213; initialDepth = 63.298345; finalDepth = 70.030885; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.02866 # Actual altitude: 50.02866 # Commanded vehicle depth: 70.030885 # Seafloor depth: -120.030885 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.01; MB_Bottom_Detect_Filter_Max_Range = 200.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.11; 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 101.641713 meters # Minimum depth: 113.298345 meters looking forward 100.000000 meters along route # Maximum depth: 121.308043 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.298345 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.814018; longitude = -121.835590; duration = 203; # abortOnTimeout = True; initialDepth = 54.927263; finalDepth = 63.298345; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.009698 # Actual altitude: 58.009698 # Commanded vehicle depth: 63.298345 # Seafloor depth: -121.308043 # behavior reson { duration = 6; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.00; MB_Bottom_Detect_Filter_Max_Range = 232.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.678161 meters # Minimum depth: 104.927263 meters looking forward 100.000000 meters along route # Maximum depth: 112.886631 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.927263 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.813988; longitude = -121.834451; duration = 203; initialDepth = 49.203341; finalDepth = 54.927263; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 58.009698 # Actual altitude: 58.009698 # Commanded vehicle depth: 54.927263 # Seafloor depth: -112.886631 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.00; MB_Bottom_Detect_Filter_Max_Range = 232.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.04; 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 93.418370 meters # Minimum depth: 99.203341 meters looking forward 100.000000 meters along route # Maximum depth: 104.830112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.203341 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.813957; longitude = -121.833312; duration = 186; # abortOnTimeout = True; initialDepth = 50.138317; finalDepth = 49.203341; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.959368 # Actual altitude: 57.959368 # Commanded vehicle depth: 49.203341 # Seafloor depth: -104.830112 # behavior reson { duration = 6; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.98; MB_Bottom_Detect_Filter_Max_Range = 231.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 103.400130 meters # Minimum depth: 100.138317 meters looking forward 100.000000 meters along route # Maximum depth: 103.364692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 50.138317 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.814799; longitude = -121.833276; duration = 206; initialDepth = 49.908476; finalDepth = 50.138317; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.626771 # Actual altitude: 55.626771 # Commanded vehicle depth: 50.138317 # Seafloor depth: -100.811102 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 150.000; LoSS_Range = 150.00; HiSS_Range = 150; MB_Range = 175; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.81; MB_Bottom_Detect_Filter_Max_Range = 222.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.51; 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: 50.672785 # Sonar parameter altitude: 50.672785 # Commanded vehicle depth: 49.908476 # Seafloor depth: -99.908476 # behavior reson { subsys = SBP; pulseFile = SB106DW__1_5__6_5__12FM.spf ; } behavior reson { subsys = LoSS; pulseFile = SS_120__12__8_3__FM_SS.spf ; } behavior reson { subsys = HiSS; pulseFile = SS_410__40__2_4__FM_SS.spf ; } behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 150.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 150.00; HiSS_Mode = 1; HiSS_Power = 100.0; HiSS_Range = 150; MB_Power = 220; MB_Range = 175; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.34; MB_Bottom_Detect_Filter_Max_Range = 202.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.69; 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: 99.908476 meters looking forward 100.000000 meters along route # Maximum depth: 103.364692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 95.030885 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.908476 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.815730; longitude = -121.833237; duration = 600; initialDepth = 49.908476; finalDepth = 49.908476; speed = 1.500000; } # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 144.0; 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 = 144.0; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 150.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 150.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 150; 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; } # ####################################################### ####################################################### ####################################################### #######################################################