# 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: 20060420test2.rte # Mission File: 20060420test2.cfg # Distance: 3169.210121 (m) # Estimated Time: 4282 (s) 1.190 (hr) # Abort Time: 5567 (s) # Way Points: 2 # Route Points: 53 # 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 -121.851304 36.835647 -52.567902 0.000000 1 # 1 -121.849474 36.807119 -168.202209 3169.210121 1 # # A total of 53 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 3169.210121 #define MISSION_TIME 4282 #define MISSION_TIMEOUT 5567 #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_depth behavior to get to end of line 1 # Segment length 29.037218 meters # Minimum depth: 168.202209 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 138.202209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807119; longitude = -121.849474; captureRadius = 10; duration = 29; initialDepth = 138.202209; finalDepth = 138.202209; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 30 # Altitude Set: 30 # Vehicle Depth:138.202209 # Seafloor Depth:-168.202209 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 72.00; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 72.00; MB_Bottom_Detect_Filter_Min_Depth = 15.00; MB_Bottom_Detect_Filter_Max_Depth = 72.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222613 meters # Minimum depth: 166.534744 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 136.534744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807381; longitude = -121.849491; captureRadius = 10; duration = 62; initialDepth = 136.534744; finalDepth = 138.202209; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.37041 # Altitude Set: 31.37041 # Vehicle Depth:136.534744 # Seafloor Depth:-167.905154 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 75.29; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.69; MB_Bottom_Detect_Filter_Max_Range = 75.29; MB_Bottom_Detect_Filter_Min_Depth = 15.69; MB_Bottom_Detect_Filter_Max_Depth = 75.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222617 meters # Minimum depth: 166.022860 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 136.022860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807941; longitude = -121.849527; captureRadius = 10; duration = 62; initialDepth = 136.022860; finalDepth = 136.534744; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.37041 # Altitude Set: 31.37041 # Vehicle Depth:136.02286 # Seafloor Depth:-166.242814 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 75.29; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.69; MB_Bottom_Detect_Filter_Max_Range = 75.29; MB_Bottom_Detect_Filter_Min_Depth = 15.69; MB_Bottom_Detect_Filter_Max_Depth = 75.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222621 meters # Minimum depth: 165.288768 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 135.288768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808501; longitude = -121.849563; captureRadius = 10; duration = 62; initialDepth = 135.288768; finalDepth = 136.022860; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.805836 # Altitude Set: 30.805836 # Vehicle Depth:135.288768 # Seafloor Depth:-166.094604 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 73.93; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.40; MB_Bottom_Detect_Filter_Max_Range = 73.93; MB_Bottom_Detect_Filter_Min_Depth = 15.40; MB_Bottom_Detect_Filter_Max_Depth = 73.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222625 meters # Minimum depth: 161.534170 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 131.534170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809061; longitude = -121.849599; captureRadius = 10; duration = 62; initialDepth = 131.534170; finalDepth = 135.288768; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 33.692911 # Altitude Set: 33.692911 # Vehicle Depth:131.53417 # Seafloor Depth:-165.227081 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 80.86; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.85; MB_Bottom_Detect_Filter_Max_Range = 80.86; MB_Bottom_Detect_Filter_Min_Depth = 16.85; MB_Bottom_Detect_Filter_Max_Depth = 80.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222629 meters # Minimum depth: 157.485581 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 127.485581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809621; longitude = -121.849635; captureRadius = 10; duration = 62; initialDepth = 127.485581; finalDepth = 131.534170; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 33.692911 # Altitude Set: 33.692911 # Vehicle Depth:127.485581 # Seafloor Depth:-160.945311 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 80.86; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.85; MB_Bottom_Detect_Filter_Max_Range = 80.86; MB_Bottom_Detect_Filter_Min_Depth = 16.85; MB_Bottom_Detect_Filter_Max_Depth = 80.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222634 meters # Minimum depth: 154.171741 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 124.171741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810181; longitude = -121.849671; captureRadius = 10; duration = 62; initialDepth = 124.171741; finalDepth = 127.485581; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 33.45973 # Altitude Set: 33.45973 # Vehicle Depth:124.171741 # Seafloor Depth:-156.552373 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 80.30; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.73; MB_Bottom_Detect_Filter_Max_Range = 80.30; MB_Bottom_Detect_Filter_Min_Depth = 16.73; MB_Bottom_Detect_Filter_Max_Depth = 80.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222637 meters # Minimum depth: 152.861428 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 122.861428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810741; longitude = -121.849707; captureRadius = 10; duration = 62; initialDepth = 122.861428; finalDepth = 124.171741; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 32.380632 # Altitude Set: 32.380632 # Vehicle Depth:122.861428 # Seafloor Depth:-153.872664 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 77.71; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.19; MB_Bottom_Detect_Filter_Max_Range = 77.71; MB_Bottom_Detect_Filter_Min_Depth = 16.19; MB_Bottom_Detect_Filter_Max_Depth = 77.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222641 meters # Minimum depth: 149.358359 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 119.358359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811301; longitude = -121.849743; captureRadius = 10; duration = 62; initialDepth = 119.358359; finalDepth = 122.861428; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 32.40918 # Altitude Set: 32.40918 # Vehicle Depth:119.358359 # Seafloor Depth:-151.767539 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 77.78; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.20; MB_Bottom_Detect_Filter_Max_Range = 77.78; MB_Bottom_Detect_Filter_Min_Depth = 16.20; MB_Bottom_Detect_Filter_Max_Depth = 77.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222645 meters # Minimum depth: 149.358359 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 119.358359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811861; longitude = -121.849778; captureRadius = 10; duration = 62; initialDepth = 119.358359; finalDepth = 119.358359; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 32.40918 # Altitude Set: 32.40918 # Vehicle Depth:119.358359 # Seafloor Depth:-150.001564 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 77.78; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.20; MB_Bottom_Detect_Filter_Max_Range = 77.78; MB_Bottom_Detect_Filter_Min_Depth = 16.20; MB_Bottom_Detect_Filter_Max_Depth = 77.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222649 meters # Minimum depth: 147.393588 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 117.393588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812422; longitude = -121.849814; captureRadius = 10; duration = 62; initialDepth = 117.393588; finalDepth = 119.358359; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.294192 # Altitude Set: 31.294192 # Vehicle Depth:117.393588 # Seafloor Depth:-148.687780 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 75.11; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.65; MB_Bottom_Detect_Filter_Max_Range = 75.11; MB_Bottom_Detect_Filter_Min_Depth = 15.65; MB_Bottom_Detect_Filter_Max_Depth = 75.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 60.190894 meters # Minimum depth: 146.983147 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 116.983147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812982; longitude = -121.849850; captureRadius = 10; duration = 60; initialDepth = 116.983147; finalDepth = 117.393588; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.294192 # Altitude Set: 31.294192 # Vehicle Depth:116.983147 # Seafloor Depth:-147.349646 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 75.11; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.65; MB_Bottom_Detect_Filter_Max_Range = 75.11; MB_Bottom_Detect_Filter_Min_Depth = 15.65; MB_Bottom_Detect_Filter_Max_Depth = 75.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.809885 meters # Minimum depth: 145.457825 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 115.457825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813523; longitude = -121.849885; captureRadius = 10; duration = 51; initialDepth = 115.457825; finalDepth = 116.983147; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.37084 # Altitude Set: 31.37084 # Vehicle Depth:115.457825 # Seafloor Depth:-146.828665 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 75.29; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.69; MB_Bottom_Detect_Filter_Max_Range = 75.29; MB_Bottom_Detect_Filter_Min_Depth = 15.69; MB_Bottom_Detect_Filter_Max_Depth = 75.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222661 meters # Minimum depth: 142.987990 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 112.987990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813990; longitude = -121.849915; captureRadius = 10; duration = 62; initialDepth = 112.987990; finalDepth = 115.457825; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.877046 # Altitude Set: 31.877046 # Vehicle Depth:112.98799 # Seafloor Depth:-144.865036 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 76.50; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.94; MB_Bottom_Detect_Filter_Max_Range = 76.50; MB_Bottom_Detect_Filter_Min_Depth = 15.94; MB_Bottom_Detect_Filter_Max_Depth = 76.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222664 meters # Minimum depth: 139.655200 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 109.655200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814550; longitude = -121.849951; captureRadius = 10; duration = 62; initialDepth = 109.655200; finalDepth = 112.987990; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 33.352615 # Altitude Set: 33.352615 # Vehicle Depth:109.6552 # Seafloor Depth:-143.007815 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 80.05; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.68; MB_Bottom_Detect_Filter_Max_Range = 80.05; MB_Bottom_Detect_Filter_Min_Depth = 16.68; MB_Bottom_Detect_Filter_Max_Depth = 80.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222669 meters # Minimum depth: 136.659229 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 106.659229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815110; longitude = -121.849987; captureRadius = 10; duration = 62; initialDepth = 106.659229; finalDepth = 109.655200; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 33.798868 # Altitude Set: 33.798868 # Vehicle Depth:106.659229 # Seafloor Depth:-140.458097 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 81.12; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.90; MB_Bottom_Detect_Filter_Max_Range = 81.12; MB_Bottom_Detect_Filter_Min_Depth = 16.90; MB_Bottom_Detect_Filter_Max_Depth = 81.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222673 meters # Minimum depth: 133.544269 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 103.544269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815670; longitude = -121.850023; captureRadius = 10; duration = 62; initialDepth = 103.544269; finalDepth = 106.659229; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 33.798868 # Altitude Set: 33.798868 # Vehicle Depth:103.544269 # Seafloor Depth:-136.223404 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 81.12; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.90; MB_Bottom_Detect_Filter_Max_Range = 81.12; MB_Bottom_Detect_Filter_Min_Depth = 16.90; MB_Bottom_Detect_Filter_Max_Depth = 81.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222676 meters # Minimum depth: 130.521020 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 100.521020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816230; longitude = -121.850059; captureRadius = 10; duration = 62; initialDepth = 100.521020; finalDepth = 103.544269; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 32.679135 # Altitude Set: 32.679135 # Vehicle Depth:100.52102 # Seafloor Depth:-132.930904 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 78.43; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.34; MB_Bottom_Detect_Filter_Max_Range = 78.43; MB_Bottom_Detect_Filter_Min_Depth = 16.34; MB_Bottom_Detect_Filter_Max_Depth = 78.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222681 meters # Minimum depth: 127.898751 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 97.898751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816790; longitude = -121.850095; captureRadius = 10; duration = 62; initialDepth = 97.898751; finalDepth = 100.521020; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 32.487858 # Altitude Set: 32.487858 # Vehicle Depth:97.898751 # Seafloor Depth:-130.386609 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 77.97; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.24; MB_Bottom_Detect_Filter_Max_Range = 77.97; MB_Bottom_Detect_Filter_Min_Depth = 16.24; MB_Bottom_Detect_Filter_Max_Depth = 77.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222685 meters # Minimum depth: 124.739543 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 94.739543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817350; longitude = -121.850130; captureRadius = 10; duration = 62; initialDepth = 94.739543; finalDepth = 97.898751; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 32.487858 # Altitude Set: 32.487858 # Vehicle Depth:94.739543 # Seafloor Depth:-126.816394 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 77.97; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.24; MB_Bottom_Detect_Filter_Max_Range = 77.97; MB_Bottom_Detect_Filter_Min_Depth = 16.24; MB_Bottom_Detect_Filter_Max_Depth = 77.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222689 meters # Minimum depth: 120.930457 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 90.930457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817911; longitude = -121.850166; captureRadius = 10; duration = 62; initialDepth = 90.930457; finalDepth = 94.739543; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 32.738552 # Altitude Set: 32.738552 # Vehicle Depth:90.930457 # Seafloor Depth:-123.669009 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 78.57; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.37; MB_Bottom_Detect_Filter_Max_Range = 78.57; MB_Bottom_Detect_Filter_Min_Depth = 16.37; MB_Bottom_Detect_Filter_Max_Depth = 78.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222692 meters # Minimum depth: 117.768789 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 87.768789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818471; longitude = -121.850202; captureRadius = 10; duration = 62; initialDepth = 87.768789; finalDepth = 90.930457; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 32.849154 # Altitude Set: 32.849154 # Vehicle Depth:87.768789 # Seafloor Depth:-120.617943 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 78.84; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.42; MB_Bottom_Detect_Filter_Max_Range = 78.84; MB_Bottom_Detect_Filter_Min_Depth = 16.42; MB_Bottom_Detect_Filter_Max_Depth = 78.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222697 meters # Minimum depth: 114.271886 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 84.271886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819031; longitude = -121.850238; captureRadius = 10; duration = 62; initialDepth = 84.271886; finalDepth = 87.768789; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 33.017263 # Altitude Set: 33.017263 # Vehicle Depth:84.271886 # Seafloor Depth:-117.289149 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 79.24; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.51; MB_Bottom_Detect_Filter_Max_Range = 79.24; MB_Bottom_Detect_Filter_Min_Depth = 16.51; MB_Bottom_Detect_Filter_Max_Depth = 79.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222701 meters # Minimum depth: 112.032265 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 82.032265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819591; longitude = -121.850274; captureRadius = 10; duration = 62; initialDepth = 82.032265; finalDepth = 84.271886; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 33.017263 # Altitude Set: 33.017263 # Vehicle Depth:82.032265 # Seafloor Depth:-114.086672 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 79.24; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.51; MB_Bottom_Detect_Filter_Max_Range = 79.24; MB_Bottom_Detect_Filter_Min_Depth = 16.51; MB_Bottom_Detect_Filter_Max_Depth = 79.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222705 meters # Minimum depth: 109.876490 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 79.876490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820151; longitude = -121.850310; captureRadius = 10; duration = 62; initialDepth = 79.876490; finalDepth = 82.032265; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 32.054407 # Altitude Set: 32.054407 # Vehicle Depth:79.87649 # Seafloor Depth:-111.207629 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 76.93; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.03; MB_Bottom_Detect_Filter_Max_Range = 76.93; MB_Bottom_Detect_Filter_Min_Depth = 16.03; MB_Bottom_Detect_Filter_Max_Depth = 76.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222709 meters # Minimum depth: 107.195826 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 77.195826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820711; longitude = -121.850346; captureRadius = 10; duration = 62; initialDepth = 77.195826; finalDepth = 79.876490; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 32.119862 # Altitude Set: 32.119862 # Vehicle Depth:77.195826 # Seafloor Depth:-109.315688 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 77.09; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.06; MB_Bottom_Detect_Filter_Max_Range = 77.09; MB_Bottom_Detect_Filter_Min_Depth = 16.06; MB_Bottom_Detect_Filter_Max_Depth = 77.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222713 meters # Minimum depth: 106.491816 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 76.491816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821271; longitude = -121.850382; captureRadius = 10; duration = 62; initialDepth = 76.491816; finalDepth = 77.195826; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 32.119862 # Altitude Set: 32.119862 # Vehicle Depth:76.491816 # Seafloor Depth:-107.053382 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 77.09; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.06; MB_Bottom_Detect_Filter_Max_Range = 77.09; MB_Bottom_Detect_Filter_Min_Depth = 16.06; MB_Bottom_Detect_Filter_Max_Depth = 77.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222717 meters # Minimum depth: 105.178267 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 75.178267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821831; longitude = -121.850418; captureRadius = 10; duration = 62; initialDepth = 75.178267; finalDepth = 76.491816; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.640291 # Altitude Set: 31.640291 # Vehicle Depth:75.178267 # Seafloor Depth:-106.818558 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 75.94; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.82; MB_Bottom_Detect_Filter_Max_Range = 75.94; MB_Bottom_Detect_Filter_Min_Depth = 15.82; MB_Bottom_Detect_Filter_Max_Depth = 75.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222721 meters # Minimum depth: 101.293903 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 71.293903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822391; longitude = -121.850454; captureRadius = 10; duration = 62; initialDepth = 71.293903; finalDepth = 75.178267; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 32.339346 # Altitude Set: 32.339346 # Vehicle Depth:71.293903 # Seafloor Depth:-103.633249 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 77.61; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.17; MB_Bottom_Detect_Filter_Max_Range = 77.61; MB_Bottom_Detect_Filter_Min_Depth = 16.17; MB_Bottom_Detect_Filter_Max_Depth = 77.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222725 meters # Minimum depth: 98.080326 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 68.080326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822951; longitude = -121.850490; captureRadius = 10; duration = 62; initialDepth = 68.080326; finalDepth = 71.293903; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 32.339346 # Altitude Set: 32.339346 # Vehicle Depth:68.080326 # Seafloor Depth:-100.403615 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 77.61; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.17; MB_Bottom_Detect_Filter_Max_Range = 77.61; MB_Bottom_Detect_Filter_Min_Depth = 16.17; MB_Bottom_Detect_Filter_Max_Depth = 77.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222729 meters # Minimum depth: 92.333494 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 62.333494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823512; longitude = -121.850526; captureRadius = 10; duration = 62; initialDepth = 62.333494; finalDepth = 68.080326; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 34.610543 # Altitude Set: 34.610543 # Vehicle Depth:62.333494 # Seafloor Depth:-96.944037 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 83.07; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.31; MB_Bottom_Detect_Filter_Max_Range = 83.07; MB_Bottom_Detect_Filter_Min_Depth = 17.31; MB_Bottom_Detect_Filter_Max_Depth = 83.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222734 meters # Minimum depth: 88.908893 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 58.908893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824072; longitude = -121.850562; captureRadius = 10; duration = 62; initialDepth = 58.908893; finalDepth = 62.333494; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 34.610543 # Altitude Set: 34.610543 # Vehicle Depth:58.908893 # Seafloor Depth:-91.714054 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 83.07; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.31; MB_Bottom_Detect_Filter_Max_Range = 83.07; MB_Bottom_Detect_Filter_Min_Depth = 17.31; MB_Bottom_Detect_Filter_Max_Depth = 83.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222737 meters # Minimum depth: 87.472040 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 57.472040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824632; longitude = -121.850597; captureRadius = 10; duration = 62; initialDepth = 57.472040; finalDepth = 58.908893; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 32.805161 # Altitude Set: 32.805161 # Vehicle Depth:57.47204 # Seafloor Depth:-88.064412 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 78.73; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.40; MB_Bottom_Detect_Filter_Max_Range = 78.73; MB_Bottom_Detect_Filter_Min_Depth = 16.40; MB_Bottom_Detect_Filter_Max_Depth = 78.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 61.968771 meters # Minimum depth: 84.694382 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 54.694382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825192; longitude = -121.850633; captureRadius = 10; duration = 61; initialDepth = 54.694382; finalDepth = 57.472040; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.870629 # Altitude Set: 31.870629 # Vehicle Depth:54.694382 # Seafloor Depth:-86.565011 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 76.49; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.94; MB_Bottom_Detect_Filter_Max_Range = 76.49; MB_Bottom_Detect_Filter_Min_Depth = 15.94; MB_Bottom_Detect_Filter_Max_Depth = 76.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.032166 meters # Minimum depth: 82.463040 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 52.463040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825750; longitude = -121.850669; captureRadius = 10; duration = 50; initialDepth = 52.463040; finalDepth = 54.694382; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.870629 # Altitude Set: 31.870629 # Vehicle Depth:52.46304 # Seafloor Depth:-83.549855 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 76.49; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.94; MB_Bottom_Detect_Filter_Max_Range = 76.49; MB_Bottom_Detect_Filter_Min_Depth = 15.94; MB_Bottom_Detect_Filter_Max_Depth = 76.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222748 meters # Minimum depth: 79.905458 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 49.905458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826200; longitude = -121.850698; captureRadius = 10; duration = 62; initialDepth = 49.905458; finalDepth = 52.463040; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 32.031268 # Altitude Set: 32.031268 # Vehicle Depth:49.905458 # Seafloor Depth:-81.936726 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 76.88; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.02; MB_Bottom_Detect_Filter_Max_Range = 76.88; MB_Bottom_Detect_Filter_Min_Depth = 16.02; MB_Bottom_Detect_Filter_Max_Depth = 76.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222753 meters # Minimum depth: 77.121312 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 47.121312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826760; longitude = -121.850734; captureRadius = 10; duration = 62; initialDepth = 47.121312; finalDepth = 49.905458; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 32.427983 # Altitude Set: 32.427983 # Vehicle Depth:47.121312 # Seafloor Depth:-79.549295 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 77.83; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.21; MB_Bottom_Detect_Filter_Max_Range = 77.83; MB_Bottom_Detect_Filter_Min_Depth = 16.21; MB_Bottom_Detect_Filter_Max_Depth = 77.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222757 meters # Minimum depth: 74.355620 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 44.355620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827320; longitude = -121.850770; captureRadius = 10; duration = 62; initialDepth = 44.355620; finalDepth = 47.121312; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 32.427983 # Altitude Set: 32.427983 # Vehicle Depth:44.35562 # Seafloor Depth:-76.150944 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 77.83; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.21; MB_Bottom_Detect_Filter_Max_Range = 77.83; MB_Bottom_Detect_Filter_Min_Depth = 16.21; MB_Bottom_Detect_Filter_Max_Depth = 77.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222760 meters # Minimum depth: 71.422994 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 41.422994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827880; longitude = -121.850806; captureRadius = 10; duration = 62; initialDepth = 41.422994; finalDepth = 44.355620; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 32.199331 # Altitude Set: 32.199331 # Vehicle Depth:41.422994 # Seafloor Depth:-73.622325 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 77.28; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.10; MB_Bottom_Detect_Filter_Max_Range = 77.28; MB_Bottom_Detect_Filter_Min_Depth = 16.10; MB_Bottom_Detect_Filter_Max_Depth = 77.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222765 meters # Minimum depth: 69.284740 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 39.284740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828440; longitude = -121.850842; captureRadius = 10; duration = 62; initialDepth = 39.284740; finalDepth = 41.422994; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 32.199331 # Altitude Set: 32.199331 # Vehicle Depth:39.28474 # Seafloor Depth:-71.181638 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 77.28; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.10; MB_Bottom_Detect_Filter_Max_Range = 77.28; MB_Bottom_Detect_Filter_Min_Depth = 16.10; MB_Bottom_Detect_Filter_Max_Depth = 77.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222768 meters # Minimum depth: 67.050493 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 37.050493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829001; longitude = -121.850878; captureRadius = 10; duration = 62; initialDepth = 37.050493; finalDepth = 39.284740; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.896898 # Altitude Set: 31.896898 # Vehicle Depth:37.050493 # Seafloor Depth:-68.756397 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 76.55; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.95; MB_Bottom_Detect_Filter_Max_Range = 76.55; MB_Bottom_Detect_Filter_Min_Depth = 15.95; MB_Bottom_Detect_Filter_Max_Depth = 76.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222773 meters # Minimum depth: 65.277644 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 35.277644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829561; longitude = -121.850914; captureRadius = 10; duration = 62; initialDepth = 35.277644; finalDepth = 37.050493; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.705904 # Altitude Set: 31.705904 # Vehicle Depth:35.277644 # Seafloor Depth:-66.828825 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 76.09; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.85; MB_Bottom_Detect_Filter_Max_Range = 76.09; MB_Bottom_Detect_Filter_Min_Depth = 15.85; MB_Bottom_Detect_Filter_Max_Depth = 76.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222777 meters # Minimum depth: 63.808899 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 33.808899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830121; longitude = -121.850950; captureRadius = 10; duration = 62; initialDepth = 33.808899; finalDepth = 35.277644; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.551181 # Altitude Set: 31.551181 # Vehicle Depth:33.808899 # Seafloor Depth:-64.942448 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 75.72; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.78; MB_Bottom_Detect_Filter_Max_Range = 75.72; MB_Bottom_Detect_Filter_Min_Depth = 15.78; MB_Bottom_Detect_Filter_Max_Depth = 75.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222781 meters # Minimum depth: 62.378566 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 32.378566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830681; longitude = -121.850985; captureRadius = 10; duration = 62; initialDepth = 32.378566; finalDepth = 33.808899; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.323554 # Altitude Set: 31.323554 # Vehicle Depth:32.378566 # Seafloor Depth:-63.702120 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 75.18; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.66; MB_Bottom_Detect_Filter_Max_Range = 75.18; MB_Bottom_Detect_Filter_Min_Depth = 15.66; MB_Bottom_Detect_Filter_Max_Depth = 75.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222785 meters # Minimum depth: 61.096292 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 31.096292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831241; longitude = -121.851021; captureRadius = 10; duration = 62; initialDepth = 31.096292; finalDepth = 32.378566; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.323554 # Altitude Set: 31.323554 # Vehicle Depth:31.096292 # Seafloor Depth:-62.281307 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 75.18; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.66; MB_Bottom_Detect_Filter_Max_Range = 75.18; MB_Bottom_Detect_Filter_Min_Depth = 15.66; MB_Bottom_Detect_Filter_Max_Depth = 75.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222788 meters # Minimum depth: 59.987064 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 29.987064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831801; longitude = -121.851057; captureRadius = 10; duration = 62; initialDepth = 29.987064; finalDepth = 31.096292; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.185015 # Altitude Set: 31.185015 # Vehicle Depth:29.987064 # Seafloor Depth:-61.101318 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 74.84; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.59; MB_Bottom_Detect_Filter_Max_Range = 74.84; MB_Bottom_Detect_Filter_Min_Depth = 15.59; MB_Bottom_Detect_Filter_Max_Depth = 74.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222793 meters # Minimum depth: 58.912392 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 28.912392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832361; longitude = -121.851093; captureRadius = 10; duration = 62; initialDepth = 28.912392; finalDepth = 29.987064; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.114254 # Altitude Set: 31.114254 # Vehicle Depth:28.912392 # Seafloor Depth:-59.831226 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 74.67; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.56; MB_Bottom_Detect_Filter_Max_Range = 74.67; MB_Bottom_Detect_Filter_Min_Depth = 15.56; MB_Bottom_Detect_Filter_Max_Depth = 74.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222797 meters # Minimum depth: 57.485121 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 27.485121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832921; longitude = -121.851129; captureRadius = 10; duration = 62; initialDepth = 27.485121; finalDepth = 28.912392; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.202421 # Altitude Set: 31.202421 # Vehicle Depth:27.485121 # Seafloor Depth:-58.687542 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 74.89; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.60; MB_Bottom_Detect_Filter_Max_Range = 74.89; MB_Bottom_Detect_Filter_Min_Depth = 15.60; MB_Bottom_Detect_Filter_Max_Depth = 74.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222801 meters # Minimum depth: 56.095775 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 26.095775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833481; longitude = -121.851165; captureRadius = 10; duration = 62; initialDepth = 26.095775; finalDepth = 27.485121; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.291225 # Altitude Set: 31.291225 # Vehicle Depth:26.095775 # Seafloor Depth:-57.387000 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 75.10; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.65; MB_Bottom_Detect_Filter_Max_Range = 75.10; MB_Bottom_Detect_Filter_Min_Depth = 15.65; MB_Bottom_Detect_Filter_Max_Depth = 75.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222805 meters # Minimum depth: 55.138755 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 25.138755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834042; longitude = -121.851201; captureRadius = 10; duration = 62; initialDepth = 25.138755; finalDepth = 26.095775; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 31.291225 # Altitude Set: 31.291225 # Vehicle Depth:25.138755 # Seafloor Depth:-55.850520 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 75.10; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.65; MB_Bottom_Detect_Filter_Max_Range = 75.10; MB_Bottom_Detect_Filter_Min_Depth = 15.65; MB_Bottom_Detect_Filter_Max_Depth = 75.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 62.222809 meters # Minimum depth: 53.773107 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 23.773107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834602; longitude = -121.851237; captureRadius = 10; duration = 62; initialDepth = 23.773107; finalDepth = 25.138755; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.875844 # Altitude Set: 30.875844 # Vehicle Depth:23.773107 # Seafloor Depth:-54.648951 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 74.10; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.44; MB_Bottom_Detect_Filter_Max_Range = 74.10; MB_Bottom_Detect_Filter_Min_Depth = 15.44; MB_Bottom_Detect_Filter_Max_Depth = 74.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 53.926438 meters # Minimum depth: 52.595891 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 22.595891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835162; longitude = -121.851273; captureRadius = 10; duration = 53; initialDepth = 22.595891; finalDepth = 23.773107; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 30.990354 # Altitude Set: 30.990354 # Vehicle Depth:22.595891 # Seafloor Depth:-53.586245 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 200.00; MB_Range = 74.38; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.50; MB_Bottom_Detect_Filter_Max_Range = 74.38; MB_Bottom_Detect_Filter_Min_Depth = 15.50; MB_Bottom_Detect_Filter_Max_Depth = 74.38; 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: 30.990354 # Altitude Set: 30.990354 # Vehicle Depth:22.567902 # Seafloor Depth:-52.567902 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; 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 = 74.38; MB_Rate = 2; MB_Gain = 67; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.50; MB_Bottom_Detect_Filter_Max_Range = 74.38; MB_Bottom_Detect_Filter_Min_Depth = 15.50; MB_Bottom_Detect_Filter_Max_Depth = 74.38; 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 500.000000 meters # Minimum depth: 52.567902 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 22.567902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835647; longitude = -121.851304; captureRadius = 10; duration = 500; initialDepth = 22.567902; finalDepth = 22.595891; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 176.359213; 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 = 176.359213; 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 = 100.0; 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; } # ####################################################### #######################################################