# 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: MARStest.rte # Mission File: MARStest.cfg # Distance: 1426.728354 (m) # Estimated Time: 3160 (s) 0.878 (hr) # Abort Time: 3793 (s) # Way Points: 6 # Route Points: 28 # # Mission Parameters: # Desired Vehicle Altitude: 25 (m) # Minimum Vehicle Altitude: 18 (m) # Abort Vehicle Altitude: 10 (m) # Maximum Vehicle Depth: 500 (m) # Abort Vehicle Depth: 525 (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 -122.124615 36.850313 -103.099131 0.000000 1 # 1 -122.133427 36.846205 -106.384776 908.238295 1 # 2 -122.133913 36.846840 -106.137655 990.894162 1 # 3 -122.132307 36.847549 -106.269765 1154.256355 1 # 4 -122.131896 36.846952 -106.233124 1229.977731 1 # 5 -122.129992 36.847848 -104.947327 1426.728354 1 # # A total of 28 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 1426.728354 #define MISSION_TIME 3160 #define MISSION_TIMEOUT 3793 #define DEPTH_MAX 500.000000 #define DEPTH_ABORT 525.000000 #define ALTITUDE_DESIRED 25.000000 #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 = 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; SBP_Mode = 0; SBP_Power = 0.0; LoSS_Mode = 0; LoSS_Power = 0.0; HiSS_Mode = 0; HiSS_Power = 0.0; MB_Power = 0.0; Log_Mode = 0; } ####################################################### # # Waypoint_depth behavior to get to end of line 5 # Segment length 32.791656 meters # Minimum depth: 104.899135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 79.899135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847848; longitude = -122.129992; captureRadius = 10; duration = 26; initialDepth = 79.899135; finalDepth = 79.899135; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 52.080961 meters # Minimum depth: 104.899135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 79.899135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847699; longitude = -122.130309; captureRadius = 10; duration = 41; initialDepth = 79.899135; finalDepth = 79.899135; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.451958 # Altitude Set: 25.451958 # Vehicle Depth:79.899135 # Seafloor Depth:-105.351093 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.08; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.09; MB_Bottom_Detect_Filter_Max_Range = 61.08; MB_Bottom_Detect_Filter_Min_Depth = 19.09; MB_Bottom_Detect_Filter_Max_Depth = 33.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 57.867868 meters # Minimum depth: 105.329620 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 80.329620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847462; longitude = -122.130813; captureRadius = 10; duration = 46; initialDepth = 80.329620; finalDepth = 79.899135; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.578303 # Altitude Set: 25.578303 # Vehicle Depth:80.32962 # Seafloor Depth:-105.907923 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.39; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.18; MB_Bottom_Detect_Filter_Max_Range = 61.39; MB_Bottom_Detect_Filter_Min_Depth = 19.18; MB_Bottom_Detect_Filter_Max_Depth = 33.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 54.010138 meters # Minimum depth: 105.852810 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 80.852810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847198; longitude = -122.131373; captureRadius = 10; duration = 43; initialDepth = 80.852810; finalDepth = 80.329620; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.578303 # Altitude Set: 25.578303 # Vehicle Depth:80.85281 # Seafloor Depth:-106.028642 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.39; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.18; MB_Bottom_Detect_Filter_Max_Range = 61.39; MB_Bottom_Detect_Filter_Min_Depth = 19.18; MB_Bottom_Detect_Filter_Max_Depth = 33.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; LoSS_Mode = 0; LoSS_Power = 0.0; HiSS_Mode = 0; HiSS_Power = 0.0; MB_Power = 0.0; Log_Mode = 0; } ####################################################### # # Waypoint_depth behavior to get to end of line 4 # Segment length 23.662945 meters # Minimum depth: 105.883522 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 80.883522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846952; longitude = -122.131896; captureRadius = 10; duration = 18; initialDepth = 80.883522; finalDepth = 80.852810; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 52.058431 meters # Minimum depth: 106.222396 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 81.222396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847139; longitude = -122.132025; captureRadius = 10; duration = 41; initialDepth = 81.222396; finalDepth = 80.883522; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.349602 # Altitude Set: 25.349602 # Vehicle Depth:81.222396 # Seafloor Depth:-106.277052 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 60.84; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.01; MB_Bottom_Detect_Filter_Max_Range = 60.84; MB_Bottom_Detect_Filter_Min_Depth = 19.01; MB_Bottom_Detect_Filter_Max_Depth = 32.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; LoSS_Mode = 0; LoSS_Power = 0.0; HiSS_Mode = 0; HiSS_Power = 0.0; MB_Power = 0.0; Log_Mode = 0; } ####################################################### # # Waypoint_depth behavior to get to end of line 3 # Segment length 53.187569 meters # Minimum depth: 106.233105 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 81.233105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847549; longitude = -122.132307; captureRadius = 10; duration = 42; initialDepth = 81.233105; finalDepth = 81.222396; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 56.986811 meters # Minimum depth: 106.274284 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 81.274284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847318; longitude = -122.132830; captureRadius = 10; duration = 45; initialDepth = 81.274284; finalDepth = 81.233105; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.03666 # Altitude Set: 25.03666 # Vehicle Depth:81.274284 # Seafloor Depth:-106.274284 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 60.09; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.78; MB_Bottom_Detect_Filter_Max_Range = 60.09; MB_Bottom_Detect_Filter_Min_Depth = 18.78; MB_Bottom_Detect_Filter_Max_Depth = 32.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 53.187813 meters # Minimum depth: 106.102480 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 81.102480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847071; longitude = -122.133390; captureRadius = 10; duration = 42; initialDepth = 81.102480; finalDepth = 81.274284; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.538262 # Altitude Set: 25.538262 # Vehicle Depth:81.10248 # Seafloor Depth:-106.640742 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.29; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.15; MB_Bottom_Detect_Filter_Max_Range = 61.29; MB_Bottom_Detect_Filter_Min_Depth = 19.15; MB_Bottom_Detect_Filter_Max_Depth = 33.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; LoSS_Mode = 0; LoSS_Power = 0.0; HiSS_Mode = 0; HiSS_Power = 0.0; MB_Power = 0.0; Log_Mode = 0; } ####################################################### # # Waypoint_depth behavior to get to end of line 2 # Segment length 31.790696 meters # Minimum depth: 106.054595 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 81.054595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846840; longitude = -122.133913; captureRadius = 10; duration = 25; initialDepth = 81.054595; finalDepth = 81.102480; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 50.865171 meters # Minimum depth: 105.678319 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 80.678319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846596; longitude = -122.133726; captureRadius = 10; duration = 40; initialDepth = 80.678319; finalDepth = 81.054595; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.662651 # Altitude Set: 25.662651 # Vehicle Depth:80.678319 # Seafloor Depth:-106.340970 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.59; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.25; MB_Bottom_Detect_Filter_Max_Range = 61.59; MB_Bottom_Detect_Filter_Min_Depth = 19.25; MB_Bottom_Detect_Filter_Max_Depth = 33.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; LoSS_Mode = 0; LoSS_Power = 0.0; HiSS_Mode = 0; HiSS_Power = 0.0; MB_Power = 0.0; Log_Mode = 0; } ####################################################### # # Waypoint_depth behavior to get to end of line 1 # Segment length 50.030983 meters # Minimum depth: 105.678319 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 80.678319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846205; longitude = -122.133427; captureRadius = 10; duration = 40; initialDepth = 80.678319; finalDepth = 80.678319; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 57.727925 meters # Minimum depth: 106.213968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 81.213968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846431; longitude = -122.132942; captureRadius = 10; duration = 46; initialDepth = 81.213968; finalDepth = 80.678319; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.706457 # Altitude Set: 25.706457 # Vehicle Depth:81.213968 # Seafloor Depth:-106.382799 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.70; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.28; MB_Bottom_Detect_Filter_Max_Range = 61.70; MB_Bottom_Detect_Filter_Min_Depth = 19.28; MB_Bottom_Detect_Filter_Max_Depth = 33.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 57.727784 meters # Minimum depth: 106.177553 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 81.177553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846693; longitude = -122.132382; captureRadius = 10; duration = 46; initialDepth = 81.177553; finalDepth = 81.213968; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.419748 # Altitude Set: 25.419748 # Vehicle Depth:81.177553 # Seafloor Depth:-106.597301 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.01; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.06; MB_Bottom_Detect_Filter_Max_Range = 61.01; MB_Bottom_Detect_Filter_Min_Depth = 19.06; MB_Bottom_Detect_Filter_Max_Depth = 33.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 57.727644 meters # Minimum depth: 106.020271 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 81.020271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846954; longitude = -122.131822; captureRadius = 10; duration = 46; initialDepth = 81.020271; finalDepth = 81.177553; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.419748 # Altitude Set: 25.419748 # Vehicle Depth:81.020271 # Seafloor Depth:-106.240296 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.01; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.06; MB_Bottom_Detect_Filter_Max_Range = 61.01; MB_Bottom_Detect_Filter_Min_Depth = 19.06; MB_Bottom_Detect_Filter_Max_Depth = 33.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 57.727502 meters # Minimum depth: 105.745495 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 80.745495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847215; longitude = -122.131261; captureRadius = 10; duration = 46; initialDepth = 80.745495; finalDepth = 81.020271; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.22013 # Altitude Set: 25.22013 # Vehicle Depth:80.745495 # Seafloor Depth:-105.965625 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 60.53; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.92; MB_Bottom_Detect_Filter_Max_Range = 60.53; MB_Bottom_Detect_Filter_Min_Depth = 18.92; MB_Bottom_Detect_Filter_Max_Depth = 32.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 57.727363 meters # Minimum depth: 105.202348 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 80.202348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847476; longitude = -122.130701; captureRadius = 10; duration = 46; initialDepth = 80.202348; finalDepth = 80.745495; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.541373 # Altitude Set: 25.541373 # Vehicle Depth:80.202348 # Seafloor Depth:-105.743721 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.30; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.16; MB_Bottom_Detect_Filter_Max_Range = 61.30; MB_Bottom_Detect_Filter_Min_Depth = 19.16; MB_Bottom_Detect_Filter_Max_Depth = 33.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 57.727221 meters # Minimum depth: 104.582021 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 79.582021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847737; longitude = -122.130141; captureRadius = 10; duration = 46; initialDepth = 79.582021; finalDepth = 80.202348; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.91145 # Altitude Set: 25.91145 # Vehicle Depth:79.582021 # Seafloor Depth:-105.493471 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 62.19; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.43; MB_Bottom_Detect_Filter_Max_Range = 62.19; MB_Bottom_Detect_Filter_Min_Depth = 19.43; MB_Bottom_Detect_Filter_Max_Depth = 33.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 57.727080 meters # Minimum depth: 104.558986 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 79.558986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847998; longitude = -122.129581; captureRadius = 10; duration = 46; initialDepth = 79.558986; finalDepth = 79.582021; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.91145 # Altitude Set: 25.91145 # Vehicle Depth:79.558986 # Seafloor Depth:-104.644891 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 62.19; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.43; MB_Bottom_Detect_Filter_Max_Range = 62.19; MB_Bottom_Detect_Filter_Min_Depth = 19.43; MB_Bottom_Detect_Filter_Max_Depth = 33.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 57.726940 meters # Minimum depth: 104.647788 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 79.647788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848259; longitude = -122.129021; captureRadius = 10; duration = 46; initialDepth = 79.647788; finalDepth = 79.558986; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.085905 # Altitude Set: 25.085905 # Vehicle Depth:79.647788 # Seafloor Depth:-104.695183 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 60.21; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.81; MB_Bottom_Detect_Filter_Max_Range = 60.21; MB_Bottom_Detect_Filter_Min_Depth = 18.81; MB_Bottom_Detect_Filter_Max_Depth = 32.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 57.726799 meters # Minimum depth: 104.386411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 79.386411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848520; longitude = -122.128461; captureRadius = 10; duration = 46; initialDepth = 79.386411; finalDepth = 79.647788; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.645121 # Altitude Set: 25.645121 # Vehicle Depth:79.386411 # Seafloor Depth:-105.031532 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 61.55; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.23; MB_Bottom_Detect_Filter_Max_Range = 61.55; MB_Bottom_Detect_Filter_Min_Depth = 19.23; MB_Bottom_Detect_Filter_Max_Depth = 33.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 57.936574 meters # Minimum depth: 103.592950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 78.592950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848781; longitude = -122.127901; captureRadius = 10; duration = 46; initialDepth = 78.592950; finalDepth = 79.386411; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.888982 # Altitude Set: 25.888982 # Vehicle Depth:78.59295 # Seafloor Depth:-104.481932 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 62.13; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.42; MB_Bottom_Detect_Filter_Max_Range = 62.13; MB_Bottom_Detect_Filter_Min_Depth = 19.42; MB_Bottom_Detect_Filter_Max_Depth = 33.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 57.516602 meters # Minimum depth: 103.538154 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 78.538154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849043; longitude = -122.127339; captureRadius = 10; duration = 46; initialDepth = 78.538154; finalDepth = 78.592950; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.888982 # Altitude Set: 25.888982 # Vehicle Depth:78.538154 # Seafloor Depth:-103.595169 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 62.13; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.42; MB_Bottom_Detect_Filter_Max_Range = 62.13; MB_Bottom_Detect_Filter_Min_Depth = 19.42; MB_Bottom_Detect_Filter_Max_Depth = 33.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 57.726377 meters # Minimum depth: 102.713109 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 77.713109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849303; longitude = -122.126781; captureRadius = 10; duration = 46; initialDepth = 77.713109; finalDepth = 78.538154; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.898 # Altitude Set: 25.898 # Vehicle Depth:77.713109 # Seafloor Depth:-103.611109 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 62.16; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.42; MB_Bottom_Detect_Filter_Max_Range = 62.16; MB_Bottom_Detect_Filter_Min_Depth = 19.42; MB_Bottom_Detect_Filter_Max_Depth = 33.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 58.146063 meters # Minimum depth: 102.303661 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 77.303661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849564; longitude = -122.126221; captureRadius = 10; duration = 46; initialDepth = 77.303661; finalDepth = 77.713109; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.898 # Altitude Set: 25.898 # Vehicle Depth:77.303661 # Seafloor Depth:-102.707464 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 62.16; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.42; MB_Bottom_Detect_Filter_Max_Range = 62.16; MB_Bottom_Detect_Filter_Min_Depth = 19.42; MB_Bottom_Detect_Filter_Max_Depth = 33.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 57.306269 meters # Minimum depth: 102.303661 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 77.303661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849827; longitude = -122.125657; captureRadius = 10; duration = 45; initialDepth = 77.303661; finalDepth = 77.303661; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.403803 # Altitude Set: 25.403803 # Vehicle Depth:77.303661 # Seafloor Depth:-102.310934 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 60.97; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.05; MB_Bottom_Detect_Filter_Max_Range = 60.97; MB_Bottom_Detect_Filter_Min_Depth = 19.05; MB_Bottom_Detect_Filter_Max_Depth = 33.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.029169 meters # Minimum depth: 102.761314 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 77.761314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850086; longitude = -122.125101; captureRadius = 10; duration = 40; initialDepth = 77.761314; finalDepth = 77.303661; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 25.155859 # Altitude Set: 25.155859 # Vehicle Depth:77.761314 # Seafloor Depth:-102.917173 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 60.37; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.87; MB_Bottom_Detect_Filter_Max_Range = 60.37; MB_Bottom_Detect_Filter_Min_Depth = 18.87; MB_Bottom_Detect_Filter_Max_Depth = 32.70; 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: 25.337817 # Altitude Set: 25.337817 # Vehicle Depth:77.761314 # Seafloor Depth:-103.099131 # 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 = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 220; MB_Range = 60.81; MB_Rate = 2; MB_Gain = 80; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.00; MB_Bottom_Detect_Filter_Max_Range = 60.81; MB_Bottom_Detect_Filter_Min_Depth = 19.00; MB_Bottom_Detect_Filter_Max_Depth = 32.94; 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: 102.761314 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 18.000000 meters # Behavior depth of 77.761314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850313; longitude = -122.124615; captureRadius = 10; duration = 700; initialDepth = 77.761314; finalDepth = 77.761314; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 60; 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 = 60.0; speed = MISSION_SPEED; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } #######################################################