# 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: 20110629_SBPtest_1v2.rte # Mission File: 20110629_SBPtest_1v2.cfg # Distance: 4244.108198 (m) # Estimated Time: 5142 (s) 1.428 (hr) # Abort Time: 6684 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 1715 (s) # Way Points: 2 # Route Points: 43 # Survey behavior: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 50 # Multibeam transmit gain: 220 # Multibeam minimum range fraction: 0.3 # Subbottom enabled # Low sidescan enabled # High sidescan disabled # Benthic imaging camera control disabled: # # Mission Parameters: # Vehicle Survey Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Ascent Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Transit Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 50 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 25 (m) # Delta Depth Restart: 25 (m) # Maximum Vehicle Depth: 1404.50137 (m) # Abort Vehicle Depth: 1429.50137 (m) # Descent Vehicle Depth: 3 (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 -121.964928 36.723680 -107.549959 0.000000 3 # 1 -122.011741 36.717100 -1432.526611 4244.108198 4 # # A total of 43 mission points have been defined. # # Define Mission parameters: #define SURVEY_SPEED 1.500000 #define ASCENTDESCENT_SPEED 1.500000 #define TRANSIT_SPEED 1.500000 #define MISSION_DISTANCE 4244.108198 #define MISSION_TIME 5142 #define MISSION_TIMEOUT 6684 #define DEPTH_MAX 1404.501370 #define DEPTH_ABORT 1429.501370 #define ALTITUDE_DESIRED 50.000000 #define ALTITUDE_MIN 50.000000 #define ALTITUDE_ABORT 25.000000 #define DELTA_DEPTH_RESTART 25.000000 #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 RESON_DURATION 6 # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = MISSION_TIMEOUT; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = DEPTH_MAX; abortDepth = DEPTH_ABORT; minAltitude = ALTITUDE_MIN; abortAltitude = ALTITUDE_ABORT; deltaDepthRestart = DELTA_DEPTH_RESTART; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 1715; horizontalMode = rudder; horizontal = ASCENDRUDDER; pitch = ASCENDPITCH; speed = ASCENTDESCENT_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 1 # Segment length 77.866506 meters # Minimum depth: 1429.501370 meters looking forward 100.000000 meters along route # Maximum depth: 1432.526611 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1404.501370 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1379.501370 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.717100; longitude = -122.011741; duration = 155; # abortOnTimeout = True; initialDepth = 1375.195294; finalDepth = 1379.501370; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0252410000001 # Actual altitude: 53.0252410000001 # Commanded vehicle depth: 1379.50137 # Seafloor depth: -1432.526611 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.91; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.537228 meters # Minimum depth: 1425.195294 meters looking forward 100.000000 meters along route # Maximum depth: 1429.116719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1404.501370 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1375.195294 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.717221; longitude = -122.010882; duration = 203; initialDepth = 1357.924401; finalDepth = 1375.195294; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.921425 # Actual altitude: 53.921425 # Commanded vehicle depth: 1375.195294 # Seafloor depth: -1429.116719 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.18; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.537048 meters # Minimum depth: 1407.924401 meters looking forward 100.000000 meters along route # Maximum depth: 1425.692649 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1404.501370 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1357.924401 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.717378; longitude = -122.009762; duration = 203; initialDepth = 1310.330537; finalDepth = 1357.924401; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.7645669999999 # Actual altitude: 66.7645669999999 # Commanded vehicle depth: 1357.924401 # Seafloor depth: -1424.688968 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.536870 meters # Minimum depth: 1360.330537 meters looking forward 100.000000 meters along route # Maximum depth: 1401.022338 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1404.501370 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1310.330537 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.717536; longitude = -122.008642; duration = 203; initialDepth = 1261.581521; finalDepth = 1310.330537; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.6918009999999 # Actual altitude: 90.6918009999999 # Commanded vehicle depth: 1310.330537 # Seafloor depth: -1401.022338 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.21; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.536691 meters # Minimum depth: 1311.581521 meters looking forward 100.000000 meters along route # Maximum depth: 1356.647560 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1404.501370 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1261.581521 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.717693; longitude = -122.007522; duration = 203; initialDepth = 1205.531751; finalDepth = 1261.581521; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.066039 # Actual altitude: 95.066039 # Commanded vehicle depth: 1261.581521 # Seafloor depth: -1356.647560 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.52; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.536513 meters # Minimum depth: 1255.531751 meters looking forward 100.000000 meters along route # Maximum depth: 1305.422297 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1404.501370 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1205.531751 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.717850; longitude = -122.006402; duration = 203; initialDepth = 1155.996616; finalDepth = 1205.531751; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 99.8905460000001 # Actual altitude: 99.8905460000001 # Commanded vehicle depth: 1205.531751 # Seafloor depth: -1305.422297 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.97; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.536333 meters # Minimum depth: 1205.996616 meters looking forward 100.000000 meters along route # Maximum depth: 1252.232207 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1404.501370 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1155.996616 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.718008; longitude = -122.005283; duration = 203; initialDepth = 1085.914157; finalDepth = 1155.996616; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 99.8905460000001 # Actual altitude: 99.8905460000001 # Commanded vehicle depth: 1155.996616 # Seafloor depth: -1252.232207 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.97; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.536155 meters # Minimum depth: 1135.914157 meters looking forward 100.000000 meters along route # Maximum depth: 1201.300558 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1404.501370 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1085.914157 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.718165; longitude = -122.004163; duration = 203; initialDepth = 1014.439888; finalDepth = 1085.914157; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 115.386401 # Actual altitude: 100 # Commanded vehicle depth: 1085.914157 # Seafloor depth: -1201.300558 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.535976 meters # Minimum depth: 1064.439888 meters looking forward 100.000000 meters along route # Maximum depth: 1127.094087 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1404.501370 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.439888 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.718323; longitude = -122.003043; duration = 203; initialDepth = 940.399837; finalDepth = 1014.439888; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 115.386401 # Actual altitude: 100 # Commanded vehicle depth: 1014.439888 # Seafloor depth: -1127.094087 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.535797 meters # Minimum depth: 990.399837 meters looking forward 100.000000 meters along route # Maximum depth: 1057.780608 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1404.501370 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.399837 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.718480; longitude = -122.001923; duration = 203; initialDepth = 866.380702; finalDepth = 940.399837; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 117.380771 # Actual altitude: 100 # Commanded vehicle depth: 940.399837 # Seafloor depth: -1057.780608 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.535619 meters # Minimum depth: 916.380702 meters looking forward 100.000000 meters along route # Maximum depth: 983.322549 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1404.501370 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 866.380702 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.718637; longitude = -122.000803; duration = 203; initialDepth = 805.086698; finalDepth = 866.380702; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 117.380771 # Actual altitude: 100 # Commanded vehicle depth: 866.380702 # Seafloor depth: -983.322549 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.535440 meters # Minimum depth: 855.086698 meters looking forward 100.000000 meters along route # Maximum depth: 907.225348 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1404.501370 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 805.086698 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.718795; longitude = -121.999683; duration = 203; initialDepth = 737.570486; finalDepth = 805.086698; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 116.941847 # Actual altitude: 100 # Commanded vehicle depth: 805.086698 # Seafloor depth: -907.225348 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.535261 meters # Minimum depth: 787.570486 meters looking forward 100.000000 meters along route # Maximum depth: 846.237024 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1404.501370 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.570486 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.718952; longitude = -121.998563; duration = 203; initialDepth = 705.868962; finalDepth = 737.570486; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 108.666538 # Actual altitude: 100 # Commanded vehicle depth: 737.570486 # Seafloor depth: -846.237024 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.535083 meters # Minimum depth: 755.868962 meters looking forward 100.000000 meters along route # Maximum depth: 786.472399 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1404.501370 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.868962 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.719110; longitude = -121.997443; duration = 203; initialDepth = 622.835075; finalDepth = 705.868962; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 108.666538 # Actual altitude: 100 # Commanded vehicle depth: 705.868962 # Seafloor depth: -786.472399 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.534904 meters # Minimum depth: 672.835075 meters looking forward 100.000000 meters along route # Maximum depth: 748.767872 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1404.501370 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.835075 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.719267; longitude = -121.996323; duration = 203; initialDepth = 523.925136; finalDepth = 622.835075; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 125.932797 # Actual altitude: 100 # Commanded vehicle depth: 622.835075 # Seafloor depth: -748.767872 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.534726 meters # Minimum depth: 573.925136 meters looking forward 100.000000 meters along route # Maximum depth: 673.353596 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1404.501370 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 523.925136 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.719425; longitude = -121.995203; duration = 203; initialDepth = 461.897865; finalDepth = 523.925136; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 149.42846 # Actual altitude: 100 # Commanded vehicle depth: 523.925136 # Seafloor depth: -673.353596 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.534547 meters # Minimum depth: 511.897865 meters looking forward 100.000000 meters along route # Maximum depth: 571.620885 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1404.501370 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 461.897865 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.719582; longitude = -121.994083; duration = 203; initialDepth = 435.201882; finalDepth = 461.897865; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 149.42846 # Actual altitude: 100 # Commanded vehicle depth: 461.897865 # Seafloor depth: -571.620885 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.534369 meters # Minimum depth: 485.201882 meters looking forward 100.000000 meters along route # Maximum depth: 506.728733 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1404.501370 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 435.201882 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.719739; longitude = -121.992963; duration = 203; initialDepth = 417.720490; finalDepth = 435.201882; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 109.72302 # Actual altitude: 100 # Commanded vehicle depth: 435.201882 # Seafloor depth: -506.728733 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.534190 meters # Minimum depth: 467.720490 meters looking forward 100.000000 meters along route # Maximum depth: 479.832323 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1404.501370 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 417.720490 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.719897; longitude = -121.991843; duration = 203; initialDepth = 409.916208; finalDepth = 417.720490; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.526851 # Actual altitude: 71.526851 # Commanded vehicle depth: 417.72049 # Seafloor depth: -479.832323 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.46; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.534012 meters # Minimum depth: 459.916208 meters looking forward 100.000000 meters along route # Maximum depth: 465.759016 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1404.501370 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 409.916208 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.720054; longitude = -121.990723; duration = 203; initialDepth = 395.684523; finalDepth = 409.916208; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.111833 # Actual altitude: 62.111833 # Commanded vehicle depth: 409.916208 # Seafloor depth: -465.759016 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.63; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.533833 meters # Minimum depth: 445.684523 meters looking forward 100.000000 meters along route # Maximum depth: 458.724659 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1404.501370 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 395.684523 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.720212; longitude = -121.989604; duration = 203; initialDepth = 380.458068; finalDepth = 395.684523; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.040136 # Actual altitude: 63.040136 # Commanded vehicle depth: 395.684523 # Seafloor depth: -458.724659 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.91; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.533655 meters # Minimum depth: 430.458068 meters looking forward 100.000000 meters along route # Maximum depth: 445.580742 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1404.501370 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.458068 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.720369; longitude = -121.988484; duration = 203; initialDepth = 363.662458; finalDepth = 380.458068; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.122674 # Actual altitude: 65.122674 # Commanded vehicle depth: 380.458068 # Seafloor depth: -445.580742 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.54; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.533476 meters # Minimum depth: 413.662458 meters looking forward 100.000000 meters along route # Maximum depth: 430.072902 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1404.501370 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 363.662458 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.720526; longitude = -121.987364; duration = 203; initialDepth = 347.959844; finalDepth = 363.662458; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.410444 # Actual altitude: 66.410444 # Commanded vehicle depth: 363.662458 # Seafloor depth: -430.072902 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.92; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.533298 meters # Minimum depth: 397.959844 meters looking forward 100.000000 meters along route # Maximum depth: 411.930150 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1404.501370 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 347.959844 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.720684; longitude = -121.986244; duration = 203; initialDepth = 328.380526; finalDepth = 347.959844; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.410444 # Actual altitude: 66.410444 # Commanded vehicle depth: 347.959844 # Seafloor depth: -411.840204 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.92; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.533120 meters # Minimum depth: 378.380526 meters looking forward 100.000000 meters along route # Maximum depth: 395.893315 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1404.501370 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 328.380526 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.720841; longitude = -121.985124; duration = 203; initialDepth = 295.823467; finalDepth = 328.380526; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.512789 # Actual altitude: 67.512789 # Commanded vehicle depth: 328.380526 # Seafloor depth: -395.893315 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.532942 meters # Minimum depth: 345.823467 meters looking forward 100.000000 meters along route # Maximum depth: 375.594881 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1404.501370 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 295.823467 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.720999; longitude = -121.984004; duration = 203; initialDepth = 264.894277; finalDepth = 295.823467; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.771414 # Actual altitude: 79.771414 # Commanded vehicle depth: 295.823467 # Seafloor depth: -375.594881 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.93; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.532763 meters # Minimum depth: 314.894277 meters looking forward 100.000000 meters along route # Maximum depth: 341.962801 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1404.501370 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 264.894277 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.721156; longitude = -121.982884; duration = 203; initialDepth = 240.353648; finalDepth = 264.894277; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.771414 # Actual altitude: 79.771414 # Commanded vehicle depth: 264.894277 # Seafloor depth: -341.962801 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.93; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.532585 meters # Minimum depth: 290.353648 meters looking forward 100.000000 meters along route # Maximum depth: 313.875121 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1404.501370 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 240.353648 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.721314; longitude = -121.981764; duration = 203; initialDepth = 218.348739; finalDepth = 240.353648; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.068524 # Actual altitude: 77.068524 # Commanded vehicle depth: 240.353648 # Seafloor depth: -313.875121 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.12; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.532406 meters # Minimum depth: 268.348739 meters looking forward 100.000000 meters along route # Maximum depth: 287.270323 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1404.501370 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 218.348739 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.721471; longitude = -121.980644; duration = 203; initialDepth = 202.694071; finalDepth = 218.348739; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.521473 # Actual altitude: 73.521473 # Commanded vehicle depth: 218.348739 # Seafloor depth: -287.270323 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.06; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.532229 meters # Minimum depth: 252.694071 meters looking forward 100.000000 meters along route # Maximum depth: 266.378298 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1404.501370 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 202.694071 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.721628; longitude = -121.979524; duration = 203; initialDepth = 186.278449; finalDepth = 202.694071; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.921584 # Actual altitude: 68.921584 # Commanded vehicle depth: 202.694071 # Seafloor depth: -266.378298 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.68; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.532050 meters # Minimum depth: 236.278449 meters looking forward 100.000000 meters along route # Maximum depth: 250.151888 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1404.501370 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 186.278449 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.721786; longitude = -121.978404; duration = 203; initialDepth = 177.377803; finalDepth = 186.278449; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.873439 # Actual altitude: 63.873439 # Commanded vehicle depth: 186.278449 # Seafloor depth: -250.151888 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.16; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.531872 meters # Minimum depth: 227.377803 meters looking forward 100.000000 meters along route # Maximum depth: 235.779781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1404.501370 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 177.377803 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.721943; longitude = -121.977284; duration = 203; initialDepth = 165.352861; finalDepth = 177.377803; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.873439 # Actual altitude: 63.873439 # Commanded vehicle depth: 177.377803 # Seafloor depth: -235.779781 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.16; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.531694 meters # Minimum depth: 215.352861 meters looking forward 100.000000 meters along route # Maximum depth: 225.789042 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1404.501370 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 165.352861 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.722101; longitude = -121.976164; duration = 203; initialDepth = 147.658034; finalDepth = 165.352861; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.436181 # Actual altitude: 60.436181 # Commanded vehicle depth: 165.352861 # Seafloor depth: -225.789042 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.13; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.531516 meters # Minimum depth: 197.658034 meters looking forward 100.000000 meters along route # Maximum depth: 212.843561 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1404.501370 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 147.658034 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.722258; longitude = -121.975044; duration = 203; initialDepth = 125.097976; finalDepth = 147.658034; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.185527 # Actual altitude: 65.185527 # Commanded vehicle depth: 147.658034 # Seafloor depth: -212.843561 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.56; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.531337 meters # Minimum depth: 175.097976 meters looking forward 100.000000 meters along route # Maximum depth: 194.485580 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1404.501370 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 125.097976 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.722415; longitude = -121.973925; duration = 203; initialDepth = 107.424957; finalDepth = 125.097976; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.387604 # Actual altitude: 69.387604 # Commanded vehicle depth: 125.097976 # Seafloor depth: -194.485580 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.531160 meters # Minimum depth: 157.424957 meters looking forward 100.000000 meters along route # Maximum depth: 174.552335 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1404.501370 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 107.424957 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.722573; longitude = -121.972805; duration = 203; initialDepth = 88.945872; finalDepth = 107.424957; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.387604 # Actual altitude: 69.387604 # Commanded vehicle depth: 107.424957 # Seafloor depth: -174.552335 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.530982 meters # Minimum depth: 138.945872 meters looking forward 100.000000 meters along route # Maximum depth: 154.528143 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1404.501370 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 88.945872 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.722730; longitude = -121.971685; duration = 203; initialDepth = 78.419196; finalDepth = 88.945872; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.127378 # Actual altitude: 67.127378 # Commanded vehicle depth: 88.945872 # Seafloor depth: -154.528143 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.530803 meters # Minimum depth: 128.419196 meters looking forward 100.000000 meters along route # Maximum depth: 137.756680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1404.501370 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 78.419196 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.722888; longitude = -121.970565; duration = 203; initialDepth = 71.004138; finalDepth = 78.419196; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.582271 # Actual altitude: 65.582271 # Commanded vehicle depth: 78.419196 # Seafloor depth: -137.756680 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.67; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.530626 meters # Minimum depth: 121.004138 meters looking forward 100.000000 meters along route # Maximum depth: 127.003010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1404.501370 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 71.004138 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.723045; longitude = -121.969445; duration = 203; initialDepth = 64.975266; finalDepth = 71.004138; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.337484 # Actual altitude: 59.337484 # Commanded vehicle depth: 71.004138 # Seafloor depth: -127.003010 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.80; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.530447 meters # Minimum depth: 114.975266 meters looking forward 100.000000 meters along route # Maximum depth: 120.896573 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1404.501370 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.975266 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.723203; longitude = -121.968325; duration = 203; initialDepth = 61.306174; finalDepth = 64.975266; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.998872 # Actual altitude: 55.998872 # Commanded vehicle depth: 64.975266 # Seafloor depth: -120.896573 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.80; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.530270 meters # Minimum depth: 111.306174 meters looking forward 100.000000 meters along route # Maximum depth: 114.565474 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1404.501370 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.306174 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.723360; longitude = -121.967205; duration = 203; initialDepth = 57.451999; finalDepth = 61.306174; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.921307 # Actual altitude: 55.921307 # Commanded vehicle depth: 61.306174 # Seafloor depth: -114.565474 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.78; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.891866 meters # Minimum depth: 107.451999 meters looking forward 100.000000 meters along route # Maximum depth: 111.165931 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1404.501370 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.451999 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.723517; longitude = -121.966085; duration = 209; initialDepth = 57.451999; finalDepth = 57.451999; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.713932 # Actual altitude: 53.713932 # Commanded vehicle depth: 57.451999 # Seafloor depth: -111.165931 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.11; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; 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; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = RESON_DURATION; Log_Mode = 1; } # Set sonar parameters # Waypoint type: 3 # Commanded altitude: 53.713932 # Sonar parameter altitude: 53.713932 # Commanded vehicle depth: 57.451999 # Seafloor depth: -107.549959 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 200.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 175.00; MB_Power = 220; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.11; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; 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: 107.451999 meters looking forward 100.000000 meters along route # Maximum depth: 110.576989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1404.501370 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.451999 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.723680; longitude = -121.964928; duration = 600; initialDepth = 57.451999; finalDepth = 57.451999; speed = SURVEY_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 284.0; pitch = DESCENDPITCH; speed = ASCENTDESCENT_SPEED; maxDepth = DESCENT_DEPTH; minAltitude = ALTITUDE_MIN; duration = DESCEND_DURATION; } # # setpoint on surface to gather momentum behavior setpoint { duration = SETPOINT_DURATION; heading = 284.0; speed = ASCENTDESCENT_SPEED; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = RESON_DURATION; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 200.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 175.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 175; MB_Power = 0; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### ####################################################### ####################################################### #######################################################