# This MBARI Mapping AUV mission file has been generated # by the MB-System program mbm_route2mission run by # user on cpu at # # Mission Summary: # Route File: 2010_MAUVTest_2v1.rte # Mission File: 2010_MAUVTest_2v1.cfg # Distance: 1956.047715 (m) # Estimated Time: 2393 (s) 0.665 (hr) # Abort Time: 3110 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 300 (s) # Way Points: 3 # Route Points: 20 # Survey behavior: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 30 # Multibeam transmit gain: 220 # Multibeam minimum range fraction: 0.3 # Subbottom enabled # Low sidescan enabled # High sidescan enabled # Benthic imaging camera control disabled: # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 20 (m) # Minimum Vehicle Altitude: 20 (m) # Abort Vehicle Altitude: 10 (m) # Maximum Vehicle Depth: 165.658649 (m) # Abort Vehicle Depth: 175.658649 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 50 (m) # Waypoint Spacing: 100 (m) # 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 -121.836999 36.816195 -122.792114 0.000000 3 # 1 -121.838642 36.809646 -152.159138 741.171497 3 # 2 -121.852068 36.807813 -181.347046 1956.047715 3 # # A total of 20 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 1956.047715 #define MISSION_TIME 2393 #define MISSION_TIMEOUT 3110 #define DEPTH_MAX 165.658649 #define DEPTH_ABORT 175.658649 #define ALTITUDE_DESIRED 20.000000 #define ALTITUDE_MIN 20.000000 #define ALTITUDE_ABORT 10.000000 #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 3.000000 #define DESCENDPITCH -30.000000 #define MAXCROSSTRACKERROR 30 #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; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 300; horizontalMode = rudder; horizontal = ASCENDRUDDER; pitch = ASCENDPITCH; speed = MISSION_SPEED; endDepth = ASCENDENDDEPTH; } # # Acoustic update - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = RESON_DURATION; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 97.995520 meters # Minimum depth: 175.658649 meters looking forward 50.000000 meters along route # Maximum depth: 181.347046 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 165.658649 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 155.658649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807813; longitude = -121.852068; captureRadius = 10; duration = 195; # abortOnTimeout = True; initialDepth = 147.909596; finalDepth = 155.658649; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25.688397 # Actual altitude: 25.688397 # Commanded vehicle depth: 155.658649 # Seafloor depth: -181.347046 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 102.75; MB_Rate = 2; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 7.71; MB_Bottom_Detect_Filter_Max_Range = 102.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 102.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.379694 meters # Minimum depth: 167.909596 meters looking forward 50.000000 meters along route # Maximum depth: 175.628630 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 165.658649 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 147.909596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807961; longitude = -121.850985; captureRadius = 10; duration = 202; initialDepth = 144.250282; finalDepth = 147.909596; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.719034 # Actual altitude: 27.719034 # Commanded vehicle depth: 147.909596 # Seafloor depth: -175.628630 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 110.88; MB_Rate = 2; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.32; MB_Bottom_Detect_Filter_Max_Range = 110.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 110.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.379525 meters # Minimum depth: 164.250282 meters looking forward 50.000000 meters along route # Maximum depth: 168.232384 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 165.658649 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 144.250282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808114; longitude = -121.849865; captureRadius = 10; duration = 202; initialDepth = 141.494960; finalDepth = 144.250282; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.719034 # Actual altitude: 27.719034 # Commanded vehicle depth: 144.250282 # Seafloor depth: -168.232384 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 110.88; MB_Rate = 2; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.32; MB_Bottom_Detect_Filter_Max_Range = 110.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 110.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.379354 meters # Minimum depth: 161.494960 meters looking forward 50.000000 meters along route # Maximum depth: 164.434902 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 165.658649 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 141.494960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808267; longitude = -121.848744; captureRadius = 10; duration = 202; initialDepth = 136.963574; finalDepth = 141.494960; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 23.982102 # Actual altitude: 23.982102 # Commanded vehicle depth: 141.49496 # Seafloor depth: -164.434902 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 95.93; MB_Rate = 2; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 7.19; MB_Bottom_Detect_Filter_Max_Range = 95.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 95.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.379183 meters # Minimum depth: 156.963574 meters looking forward 50.000000 meters along route # Maximum depth: 161.431123 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 165.658649 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 136.963574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808420; longitude = -121.847624; captureRadius = 10; duration = 202; initialDepth = 134.092814; finalDepth = 136.963574; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 24.467549 # Actual altitude: 24.467549 # Commanded vehicle depth: 136.963574 # Seafloor depth: -161.431123 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 97.87; MB_Rate = 2; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 7.34; MB_Bottom_Detect_Filter_Max_Range = 97.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 97.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.379014 meters # Minimum depth: 154.092814 meters looking forward 50.000000 meters along route # Maximum depth: 156.732608 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 165.658649 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 134.092814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808573; longitude = -121.846504; captureRadius = 10; duration = 202; initialDepth = 134.087847; finalDepth = 134.092814; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 24.467549 # Actual altitude: 24.467549 # Commanded vehicle depth: 134.092814 # Seafloor depth: -156.732608 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 97.87; MB_Rate = 2; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 7.34; MB_Bottom_Detect_Filter_Max_Range = 97.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 97.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.378843 meters # Minimum depth: 154.087847 meters looking forward 50.000000 meters along route # Maximum depth: 154.812308 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 165.658649 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 134.087847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808726; longitude = -121.845383; captureRadius = 10; duration = 202; initialDepth = 132.781950; finalDepth = 134.087847; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 22.639794 # Actual altitude: 22.639794 # Commanded vehicle depth: 134.087847 # Seafloor depth: -154.740592 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 90.56; MB_Rate = 2; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 6.79; MB_Bottom_Detect_Filter_Max_Range = 90.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 90.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.378672 meters # Minimum depth: 152.781950 meters looking forward 50.000000 meters along route # Maximum depth: 154.221881 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 165.658649 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 132.781950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808879; longitude = -121.844263; captureRadius = 10; duration = 202; initialDepth = 129.937480; finalDepth = 132.781950; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.864594 # Actual altitude: 20.864594 # Commanded vehicle depth: 132.78195 # Seafloor depth: -153.646544 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 83.46; MB_Rate = 2; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 6.26; MB_Bottom_Detect_Filter_Max_Range = 83.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 83.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.378503 meters # Minimum depth: 149.937480 meters looking forward 50.000000 meters along route # Maximum depth: 152.266449 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 165.658649 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 129.937480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809032; longitude = -121.843142; captureRadius = 10; duration = 202; initialDepth = 130.558327; finalDepth = 129.937480; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 22.328969 # Actual altitude: 22.328969 # Commanded vehicle depth: 129.93748 # Seafloor depth: -152.266449 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 89.32; MB_Rate = 2; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 6.70; MB_Bottom_Detect_Filter_Max_Range = 89.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 89.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.378332 meters # Minimum depth: 150.558327 meters looking forward 50.000000 meters along route # Maximum depth: 152.115008 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 165.658649 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 130.558327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809185; longitude = -121.842022; captureRadius = 10; duration = 202; initialDepth = 129.789245; finalDepth = 130.558327; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 22.328969 # Actual altitude: 22.328969 # Commanded vehicle depth: 130.558327 # Seafloor depth: -150.558327 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 89.32; MB_Rate = 2; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 6.70; MB_Bottom_Detect_Filter_Max_Range = 89.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 89.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.378163 meters # Minimum depth: 149.789245 meters looking forward 50.000000 meters along route # Maximum depth: 151.250212 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 165.658649 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 129.789245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809337; longitude = -121.840902; captureRadius = 10; duration = 202; initialDepth = 129.995832; finalDepth = 129.789245; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.020114 # Actual altitude: 21.020114 # Commanded vehicle depth: 129.789245 # Seafloor depth: -150.809359 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.08; MB_Rate = 2; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 6.31; MB_Bottom_Detect_Filter_Max_Range = 84.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 103.091415 meters # Minimum depth: 149.995832 meters looking forward 50.000000 meters along route # Maximum depth: 153.368547 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 165.658649 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 129.995832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809490; longitude = -121.839781; captureRadius = 10; duration = 206; initialDepth = 126.968825; finalDepth = 129.995832; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 21.020114 # Actual altitude: 21.020114 # Commanded vehicle depth: 129.995832 # Seafloor depth: -149.995832 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.08; MB_Rate = 2; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 6.31; MB_Bottom_Detect_Filter_Max_Range = 84.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 130.870509 meters # Minimum depth: 146.968825 meters looking forward 50.000000 meters along route # Maximum depth: 152.159138 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 165.658649 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 126.968825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809646; longitude = -121.838642; captureRadius = 10; duration = 261; # abortOnTimeout = True; initialDepth = 123.328245; finalDepth = 126.968825; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25.190313 # Actual altitude: 25.190313 # Commanded vehicle depth: 126.968825 # Seafloor depth: -152.159138 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.76; MB_Rate = 2; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 7.56; MB_Bottom_Detect_Filter_Max_Range = 100.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 102.000232 meters # Minimum depth: 143.328245 meters looking forward 50.000000 meters along route # Maximum depth: 146.455416 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 165.658649 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 123.328245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810802; longitude = -121.838352; captureRadius = 10; duration = 204; initialDepth = 118.890562; finalDepth = 123.328245; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25.190313 # Actual altitude: 25.190313 # Commanded vehicle depth: 123.328245 # Seafloor depth: -146.455416 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.76; MB_Rate = 2; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 7.56; MB_Bottom_Detect_Filter_Max_Range = 100.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.000206 meters # Minimum depth: 138.890562 meters looking forward 50.000000 meters along route # Maximum depth: 143.688284 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 165.658649 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 118.890562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811704; longitude = -121.838126; captureRadius = 10; duration = 204; initialDepth = 114.766197; finalDepth = 118.890562; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 24.797722 # Actual altitude: 24.797722 # Commanded vehicle depth: 118.890562 # Seafloor depth: -143.688284 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 99.19; MB_Rate = 2; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 7.44; MB_Bottom_Detect_Filter_Max_Range = 99.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 99.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.000178 meters # Minimum depth: 134.766197 meters looking forward 50.000000 meters along route # Maximum depth: 138.337237 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 165.658649 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 114.766197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812605; longitude = -121.837900; captureRadius = 10; duration = 204; initialDepth = 110.829739; finalDepth = 114.766197; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 24.797722 # Actual altitude: 24.797722 # Commanded vehicle depth: 114.766197 # Seafloor depth: -138.337237 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 99.19; MB_Rate = 2; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 7.44; MB_Bottom_Detect_Filter_Max_Range = 99.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 99.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.000151 meters # Minimum depth: 130.829739 meters looking forward 50.000000 meters along route # Maximum depth: 134.511301 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 165.658649 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 110.829739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813506; longitude = -121.837674; captureRadius = 10; duration = 204; initialDepth = 106.863309; finalDepth = 110.829739; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 23.681562 # Actual altitude: 23.681562 # Commanded vehicle depth: 110.829739 # Seafloor depth: -134.511301 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 94.73; MB_Rate = 2; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 7.10; MB_Bottom_Detect_Filter_Max_Range = 94.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 94.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.000125 meters # Minimum depth: 126.863309 meters looking forward 50.000000 meters along route # Maximum depth: 130.719390 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 165.658649 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 106.863309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814407; longitude = -121.837447; captureRadius = 10; duration = 204; initialDepth = 102.247863; finalDepth = 106.863309; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 23.856081 # Actual altitude: 23.856081 # Commanded vehicle depth: 106.863309 # Seafloor depth: -130.719390 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 95.42; MB_Rate = 2; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 7.16; MB_Bottom_Detect_Filter_Max_Range = 95.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 95.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.300096 meters # Minimum depth: 122.247863 meters looking forward 50.000000 meters along route # Maximum depth: 127.563256 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 165.658649 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 102.247863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815308; longitude = -121.837221; captureRadius = 10; duration = 200; initialDepth = 102.247863; finalDepth = 102.247863; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 24.417266 # Actual altitude: 24.417266 # Commanded vehicle depth: 102.247863 # Seafloor depth: -126.665129 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 97.67; MB_Rate = 2; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 7.33; MB_Bottom_Detect_Filter_Max_Range = 97.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 97.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - 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 = 1; } # Set sonar parameters # Waypoint type: 3 # Commanded altitude: 24.417266 # Sonar parameter altitude: 24.417266 # Commanded vehicle depth: 102.247863 # Seafloor depth: -122.792114 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 400.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; HiSS_Mode = 1; HiSS_Power = 100.0; HiSS_Range = 200; MB_Power = 220; MB_Range = 97.67; MB_Rate = 2; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 7.33; MB_Bottom_Detect_Filter_Max_Range = 97.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 97.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 0.000000 meters # Minimum depth: 122.247863 meters looking forward 50.000000 meters along route # Maximum depth: 127.563256 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 165.658649 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 102.247863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816195; longitude = -121.836999; captureRadius = 10; duration = 600; initialDepth = 102.247863; finalDepth = 102.247863; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 190.708442; pitch = -15.0; speed = 1.6; maxDepth = DESCENT_DEPTH; minAltitude = ALTITUDE_MIN; duration = DESCEND_DURATION; } # # setpoint on surface to gather momentum behavior setpoint { duration = SETPOINT_DURATION; heading = 190.708442; speed = 1.6; 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 = 400.000; 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 = 80.00; MB_Rate = 2; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 6.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### ####################################################### ####################################################### #######################################################