# 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 2324 2018-01-19 03:04:33Z caress r # # Mission Summary: # Route File: PortSteve4LapsV4.rte # Mission File: PortSteve4LapsV4.cfg # Distance: 5169.584962 (m) # Estimated Time: 4429 (s) 1.230 (hr) # Abort Time: 6644 (s) # Max battery life: 75600 (s) # Safety margin: 1800 (s) # Ascend time: 300 (s) # Way Points: 32 # Route Points: 32 # 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: WaypointBottom # Behavior for waypoint mode 4: WaypointBottom # Descent style: Waypoint descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 31 dB # Multibeam transmit gain: 218 dB # Multibeam pulse width: 0.001 usec # Multibeam minimum range fraction: 0.5 # 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: 30 (m) # Desired Vehicle Altitude 2: 30 (m) # Desired Vehicle Altitude 3: 30 (m) # Constant Vehicle Depth 1: 15 (m) # Constant Vehicle Depth 2: 50 (m) # Maximum Vehicle Depth: 70 (m) # Abort Vehicle Depth: 80 (m) # Descent Vehicle Depth: 3 (m) # Waypoint Spacing: 1000 (m) # Maximum climb rate: 15 (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 -121.943348 36.700980 -99.337286 0.000000 9 # 1 -121.943381 36.699556 -97.251968 158.005813 11 # 2 -121.943449 36.697754 -83.254856 358.011598 11 # 3 -121.940725 36.697387 -89.835079 604.748155 11 # 4 -121.940254 36.696306 -88.888765 731.841844 11 # 5 -121.940725 36.697378 -89.878391 857.993818 11 # 6 -121.941743 36.699415 -93.328959 1101.591461 1 # 7 -121.943378 36.699568 -97.277227 1248.636830 11 # 8 -121.943366 36.700542 -98.696058 1356.697532 11 # 9 -121.943378 36.699568 -97.277227 1464.758234 11 # 10 -121.943445 36.697757 -83.254856 1665.759339 11 # 11 -121.940713 36.697387 -89.808485 1913.255800 11 # 12 -121.940254 36.696306 -88.888765 2039.998590 11 # 13 -121.940702 36.697387 -89.763170 2166.426853 11 # 14 -121.941732 36.699415 -93.344599 2409.502306 1 # 15 -121.943381 36.699565 -97.277227 2557.752348 11 # 16 -121.943359 36.700530 -98.653078 2664.827312 11 # 17 -121.943370 36.699574 -97.271755 2770.890332 11 # 18 -121.943434 36.697748 -82.419485 2973.547064 11 # 19 -121.940706 36.697384 -89.808485 3220.581470 11 # 20 -121.940266 36.696306 -88.912766 3346.469079 1 # 21 -121.940713 36.697387 -89.808485 3472.869089 11 # 22 -121.941732 36.699424 -93.567694 3716.500096 1 # 23 -121.943370 36.699565 -97.256584 3863.664223 11 # 24 -121.943355 36.700542 -98.734200 3972.060710 11 # 25 -121.943370 36.699565 -97.256584 4080.457197 11 # 26 -121.943445 36.697757 -83.254856 4281.148219 11 # 27 -121.940702 36.697378 -89.787844 4529.780746 11 # 28 -121.940266 36.696315 -88.912766 4653.976011 11 # 29 -121.940702 36.697387 -89.763170 4779.119749 11 # 30 -121.941732 36.699415 -93.344599 5022.195201 1 # 31 -121.943370 36.699574 -97.271755 5169.584962 12 # # A total of 32 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 2700; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 60.000000; abortDepth = 70.000000; minAltitude = 20.000000; abortAltitude = 15.000000; deltaDepthRestart = 10.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 300; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # # Acoustic update 1 - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_bottom behavior to get to end of line 31 # Segment length 147.389761 meters # Minimum depth: 97.271755 meters looking forward 0.000000 meters along route # Maximum depth: 97.271755 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 70.000000 meters # Constant vehicle depth: 50.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 50.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.699574; longitude = -121.943370; lastLatitude = 36.699415; lastLongitude = -121.941732; duration = 589; # abortOnTimeout = True; depth = 50.000000; speed = 1.500000; deltaNorthing = 19.; deltaEasting = -3.; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 47.271755 # Actual altitude: 47.271755 # Commanded vehicle depth: 50 # Seafloor depth: -97.271755 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_bottom behavior to get to end of line 30 # Segment length 243.075452 meters # Minimum depth: 93.344599 meters looking forward 0.000000 meters along route # Maximum depth: 93.344599 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 70.000000 meters # Constant vehicle depth: 50.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 50.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.699415; longitude = -121.941732; lastLatitude = 36.697387; lastLongitude = -121.940702; duration = 972; # abortOnTimeout = True; depth = 50.000000; speed = 1.500000; deltaNorthing = 19.; deltaEasting = -3.; reinitFilter = True; } ####################################################### # Reset sonar parameters # Waypoint type: 11 # Commanded altitude: 47.271755 # Actual altitude: 47.271755 # Commanded vehicle depth: 50 # Seafloor depth: -93.344599 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.64; 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_bottom behavior to get to end of line 29 # Segment length 125.143738 meters # Minimum depth: 89.763170 meters looking forward 0.000000 meters along route # Maximum depth: 89.763170 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 70.000000 meters # Constant vehicle depth: 50.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 50.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.697387; longitude = -121.940702; lastLatitude = 36.696315; lastLongitude = -121.940266; duration = 500; # abortOnTimeout = True; depth = 50.000000; speed = 1.500000; deltaNorthing = 19.; deltaEasting = -3.; } ####################################################### # Reset sonar parameters # Waypoint type: 11 # Commanded altitude: 43.344599 # Actual altitude: 43.344599 # Commanded vehicle depth: 50 # Seafloor depth: -89.763170 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.67; 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; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_bottom behavior to get to end of line 28 # Segment length 124.195265 meters # Minimum depth: 88.912766 meters looking forward 0.000000 meters along route # Maximum depth: 88.912766 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 70.000000 meters # Constant vehicle depth: 50.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 50.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.696315; longitude = -121.940266; lastLatitude = 36.697378; lastLongitude = -121.940702; duration = 496; # abortOnTimeout = True; depth = 50.000000; speed = 1.500000; deltaNorthing = 19.; deltaEasting = -3.; } ####################################################### # Reset sonar parameters # Waypoint type: 11 # Commanded altitude: 39.76317 # Actual altitude: 39.76317 # Commanded vehicle depth: 50 # Seafloor depth: -88.912766 # behavior reson { duration = 6; MB_Range = 198.82; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 19.88; MB_Bottom_Detect_Filter_Max_Range = 198.82; 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_bottom behavior to get to end of line 27 # Segment length 248.632527 meters # Minimum depth: 89.787844 meters looking forward 0.000000 meters along route # Maximum depth: 89.787844 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 70.000000 meters # Constant vehicle depth: 50.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 50.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.697378; longitude = -121.940702; lastLatitude = 36.697757; lastLongitude = -121.943445; duration = 994; # abortOnTimeout = True; depth = 50.000000; speed = 1.500000; deltaNorthing = 19.; deltaEasting = -3.; } ####################################################### # Reset sonar parameters # Waypoint type: 11 # Commanded altitude: 39.787844 # Actual altitude: 39.787844 # Commanded vehicle depth: 50 # Seafloor depth: -89.787844 # behavior reson { duration = 6; MB_Range = 198.94; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 19.89; MB_Bottom_Detect_Filter_Max_Range = 198.94; 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_bottom behavior to get to end of line 26 # Segment length 200.691022 meters # Minimum depth: 83.254856 meters looking forward 0.000000 meters along route # Maximum depth: 83.254856 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 70.000000 meters # Constant vehicle depth: 50.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 50.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.697757; longitude = -121.943445; lastLatitude = 36.699565; lastLongitude = -121.943370; duration = 802; # abortOnTimeout = True; depth = 50.000000; speed = 1.500000; deltaNorthing = 19.; deltaEasting = -3.; reinitFilter = True; } ####################################################### # Reset sonar parameters # Waypoint type: 11 # Commanded altitude: 39.787844 # Actual altitude: 39.787844 # Commanded vehicle depth: 50 # Seafloor depth: -83.254856 # behavior reson { duration = 6; MB_Range = 198.94; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 19.89; MB_Bottom_Detect_Filter_Max_Range = 198.94; 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_bottom behavior to get to end of line 25 # Segment length 108.396487 meters # Minimum depth: 97.256584 meters looking forward 0.000000 meters along route # Maximum depth: 97.256584 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 70.000000 meters # Constant vehicle depth: 50.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 50.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.699565; longitude = -121.943370; lastLatitude = 36.700542; lastLongitude = -121.943355; duration = 433; # abortOnTimeout = True; depth = 50.000000; speed = 1.500000; deltaNorthing = 9.; deltaEasting = -13.; } ####################################################### # Reset sonar parameters # Waypoint type: 11 # Commanded altitude: 47.256584 # Actual altitude: 47.256584 # Commanded vehicle depth: 50 # Seafloor depth: -97.256584 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.63; 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_bottom behavior to get to end of line 24 # Segment length 108.396487 meters # Minimum depth: 98.734200 meters looking forward 0.000000 meters along route # Maximum depth: 98.734200 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 70.000000 meters # Constant vehicle depth: 50.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 50.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.700542; longitude = -121.943355; lastLatitude = 36.699565; lastLongitude = -121.943370; duration = 433; # abortOnTimeout = True; depth = 50.000000; speed = 1.500000; deltaNorthing = 9.; deltaEasting = -13.; } ####################################################### # Reset sonar parameters # Waypoint type: 11 # Commanded altitude: 48.7342 # Actual altitude: 48.7342 # Commanded vehicle depth: 50 # Seafloor depth: -98.734200 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.37; 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_bottom behavior to get to end of line 23 # Segment length 147.164127 meters # Minimum depth: 97.256584 meters looking forward 0.000000 meters along route # Maximum depth: 97.256584 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 70.000000 meters # Constant vehicle depth: 50.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 50.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.699565; longitude = -121.943370; lastLatitude = 36.699424; lastLongitude = -121.941732; duration = 588; # abortOnTimeout = True; depth = 50.000000; speed = 1.500000; deltaNorthing = 9.; deltaEasting = -13.; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 48.7342 # Actual altitude: 48.7342 # Commanded vehicle depth: 50 # Seafloor depth: -97.256584 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_bottom behavior to get to end of line 22 # Segment length 243.631007 meters # Minimum depth: 93.567694 meters looking forward 0.000000 meters along route # Maximum depth: 93.567694 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 70.000000 meters # Constant vehicle depth: 50.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 50.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.699424; longitude = -121.941732; lastLatitude = 36.697387; lastLongitude = -121.940713; duration = 974; # abortOnTimeout = True; depth = 50.000000; speed = 1.500000; deltaNorthing = 9.; deltaEasting = -13.; reinitFilter = True; } ####################################################### # Reset sonar parameters # Waypoint type: 11 # Commanded altitude: 47.256584 # Actual altitude: 47.256584 # Commanded vehicle depth: 50 # Seafloor depth: -93.567694 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.63; 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_bottom behavior to get to end of line 21 # Segment length 126.400010 meters # Minimum depth: 89.808485 meters looking forward 0.000000 meters along route # Maximum depth: 89.808485 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 70.000000 meters # Constant vehicle depth: 50.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 50.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.697387; longitude = -121.940713; lastLatitude = 36.696306; lastLongitude = -121.940266; duration = 505; # abortOnTimeout = True; depth = 50.000000; speed = 1.500000; deltaNorthing = 9.; deltaEasting = -13.; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 43.567694 # Actual altitude: 43.567694 # Commanded vehicle depth: 50 # Seafloor depth: -89.808485 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_bottom behavior to get to end of line 20 # Segment length 125.887609 meters # Minimum depth: 88.912766 meters looking forward 0.000000 meters along route # Maximum depth: 88.912766 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 70.000000 meters # Constant vehicle depth: 50.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 50.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.696306; longitude = -121.940266; lastLatitude = 36.697384; lastLongitude = -121.940706; duration = 503; # abortOnTimeout = True; depth = 50.000000; speed = 1.500000; deltaNorthing = 9.; deltaEasting = -13.; } ####################################################### # Reset sonar parameters # Waypoint type: 11 # Commanded altitude: 39.808485 # Actual altitude: 39.808485 # Commanded vehicle depth: 50 # Seafloor depth: -88.912766 # behavior reson { duration = 6; MB_Range = 199.04; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 19.90; MB_Bottom_Detect_Filter_Max_Range = 199.04; 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_bottom behavior to get to end of line 19 # Segment length 247.034406 meters # Minimum depth: 89.808485 meters looking forward 0.000000 meters along route # Maximum depth: 89.808485 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 70.000000 meters # Constant vehicle depth: 50.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 50.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.697384; longitude = -121.940706; lastLatitude = 36.697748; lastLongitude = -121.943434; duration = 988; # abortOnTimeout = True; depth = 50.000000; speed = 1.500000; deltaNorthing = 9.; deltaEasting = -13.; } ####################################################### # Reset sonar parameters # Waypoint type: 11 # Commanded altitude: 39.808485 # Actual altitude: 39.808485 # Commanded vehicle depth: 50 # Seafloor depth: -89.808485 # behavior reson { duration = 6; MB_Range = 199.04; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 19.90; MB_Bottom_Detect_Filter_Max_Range = 199.04; 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_bottom behavior to get to end of line 18 # Segment length 202.656732 meters # Minimum depth: 82.419485 meters looking forward 0.000000 meters along route # Maximum depth: 82.419485 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 70.000000 meters # Constant vehicle depth: 50.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 50.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.697748; longitude = -121.943434; lastLatitude = 36.699574; lastLongitude = -121.943370; duration = 810; # abortOnTimeout = True; depth = 50.000000; speed = 1.500000; deltaNorthing = 9.; deltaEasting = -13.; reinitFilter = True; } ####################################################### # Reset sonar parameters # Waypoint type: 11 # Commanded altitude: 39.808485 # Actual altitude: 39.808485 # Commanded vehicle depth: 50 # Seafloor depth: -82.419485 # behavior reson { duration = 6; MB_Range = 199.04; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 19.90; MB_Bottom_Detect_Filter_Max_Range = 199.04; 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_bottom behavior to get to end of line 17 # Segment length 106.063020 meters # Minimum depth: 97.271755 meters looking forward 0.000000 meters along route # Maximum depth: 97.271755 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 70.000000 meters # Constant vehicle depth: 50.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 50.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.699574; longitude = -121.943370; lastLatitude = 36.700530; lastLongitude = -121.943359; duration = 424; # abortOnTimeout = True; depth = 50.000000; speed = 1.500000; deltaNorthing = -1.; deltaEasting = -23.; } ####################################################### # Reset sonar parameters # Waypoint type: 11 # Commanded altitude: 47.271755 # Actual altitude: 47.271755 # Commanded vehicle depth: 50 # Seafloor depth: -97.271755 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.64; 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_bottom behavior to get to end of line 16 # Segment length 107.074964 meters # Minimum depth: 98.653078 meters looking forward 0.000000 meters along route # Maximum depth: 98.653078 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 70.000000 meters # Constant vehicle depth: 50.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 50.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.700530; longitude = -121.943359; lastLatitude = 36.699565; lastLongitude = -121.943381; duration = 428; # abortOnTimeout = True; depth = 50.000000; speed = 1.500000; deltaNorthing = -1.; deltaEasting = -23.; } ####################################################### # Reset sonar parameters # Waypoint type: 11 # Commanded altitude: 48.653078 # Actual altitude: 48.653078 # Commanded vehicle depth: 50 # Seafloor depth: -98.653078 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.33; 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_bottom behavior to get to end of line 15 # Segment length 148.250042 meters # Minimum depth: 97.277227 meters looking forward 0.000000 meters along route # Maximum depth: 97.277227 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 70.000000 meters # Constant vehicle depth: 50.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 50.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.699565; longitude = -121.943381; lastLatitude = 36.699415; lastLongitude = -121.941732; duration = 593; # abortOnTimeout = True; depth = 50.000000; speed = 1.500000; deltaNorthing = -1.; deltaEasting = -23.; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 48.653078 # Actual altitude: 48.653078 # Commanded vehicle depth: 50 # Seafloor depth: -97.277227 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_bottom behavior to get to end of line 14 # Segment length 243.075453 meters # Minimum depth: 93.344599 meters looking forward 0.000000 meters along route # Maximum depth: 93.344599 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 70.000000 meters # Constant vehicle depth: 50.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 50.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.699415; longitude = -121.941732; lastLatitude = 36.697387; lastLongitude = -121.940702; duration = 972; # abortOnTimeout = True; depth = 50.000000; speed = 1.500000; deltaNorthing = -1.; deltaEasting = -23.; reinitFilter = True; } ####################################################### # Reset sonar parameters # Waypoint type: 11 # Commanded altitude: 47.277227 # Actual altitude: 47.277227 # Commanded vehicle depth: 50 # Seafloor depth: -93.344599 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.64; 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_bottom behavior to get to end of line 13 # Segment length 126.428263 meters # Minimum depth: 89.763170 meters looking forward 0.000000 meters along route # Maximum depth: 89.763170 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 70.000000 meters # Constant vehicle depth: 50.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 50.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.697387; longitude = -121.940702; lastLatitude = 36.696306; lastLongitude = -121.940254; duration = 505; # abortOnTimeout = True; depth = 50.000000; speed = 1.500000; deltaNorthing = -1.; deltaEasting = -23.; } ####################################################### # Reset sonar parameters # Waypoint type: 11 # Commanded altitude: 43.344599 # Actual altitude: 43.344599 # Commanded vehicle depth: 50 # Seafloor depth: -89.763170 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.67; 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; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_bottom behavior to get to end of line 12 # Segment length 126.742790 meters # Minimum depth: 88.888765 meters looking forward 0.000000 meters along route # Maximum depth: 88.888765 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 70.000000 meters # Constant vehicle depth: 50.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 50.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.696306; longitude = -121.940254; lastLatitude = 36.697387; lastLongitude = -121.940713; duration = 506; # abortOnTimeout = True; depth = 50.000000; speed = 1.500000; deltaNorthing = -1.; deltaEasting = -23.; } ####################################################### # Reset sonar parameters # Waypoint type: 11 # Commanded altitude: 39.76317 # Actual altitude: 39.76317 # Commanded vehicle depth: 50 # Seafloor depth: -88.888765 # behavior reson { duration = 6; MB_Range = 198.82; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 19.88; MB_Bottom_Detect_Filter_Max_Range = 198.82; 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_bottom behavior to get to end of line 11 # Segment length 247.496461 meters # Minimum depth: 89.808485 meters looking forward 0.000000 meters along route # Maximum depth: 89.808485 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 70.000000 meters # Constant vehicle depth: 50.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 50.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.697387; longitude = -121.940713; lastLatitude = 36.697757; lastLongitude = -121.943445; duration = 989; # abortOnTimeout = True; depth = 50.000000; speed = 1.500000; deltaNorthing = -1.; deltaEasting = -23.; } ####################################################### # Reset sonar parameters # Waypoint type: 11 # Commanded altitude: 39.808485 # Actual altitude: 39.808485 # Commanded vehicle depth: 50 # Seafloor depth: -89.808485 # behavior reson { duration = 6; MB_Range = 199.04; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 19.90; MB_Bottom_Detect_Filter_Max_Range = 199.04; 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_bottom behavior to get to end of line 10 # Segment length 201.001105 meters # Minimum depth: 83.254856 meters looking forward 0.000000 meters along route # Maximum depth: 83.254856 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 70.000000 meters # Constant vehicle depth: 50.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 50.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.697757; longitude = -121.943445; lastLatitude = 36.699568; lastLongitude = -121.943378; duration = 804; # abortOnTimeout = True; depth = 50.000000; speed = 1.500000; reinitFilter = True; deltaNorthing = -1.; deltaEasting = -23.; } ####################################################### # Reset sonar parameters # Waypoint type: 11 # Commanded altitude: 39.808485 # Actual altitude: 39.808485 # Commanded vehicle depth: 50 # Seafloor depth: -83.254856 # behavior reson { duration = 6; MB_Range = 199.04; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 19.90; MB_Bottom_Detect_Filter_Max_Range = 199.04; 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_bottom behavior to get to end of line 9 # Segment length 108.060702 meters # Minimum depth: 97.277227 meters looking forward 0.000000 meters along route # Maximum depth: 97.277227 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 70.000000 meters # Constant vehicle depth: 50.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 50.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.699568; longitude = -121.943378; lastLatitude = 36.700542; lastLongitude = -121.943366; duration = 432; # abortOnTimeout = True; depth = 50.000000; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 11 # Commanded altitude: 47.277227 # Actual altitude: 47.277227 # Commanded vehicle depth: 50 # Seafloor depth: -97.277227 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.64; 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_bottom behavior to get to end of line 8 # Segment length 108.060702 meters # Minimum depth: 98.696058 meters looking forward 0.000000 meters along route # Maximum depth: 98.696058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 70.000000 meters # Constant vehicle depth: 50.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 50.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.700542; longitude = -121.943366; lastLatitude = 36.699568; lastLongitude = -121.943378; duration = 432; # abortOnTimeout = True; depth = 50.000000; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 11 # Commanded altitude: 48.696058 # Actual altitude: 48.696058 # Commanded vehicle depth: 50 # Seafloor depth: -98.696058 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.35; 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_bottom behavior to get to end of line 7 # Segment length 147.045369 meters # Minimum depth: 97.277227 meters looking forward 0.000000 meters along route # Maximum depth: 97.277227 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 70.000000 meters # Constant vehicle depth: 50.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 50.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.699568; longitude = -121.943378; lastLatitude = 36.699415; lastLongitude = -121.941743; duration = 588; # abortOnTimeout = True; depth = 50.000000; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 48.696058 # Actual altitude: 48.696058 # Commanded vehicle depth: 50 # Seafloor depth: -97.277227 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_bottom behavior to get to end of line 6 # Segment length 243.597643 meters # Minimum depth: 93.328959 meters looking forward 0.000000 meters along route # Maximum depth: 93.328959 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 70.000000 meters # Constant vehicle depth: 50.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 50.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.699415; longitude = -121.941743; lastLatitude = 36.697378; lastLongitude = -121.940725; duration = 974; # abortOnTimeout = True; depth = 50.000000; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 11 # Commanded altitude: 47.277227 # Actual altitude: 47.277227 # Commanded vehicle depth: 50 # Seafloor depth: -93.328959 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.64; 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_bottom behavior to get to end of line 5 # Segment length 126.151974 meters # Minimum depth: 89.878391 meters looking forward 0.000000 meters along route # Maximum depth: 89.878391 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 70.000000 meters # Constant vehicle depth: 50.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 50.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.697378; longitude = -121.940725; lastLatitude = 36.696306; lastLongitude = -121.940254; duration = 504; # abortOnTimeout = True; depth = 50.000000; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 11 # Commanded altitude: 43.328959 # Actual altitude: 43.328959 # Commanded vehicle depth: 50 # Seafloor depth: -89.878391 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.66; 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_bottom behavior to get to end of line 4 # Segment length 127.093689 meters # Minimum depth: 88.888765 meters looking forward 0.000000 meters along route # Maximum depth: 88.888765 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 70.000000 meters # Constant vehicle depth: 50.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 50.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.696306; longitude = -121.940254; lastLatitude = 36.697387; lastLongitude = -121.940725; duration = 508; # abortOnTimeout = True; depth = 50.000000; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 11 # Commanded altitude: 39.878391 # Actual altitude: 39.878391 # Commanded vehicle depth: 50 # Seafloor depth: -88.888765 # behavior reson { duration = 6; MB_Range = 199.39; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 19.94; MB_Bottom_Detect_Filter_Max_Range = 199.39; 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_bottom behavior to get to end of line 3 # Segment length 246.736557 meters # Minimum depth: 89.835079 meters looking forward 0.000000 meters along route # Maximum depth: 89.835079 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 70.000000 meters # Constant vehicle depth: 50.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 50.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.697387; longitude = -121.940725; lastLatitude = 36.697754; lastLongitude = -121.943449; duration = 986; # abortOnTimeout = True; depth = 50.000000; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 11 # Commanded altitude: 39.835079 # Actual altitude: 39.835079 # Commanded vehicle depth: 50 # Seafloor depth: -89.835079 # behavior reson { duration = 6; MB_Range = 199.18; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 19.92; MB_Bottom_Detect_Filter_Max_Range = 199.18; 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_bottom behavior to get to end of line 2 # Segment length 200.005785 meters # Minimum depth: 83.254856 meters looking forward 0.000000 meters along route # Maximum depth: 83.254856 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 70.000000 meters # Constant vehicle depth: 50.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 50.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.697754; longitude = -121.943449; lastLatitude = 36.699556; lastLongitude = -121.943381; duration = 800; # abortOnTimeout = True; depth = 50.000000; speed = 1.500000; reinitFilter = True; } ####################################################### # Reset sonar parameters # Waypoint type: 11 # Commanded altitude: 39.835079 # Actual altitude: 39.835079 # Commanded vehicle depth: 50 # Seafloor depth: -83.254856 # behavior reson { duration = 6; MB_Range = 199.18; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 19.92; MB_Bottom_Detect_Filter_Max_Range = 199.18; 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_bottom behavior to get to end of line 1 # Segment length 158.005813 meters # Minimum depth: 97.251968 meters looking forward 0.000000 meters along route # Maximum depth: 97.251968 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 70.000000 meters # Constant vehicle depth: 50.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 50.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.699556; longitude = -121.943381; lastLatitude = 36.700980; lastLongitude = -121.943348; duration = 632; # abortOnTimeout = True; depth = 50.000000; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 9 # Commanded altitude: 47.251968 # Actual altitude: 47.251968 # Commanded vehicle depth: 50 # Seafloor depth: -97.251968 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.63; 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 = 6; Log_Mode = 2; } # Set sonar parameters # Waypoint type: 9 # Commanded altitude: 84.337286 # Sonar parameter altitude: 84.337286 # Commanded vehicle depth: 15 # Seafloor depth: -99.337286 # behavior reson { duration = 6; MB_Power = 218; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 31; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.001000; MB_Bottom_Detect_Filter_Min_Range = 42.17; 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; } # # Descend behavior behavior descend { horizontalMode = rudder; horizontal = 3; pitch = -35.; speed = 1.5; maxDepth = 55.; minAltitude = 20.; duration = 300; } # ####################################################### # # Waypoint behavior to get to start of line 1 # Segment length 0.000000 meters # Minimum depth: 99.337286 meters looking forward 0.000000 meters along route # Maximum depth: 99.337286 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 70.000000 meters # Constant vehicle depth: 15.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 15.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_bottom { latitude = 36.700980; longitude = -121.943348; duration = 600; depth = 15.000000; speed = 1.500000; reinitFilter = True; } ####################################################### # Acoustic update 6 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 10.0; pitch = -35.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 20.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 10.0; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 300.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 150.00; MB_Rate = 3; MB_Gain = 31; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.001000; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 150.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### ####################################################### ####################################################### #######################################################