# 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: 20110509Test2_1v1.rte # Mission File: 20110509Test2_1v1.cfg # Distance: 6116.335001 (m) # Estimated Time: 5333 (s) 1.481 (hr) # Abort Time: 6933 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 446 (s) # Way Points: 8 # Route Points: 59 # 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: 369.517856 (m) # Abort Vehicle Depth: 394.517856 (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 -121.874288 36.777344 -99.210999 0.000000 3 # 1 -121.883360 36.790414 -371.114176 1660.721739 3 # 2 -121.890639 36.793749 -401.805257 2408.262487 3 # 3 -121.883397 36.790474 -372.234456 3149.620296 3 # 4 -121.890639 36.793749 -401.805257 3890.978105 3 # 5 -121.883397 36.790474 -372.234456 4632.335914 3 # 6 -121.890639 36.793749 -401.805257 5373.693723 3 # 7 -121.883360 36.790504 -372.473958 6116.335001 4 # # A total of 59 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 6933; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 369.517856; abortDepth = 394.517856; 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 = 446; 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 7 # Segment length 121.871056 meters # Minimum depth: 372.473958 meters looking forward 100.000000 meters along route # Maximum depth: 384.615318 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 322.473958 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790504; longitude = -121.883360; duration = 243; # abortOnTimeout = True; initialDepth = 333.096535; finalDepth = 322.473958; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 322.473958 # Seafloor depth: -372.473958 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; 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 = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 102.828179 meters # Minimum depth: 383.096535 meters looking forward 100.000000 meters along route # Maximum depth: 384.620792 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 333.096535 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791037; longitude = -121.884554; duration = 205; initialDepth = 332.049305; finalDepth = 333.096535; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.524257 # Actual altitude: 51.524257 # Commanded vehicle depth: 333.096535 # Seafloor depth: -384.620792 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.76; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 102.827699 meters # Minimum depth: 382.049305 meters looking forward 100.000000 meters along route # Maximum depth: 382.989201 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.049305 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791486; longitude = -121.885562; duration = 205; initialDepth = 330.203952; finalDepth = 332.049305; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.524257 # Actual altitude: 51.524257 # Commanded vehicle depth: 332.049305 # Seafloor depth: -382.989201 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.76; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 102.827218 meters # Minimum depth: 380.203952 meters looking forward 100.000000 meters along route # Maximum depth: 382.005215 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.203952 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791935; longitude = -121.886570; duration = 205; initialDepth = 327.798830; finalDepth = 330.203952; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.801263 # Actual altitude: 51.801263 # Commanded vehicle depth: 330.203952 # Seafloor depth: -382.005215 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.90; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 102.826738 meters # Minimum depth: 377.798830 meters looking forward 100.000000 meters along route # Maximum depth: 379.778688 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 327.798830 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792385; longitude = -121.887578; duration = 205; initialDepth = 328.673812; finalDepth = 327.798830; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.811616 # Actual altitude: 51.811616 # Commanded vehicle depth: 327.79883 # Seafloor depth: -379.610446 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.91; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 102.826258 meters # Minimum depth: 378.673812 meters looking forward 100.000000 meters along route # Maximum depth: 392.231653 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 328.673812 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792834; longitude = -121.888586; duration = 205; initialDepth = 344.517856; finalDepth = 328.673812; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.811616 # Actual altitude: 51.811616 # Commanded vehicle depth: 328.673812 # Seafloor depth: -378.673812 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.91; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 106.634130 meters # Minimum depth: 394.517856 meters looking forward 100.000000 meters along route # Maximum depth: 401.468223 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 344.517856 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793283; longitude = -121.889594; duration = 213; initialDepth = 342.481882; finalDepth = 344.517856; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 344.517856 # Seafloor depth: -394.517856 # behavior reson { duration = 6; subsys = SBP; pulseFile = SB106DW__1_5__6__20FM_TSB.spf; } behavior reson { duration = 6; subsys = LoSS; pulseFile = SS_120__12__8_3__FM_SS.spf; } behavior reson { duration = 6; subsys = HiSS; pulseFile = SS_410__40__2_4__FM_SS.spf; } behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; 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 = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; 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 6 # Segment length 118.462710 meters # Minimum depth: 392.481882 meters looking forward 100.000000 meters along route # Maximum depth: 401.805257 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 342.481882 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793749; longitude = -121.890639; duration = 236; # abortOnTimeout = True; initialDepth = 328.220045; finalDepth = 342.481882; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.323375 # Actual altitude: 59.323375 # Commanded vehicle depth: 342.481882 # Seafloor depth: -401.805257 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000045; MB_Bottom_Detect_Filter_Min_Range = 29.66; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 103.177721 meters # Minimum depth: 378.220045 meters looking forward 100.000000 meters along route # Maximum depth: 391.808317 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 328.220045 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793226; longitude = -121.889482; duration = 206; initialDepth = 327.891035; finalDepth = 328.220045; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.588272 # Actual altitude: 63.588272 # Commanded vehicle depth: 328.220045 # Seafloor depth: -391.808317 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000045; MB_Bottom_Detect_Filter_Min_Range = 31.79; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.178205 meters # Minimum depth: 377.891035 meters looking forward 100.000000 meters along route # Maximum depth: 380.183512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 327.891035 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792770; longitude = -121.888474; duration = 206; initialDepth = 330.296421; finalDepth = 327.891035; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.588272 # Actual altitude: 63.588272 # Commanded vehicle depth: 327.891035 # Seafloor depth: -378.093037 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000045; MB_Bottom_Detect_Filter_Min_Range = 31.79; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.178691 meters # Minimum depth: 380.296421 meters looking forward 100.000000 meters along route # Maximum depth: 382.257394 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.296421 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792314; longitude = -121.887466; duration = 206; initialDepth = 332.059952; finalDepth = 330.296421; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.202002 # Actual altitude: 50.202002 # Commanded vehicle depth: 330.296421 # Seafloor depth: -380.296421 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000045; MB_Bottom_Detect_Filter_Min_Range = 25.10; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.179177 meters # Minimum depth: 382.059952 meters looking forward 100.000000 meters along route # Maximum depth: 382.974556 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.059952 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791858; longitude = -121.886458; duration = 206; initialDepth = 333.268795; finalDepth = 332.059952; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.324616 # Actual altitude: 50.324616 # Commanded vehicle depth: 332.059952 # Seafloor depth: -382.384568 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000045; MB_Bottom_Detect_Filter_Min_Range = 25.16; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.179662 meters # Minimum depth: 383.268795 meters looking forward 100.000000 meters along route # Maximum depth: 384.468781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 333.268795 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791403; longitude = -121.885450; duration = 206; initialDepth = 322.819911; finalDepth = 333.268795; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.324616 # Actual altitude: 50.324616 # Commanded vehicle depth: 333.268795 # Seafloor depth: -383.268795 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000045; MB_Bottom_Detect_Filter_Min_Range = 25.16; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 107.001643 meters # Minimum depth: 372.819911 meters looking forward 100.000000 meters along route # Maximum depth: 384.386135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 322.819911 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790947; longitude = -121.884442; duration = 214; initialDepth = 322.234456; finalDepth = 322.819911; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 61.566224 # Actual altitude: 61.566224 # Commanded vehicle depth: 322.819911 # Seafloor depth: -384.386135 # behavior reson { duration = 6; subsys = SBP; pulseFile = SB106DW__1_5__6_5__12FM.spf; } behavior reson { duration = 6; subsys = LoSS; pulseFile = SS_120__12__8_3__FM_SS.spf; } behavior reson { duration = 6; subsys = HiSS; pulseFile = SS_410__40__2_4__FM_SS.spf; } behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000045; MB_Bottom_Detect_Filter_Min_Range = 30.78; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; 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 5 # Segment length 118.466074 meters # Minimum depth: 372.234456 meters looking forward 100.000000 meters along route # Maximum depth: 384.467458 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 322.234456 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790474; longitude = -121.883397; duration = 236; # abortOnTimeout = True; initialDepth = 332.907106; finalDepth = 322.234456; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.566224 # Actual altitude: 61.566224 # Commanded vehicle depth: 322.234456 # Seafloor depth: -372.234456 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000045; MB_Bottom_Detect_Filter_Min_Range = 30.78; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 103.179608 meters # Minimum depth: 382.907106 meters looking forward 100.000000 meters along route # Maximum depth: 384.468781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.907106 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790997; longitude = -121.884554; duration = 206; initialDepth = 332.059952; finalDepth = 332.907106; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.561675 # Actual altitude: 51.561675 # Commanded vehicle depth: 332.907106 # Seafloor depth: -384.468781 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000045; MB_Bottom_Detect_Filter_Min_Range = 25.78; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 103.179123 meters # Minimum depth: 382.059952 meters looking forward 100.000000 meters along route # Maximum depth: 382.974556 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.059952 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791453; longitude = -121.885562; duration = 206; initialDepth = 330.183512; finalDepth = 332.059952; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.561675 # Actual altitude: 51.561675 # Commanded vehicle depth: 332.059952 # Seafloor depth: -382.870614 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000045; MB_Bottom_Detect_Filter_Min_Range = 25.78; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 103.178637 meters # Minimum depth: 380.183512 meters looking forward 100.000000 meters along route # Maximum depth: 382.072577 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.183512 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791909; longitude = -121.886570; duration = 206; initialDepth = 327.891035; finalDepth = 330.183512; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.889065 # Actual altitude: 51.889065 # Commanded vehicle depth: 330.183512 # Seafloor depth: -382.072577 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000045; MB_Bottom_Detect_Filter_Min_Range = 25.94; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 103.178152 meters # Minimum depth: 377.891035 meters looking forward 100.000000 meters along route # Maximum depth: 379.936678 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 327.891035 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792365; longitude = -121.887578; duration = 206; initialDepth = 328.592558; finalDepth = 327.891035; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.945367 # Actual altitude: 51.945367 # Commanded vehicle depth: 327.891035 # Seafloor depth: -379.836402 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000045; MB_Bottom_Detect_Filter_Min_Range = 25.97; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 103.177666 meters # Minimum depth: 378.592558 meters looking forward 100.000000 meters along route # Maximum depth: 392.481882 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 328.592558 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792821; longitude = -121.888586; duration = 206; initialDepth = 344.405846; finalDepth = 328.592558; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.945367 # Actual altitude: 51.945367 # Commanded vehicle depth: 328.592558 # Seafloor depth: -378.592558 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000045; MB_Bottom_Detect_Filter_Min_Range = 25.97; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 106.998549 meters # Minimum depth: 394.405846 meters looking forward 100.000000 meters along route # Maximum depth: 401.465278 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 344.405846 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793277; longitude = -121.889594; duration = 213; initialDepth = 342.481882; finalDepth = 344.405846; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 344.405846 # Seafloor depth: -394.405846 # behavior reson { duration = 6; subsys = SBP; pulseFile = SB106DW__1_5__5_5__12FM.spf; } behavior reson { duration = 6; subsys = LoSS; pulseFile = SS_120__12__20__FM_SS.spf; } behavior reson { duration = 6; subsys = HiSS; pulseFile = SS_410__40__5__FM_SS.spf; } behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; 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 = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; 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 4 # Segment length 118.462710 meters # Minimum depth: 392.481882 meters looking forward 100.000000 meters along route # Maximum depth: 401.805257 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 342.481882 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793749; longitude = -121.890639; duration = 236; # abortOnTimeout = True; initialDepth = 328.220045; finalDepth = 342.481882; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.323375 # Actual altitude: 59.323375 # Commanded vehicle depth: 342.481882 # Seafloor depth: -401.805257 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000045; MB_Bottom_Detect_Filter_Min_Range = 29.66; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 103.177720 meters # Minimum depth: 378.220045 meters looking forward 100.000000 meters along route # Maximum depth: 391.808317 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 328.220045 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793226; longitude = -121.889482; duration = 206; initialDepth = 327.891035; finalDepth = 328.220045; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.588272 # Actual altitude: 63.588272 # Commanded vehicle depth: 328.220045 # Seafloor depth: -391.808317 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000045; MB_Bottom_Detect_Filter_Min_Range = 31.79; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.178206 meters # Minimum depth: 377.891035 meters looking forward 100.000000 meters along route # Maximum depth: 380.183512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 327.891035 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792770; longitude = -121.888474; duration = 206; initialDepth = 330.296421; finalDepth = 327.891035; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.588272 # Actual altitude: 63.588272 # Commanded vehicle depth: 327.891035 # Seafloor depth: -378.093037 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000045; MB_Bottom_Detect_Filter_Min_Range = 31.79; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.178691 meters # Minimum depth: 380.296421 meters looking forward 100.000000 meters along route # Maximum depth: 382.257394 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.296421 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792314; longitude = -121.887466; duration = 206; initialDepth = 332.059952; finalDepth = 330.296421; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.202002 # Actual altitude: 50.202002 # Commanded vehicle depth: 330.296421 # Seafloor depth: -380.296421 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000045; MB_Bottom_Detect_Filter_Min_Range = 25.10; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.179177 meters # Minimum depth: 382.059952 meters looking forward 100.000000 meters along route # Maximum depth: 382.974556 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.059952 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791858; longitude = -121.886458; duration = 206; initialDepth = 333.268795; finalDepth = 332.059952; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.324616 # Actual altitude: 50.324616 # Commanded vehicle depth: 332.059952 # Seafloor depth: -382.384568 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000045; MB_Bottom_Detect_Filter_Min_Range = 25.16; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.179661 meters # Minimum depth: 383.268795 meters looking forward 100.000000 meters along route # Maximum depth: 384.468781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 333.268795 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791403; longitude = -121.885450; duration = 206; initialDepth = 322.819911; finalDepth = 333.268795; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.324616 # Actual altitude: 50.324616 # Commanded vehicle depth: 333.268795 # Seafloor depth: -383.268795 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000045; MB_Bottom_Detect_Filter_Min_Range = 25.16; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 107.001644 meters # Minimum depth: 372.819911 meters looking forward 100.000000 meters along route # Maximum depth: 384.386135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 322.819911 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790947; longitude = -121.884442; duration = 214; initialDepth = 322.234456; finalDepth = 322.819911; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 61.566224 # Actual altitude: 61.566224 # Commanded vehicle depth: 322.819911 # Seafloor depth: -384.386135 # behavior reson { duration = 6; subsys = SBP; pulseFile = SB106DW__1_5__4_5__33FM_TSB.spf; } behavior reson { duration = 6; subsys = LoSS; pulseFile = SS_120__12__8_3__FM_SS.spf; } behavior reson { duration = 6; subsys = HiSS; pulseFile = SS_410__40__2_4__FM_SS.spf; } behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000045; MB_Bottom_Detect_Filter_Min_Range = 30.78; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; 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 118.466074 meters # Minimum depth: 372.234456 meters looking forward 100.000000 meters along route # Maximum depth: 384.467458 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 322.234456 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790474; longitude = -121.883397; duration = 236; # abortOnTimeout = True; initialDepth = 332.907106; finalDepth = 322.234456; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.566224 # Actual altitude: 61.566224 # Commanded vehicle depth: 322.234456 # Seafloor depth: -372.234456 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.78; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 103.179608 meters # Minimum depth: 382.907106 meters looking forward 100.000000 meters along route # Maximum depth: 384.468781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.907106 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790997; longitude = -121.884554; duration = 206; initialDepth = 332.059952; finalDepth = 332.907106; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.561675 # Actual altitude: 51.561675 # Commanded vehicle depth: 332.907106 # Seafloor depth: -384.468781 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.78; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 103.179123 meters # Minimum depth: 382.059952 meters looking forward 100.000000 meters along route # Maximum depth: 382.974556 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.059952 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791453; longitude = -121.885562; duration = 206; initialDepth = 330.183512; finalDepth = 332.059952; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.561675 # Actual altitude: 51.561675 # Commanded vehicle depth: 332.059952 # Seafloor depth: -382.870614 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.78; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 103.178637 meters # Minimum depth: 380.183512 meters looking forward 100.000000 meters along route # Maximum depth: 382.072577 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.183512 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791909; longitude = -121.886570; duration = 206; initialDepth = 327.891035; finalDepth = 330.183512; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.889065 # Actual altitude: 51.889065 # Commanded vehicle depth: 330.183512 # Seafloor depth: -382.072577 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.94; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 103.178152 meters # Minimum depth: 377.891035 meters looking forward 100.000000 meters along route # Maximum depth: 379.936678 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 327.891035 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792365; longitude = -121.887578; duration = 206; initialDepth = 328.592558; finalDepth = 327.891035; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.945367 # Actual altitude: 51.945367 # Commanded vehicle depth: 327.891035 # Seafloor depth: -379.836402 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.97; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 103.177666 meters # Minimum depth: 378.592558 meters looking forward 100.000000 meters along route # Maximum depth: 392.481882 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 328.592558 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792821; longitude = -121.888586; duration = 206; initialDepth = 344.405846; finalDepth = 328.592558; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.945367 # Actual altitude: 51.945367 # Commanded vehicle depth: 328.592558 # Seafloor depth: -378.592558 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.97; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 106.998549 meters # Minimum depth: 394.405846 meters looking forward 100.000000 meters along route # Maximum depth: 401.465278 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 344.405846 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793277; longitude = -121.889594; duration = 213; initialDepth = 339.910573; finalDepth = 344.405846; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 344.405846 # Seafloor depth: -394.405846 # behavior reson { duration = 6; subsys = SBP; pulseFile = SB106DW__1_5__4_5__12FM_25MS_BLANK.spf; } behavior reson { duration = 6; subsys = LoSS; pulseFile = SS_120__12__8_3__FM_SS.spf; } behavior reson { duration = 6; subsys = HiSS; pulseFile = SS_410__40__2_4__FM_SS.spf; } behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; 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 = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; 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 134.690139 meters # Minimum depth: 389.910573 meters looking forward 100.000000 meters along route # Maximum depth: 401.805257 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 339.910573 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793749; longitude = -121.890639; duration = 269; # abortOnTimeout = True; initialDepth = 327.975937; finalDepth = 339.910573; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.894684 # Actual altitude: 61.894684 # Commanded vehicle depth: 339.910573 # Seafloor depth: -401.805257 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.95; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.018149 meters # Minimum depth: 377.975937 meters looking forward 100.000000 meters along route # Maximum depth: 388.973176 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 327.975937 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793148; longitude = -121.889328; duration = 202; initialDepth = 328.102104; finalDepth = 327.975937; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.894684 # Actual altitude: 61.894684 # Commanded vehicle depth: 327.975937 # Seafloor depth: -388.973176 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.95; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.640270 meters # Minimum depth: 378.102104 meters looking forward 100.000000 meters along route # Maximum depth: 380.911229 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 328.102104 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792698; longitude = -121.888344; duration = 203; initialDepth = 330.378261; finalDepth = 328.102104; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.997239 # Actual altitude: 60.997239 # Commanded vehicle depth: 328.102104 # Seafloor depth: -378.102104 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.50; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.397428 meters # Minimum depth: 380.378261 meters looking forward 100.000000 meters along route # Maximum depth: 382.360049 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.378261 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792244; longitude = -121.887354; duration = 200; initialDepth = 332.100843; finalDepth = 330.378261; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.552925 # Actual altitude: 50.552925 # Commanded vehicle depth: 330.378261 # Seafloor depth: -380.931186 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.28; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.019549 meters # Minimum depth: 382.100843 meters looking forward 100.000000 meters along route # Maximum depth: 383.431235 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.100843 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791796; longitude = -121.886376; duration = 202; initialDepth = 333.370983; finalDepth = 332.100843; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.552925 # Actual altitude: 50.552925 # Commanded vehicle depth: 332.100843 # Seafloor depth: -382.587622 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.28; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.020015 meters # Minimum depth: 383.370983 meters looking forward 100.000000 meters along route # Maximum depth: 384.403373 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 333.370983 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791346; longitude = -121.885393; duration = 202; initialDepth = 322.159044; finalDepth = 333.370983; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.486779 # Actual altitude: 50.486779 # Commanded vehicle depth: 333.370983 # Seafloor depth: -383.488105 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.24; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 107.755198 meters # Minimum depth: 372.159044 meters looking forward 100.000000 meters along route # Maximum depth: 384.211114 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 322.159044 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790895; longitude = -121.884409; duration = 215; initialDepth = 298.154732; finalDepth = 322.159044; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 61.97869 # Actual altitude: 61.97869 # Commanded vehicle depth: 322.159044 # Seafloor depth: -384.137734 # behavior reson { duration = 6; subsys = SBP; pulseFile = SB106DW__1_5__4_5__12FM.spf; } behavior reson { duration = 6; subsys = LoSS; pulseFile = SS_120__12__8_3__FM_SS.spf; } behavior reson { duration = 6; subsys = HiSS; pulseFile = SS_410__40__2_4__FM_SS.spf; } behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.99; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; 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 1 # Segment length 110.712679 meters # Minimum depth: 348.154732 meters looking forward 100.000000 meters along route # Maximum depth: 371.114176 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 298.154732 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790414; longitude = -121.883360; duration = 221; # abortOnTimeout = True; initialDepth = 281.449025; finalDepth = 298.154732; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.959444 # Actual altitude: 72.959444 # Commanded vehicle depth: 298.154732 # Seafloor depth: -371.114176 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 36.48; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 103.077593 meters # Minimum depth: 331.449025 meters looking forward 100.000000 meters along route # Maximum depth: 347.834511 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 281.449025 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789543; longitude = -121.882755; duration = 206; initialDepth = 271.211114; finalDepth = 281.449025; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.959444 # Actual altitude: 72.959444 # Commanded vehicle depth: 281.449025 # Seafloor depth: -347.834511 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 36.48; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.077852 meters # Minimum depth: 321.211114 meters looking forward 100.000000 meters along route # Maximum depth: 331.222161 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 271.211114 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788731; longitude = -121.882192; duration = 206; initialDepth = 251.162233; finalDepth = 271.211114; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.385486 # Actual altitude: 66.385486 # Commanded vehicle depth: 271.211114 # Seafloor depth: -331.222161 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 33.19; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.078113 meters # Minimum depth: 301.162233 meters looking forward 100.000000 meters along route # Maximum depth: 320.858472 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 251.162233 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787920; longitude = -121.881629; duration = 206; initialDepth = 222.633631; finalDepth = 251.162233; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.696239 # Actual altitude: 69.696239 # Commanded vehicle depth: 251.162233 # Seafloor depth: -320.858472 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 34.85; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.078374 meters # Minimum depth: 272.633631 meters looking forward 100.000000 meters along route # Maximum depth: 300.699614 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 222.633631 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787109; longitude = -121.881066; duration = 206; initialDepth = 189.403134; finalDepth = 222.633631; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.065983 # Actual altitude: 78.065983 # Commanded vehicle depth: 222.633631 # Seafloor depth: -300.699614 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 39.03; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.078634 meters # Minimum depth: 239.403134 meters looking forward 100.000000 meters along route # Maximum depth: 271.327640 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 189.403134 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786298; longitude = -121.880503; duration = 206; initialDepth = 153.016358; finalDepth = 189.403134; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.924506 # Actual altitude: 81.924506 # Commanded vehicle depth: 189.403134 # Seafloor depth: -271.327640 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 40.96; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.078894 meters # Minimum depth: 203.016358 meters looking forward 100.000000 meters along route # Maximum depth: 238.454482 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 153.016358 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785486; longitude = -121.879940; duration = 206; initialDepth = 122.492309; finalDepth = 153.016358; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.438124 # Actual altitude: 85.438124 # Commanded vehicle depth: 153.016358 # Seafloor depth: -238.454482 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 42.72; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.079155 meters # Minimum depth: 172.492309 meters looking forward 100.000000 meters along route # Maximum depth: 201.119287 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 122.492309 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.784675; longitude = -121.879377; duration = 206; initialDepth = 99.249361; finalDepth = 122.492309; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.438124 # Actual altitude: 85.438124 # Commanded vehicle depth: 122.492309 # Seafloor depth: -201.119287 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 42.72; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.079416 meters # Minimum depth: 149.249361 meters looking forward 100.000000 meters along route # Maximum depth: 171.172554 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 99.249361 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.783864; longitude = -121.878813; duration = 206; initialDepth = 74.945866; finalDepth = 99.249361; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.626978 # Actual altitude: 78.626978 # Commanded vehicle depth: 99.249361 # Seafloor depth: -171.172554 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 39.31; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.079675 meters # Minimum depth: 124.945866 meters looking forward 100.000000 meters along route # Maximum depth: 147.770738 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.945866 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.783053; longitude = -121.878250; duration = 206; initialDepth = 65.293416; finalDepth = 74.945866; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.824872 # Actual altitude: 72.824872 # Commanded vehicle depth: 74.945866 # Seafloor depth: -147.770738 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 36.41; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.079937 meters # Minimum depth: 115.293416 meters looking forward 100.000000 meters along route # Maximum depth: 123.919432 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.293416 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.782241; longitude = -121.877687; duration = 206; initialDepth = 60.033023; finalDepth = 65.293416; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.824872 # Actual altitude: 72.824872 # Commanded vehicle depth: 65.293416 # Seafloor depth: -123.919432 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 36.41; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.080196 meters # Minimum depth: 110.033023 meters looking forward 100.000000 meters along route # Maximum depth: 114.714457 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.033023 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.781430; longitude = -121.877124; duration = 206; initialDepth = 57.523681; finalDepth = 60.033023; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.626016 # Actual altitude: 58.626016 # Commanded vehicle depth: 60.033023 # Seafloor depth: -114.714457 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.31; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.080458 meters # Minimum depth: 107.523681 meters looking forward 100.000000 meters along route # Maximum depth: 109.559884 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.523681 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780619; longitude = -121.876561; duration = 206; initialDepth = 54.140653; finalDepth = 57.523681; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.681434 # Actual altitude: 54.681434 # Commanded vehicle depth: 57.523681 # Seafloor depth: -109.559884 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.34; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.080717 meters # Minimum depth: 104.140653 meters looking forward 100.000000 meters along route # Maximum depth: 107.924605 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.140653 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779808; longitude = -121.875998; duration = 206; initialDepth = 51.705628; finalDepth = 54.140653; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.783952 # Actual altitude: 53.783952 # Commanded vehicle depth: 54.140653 # Seafloor depth: -107.924605 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.89; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.080979 meters # Minimum depth: 101.705628 meters looking forward 100.000000 meters along route # Maximum depth: 104.170771 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 51.705628 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778996; longitude = -121.875435; duration = 206; initialDepth = 49.245670; finalDepth = 51.705628; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.783952 # Actual altitude: 53.783952 # Commanded vehicle depth: 51.705628 # Seafloor depth: -104.170771 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.89; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 106.899067 meters # Minimum depth: 99.245670 meters looking forward 100.000000 meters along route # Maximum depth: 101.653133 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.245670 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778185; longitude = -121.874872; duration = 213; initialDepth = 49.210999; finalDepth = 49.245670; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.465143 # Actual altitude: 52.465143 # Commanded vehicle depth: 49.24567 # Seafloor depth: -101.653133 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; HiSS_Range = 175; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.23; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; 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; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Waypoint type: 3 # Commanded altitude: 52.407463 # Sonar parameter altitude: 52.407463 # Commanded vehicle depth: 49.210999 # Seafloor depth: -99.210999 # behavior reson { duration = 6; subsys = SBP; pulseFile = SB106DW__1_5__4_5__12FM_25MS_BLANK.spf; } behavior reson { duration = 6; subsys = LoSS; pulseFile = SS_120__12__8_3__FM_SS.spf; } behavior reson { duration = 6; 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 = 200.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 175.00; HiSS_Mode = 1; HiSS_Power = 100.0; HiSS_Range = 175; MB_Power = 220; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.20; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; 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: 99.210999 meters looking forward 100.000000 meters along route # Maximum depth: 101.385731 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 369.517856 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.210999 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777344; longitude = -121.874288; duration = 1000; initialDepth = 49.210999; finalDepth = 49.210999; 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 = 32.0; pitch = -20.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 32.0; 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 = 200.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 175.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 175; 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; } # ####################################################### ####################################################### ####################################################### #######################################################