# 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 2270 2016-03-25 02:15:32Z caress r # # Mission Summary: # Route File: 2016_WallTest_18v1.rte # Mission File: 2016_WallTest_18v1.cfg # Distance: 10047.744367 (m) # Estimated Time: 8539 (s) 2.372 (hr) # Abort Time: 11101 (s) # Max battery life: 68400 (s) # Safety margin: 1800 (s) # Ascend time: 1436 (s) # Way Points: 25 # Route Points: 25 # 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: 968.547201 (m) # Abort Vehicle Depth: 988.547201 (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 -121.995653 36.773421 -927.689453 4339.902383 1 # 8 -121.997850 36.773385 -934.036377 4535.958553 1 # 9 -122.001779 36.774100 -974.559814 4895.508624 1 # 10 -122.004887 36.774340 -982.718669 5174.138883 1 # 11 -122.007001 36.775091 -988.547201 5380.393109 3 # 12 -122.000703 36.776227 -943.799179 5956.417106 9 # 13 -121.995653 36.773421 -927.689453 6504.145994 1 # 14 -121.997850 36.773385 -934.036377 6700.202163 1 # 15 -122.001772 36.774106 -974.490397 7059.249850 1 # 16 -122.004887 36.774340 -982.718669 7338.480920 1 # 17 -122.007001 36.775091 -988.547201 7544.735146 3 # 18 -121.995706 36.775253 -955.581055 8552.930457 9 # 19 -121.995676 36.773259 -929.771322 8774.207084 1 # 20 -121.997857 36.773217 -939.976888 8968.945342 1 # 21 -122.001802 36.773937 -955.173584 9329.943939 1 # 22 -122.004954 36.774160 -971.930745 9612.375371 1 # 23 -122.007083 36.774917 -987.343262 9820.119028 3 # 24 -122.006097 36.776809 -957.972931 10047.744367 4 # # A total of 25 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 10047.744367 #define MISSION_TIMEOUT 11101 #define DEPTH_MAX 968.547201 #define DEPTH_ABORT 988.547201 #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 24 # Segment length 227.625339 meters # Minimum depth: 957.972931 meters looking forward 0.000000 meters along route # Maximum depth: 957.972931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 968.547201 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 907.972931 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776809; longitude = -122.006097; duration = 910; # abortOnTimeout = True; initialDepth = 890; finalDepth = 890; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 907.972931 # Seafloor depth: -957.972931 # 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; } behavior waypoint_wall_escape { duration = 30; depth = 890; speed = 1.500000; distance = 10; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_wall behavior to get to end of line 23 # Segment length 207.743657 meters # Minimum depth: 987.343262 meters looking forward 0.000000 meters along route # Maximum depth: 987.343262 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 968.547201 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 937.343262 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774917; longitude = -122.007083; lastLatitude = 36.774160; lastLongitude = -122.004954; duration = 830; # abortOnTimeout = True; initialDepth = 890; finalDepth = 890; speed = SURVEY_SPEED; maxCrossTrackError = 10; starboardMaxCrossTrackError = 50; standOff = 30; sonarTimeOut = 2; useWallEstimator = True; filterType = 3; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 937.343262 # Seafloor depth: -987.343262 # 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 22 # Segment length 282.431432 meters # Minimum depth: 971.930745 meters looking forward 0.000000 meters along route # Maximum depth: 971.930745 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 968.547201 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 = 36.774160; longitude = -122.004954; lastLatitude = 36.773937; lastLongitude = -122.001802; duration = 1129; # abortOnTimeout = True; initialDepth = 890; finalDepth = 890; speed = SURVEY_SPEED; maxCrossTrackError = 10; starboardMaxCrossTrackError = 50; standOff = 30; sonarTimeOut = 2; useWallEstimator = True; filterType = 3; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 71.930745 # Actual altitude: 71.930745 # Commanded vehicle depth: 900 # Seafloor depth: -971.930745 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 21.58; 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 21 # Segment length 360.998597 meters # Minimum depth: 955.173584 meters looking forward 0.000000 meters along route # Maximum depth: 955.173584 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 968.547201 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 = 36.773937; longitude = -122.001802; lastLatitude = 36.773217; lastLongitude = -121.997857; duration = 1443; # abortOnTimeout = True; initialDepth = 890; finalDepth = 890; speed = SURVEY_SPEED; maxCrossTrackError = 10; starboardMaxCrossTrackError = 50; standOff = 30; sonarTimeOut = 2; useWallEstimator = True; filterType = 3; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 71.930745 # Actual altitude: 71.930745 # Commanded vehicle depth: 900 # Seafloor depth: -955.173584 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 21.58; 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 20 # Segment length 194.738258 meters # Minimum depth: 939.976888 meters looking forward 0.000000 meters along route # Maximum depth: 939.976888 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 968.547201 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 = 36.773217; longitude = -121.997857; lastLatitude = 36.773421; lastLongitude = -121.995653; #lastLatitude = 36.773259; #lastLongitude = -121.995676; duration = 778; # abortOnTimeout = True; initialDepth = 890.000000; finalDepth = 890; speed = SURVEY_SPEED; maxCrossTrackError = 10; starboardMaxCrossTrackError = 50; standOff = 30; sonarTimeOut = 2; useWallEstimator = True; filterType = 3; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 55.173584 # Actual altitude: 55.173584 # Commanded vehicle depth: 900 # Seafloor depth: -939.976888 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.55; 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 19 # Segment length 221.276627 meters # Minimum depth: 929.771322 meters looking forward 0.000000 meters along route # Maximum depth: 929.771322 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 968.547201 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 = 36.773421; longitude = -121.995653; #latitude = 36.773259; #longitude = -121.995676; #lastLatitude = 36.775253; #lastLongitude = -121.995706; duration = 885; # abortOnTimeout = True; initialDepth = 890; finalDepth = 890.000000; speed = SURVEY_SPEED; #maxCrossTrackError = 10; #starboardMaxCrossTrackError = 50; #standOff = 30; #sonarTimeOut = 2; #useWallEstimator = True; #filterType = 3; } ####################################################### # Reset sonar parameters # Waypoint type: 9 # Commanded altitude: 39.976888 # Actual altitude: 40 # Commanded vehicle depth: 900 # Seafloor depth: -929.771322 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 12.00; 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_depth behavior to get to end of line 18 # Segment length 1008.195311 meters # Minimum depth: 955.581055 meters looking forward 0.000000 meters along route # Maximum depth: 955.581055 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 968.547201 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 = 36.775253; longitude = -121.995706; duration = 4032; # abortOnTimeout = True; initialDepth = 890; finalDepth = 890; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.581055 # Actual altitude: 55.581055 # Commanded vehicle depth: 900 # Seafloor depth: -955.581055 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.67; 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 = 890; speed = 1.500000; distance = 10; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_wall behavior to get to end of line 17 # Segment length 206.254226 meters # Minimum depth: 988.547201 meters looking forward 0.000000 meters along route # Maximum depth: 988.547201 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 968.547201 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 938.547201 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.775091; longitude = -122.007001; lastLatitude = 36.774340; lastLongitude = -122.004887; duration = 825; # abortOnTimeout = True; initialDepth = 890; finalDepth = 890; speed = SURVEY_SPEED; maxCrossTrackError = 15; starboardMaxCrossTrackError = 50; standOff = 50; sonarTimeOut = 2; useWallEstimator = True; filterType = 3; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 55.581055 # Actual altitude: 55.581055 # Commanded vehicle depth: 938.547201 # Seafloor depth: -988.547201 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.67; 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 279.231070 meters # Minimum depth: 982.718669 meters looking forward 0.000000 meters along route # Maximum depth: 982.718669 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 968.547201 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 = 36.774340; longitude = -122.004887; lastLatitude = 36.774106; lastLongitude = -122.001772; duration = 1116; # abortOnTimeout = True; initialDepth = 890; finalDepth = 890; speed = SURVEY_SPEED; maxCrossTrackError = 15; starboardMaxCrossTrackError = 50; standOff = 50; sonarTimeOut = 2; useWallEstimator = True; filterType = 3; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 82.718669 # Actual altitude: 82.718669 # Commanded vehicle depth: 900 # Seafloor depth: -982.718669 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 24.82; 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 359.047687 meters # Minimum depth: 974.490397 meters looking forward 0.000000 meters along route # Maximum depth: 974.490397 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 968.547201 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 = 36.774106; longitude = -122.001772; lastLatitude = 36.773385; lastLongitude = -121.997850; duration = 1436; # abortOnTimeout = True; initialDepth = 890; finalDepth = 890; speed = SURVEY_SPEED; maxCrossTrackError = 15; starboardMaxCrossTrackError = 50; standOff = 50; sonarTimeOut = 2; useWallEstimator = True; filterType = 3; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 82.718669 # Actual altitude: 82.718669 # Commanded vehicle depth: 900 # Seafloor depth: -974.490397 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 24.82; 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 196.056169 meters # Minimum depth: 934.036377 meters looking forward 0.000000 meters along route # Maximum depth: 934.036377 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 968.547201 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 = 36.773385; longitude = -121.997850; lastLatitude = 36.773421; lastLongitude = -121.995653; duration = 784; # abortOnTimeout = True; initialDepth = 890.000000; finalDepth = 890; speed = SURVEY_SPEED; maxCrossTrackError = 15; starboardMaxCrossTrackError = 50; standOff = 50; sonarTimeOut = 2; useWallEstimator = True; filterType = 3; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 74.490397 # Actual altitude: 74.490397 # Commanded vehicle depth: 900 # Seafloor depth: -934.036377 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 22.35; 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 547.728888 meters # Minimum depth: 927.689453 meters looking forward 0.000000 meters along route # Maximum depth: 927.689453 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 968.547201 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 = 36.773421; longitude = -121.995653; #lastLatitude = 36.776227; #lastLongitude = -122.000703; duration = 2190; # abortOnTimeout = True; initialDepth = 890; finalDepth = 890; speed = SURVEY_SPEED; #maxCrossTrackError = 15; #starboardMaxCrossTrackError = 50; #standOff = 50; #sonarTimeOut = 2; #useWallEstimator = True; #filterType = 3; } ####################################################### # Reset sonar parameters # Waypoint type: 9 # Commanded altitude: 34.036377 # Actual altitude: 40 # Commanded vehicle depth: 900 # Seafloor depth: -927.689453 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 12.00; 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_depth behavior to get to end of line 12 # Segment length 576.023997 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: 968.547201 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 = 2304; # abortOnTimeout = True; initialDepth = 890; finalDepth = 890; 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 = 890; speed = 1.500000; distance = 10; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_wall behavior to get to end of line 11 # Segment length 206.254226 meters # Minimum depth: 988.547201 meters looking forward 0.000000 meters along route # Maximum depth: 988.547201 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 968.547201 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 938.547201 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.775091; longitude = -122.007001; lastLatitude = 36.774340; lastLongitude = -122.004887; duration = 825; # abortOnTimeout = True; initialDepth = 890; finalDepth = 890; speed = SURVEY_SPEED; maxCrossTrackError = 15; starboardMaxCrossTrackError = 50; standOff = 70; sonarTimeOut = 2; useWallEstimator = True; filterType = 3; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 938.547201 # Seafloor depth: -988.547201 # 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 278.630259 meters # Minimum depth: 982.718669 meters looking forward 0.000000 meters along route # Maximum depth: 982.718669 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 968.547201 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 = 36.774340; longitude = -122.004887; lastLatitude = 36.774100; lastLongitude = -122.001779; duration = 1114; # abortOnTimeout = True; initialDepth = 890; finalDepth = 890; speed = SURVEY_SPEED; maxCrossTrackError = 15; starboardMaxCrossTrackError = 50; standOff = 70; sonarTimeOut = 2; useWallEstimator = True; filterType = 3; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 82.718669 # Actual altitude: 82.718669 # Commanded vehicle depth: 900 # Seafloor depth: -982.718669 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 24.82; 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 359.550071 meters # Minimum depth: 974.559814 meters looking forward 0.000000 meters along route # Maximum depth: 974.559814 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 968.547201 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 = 36.774100; longitude = -122.001779; lastLatitude = 36.773385; lastLongitude = -121.997850; duration = 1438; # abortOnTimeout = True; initialDepth = 890; finalDepth = 890; speed = SURVEY_SPEED; maxCrossTrackError = 15; starboardMaxCrossTrackError = 50; standOff = 70; sonarTimeOut = 2; useWallEstimator = True; filterType = 3; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 82.718669 # Actual altitude: 82.718669 # Commanded vehicle depth: 900 # Seafloor depth: -974.559814 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 24.82; 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 196.056170 meters # Minimum depth: 934.036377 meters looking forward 0.000000 meters along route # Maximum depth: 934.036377 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 968.547201 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 = 36.773385; longitude = -121.997850; lastLatitude = 36.773421; lastLongitude = -121.995653; duration = 784; # abortOnTimeout = True; initialDepth = 890.000000; finalDepth = 890; speed = SURVEY_SPEED; maxCrossTrackError = 15; starboardMaxCrossTrackError = 50; standOff = 70; sonarTimeOut = 2; useWallEstimator = True; filterType = 3; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 74.559814 # Actual altitude: 74.559814 # Commanded vehicle depth: 900 # Seafloor depth: -934.036377 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 22.37; 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 236.934631 meters # Minimum depth: 927.689453 meters looking forward 0.000000 meters along route # Maximum depth: 927.689453 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 968.547201 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 = 36.773421; longitude = -121.995653; lastLatitude = 36.774809; lastLongitude = -121.993636; duration = 947; # abortOnTimeout = True; initialDepth = 890; finalDepth = 890.000000; speed = SURVEY_SPEED; maxCrossTrackError = 15; starboardMaxCrossTrackError = 50; standOff = 70; sonarTimeOut = 2; useWallEstimator = True; filterType = 3; } ####################################################### # Reset sonar parameters # Waypoint type: 9 # Commanded altitude: 34.036377 # Actual altitude: 40 # Commanded vehicle depth: 900 # Seafloor depth: -927.689453 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 12.00; 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_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: 968.547201 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 = 890; 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: 968.547201 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: 968.547201 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: 968.547201 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: 968.547201 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: 968.547201 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: 968.547201 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 6 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 358.0; 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 = 358.0; 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; } # ####################################################### ####################################################### ####################################################### #######################################################