# This MBARI Mapping AUV mission file has been generated # by the MB-System program mbm_route2mission run by # user on cpu at # # Mission Summary: # Route File: 2010_SantaMonicaSBPTest_3v1.rte # Mission File: 2010_SantaMonicaSBPTest_3v1.cfg # Distance: 2854.217059 (m) # Estimated Time: 3621 (s) 1.006 (hr) # Abort Time: 4708 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 1002 (s) # Way Points: 4 # Route Points: 29 # Survey behavior: WaypointDepth # Descent style: Spiral descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 75 # Multibeam transmit gain: 220 # Multibeam minimum range fraction: 0.4 # Subbottom enabled # Low sidescan enabled # High sidescan disabled # Benthic imaging camera control disabled: # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 50 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 30 (m) # Maximum Vehicle Depth: 827.501553 (m) # Abort Vehicle Depth: 852.501553 (m) # Descent Vehicle Depth: 3 (m) # Spiral descent depth: 776.839762 m # Spiral descent altitude: 50 m # Forward Looking Distance: 100 (m) # Waypoint Spacing: 100 (m) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -118.643040 33.804446 -836.839762 0.000000 3 # 1 -118.650278 33.794238 -853.104980 1315.528570 4 # 2 -118.652312 33.795228 -851.838542 1533.569076 3 # 3 -118.644967 33.805436 -835.879150 2854.217059 4 # # A total of 29 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 4708; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 827.501553; abortDepth = 852.501553; minAltitude = 50.000000; abortAltitude = 30.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 1002; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # # Acoustic update - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 88.507678 meters # Minimum depth: 835.409313 meters looking forward 100.000000 meters along route # Maximum depth: 835.879150 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 827.501553 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 785.409313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805436; longitude = -118.644967; captureRadius = 10; duration = 177; # abortOnTimeout = True; initialDepth = 784.016107; finalDepth = 785.409313; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.469837 # Actual altitude: 50.469837 # Commanded vehicle depth: 785.409313 # Seafloor depth: -835.879150 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 201.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.19; MB_Bottom_Detect_Filter_Max_Range = 201.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 102.465692 meters # Minimum depth: 834.016107 meters looking forward 100.000000 meters along route # Maximum depth: 835.361876 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 827.501553 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 784.016107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804752; longitude = -118.645459; captureRadius = 10; duration = 204; initialDepth = 781.301425; finalDepth = 784.016107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.345769 # Actual altitude: 51.345769 # Commanded vehicle depth: 784.016107 # Seafloor depth: -835.361876 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 205.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.54; MB_Bottom_Detect_Filter_Max_Range = 205.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.171042 meters # Minimum depth: 831.301425 meters looking forward 100.000000 meters along route # Maximum depth: 833.952274 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 827.501553 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 781.301425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803960; longitude = -118.646029; captureRadius = 10; duration = 200; initialDepth = 775.647585; finalDepth = 781.301425; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.626039 # Actual altitude: 52.626039 # Commanded vehicle depth: 781.301425 # Seafloor depth: -833.927464 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 210.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.05; MB_Bottom_Detect_Filter_Max_Range = 210.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 104.812505 meters # Minimum depth: 825.647585 meters looking forward 100.000000 meters along route # Maximum depth: 831.161377 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 827.501553 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 775.647585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803185; longitude = -118.646586; captureRadius = 10; duration = 209; initialDepth = 769.970679; finalDepth = 775.647585; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.513792 # Actual altitude: 55.513792 # Commanded vehicle depth: 775.647585 # Seafloor depth: -831.161377 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 222.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.21; MB_Bottom_Detect_Filter_Max_Range = 222.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 105.754725 meters # Minimum depth: 819.970679 meters looking forward 100.000000 meters along route # Maximum depth: 825.589841 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 827.501553 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 769.970679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802375; longitude = -118.647169; captureRadius = 10; duration = 211; initialDepth = 765.819730; finalDepth = 769.970679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.619162 # Actual altitude: 55.619162 # Commanded vehicle depth: 769.970679 # Seafloor depth: -825.589841 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 222.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.25; MB_Bottom_Detect_Filter_Max_Range = 222.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 103.871106 meters # Minimum depth: 815.819730 meters looking forward 100.000000 meters along route # Maximum depth: 819.920131 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 827.501553 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 765.819730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801558; longitude = -118.647757; captureRadius = 10; duration = 207; initialDepth = 764.834992; finalDepth = 765.819730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.619162 # Actual altitude: 55.619162 # Commanded vehicle depth: 765.81973 # Seafloor depth: -819.920131 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 222.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.25; MB_Bottom_Detect_Filter_Max_Range = 222.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.052192 meters # Minimum depth: 814.834992 meters looking forward 100.000000 meters along route # Maximum depth: 816.765482 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 827.501553 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 764.834992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800755; longitude = -118.648335; captureRadius = 10; duration = 200; initialDepth = 766.947268; finalDepth = 764.834992; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1004009999999 # Actual altitude: 54.1004009999999 # Commanded vehicle depth: 764.834992 # Seafloor depth: -815.575545 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 216.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.64; MB_Bottom_Detect_Filter_Max_Range = 216.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 102.587151 meters # Minimum depth: 816.947268 meters looking forward 100.000000 meters along route # Maximum depth: 825.787652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 827.501553 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 766.947268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799982; longitude = -118.648891; captureRadius = 10; duration = 205; initialDepth = 776.357671; finalDepth = 766.947268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.740553 # Actual altitude: 50.740553 # Commanded vehicle depth: 766.947268 # Seafloor depth: -816.947268 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 202.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 202.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 101.337182 meters # Minimum depth: 826.357671 meters looking forward 100.000000 meters along route # Maximum depth: 835.746694 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 827.501553 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 776.357671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799189; longitude = -118.649462; captureRadius = 10; duration = 202; initialDepth = 786.007667; finalDepth = 776.357671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 776.357671 # Seafloor depth: -826.357671 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 101.303184 meters # Minimum depth: 836.007667 meters looking forward 100.000000 meters along route # Maximum depth: 841.561293 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 827.501553 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 786.007667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798406; longitude = -118.650026; captureRadius = 10; duration = 202; initialDepth = 791.700987; finalDepth = 786.007667; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 786.007667 # Seafloor depth: -836.007667 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 104.814384 meters # Minimum depth: 841.700987 meters looking forward 100.000000 meters along route # Maximum depth: 845.358890 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 827.501553 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 791.700987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797623; longitude = -118.650589; captureRadius = 10; duration = 209; initialDepth = 795.428477; finalDepth = 791.700987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 791.700987 # Seafloor depth: -841.700987 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 104.814658 meters # Minimum depth: 845.428477 meters looking forward 100.000000 meters along route # Maximum depth: 849.412275 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 827.501553 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 795.428477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796813; longitude = -118.651172; captureRadius = 10; duration = 209; initialDepth = 799.418868; finalDepth = 795.428477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 795.428477 # Seafloor depth: -845.428477 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.156484 meters # Minimum depth: 849.418868 meters looking forward 100.000000 meters along route # Maximum depth: 851.843867 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 827.501553 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 799.418868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796002; longitude = -118.651755; captureRadius = 10; duration = 200; initialDepth = 801.544207; finalDepth = 799.418868; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 799.418868 # Seafloor depth: -849.418868 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 117.703069 meters # Minimum depth: 851.544207 meters looking forward 100.000000 meters along route # Maximum depth: 852.471740 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 827.501553 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 801.544207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795228; longitude = -118.652312; captureRadius = 10; duration = 235; # abortOnTimeout = True; initialDepth = 802.501553; finalDepth = 801.544207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2943349999999 # Actual altitude: 50.2943349999999 # Commanded vehicle depth: 801.544207 # Seafloor depth: -851.838542 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 201.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 100.337437 meters # Minimum depth: 852.501553 meters looking forward 100.000000 meters along route # Maximum depth: 853.169484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 827.501553 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 802.501553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794694; longitude = -118.651214; captureRadius = 10; duration = 200; initialDepth = 800.807848; finalDepth = 802.501553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50.2943349999999 # Actual altitude: 50.2943349999999 # Commanded vehicle depth: 802.501553 # Seafloor depth: -852.501553 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 201.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 75.267701 meters # Minimum depth: 850.807848 meters looking forward 100.000000 meters along route # Maximum depth: 853.169484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 827.501553 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.807848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794238; longitude = -118.650278; captureRadius = 10; duration = 150; # abortOnTimeout = True; initialDepth = 797.148433; finalDepth = 800.807848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2971319999999 # Actual altitude: 52.2971319999999 # Commanded vehicle depth: 800.807848 # Seafloor depth: -853.104980 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 209.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.92; MB_Bottom_Detect_Filter_Max_Range = 209.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 103.386810 meters # Minimum depth: 847.148433 meters looking forward 100.000000 meters along route # Maximum depth: 850.774802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 827.501553 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 797.148433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794822; longitude = -118.649863; captureRadius = 10; duration = 206; initialDepth = 792.257520; finalDepth = 797.148433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6263690000001 # Actual altitude: 53.6263690000001 # Commanded vehicle depth: 797.148433 # Seafloor depth: -850.774802 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 214.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.45; MB_Bottom_Detect_Filter_Max_Range = 214.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.408119 meters # Minimum depth: 842.257520 meters looking forward 100.000000 meters along route # Maximum depth: 846.876694 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 827.501553 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 792.257520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795624; longitude = -118.649295; captureRadius = 10; duration = 208; initialDepth = 787.627608; finalDepth = 792.257520; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.619174 # Actual altitude: 54.619174 # Commanded vehicle depth: 792.25752 # Seafloor depth: -846.876694 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 218.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.85; MB_Bottom_Detect_Filter_Max_Range = 218.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 106.364415 meters # Minimum depth: 837.627608 meters looking forward 100.000000 meters along route # Maximum depth: 842.185835 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 827.501553 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 787.627608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796434; longitude = -118.648720; captureRadius = 10; duration = 212; initialDepth = 780.083386; finalDepth = 787.627608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.619174 # Actual altitude: 54.619174 # Commanded vehicle depth: 787.627608 # Seafloor depth: -842.185835 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 218.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.85; MB_Bottom_Detect_Filter_Max_Range = 218.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.451023 meters # Minimum depth: 830.083386 meters looking forward 100.000000 meters along route # Maximum depth: 837.454959 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 827.501553 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 780.083386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797260; longitude = -118.648135; captureRadius = 10; duration = 204; initialDepth = 759.341294; finalDepth = 780.083386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.371573 # Actual altitude: 57.371573 # Commanded vehicle depth: 780.083386 # Seafloor depth: -837.454959 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 229.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.95; MB_Bottom_Detect_Filter_Max_Range = 229.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.407320 meters # Minimum depth: 809.341294 meters looking forward 100.000000 meters along route # Maximum depth: 829.680280 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 827.501553 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.341294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798055; longitude = -118.647572; captureRadius = 10; duration = 208; initialDepth = 752.142251; finalDepth = 759.341294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.3389860000001 # Actual altitude: 70.3389860000001 # Commanded vehicle depth: 759.341294 # Seafloor depth: -829.680280 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 281.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.14; MB_Bottom_Detect_Filter_Max_Range = 281.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.407053 meters # Minimum depth: 802.142251 meters looking forward 100.000000 meters along route # Maximum depth: 809.271794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 827.501553 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 752.142251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798865; longitude = -118.646997; captureRadius = 10; duration = 208; initialDepth = 755.013214; finalDepth = 752.142251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.3389860000001 # Actual altitude: 70.3389860000001 # Commanded vehicle depth: 752.142251 # Seafloor depth: -809.271794 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 281.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.14; MB_Bottom_Detect_Filter_Max_Range = 281.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.065081 meters # Minimum depth: 805.013214 meters looking forward 100.000000 meters along route # Maximum depth: 819.118650 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 827.501553 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.013214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799675; longitude = -118.646423; captureRadius = 10; duration = 202; initialDepth = 769.327333; finalDepth = 755.013214; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.129543 # Actual altitude: 57.129543 # Commanded vehicle depth: 755.013214 # Seafloor depth: -805.013214 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 228.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.85; MB_Bottom_Detect_Filter_Max_Range = 228.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.787799 meters # Minimum depth: 819.327333 meters looking forward 100.000000 meters along route # Maximum depth: 823.952328 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 827.501553 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 769.327333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800459; longitude = -118.645867; captureRadius = 10; duration = 201; initialDepth = 774.071620; finalDepth = 769.327333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 769.327333 # Seafloor depth: -819.327333 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 105.375880 meters # Minimum depth: 824.071620 meters looking forward 100.000000 meters along route # Maximum depth: 829.925789 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 827.501553 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 774.071620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801241; longitude = -118.645312; captureRadius = 10; duration = 210; initialDepth = 779.986256; finalDepth = 774.071620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 774.07162 # Seafloor depth: -824.071620 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.436396 meters # Minimum depth: 829.986256 meters looking forward 100.000000 meters along route # Maximum depth: 834.007952 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 827.501553 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 779.986256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802059; longitude = -118.644733; captureRadius = 10; duration = 206; initialDepth = 784.190148; finalDepth = 779.986256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 779.986256 # Seafloor depth: -829.986256 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.726245 meters # Minimum depth: 834.190148 meters looking forward 100.000000 meters along route # Maximum depth: 835.924685 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 827.501553 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 784.190148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802861; longitude = -118.644164; captureRadius = 10; duration = 205; initialDepth = 785.982046; finalDepth = 784.190148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 784.190148 # Seafloor depth: -834.190148 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.444728 meters # Minimum depth: 835.982046 meters looking forward 100.000000 meters along route # Maximum depth: 836.839666 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 827.501553 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 785.982046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803659; longitude = -118.643599; captureRadius = 10; duration = 202; initialDepth = 786.000257; finalDepth = 785.982046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 785.982046 # Seafloor depth: -835.982046 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Waypoint type: 3 # Commanded altitude: 50.8395049999999 # Sonar parameter altitude: 50.8395049999999 # Commanded vehicle depth: 786.000257 # Seafloor depth: -836.839762 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 400.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; MB_Power = 220; MB_Range = 203.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.34; MB_Bottom_Detect_Filter_Max_Range = 203.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 101.444728 meters # Minimum depth: 836.000257 meters looking forward 100.000000 meters along route # Maximum depth: 836.839762 meters looking forward 100.000000 meters along route # Vehicle depth: 786.000257 meters behavior waypoint { latitude = 33.804446; longitude = -118.643040; captureRadius = 10; duration = 393; depth = 786.000257; speed = 1.500000; } # # Zero speed hang to allow final nav updates over acoustic modem # - must get start survey command over acoustic modem or mission aborts behavior StartSurvey { duration = 300; } # # Acoustic update - sent status ping at beginning of StartSurvey behavior # behavior acousticUpdate { duration = 2; dummy = 1; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 786.000257 meters set by local depth and desired altitude behavior descend { duration = 2405; horizontalMode = rudder; horizontal = 3.000000; pitch = -30.000000; speed = 1.500000; maxDepth = 776.839762; minAltitude = 50.000000; } # # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # Waypoint behavior to get to start of line 1 # Segment length 101.444728 meters # Minimum depth: 836.000257 meters looking forward 100.000000 meters along route # Maximum depth: 836.839762 meters looking forward 100.000000 meters along route # Vehicle depth: 50.000000 meters behavior waypoint { latitude = 33.804446; longitude = -118.643040; captureRadius = 10; duration = 1000; depth = 50.000000; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 90.0; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 90.0; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 400.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### ####################################################### ####################################################### #######################################################