

# This MBARI Mapping AUV mission file has been generated
# by the MB-System program mbm_route2mission run by
# user <caress> on cpu <wegener> at <Tue Feb  5 08:04:54 PST 2013>
#
# Mission Summary:
#     Route File:               20130205WaypointWallTest1v1.rte
#     Mission File:             20130205WaypointWallTest1v1.cfg
#     Distance:                 1433.280765 (m)
#     Estimated Time:           1938 (s)  0.538 (hr)
#     Abort Time:               2519 (s)
#     Max battery life:         64800 (s)
#     Safety margin:            1800 (s)
#     Ascend time:              300 (s)
#     Way Points:               4
#     Route Points:             28
#     Survey behavior:          WaypointDepth
#     Descent style:            Waypoint descent
#     Mapping sonar control enabled:
#                               Multibeam enabled
#                                 Multibeam receive gain:           40 dB
#                                 Multibeam transmit gain:          220 dB
#                                 Multibeam pulse width:            6e-05 usec
#                                 Multibeam minimum range fraction: 0.3
#                               Subbottom disabled
#                               Low sidescan disabled
#                               High sidescan disabled
#     Benthic imaging camera control disabled:
#
# Mission Parameters:
#     Vehicle Survey Speed:       1.500000 (m/s) 2.915769 (knots)
#     Vehicle Ascent Speed:       1.500000 (m/s) 2.915769 (knots)
#     Vehicle Transit Speed:      1.500000 (m/s) 2.915769 (knots)
#     Minimum Vehicle Altitude 1: 50 (m)
#     Abort Vehicle Altitude 1:   25 (m)
#     Delta Depth Restart 1:      25 (m)
#     Desired Vehicle Altitude 1: 50 (m)
#     Desired Vehicle Altitude 2: 50 (m)
#     Desired Vehicle Altitude 3: 50 (m)
#     Constant Vehicle Depth 1:   50 (m)
#     Constant Vehicle Depth 2:   50 (m)
#     Maximum Vehicle Depth:      176.436436 (m)
#     Abort Vehicle Depth:        201.436436 (m)
#     Descent Vehicle Depth:      3 (m)
#     Forward Looking Distance:   50 (m)
#     Waypoint Spacing:           50 (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:
#   <number> <longitude (deg)> <latitude (deg)> <topography (m)> <distance (m)> <type>
#   0 -121.969731 36.800144 -100.757365 0.000000 3
#   1 -121.970441 36.794455 -202.280273 634.372077 3
#   2 -121.968566 36.794503 -202.732178 801.758574 3
#   3 -121.969253 36.800168 -99.603566 1433.280765 4
#
# A total of 28 mission points have been defined.
#
# Define Mission parameters:
#
#######################################################
# Set Mission Behaviors
#
# mission timer set to 120% of estimated time of mission
behavior missionTimer
{
timeOut = 2519;
}
#
# depth envelope
behavior depthEnvelope
{
minDepth = 0;
maxDepth = 176.436436;
abortDepth = 201.436436;
minAltitude = 50.000000;
abortAltitude = 25.000000;
deltaDepthRestart = 25.000000;
}
#######################################################
# Set End-of-Mission Behaviors
#
#
# acquire gps fix
behavior getgps
{
duration = 600;
minHits = 10;
abortOnTimeout = True;
}
#
# ascend behavior
behavior ascend
{
duration = 300;
horizontalMode = rudder;
horizontal = 3.000000;
pitch = 45.000000;
speed = 1.500000;
endDepth = 2.000000;
}
#
# Acoustic update 1 - sent status ping after end of survey
#
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
#
# Turn off power to sonars and stop logging on the PLC
# by setting the value of the mode attribute to 0 (used to be False).
behavior delta_t
{
duration = 6;
logMode = 0; # MVC logging (0=Off, 1=On)
}
#
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 3
#   Segment length 77.684599 meters
#   Minimum depth: 99.603566 meters looking forward 50.000000 meters along route
#   Maximum depth: 101.947688 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 176.436436 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 49.603566 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.800168;
longitude = -121.969253;
duration = 155;
# abortOnTimeout    = True;
initialDepth = 51.020860;
finalDepth = 49.603566;
speed = 1.500000;
maxCrossTrackError = 40; #Meters; Maximum cross-track displacement
standOff = 50; #Meters; Stand off from the wall
sonarTimeOut = 20; #Seconds;
rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam
projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50.421842
#   Actual altitude:          50.421842
#   Commanded vehicle depth:  51.02086
#   Seafloor depth:           -101.442702
#
behavior delta_t
{
duration = 6;
#logMode = 1;   # MVC logging (0=Off, 1=On)
receiveGain = 1; # Range is 1 to 20dB
gainEq = 1; # Gain equalization (0=Off, 1=On)
range = 50; # Set sonar range (1 to 150m)
nBeams = 120; # Number of sonar beams (120, 240, or 480)
beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed)
sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees)
averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots)
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior during line 3
#   Segment length 50.227111 meters
#   Minimum depth: 101.020860 meters looking forward 50.000000 meters along route
#   Maximum depth: 102.243910 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 176.436436 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 51.020860 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.799471;
longitude = -121.969169;
duration = 100;
initialDepth = 51.382064;
finalDepth = 51.020860;
speed = 1.500000;
maxCrossTrackError = 40; #Meters; Maximum cross-track displacement
standOff = 50; #Meters; Stand off from the wall
sonarTimeOut = 20; #Seconds;
rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam
projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50.421842
#   Actual altitude:          50.421842
#   Commanded vehicle depth:  51.02086
#   Seafloor depth:           -101.442702
#
behavior delta_t
{
duration = 6;
#logMode = 1;   # MVC logging (0=Off, 1=On)
receiveGain = 2; # Range is 1 to 20dB
gainEq = 0; # Gain equalization (0=Off, 1=On)
range = 150; # Set sonar range (1 to 150m)
nBeams = 120; # Number of sonar beams (120, 240, or 480)
beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed)
sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees)
averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots)
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 3
#   Segment length 50.227111 meters
#   Minimum depth: 101.382064 meters looking forward 50.000000 meters along route
#   Maximum depth: 102.467816 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 176.436436 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 51.382064 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.799021;
longitude = -121.969114;
duration = 100;
initialDepth = 51.656497;
finalDepth = 51.382064;
speed = 1.500000;
maxCrossTrackError = 40; #Meters; Maximum cross-track displacement
standOff = 50; #Meters; Stand off from the wall
sonarTimeOut = 20; #Seconds;
rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam
projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50.421842
#   Actual altitude:          50.421842
#   Commanded vehicle depth:  51.02086
#   Seafloor depth:           -101.442702
#
behavior delta_t
{
duration = 6;
#logMode = 1;   # MVC logging (0=Off, 1=On)
receiveGain = 3; # Range is 1 to 20dB
gainEq = 0; # Gain equalization (0=Off, 1=On)
range = 150; # Set sonar range (1 to 150m)
nBeams = 120; # Number of sonar beams (120, 240, or 480)
beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed)
sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees)
averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots)
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 3
#   Segment length 50.227111 meters
#   Minimum depth: 101.656497 meters looking forward 50.000000 meters along route
#   Maximum depth: 102.998347 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 176.436436 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 51.656497 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.798570;
longitude = -121.969059;
duration = 100;
initialDepth = 52.661870;
finalDepth = 51.656497;
speed = 1.500000;
maxCrossTrackError = 40; #Meters; Maximum cross-track displacement
standOff = 50; #Meters; Stand off from the wall
sonarTimeOut = 20; #Seconds;
rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam
projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50.421842
#   Actual altitude:          50.421842
#   Commanded vehicle depth:  51.02086
#   Seafloor depth:           -101.442702
#
behavior delta_t
{
duration = 6;
#logMode = 1;   # MVC logging (0=Off, 1=On)
receiveGain = 4; # Range is 1 to 20dB
gainEq = 0; # Gain equalization (0=Off, 1=On)
range = 150; # Set sonar range (1 to 150m)
nBeams = 120; # Number of sonar beams (120, 240, or 480)
beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed)
sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees)
averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots)
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 3
#   Segment length 50.227110 meters
#   Minimum depth: 102.661870 meters looking forward 50.000000 meters along route
#   Maximum depth: 107.134037 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 176.436436 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 52.661870 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.798120;
longitude = -121.969005;
duration = 100;
initialDepth = 57.279986;
finalDepth = 52.661870;
speed = 1.500000;
maxCrossTrackError = 40; #Meters; Maximum cross-track displacement
standOff = 50; #Meters; Stand off from the wall
sonarTimeOut = 20; #Seconds;
rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam
projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50.421842
#   Actual altitude:          50.421842
#   Commanded vehicle depth:  51.02086
#   Seafloor depth:           -101.442702
#
behavior delta_t
{
duration = 6;
#logMode = 1;   # MVC logging (0=Off, 1=On)
receiveGain = 5; # Range is 1 to 20dB
gainEq = 0; # Gain equalization (0=Off, 1=On)
range = 150; # Set sonar range (1 to 150m)
nBeams = 120; # Number of sonar beams (120, 240, or 480)
beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed)
sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees)
averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots)
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 3
#   Segment length 50.227110 meters
#   Minimum depth: 107.279986 meters looking forward 50.000000 meters along route
#   Maximum depth: 114.178667 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 176.436436 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 57.279986 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.797669;
longitude = -121.968950;
duration = 100;
initialDepth = 64.534010;
finalDepth = 57.279986;
speed = 1.500000;
maxCrossTrackError = 40; #Meters; Maximum cross-track displacement
standOff = 50; #Meters; Stand off from the wall
sonarTimeOut = 20; #Seconds;
rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam
projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50.421842
#   Actual altitude:          50.421842
#   Commanded vehicle depth:  51.02086
#   Seafloor depth:           -101.442702
#
behavior delta_t
{
duration = 6;
#logMode = 1;   # MVC logging (0=Off, 1=On)
receiveGain = 6; # Range is 1 to 20dB
gainEq = 0; # Gain equalization (0=Off, 1=On)
range = 150; # Set sonar range (1 to 150m)
nBeams = 120; # Number of sonar beams (120, 240, or 480)
beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed)
sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees)
averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots)
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 3
#   Segment length 50.227109 meters
#   Minimum depth: 114.534010 meters looking forward 50.000000 meters along route
#   Maximum depth: 124.442165 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 176.436436 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 64.534010 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.797218;
longitude = -121.968895;
duration = 100;
initialDepth = 74.421478;
finalDepth = 64.534010;
speed = 1.500000;
maxCrossTrackError = 40; #Meters; Maximum cross-track displacement
standOff = 50; #Meters; Stand off from the wall
sonarTimeOut = 20; #Seconds;
rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam
projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50.421842
#   Actual altitude:          50.421842
#   Commanded vehicle depth:  51.02086
#   Seafloor depth:           -101.442702
#
behavior delta_t
{
duration = 6;
#logMode = 1;   # MVC logging (0=Off, 1=On)
receiveGain = 7; # Range is 1 to 20dB
gainEq = 0; # Gain equalization (0=Off, 1=On)
range = 150; # Set sonar range (1 to 150m)
nBeams = 120; # Number of sonar beams (120, 240, or 480)
beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed)
sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees)
averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots)
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 3
#   Segment length 50.227109 meters
#   Minimum depth: 124.421478 meters looking forward 50.000000 meters along route
#   Maximum depth: 137.569295 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 176.436436 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 74.421478 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.796768;
longitude = -121.968841;
duration = 100;
initialDepth = 88.013233;
finalDepth = 74.421478;
speed = 1.500000;
maxCrossTrackError = 40; #Meters; Maximum cross-track displacement
standOff = 50; #Meters; Stand off from the wall
sonarTimeOut = 20; #Seconds;
rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam
projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50.421842
#   Actual altitude:          50.421842
#   Commanded vehicle depth:  51.02086
#   Seafloor depth:           -101.442702
#
behavior delta_t
{
duration = 6;
#logMode = 1;   # MVC logging (0=Off, 1=On)
receiveGain = 8; # Range is 1 to 20dB
gainEq = 0; # Gain equalization (0=Off, 1=On)
range = 150; # Set sonar range (1 to 150m)
nBeams = 120; # Number of sonar beams (120, 240, or 480)
beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed)
sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees)
averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots)
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 3
#   Segment length 50.227108 meters
#   Minimum depth: 138.013233 meters looking forward 50.000000 meters along route
#   Maximum depth: 152.937108 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 176.436436 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 88.013233 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.796317;
longitude = -121.968786;
duration = 100;
initialDepth = 103.538092;
finalDepth = 88.013233;
speed = 1.500000;
maxCrossTrackError = 40; #Meters; Maximum cross-track displacement
standOff = 50; #Meters; Stand off from the wall
sonarTimeOut = 20; #Seconds;
rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam
projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50.421842
#   Actual altitude:          50.421842
#   Commanded vehicle depth:  51.02086
#   Seafloor depth:           -101.442702
#
behavior delta_t
{
duration = 6;
#logMode = 1;   # MVC logging (0=Off, 1=On)
receiveGain = 9; # Range is 1 to 20dB
gainEq = 0; # Gain equalization (0=Off, 1=On)
range = 150; # Set sonar range (1 to 150m)
nBeams = 120; # Number of sonar beams (120, 240, or 480)
beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed)
sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees)
averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots)
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 3
#   Segment length 50.227109 meters
#   Minimum depth: 153.538092 meters looking forward 50.000000 meters along route
#   Maximum depth: 169.263791 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 176.436436 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 103.538092 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.795867;
longitude = -121.968731;
duration = 100;
initialDepth = 119.893571;
finalDepth = 103.538092;
speed = 1.500000;
maxCrossTrackError = 40; #Meters; Maximum cross-track displacement
standOff = 50; #Meters; Stand off from the wall
sonarTimeOut = 20; #Seconds;
rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam
projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50.421842
#   Actual altitude:          50.421842
#   Commanded vehicle depth:  51.02086
#   Seafloor depth:           -101.442702
#
behavior delta_t
{
duration = 6;
#logMode = 1;   # MVC logging (0=Off, 1=On)
receiveGain = 10; # Range is 1 to 20dB
gainEq = 0; # Gain equalization (0=Off, 1=On)
range = 150; # Set sonar range (1 to 150m)
nBeams = 120; # Number of sonar beams (120, 240, or 480)
beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed)
sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees)
averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots)
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 3
#   Segment length 50.227107 meters
#   Minimum depth: 169.893571 meters looking forward 50.000000 meters along route
#   Maximum depth: 186.440038 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 176.436436 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 119.893571 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.795416;
longitude = -121.968677;
duration = 100;
initialDepth = 137.151349;
finalDepth = 119.893571;
speed = 1.500000;
maxCrossTrackError = 40; #Meters; Maximum cross-track displacement
standOff = 50; #Meters; Stand off from the wall
sonarTimeOut = 20; #Seconds;
rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam
projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50.421842
#   Actual altitude:          50.421842
#   Commanded vehicle depth:  51.02086
#   Seafloor depth:           -101.442702
#
behavior delta_t
{
duration = 6;
#logMode = 1;   # MVC logging (0=Off, 1=On)
receiveGain = 11; # Range is 1 to 20dB
gainEq = 0; # Gain equalization (0=Off, 1=On)
range = 150; # Set sonar range (1 to 150m)
nBeams = 120; # Number of sonar beams (120, 240, or 480)
beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed)
sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees)
averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots)
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 3
#   Segment length 51.566497 meters
#   Minimum depth: 187.151349 meters looking forward 50.000000 meters along route
#   Maximum depth: 202.313917 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 176.436436 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 137.151349 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.794965;
longitude = -121.968622;
duration = 103;
initialDepth = 151.403347;
finalDepth = 137.151349;
speed = 1.500000;
maxCrossTrackError = 40; #Meters; Maximum cross-track displacement
standOff = 50; #Meters; Stand off from the wall
sonarTimeOut = 20; #Seconds;
rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam
projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50.421842
#   Actual altitude:          50.421842
#   Commanded vehicle depth:  51.02086
#   Seafloor depth:           -101.442702
#
behavior delta_t
{
duration = 6;
#logMode = 1;   # MVC logging (0=Off, 1=On)
receiveGain = 12; # Range is 1 to 20dB
gainEq = 0; # Gain equalization (0=Off, 1=On)
range = 150; # Set sonar range (1 to 150m)
nBeams = 120; # Number of sonar beams (120, 240, or 480)
beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed)
sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees)
averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots)
}
#
#######################################################
#
# Acoustic update 7 - sent status ping before start of line
#
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 2
#   Segment length 66.687842 meters
#   Minimum depth: 201.403347 meters looking forward 50.000000 meters along route
#   Maximum depth: 203.138018 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 176.436436 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 151.403347 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.794503;
longitude = -121.968566;
duration = 133;
# abortOnTimeout    = True;
initialDepth = 151.370530;
finalDepth = 151.403347;
speed = 1.500000;
maxCrossTrackError = 40; #Meters; Maximum cross-track displacement
standOff = 50; #Meters; Stand off from the wall
sonarTimeOut = 20; #Seconds;
rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam
projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50.421842
#   Actual altitude:          50.421842
#   Commanded vehicle depth:  51.02086
#   Seafloor depth:           -101.442702
#
behavior delta_t
{
duration = 6;
#logMode = 1;   # MVC logging (0=Off, 1=On)
receiveGain = 14; # Range is 1 to 20dB
gainEq = 0; # Gain equalization (0=Off, 1=On)
range = 150; # Set sonar range (1 to 150m)
nBeams = 120; # Number of sonar beams (120, 240, or 480)
beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed)
sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees)
averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots)
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior during line 2
#   Segment length 50.015886 meters
#   Minimum depth: 201.370530 meters looking forward 50.000000 meters along route
#   Maximum depth: 202.295991 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 176.436436 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 151.370530 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.794484;
longitude = -121.969313;
duration = 100;
initialDepth = 151.436436;
finalDepth = 151.370530;
speed = 1.500000;
maxCrossTrackError = 40; #Meters; Maximum cross-track displacement
standOff = 50; #Meters; Stand off from the wall
sonarTimeOut = 20; #Seconds;
rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam
projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50.421842
#   Actual altitude:          50.421842
#   Commanded vehicle depth:  51.02086
#   Seafloor depth:           -101.442702
#
behavior delta_t
{
duration = 6;
#logMode = 1;   # MVC logging (0=Off, 1=On)
receiveGain = 15; # Range is 1 to 20dB
gainEq = 0; # Gain equalization (0=Off, 1=On)
range = 150; # Set sonar range (1 to 150m)
nBeams = 120; # Number of sonar beams (120, 240, or 480)
beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed)
sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees)
averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots)
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 2
#   Segment length 50.682769 meters
#   Minimum depth: 201.436436 meters looking forward 50.000000 meters along route
#   Maximum depth: 202.477496 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 176.436436 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 151.436436 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.794469;
longitude = -121.969873;
duration = 101;
initialDepth = 130.539152;
finalDepth = 151.436436;
speed = 1.500000;
maxCrossTrackError = 40; #Meters; Maximum cross-track displacement
standOff = 50; #Meters; Stand off from the wall
sonarTimeOut = 20; #Seconds;
rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam
projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50.421842
#   Actual altitude:          50.421842
#   Commanded vehicle depth:  51.02086
#   Seafloor depth:           -101.442702
#
behavior delta_t
{
duration = 6;
#logMode = 1;   # MVC logging (0=Off, 1=On)
receiveGain = 16; # Range is 1 to 20dB
gainEq = 0; # Gain equalization (0=Off, 1=On)
range = 150; # Set sonar range (1 to 150m)
nBeams = 120; # Number of sonar beams (120, 240, or 480)
beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed)
sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees)
averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots)
}
#
#######################################################
#
# Acoustic update 7 - 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 81.054920 meters
#   Minimum depth: 180.539152 meters looking forward 50.000000 meters along route
#   Maximum depth: 202.280273 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 176.436436 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 130.539152 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.794455;
longitude = -121.970441;
duration = 162;
# abortOnTimeout    = True;
initialDepth = 116.609418;
finalDepth = 130.539152;
speed = 1.500000;
maxCrossTrackError = 40; #Meters; Maximum cross-track displacement
standOff = 50; #Meters; Stand off from the wall
sonarTimeOut = 20; #Seconds;
rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam
projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50.421842
#   Actual altitude:          50.421842
#   Commanded vehicle depth:  51.02086
#   Seafloor depth:           -101.442702
#
behavior delta_t
{
duration = 6;
#logMode = 1;   # MVC logging (0=Off, 1=On)
receiveGain = 17; # Range is 1 to 20dB
gainEq = 0; # Gain equalization (0=Off, 1=On)
range = 150; # Set sonar range (1 to 150m)
nBeams = 120; # Number of sonar beams (120, 240, or 480)
beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed)
sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees)
averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots)
}
#
#######################################################
#
#######################################################
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.240655 meters
#   Minimum depth: 166.609418 meters looking forward 50.000000 meters along route
#   Maximum depth: 180.118791 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 176.436436 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 116.609418 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.795182;
longitude = -121.970350;
duration = 100;
initialDepth = 99.895913;
finalDepth = 116.609418;
speed = 1.500000;
maxCrossTrackError = 40; #Meters; Maximum cross-track displacement
standOff = 50; #Meters; Stand off from the wall
sonarTimeOut = 20; #Seconds;
rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam
projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50.421842
#   Actual altitude:          50.421842
#   Commanded vehicle depth:  51.02086
#   Seafloor depth:           -101.442702
#
behavior delta_t
{
duration = 6;
#logMode = 1;   # MVC logging (0=Off, 1=On)
receiveGain = 18; # Range is 1 to 20dB
gainEq = 0; # Gain equalization (0=Off, 1=On)
range = 150; # Set sonar range (1 to 150m)
nBeams = 120; # Number of sonar beams (120, 240, or 480)
beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed)
sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees)
averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots)
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.240657 meters
#   Minimum depth: 149.895913 meters looking forward 50.000000 meters along route
#   Maximum depth: 165.928309 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 176.436436 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 99.895913 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.795632;
longitude = -121.970294;
duration = 100;
initialDepth = 84.683716;
finalDepth = 99.895913;
speed = 1.500000;
maxCrossTrackError = 40; #Meters; Maximum cross-track displacement
standOff = 50; #Meters; Stand off from the wall
sonarTimeOut = 20; #Seconds;
rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam
projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50.421842
#   Actual altitude:          50.421842
#   Commanded vehicle depth:  51.02086
#   Seafloor depth:           -101.442702
#
behavior delta_t
{
duration = 6;
#logMode = 1;   # MVC logging (0=Off, 1=On)
receiveGain = 19; # Range is 1 to 20dB
gainEq = 0; # Gain equalization (0=Off, 1=On)
range = 150; # Set sonar range (1 to 150m)
nBeams = 120; # Number of sonar beams (120, 240, or 480)
beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed)
sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees)
averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots)
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.240658 meters
#   Minimum depth: 134.683716 meters looking forward 50.000000 meters along route
#   Maximum depth: 149.168343 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 176.436436 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 84.683716 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.796083;
longitude = -121.970238;
duration = 100;
initialDepth = 72.432751;
finalDepth = 84.683716;
speed = 1.500000;
maxCrossTrackError = 40; #Meters; Maximum cross-track displacement
standOff = 50; #Meters; Stand off from the wall
sonarTimeOut = 20; #Seconds;
rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam
projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50.421842
#   Actual altitude:          50.421842
#   Commanded vehicle depth:  51.02086
#   Seafloor depth:           -101.442702
#
behavior delta_t
{
duration = 6;
#logMode = 1;   # MVC logging (0=Off, 1=On)
receiveGain = 20; # Range is 1 to 20dB
gainEq = 0; # Gain equalization (0=Off, 1=On)
range = 150; # Set sonar range (1 to 150m)
nBeams = 120; # Number of sonar beams (120, 240, or 480)
beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed)
sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees)
averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots)
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.240659 meters
#   Minimum depth: 122.432751 meters looking forward 50.000000 meters along route
#   Maximum depth: 134.268602 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 176.436436 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 72.432751 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.796533;
longitude = -121.970182;
duration = 100;
initialDepth = 63.793696;
finalDepth = 72.432751;
speed = 1.500000;
maxCrossTrackError = 40; #Meters; Maximum cross-track displacement
standOff = 50; #Meters; Stand off from the wall
sonarTimeOut = 20; #Seconds;
rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam
projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50.421842
#   Actual altitude:          50.421842
#   Commanded vehicle depth:  51.02086
#   Seafloor depth:           -101.442702
#
behavior delta_t
{
duration = 6;
#logMode = 1;   # MVC logging (0=Off, 1=On)
receiveGain = 12; # Range is 1 to 20dB
gainEq = 0; # Gain equalization (0=Off, 1=On)
range = 150; # Set sonar range (1 to 150m)
nBeams = 120; # Number of sonar beams (120, 240, or 480)
beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed)
sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees)
averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots)
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.240661 meters
#   Minimum depth: 113.793696 meters looking forward 50.000000 meters along route
#   Maximum depth: 123.393506 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 176.436436 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 63.793696 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.796984;
longitude = -121.970125;
duration = 100;
initialDepth = 57.447674;
finalDepth = 63.793696;
speed = 1.500000;
maxCrossTrackError = 40; #Meters; Maximum cross-track displacement
standOff = 50; #Meters; Stand off from the wall
sonarTimeOut = 20; #Seconds;
rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam
projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50.421842
#   Actual altitude:          50.421842
#   Commanded vehicle depth:  51.02086
#   Seafloor depth:           -101.442702
#
behavior delta_t
{
duration = 6;
#logMode = 1;   # MVC logging (0=Off, 1=On)
receiveGain = 12; # Range is 1 to 20dB
gainEq = 0; # Gain equalization (0=Off, 1=On)
range = 150; # Set sonar range (1 to 150m)
nBeams = 120; # Number of sonar beams (120, 240, or 480)
beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed)
sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees)
averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots)
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.240662 meters
#   Minimum depth: 107.447674 meters looking forward 50.000000 meters along route
#   Maximum depth: 113.276948 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 176.436436 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 57.447674 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.797435;
longitude = -121.970069;
duration = 100;
initialDepth = 53.329018;
finalDepth = 57.447674;
speed = 1.500000;
maxCrossTrackError = 40; #Meters; Maximum cross-track displacement
standOff = 50; #Meters; Stand off from the wall
sonarTimeOut = 20; #Seconds;
rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam
projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50.421842
#   Actual altitude:          50.421842
#   Commanded vehicle depth:  51.02086
#   Seafloor depth:           -101.442702
#
behavior delta_t
{
duration = 6;
#logMode = 1;   # MVC logging (0=Off, 1=On)
receiveGain = 12; # Range is 1 to 20dB
gainEq = 0; # Gain equalization (0=Off, 1=On)
range = 150; # Set sonar range (1 to 150m)
nBeams = 120; # Number of sonar beams (120, 240, or 480)
beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed)
sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees)
averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots)
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.240663 meters
#   Minimum depth: 103.329018 meters looking forward 50.000000 meters along route
#   Maximum depth: 107.542159 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 176.436436 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 53.329018 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.797885;
longitude = -121.970013;
duration = 100;
initialDepth = 52.444588;
finalDepth = 53.329018;
speed = 1.500000;
maxCrossTrackError = 40; #Meters; Maximum cross-track displacement
standOff = 50; #Meters; Stand off from the wall
sonarTimeOut = 20; #Seconds;
rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam
projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50.421842
#   Actual altitude:          50.421842
#   Commanded vehicle depth:  51.02086
#   Seafloor depth:           -101.442702
#
behavior delta_t
{
duration = 6;
#logMode = 1;   # MVC logging (0=Off, 1=On)
receiveGain = 12; # Range is 1 to 20dB
gainEq = 0; # Gain equalization (0=Off, 1=On)
range = 150; # Set sonar range (1 to 150m)
nBeams = 120; # Number of sonar beams (120, 240, or 480)
beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed)
sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees)
averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots)
}
#
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.240664 meters
#   Minimum depth: 102.444588 meters looking forward 50.000000 meters along route
#   Maximum depth: 103.290347 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 176.436436 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 52.444588 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.798336;
longitude = -121.969957;
duration = 100;
initialDepth = 52.322213;
finalDepth = 52.444588;
speed = 1.500000;
maxCrossTrackError = 40; #Meters; Maximum cross-track displacement
standOff = 50; #Meters; Stand off from the wall
sonarTimeOut = 20; #Seconds;
rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam
projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50.421842
#   Actual altitude:          50.421842
#   Commanded vehicle depth:  51.02086
#   Seafloor depth:           -101.442702
#
behavior delta_t
{
duration = 6;
#logMode = 1;   # MVC logging (0=Off, 1=On)
receiveGain = 12; # Range is 1 to 20dB
gainEq = 0; # Gain equalization (0=Off, 1=On)
range = 150; # Set sonar range (1 to 150m)
nBeams = 120; # Number of sonar beams (120, 240, or 480)
beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed)
sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees)
averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots)
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.240666 meters
#   Minimum depth: 102.322213 meters looking forward 50.000000 meters along route
#   Maximum depth: 103.707259 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 176.436436 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 52.322213 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.798786;
longitude = -121.969901;
duration = 100;
initialDepth = 51.251548;
finalDepth = 52.322213;
speed = 1.500000;
maxCrossTrackError = 40; #Meters; Maximum cross-track displacement
standOff = 50; #Meters; Stand off from the wall
sonarTimeOut = 20; #Seconds;
rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam
projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50.421842
#   Actual altitude:          50.421842
#   Commanded vehicle depth:  51.02086
#   Seafloor depth:           -101.442702
#
behavior delta_t
{
duration = 6;
#logMode = 1;   # MVC logging (0=Off, 1=On)
receiveGain = 12; # Range is 1 to 20dB
gainEq = 0; # Gain equalization (0=Off, 1=On)
range = 150; # Set sonar range (1 to 150m)
nBeams = 120; # Number of sonar beams (120, 240, or 480)
beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed)
sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees)
averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots)
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.240668 meters
#   Minimum depth: 101.251548 meters looking forward 50.000000 meters along route
#   Maximum depth: 102.751137 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 176.436436 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 51.251548 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.799237;
longitude = -121.969844;
duration = 100;
initialDepth = 50.719002;
finalDepth = 51.251548;
speed = 1.500000;
maxCrossTrackError = 40; #Meters; Maximum cross-track displacement
standOff = 50; #Meters; Stand off from the wall
sonarTimeOut = 20; #Seconds;
rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam
projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50.421842
#   Actual altitude:          50.421842
#   Commanded vehicle depth:  51.02086
#   Seafloor depth:           -101.442702
#
behavior delta_t
{
duration = 6;
#logMode = 1;   # MVC logging (0=Off, 1=On)
receiveGain = 12; # Range is 1 to 20dB
gainEq = 0; # Gain equalization (0=Off, 1=On)
range = 150; # Set sonar range (1 to 150m)
nBeams = 120; # Number of sonar beams (120, 240, or 480)
beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed)
sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees)
averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots)
}
#
#######################################################
#
#
#
# Waypoint_depth behavior during line 1
#   Segment length 50.910544 meters
#   Minimum depth: 100.719002 meters looking forward 50.000000 meters along route
#   Maximum depth: 101.502953 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 176.436436 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 50.719002 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.799688;
longitude = -121.969788;
duration = 101;
initialDepth = 50.719002;
finalDepth = 50.719002;
speed = 1.500000;speed = 1.500000;
maxCrossTrackError = 40; #Meters; Maximum cross-track displacement
standOff = 50; #Meters; Stand off from the wall
sonarTimeOut = 20; #Seconds;
rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam
projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            0
#   Commanded altitude:       50.421842
#   Actual altitude:          50.421842
#   Commanded vehicle depth:  51.02086
#   Seafloor depth:           -101.442702
#
behavior delta_t
{
duration = 6;
#logMode = 1;   # MVC logging (0=Off, 1=On)
receiveGain = 12; # Range is 1 to 20dB
gainEq = 0; # Gain equalization (0=Off, 1=On)
range = 150; # Set sonar range (1 to 150m)
nBeams = 120; # Number of sonar beams (120, 240, or 480)
beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed)
sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees)
averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots)
}
#
#######################################################
#
# Acoustic update 7 - sent status ping before start of line
#
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
#
#######################################################
#######################################################
#
#######################################################
# Turn Mapping sonars on and start logging.
#
behavior delta_t
{
duration = 6;
logMode = 1; # MVC logging (0=Off, 1=On)
receiveGain = 12; # Range is 1 to 20dB
gainEq = 0; # Gain equalization (0=Off, 1=On)
range = 150; # Set sonar range (1 to 150m)
nBeams = 120; # Number of sonar beams (120, 240, or 480)
beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed)
sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees)
averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots)
}
#######################################################
#
# Waypoint_depth behavior to get to start of line 1
#   Segment length 0.000000 meters
#   Minimum depth: 100.719002 meters looking forward 50.000000 meters along route
#   Maximum depth: 101.502953 meters looking forward 50.000000 meters along route
#   Maximum vehicle depth: 176.436436 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 50.719002 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_wall
{
latitude = 36.800144;
longitude = -121.969731;
duration = 600;
initialDepth = 50.719002;
finalDepth = 50.719002;
speed = 1.500000;
maxCrossTrackError = 40; #Meters; Maximum cross-track displacement
standOff = 50; #Meters; Stand off from the wall
sonarTimeOut = 20; #Seconds;
rangeInst = 3; #n/a: 1) Dvl; 2) Reson; 3) 837 Multibeam
projection = 3; #n/a: 1) Waypoint; 2) Body; 3) Minimum
}
#######################################################
# Acoustic update 6 - sent status ping after end of line
#
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
#
#
#######################################################
#######################################################
#
#
# Descend behavior
behavior descend
{
horizontalMode = heading;
horizontal = 185.111491;
pitch = -35.000000;
speed = 1.500000;
maxDepth = 3.000000;
minAltitude = 50.000000;
duration = 300;
}
#
# setpoint on surface to gather momentum
behavior setpoint
{
duration = 30;
heading = 185.111491;
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 delta_t
{
duration = 6;
logMode = 0; # MVC logging (0=Off, 1=On)
receiveGain = 12; # Range is 1 to 20dB
gainEq = 0; # Gain equalization (0=Off, 1=On)
range = 100; # Set sonar range (1 to 150m)
nBeams = 120; # Number of sonar beams (120, 240, or 480)
beamWidth = 1; # Beam width (0=Wide, 1=Normal, 2=Narrow, 3=NarrowMixed)
sectorSize = 120; # Size of wedge around nadir (30, 60, 90, 120degrees)
averaging = 0; # Number of shots to average (0,1=>Off, 3, 5, or 7 shots)
}
#
#######################################################
