# 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: 20101115_OaTest2.rte # Mission File: 20101115_OaTest2.cfg # Distance: 2592.177209 (m) # Estimated Time: 3754 (s) 1.043 (hr) # Abort Time: 4880 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 300 (s) # Way Points: 42 # Route Points: 42 # Survey behavior: WaypointDepth # Descent style: Spiral descent # Mapping sonar control disabled: # Benthic imaging camera control enabled: # # Mission Parameters: # Vehicle Speed: 1.000000 (m/s) 1.943846 (knots) # Desired Vehicle Altitude: 0 (m) # Minimum Vehicle Altitude: 3 (m) # Abort Vehicle Altitude: 1 (m) # Maximum Vehicle Depth: 61.525705 (m) # Abort Vehicle Depth: 63.025705 (m) # Descent Vehicle Depth: 3 (m) # Spiral descent depth: 53.025705 m # Spiral descent altitude: 0 m # Waypoint Spacing: 500 (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 -121.844088 36.821933 -63.025705 0.000000 3 # 1 -121.844088 36.822835 -62.645307 100.005637 4 # 2 -121.843863 36.822835 -62.418533 120.005637 3 # 3 -121.843863 36.821933 -62.786107 220.011274 4 # 4 -121.843639 36.821933 -62.705091 240.011274 3 # 5 -121.843639 36.822835 -62.014118 340.016911 4 # 6 -121.844065 36.822839 -62.645307 378.020200 3 # 7 -121.844065 36.821929 -63.025705 479.025837 4 # 8 -121.843841 36.821929 -62.786107 499.025837 3 # 9 -121.843841 36.822839 -62.418533 600.031474 4 # 10 -121.844043 36.822844 -62.645307 618.038417 3 # 11 -121.844043 36.821924 -63.025705 720.044054 4 # 12 -121.843819 36.821924 -62.786107 740.044054 3 # 13 -121.843819 36.822844 -62.418533 842.049691 4 # 14 -121.844020 36.822848 -62.645307 860.056634 3 # 15 -121.844020 36.821920 -63.025705 963.062271 4 # 16 -121.843796 36.821920 -62.786107 983.062271 3 # 17 -121.843796 36.822848 -62.418533 1086.067908 4 # 18 -121.843998 36.822853 -62.533012 1104.074851 3 # 19 -121.843998 36.821915 -62.891364 1208.080488 4 # 20 -121.843774 36.821915 -62.735664 1228.080488 3 # 21 -121.843774 36.822853 -62.210173 1332.086124 4 # 22 -121.843976 36.822857 -62.533012 1350.093068 3 # 23 -121.843976 36.821911 -62.891364 1455.098704 4 # 24 -121.843751 36.821911 -62.735664 1475.098704 3 # 25 -121.843751 36.822857 -62.210173 1580.104341 4 # 26 -121.843953 36.822862 -62.533012 1598.111284 3 # 27 -121.843953 36.821906 -62.891364 1704.116921 4 # 28 -121.843729 36.821906 -62.735664 1724.116921 3 # 29 -121.843729 36.822862 -62.210173 1830.122558 4 # 30 -121.843931 36.822866 -62.533012 1848.129501 3 # 31 -121.843931 36.821902 -62.902509 1955.135138 4 # 32 -121.843707 36.821902 -62.832035 1975.135138 3 # 33 -121.843707 36.822866 -62.210173 2082.140775 4 # 34 -121.843908 36.822871 -62.533012 2100.147718 3 # 35 -121.843908 36.821897 -62.902509 2208.153355 4 # 36 -121.843684 36.821897 -62.832035 2228.153355 3 # 37 -121.843684 36.822871 -62.210173 2336.158992 4 # 38 -121.843886 36.822875 -62.418533 2354.165935 3 # 39 -121.843886 36.821893 -62.844770 2463.171572 4 # 40 -121.843662 36.821893 -62.722603 2483.171572 3 # 41 -121.843662 36.822875 -62.014118 2592.177209 4 # # A total of 42 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.000000 #define MISSION_DISTANCE 2592.177209 #define MISSION_TIME 3754 #define MISSION_TIMEOUT 4880 #define DEPTH_MAX 61.525705 #define DEPTH_ABORT 63.025705 #define ALTITUDE_DESIRED 0.000000 #define ALTITUDE_MIN 3.000000 #define ALTITUDE_ABORT 1.000000 #define GPS_DURATION 600 #define DESCENT_DEPTH 3.000000 #define SPIRAL_DESCENT_DEPTH 53.025705 #define SPIRAL_DESCENT_ALTITUDE 0.000000 #define DESCEND_DURATION 300 #define SETPOINT_DURATION 30 #define GPSMINHITS 10 #define ASCENDRUDDER 3.000000 #define ASCENDPITCH 45.000000 #define ASCENDENDDEPTH 2.000000 #define DESCENDRUDDER 3.000000 #define DESCENDPITCH -30.000000 #define MAXCROSSTRACKERROR 30 #define RESON_DURATION 6 # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = MISSION_TIMEOUT; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = DEPTH_MAX; abortDepth = DEPTH_ABORT; minAltitude = ALTITUDE_MIN; abortAltitude = ALTITUDE_ABORT; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 300; horizontalMode = rudder; horizontal = ASCENDRUDDER; pitch = ASCENDPITCH; speed = MISSION_SPEED; endDepth = ASCENDENDDEPTH; } # # Acoustic update - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # Turn off camera imaging # Distance along survey: 2592.177209 #behavior stopCamera #{ #duration = 1; #} ####################################################### # # # Waypoint_depth behavior to get to end of line 41 # Segment length 109.005637 meters # Minimum depth: 62.014118 meters looking forward 0.000000 meters along route # Maximum depth: 62.014118 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 61.525705 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 61.525705 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.822875; longitude = -121.843662; duration = 327; # abortOnTimeout = True; initialDepth = 62.722603; finalDepth = 61.525705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### # Start taking pictures with camera. # Distance along survey: 2483.171572 # Length of camera run: 109.005637 # Number of photos: 11 behavior startCamera { duration = 1; nSamplePeriods = 9; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 20.000000 meters # Minimum depth: 62.722603 meters looking forward 0.000000 meters along route # Maximum depth: 62.722603 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 61.525705 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 61.525705 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.821893; longitude = -121.843662; duration = 60; # abortOnTimeout = True; initialDepth = 62.844770; finalDepth = 61.525705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### # Stop taking pictures with camera. # Distance along survey: 2463.171572 behavior stopCamera { duration = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 109.005637 meters # Minimum depth: 62.844770 meters looking forward 0.000000 meters along route # Maximum depth: 62.844770 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 61.525705 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 61.525705 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.821893; longitude = -121.843886; duration = 327; # abortOnTimeout = True; initialDepth = 62.418533; finalDepth = 61.525705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### # Start taking pictures with camera. # Distance along survey: 2354.165935 # Length of camera run: 109.005637 # Number of photos: 11 behavior startCamera { duration = 1; nSamplePeriods = 9; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 38 # Segment length 18.006943 meters # Minimum depth: 62.418533 meters looking forward 0.000000 meters along route # Maximum depth: 62.418533 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 61.525705 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 61.525705 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.822875; longitude = -121.843886; duration = 54; # abortOnTimeout = True; initialDepth = 62.210173; finalDepth = 61.525705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### # Stop taking pictures with camera. # Distance along survey: 2336.158992 behavior stopCamera { duration = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 37 # Segment length 108.005637 meters # Minimum depth: 62.210173 meters looking forward 0.000000 meters along route # Maximum depth: 62.210173 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 61.525705 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 61.525705 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.822871; longitude = -121.843684; duration = 324; # abortOnTimeout = True; initialDepth = 62.832035; finalDepth = 61.525705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### # Start taking pictures with camera. # Distance along survey: 2228.153355 # Length of camera run: 108.005637 # Number of photos: 11 behavior startCamera { duration = 1; nSamplePeriods = 9; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 36 # Segment length 20.000000 meters # Minimum depth: 62.832035 meters looking forward 0.000000 meters along route # Maximum depth: 62.832035 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 61.525705 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 61.525705 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.821897; longitude = -121.843684; duration = 60; # abortOnTimeout = True; initialDepth = 62.902509; finalDepth = 61.525705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### # Stop taking pictures with camera. # Distance along survey: 2208.153355 behavior stopCamera { duration = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 35 # Segment length 108.005637 meters # Minimum depth: 62.902509 meters looking forward 0.000000 meters along route # Maximum depth: 62.902509 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 61.525705 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 61.525705 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.821897; longitude = -121.843908; duration = 324; # abortOnTimeout = True; initialDepth = 62.533012; finalDepth = 61.525705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### # Start taking pictures with camera. # Distance along survey: 2100.147718 # Length of camera run: 108.005637 # Number of photos: 11 behavior startCamera { duration = 1; nSamplePeriods = 9; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 18.006943 meters # Minimum depth: 62.533012 meters looking forward 0.000000 meters along route # Maximum depth: 62.533012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 61.525705 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 61.525705 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.822871; longitude = -121.843908; duration = 54; # abortOnTimeout = True; initialDepth = 62.210173; finalDepth = 61.525705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### # Stop taking pictures with camera. # Distance along survey: 2082.140775 behavior stopCamera { duration = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 107.005637 meters # Minimum depth: 62.210173 meters looking forward 0.000000 meters along route # Maximum depth: 62.210173 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 61.525705 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 61.525705 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.822866; longitude = -121.843707; duration = 321; # abortOnTimeout = True; initialDepth = 62.832035; finalDepth = 61.525705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### # Start taking pictures with camera. # Distance along survey: 1975.135138 # Length of camera run: 107.005637 # Number of photos: 11 behavior startCamera { duration = 1; nSamplePeriods = 9; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 20.000000 meters # Minimum depth: 62.832035 meters looking forward 0.000000 meters along route # Maximum depth: 62.832035 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 61.525705 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 61.525705 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.821902; longitude = -121.843707; duration = 60; # abortOnTimeout = True; initialDepth = 62.902509; finalDepth = 61.525705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### # Stop taking pictures with camera. # Distance along survey: 1955.135138 behavior stopCamera { duration = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 107.005637 meters # Minimum depth: 62.902509 meters looking forward 0.000000 meters along route # Maximum depth: 62.902509 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 61.525705 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 61.525705 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.821902; longitude = -121.843931; duration = 321; # abortOnTimeout = True; initialDepth = 62.533012; finalDepth = 61.525705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### # Start taking pictures with camera. # Distance along survey: 1848.129501 # Length of camera run: 107.005637 # Number of photos: 11 behavior startCamera { duration = 1; nSamplePeriods = 9; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 18.006943 meters # Minimum depth: 62.533012 meters looking forward 0.000000 meters along route # Maximum depth: 62.533012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 61.525705 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 61.525705 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.822866; longitude = -121.843931; duration = 54; # abortOnTimeout = True; initialDepth = 62.210173; finalDepth = 61.525705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### # Stop taking pictures with camera. # Distance along survey: 1830.122558 behavior stopCamera { duration = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 106.005637 meters # Minimum depth: 62.210173 meters looking forward 0.000000 meters along route # Maximum depth: 62.210173 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 61.525705 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 61.525705 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.822862; longitude = -121.843729; duration = 318; # abortOnTimeout = True; initialDepth = 62.735664; finalDepth = 61.525705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### # Start taking pictures with camera. # Distance along survey: 1724.116921 # Length of camera run: 106.005637 # Number of photos: 11 behavior startCamera { duration = 1; nSamplePeriods = 9; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 20.000000 meters # Minimum depth: 62.735664 meters looking forward 0.000000 meters along route # Maximum depth: 62.735664 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 61.525705 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 61.525705 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.821906; longitude = -121.843729; duration = 60; # abortOnTimeout = True; initialDepth = 62.891364; finalDepth = 61.525705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### # Stop taking pictures with camera. # Distance along survey: 1704.116921 behavior stopCamera { duration = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 106.005637 meters # Minimum depth: 62.891364 meters looking forward 0.000000 meters along route # Maximum depth: 62.891364 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 61.525705 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 61.525705 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.821906; longitude = -121.843953; duration = 318; # abortOnTimeout = True; initialDepth = 62.533012; finalDepth = 61.525705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### # Start taking pictures with camera. # Distance along survey: 1598.111284 # Length of camera run: 106.005637 # Number of photos: 11 behavior startCamera { duration = 1; nSamplePeriods = 9; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 18.006943 meters # Minimum depth: 62.533012 meters looking forward 0.000000 meters along route # Maximum depth: 62.533012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 61.525705 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 61.525705 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.822862; longitude = -121.843953; duration = 54; # abortOnTimeout = True; initialDepth = 62.210173; finalDepth = 61.525705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### # Stop taking pictures with camera. # Distance along survey: 1580.104341 behavior stopCamera { duration = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 105.005637 meters # Minimum depth: 62.210173 meters looking forward 0.000000 meters along route # Maximum depth: 62.210173 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 61.525705 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 61.525705 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.822857; longitude = -121.843751; duration = 315; # abortOnTimeout = True; initialDepth = 62.735664; finalDepth = 61.525705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### # Start taking pictures with camera. # Distance along survey: 1475.098704 # Length of camera run: 105.005637 # Number of photos: 11 behavior startCamera { duration = 1; nSamplePeriods = 9; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 20.000000 meters # Minimum depth: 62.735664 meters looking forward 0.000000 meters along route # Maximum depth: 62.735664 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 61.525705 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 61.525705 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.821911; longitude = -121.843751; duration = 60; # abortOnTimeout = True; initialDepth = 62.891364; finalDepth = 61.525705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### # Stop taking pictures with camera. # Distance along survey: 1455.098704 behavior stopCamera { duration = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 105.005636 meters # Minimum depth: 62.891364 meters looking forward 0.000000 meters along route # Maximum depth: 62.891364 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 61.525705 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 61.525705 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.821911; longitude = -121.843976; duration = 315; # abortOnTimeout = True; initialDepth = 62.533012; finalDepth = 61.525705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### # Start taking pictures with camera. # Distance along survey: 1350.093068 # Length of camera run: 105.005636 # Number of photos: 11 behavior startCamera { duration = 1; nSamplePeriods = 9; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 18.006944 meters # Minimum depth: 62.533012 meters looking forward 0.000000 meters along route # Maximum depth: 62.533012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 61.525705 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 61.525705 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.822857; longitude = -121.843976; duration = 54; # abortOnTimeout = True; initialDepth = 62.210173; finalDepth = 61.525705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### # Stop taking pictures with camera. # Distance along survey: 1332.086124 behavior stopCamera { duration = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 104.005636 meters # Minimum depth: 62.210173 meters looking forward 0.000000 meters along route # Maximum depth: 62.210173 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 61.525705 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 61.525705 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.822853; longitude = -121.843774; duration = 312; # abortOnTimeout = True; initialDepth = 62.735664; finalDepth = 61.525705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### # Start taking pictures with camera. # Distance along survey: 1228.080488 # Length of camera run: 104.005636 # Number of photos: 11 behavior startCamera { duration = 1; nSamplePeriods = 9; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 20.000000 meters # Minimum depth: 62.735664 meters looking forward 0.000000 meters along route # Maximum depth: 62.735664 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 61.525705 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 61.525705 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.821915; longitude = -121.843774; duration = 60; # abortOnTimeout = True; initialDepth = 62.891364; finalDepth = 61.525705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### # Stop taking pictures with camera. # Distance along survey: 1208.080488 behavior stopCamera { duration = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 104.005637 meters # Minimum depth: 62.891364 meters looking forward 0.000000 meters along route # Maximum depth: 62.891364 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 61.525705 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 61.525705 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.821915; longitude = -121.843998; duration = 312; # abortOnTimeout = True; initialDepth = 62.533012; finalDepth = 61.525705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### # Start taking pictures with camera. # Distance along survey: 1104.074851 # Length of camera run: 104.005637 # Number of photos: 11 behavior startCamera { duration = 1; nSamplePeriods = 9; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 18.006943 meters # Minimum depth: 62.533012 meters looking forward 0.000000 meters along route # Maximum depth: 62.533012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 61.525705 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 61.525705 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.822853; longitude = -121.843998; duration = 54; # abortOnTimeout = True; initialDepth = 62.418533; finalDepth = 61.525705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### # Stop taking pictures with camera. # Distance along survey: 1086.067908 behavior stopCamera { duration = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 103.005637 meters # Minimum depth: 62.418533 meters looking forward 0.000000 meters along route # Maximum depth: 62.418533 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 61.525705 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 61.525705 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.822848; longitude = -121.843796; duration = 309; # abortOnTimeout = True; initialDepth = 62.786107; finalDepth = 61.525705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### # Start taking pictures with camera. # Distance along survey: 983.062271 # Length of camera run: 103.005637 # Number of photos: 11 behavior startCamera { duration = 1; nSamplePeriods = 9; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 20.000000 meters # Minimum depth: 62.786107 meters looking forward 0.000000 meters along route # Maximum depth: 62.786107 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 61.525705 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 61.525705 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.821920; longitude = -121.843796; duration = 60; # abortOnTimeout = True; initialDepth = 63.025705; finalDepth = 61.525705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### # Stop taking pictures with camera. # Distance along survey: 963.062271 behavior stopCamera { duration = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 103.005637 meters # Minimum depth: 63.025705 meters looking forward 0.000000 meters along route # Maximum depth: 63.025705 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 61.525705 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 61.525705 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.821920; longitude = -121.844020; duration = 309; # abortOnTimeout = True; initialDepth = 62.645307; finalDepth = 61.525705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### # Start taking pictures with camera. # Distance along survey: 860.056634 # Length of camera run: 103.005637 # Number of photos: 11 behavior startCamera { duration = 1; nSamplePeriods = 9; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 18.006943 meters # Minimum depth: 62.645307 meters looking forward 0.000000 meters along route # Maximum depth: 62.645307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 61.525705 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 61.525705 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.822848; longitude = -121.844020; duration = 54; # abortOnTimeout = True; initialDepth = 62.418533; finalDepth = 61.525705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### # Stop taking pictures with camera. # Distance along survey: 842.049691 behavior stopCamera { duration = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 102.005637 meters # Minimum depth: 62.418533 meters looking forward 0.000000 meters along route # Maximum depth: 62.418533 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 61.525705 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 61.525705 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.822844; longitude = -121.843819; duration = 306; # abortOnTimeout = True; initialDepth = 62.786107; finalDepth = 61.525705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### # Start taking pictures with camera. # Distance along survey: 740.044054 # Length of camera run: 102.005637 # Number of photos: 11 behavior startCamera { duration = 1; nSamplePeriods = 9; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 20.000000 meters # Minimum depth: 62.786107 meters looking forward 0.000000 meters along route # Maximum depth: 62.786107 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 61.525705 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 61.525705 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.821924; longitude = -121.843819; duration = 60; # abortOnTimeout = True; initialDepth = 63.025705; finalDepth = 61.525705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### # Stop taking pictures with camera. # Distance along survey: 720.044054 behavior stopCamera { duration = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 102.005637 meters # Minimum depth: 63.025705 meters looking forward 0.000000 meters along route # Maximum depth: 63.025705 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 61.525705 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 61.525705 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.821924; longitude = -121.844043; duration = 306; # abortOnTimeout = True; initialDepth = 62.645307; finalDepth = 61.525705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### # Start taking pictures with camera. # Distance along survey: 618.038417 # Length of camera run: 102.005637 # Number of photos: 11 behavior startCamera { duration = 1; nSamplePeriods = 9; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 18.006943 meters # Minimum depth: 62.645307 meters looking forward 0.000000 meters along route # Maximum depth: 62.645307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 61.525705 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 61.525705 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.822844; longitude = -121.844043; duration = 54; # abortOnTimeout = True; initialDepth = 62.418533; finalDepth = 61.525705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### # Stop taking pictures with camera. # Distance along survey: 600.031474 behavior stopCamera { duration = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 101.005637 meters # Minimum depth: 62.418533 meters looking forward 0.000000 meters along route # Maximum depth: 62.418533 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 61.525705 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 61.525705 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.822839; longitude = -121.843841; duration = 303; # abortOnTimeout = True; initialDepth = 62.786107; finalDepth = 61.525705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### # Start taking pictures with camera. # Distance along survey: 499.025837 # Length of camera run: 101.005637 # Number of photos: 11 behavior startCamera { duration = 1; nSamplePeriods = 9; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 20.000000 meters # Minimum depth: 62.786107 meters looking forward 0.000000 meters along route # Maximum depth: 62.786107 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 61.525705 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 61.525705 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.821929; longitude = -121.843841; duration = 60; # abortOnTimeout = True; initialDepth = 63.025705; finalDepth = 61.525705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### # Stop taking pictures with camera. # Distance along survey: 479.025837 behavior stopCamera { duration = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 101.005637 meters # Minimum depth: 63.025705 meters looking forward 0.000000 meters along route # Maximum depth: 63.025705 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 61.525705 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 61.525705 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.821929; longitude = -121.844065; duration = 303; # abortOnTimeout = True; initialDepth = 62.645307; finalDepth = 61.525705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### # Start taking pictures with camera. # Distance along survey: 378.020200 # Length of camera run: 101.005637 # Number of photos: 11 behavior startCamera { duration = 1; nSamplePeriods = 9; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 38.003289 meters # Minimum depth: 62.645307 meters looking forward 0.000000 meters along route # Maximum depth: 62.645307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 61.525705 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 61.525705 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.822839; longitude = -121.844065; duration = 114; # abortOnTimeout = True; initialDepth = 62.014118; finalDepth = 61.525705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### # Stop taking pictures with camera. # Distance along survey: 340.016911 behavior stopCamera { duration = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 100.005637 meters # Minimum depth: 62.014118 meters looking forward 0.000000 meters along route # Maximum depth: 62.014118 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 61.525705 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 61.525705 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.822835; longitude = -121.843639; duration = 300; # abortOnTimeout = True; initialDepth = 62.705091; finalDepth = 61.525705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### # Start taking pictures with camera. # Distance along survey: 240.011274 # Length of camera run: 100.005637 # Number of photos: 11 behavior startCamera { duration = 1; nSamplePeriods = 9; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 20.000000 meters # Minimum depth: 62.705091 meters looking forward 0.000000 meters along route # Maximum depth: 62.705091 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 61.525705 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 61.525705 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.821933; longitude = -121.843639; duration = 60; # abortOnTimeout = True; initialDepth = 62.786107; finalDepth = 61.525705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### # Stop taking pictures with camera. # Distance along survey: 220.011274 behavior stopCamera { duration = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 100.005637 meters # Minimum depth: 62.786107 meters looking forward 0.000000 meters along route # Maximum depth: 62.786107 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 61.525705 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 61.525705 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.821933; longitude = -121.843863; duration = 300; # abortOnTimeout = True; initialDepth = 62.418533; finalDepth = 61.525705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### # Start taking pictures with camera. # Distance along survey: 120.005637 # Length of camera run: 100.005637 # Number of photos: 11 behavior startCamera { duration = 1; nSamplePeriods = 9; } # ####################################################### # Acoustic update - 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 20.000000 meters # Minimum depth: 62.418533 meters looking forward 0.000000 meters along route # Maximum depth: 62.418533 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 61.525705 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 61.525705 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.822835; longitude = -121.843863; duration = 60; # abortOnTimeout = True; initialDepth = 62.645307; finalDepth = 61.525705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### # Stop taking pictures with camera. # Distance along survey: 100.005637 behavior stopCamera { duration = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 100.005637 meters # Minimum depth: 62.645307 meters looking forward 0.000000 meters along route # Maximum depth: 62.645307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 61.525705 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 61.525705 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.822835; longitude = -121.844088; duration = 300; # abortOnTimeout = True; initialDepth = 63.025705; finalDepth = 61.525705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### # Start taking pictures with camera. # Distance along survey: 0.000000 # Length of camera run: 100.005637 # Number of photos: 11 behavior startCamera { duration = 1; nSamplePeriods = 9; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 100.005637 meters # Minimum depth: 63.025705 meters looking forward 0.000000 meters along route # Maximum depth: 63.025705 meters looking forward 0.000000 meters along route # Vehicle depth: 61.525705 meters behavior waypoint { latitude = 36.821933; longitude = -121.844088; duration = 46; depth = 61.525705; speed = MISSION_SPEED; } # # Zero speed hang to allow final nav updates over acoustic modem # - must get start survey command over acoustic modem or mission aborts behavior StartSurvey { duration = 300; } # # Acoustic update - sent status ping at beginning of StartSurvey behavior # behavior acousticUpdate { duration = 2; dummy = 1; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 61.525705 meters set to maximum vehicle depth behavior descend { duration = 300; horizontalMode = rudder; horizontal = DESCENDRUDDER; pitch = DESCENDPITCH; speed = MISSION_SPEED; maxDepth = SPIRAL_DESCENT_DEPTH; minAltitude = SPIRAL_DESCENT_ALTITUDE; } # # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # Waypoint behavior to get to start of line 1 # Segment length 100.005637 meters # Minimum depth: 63.025705 meters looking forward 0.000000 meters along route # Maximum depth: 63.025705 meters looking forward 0.000000 meters along route # Vehicle depth: 30.000000 meters behavior waypoint { latitude = 36.821933; longitude = -121.844088; duration = 1500; depth = 30.000000; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 359.307024; pitch = DESCENDPITCH; speed = MISSION_SPEED; maxDepth = DESCENT_DEPTH; minAltitude = ALTITUDE_MIN; duration = DESCEND_DURATION; } # # setpoint on surface to gather momentum behavior setpoint { duration = SETPOINT_DURATION; heading = 359.307024; speed = MISSION_SPEED; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } ####################################################### #######################################################