# This MBARI Mapping AUV mission file has been generated # by the MB-System program mbm_route2mission run by # user on cpu at # # Program mbm_route2mission version: # : mbm_route2mission 2269 2016-03-23 07:32:42Z caress r # # Mission Summary: # Route File: 2016_WallTest_16v1.rte # Mission File: 2016_WallTest_16v1.cfg # Distance: 7738.221080 (m) # Estimated Time: 6977 (s) 1.938 (hr) # Abort Time: 9070 (s) # Max battery life: 68400 (s) # Safety margin: 1800 (s) # Ascend time: 1402 (s) # Way Points: 19 # Route Points: 19 # Survey Behaviors: # Behavior for waypoint mode 0: WaypointDepth # Behavior for waypoint mode 1: WaypointWall # Behavior for waypoint mode 2: WaypointWall # Behavior for waypoint mode 3: WaypointWall # Behavior for waypoint mode 4: WaypointWall # Descent style: Waypoint descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 20 dB # Multibeam transmit gain: 218 dB # Multibeam pulse width: 6e-05 usec # Multibeam minimum range fraction: 0.3 # Multibeam maximum range fraction: 5.0 # Subbottom disabled # Low sidescan disabled # High sidescan disabled # 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) # Minimum Vehicle Altitude 1: 40 (m) # Abort Vehicle Altitude 1: 20 (m) # Delta Depth Restart 1: 20 (m) # Desired Vehicle Altitude 1: 50 (m) # Desired Vehicle Altitude 2: 50 (m) # Desired Vehicle Altitude 3: 50 (m) # Constant Vehicle Depth 1: 900 (m) # Constant Vehicle Depth 2: 900 (m) # Maximum Vehicle Depth: 969.059387 (m) # Abort Vehicle Depth: 989.059387 (m) # Descent Vehicle Depth: 3 (m) # Waypoint Spacing: 2000 (m) # Maximum climb rate: 36.0 (degrees) # 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 -121.972032 36.798672 -105.294687 0.000000 3 # 1 -121.971315 36.789318 -348.363022 1039.711262 1 # 2 -121.982140 36.774989 -810.603729 2899.875273 1 # 3 -121.983664 36.773565 -861.286102 3108.338513 1 # 4 -121.985957 36.772405 -913.532104 3350.086294 1 # 5 -121.991306 36.774773 -945.598145 3894.984632 1 # 6 -121.993636 36.774809 -951.245651 4102.967752 9 # 7 -121.995676 36.773583 -937.570297 4330.227291 1 # 8 -121.997850 36.773565 -946.527649 4524.262758 1 # 9 -122.001757 36.774280 -973.525360 4881.861491 1 # 10 -122.004827 36.774514 -981.857376 5157.076707 1 # 11 -122.006844 36.775253 -988.920944 5354.877145 3 # 12 -122.000703 36.776227 -943.799179 5913.483666 9 # 13 -121.995676 36.773583 -937.570297 6449.505373 1 # 14 -121.997850 36.773565 -946.527649 6643.540840 1 # 15 -122.001757 36.774280 -973.525360 7001.139573 1 # 16 -122.004820 36.774520 -981.857376 7275.796571 1 # 17 -122.006867 36.775253 -989.059387 7475.765046 3 # 18 -122.005410 36.777308 -934.913925 7738.221080 3 # # A total of 19 mission points have been defined. # # Define Mission parameters: #define SURVEY_SPEED 1.500000 #define ASCENTDESCENT_SPEED 1.500000 #define TRANSIT_SPEED 1.500000 #define MISSION_DISTANCE 7738.221080 #define MISSION_TIMEOUT 9070 #define DEPTH_MAX 969.059387 #define DEPTH_ABORT 989.059387 #define ALTITUDE_DESIRED 50.000000 #define ALTITUDE_MIN 40.000000 #define ALTITUDE_ABORT 20.000000 #define DELTA_DEPTH_RESTART 20.000000 #define ALTITUDE_DESIRED2 50.000000 #define ALTITUDE_DESIRED3 50.000000 #define DEPTH_CONSTANT 900.000000 #define DEPTH_CONSTANT2 900.000000 #define GPS_DURATION 600 #define DESCENT_DEPTH 3.000000 #define SPIRAL_DESCENT_DEPTH 0.000000 #define SPIRAL_DESCENT_ALTITUDE 0.000000 #define DESCEND_DURATION 300 #define SETPOINT_DURATION 30 #define GPSMINHITS 10 #define ASCENDRUDDER 3.000000 #define ASCENDPITCH 45.000000 #define ASCENDENDDEPTH 2.000000 #define DESCENDRUDDER 2.000000 #define DESCENDPITCH -35.000000 #define RESON_DURATION 6 # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = MISSION_TIMEOUT; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = DEPTH_MAX; abortDepth = DEPTH_ABORT; minAltitude = ALTITUDE_MIN; abortAltitude = ALTITUDE_ABORT; deltaDepthRestart = DELTA_DEPTH_RESTART; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 2000; horizontalMode = rudder; horizontal = ASCENDRUDDER; pitch = ASCENDPITCH; speed = ASCENTDESCENT_SPEED; endDepth = ASCENDENDDEPTH; } # # 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 = RESON_DURATION; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 262.456034 meters # Minimum depth: 934.913925 meters looking forward 0.000000 meters along route # Maximum depth: 934.913925 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.059387 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 884.913925 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777308; longitude = -122.005410; duration = 1049; # abortOnTimeout = True; initialDepth = 939.059387; finalDepth = 884.913925; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 884.913925 # Seafloor depth: -934.913925 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_wall behavior to get to end of line 17 # Segment length 199.968475 meters # Minimum depth: 989.059387 meters looking forward 0.000000 meters along route # Maximum depth: 989.059387 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.059387 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 939.059387 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.775253; longitude = -122.006867; lastLatitude = 36.774520; lastLongitude = -122.004820; duration = 799; # abortOnTimeout = True; initialDepth = 900.000000; finalDepth = 939.059387; speed = SURVEY_SPEED; maxCrossTrackError = 15; starboardMaxCrossTrackError = 40; standOff = 50; sonarTimeOut = 2; useWallEstimator = True; filterType = 3; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 939.059387 # Seafloor depth: -989.059387 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_wall behavior to get to end of line 16 # Segment length 274.656998 meters # Minimum depth: 981.857376 meters looking forward 0.000000 meters along route # Maximum depth: 981.857376 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.059387 meters # Constant vehicle depth: 900.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 900.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774520; longitude = -122.004820; lastLatitude = 36.774280; lastLongitude = -122.001757; duration = 1098; # abortOnTimeout = True; initialDepth = 900.000000; finalDepth = 900.000000; speed = SURVEY_SPEED; maxCrossTrackError = 15; starboardMaxCrossTrackError = 40; standOff = 50; sonarTimeOut = 2; useWallEstimator = True; filterType = 3; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 81.857376 # Actual altitude: 81.857376 # Commanded vehicle depth: 900 # Seafloor depth: -981.857376 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 24.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_wall behavior to get to end of line 15 # Segment length 357.598733 meters # Minimum depth: 973.525360 meters looking forward 0.000000 meters along route # Maximum depth: 973.525360 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.059387 meters # Constant vehicle depth: 900.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 900.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774280; longitude = -122.001757; lastLatitude = 36.773565; lastLongitude = -121.997850; duration = 1430; # abortOnTimeout = True; initialDepth = 900.000000; finalDepth = 900.000000; speed = SURVEY_SPEED; maxCrossTrackError = 15; starboardMaxCrossTrackError = 40; standOff = 50; sonarTimeOut = 2; useWallEstimator = True; filterType = 3; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 81.857376 # Actual altitude: 81.857376 # Commanded vehicle depth: 900 # Seafloor depth: -973.525360 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 24.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_wall behavior to get to end of line 14 # Segment length 194.035467 meters # Minimum depth: 946.527649 meters looking forward 0.000000 meters along route # Maximum depth: 946.527649 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.059387 meters # Constant vehicle depth: 900.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 900.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773565; longitude = -121.997850; lastLatitude = 36.773583; lastLongitude = -121.995676; duration = 776; # abortOnTimeout = True; initialDepth = 900.000000; finalDepth = 900.000000; speed = SURVEY_SPEED; maxCrossTrackError = 15; starboardMaxCrossTrackError = 40; standOff = 50; sonarTimeOut = 2; useWallEstimator = True; filterType = 3; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 73.52536 # Actual altitude: 73.52536 # Commanded vehicle depth: 900 # Seafloor depth: -946.527649 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 22.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_wall behavior to get to end of line 13 # Segment length 536.021707 meters # Minimum depth: 937.570297 meters looking forward 0.000000 meters along route # Maximum depth: 937.570297 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.059387 meters # Constant vehicle depth: 900.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 900.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773583; longitude = -121.995676; lastLatitude = 36.776227; lastLongitude = -122.000703; duration = 2144; # abortOnTimeout = True; initialDepth = 900.000000; finalDepth = 900.000000; speed = SURVEY_SPEED; maxCrossTrackError = 15; starboardMaxCrossTrackError = 40; standOff = 50; sonarTimeOut = 2; useWallEstimator = True; filterType = 3; } ####################################################### # Reset sonar parameters # Waypoint type: 9 # Commanded altitude: 46.527649 # Actual altitude: 46.527649 # Commanded vehicle depth: 900 # Seafloor depth: -937.570297 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 13.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 12 # Segment length 558.606521 meters # Minimum depth: 943.799179 meters looking forward 0.000000 meters along route # Maximum depth: 943.799179 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.059387 meters # Constant vehicle depth: 900.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 900.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776227; longitude = -122.000703; duration = 2234; # abortOnTimeout = True; initialDepth = 938.920944; finalDepth = 900.000000; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 43.799179 # Actual altitude: 43.799179 # Commanded vehicle depth: 900 # Seafloor depth: -943.799179 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 13.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } behavior waypoint_wall_escape { duration = 30; depth = 900; speed = 1.500000; distance = 10; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_wall behavior to get to end of line 11 # Segment length 197.800438 meters # Minimum depth: 988.920944 meters looking forward 0.000000 meters along route # Maximum depth: 988.920944 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.059387 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 938.920944 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.775253; longitude = -122.006844; lastLatitude = 36.774514; lastLongitude = -122.004827; duration = 791; # abortOnTimeout = True; initialDepth = 900.000000; finalDepth = 938.920944; speed = SURVEY_SPEED; maxCrossTrackError = 15; starboardMaxCrossTrackError = 40; standOff = 50; sonarTimeOut = 2; useWallEstimator = True; filterType = 2; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 938.920944 # Seafloor depth: -988.920944 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_wall behavior to get to end of line 10 # Segment length 275.215216 meters # Minimum depth: 981.857376 meters looking forward 0.000000 meters along route # Maximum depth: 981.857376 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.059387 meters # Constant vehicle depth: 900.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 900.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774514; longitude = -122.004827; lastLatitude = 36.774280; lastLongitude = -122.001757; duration = 1100; # abortOnTimeout = True; initialDepth = 900.000000; finalDepth = 900.000000; speed = SURVEY_SPEED; maxCrossTrackError = 15; starboardMaxCrossTrackError = 40; standOff = 50; sonarTimeOut = 2; useWallEstimator = True; filterType = 2; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 81.857376 # Actual altitude: 81.857376 # Commanded vehicle depth: 900 # Seafloor depth: -981.857376 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 24.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_wall behavior to get to end of line 9 # Segment length 357.598733 meters # Minimum depth: 973.525360 meters looking forward 0.000000 meters along route # Maximum depth: 973.525360 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.059387 meters # Constant vehicle depth: 900.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 900.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774280; longitude = -122.001757; lastLatitude = 36.773565; lastLongitude = -121.997850; duration = 1430; # abortOnTimeout = True; initialDepth = 900.000000; finalDepth = 900.000000; speed = SURVEY_SPEED; maxCrossTrackError = 15; starboardMaxCrossTrackError = 40; standOff = 50; sonarTimeOut = 2; useWallEstimator = True; filterType = 3; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 81.857376 # Actual altitude: 81.857376 # Commanded vehicle depth: 900 # Seafloor depth: -973.525360 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 24.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_wall behavior to get to end of line 8 # Segment length 194.035467 meters # Minimum depth: 946.527649 meters looking forward 0.000000 meters along route # Maximum depth: 946.527649 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.059387 meters # Constant vehicle depth: 900.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 900.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773565; longitude = -121.997850; lastLatitude = 36.773583; lastLongitude = -121.995676; duration = 776; # abortOnTimeout = True; initialDepth = 900.000000; finalDepth = 900.000000; speed = SURVEY_SPEED; maxCrossTrackError = 15; starboardMaxCrossTrackError = 40; standOff = 50; sonarTimeOut = 2; useWallEstimator = True; filterType = 2; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 73.52536 # Actual altitude: 73.52536 # Commanded vehicle depth: 900 # Seafloor depth: -946.527649 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 22.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_wall behavior to get to end of line 7 # Segment length 227.259539 meters # Minimum depth: 937.570297 meters looking forward 0.000000 meters along route # Maximum depth: 937.570297 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.059387 meters # Constant vehicle depth: 900.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 900.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773583; longitude = -121.995676; lastLatitude = 36.774809; lastLongitude = -121.993636; duration = 909; # abortOnTimeout = True; initialDepth = 900.000000; finalDepth = 900.000000; speed = SURVEY_SPEED; maxCrossTrackError = 15; starboardMaxCrossTrackError = 40; standOff = 50; sonarTimeOut = 2; useWallEstimator = True; filterType = 2; } ####################################################### # Reset sonar parameters # Waypoint type: 9 # Commanded altitude: 46.527649 # Actual altitude: 46.527649 # Commanded vehicle depth: 900 # Seafloor depth: -937.570297 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 13.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 6 # Segment length 207.983120 meters # Minimum depth: 951.245651 meters looking forward 0.000000 meters along route # Maximum depth: 951.245651 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.059387 meters # Constant vehicle depth: 900.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 900.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774809; longitude = -121.993636; duration = 831; # abortOnTimeout = True; initialDepth = 895.598145; finalDepth = 900.000000; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.245651 # Actual altitude: 51.245651 # Commanded vehicle depth: 900 # Seafloor depth: -951.245651 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 544.898338 meters # Minimum depth: 945.598145 meters looking forward 0.000000 meters along route # Maximum depth: 945.598145 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.059387 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 895.598145 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774773; longitude = -121.991306; duration = 2179; # abortOnTimeout = True; initialDepth = 863.532104; finalDepth = 895.598145; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.245651 # Actual altitude: 51.245651 # Commanded vehicle depth: 895.598145 # Seafloor depth: -945.598145 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 241.747781 meters # Minimum depth: 913.532104 meters looking forward 0.000000 meters along route # Maximum depth: 913.532104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.059387 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 863.532104 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.772405; longitude = -121.985957; duration = 966; # abortOnTimeout = True; initialDepth = 811.286102; finalDepth = 863.532104; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 863.532104 # Seafloor depth: -913.532104 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 208.463240 meters # Minimum depth: 861.286102 meters looking forward 0.000000 meters along route # Maximum depth: 861.286102 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.059387 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 811.286102 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773565; longitude = -121.983664; duration = 833; # abortOnTimeout = True; initialDepth = 760.603729; finalDepth = 811.286102; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 811.286102 # Seafloor depth: -861.286102 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 1860.164011 meters # Minimum depth: 810.603729 meters looking forward 0.000000 meters along route # Maximum depth: 810.603729 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.059387 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 760.603729 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774989; longitude = -121.982140; duration = 7440; # abortOnTimeout = True; initialDepth = 298.363022; finalDepth = 760.603729; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 760.603729 # Seafloor depth: -810.603729 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 1039.711262 meters # Minimum depth: 348.363022 meters looking forward 0.000000 meters along route # Maximum depth: 348.363022 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.059387 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 298.363022 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789318; longitude = -121.971315; duration = 4158; # abortOnTimeout = True; initialDepth = 55.294687; finalDepth = 298.363022; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 298.363022 # Seafloor depth: -348.363022 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 = RESON_DURATION; Log_Mode = 2; } # Set sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Sonar parameter altitude: 50 # Commanded vehicle depth: 55.294687 # Seafloor depth: -105.294687 # behavior reson { duration = RESON_DURATION; MB_Power = 218; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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; Log_Mode = 0; } # ####################################################### # # Waypoint behavior to get to start of line 1 # Segment length 0.000000 meters # Minimum depth: 105.294687 meters looking forward 0.000000 meters along route # Maximum depth: 105.294687 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 969.059387 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 55.294687 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint { latitude = 36.798672; longitude = -121.972032; duration = 600; depth = 55.294687; speed = SURVEY_SPEED; } # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 175.856373; pitch = DESCENDPITCH; speed = ASCENTDESCENT_SPEED; maxDepth = DESCENT_DEPTH; minAltitude = ALTITUDE_MIN; duration = DESCEND_DURATION; } # # setpoint on surface to gather momentum behavior setpoint { duration = SETPOINT_DURATION; heading = 175.856373; speed = ASCENTDESCENT_SPEED; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = RESON_DURATION; 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 = 20; 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; } # ####################################################### ####################################################### ####################################################### #######################################################