# 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: InitialTest.rte # Mission File: InitialTest.cfg # Distance: 862.299294 (m) # Estimated Time: 2704 (s) 0.751 (hr) # Abort Time: 3245 (s) # Way Points: 2 # Route Points: 17 # # Mission Parameters: # Minimum Vehicle Altitude: 18 (m) # Abort Vehicle Altitude: 10 (m) # Maximum Vehicle Depth: 200 (m) # Abort Vehicle Depth: 225 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 100 (m) # Waypoint Spacing: 50 (m) # Time to First Waypoint: 500 (s) # GPS Duration: 600 (s) # Ascend Rate: 0.5 (m/s) # Descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -121.855305 36.766734 -62.828746 0.000000 1 # 1 -121.854988 36.774502 -65.615275 862.299294 1 # # A total of 17 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 862.299294 #define MISSION_TIME 2704 #define MISSION_TIMEOUT 3245 #define DEPTH_MAX 200.000000 #define DEPTH_ABORT 225.000000 #define ALTITUDE_MIN 18.000000 #define ALTITUDE_ABORT 10.000000 #define GPS_DURATION 600 #define DESCENT_DEPTH 3.000000 #define DESCEND_DURATION 300 #define SETPOINT_DURATION 30 #define GPSMINHITS 60 #define ASCENDRUDDER 10.000000 #define ASCENDPITCH 20.000000 #define ASCENDENDDEPTH 2.000000 #define DESCENDPITCH -15.000000 #define MAXCROSSTRACKERROR 20 #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 = False; } # # ascend behavior behavior ascend { duration = 300; horizontalMode = rudder; horizontal = ASCENDRUDDER; pitch = ASCENDPITCH; speed = MISSION_SPEED; endDepth = ASCENDENDDEPTH; } # ####################################################### # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = RESON_DURATION; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # Waypoint_depth behavior to get to end of line 1 # Segment length 39.383886 meters # Minimum depth: 65.060969 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 47.060969 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.774502; longitude = -121.854988; captureRadius = 10; duration = 31; initialDepth = 47.060969; finalDepth = 47.060969; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.966570 meters # Minimum depth: 64.721476 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 46.721476 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.774148; longitude = -121.855002; captureRadius = 10; duration = 44; initialDepth = 46.721476; finalDepth = 47.060969; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 18.554306 # Altitude Set: 18.554306 # Vehicle Depth:46.721476 # Seafloor Depth:-65.251923 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 44.53; MB_Range = 44.53; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.92; MB_Bottom_Detect_Filter_Max_Range = 44.53; MB_Bottom_Detect_Filter_Min_Depth = 13.92; MB_Bottom_Detect_Filter_Max_Depth = 24.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.966565 meters # Minimum depth: 64.363120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 46.363120 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.773643; longitude = -121.855023; captureRadius = 10; duration = 44; initialDepth = 46.363120; finalDepth = 46.721476; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 18.530447 # Altitude Set: 18.530447 # Vehicle Depth:46.36312 # Seafloor Depth:-64.797743 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 44.47; MB_Range = 44.47; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.90; MB_Bottom_Detect_Filter_Max_Range = 44.47; MB_Bottom_Detect_Filter_Min_Depth = 13.90; MB_Bottom_Detect_Filter_Max_Depth = 24.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.577027 meters # Minimum depth: 64.363120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 46.363120 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.773139; longitude = -121.855043; captureRadius = 10; duration = 41; initialDepth = 46.363120; finalDepth = 46.363120; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 18.434623 # Altitude Set: 18.434623 # Vehicle Depth:46.36312 # Seafloor Depth:-64.457455 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 44.24; MB_Range = 44.24; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.83; MB_Bottom_Detect_Filter_Max_Range = 44.24; MB_Bottom_Detect_Filter_Min_Depth = 13.83; MB_Bottom_Detect_Filter_Max_Depth = 23.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.137585 meters # Minimum depth: 64.402819 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 46.402819 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.772675; longitude = -121.855062; captureRadius = 10; duration = 43; initialDepth = 46.402819; finalDepth = 46.363120; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 18.182623 # Altitude Set: 18.182623 # Vehicle Depth:46.402819 # Seafloor Depth:-64.585442 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 43.64; MB_Range = 43.64; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.64; MB_Bottom_Detect_Filter_Max_Range = 43.64; MB_Bottom_Detect_Filter_Min_Depth = 13.64; MB_Bottom_Detect_Filter_Max_Depth = 23.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.966552 meters # Minimum depth: 64.374281 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 46.374281 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.772187; longitude = -121.855082; captureRadius = 10; duration = 44; initialDepth = 46.374281; finalDepth = 46.402819; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 18.255981 # Altitude Set: 18.255981 # Vehicle Depth:46.374281 # Seafloor Depth:-64.630262 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 43.81; MB_Range = 43.81; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.69; MB_Bottom_Detect_Filter_Max_Range = 43.81; MB_Bottom_Detect_Filter_Min_Depth = 13.69; MB_Bottom_Detect_Filter_Max_Depth = 23.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.966548 meters # Minimum depth: 63.841393 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 45.841393 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.771683; longitude = -121.855103; captureRadius = 10; duration = 44; initialDepth = 45.841393; finalDepth = 46.374281; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 18.513948 # Altitude Set: 18.513948 # Vehicle Depth:45.841393 # Seafloor Depth:-64.355341 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 44.43; MB_Range = 44.43; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.89; MB_Bottom_Detect_Filter_Max_Range = 44.43; MB_Bottom_Detect_Filter_Min_Depth = 13.89; MB_Bottom_Detect_Filter_Max_Depth = 24.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.966544 meters # Minimum depth: 63.841393 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 45.841393 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.771179; longitude = -121.855123; captureRadius = 10; duration = 44; initialDepth = 45.841393; finalDepth = 45.841393; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 18.513948 # Altitude Set: 18.513948 # Vehicle Depth:45.841393 # Seafloor Depth:-64.094555 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 44.43; MB_Range = 44.43; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.89; MB_Bottom_Detect_Filter_Max_Range = 44.43; MB_Bottom_Detect_Filter_Min_Depth = 13.89; MB_Bottom_Detect_Filter_Max_Depth = 24.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.966539 meters # Minimum depth: 63.763330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 45.763330 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.770674; longitude = -121.855144; captureRadius = 10; duration = 44; initialDepth = 45.763330; finalDepth = 45.841393; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 18.293971 # Altitude Set: 18.293971 # Vehicle Depth:45.76333 # Seafloor Depth:-64.057301 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 43.91; MB_Range = 43.91; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.72; MB_Bottom_Detect_Filter_Max_Range = 43.91; MB_Bottom_Detect_Filter_Min_Depth = 13.72; MB_Bottom_Detect_Filter_Max_Depth = 23.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.966534 meters # Minimum depth: 63.553839 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 45.553839 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.770170; longitude = -121.855165; captureRadius = 10; duration = 44; initialDepth = 45.553839; finalDepth = 45.763330; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 18.293971 # Altitude Set: 18.293971 # Vehicle Depth:45.553839 # Seafloor Depth:-63.740735 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 43.91; MB_Range = 43.91; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.72; MB_Bottom_Detect_Filter_Max_Range = 43.91; MB_Bottom_Detect_Filter_Min_Depth = 13.72; MB_Bottom_Detect_Filter_Max_Depth = 23.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.966530 meters # Minimum depth: 63.488943 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 45.488943 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.769666; longitude = -121.855185; captureRadius = 10; duration = 44; initialDepth = 45.488943; finalDepth = 45.553839; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 18.186896 # Altitude Set: 18.186896 # Vehicle Depth:45.488943 # Seafloor Depth:-63.539122 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 43.65; MB_Range = 43.65; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.64; MB_Bottom_Detect_Filter_Max_Range = 43.65; MB_Bottom_Detect_Filter_Min_Depth = 13.64; MB_Bottom_Detect_Filter_Max_Depth = 23.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.966525 meters # Minimum depth: 63.217396 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 45.217396 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.769162; longitude = -121.855206; captureRadius = 10; duration = 44; initialDepth = 45.217396; finalDepth = 45.488943; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 18.281098 # Altitude Set: 18.281098 # Vehicle Depth:45.217396 # Seafloor Depth:-63.498494 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 43.87; MB_Range = 43.87; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.71; MB_Bottom_Detect_Filter_Max_Range = 43.87; MB_Bottom_Detect_Filter_Min_Depth = 13.71; MB_Bottom_Detect_Filter_Max_Depth = 23.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.966521 meters # Minimum depth: 63.086591 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 45.086591 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.768658; longitude = -121.855226; captureRadius = 10; duration = 44; initialDepth = 45.086591; finalDepth = 45.217396; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 18.281098 # Altitude Set: 18.281098 # Vehicle Depth:45.086591 # Seafloor Depth:-63.278806 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 43.87; MB_Range = 43.87; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.71; MB_Bottom_Detect_Filter_Max_Range = 43.87; MB_Bottom_Detect_Filter_Min_Depth = 13.71; MB_Bottom_Detect_Filter_Max_Depth = 23.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 55.966517 meters # Minimum depth: 62.591770 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 44.591770 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.768153; longitude = -121.855247; captureRadius = 10; duration = 44; initialDepth = 44.591770; finalDepth = 45.086591; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 18.566819 # Altitude Set: 18.566819 # Vehicle Depth:44.59177 # Seafloor Depth:-63.158589 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 44.56; MB_Range = 44.56; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.93; MB_Bottom_Detect_Filter_Max_Range = 44.56; MB_Bottom_Detect_Filter_Min_Depth = 13.93; MB_Bottom_Detect_Filter_Max_Depth = 24.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.845393 meters # Minimum depth: 62.119493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 44.119493 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.767649; longitude = -121.855268; captureRadius = 10; duration = 40; initialDepth = 44.119493; finalDepth = 44.591770; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 18.566819 # Altitude Set: 18.566819 # Vehicle Depth:44.119493 # Seafloor Depth:-62.332019 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 44.56; MB_Range = 44.56; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.93; MB_Bottom_Detect_Filter_Max_Range = 44.56; MB_Bottom_Detect_Filter_Min_Depth = 13.93; MB_Bottom_Detect_Filter_Max_Depth = 24.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.723458 meters # Minimum depth: 62.119493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 44.119493 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.767191; longitude = -121.855286; captureRadius = 10; duration = 40; initialDepth = 44.119493; finalDepth = 44.119493; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 18.420392 # Altitude Set: 18.420392 # Vehicle Depth:44.119493 # Seafloor Depth:-62.539885 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 44.21; MB_Range = 44.21; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.82; MB_Bottom_Detect_Filter_Max_Range = 44.21; MB_Bottom_Detect_Filter_Min_Depth = 13.82; MB_Bottom_Detect_Filter_Max_Depth = 23.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Edgetech sonars on and start logging. # behavior reson { duration = RESON_DURATION; Log_Mode = 1; } # Set sonar parameters # Actual Altitude: 18.709253 # Altitude Set: 18.709253 # Vehicle Depth:44.119493 # Seafloor Depth:-62.828746 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 64.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 44.90; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 44.9022072; MB_Power = 220; MB_Range = 44.90; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.03; MB_Bottom_Detect_Filter_Max_Range = 44.90; MB_Bottom_Detect_Filter_Min_Depth = 14.03; MB_Bottom_Detect_Filter_Max_Depth = 24.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; Log_Mode = 0; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 750.000000 meters # Minimum depth: 62.119493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 200.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 44.119493 meters set by local depth and minimum altitude behavior waypoint_depth { latitude = 36.766734; longitude = -121.855305; captureRadius = 10; duration = 600; initialDepth = 44.119493; finalDepth = 44.119493; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 1.198247; 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 = 1.198247; speed = MISSION_SPEED; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = False; } #######################################################