# 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_SantaMonicaSBPTest_2v1.rte # Mission File: 2010_SantaMonicaSBPTest_2v1.cfg # Distance: 4307.571041 (m) # Estimated Time: 4591 (s) 1.275 (hr) # Abort Time: 5969 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 1003 (s) # Way Points: 7 # Route Points: 41 # Survey behavior: WaypointDepth # Descent style: Spiral descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 75 # Multibeam transmit gain: 220 # Multibeam minimum range fraction: 0.4 # Subbottom enabled # Low sidescan enabled # High sidescan disabled # Benthic imaging camera control disabled: # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 50 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 30 (m) # Maximum Vehicle Depth: 835.219889 (m) # Abort Vehicle Depth: 860.219889 (m) # Descent Vehicle Depth: 3 (m) # Spiral descent depth: 781.143636 m # Spiral descent altitude: 50 m # Forward Looking Distance: 100 (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 -118.649719 33.807866 -841.143636 0.000000 3 # 1 -118.642914 33.804086 -836.854980 756.799176 3 # 2 -118.651574 33.793428 -855.765544 2185.068102 4 # 3 -118.651502 33.792096 -860.275391 2332.967597 1 # 4 -118.653356 33.792078 -860.219889 2504.683173 1 # 5 -118.651502 33.793500 -855.582031 2737.838096 3 # 6 -118.641996 33.805220 -836.579753 4307.571041 4 # # A total of 41 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 7200; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 835.219889; abortDepth = 860.219889; minAltitude = 50.000000; abortAltitude = 30.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 1003; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # # 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 = 6; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 149.495337 meters # Minimum depth: 836.579753 meters looking forward 100.000000 meters along route # Maximum depth: 837.172650 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 835.219889 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 786.579753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805220; longitude = -118.641996; captureRadius = 10; duration = 298; # abortOnTimeout = True; initialDepth = 785.990879; finalDepth = 786.579753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 786.579753 # Seafloor depth: -836.579753 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.271399 meters # Minimum depth: 835.990879 meters looking forward 100.000000 meters along route # Maximum depth: 836.914114 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 835.219889 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 785.990879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804104; longitude = -118.642902; captureRadius = 10; duration = 202; initialDepth = 783.896301; finalDepth = 785.990879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.883333 # Actual altitude: 50.883333 # Commanded vehicle depth: 785.990879 # Seafloor depth: -836.874212 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 203.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.271692 meters # Minimum depth: 833.896301 meters looking forward 100.000000 meters along route # Maximum depth: 835.929470 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 835.219889 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 783.896301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803348; longitude = -118.643515; captureRadius = 10; duration = 202; initialDepth = 778.873119; finalDepth = 783.896301; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.033169 # Actual altitude: 52.033169 # Commanded vehicle depth: 783.896301 # Seafloor depth: -835.929470 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 208.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.81; MB_Bottom_Detect_Filter_Max_Range = 208.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.271985 meters # Minimum depth: 828.873119 meters looking forward 100.000000 meters along route # Maximum depth: 833.650869 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 835.219889 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 778.873119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802591; longitude = -118.644128; captureRadius = 10; duration = 202; initialDepth = 773.574366; finalDepth = 778.873119; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.77775 # Actual altitude: 54.77775 # Commanded vehicle depth: 778.873119 # Seafloor depth: -833.650869 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 219.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.91; MB_Bottom_Detect_Filter_Max_Range = 219.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.272279 meters # Minimum depth: 823.574366 meters looking forward 100.000000 meters along route # Maximum depth: 828.787809 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 835.219889 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 773.574366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801835; longitude = -118.644741; captureRadius = 10; duration = 202; initialDepth = 768.140432; finalDepth = 773.574366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.213443 # Actual altitude: 55.213443 # Commanded vehicle depth: 773.574366 # Seafloor depth: -828.787809 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 220.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.09; MB_Bottom_Detect_Filter_Max_Range = 220.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 102.437099 meters # Minimum depth: 818.140432 meters looking forward 100.000000 meters along route # Maximum depth: 823.360808 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 835.219889 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 768.140432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801079; longitude = -118.645355; captureRadius = 10; duration = 204; initialDepth = 752.101639; finalDepth = 768.140432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.220376 # Actual altitude: 55.220376 # Commanded vehicle depth: 768.140432 # Seafloor depth: -823.360808 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 220.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.09; MB_Bottom_Detect_Filter_Max_Range = 220.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.108340 meters # Minimum depth: 802.101639 meters looking forward 100.000000 meters along route # Maximum depth: 818.071311 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 835.219889 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 752.101639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800314; longitude = -118.645975; captureRadius = 10; duration = 200; initialDepth = 752.269145; finalDepth = 752.101639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.9696720000001 # Actual altitude: 65.9696720000001 # Commanded vehicle depth: 752.101639 # Seafloor depth: -818.071311 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 263.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.39; MB_Bottom_Detect_Filter_Max_Range = 263.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.273159 meters # Minimum depth: 802.269145 meters looking forward 100.000000 meters along route # Maximum depth: 810.913279 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 835.219889 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 752.269145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799567; longitude = -118.646581; captureRadius = 10; duration = 202; initialDepth = 762.094127; finalDepth = 752.269145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.9696720000001 # Actual altitude: 65.9696720000001 # Commanded vehicle depth: 752.269145 # Seafloor depth: -802.348112 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 263.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.39; MB_Bottom_Detect_Filter_Max_Range = 263.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.862572 meters # Minimum depth: 812.094127 meters looking forward 100.000000 meters along route # Maximum depth: 829.997237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 835.219889 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 762.094127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798811; longitude = -118.647194; captureRadius = 10; duration = 203; initialDepth = 780.043116; finalDepth = 762.094127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.078967 # Actual altitude: 50.078967 # Commanded vehicle depth: 762.094127 # Seafloor depth: -812.094127 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.684628 meters # Minimum depth: 830.043116 meters looking forward 100.000000 meters along route # Maximum depth: 838.274677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 835.219889 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 780.043116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798050; longitude = -118.647811; captureRadius = 10; duration = 201; initialDepth = 788.539016; finalDepth = 780.043116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 780.043116 # Seafloor depth: -830.043116 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.274040 meters # Minimum depth: 838.539016 meters looking forward 100.000000 meters along route # Maximum depth: 842.707639 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 835.219889 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 788.539016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797299; longitude = -118.648421; captureRadius = 10; duration = 202; initialDepth = 792.882471; finalDepth = 788.539016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 788.539016 # Seafloor depth: -838.539016 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.288035 meters # Minimum depth: 842.882471 meters looking forward 100.000000 meters along route # Maximum depth: 847.322155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 835.219889 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 792.882471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796542; longitude = -118.649034; captureRadius = 10; duration = 202; initialDepth = 797.322691; finalDepth = 792.882471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 792.882471 # Seafloor depth: -842.882471 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.260927 meters # Minimum depth: 847.322691 meters looking forward 100.000000 meters along route # Maximum depth: 850.963899 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 835.219889 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 797.322691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795786; longitude = -118.649647; captureRadius = 10; duration = 202; initialDepth = 801.059955; finalDepth = 797.322691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 797.322691 # Seafloor depth: -847.322691 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.878041 meters # Minimum depth: 851.059955 meters looking forward 100.000000 meters along route # Maximum depth: 853.612542 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 835.219889 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 801.059955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795030; longitude = -118.650261; captureRadius = 10; duration = 207; initialDepth = 803.665313; finalDepth = 801.059955; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 801.059955 # Seafloor depth: -851.059955 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.083412 meters # Minimum depth: 853.665313 meters looking forward 100.000000 meters along route # Maximum depth: 855.547100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 835.219889 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 803.665313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794255; longitude = -118.650890; captureRadius = 10; duration = 202; initialDepth = 805.582031; finalDepth = 803.665313; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 803.665313 # Seafloor depth: -853.665313 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; subsys = SBP; pulseFile = SB106DW__1_5__6__20FM_TSB.spf; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 129.858164 meters # Minimum depth: 855.582031 meters looking forward 100.000000 meters along route # Maximum depth: 858.004687 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 835.219889 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 805.582031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793500; longitude = -118.651502; captureRadius = 10; duration = 259; # abortOnTimeout = True; initialDepth = 808.020499; finalDepth = 805.582031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 805.582031 # Seafloor depth: -855.582031 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 103.296759 meters # Minimum depth: 858.020499 meters looking forward 100.000000 meters along route # Maximum depth: 860.076935 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 835.219889 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 808.020499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792708; longitude = -118.652534; captureRadius = 10; duration = 206; initialDepth = 810.219889; finalDepth = 808.020499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 808.020499 # Seafloor depth: -858.020499 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 171.715576 meters # Minimum depth: 860.219889 meters looking forward 100.000000 meters along route # Maximum depth: 860.586977 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 835.219889 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 810.219889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792078; longitude = -118.653356; captureRadius = 10; duration = 343; # abortOnTimeout = True; initialDepth = 805.813468; finalDepth = 810.219889; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 810.219889 # Seafloor depth: -860.219889 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 147.899495 meters # Minimum depth: 855.813468 meters looking forward 100.000000 meters along route # Maximum depth: 860.275391 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 835.219889 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 805.813468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792096; longitude = -118.651502; captureRadius = 10; duration = 295; # abortOnTimeout = True; initialDepth = 803.780846; finalDepth = 805.813468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 54.4619230000001 # Actual altitude: 54.4619230000001 # Commanded vehicle depth: 805.813468 # Seafloor depth: -860.275391 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 217.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.78; MB_Bottom_Detect_Filter_Max_Range = 217.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 106.157135 meters # Minimum depth: 853.780846 meters looking forward 100.000000 meters along route # Maximum depth: 855.765544 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 835.219889 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 803.780846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793428; longitude = -118.651574; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 801.427960; finalDepth = 803.780846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4619230000001 # Actual altitude: 54.4619230000001 # Commanded vehicle depth: 803.780846 # Seafloor depth: -855.765544 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 217.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.78; MB_Bottom_Detect_Filter_Max_Range = 217.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.331510 meters # Minimum depth: 851.427960 meters looking forward 100.000000 meters along route # Maximum depth: 853.739197 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 835.219889 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 801.427960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794220; longitude = -118.650930; captureRadius = 10; duration = 202; initialDepth = 797.922264; finalDepth = 801.427960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.311237 # Actual altitude: 52.311237 # Commanded vehicle depth: 801.42796 # Seafloor depth: -853.739197 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 209.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.92; MB_Bottom_Detect_Filter_Max_Range = 209.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.331215 meters # Minimum depth: 847.922264 meters looking forward 100.000000 meters along route # Maximum depth: 851.277458 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 835.219889 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 797.922264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794976; longitude = -118.650316; captureRadius = 10; duration = 202; initialDepth = 793.330139; finalDepth = 797.922264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.355194 # Actual altitude: 53.355194 # Commanded vehicle depth: 797.922264 # Seafloor depth: -851.277458 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 213.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.34; MB_Bottom_Detect_Filter_Max_Range = 213.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.330920 meters # Minimum depth: 843.330139 meters looking forward 100.000000 meters along route # Maximum depth: 847.653259 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 835.219889 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 793.330139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795732; longitude = -118.649701; captureRadius = 10; duration = 202; initialDepth = 789.538321; finalDepth = 793.330139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.32312 # Actual altitude: 54.32312 # Commanded vehicle depth: 793.330139 # Seafloor depth: -847.653259 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 217.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.73; MB_Bottom_Detect_Filter_Max_Range = 217.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.330626 meters # Minimum depth: 839.538321 meters looking forward 100.000000 meters along route # Maximum depth: 843.190338 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 835.219889 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 789.538321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796488; longitude = -118.649087; captureRadius = 10; duration = 202; initialDepth = 780.819449; finalDepth = 789.538321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.32312 # Actual altitude: 54.32312 # Commanded vehicle depth: 789.538321 # Seafloor depth: -843.190338 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 217.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.73; MB_Bottom_Detect_Filter_Max_Range = 217.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.330332 meters # Minimum depth: 830.819449 meters looking forward 100.000000 meters along route # Maximum depth: 839.139954 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 835.219889 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 780.819449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797245; longitude = -118.648473; captureRadius = 10; duration = 202; initialDepth = 765.058378; finalDepth = 780.819449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.320505 # Actual altitude: 58.320505 # Commanded vehicle depth: 780.819449 # Seafloor depth: -839.139954 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 233.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.33; MB_Bottom_Detect_Filter_Max_Range = 233.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.330037 meters # Minimum depth: 815.058378 meters looking forward 100.000000 meters along route # Maximum depth: 830.699333 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 835.219889 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 765.058378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798001; longitude = -118.647858; captureRadius = 10; duration = 202; initialDepth = 752.265358; finalDepth = 765.058378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.6409550000001 # Actual altitude: 65.6409550000001 # Commanded vehicle depth: 765.058378 # Seafloor depth: -830.699333 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 262.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.26; MB_Bottom_Detect_Filter_Max_Range = 262.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 262.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.443255 meters # Minimum depth: 802.265358 meters looking forward 100.000000 meters along route # Maximum depth: 814.044769 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 835.219889 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 752.265358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798757; longitude = -118.647244; captureRadius = 10; duration = 204; initialDepth = 752.068359; finalDepth = 752.265358; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.6409550000001 # Actual altitude: 65.6409550000001 # Commanded vehicle depth: 752.265358 # Seafloor depth: -814.044769 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 262.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.26; MB_Bottom_Detect_Filter_Max_Range = 262.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 262.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.215936 meters # Minimum depth: 802.068359 meters looking forward 100.000000 meters along route # Maximum depth: 817.676739 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 835.219889 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 752.068359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799521; longitude = -118.646623; captureRadius = 10; duration = 200; initialDepth = 767.790314; finalDepth = 752.068359; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.779411 # Actual altitude: 61.779411 # Commanded vehicle depth: 752.068359 # Seafloor depth: -802.830632 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 247.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.71; MB_Bottom_Detect_Filter_Max_Range = 247.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.329154 meters # Minimum depth: 817.790314 meters looking forward 100.000000 meters along route # Maximum depth: 822.750305 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 835.219889 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 767.790314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800269; longitude = -118.646015; captureRadius = 10; duration = 202; initialDepth = 773.001389; finalDepth = 767.790314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7622730000001 # Actual altitude: 50.7622730000001 # Commanded vehicle depth: 767.790314 # Seafloor depth: -817.790314 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 203.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 203.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.328860 meters # Minimum depth: 823.001389 meters looking forward 100.000000 meters along route # Maximum depth: 827.872066 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 835.219889 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 773.001389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801025; longitude = -118.645401; captureRadius = 10; duration = 202; initialDepth = 778.307617; finalDepth = 773.001389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 773.001389 # Seafloor depth: -823.001389 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.328565 meters # Minimum depth: 828.307617 meters looking forward 100.000000 meters along route # Maximum depth: 833.234103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 835.219889 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 778.307617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801781; longitude = -118.644787; captureRadius = 10; duration = 202; initialDepth = 783.367043; finalDepth = 778.307617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 778.307617 # Seafloor depth: -828.307617 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 103.555262 meters # Minimum depth: 833.367043 meters looking forward 100.000000 meters along route # Maximum depth: 835.797867 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 835.219889 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 783.367043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802537; longitude = -118.644172; captureRadius = 10; duration = 207; initialDepth = 785.841158; finalDepth = 783.367043; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 783.367043 # Seafloor depth: -833.367043 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 103.926119 meters # Minimum depth: 835.841158 meters looking forward 100.000000 meters along route # Maximum depth: 836.914970 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 835.219889 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 785.841158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803310; longitude = -118.643545; captureRadius = 10; duration = 207; initialDepth = 786.129919; finalDepth = 785.841158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 785.841158 # Seafloor depth: -835.841158 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # 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 144.153855 meters # Minimum depth: 836.129919 meters looking forward 100.000000 meters along route # Maximum depth: 836.854980 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 835.219889 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 786.129919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804086; longitude = -118.642914; captureRadius = 10; duration = 288; # abortOnTimeout = True; initialDepth = 785.668269; finalDepth = 786.129919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.725061 # Actual altitude: 50.725061 # Commanded vehicle depth: 786.129919 # Seafloor depth: -836.854980 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 202.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.106392 meters # Minimum depth: 835.668269 meters looking forward 100.000000 meters along route # Maximum depth: 836.119141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 835.219889 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 785.668269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804806; longitude = -118.644211; captureRadius = 10; duration = 200; initialDepth = 785.700290; finalDepth = 785.668269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.725061 # Actual altitude: 50.725061 # Commanded vehicle depth: 785.668269 # Seafloor depth: -836.119141 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 202.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.108138 meters # Minimum depth: 835.700290 meters looking forward 100.000000 meters along route # Maximum depth: 836.319824 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 835.219889 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 785.700290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805306; longitude = -118.645111; captureRadius = 10; duration = 204; initialDepth = 786.298069; finalDepth = 785.700290; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.450872 # Actual altitude: 50.450872 # Commanded vehicle depth: 785.70029 # Seafloor depth: -835.796095 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 201.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.107754 meters # Minimum depth: 836.298069 meters looking forward 100.000000 meters along route # Maximum depth: 837.155339 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 835.219889 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 786.298069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805816; longitude = -118.646029; captureRadius = 10; duration = 204; initialDepth = 787.183087; finalDepth = 786.298069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.095805 # Actual altitude: 50.095805 # Commanded vehicle depth: 786.298069 # Seafloor depth: -836.352869 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.04; MB_Bottom_Detect_Filter_Max_Range = 200.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.107369 meters # Minimum depth: 837.183087 meters looking forward 100.000000 meters along route # Maximum depth: 838.550781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 835.219889 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 787.183087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806326; longitude = -118.646947; captureRadius = 10; duration = 204; initialDepth = 788.647859; finalDepth = 787.183087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0548 # Actual altitude: 50.0548 # Commanded vehicle depth: 787.183087 # Seafloor depth: -837.183087 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.02; MB_Bottom_Detect_Filter_Max_Range = 200.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.106983 meters # Minimum depth: 838.647859 meters looking forward 100.000000 meters along route # Maximum depth: 840.272526 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 835.219889 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 788.647859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806836; longitude = -118.647865; captureRadius = 10; duration = 204; initialDepth = 789.979362; finalDepth = 788.647859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 788.647859 # Seafloor depth: -838.647859 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.108685 meters # Minimum depth: 839.979362 meters looking forward 100.000000 meters along route # Maximum depth: 841.154356 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 835.219889 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 789.979362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807346; longitude = -118.648783; captureRadius = 10; duration = 208; initialDepth = 789.979362; finalDepth = 789.979362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.3049259999999 # Actual altitude: 50.3049259999999 # Commanded vehicle depth: 789.979362 # Seafloor depth: -840.284288 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 201.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.22; 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 = 6; Log_Mode = 1; } # Set sonar parameters # Waypoint type: 3 # Commanded altitude: 51.164274 # Sonar parameter altitude: 51.164274 # Commanded vehicle depth: 789.979362 # Seafloor depth: -841.143636 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 400.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; MB_Power = 220; MB_Range = 204.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 204.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 104.108685 meters # Minimum depth: 839.979362 meters looking forward 100.000000 meters along route # Maximum depth: 841.154356 meters looking forward 100.000000 meters along route # Vehicle depth: 789.979362 meters behavior waypoint { latitude = 33.807866; longitude = -118.649719; captureRadius = 10; duration = 600; depth = 789.979362; speed = 1.500000; } # # Zero speed hang to allow final nav updates over acoustic modem # - must get start survey command over acoustic modem or mission aborts behavior StartSurvey { duration = 300; } # # Acoustic update - sent status ping at beginning of StartSurvey behavior # behavior acousticUpdate { duration = 2; dummy = 1; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 789.979362 meters set by local depth and desired altitude behavior descend { duration = 2417; horizontalMode = rudder; horizontal = 3.000000; pitch = -30.000000; speed = 1.500000; maxDepth = 781.143636; minAltitude = 50.000000; } # # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # Waypoint behavior to get to start of line 1 # Segment length 104.108685 meters # Minimum depth: 839.979362 meters looking forward 100.000000 meters along route # Maximum depth: 841.154356 meters looking forward 100.000000 meters along route # Vehicle depth: 50.000000 meters behavior waypoint { latitude = 33.807866; longitude = -118.649719; captureRadius = 10; duration = 1000; depth = 50.000000; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 315.0; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 315.0; 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 = 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 = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### ####################################################### ####################################################### #######################################################