# 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: 20130226_MAUVTest_1v1.rte # Mission File: 20130226_MAUVTest_1v1.cfg # Distance: 4595.554367 (m) # Estimated Time: 5876 (s) 1.632 (hr) # Abort Time: 7639 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 477 (s) # Way Points: 7 # Route Points: 43 # Survey behavior: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 50 dB # Multibeam transmit gain: 220 dB # Multibeam pulse width: 6e-05 usec # Multibeam minimum range fraction: 0.3 # Subbottom enabled # Low sidescan enabled # High sidescan enabled # Benthic imaging camera control disabled: # # Mission Parameters: # Vehicle Survey Speed: 1.000000 (m/s) 1.943846 (knots) # Vehicle Ascent Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Transit Speed: 1.500000 (m/s) 2.915769 (knots) # Minimum Vehicle Altitude 1: 50 (m) # Abort Vehicle Altitude 1: 25 (m) # Delta Depth Restart 1: 25 (m) # Desired Vehicle Altitude 1: 50 (m) # Desired Vehicle Altitude 2: 50 (m) # Desired Vehicle Altitude 3: 50 (m) # Constant Vehicle Depth 1: 50 (m) # Constant Vehicle Depth 2: 50 (m) # Maximum Vehicle Depth: 372.795085 (m) # Abort Vehicle Depth: 397.795085 (m) # Descent Vehicle Depth: 3 (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 -121.874618 36.778137 -100.124522 0.000000 3 # 1 -121.883426 36.790538 -370.069173 1584.428409 3 # 2 -121.890523 36.793770 -397.795085 2312.157943 3 # 3 -121.884950 36.791222 -382.567871 2884.117817 3 # 4 -121.890485 36.793746 -397.276855 3451.863203 3 # 5 -121.884920 36.791228 -382.576701 4021.602669 3 # 6 -121.890523 36.793770 -397.795085 4595.554367 4 # # A total of 43 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 2700; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 372.795085; abortDepth = 397.795085; minAltitude = 50.000000; abortAltitude = 25.000000; deltaDepthRestart = 25.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 477; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # # Acoustic update 1 - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 170.653402 meters # Minimum depth: 397.795085 meters looking forward 0.000000 meters along route # Maximum depth: 397.795085 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 372.795085 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 347.795085 meters set by local depth and desired altitude # Vehicle survey speed: 1.000000 m/s behavior waypoint_depth { latitude = 36.793770; longitude = -121.890523; duration = 511; # abortOnTimeout = True; initialDepth = 328.404044; finalDepth = 347.795085; speed = 1.000000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 347.795085 # Seafloor depth: -397.795085 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; 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 = 15.00; 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 6 # Segment length 101.015195 meters # Minimum depth: 378.404044 meters looking forward 0.000000 meters along route # Maximum depth: 378.404044 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 372.795085 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 328.404044 meters set by local depth and desired altitude # Vehicle survey speed: 1.000000 m/s behavior waypoint_depth { latitude = 36.793014; longitude = -121.888857; duration = 303; initialDepth = 327.353568; finalDepth = 328.404044; speed = 1.000000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 328.404044 # Seafloor depth: -378.404044 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; 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 = 15.00; 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 6 # Segment length 101.466140 meters # Minimum depth: 377.353568 meters looking forward 0.000000 meters along route # Maximum depth: 377.353568 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 372.795085 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 327.353568 meters set by local depth and desired altitude # Vehicle survey speed: 1.000000 m/s behavior waypoint_depth { latitude = 36.792567; longitude = -121.887871; duration = 304; initialDepth = 329.519081; finalDepth = 327.353568; speed = 1.000000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 327.353568 # Seafloor depth: -377.353568 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; 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 = 15.00; 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 6 # Segment length 100.565647 meters # Minimum depth: 379.519081 meters looking forward 0.000000 meters along route # Maximum depth: 379.519081 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 372.795085 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 329.519081 meters set by local depth and desired altitude # Vehicle survey speed: 1.000000 m/s behavior waypoint_depth { latitude = 36.792118; longitude = -121.886880; duration = 301; initialDepth = 330.873887; finalDepth = 329.519081; speed = 1.000000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 329.519081 # Seafloor depth: -379.519081 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; 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 = 15.00; 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 6 # Segment length 100.251314 meters # Minimum depth: 380.873887 meters looking forward 0.000000 meters along route # Maximum depth: 380.873887 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 372.795085 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.873887 meters set by local depth and desired altitude # Vehicle survey speed: 1.000000 m/s behavior waypoint_depth { latitude = 36.791672; longitude = -121.885899; duration = 300; initialDepth = 332.576701; finalDepth = 330.873887; speed = 1.000000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 330.873887 # Seafloor depth: -380.873887 # behavior reson { duration = 6; subsys = SBP; pulseFile = SB106DW__1_5__4_5__33FM_TSB.spf; } behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; 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 = 15.00; 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 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 166.717241 meters # Minimum depth: 382.576701 meters looking forward 0.000000 meters along route # Maximum depth: 382.576701 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 372.795085 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.576701 meters set by local depth and desired altitude # Vehicle survey speed: 1.000000 m/s behavior waypoint_depth { latitude = 36.791228; longitude = -121.884920; duration = 500; # abortOnTimeout = True; initialDepth = 330.011906; finalDepth = 332.576701; speed = 1.000000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 332.576701 # Seafloor depth: -382.576701 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; 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 = 15.00; 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 5 # Segment length 100.947438 meters # Minimum depth: 380.011906 meters looking forward 0.000000 meters along route # Maximum depth: 380.011906 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 372.795085 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.011906 meters set by local depth and desired altitude # Vehicle survey speed: 1.000000 m/s behavior waypoint_depth { latitude = 36.791965; longitude = -121.886548; duration = 302; initialDepth = 328.024033; finalDepth = 330.011906; speed = 1.000000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 330.011906 # Seafloor depth: -380.011906 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; 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 = 15.00; 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 5 # Segment length 100.946974 meters # Minimum depth: 378.024033 meters looking forward 0.000000 meters along route # Maximum depth: 378.024033 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 372.795085 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 328.024033 meters set by local depth and desired altitude # Vehicle survey speed: 1.000000 m/s behavior waypoint_depth { latitude = 36.792411; longitude = -121.887535; duration = 302; initialDepth = 326.432342; finalDepth = 328.024033; speed = 1.000000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 328.024033 # Seafloor depth: -378.024033 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; 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 = 15.00; 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 5 # Segment length 100.946509 meters # Minimum depth: 376.432342 meters looking forward 0.000000 meters along route # Maximum depth: 376.432342 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 372.795085 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 326.432342 meters set by local depth and desired altitude # Vehicle survey speed: 1.000000 m/s behavior waypoint_depth { latitude = 36.792857; longitude = -121.888521; duration = 302; initialDepth = 339.636227; finalDepth = 326.432342; speed = 1.000000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 326.432342 # Seafloor depth: -376.432342 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; 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 = 15.00; 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 5 # Segment length 100.181304 meters # Minimum depth: 389.636227 meters looking forward 0.000000 meters along route # Maximum depth: 389.636227 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 372.795085 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 339.636227 meters set by local depth and desired altitude # Vehicle survey speed: 1.000000 m/s behavior waypoint_depth { latitude = 36.793303; longitude = -121.889507; duration = 300; initialDepth = 347.276855; finalDepth = 339.636227; speed = 1.000000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 339.636227 # Seafloor depth: -389.636227 # behavior reson { duration = 6; subsys = SBP; pulseFile = SB106DW__1_5__6_5__12FM.spf; } behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; 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 = 15.00; 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 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 164.728926 meters # Minimum depth: 397.276855 meters looking forward 0.000000 meters along route # Maximum depth: 397.276855 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 372.795085 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 347.276855 meters set by local depth and desired altitude # Vehicle survey speed: 1.000000 m/s behavior waypoint_depth { latitude = 36.793746; longitude = -121.890485; duration = 494; # abortOnTimeout = True; initialDepth = 328.567595; finalDepth = 347.276855; speed = 1.000000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 347.276855 # Seafloor depth: -397.276855 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; 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 = 15.00; 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 4 # Segment length 101.136513 meters # Minimum depth: 378.567595 meters looking forward 0.000000 meters along route # Maximum depth: 378.567595 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 372.795085 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 328.567595 meters set by local depth and desired altitude # Vehicle survey speed: 1.000000 m/s behavior waypoint_depth { latitude = 36.793014; longitude = -121.888879; duration = 303; initialDepth = 327.337830; finalDepth = 328.567595; speed = 1.000000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 328.567595 # Seafloor depth: -378.567595 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; 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 = 15.00; 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 4 # Segment length 101.136981 meters # Minimum depth: 377.337830 meters looking forward 0.000000 meters along route # Maximum depth: 377.337830 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 372.795085 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 327.337830 meters set by local depth and desired altitude # Vehicle survey speed: 1.000000 m/s behavior waypoint_depth { latitude = 36.792564; longitude = -121.887893; duration = 303; initialDepth = 329.467278; finalDepth = 327.337830; speed = 1.000000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 327.33783 # Seafloor depth: -377.337830 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; 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 = 15.00; 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 4 # Segment length 100.710567 meters # Minimum depth: 379.467278 meters looking forward 0.000000 meters along route # Maximum depth: 379.467278 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 372.795085 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 329.467278 meters set by local depth and desired altitude # Vehicle survey speed: 1.000000 m/s behavior waypoint_depth { latitude = 36.792115; longitude = -121.886907; duration = 302; initialDepth = 330.876782; finalDepth = 329.467278; speed = 1.000000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 329.467278 # Seafloor depth: -379.467278 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; 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 = 15.00; 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 4 # Segment length 100.032399 meters # Minimum depth: 380.876782 meters looking forward 0.000000 meters along route # Maximum depth: 380.876782 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 372.795085 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.876782 meters set by local depth and desired altitude # Vehicle survey speed: 1.000000 m/s behavior waypoint_depth { latitude = 36.791667; longitude = -121.885925; duration = 300; initialDepth = 332.567871; finalDepth = 330.876782; speed = 1.000000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 330.876782 # Seafloor depth: -380.876782 # behavior reson { duration = 6; subsys = SBP; pulseFile = SB106DW__1_5__5_5__12FM.spf; } behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; 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 = 15.00; 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 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 166.375929 meters # Minimum depth: 382.567871 meters looking forward 0.000000 meters along route # Maximum depth: 382.567871 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 372.795085 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.567871 meters set by local depth and desired altitude # Vehicle survey speed: 1.000000 m/s behavior waypoint_depth { latitude = 36.791222; longitude = -121.884950; duration = 499; # abortOnTimeout = True; initialDepth = 330.033618; finalDepth = 332.567871; speed = 1.000000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 332.567871 # Seafloor depth: -382.567871 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; 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 = 15.00; 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 3 # Segment length 101.205015 meters # Minimum depth: 380.033618 meters looking forward 0.000000 meters along route # Maximum depth: 380.033618 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 372.795085 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.033618 meters set by local depth and desired altitude # Vehicle survey speed: 1.000000 m/s behavior waypoint_depth { latitude = 36.791963; longitude = -121.886571; duration = 303; initialDepth = 328.034981; finalDepth = 330.033618; speed = 1.000000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 330.033618 # Seafloor depth: -380.033618 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; 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 = 15.00; 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 3 # Segment length 101.204548 meters # Minimum depth: 378.034981 meters looking forward 0.000000 meters along route # Maximum depth: 378.034981 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 372.795085 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 328.034981 meters set by local depth and desired altitude # Vehicle survey speed: 1.000000 m/s behavior waypoint_depth { latitude = 36.792414; longitude = -121.887557; duration = 303; initialDepth = 326.504997; finalDepth = 328.034981; speed = 1.000000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 328.034981 # Seafloor depth: -378.034981 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; 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 = 15.00; 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 3 # Segment length 101.204079 meters # Minimum depth: 376.504997 meters looking forward 0.000000 meters along route # Maximum depth: 376.504997 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 372.795085 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 326.504997 meters set by local depth and desired altitude # Vehicle survey speed: 1.000000 m/s behavior waypoint_depth { latitude = 36.792865; longitude = -121.888543; duration = 303; initialDepth = 340.028733; finalDepth = 326.504997; speed = 1.000000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 326.504997 # Seafloor depth: -376.504997 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; 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 = 15.00; 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 3 # Segment length 101.970303 meters # Minimum depth: 390.028733 meters looking forward 0.000000 meters along route # Maximum depth: 390.028733 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 372.795085 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 340.028733 meters set by local depth and desired altitude # Vehicle survey speed: 1.000000 m/s behavior waypoint_depth { latitude = 36.793316; longitude = -121.889529; duration = 305; initialDepth = 347.795085; finalDepth = 340.028733; speed = 1.000000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 340.028733 # Seafloor depth: -390.028733 # behavior reson { duration = 6; subsys = SBP; pulseFile = SB106DW__1_5__4_5__12FM.spf; } behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; 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 = 15.00; 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 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 122.563280 meters # Minimum depth: 397.795085 meters looking forward 0.000000 meters along route # Maximum depth: 397.795085 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 372.795085 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 347.795085 meters set by local depth and desired altitude # Vehicle survey speed: 1.000000 m/s behavior waypoint_depth { latitude = 36.793770; longitude = -121.890523; duration = 367; # abortOnTimeout = True; initialDepth = 336.385810; finalDepth = 347.795085; speed = 1.000000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 347.795085 # Seafloor depth: -397.795085 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; 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 = 15.00; 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 2 # Segment length 101.115223 meters # Minimum depth: 386.385810 meters looking forward 0.000000 meters along route # Maximum depth: 386.385810 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 372.795085 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 336.385810 meters set by local depth and desired altitude # Vehicle survey speed: 1.000000 m/s behavior waypoint_depth { latitude = 36.793225; longitude = -121.889327; duration = 303; initialDepth = 326.212250; finalDepth = 336.385810; speed = 1.000000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 336.38581 # Seafloor depth: -386.385810 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; 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 = 15.00; 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 2 # Segment length 101.115690 meters # Minimum depth: 376.212250 meters looking forward 0.000000 meters along route # Maximum depth: 376.212250 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 372.795085 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 326.212250 meters set by local depth and desired altitude # Vehicle survey speed: 1.000000 m/s behavior waypoint_depth { latitude = 36.792776; longitude = -121.888341; duration = 303; initialDepth = 328.398715; finalDepth = 326.212250; speed = 1.000000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 326.21225 # Seafloor depth: -376.212250 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; 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 = 15.00; 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 2 # Segment length 101.116157 meters # Minimum depth: 378.398715 meters looking forward 0.000000 meters along route # Maximum depth: 378.398715 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 372.795085 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 328.398715 meters set by local depth and desired altitude # Vehicle survey speed: 1.000000 m/s behavior waypoint_depth { latitude = 36.792327; longitude = -121.887355; duration = 303; initialDepth = 330.210367; finalDepth = 328.398715; speed = 1.000000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 328.398715 # Seafloor depth: -378.398715 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; 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 = 15.00; 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 2 # Segment length 101.116623 meters # Minimum depth: 380.210367 meters looking forward 0.000000 meters along route # Maximum depth: 380.210367 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 372.795085 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.210367 meters set by local depth and desired altitude # Vehicle survey speed: 1.000000 m/s behavior waypoint_depth { latitude = 36.791878; longitude = -121.886369; duration = 303; initialDepth = 331.851450; finalDepth = 330.210367; speed = 1.000000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 330.210367 # Seafloor depth: -380.210367 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; 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 = 15.00; 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 2 # Segment length 100.604499 meters # Minimum depth: 381.851450 meters looking forward 0.000000 meters along route # Maximum depth: 381.851450 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 372.795085 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 331.851450 meters set by local depth and desired altitude # Vehicle survey speed: 1.000000 m/s behavior waypoint_depth { latitude = 36.791429; longitude = -121.885383; duration = 301; initialDepth = 332.999562; finalDepth = 331.851450; speed = 1.000000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 331.85145 # Seafloor depth: -381.851450 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; 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 = 15.00; 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 2 # Segment length 100.098062 meters # Minimum depth: 382.999562 meters looking forward 0.000000 meters along route # Maximum depth: 382.999562 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 372.795085 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.999562 meters set by local depth and desired altitude # Vehicle survey speed: 1.000000 m/s behavior waypoint_depth { latitude = 36.790982; longitude = -121.884402; duration = 300; initialDepth = 320.069173; finalDepth = 332.999562; speed = 1.000000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 332.999562 # Seafloor depth: -382.999562 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; 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 = 15.00; 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 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 172.012906 meters # Minimum depth: 370.069173 meters looking forward 0.000000 meters along route # Maximum depth: 370.069173 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 372.795085 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 320.069173 meters set by local depth and desired altitude # Vehicle survey speed: 1.000000 m/s behavior waypoint_depth { latitude = 36.790538; longitude = -121.883426; duration = 516; # abortOnTimeout = True; initialDepth = 286.618243; finalDepth = 320.069173; speed = 1.000000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 320.069173 # Seafloor depth: -370.069173 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; 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 = 15.00; 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 1 # Segment length 100.789160 meters # Minimum depth: 336.618243 meters looking forward 0.000000 meters along route # Maximum depth: 336.618243 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 372.795085 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 286.618243 meters set by local depth and desired altitude # Vehicle survey speed: 1.000000 m/s behavior waypoint_depth { latitude = 36.789191; longitude = -121.882470; duration = 302; initialDepth = 274.131846; finalDepth = 286.618243; speed = 1.000000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 286.618243 # Seafloor depth: -336.618243 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; 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 = 15.00; 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 1 # Segment length 101.037483 meters # Minimum depth: 324.131846 meters looking forward 0.000000 meters along route # Maximum depth: 324.131846 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 372.795085 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 274.131846 meters set by local depth and desired altitude # Vehicle survey speed: 1.000000 m/s behavior waypoint_depth { latitude = 36.788402; longitude = -121.881909; duration = 303; initialDepth = 259.930598; finalDepth = 274.131846; speed = 1.000000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 274.131846 # Seafloor depth: -324.131846 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; 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 = 15.00; 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 1 # Segment length 101.328782 meters # Minimum depth: 309.930598 meters looking forward 0.000000 meters along route # Maximum depth: 309.930598 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 372.795085 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 259.930598 meters set by local depth and desired altitude # Vehicle survey speed: 1.000000 m/s behavior waypoint_depth { latitude = 36.787612; longitude = -121.881348; duration = 303; initialDepth = 233.799547; finalDepth = 259.930598; speed = 1.000000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 259.930598 # Seafloor depth: -309.930598 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; 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 = 15.00; 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 1 # Segment length 100.002754 meters # Minimum depth: 283.799547 meters looking forward 0.000000 meters along route # Maximum depth: 283.799547 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 372.795085 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 233.799547 meters set by local depth and desired altitude # Vehicle survey speed: 1.000000 m/s behavior waypoint_depth { latitude = 36.786819; longitude = -121.880784; duration = 300; initialDepth = 206.138034; finalDepth = 233.799547; speed = 1.000000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 233.799547 # Seafloor depth: -283.799547 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; 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 = 15.00; 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 1 # Segment length 100.790187 meters # Minimum depth: 256.138034 meters looking forward 0.000000 meters along route # Maximum depth: 256.138034 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 372.795085 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 206.138034 meters set by local depth and desired altitude # Vehicle survey speed: 1.000000 m/s behavior waypoint_depth { latitude = 36.786036; longitude = -121.880228; duration = 302; initialDepth = 174.718954; finalDepth = 206.138034; speed = 1.000000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 206.138034 # Seafloor depth: -256.138034 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; 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 = 15.00; 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 1 # Segment length 100.892015 meters # Minimum depth: 224.718954 meters looking forward 0.000000 meters along route # Maximum depth: 224.718954 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 372.795085 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 174.718954 meters set by local depth and desired altitude # Vehicle survey speed: 1.000000 m/s behavior waypoint_depth { latitude = 36.785247; longitude = -121.879668; duration = 302; initialDepth = 136.542090; finalDepth = 174.718954; speed = 1.000000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 174.718954 # Seafloor depth: -224.718954 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; 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 = 15.00; 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 1 # Segment length 101.329814 meters # Minimum depth: 186.542090 meters looking forward 0.000000 meters along route # Maximum depth: 186.542090 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 372.795085 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 136.542090 meters set by local depth and desired altitude # Vehicle survey speed: 1.000000 m/s behavior waypoint_depth { latitude = 36.784457; longitude = -121.879107; duration = 303; initialDepth = 111.174089; finalDepth = 136.542090; speed = 1.000000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 136.54209 # Seafloor depth: -186.542090 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; 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 = 15.00; 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 1 # Segment length 100.150271 meters # Minimum depth: 161.174089 meters looking forward 0.000000 meters along route # Maximum depth: 161.174089 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 372.795085 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 111.174089 meters set by local depth and desired altitude # Vehicle survey speed: 1.000000 m/s behavior waypoint_depth { latitude = 36.783664; longitude = -121.878544; duration = 300; initialDepth = 89.363701; finalDepth = 111.174089; speed = 1.000000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 111.174089 # Seafloor depth: -161.174089 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; 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 = 15.00; 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 1 # Segment length 100.791214 meters # Minimum depth: 139.363701 meters looking forward 0.000000 meters along route # Maximum depth: 139.363701 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 372.795085 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 89.363701 meters set by local depth and desired altitude # Vehicle survey speed: 1.000000 m/s behavior waypoint_depth { latitude = 36.782881; longitude = -121.877987; duration = 302; initialDepth = 70.747541; finalDepth = 89.363701; speed = 1.000000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 89.363701 # Seafloor depth: -139.363701 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; 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 = 15.00; 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 1 # Segment length 100.791471 meters # Minimum depth: 120.747541 meters looking forward 0.000000 meters along route # Maximum depth: 120.747541 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 372.795085 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 70.747541 meters set by local depth and desired altitude # Vehicle survey speed: 1.000000 m/s behavior waypoint_depth { latitude = 36.782092; longitude = -121.877427; duration = 302; initialDepth = 63.060355; finalDepth = 70.747541; speed = 1.000000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 70.747541 # Seafloor depth: -120.747541 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; 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 = 15.00; 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 1 # Segment length 101.285920 meters # Minimum depth: 113.060355 meters looking forward 0.000000 meters along route # Maximum depth: 113.060355 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 372.795085 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.060355 meters set by local depth and desired altitude # Vehicle survey speed: 1.000000 m/s behavior waypoint_depth { latitude = 36.781303; longitude = -121.876867; duration = 303; initialDepth = 58.639666; finalDepth = 63.060355; speed = 1.000000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 63.060355 # Seafloor depth: -113.060355 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; 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 = 15.00; 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 1 # Segment length 101.331106 meters # Minimum depth: 108.639666 meters looking forward 0.000000 meters along route # Maximum depth: 108.639666 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 372.795085 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.639666 meters set by local depth and desired altitude # Vehicle survey speed: 1.000000 m/s behavior waypoint_depth { latitude = 36.780510; longitude = -121.876304; duration = 303; initialDepth = 55.276045; finalDepth = 58.639666; speed = 1.000000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 58.639666 # Seafloor depth: -108.639666 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; 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 = 15.00; 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 1 # Segment length 101.331366 meters # Minimum depth: 105.276045 meters looking forward 0.000000 meters along route # Maximum depth: 105.276045 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 372.795085 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.276045 meters set by local depth and desired altitude # Vehicle survey speed: 1.000000 m/s behavior waypoint_depth { latitude = 36.779717; longitude = -121.875741; duration = 303; initialDepth = 52.635235; finalDepth = 55.276045; speed = 1.000000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 55.276045 # Seafloor depth: -105.276045 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; 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 = 15.00; 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 1 # Segment length 100.563960 meters # Minimum depth: 102.635235 meters looking forward 0.000000 meters along route # Maximum depth: 102.635235 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 372.795085 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.635235 meters set by local depth and desired altitude # Vehicle survey speed: 1.000000 m/s behavior waypoint_depth { latitude = 36.778924; longitude = -121.875177; duration = 301; initialDepth = 50.124522; finalDepth = 52.635235; speed = 1.000000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 52.635235 # Seafloor depth: -102.635235 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; 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 = 15.00; 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 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Sonar parameter altitude: 50 # Commanded vehicle depth: 50.124522 # Seafloor depth: -100.124522 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 300.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; HiSS_Mode = 1; HiSS_Power = 100.0; HiSS_Range = 200; MB_Power = 220; 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 = 15.00; 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; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 0.000000 meters # Minimum depth: 100.124522 meters looking forward 0.000000 meters along route # Maximum depth: 100.124522 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 372.795085 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 50.124522 meters set by local depth and desired altitude # Vehicle survey speed: 1.000000 m/s behavior waypoint_depth { latitude = 36.778137; longitude = -121.874618; duration = 600; initialDepth = 50.124522; finalDepth = 50.124522; speed = 1.000000; } ####################################################### # Acoustic update 6 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 224.0; pitch = -35.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 224.0; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 300.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### ####################################################### ####################################################### #######################################################