# 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: 20060713Mission2.rte # Mission File: 20060713Mission2.cfg # Distance: 4524.668952 (m) # Estimated Time: 9432 (s) 2.620 (hr) # Abort Time: 12261 (s) # Way Points: 3 # Route Points: 24 # Mapping sonar control enabled: # # Mission Parameters: # Desired Vehicle Altitude: 100 (m) # Minimum Vehicle Altitude: 80 (m) # Abort Vehicle Altitude: 50 (m) # Maximum Vehicle Depth: 1850 (m) # Abort Vehicle Depth: 1900 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 400 (m) # Waypoint Spacing: 200 (m) # GPS Duration: 600 (s) # Descend Rate: 0.23 (m/s) # Ascend Rate: 0.31 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -122.103015 36.701255 -1862.152669 0.000000 1 # 1 -122.103905 36.703926 -1853.676270 306.806771 1 # 2 -122.115035 36.740876 -1420.496908 4524.668952 1 # # A total of 24 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 4524.668952 #define MISSION_TIME 9432 #define MISSION_TIMEOUT 15800 #define DEPTH_MAX 1850.000000 #define DEPTH_ABORT 1900.000000 #define ALTITUDE_DESIRED 100.000000 #define ALTITUDE_MIN 80.000000 #define ALTITUDE_ABORT 50.000000 #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 DESCENDRUDDER 4.000000 #define DESCENDPITCH -20.000000 #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 = 5498; 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 2 # Segment length 135.512153 meters # Minimum depth: 1420.496908 meters looking forward 400.000000 meters along route # Maximum depth: 1424.408528 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1320.496908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.740876; longitude = -122.115035; captureRadius = 10; duration = 135; initialDepth = 1320.496908; finalDepth = 1320.496908; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 100 # Altitude Set: 100 # Vehicle Depth:1320.496908 # Seafloor Depth:-1420.496908 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 203.268415 meters # Minimum depth: 1420.496908 meters looking forward 400.000000 meters along route # Maximum depth: 1433.464691 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1320.496908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.739689; longitude = -122.114677; captureRadius = 10; duration = 203; initialDepth = 1320.496908; finalDepth = 1320.496908; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 106.634188 # Altitude Set: 100 # Vehicle Depth:1320.496908 # Seafloor Depth:-1427.131096 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 203.268638 meters # Minimum depth: 1428.783694 meters looking forward 400.000000 meters along route # Maximum depth: 1445.994945 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1328.783694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737908; longitude = -122.114141; captureRadius = 10; duration = 203; initialDepth = 1328.783694; finalDepth = 1320.496908; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 107.252554 # Altitude Set: 100 # Vehicle Depth:1328.783694 # Seafloor Depth:-1436.036248 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 203.268860 meters # Minimum depth: 1439.576938 meters looking forward 400.000000 meters along route # Maximum depth: 1456.187603 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1339.576938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.736127; longitude = -122.113605; captureRadius = 10; duration = 203; initialDepth = 1339.576938; finalDepth = 1328.783694; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 109.95923 # Altitude Set: 100 # Vehicle Depth:1339.576938 # Seafloor Depth:-1449.536168 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 203.269083 meters # Minimum depth: 1450.106396 meters looking forward 400.000000 meters along route # Maximum depth: 1468.497417 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1350.106396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734347; longitude = -122.113068; captureRadius = 10; duration = 203; initialDepth = 1350.106396; finalDepth = 1339.576938; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 109.95923 # Altitude Set: 100 # Vehicle Depth:1350.106396 # Seafloor Depth:-1456.766527 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 203.269306 meters # Minimum depth: 1459.305011 meters looking forward 400.000000 meters along route # Maximum depth: 1487.159630 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1359.305011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732566; longitude = -122.112532; captureRadius = 10; duration = 203; initialDepth = 1359.305011; finalDepth = 1350.106396; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 112.358118 # Altitude Set: 100 # Vehicle Depth:1359.305011 # Seafloor Depth:-1471.663129 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 203.269529 meters # Minimum depth: 1477.358340 meters looking forward 400.000000 meters along route # Maximum depth: 1511.823816 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1377.358340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730785; longitude = -122.111995; captureRadius = 10; duration = 203; initialDepth = 1377.358340; finalDepth = 1359.305011; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 116.331694 # Altitude Set: 100 # Vehicle Depth:1377.35834 # Seafloor Depth:-1493.690034 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 203.269752 meters # Minimum depth: 1499.169364 meters looking forward 400.000000 meters along route # Maximum depth: 1536.386520 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1399.169364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729005; longitude = -122.111459; captureRadius = 10; duration = 203; initialDepth = 1399.169364; finalDepth = 1377.358340; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 119.306734 # Altitude Set: 100 # Vehicle Depth:1399.169364 # Seafloor Depth:-1518.476098 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 203.269974 meters # Minimum depth: 1524.824097 meters looking forward 400.000000 meters along route # Maximum depth: 1556.562646 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1424.824097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.727224; longitude = -122.110923; captureRadius = 10; duration = 203; initialDepth = 1424.824097; finalDepth = 1399.169364; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 119.306734 # Altitude Set: 100 # Vehicle Depth:1424.824097 # Seafloor Depth:-1541.565091 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 203.270197 meters # Minimum depth: 1542.884287 meters looking forward 400.000000 meters along route # Maximum depth: 1575.675824 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1442.884287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.725443; longitude = -122.110386; captureRadius = 10; duration = 203; initialDepth = 1442.884287; finalDepth = 1424.824097; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 116.740994 # Altitude Set: 100 # Vehicle Depth:1442.884287 # Seafloor Depth:-1558.787783 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 203.270420 meters # Minimum depth: 1564.688294 meters looking forward 400.000000 meters along route # Maximum depth: 1612.350827 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1464.688294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.723662; longitude = -122.109850; captureRadius = 10; duration = 203; initialDepth = 1464.688294; finalDepth = 1442.884287; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 119.410077 # Altitude Set: 100 # Vehicle Depth:1464.688294 # Seafloor Depth:-1584.098371 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 203.270643 meters # Minimum depth: 1592.935704 meters looking forward 400.000000 meters along route # Maximum depth: 1635.776132 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1492.935704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.721882; longitude = -122.109314; captureRadius = 10; duration = 203; initialDepth = 1492.935704; finalDepth = 1464.688294; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 131.730106 # Altitude Set: 100 # Vehicle Depth:1492.935704 # Seafloor Depth:-1624.665810 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 203.270866 meters # Minimum depth: 1633.753799 meters looking forward 400.000000 meters along route # Maximum depth: 1651.529323 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1533.753799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.720101; longitude = -122.108777; captureRadius = 10; duration = 203; initialDepth = 1533.753799; finalDepth = 1492.935704; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 131.730106 # Altitude Set: 100 # Vehicle Depth:1533.753799 # Seafloor Depth:-1633.757539 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 203.271088 meters # Minimum depth: 1634.292285 meters looking forward 400.000000 meters along route # Maximum depth: 1700.684624 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1534.292285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.718320; longitude = -122.108241; captureRadius = 10; duration = 203; initialDepth = 1534.292285; finalDepth = 1533.753799; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 125.561951 # Altitude Set: 100 # Vehicle Depth:1534.292285 # Seafloor Depth:-1659.854236 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 203.271311 meters # Minimum depth: 1662.638281 meters looking forward 400.000000 meters along route # Maximum depth: 1724.004867 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1562.638281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.716540; longitude = -122.107705; captureRadius = 10; duration = 203; initialDepth = 1562.638281; finalDepth = 1534.292285; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 141.319437 # Altitude Set: 100 # Vehicle Depth:1562.638281 # Seafloor Depth:-1703.957718 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 203.271534 meters # Minimum depth: 1709.286258 meters looking forward 400.000000 meters along route # Maximum depth: 1754.369101 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1609.286258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.714759; longitude = -122.107168; captureRadius = 10; duration = 203; initialDepth = 1609.286258; finalDepth = 1562.638281; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 141.319437 # Altitude Set: 100 # Vehicle Depth:1609.286258 # Seafloor Depth:-1732.034789 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 203.271757 meters # Minimum depth: 1740.465482 meters looking forward 400.000000 meters along route # Maximum depth: 1779.899121 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1640.465482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.712978; longitude = -122.106632; captureRadius = 10; duration = 203; initialDepth = 1640.465482; finalDepth = 1609.286258; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 122.748531 # Altitude Set: 100 # Vehicle Depth:1640.465482 # Seafloor Depth:-1761.169064 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 203.271980 meters # Minimum depth: 1769.511167 meters looking forward 400.000000 meters along route # Maximum depth: 1798.598599 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1669.511167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711197; longitude = -122.106096; captureRadius = 10; duration = 203; initialDepth = 1669.511167; finalDepth = 1640.465482; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 120.703582 # Altitude Set: 100 # Vehicle Depth:1669.511167 # Seafloor Depth:-1782.482141 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 203.272203 meters # Minimum depth: 1786.093066 meters looking forward 400.000000 meters along route # Maximum depth: 1827.011646 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1686.093066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709417; longitude = -122.105559; captureRadius = 10; duration = 203; initialDepth = 1686.093066; finalDepth = 1669.511167; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 119.851602 # Altitude Set: 100 # Vehicle Depth:1686.093066 # Seafloor Depth:-1805.944668 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 203.272426 meters # Minimum depth: 1807.010908 meters looking forward 400.000000 meters along route # Maximum depth: 1837.773921 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1707.010908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707636; longitude = -122.105023; captureRadius = 10; duration = 203; initialDepth = 1707.010908; finalDepth = 1686.093066; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 121.821953 # Altitude Set: 100 # Vehicle Depth:1707.010908 # Seafloor Depth:-1828.832861 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 220.212046 meters # Minimum depth: 1832.982276 meters looking forward 400.000000 meters along route # Maximum depth: 1853.148727 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1732.982276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705855; longitude = -122.104486; captureRadius = 10; duration = 220; initialDepth = 1732.982276; finalDepth = 1707.010908; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 121.821953 # Altitude Set: 100 # Vehicle Depth:1732.982276 # Seafloor Depth:-1840.601530 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 85.224039 meters # Minimum depth: 1837.194922 meters looking forward 400.000000 meters along route # Maximum depth: 1855.405762 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1737.194922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703926; longitude = -122.103905; captureRadius = 10; duration = 85; initialDepth = 1737.194922; finalDepth = 1732.982276; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 116.481348 # Altitude Set: 100 # Vehicle Depth:1737.194922 # Seafloor Depth:-1853.676270 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 221.582732 meters # Minimum depth: 1850.783693 meters looking forward 400.000000 meters along route # Maximum depth: 1861.567057 meters looking forward 400.000000 meters along route # Maximum vehicle depth: 1850.000000 meters # Desired vehicle altitude: 100.000000 meters # Minimum vehicle altitude: 80.000000 meters # Behavior depth of 1750.783693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703184; longitude = -122.103658; captureRadius = 10; duration = 221; initialDepth = 1750.783693; finalDepth = 1737.194922; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Actual Altitude: 116.481348 # Altitude Set: 100 # Vehicle Depth:1750.783693 # Seafloor Depth:-1856.822645 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; 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: 111.368976 # Altitude Set: 100 # Vehicle Depth:1750.783693 # Seafloor Depth:-1862.152669 # 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 = 337.50; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 337.5; MB_Power = 220; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; Log_Mode = 0; } # ####################################################### ####################################################### # # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 1750.783693 meters set by local depth and desired altitude behavior descend { duration = 9656; horizontalMode = rudder; horizontal = DESCENDRUDDER; pitch = DESCENDPITCH; speed = MISSION_SPEED; maxDepth = 1750.783693; } # # Waypoint behavior to get to start of line 1 # Segment length 500.000000 meters # Minimum depth: 1850.783693 meters looking forward 400.000000 meters along route # Maximum depth: 1862.152669 meters looking forward 400.000000 meters along route # Vehicle depth: 100.000000 meters behavior waypoint { latitude = 36.701255; longitude = -122.103015; captureRadius = 10; duration = 500; depth = 100.000000; speed = MISSION_SPEED; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 344.439657; 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 = 344.439657; 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 = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 220; MB_Range = 60.00; MB_Rate = 2; MB_Gain = 70; 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; } # ####################################################### #######################################################