# 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: 20060405test0.rte # Mission File: 20060405test0.cfg # Distance: 1469.658919 (m) # Estimated Time: 2929 (s) 0.814 (hr) # Abort Time: 3808 (s) # Way Points: 2 # Route Points: 30 # Mapping sonar control enabled: # # Mission Parameters: # Desired Vehicle Altitude: 30 (m) # Minimum Vehicle Altitude: 30 (m) # Abort Vehicle Altitude: 15 (m) # Maximum Vehicle Depth: 450 (m) # Abort Vehicle Depth: 500 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 200 (m) # Waypoint Spacing: 50 (m) # 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 -121.857353 36.758017 -59.425176 0.000000 1 # 1 -121.850968 36.770227 -58.478017 1469.658919 1 # # A total of 30 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 1469.658919 #define MISSION_TIME 2929 #define MISSION_TIMEOUT 3808 #define DEPTH_MAX 450.000000 #define DEPTH_ABORT 500.000000 #define ALTITUDE_DESIRED 30.000000 #define ALTITUDE_MIN 30.000000 #define ALTITUDE_ABORT 15.000000 #define GPS_DURATION 600 #define DESCENT_DEPTH 3.000000 #define DESCEND_DURATION 300 #define SETPOINT_DURATION 30 #define GPSMINHITS 30 #define ASCENDRUDDER 5.000000 #define ASCENDPITCH 20.000000 #define ASCENDENDDEPTH 2.000000 #define DESCENDPITCH -15.000000 #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; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = RESON_DURATION; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint behavior to get to end of line 1 # Segment length 8.594408 meters # Minimum depth: 58.384833 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 28.384833 meters set by local depth and desired altitude behavior waypoint { latitude = 36.770227; longitude = -121.850968; captureRadius = 10; duration = 8; depth = 28.384833; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.093184 # Altitude Set: 30.093184 # Vehicle Depth:28.384833 # Seafloor Depth:-58.478017 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 72.22; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.05; MB_Bottom_Detect_Filter_Max_Range = 72.22; MB_Bottom_Detect_Filter_Min_Depth = 15.05; MB_Bottom_Detect_Filter_Max_Depth = 72.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint behavior during line 1 # Segment length 51.566471 meters # Minimum depth: 58.384833 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 28.384833 meters set by local depth and desired altitude behavior waypoint { latitude = 36.770156; longitude = -121.851005; captureRadius = 10; duration = 51; depth = 28.384833; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.093184 # Altitude Set: 30.093184 # Vehicle Depth:28.384833 # Seafloor Depth:-58.388130 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 72.22; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.05; MB_Bottom_Detect_Filter_Max_Range = 72.22; MB_Bottom_Detect_Filter_Min_Depth = 15.05; MB_Bottom_Detect_Filter_Max_Depth = 72.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 52.197292 meters # Minimum depth: 58.384833 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 28.384833 meters set by local depth and desired altitude behavior waypoint { latitude = 36.769727; longitude = -121.851229; captureRadius = 10; duration = 52; depth = 28.384833; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.1737 # Altitude Set: 30.1737 # Vehicle Depth:28.384833 # Seafloor Depth:-58.558533 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 72.42; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.09; MB_Bottom_Detect_Filter_Max_Range = 72.42; MB_Bottom_Detect_Filter_Min_Depth = 15.09; MB_Bottom_Detect_Filter_Max_Depth = 72.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 50.935762 meters # Minimum depth: 58.384833 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 28.384833 meters set by local depth and desired altitude behavior waypoint { latitude = 36.769294; longitude = -121.851456; captureRadius = 10; duration = 50; depth = 28.384833; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.258111 # Altitude Set: 30.258111 # Vehicle Depth:28.384833 # Seafloor Depth:-58.642944 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 72.62; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.13; MB_Bottom_Detect_Filter_Max_Range = 72.62; MB_Bottom_Detect_Filter_Min_Depth = 15.13; MB_Bottom_Detect_Filter_Max_Depth = 72.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 51.566583 meters # Minimum depth: 58.475525 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 28.475525 meters set by local depth and desired altitude behavior waypoint { latitude = 36.768870; longitude = -121.851677; captureRadius = 10; duration = 51; depth = 28.475525; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.285233 # Altitude Set: 30.285233 # Vehicle Depth:28.475525 # Seafloor Depth:-58.760758 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 72.68; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.14; MB_Bottom_Detect_Filter_Max_Range = 72.68; MB_Bottom_Detect_Filter_Min_Depth = 15.14; MB_Bottom_Detect_Filter_Max_Depth = 72.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 51.566621 meters # Minimum depth: 58.491588 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 28.491588 meters set by local depth and desired altitude behavior waypoint { latitude = 36.768442; longitude = -121.851901; captureRadius = 10; duration = 51; depth = 28.491588; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.569366 # Altitude Set: 30.569366 # Vehicle Depth:28.491588 # Seafloor Depth:-59.060954 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 73.37; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.28; MB_Bottom_Detect_Filter_Max_Range = 73.37; MB_Bottom_Detect_Filter_Min_Depth = 15.28; MB_Bottom_Detect_Filter_Max_Depth = 73.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 51.566658 meters # Minimum depth: 58.576157 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 28.576157 meters set by local depth and desired altitude behavior waypoint { latitude = 36.768014; longitude = -121.852125; captureRadius = 10; duration = 51; depth = 28.576157; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.569366 # Altitude Set: 30.569366 # Vehicle Depth:28.576157 # Seafloor Depth:-58.912131 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 73.37; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.28; MB_Bottom_Detect_Filter_Max_Range = 73.37; MB_Bottom_Detect_Filter_Min_Depth = 15.28; MB_Bottom_Detect_Filter_Max_Depth = 73.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 51.566696 meters # Minimum depth: 58.705928 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 28.705928 meters set by local depth and desired altitude behavior waypoint { latitude = 36.767585; longitude = -121.852350; captureRadius = 10; duration = 51; depth = 28.705928; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.335974 # Altitude Set: 30.335974 # Vehicle Depth:28.705928 # Seafloor Depth:-58.732742 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 72.81; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.17; MB_Bottom_Detect_Filter_Max_Range = 72.81; MB_Bottom_Detect_Filter_Min_Depth = 15.17; MB_Bottom_Detect_Filter_Max_Depth = 72.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 52.907153 meters # Minimum depth: 58.705928 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 28.705928 meters set by local depth and desired altitude behavior waypoint { latitude = 36.767157; longitude = -121.852574; captureRadius = 10; duration = 52; depth = 28.705928; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.175687 # Altitude Set: 30.175687 # Vehicle Depth:28.705928 # Seafloor Depth:-58.881615 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 72.42; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.09; MB_Bottom_Detect_Filter_Max_Range = 72.42; MB_Bottom_Detect_Filter_Min_Depth = 15.09; MB_Bottom_Detect_Filter_Max_Depth = 72.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 50.226350 meters # Minimum depth: 58.705928 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 28.705928 meters set by local depth and desired altitude behavior waypoint { latitude = 36.766717; longitude = -121.852803; captureRadius = 10; duration = 50; depth = 28.705928; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.488292 # Altitude Set: 30.488292 # Vehicle Depth:28.705928 # Seafloor Depth:-59.194220 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 73.17; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.24; MB_Bottom_Detect_Filter_Max_Range = 73.17; MB_Bottom_Detect_Filter_Min_Depth = 15.24; MB_Bottom_Detect_Filter_Max_Depth = 73.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 51.566808 meters # Minimum depth: 58.745834 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 28.745834 meters set by local depth and desired altitude behavior waypoint { latitude = 36.766300; longitude = -121.853022; captureRadius = 10; duration = 51; depth = 28.745834; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.786265 # Altitude Set: 30.786265 # Vehicle Depth:28.745834 # Seafloor Depth:-59.532099 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 73.89; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.39; MB_Bottom_Detect_Filter_Max_Range = 73.89; MB_Bottom_Detect_Filter_Min_Depth = 15.39; MB_Bottom_Detect_Filter_Max_Depth = 73.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 51.566846 meters # Minimum depth: 58.995378 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 28.995378 meters set by local depth and desired altitude behavior waypoint { latitude = 36.765871; longitude = -121.853246; captureRadius = 10; duration = 51; depth = 28.995378; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.786265 # Altitude Set: 30.786265 # Vehicle Depth:28.995378 # Seafloor Depth:-59.597082 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 73.89; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.39; MB_Bottom_Detect_Filter_Max_Range = 73.89; MB_Bottom_Detect_Filter_Min_Depth = 15.39; MB_Bottom_Detect_Filter_Max_Depth = 73.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 51.566883 meters # Minimum depth: 59.316021 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 29.316021 meters set by local depth and desired altitude behavior waypoint { latitude = 36.765443; longitude = -121.853470; captureRadius = 10; duration = 51; depth = 29.316021; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.601704 # Altitude Set: 30.601704 # Vehicle Depth:29.316021 # Seafloor Depth:-59.461041 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 73.44; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.30; MB_Bottom_Detect_Filter_Max_Range = 73.44; MB_Bottom_Detect_Filter_Min_Depth = 15.30; MB_Bottom_Detect_Filter_Max_Depth = 73.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 51.566920 meters # Minimum depth: 59.168992 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 29.168992 meters set by local depth and desired altitude behavior waypoint { latitude = 36.765015; longitude = -121.853694; captureRadius = 10; duration = 51; depth = 29.168992; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.14502 # Altitude Set: 30.14502 # Vehicle Depth:29.168992 # Seafloor Depth:-59.264562 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 72.35; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.07; MB_Bottom_Detect_Filter_Max_Range = 72.35; MB_Bottom_Detect_Filter_Min_Depth = 15.07; MB_Bottom_Detect_Filter_Max_Depth = 72.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 51.566958 meters # Minimum depth: 59.167507 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 29.167507 meters set by local depth and desired altitude behavior waypoint { latitude = 36.764586; longitude = -121.853918; captureRadius = 10; duration = 51; depth = 29.167507; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.102988 # Altitude Set: 30.102988 # Vehicle Depth:29.167507 # Seafloor Depth:-59.270495 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 72.25; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.05; MB_Bottom_Detect_Filter_Max_Range = 72.25; MB_Bottom_Detect_Filter_Min_Depth = 15.05; MB_Bottom_Detect_Filter_Max_Depth = 72.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 51.566995 meters # Minimum depth: 58.736531 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 28.736531 meters set by local depth and desired altitude behavior waypoint { latitude = 36.764158; longitude = -121.854142; captureRadius = 10; duration = 51; depth = 28.736531; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.360901 # Altitude Set: 30.360901 # Vehicle Depth:28.736531 # Seafloor Depth:-59.097432 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 72.87; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.18; MB_Bottom_Detect_Filter_Max_Range = 72.87; MB_Bottom_Detect_Filter_Min_Depth = 15.18; MB_Bottom_Detect_Filter_Max_Depth = 72.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 51.567032 meters # Minimum depth: 57.651990 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 27.651990 meters set by local depth and desired altitude behavior waypoint { latitude = 36.763729; longitude = -121.854366; captureRadius = 10; duration = 51; depth = 27.651990; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.533422 # Altitude Set: 30.533422 # Vehicle Depth:27.65199 # Seafloor Depth:-58.185412 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 73.28; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.27; MB_Bottom_Detect_Filter_Max_Range = 73.28; MB_Bottom_Detect_Filter_Min_Depth = 15.27; MB_Bottom_Detect_Filter_Max_Depth = 73.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 51.567071 meters # Minimum depth: 57.651990 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 27.651990 meters set by local depth and desired altitude behavior waypoint { latitude = 36.763301; longitude = -121.854590; captureRadius = 10; duration = 51; depth = 27.651990; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.533422 # Altitude Set: 30.533422 # Vehicle Depth:27.65199 # Seafloor Depth:-57.991200 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 73.28; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.27; MB_Bottom_Detect_Filter_Max_Range = 73.28; MB_Bottom_Detect_Filter_Min_Depth = 15.27; MB_Bottom_Detect_Filter_Max_Depth = 73.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 51.567107 meters # Minimum depth: 57.651990 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 27.651990 meters set by local depth and desired altitude behavior waypoint { latitude = 36.762872; longitude = -121.854814; captureRadius = 10; duration = 51; depth = 27.651990; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.596058 # Altitude Set: 30.596058 # Vehicle Depth:27.65199 # Seafloor Depth:-58.248048 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 73.43; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.30; MB_Bottom_Detect_Filter_Max_Range = 73.43; MB_Bottom_Detect_Filter_Min_Depth = 15.30; MB_Bottom_Detect_Filter_Max_Depth = 73.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 51.961390 meters # Minimum depth: 57.651990 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 27.651990 meters set by local depth and desired altitude behavior waypoint { latitude = 36.762444; longitude = -121.855038; captureRadius = 10; duration = 51; depth = 27.651990; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.596058 # Altitude Set: 30.596058 # Vehicle Depth:27.65199 # Seafloor Depth:-58.054370 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 73.43; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.30; MB_Bottom_Detect_Filter_Max_Range = 73.43; MB_Bottom_Detect_Filter_Min_Depth = 15.30; MB_Bottom_Detect_Filter_Max_Depth = 73.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 51.172938 meters # Minimum depth: 57.929583 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 27.929583 meters set by local depth and desired altitude behavior waypoint { latitude = 36.762012; longitude = -121.855264; captureRadius = 10; duration = 51; depth = 27.929583; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.40238 # Altitude Set: 30.40238 # Vehicle Depth:27.929583 # Seafloor Depth:-58.180922 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 72.97; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.20; MB_Bottom_Detect_Filter_Max_Range = 72.97; MB_Bottom_Detect_Filter_Min_Depth = 15.20; MB_Bottom_Detect_Filter_Max_Depth = 72.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 51.567220 meters # Minimum depth: 57.929583 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 27.929583 meters set by local depth and desired altitude behavior waypoint { latitude = 36.761587; longitude = -121.855486; captureRadius = 10; duration = 51; depth = 27.929583; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.406441 # Altitude Set: 30.406441 # Vehicle Depth:27.929583 # Seafloor Depth:-58.336024 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 72.98; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.20; MB_Bottom_Detect_Filter_Max_Range = 72.98; MB_Bottom_Detect_Filter_Min_Depth = 15.20; MB_Bottom_Detect_Filter_Max_Depth = 72.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 51.567257 meters # Minimum depth: 57.929583 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 27.929583 meters set by local depth and desired altitude behavior waypoint { latitude = 36.761159; longitude = -121.855710; captureRadius = 10; duration = 51; depth = 27.929583; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.511629 # Altitude Set: 30.511629 # Vehicle Depth:27.929583 # Seafloor Depth:-58.441212 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 73.23; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.26; MB_Bottom_Detect_Filter_Max_Range = 73.23; MB_Bottom_Detect_Filter_Min_Depth = 15.26; MB_Bottom_Detect_Filter_Max_Depth = 73.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 51.567295 meters # Minimum depth: 58.087771 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 28.087771 meters set by local depth and desired altitude behavior waypoint { latitude = 36.760730; longitude = -121.855934; captureRadius = 10; duration = 51; depth = 28.087771; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.511629 # Altitude Set: 30.511629 # Vehicle Depth:28.087771 # Seafloor Depth:-58.404810 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 73.23; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.26; MB_Bottom_Detect_Filter_Max_Range = 73.23; MB_Bottom_Detect_Filter_Min_Depth = 15.26; MB_Bottom_Detect_Filter_Max_Depth = 73.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 51.567332 meters # Minimum depth: 58.336946 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 28.336946 meters set by local depth and desired altitude behavior waypoint { latitude = 36.760302; longitude = -121.856158; captureRadius = 10; duration = 51; depth = 28.336946; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.317039 # Altitude Set: 30.317039 # Vehicle Depth:28.336946 # Seafloor Depth:-58.430199 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 72.76; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.16; MB_Bottom_Detect_Filter_Max_Range = 72.76; MB_Bottom_Detect_Filter_Min_Depth = 15.16; MB_Bottom_Detect_Filter_Max_Depth = 72.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 52.671259 meters # Minimum depth: 58.372032 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 28.372032 meters set by local depth and desired altitude behavior waypoint { latitude = 36.759873; longitude = -121.856382; captureRadius = 10; duration = 52; depth = 28.372032; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.184519 # Altitude Set: 30.184519 # Vehicle Depth:28.372032 # Seafloor Depth:-58.556551 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 72.44; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.09; MB_Bottom_Detect_Filter_Max_Range = 72.44; MB_Bottom_Detect_Filter_Min_Depth = 15.09; MB_Bottom_Detect_Filter_Max_Depth = 72.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 53.932886 meters # Minimum depth: 58.407801 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 28.407801 meters set by local depth and desired altitude behavior waypoint { latitude = 36.759436; longitude = -121.856611; captureRadius = 10; duration = 53; depth = 28.407801; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.755374 # Altitude Set: 30.755374 # Vehicle Depth:28.407801 # Seafloor Depth:-59.163175 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 73.81; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.38; MB_Bottom_Detect_Filter_Max_Range = 73.81; MB_Bottom_Detect_Filter_Min_Depth = 15.38; MB_Bottom_Detect_Filter_Max_Depth = 73.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 53.932928 meters # Minimum depth: 58.529341 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 28.529341 meters set by local depth and desired altitude behavior waypoint { latitude = 36.758988; longitude = -121.856845; captureRadius = 10; duration = 53; depth = 28.529341; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.755374 # Altitude Set: 30.755374 # Vehicle Depth:28.529341 # Seafloor Depth:-58.545188 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 73.81; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.38; MB_Bottom_Detect_Filter_Max_Range = 73.81; MB_Bottom_Detect_Filter_Min_Depth = 15.38; MB_Bottom_Detect_Filter_Max_Depth = 73.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint behavior during line 1 # Segment length 62.921800 meters # Minimum depth: 58.545188 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 28.545188 meters set by local depth and desired altitude behavior waypoint { latitude = 36.758540; longitude = -121.857080; captureRadius = 10; duration = 62; depth = 28.545188; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.422759 # Altitude Set: 31.422759 # Vehicle Depth:28.545188 # Seafloor Depth:-59.967947 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 75.41; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.71; MB_Bottom_Detect_Filter_Max_Range = 75.41; MB_Bottom_Detect_Filter_Min_Depth = 15.71; MB_Bottom_Detect_Filter_Max_Depth = 75.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = RESON_DURATION; Log_Mode = 1; } # Set sonar parameters # Actual Altitude: 31.422759 # Altitude Set: 31.422759 # Vehicle Depth:28.545188 # Seafloor Depth:-59.425176 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; HiSS_Mode = 1; HiSS_Power = 100.0; HiSS_Range = 200; MB_Power = 220; MB_Range = 75.41; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.71; MB_Bottom_Detect_Filter_Max_Range = 75.41; MB_Bottom_Detect_Filter_Min_Depth = 15.71; MB_Bottom_Detect_Filter_Max_Depth = 75.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; Log_Mode = 0; } # ####################################################### # # Waypoint behavior to get to start of line 1 # Segment length 500.000000 meters # Minimum depth: 58.545188 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 450.000000 meters # Desired vehicle altitude: 30.000000 meters # Minimum vehicle altitude: 30.000000 meters # Behavior depth of 28.545188 meters set by local depth and desired altitude behavior waypoint { latitude = 36.758017; longitude = -121.857353; captureRadius = 10; duration = 500; depth = 28.545188; speed = MISSION_SPEED; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 22.132524; 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 = 22.132524; speed = MISSION_SPEED; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on but logging off # behavior reson { duration = RESON_DURATION; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 1; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; HiSS_Mode = 1; HiSS_Power = 100.0; HiSS_Range = 200; MB_Power = 220; MB_Range = 60.00; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.50; MB_Bottom_Detect_Filter_Max_Range = 60.00; MB_Bottom_Detect_Filter_Min_Depth = 12.50; MB_Bottom_Detect_Filter_Max_Depth = 60.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; } # ####################################################### #######################################################