MBARI Mapping AUV Operations 18 January 2018 R/V Rachel Carson Mapping AUV Surveys in Monterey Bay - Kelly Benoit Bird multibeam water column missions to image biology ------------------------------------ Science Party: ------------------------------------ Kelly Benoit Bird - Chief Scientist Chad Waluk - Technician Hans Thomas - AUV Supervisor Erik Trauschke - AUV Operations Engineer Emery Nolasco - AUV Operations Engineer David Caress - Software Engineer - onshore today ------------------------------------ Ship's Crew: ------------------------------------ Aaron Gregg - Captain Paul Ban - Mate Greg Maudlin - Bosun Josh Thompson - Deckhand Mark Aiello - Engineer ? - Assistant Engineer ------------------------------------ Science Plan: ------------------------------------ Water column mapping test for Kelly Benoit-Bird ------------------------------------ Precruise: ------------------------------------ Chad Waluk Collect multi-beam water column acoustic data with Mapping AUV over Monterey Canyon. The general location should end up being between 2 and 5 miles from the harbor. We are currently expecting that the AUV would run 7 or 8 transects in this area, each being 1.5 to 2 nautical miles long. Collect acoustic data from ship while safely following/tracking the AUV. (The ship's sounders that aren't related to AUV tracking will need to be secured during this data collection process). If time permits after AUV recovery, run some additional short transects with the ship to collect more acoustic data. · Chad Waluk · Equipment Requested: AUV, OTHER-EQUIP Equipment Details: Our transducers installed in port instrument well. Winch Requested: None Winch Details: None · MBARI Personnel: Kelly Benoit-Bird Chad Waluk AUV operations personnel (to be determined) · · Exact planned AUV routes are still to be determined. However, these points may be referenced, (the East, West, North, and South points may already be in the ship's chart software.) 36.7981 -121.8428 KBB AUV East 36.8121 -121.8675 KBB AUV North 36.7785 -121.8605 KBB AUV South 36.7923 -121.8837 KBB AUV West 36.7932 -121.8640 KBB AUV Center Track Outside Monterey Bay: NO Track In Restricted Areas: NO MBNMS Permit Compliance: YES CDFW Permit Compliance: NOT_APPLICABLE SMPA Collection Permit Compliance: NOT_APPLICABLE · · · · · rcsn539 · 6167 ---------------------------------------------------- David W. Caress Software Engineer Monterey Bay Aquarium Research Institute 7700 Sandholdt Road Moss Landing, CA 95039 caress@mbari.org http://www.mbari.org/~caress/ Phone: 831-775-1775 Fax: 831-775-1620 ----------------------------------------------------- Calculating absorption with reasonable parameters: ----------------------------------------------------- mblevitus -R-122.104060/36.700320 -Osoundspeed.txt -V Program MBLEVITUS Version $Id: mblevitus.c 2241 2015-05-12 21:00:35Z caress $ MB-system Version 5.5.2256 Location for mean annual water velocity profile: Requested: -122.1041 longitude 36.7003 latitude Used: 237.5000 longitude 36.5000 latitude Values defined directly by Levitus database: 26 Values assuming deepest salinity and temperature: 20 Velocity points written: 46 Output file: soundspeed.txt Mean annual water column profile: Depth Temperature Salinity Velocity 0.0000 13.0230 33.2640 1498.1851 10.0000 12.8020 33.2820 1497.6289 20.0000 12.4730 33.3260 1496.7334 30.0000 12.0730 33.3490 1495.5599 50.0000 11.1330 33.4080 1492.6958 75.0000 10.1140 33.5250 1489.6215 100.0000 9.4380 33.6590 1487.7380 125.0000 8.9870 33.7960 1486.6539 150.0000 8.6940 33.9050 1486.1083 200.0000 8.2470 34.0280 1485.4022 250.0000 7.7400 34.0780 1484.3585 300.0000 7.1960 34.1080 1483.1226 400.0000 6.4150 34.1660 1481.7805 500.0000 5.6920 34.2260 1480.6169 600.0000 5.1830 34.2870 1480.2789 700.0000 4.7710 34.3430 1480.3113 800.0000 4.4070 34.3930 1480.5215 900.0000 4.1080 34.4330 1480.9810 1000.0000 3.8190 34.4630 1481.4642 1100.0000 3.5640 34.4870 1482.0790 1200.0000 3.3180 34.5010 1482.7166 1300.0000 3.1210 34.5270 1483.5773 1400.0000 2.9220 34.5420 1484.4153 1500.0000 2.7450 34.5560 1485.3470 1750.0000 2.4180 34.6040 1488.2009 2000.0000 2.0690 34.6180 1490.9303 2500.0000 0.0000 0.0000 1499.4709 3000.0000 0.0000 0.0000 1508.1036 3500.0000 0.0000 0.0000 1516.8223 4000.0000 0.0000 0.0000 1525.6207 4500.0000 0.0000 0.0000 1534.4928 5000.0000 0.0000 0.0000 1543.4323 5500.0000 0.0000 0.0000 1552.4324 6000.0000 0.0000 0.0000 1561.4868 6500.0000 0.0000 0.0000 1570.5890 7000.0000 0.0000 0.0000 1579.7322 7500.0000 0.0000 0.0000 1588.9095 8000.0000 0.0000 0.0000 1598.1141 8500.0000 0.0000 0.0000 1607.3390 9000.0000 0.0000 0.0000 1616.5771 9500.0000 0.0000 0.0000 1625.8213 10000.0000 0.0000 0.0000 1635.0642 10500.0000 0.0000 0.0000 1644.2985 11000.0000 0.0000 0.0000 1653.5166 11500.0000 0.0000 0.0000 1662.7111 12000.0000 0.0000 0.0000 1671.8743 mbabsorption -C1481.4642 -D400 -F400 -P6.15 -S34.4630 -T3.8190 -V Program Version $Id: mbabsorption.c 2261 2016-01-07 01:49:22Z caress $ MB-system Version 5.5.2289 Input Parameters: Frequency: 400.000000 kHz Temperature: 3.819000 deg C Salinity: 34.463000 per mil Soundspeed: 1481.464200 m/sec Depth: 400.000000 m pH: 6.150000 Result: Sound absorption: 91.068597 dB/km mbabsorption -C1481.4642 -D1000 -F400 -P6.15 -S34.4630 -T3.8190 -V Program Version $Id: mbabsorption.c 2261 2016-01-07 01:49:22Z caress $ MB-system Version 5.5.2279 Input Parameters: Frequency: 400.000000 kHz Temperature: 3.819000 deg C Salinity: 34.463000 per mil Soundspeed: 1481.464200 m/sec Depth: 1000.000000 m pH: 6.150000 Result: Sound absorption: 87.409205 dB/km ----------------------------------------------------- Communication Devices and Mapping Sensors: ----------------------------------------------------- First Mapping AUV: ------------------- USBL AVTRAK6 Beacon: 1902 Benthos Acoustic Modem: S14=10,s18=11 Homerpro Beacon: #30 RDF Frequency: 160.785 MHz Paroscientific pressure sensor Model: 8CB4000I Serial Number: 123917 Features: 4000 m depth rating SeaBird CTD Model: SBE49 Serial Number: 0161 Features: 6000 m depth rating Kearfott SeaDeViL inertial navigations system INS Model: T24 INS Serial Number: 2 DVL Model: WHN300 DNL Serial Number: Reson Multibeam Echosounder Model: 7125 - 400 kHz projecter + 200/400 kHz receive head Edgetech Model: FSAU Second Mapping AUV: ---------------------- USBL AVTRAK6 Beacon: 1711 Benthos Acoustic Modem: S14=10,s18=12 Homerpro Beacon: #23 RDF Frequency: 160.785 MHz Paroscientific pressure sensor Model: 8CB4000I Serial Number: 123326 Features: 4000 m depth rating SeaBird CTD Model: SBE49 Serial Number: 37 Features: 6000 m depth rating Kearfott SeaDeViL inertial navigations system INS Model: T24 INS Serial Number: 7 DVL Model: WHN300 DNL Serial Number: Reson Multibeam Echosounder Model: 7125 Edgetech Model: FSAU? Iceberg AUV: ---------------------- Paroscientific pressure sensor Model: ? Serial Number: ? Features: ? m depth rating SeaBird CTD Model: ? Serial Number: ? Features: ? m depth rating Kearfott SeaDeViL inertial navigations system INS Model: T24 INS Serial Number: ? DVL Model: WHN300 DNL Serial Number: Reson Multibeam Echosounder Model: 7125 DeltaT Multibeam Echosounder (forward): Model: 837A Serial Number: ? Frequency: 260 kHz DeltaT Multibeam Echosounder (aft): Model: 837A Serial Number: ? Frequency: 260 kHz ----------------------------------------------------- Computer IP Settings: ----------------------------------------------------- First Mapping AUV: ---------------- Reson computer ip is 134.89.32.107 Reson computer GigE ip is 192.9.0.101 User: reson Password: reppe Edgetech computer ip is 134.89.32.38 User: administrator Password: admin MVC ip is 134.89.32.35 (dorado1 dorado1) MVC logs at /home/dorado1/auv-qnx/auv/altex/onboard/logs/ Second Mapping AUV: ---------------- Reson computer ip is 134.89.32.108 Reson computer GigE ip is 192.9.0.102 Edgetech computer ip is 134.89.32.109 User: administrator Password: admin MVC ip is 134.89.32.36 (dorado1 dorado1) MVC logs at /home/dorado1/auv-qnx/auv/altex/onboard/logs/ Iceberg AUV: ---------------- Reson computer ip is 134.89.32.109 User: reson Password: reppe TRN computer ip is MVC ip is 134.89.32.35 (dorado1 dorado1) MVC logs at /home/dorado1/auv-qnx-dev/auv-qnx/auv/altex/onboard/logs AUV Group Laptops: ----------------- Shackelton laptop ip is 134.89.32.40 AUV-rack computer is 134.89.22.129 Rachel Carson data repository ----------------- 134.89.23.21 ipil User: ventana Password: venta1na ----------------------------------------------------- Sonar Settings: ----------------------------------------------------- Subbottom - on pulse SB106DW__1_5__4_5__12FM_25ms_BLANK.spf AGC off Spherical spreading correction off Sub-bottom amplifier configured to be always on (to reduce noise perhaps) 110 kHz sidescan - on range 175 m pulse SS_120__12__8_3__FM_SS.spf 410 kHz sidescan - off range 175 m pulse SS_410__40__2_4__FM_SS.spf Multibeam settings transmit power: Max 220 dB for First Mapper, 218 dB for Second Mapper - using 218 for both to avoid mistakes receive gain: 45 dB spreading loss: 30 absorption: 100 dB/km range gating on: 100 - 200 m depth gating off pulse 33 usec ranges set according to 0.4 * intended vehicle altitude. Available pulse files for the Edgetech systems: 2-16 kHz SBP: SB216D_2_10_20MS_SB.spf ** 1-6 kHz SBP: SB106DW__1_5__4_5__12FM.spf SB106DW__1_5__4_5__12FM_25MS_BLANK.spf ** SB106DW__1_5__4_5__33FM_TSB.spf SB106DW__1_5__5_5__12FM.spf SB106DW__1_5__6_5__12FM.spf SB106DW__1_5__6__20FM_TSB.spf SB106DW__1__2_5__66FM_TSB.spf 410 kHz sidescan: SS_410__40__2_4__FM_SS.spf ** SS_410__40__5__FM_SS.spf 110 kHz sidescan: SS_120__12__8_3__FM_SS.spf ** SS_120__12__20__FM_SS.spf spherical correction set to "1" Sonardyne Beacons: MAUV1: AVTRAK 6: MAUV1 code=1902, MAUV2 code=1711, TAT(turnaroundtime)=320, CIS=7, EC=1 serial port: 9 ------------------------------------ What's new in these operations: ------------------------------------ We will be recording water column data for Kelly Benoit-Bird. ----------------------------------------------------------------- Scientist Mapping AUV Deployment Checklist ----------------------------------------------------------------- Location Vessel .................................................| R/V Rachel Carson Captain ................................................| Aaron Gregg ----------------------------------------------------------------- Date and Time Date ...................................................| January 18, 2018 Time ...................................................| 1500Z 0700L 26 February ----------------------------------------------------------------- Operators Chief Scientist ........................................| Kelly Benoit Bird Mission Scripting & Data Processing ....................| David Caress Lead AUV Operator ......................................| Hans Thomas ----------------------------------------------------------------- Vehicle Preparation Check surface water density ...........................| x| M1 looks like normal MB water AUV ballasting consistent with surface water density ..| x| Antennas in mast ......................................| x| Dropweight in place ...................................| x| Nose cone on ..........................................| x| Farings secured .......................................| x| Tailcone propellor engaged and secure .................| x| Tailcone oil compensation full ........................| x| USBL Transponder function check ........................| x | AVTRAK 6: MAUV1 code=0101 for Araon only, TAT(turnaroundtime)=320, CIS=7, EC=1, EU=1 USBL Transponder responder mode disabled ..............| x | Homerpro beacon charged ................................| x | MAUV1 beacon #23, MAUV2 beacon #30 Check RDF with bridge ..................................| x | 160.785 MHz Acoustic modem settings ................................| x | MAUV1: S14=10,s18=11,s6=8 MAUV2: S14=10,s18=12,s6=8 ----------------------------------------------------------------- Battery Aft Battery vacuum ok..... .............................| x | 4.0 psi Forward Battery vacuum ok..... .........................| x | 4.0 psi Aft Battery charged ....................................| x | average voltage 31.0 V ip 134.89.32.131 aft Aft Battery 1 humidity < 15% ...........................| x | 19.1% Forward battery charged ................................| x | average voltage 33.46 V ip 134.89.32.136 forward Forward Battery humidity < 15% .........................| x | 7.6% ----------------------------------------------------------------- AMT Pressure Recorder Beacon AMT address .....................................| | 2103 RDF ....................................................| | 160.725 Synchronize time to UTC ................................| | Start AMT logging ......................................| | Check RDF functioning ..................................| | Note launch location ...................................| | 120d 15.9522'W 22d 18.7590'N ----------------------------------------------------------------- MVC MVC on and ok .........................................| x | Humidity < 10% ........................................| x | 3.4% Ball pressure < 72 kPa ................................| x | 71.1 kPa Check latitude for barometric correction................| x | 36.80 Check that MVC UTM Zone is correct ....................| x | Zone 10 Check free disk space on MVC ...........................| x | 5.3 GB ----------------------------------------------------------------- Winfrog Check that Winfrog UTM Zone is correct ................| x | Zone 10 Check Winfrog nav update configuration .................| x | Check Winfrog master time zone is UTC ..................| x | Check Winfrog computer NTP .............................| x | ----------------------------------------------------------------- Reson Reson 7125 on and ok ..................................| x | PLC running ...........................................| x | PLC still used for Edgetech commands No NTP client running on Reson computer ...............| x | no 1pps Normalize receive head .................................| x | Recording desired records ..............................| x | Verify 7kcenter data collection mode setting ...........| x | 1003, 1006, 1008, 1010, 1012, 1013, 1015, | 1016, 7000, 7002, 7004, 7006, 7007, | 7010, 7011, 7017, 7021, 7027, 7028, | 7503, 7504, 7610, 7611, 7612, 7613 Sonar logging off .....................................| x | Multibeam power set to zero ...........................| x | Confirm external triggering enabled ....................| x | enabled, MVC is master Confirm 1 PPS is set to rising edge ....................| x | Trigger delay set as desired ...........................| x| 0.00 msec Multibeam pinging at 3.0 Hz ...........................| x| Multibeam either fully 200 kHz or fully 400 kHz .......| x| 400 Spreading loss set as desired ..........................| x| 30 Absorption set as desired ..............................| x| 100 dB/km Water sound speed set as desired .......................| x| sound speed will derive from redone code calculated from CTD data Receive gain set as desired ............................| x| 33 dB for MAUV1, 28 dB for MAUV2 Pulse modulation set as desired ........................| x| CW Pulse length set as desired ............................| x| 33 usec Multibeam mode (number of beams) set as desired ........| x| wide coverage = 512 beams Multibeam coverage angle set as desired ................| x| 165 degrees Multibeam range set as desired..........................| x| 200 m Multibeam range minimum set as desired .................| x| 15 m Multibeam range maximum set as desired .................| x| 200 m Multibeam depth minimum set as desired .................| x| depth gating off Multibeam depth maximum set as desired .................| x| depth gating off Data storage has enough space for new data ............| x| 1.72 TB free on D:/Data Test data logging by 7kcenter .........................| x| Kearfott records making it into 7kcenter ...............| x| 1003 1012 1013 Reson BITE diagnosics ok ...............................| x| all green ----------------------------------------------------------------- Edge tech Edgetech on and ok ....................................| x| PLC talking to Edgetech ...............................| x| Edgetech BITE values ..................................| x| Check data logging directory for Edgetech .............| x| 78 GB on E for MAUV1, F for MAUV2 Sidescan 110 kHz pulse file set as desired .............| x| SS_120_12_8_3_fm_ss.spf Sidescan 110 kHz trigger mode set to external ..........| x| Sidescan 410 kHz pulse file set as desired .............| x| SS_410_40_2_4_fm_ss.spf Sidescan 410 kHz trigger mode set to external ..........| x| Subbottom trigger divisor set as desired ...............| x| 1 Subbottom pulse file set as desired ....................| x| SB106DW__1_5__4_5__12FM_25MS_BLANK.spf Subbottom trigger mode set to external .................| x| ----------------------------------------------------------------- Sonar Control Command multibeam setting change from MVC .............| x| Command edgetech on from MVC ..........................| x| Edgetech starts logging - set to auto log - ?.jsf Check subbottom audible at vehicle ....................| x| Edgetech pinging disabled from MVC ....................| x| ----------------------------------------------------------------- Check tailcone function ..............................| x| Vehicle acoustic modem working .........................| x| Reson UI no longer running on vehicle ..................| x| ----------------------------------------------------------------- Kearfott INS Kearfott on ...........................................| x | S/N 2 for MAUV1, S/N 7 for MAUV2 Kearfott getting and processing GPS ...................| x | Kearfott getting and processing DVL ...................| x | ----------------------------------------------------------------- General Clocks synchronized and in proper time zone ...........| x | NTP turned off on Reson, using 7k time discipline only Fastcat CTD streaming data ............................| x | Parosci pressure sensor ok .............................| x | Running nano mode with IA=7 S/N 123326 Magnetometer ok ........................................| x | no magnetometer Obstacle avoidance sensor ok ...........................| x | N/A Iridium tested .........................................| x | Dropweight server running .............................| x | Turn off EM122 and other sonars ........................| x | Ships 3 kHz Radio beacon turned on .................................| x | Channel 1 160.785 MHz Acoustic modem head deployed ...........................| x | Using hull mounted Ship acoustic modem on .................................| x | Ship acoustic modem working ............................| x | USBL tracking head deployed ...........................| x | USBL tracking working .................................| x | ----------------------------------------------------------------- Immediately before Launch Kearfott getting and processing GPS and DVL ...........| x | Kearfott aligned ...................................| x | Bring batteries online ................................| x | Forward batteries are discharging .....................| x | Aft batteries are discharging .........................| x | All power supplies to off state .......................| x | Deck tethers removed, dummies installed ...............| x | Close faring openings .................................| x | ----------------------------------------------------------------- After tethers disconnected Radio modem connection ok .............................| x | MVC on and ok .........................................| x | Humidity < 10% ........................................| x | Ball pressure < 72 kPa ................................| x | Reson on and ok .......................................| x | Edgetech on and ok ....................................| x | Forward battery is discharging ........................| x | Aft battery is discharging ............................| x | Check fastcat .........................................| x | Check pressure sensor .................................|x | Check tailcone communication ...........................| x | Vehicle acoustic modem working .........................| x | Check kearfott getting GPS ...........................| x | Check kearfott getting DVL ...........................| x | Check kearfott aligned ...............................| x | Inform bridge ready to launch ..........................| x | ----------------------------------------------------------------- Immediately after Launch Radio modem connection ok .............................| x | Dropweight server running .............................| x | USBL tracking head deployed ...........................| x | USBL tracking working .................................| x | MVC on and ok .........................................| x | MVC Humidity < 10% ....................................| x | MVC Ball pressure < 72 kPa ............................| x | Battery humidities < 67% ...............................| x | All batteries are discharging .........................| x | Reson 6046 on and ok ..................................| x | Edgetech on and ok ....................................| x | Kearfott getting and processing GPS ...................| x | Check kearfott getting DVL ...........................| x | Kearfott aligned ......................................| x | Vehicle INS and GPS position agree. ...................| x | ----------------------------------------------------------------- ----------------------------------------------------------------- Mission Script Checklist: ----------------------------------------------------------------- On deck Mission generation commands in file mission.cmd ........| | Verify mission filename ...............................| | 20170910m1/ShelfedgePingo_alongstrike_M1_V10.cfg Mission contains StartSurvey behavior .................| | No Sonar logging turned on at first waypoint .............| | Mode 2 Sonar logging not turned off until after last waypoint .| | Subbottom enabled or not, as desired ...................| | On Low frequency sidescan enabled or not, as desired ......| | On High frequency sidescan enabled or not, as desired .....| | Off If beam data desired, sbp & ss off & log mode = 3 ......| | Off Multibeam transmit gain set to correct maximum .........| | 218 (First Mapping AUV can use 220, but we use 218 for all) Descent time consistent with expected depth ............| | 300 seconds Ascent time consistent with expected depth .............| | 300 seconds Using desired abort plan ...............................| | 7200 second ascent Using desired mission timeout ..........................| | 54000 seconds = 18.60 hours Using desired survey speed .............................| | 1.5 m/sec ----------------------------------------------------------------- Start Mission Verify mission filename ...............................| | 20170910m1/ShelfedgePingo_alongstrike_M1_V10.cfg Using desired Log_Mode .................................| | 2 Using desired descent pitch ............................| | -35 Using desired multibeam transmit power .................| | 218 Using desired abort plan ...............................| | ascent time 7200 seconds Time to first waypoint consistent with distance .......| | 600 seconds Set mission timeout ...................................| | 43200 seconds = 12:00 hours = Set initial bearing ...................................| | 180 Save all changes to mission file .......................| | Confirm all test programs on MVC are killed ............| | Ready to send mission to AUV ..........................| | Send mission ..........................................| | Set USBL interrogation rate to desired rate ...........| | 5 sec to start, 30 sec later Turn on Winfrog logging ...............................| | ----------------------------------------------------------------- Mission script header included here ...................| | 20170910m1/ShelfedgePingo_alongstrike_M1_V10.cfg # 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 2308 2017-06-04 19:55:48Z caress r # # Mission Summary: # Route File: 20180118_KBB_MAUV_m4v1.rte # Mission File: 20180118_KBB_MAUV_m4v1.cfg # Distance: 25558.516267 (m) # Estimated Time: 18022 (s) 5.006 (hr) # Abort Time: 27033 (s) # Max battery life: 75600 (s) # Safety margin: 1800 (s) # Ascend time: 304 (s) # Way Points: 9 # Route Points: 9 # 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: WaypointDepth # 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: 3.3e-05 usec # Multibeam minimum range fraction: 0.1 # 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: 20 (m) # Abort Vehicle Altitude 1: 15 (m) # Delta Depth Restart 1: 5 (m) # Desired Vehicle Altitude 1: 20 (m) # Desired Vehicle Altitude 2: 50 (m) # Desired Vehicle Altitude 3: 50 (m) # Constant Vehicle Depth 1: 50 (m) # Constant Vehicle Depth 2: 50 (m) # Maximum Vehicle Depth: 60 (m) # Abort Vehicle Depth: 70 (m) # Descent Vehicle Depth: 3 (m) # Waypoint Spacing: 10000 (m) # Maximum climb rate: 20 (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 -121.842800 36.798100 -203.130161 0.000000 11 # 1 -121.883700 36.792300 -381.551620 3705.616901 11 # 2 -121.867500 36.812100 -76.469629 6335.128600 11 # 3 -121.860500 36.778500 -74.853344 10114.790836 11 # 4 -121.842800 36.798100 -203.130161 12802.363795 11 # 5 -121.867500 36.812100 -76.469629 15498.337993 11 # 6 -121.860500 36.778500 -74.853344 19278.000229 11 # 7 -121.883700 36.792300 -381.551620 21852.899366 11 # 8 -121.842800 36.798100 -203.130161 25558.516267 12 # # A total of 9 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 25558.516267 #define MISSION_TIMEOUT 27033 #define DEPTH_MAX 60.000000 #define DEPTH_ABORT 70.000000 #define ALTITUDE_DESIRED 20.000000 #define ALTITUDE_MIN 20.000000 #define ALTITUDE_ABORT 15.000000 #define DELTA_DEPTH_RESTART 5.000000 #define ALTITUDE_DESIRED2 50.000000 #define ALTITUDE_DESIRED3 50.000000 #define DEPTH_CONSTANT 50.000000 #define DEPTH_CONSTANT2 50.000000 #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 # ####################################################### ----------------------------------------------------------------- On Bottom Confirm navigation if spiral descent with aided nav ...| | Send start survey command ................ ............| | Set USBL interrogation rate to desired rate ...........| | 15 sec ----------------------------------------------------------------- Event Log: ---------