# This MBARI Mapping AUV mission file has been generated # by the MB-System program mbm_route2mission run by # user on cpu at # # Program mbm_route2mission: # # Mission Summary: # Route File: 20210617NearshoreBox_1v1.rte # Mission File: 20210617NearshoreBox_1v1.cfg # Distance: 1860 (m) 1.860 (km) # Estimated Time: 3880 (s) 1.078 (hr) # Abort Time: 5821 (s) 1.617 (hr) # Max battery life: 79200 (s) 22.000 (hr) # Safety margin: 900 (s) 0.250 (hr) # Time to first waypoint: 2000 (s) 0.556 (hr) # Descend time: 327 (s) 0.091 (hr) # Ascend time: 300 (s) 0.083 (hr) # Way Points: 5 # Route Points: 32 # Survey Behaviors: # Behavior for waypoint mode 0: WaypointDepth # Behavior for waypoint mode 1: WaypointDepth # Behavior for waypoint mode 2: WaypointDepth # Behavior for waypoint mode 3: WaypointDepth # Behavior for waypoint mode 4: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 34 dB # Multibeam transmit gain: 218 dB # Multibeam pulse width: 0.001 usec # Multibeam minimum range fraction: 0.4 # Multibeam maximum range fraction: 5.0 # Subbottom disabled # Low sidescan disabled # High sidescan disabled # Benthic imaging camera control disabled: # # Mission Parameters: # Vehicle Survey Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Ascent Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Transit Speed: 1.500000 (m/s) 2.915769 (knots) # Minimum Vehicle Altitude 1: 50 (m) # Abort Vehicle Altitude 1: 15 (m) # Delta Depth Restart 1: 35 (m) # Desired Vehicle Altitude 1: 50 (m) # Desired Vehicle Altitude 2: 75 (m) # Desired Vehicle Altitude 3: 25 (m) # Constant Vehicle Depth 1: 50 (m) # Constant Vehicle Depth 2: 50 (m) # Maximum Vehicle Depth: 66.130751 (m) # Abort Vehicle Depth: 91.130751 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 50 (m) # Waypoint Spacing: 50 (m) # Maximum climb rate: 15 (degrees) # Time to first waypoint: 2000 (s) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -121.870587 36.776588 -91.877768 0.000000 3 # 1 -121.870587 36.772533 -87.024760 449.926831 3 # 2 -121.865508 36.772472 -78.576777 903.263758 3 # 3 -121.865433 36.776498 -81.791667 1349.919497 3 # 4 -121.871147 36.776498 -92.373108 1859.841907 4 # # A total of 32 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 5821; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 66.130751; abortDepth = 91.130751; minAltitude = 50.000000; abortAltitude = 15.000000; deltaDepthRestart = 35.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 300; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # # Acoustic update 1 - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior edgetech { duration = 6; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; } behavior reson { duration = 6; MB_Power = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 96.651910 meters # Minimum depth: 90.890124 meters looking forward 50.000000 meters along route # Maximum depth: 92.373108 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 66.130751 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 40.890124 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776498; longitude = -121.871147; duration = 386; # abortOnTimeout = True; initialDepth = 39.888634; finalDepth = 40.890124; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.482984 # Actual altitude: 51.482984 # Commanded vehicle depth: 40.890124 # Seafloor depth: -92.373108 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 59.990853 meters # Minimum depth: 89.888634 meters looking forward 50.000000 meters along route # Maximum depth: 90.861127 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 66.130751 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 39.888634 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776498; longitude = -121.870064; duration = 239; initialDepth = 38.566833; finalDepth = 39.888634; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.482984 # Actual altitude: 51.482984 # Commanded vehicle depth: 39.888634 # Seafloor depth: -90.861127 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 59.990861 meters # Minimum depth: 88.566833 meters looking forward 50.000000 meters along route # Maximum depth: 89.576065 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 66.130751 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 38.566833 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776498; longitude = -121.869392; duration = 239; initialDepth = 37.424708; finalDepth = 38.566833; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.009232 # Actual altitude: 51.009232 # Commanded vehicle depth: 38.566833 # Seafloor depth: -89.576065 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 59.990871 meters # Minimum depth: 87.424708 meters looking forward 50.000000 meters along route # Maximum depth: 88.380386 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 66.130751 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 37.424708 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776498; longitude = -121.868720; duration = 239; initialDepth = 36.259313; finalDepth = 37.424708; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.009232 # Actual altitude: 51.009232 # Commanded vehicle depth: 37.424708 # Seafloor depth: -88.380386 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 59.990879 meters # Minimum depth: 86.259313 meters looking forward 50.000000 meters along route # Maximum depth: 87.215411 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 66.130751 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 36.259313 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776498; longitude = -121.868047; duration = 239; initialDepth = 34.930773; finalDepth = 36.259313; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.956098 # Actual altitude: 50.956098 # Commanded vehicle depth: 36.259313 # Seafloor depth: -87.215411 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 59.990889 meters # Minimum depth: 84.930773 meters looking forward 50.000000 meters along route # Maximum depth: 85.985474 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 66.130751 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 34.930773 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776498; longitude = -121.867375; duration = 239; initialDepth = 33.463107; finalDepth = 34.930773; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.054701 # Actual altitude: 51.054701 # Commanded vehicle depth: 34.930773 # Seafloor depth: -85.985474 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 59.990897 meters # Minimum depth: 83.463107 meters looking forward 50.000000 meters along route # Maximum depth: 84.546186 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 66.130751 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 33.463107 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776498; longitude = -121.866703; duration = 239; initialDepth = 31.844426; finalDepth = 33.463107; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.083079 # Actual altitude: 51.083079 # Commanded vehicle depth: 33.463107 # Seafloor depth: -84.546186 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 53.325250 meters # Minimum depth: 81.844426 meters looking forward 50.000000 meters along route # Maximum depth: 83.123952 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 66.130751 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 31.844426 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776498; longitude = -121.866031; duration = 213; initialDepth = 31.080623; finalDepth = 31.844426; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.279526 # Actual altitude: 51.279526 # Commanded vehicle depth: 31.844426 # Seafloor depth: -83.123952 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 93.331075 meters # Minimum depth: 81.080623 meters looking forward 50.000000 meters along route # Maximum depth: 81.791667 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 66.130751 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 31.080623 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776498; longitude = -121.865433; duration = 373; # abortOnTimeout = True; initialDepth = 30.628916; finalDepth = 31.080623; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.279526 # Actual altitude: 51.279526 # Commanded vehicle depth: 31.080623 # Seafloor depth: -81.791667 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 59.998541 meters # Minimum depth: 80.628916 meters looking forward 50.000000 meters along route # Maximum depth: 81.198970 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 66.130751 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 30.628916 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.775657; longitude = -121.865449; duration = 239; initialDepth = 30.099442; finalDepth = 30.628916; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.711044 # Actual altitude: 50.711044 # Commanded vehicle depth: 30.628916 # Seafloor depth: -81.198970 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 59.998536 meters # Minimum depth: 80.099442 meters looking forward 50.000000 meters along route # Maximum depth: 80.537966 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 66.130751 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 30.099442 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.775116; longitude = -121.865459; duration = 239; initialDepth = 29.893002; finalDepth = 30.099442; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.570054 # Actual altitude: 50.570054 # Commanded vehicle depth: 30.099442 # Seafloor depth: -80.512608 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 59.998530 meters # Minimum depth: 79.893002 meters looking forward 50.000000 meters along route # Maximum depth: 80.118071 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 66.130751 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 29.893002 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774575; longitude = -121.865469; duration = 239; initialDepth = 29.442673; finalDepth = 29.893002; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.413166 # Actual altitude: 50.413166 # Commanded vehicle depth: 29.893002 # Seafloor depth: -80.118071 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 59.998525 meters # Minimum depth: 79.442673 meters looking forward 50.000000 meters along route # Maximum depth: 79.872607 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 66.130751 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 29.442673 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774035; longitude = -121.865479; duration = 239; initialDepth = 28.388242; finalDepth = 29.442673; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.429934 # Actual altitude: 50.429934 # Commanded vehicle depth: 29.442673 # Seafloor depth: -79.872607 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 59.998519 meters # Minimum depth: 78.388242 meters looking forward 50.000000 meters along route # Maximum depth: 79.382284 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 66.130751 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 28.388242 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773494; longitude = -121.865489; duration = 239; initialDepth = 28.621625; finalDepth = 28.388242; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.994042 # Actual altitude: 50.994042 # Commanded vehicle depth: 28.388242 # Seafloor depth: -79.382284 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 53.332013 meters # Minimum depth: 78.621625 meters looking forward 50.000000 meters along route # Maximum depth: 79.352388 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 66.130751 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 28.621625 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.772953; longitude = -121.865499; duration = 213; initialDepth = 27.790378; finalDepth = 28.621625; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.994042 # Actual altitude: 50.994042 # Commanded vehicle depth: 28.621625 # Seafloor depth: -79.352388 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 46.667077 meters # Minimum depth: 77.790378 meters looking forward 50.000000 meters along route # Maximum depth: 78.576777 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 66.130751 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 27.790378 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.772472; longitude = -121.865508; duration = 186; # abortOnTimeout = True; initialDepth = 28.898385; finalDepth = 27.790378; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.786399 # Actual altitude: 50.786399 # Commanded vehicle depth: 27.790378 # Seafloor depth: -78.576777 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 50.000429 meters # Minimum depth: 78.898385 meters looking forward 50.000000 meters along route # Maximum depth: 80.111458 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 66.130751 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 28.898385 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.772479; longitude = -121.866031; duration = 200; initialDepth = 30.034626; finalDepth = 28.898385; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.786399 # Actual altitude: 50.786399 # Commanded vehicle depth: 28.898385 # Seafloor depth: -78.898385 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 50.000418 meters # Minimum depth: 80.034626 meters looking forward 50.000000 meters along route # Maximum depth: 81.034600 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 66.130751 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 30.034626 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.772485; longitude = -121.866591; duration = 200; initialDepth = 31.238940; finalDepth = 30.034626; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 30.034626 # Seafloor depth: -80.034626 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 50.000408 meters # Minimum depth: 81.238940 meters looking forward 50.000000 meters along route # Maximum depth: 82.153408 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 66.130751 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 31.238940 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.772492; longitude = -121.867151; duration = 200; initialDepth = 32.312844; finalDepth = 31.238940; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 31.23894 # Seafloor depth: -81.238940 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 50.000397 meters # Minimum depth: 82.312844 meters looking forward 50.000000 meters along route # Maximum depth: 83.005043 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 66.130751 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 32.312844 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.772499; longitude = -121.867711; duration = 200; initialDepth = 33.111718; finalDepth = 32.312844; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.088477 # Actual altitude: 50.088477 # Commanded vehicle depth: 32.312844 # Seafloor depth: -82.401321 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 50.000387 meters # Minimum depth: 83.111718 meters looking forward 50.000000 meters along route # Maximum depth: 83.888390 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 66.130751 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 33.111718 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.772505; longitude = -121.868271; duration = 200; initialDepth = 34.142014; finalDepth = 33.111718; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.088477 # Actual altitude: 50.088477 # Commanded vehicle depth: 33.111718 # Seafloor depth: -83.111718 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 50.000376 meters # Minimum depth: 84.142014 meters looking forward 50.000000 meters along route # Maximum depth: 84.736041 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 66.130751 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 34.142014 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.772512; longitude = -121.868832; duration = 200; initialDepth = 35.141820; finalDepth = 34.142014; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 34.142014 # Seafloor depth: -84.142014 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 50.000366 meters # Minimum depth: 85.141820 meters looking forward 50.000000 meters along route # Maximum depth: 86.015107 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 66.130751 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 35.141820 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.772518; longitude = -121.869392; duration = 200; initialDepth = 36.061327; finalDepth = 35.141820; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 35.14182 # Seafloor depth: -85.141820 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 56.667069 meters # Minimum depth: 86.061327 meters looking forward 50.000000 meters along route # Maximum depth: 86.831433 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 66.130751 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 36.061327 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.772525; longitude = -121.869952; duration = 226; initialDepth = 37.024760; finalDepth = 36.061327; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 36.061327 # Seafloor depth: -86.061327 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 96.653402 meters # Minimum depth: 87.024760 meters looking forward 50.000000 meters along route # Maximum depth: 87.479961 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 66.130751 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 37.024760 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.772533; longitude = -121.870587; duration = 386; # abortOnTimeout = True; initialDepth = 37.388332; finalDepth = 37.024760; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 37.02476 # Seafloor depth: -87.024760 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 59.991774 meters # Minimum depth: 87.388332 meters looking forward 50.000000 meters along route # Maximum depth: 88.141002 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 66.130751 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 37.388332 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773404; longitude = -121.870587; duration = 239; initialDepth = 38.115683; finalDepth = 37.388332; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 37.388332 # Seafloor depth: -87.388332 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 59.991780 meters # Minimum depth: 88.115683 meters looking forward 50.000000 meters along route # Maximum depth: 88.435885 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 66.130751 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 38.115683 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773944; longitude = -121.870587; duration = 239; initialDepth = 38.318605; finalDepth = 38.115683; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.084653 # Actual altitude: 50.084653 # Commanded vehicle depth: 38.115683 # Seafloor depth: -88.200336 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 59.991784 meters # Minimum depth: 88.318605 meters looking forward 50.000000 meters along route # Maximum depth: 89.130788 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 66.130751 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 38.318605 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774485; longitude = -121.870587; duration = 239; initialDepth = 38.857051; finalDepth = 38.318605; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.084653 # Actual altitude: 50.084653 # Commanded vehicle depth: 38.318605 # Seafloor depth: -88.341413 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 59.991790 meters # Minimum depth: 88.857051 meters looking forward 50.000000 meters along route # Maximum depth: 89.282398 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 66.130751 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 38.857051 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.775026; longitude = -121.870587; duration = 239; initialDepth = 39.391782; finalDepth = 38.857051; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.022808 # Actual altitude: 50.022808 # Commanded vehicle depth: 38.857051 # Seafloor depth: -88.857051 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 59.991796 meters # Minimum depth: 89.391782 meters looking forward 50.000000 meters along route # Maximum depth: 90.712619 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 66.130751 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 39.391782 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.775567; longitude = -121.870587; duration = 239; initialDepth = 40.828439; finalDepth = 39.391782; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 39.391782 # Seafloor depth: -89.391782 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.314505 meters # Minimum depth: 90.828439 meters looking forward 50.000000 meters along route # Maximum depth: 91.812325 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 66.130751 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 40.828439 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776107; longitude = -121.870587; duration = 213; initialDepth = 41.130751; finalDepth = 40.828439; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 40.828439 # Seafloor depth: -90.828439 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - 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 = 2; } # Set sonar parameters # Waypoint type: 3 # Commanded altitude: 50.747017 # Sonar parameter altitude: 50.747017 # Commanded vehicle depth: 41.130751 # Seafloor depth: -91.877768 # behavior reson { duration = 6; MB_Power = 218; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 34; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.001000; MB_Bottom_Detect_Filter_Min_Range = 20.30; 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; Log_Mode = 0; } # ####################################################### # # Waypoint behavior to get to start of line 1 # Segment length 0.000000 meters # Minimum depth: 91.130751 meters looking forward 50.000000 meters along route # Maximum depth: 91.877768 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 66.130751 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 41.130751 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint { latitude = 36.776588; longitude = -121.870587; duration = 2000; depth = 41.130751; speed = 1.500000; } ####################################################### # Acoustic update 6 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 270.0; pitch = -45.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 270.0; 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; MB_Power = 0; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 34; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.001000; 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; } # ####################################################### ####################################################### ####################################################### #######################################################