# 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 2292 2017-01-30 18:11:01Z caress r # # Mission Summary: # Route File: 2017_WallTest_1v3.rte # Mission File: 2017_WallTest_1v3.cfg # Distance: 8230.705471 (m) # Estimated Time: 7238 (s) 2.011 (hr) # Abort Time: 10857 (s) # Max battery life: 68400 (s) # Safety margin: 1800 (s) # Ascend time: 1301 (s) # Way Points: 13 # Route Points: 13 # Survey Behaviors: # Behavior for waypoint mode 0: WaypointDepth # Behavior for waypoint mode 1: WaypointDepth # Behavior for waypoint mode 2: WaypointDepth # Behavior for waypoint mode 3: WaypointWall # Behavior for waypoint mode 4: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 33 dB # Multibeam transmit gain: 218 dB # Multibeam pulse width: 3e-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: 50 (m) # Abort Vehicle Altitude 1: 10 (m) # Delta Depth Restart 1: 40 (m) # Desired Vehicle Altitude 1: 50 (m) # Desired Vehicle Altitude 2: 50 (m) # Desired Vehicle Altitude 3: 50 (m) # Constant Vehicle Depth 1: 890 (m) # Constant Vehicle Depth 2: 890 (m) # Maximum Vehicle Depth: 926.447281 (m) # Abort Vehicle Depth: 951.447281 (m) # Descent Vehicle Depth: 3 (m) # Waypoint Spacing: 1100 (m) # Maximum climb rate: 25 (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 -106.127436 0.000000 3 # 1 -121.971315 36.789318 -351.474121 1039.711262 1 # 2 -121.982140 36.774989 -811.726944 2899.875273 1 # 3 -121.983664 36.773565 -862.055038 3108.338513 1 # 4 -121.985957 36.772405 -913.174545 3350.086294 1 # 5 -121.991306 36.774773 -951.447281 3894.984632 1 # 6 -121.993636 36.774809 -957.980347 4102.967752 9 # 7 -121.995653 36.773421 -936.932556 4339.855170 11 # 8 -122.000703 36.776227 -947.343964 4887.607105 9 # 9 -121.995653 36.773421 -936.932556 5435.359041 11 # 10 -122.006097 36.776809 -961.990768 6440.376466 9 # 11 -121.996249 36.779412 -830.947998 7365.481144 1 # 12 -121.987286 36.776438 -867.845703 8230.705471 4 # # A total of 13 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 8230.705471 #define MISSION_TIMEOUT 10857 #define DEPTH_MAX 926.447281 #define DEPTH_ABORT 951.447281 #define ALTITUDE_DESIRED 50.000000 #define ALTITUDE_MIN 50.000000 #define ALTITUDE_ABORT 10.000000 #define DELTA_DEPTH_RESTART 40.000000 #define ALTITUDE_DESIRED2 50.000000 #define ALTITUDE_DESIRED3 50.000000 #define DEPTH_CONSTANT 890.000000 #define DEPTH_CONSTANT2 890.000000 #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 = 1800; 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_wall behavior to get to end of line 12 # Segment length 865.224327 meters # Minimum depth: 867.845703 meters looking forward 0.000000 meters along route # Maximum depth: 867.845703 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 926.447281 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 817.845703 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.776438; longitude = -121.987286; lastLatitude = 36.779412; lastLongitude = -121.996249; duration = 3460; # abortOnTimeout = True; initialDepth = 890.000000; finalDepth = 817.845703; speed = SURVEY_SPEED; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; useWallEstimator = True; filterType = 1; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 817.845703 # Seafloor depth: -867.845703 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Sound_Velocity = 0.0; 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 11 # Segment length 925.104678 meters # Minimum depth: 830.947998 meters looking forward 0.000000 meters along route # Maximum depth: 830.947998 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 926.447281 meters # Constant vehicle depth: 890.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 890.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.779412; longitude = -121.996249; lastLatitude = 36.776809; lastLongitude = -122.006097; duration = 3700; # abortOnTimeout = True; initialDepth = 890.000000; finalDepth = 890.000000; speed = SURVEY_SPEED; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; useWallEstimator = True; filterType = 1; } ####################################################### # Reset sonar parameters # Waypoint type: 9 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 890 # Seafloor depth: -830.947998 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Sound_Velocity = 0.0; 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_depth behavior to get to end of line 10 # Segment length 1005.017425 meters # Minimum depth: 961.990768 meters looking forward 0.000000 meters along route # Maximum depth: 961.990768 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 926.447281 meters # Constant vehicle depth: 890.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 890.000000 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 = 4020; # abortOnTimeout = True; initialDepth = 890.000000; finalDepth = 890.000000; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 11 # Commanded altitude: 71.990768 # Actual altitude: 71.990768 # Commanded vehicle depth: 890 # Seafloor depth: -961.990768 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.60; 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 9 # Segment length 547.751936 meters # Minimum depth: 936.932556 meters looking forward 0.000000 meters along route # Maximum depth: 936.932556 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 926.447281 meters # Constant vehicle depth: 890.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 890.000000 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 = 36.776227; lastLongitude = -122.000703; duration = 2191; # abortOnTimeout = True; initialDepth = 890.000000; finalDepth = 890.000000; speed = SURVEY_SPEED; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; useWallEstimator = True; filterType = 1; } ####################################################### # Reset sonar parameters # Waypoint type: 9 # Commanded altitude: 71.990768 # Actual altitude: 71.990768 # Commanded vehicle depth: 890 # Seafloor depth: -936.932556 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.60; 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 8 # Segment length 547.751935 meters # Minimum depth: 947.343964 meters looking forward 0.000000 meters along route # Maximum depth: 947.343964 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 926.447281 meters # Constant vehicle depth: 890.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 890.000000 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 = 2191; # abortOnTimeout = True; initialDepth = 890.000000; finalDepth = 890.000000; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 11 # Commanded altitude: 57.343964 # Actual altitude: 57.343964 # Commanded vehicle depth: 890 # Seafloor depth: -947.343964 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.20; 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 7 # Segment length 236.887418 meters # Minimum depth: 936.932556 meters looking forward 0.000000 meters along route # Maximum depth: 936.932556 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 926.447281 meters # Constant vehicle depth: 890.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 890.000000 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 = 890.000000; finalDepth = 890.000000; speed = SURVEY_SPEED; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; useWallEstimator = True; filterType = 1; } ####################################################### # Reset sonar parameters # Waypoint type: 9 # Commanded altitude: 57.343964 # Actual altitude: 57.343964 # Commanded vehicle depth: 890 # Seafloor depth: -936.932556 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.20; 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: 957.980347 meters looking forward 0.000000 meters along route # Maximum depth: 957.980347 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 926.447281 meters # Constant vehicle depth: 890.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 890.000000 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 = 901.447281; finalDepth = 890.000000; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 67.9803470000001 # Actual altitude: 67.9803470000001 # Commanded vehicle depth: 890 # Seafloor depth: -957.980347 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.39; 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: 951.447281 meters looking forward 0.000000 meters along route # Maximum depth: 951.447281 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 926.447281 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 901.447281 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 = 863.174545; finalDepth = 901.447281; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 67.9803470000001 # Actual altitude: 67.9803470000001 # Commanded vehicle depth: 901.447281 # Seafloor depth: -951.447281 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.39; 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: 913.174545 meters looking forward 0.000000 meters along route # Maximum depth: 913.174545 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 926.447281 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 863.174545 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 = 812.055038; finalDepth = 863.174545; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 863.174545 # Seafloor depth: -913.174545 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Sound_Velocity = 0.0; 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: 862.055038 meters looking forward 0.000000 meters along route # Maximum depth: 862.055038 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 926.447281 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 812.055038 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 = 761.726944; finalDepth = 812.055038; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 812.055038 # Seafloor depth: -862.055038 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Sound_Velocity = 0.0; 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: 811.726944 meters looking forward 0.000000 meters along route # Maximum depth: 811.726944 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 926.447281 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 761.726944 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 = 301.474121; finalDepth = 761.726944; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 761.726944 # Seafloor depth: -811.726944 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Sound_Velocity = 0.0; 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: 351.474121 meters looking forward 0.000000 meters along route # Maximum depth: 351.474121 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 926.447281 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 301.474121 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 = 56.127436; finalDepth = 301.474121; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 301.474121 # Seafloor depth: -351.474121 # behavior reson { duration = RESON_DURATION; MB_Range = 200.00; MB_Sound_Velocity = 0.0; 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: 56.127436 # Seafloor depth: -106.127436 # behavior reson { duration = RESON_DURATION; MB_Power = 218; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 33; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; 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: 106.127436 meters looking forward 0.000000 meters along route # Maximum depth: 106.127436 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 926.447281 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.127436 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 = 56.127436; 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 = 210.0; 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 = 210.0; 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 = 33; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; 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; } # ####################################################### ####################################################### ####################################################### #######################################################