# 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: BIAUVBarryTransect_1v4.rte # Mission File: BIAUVBarryTransect_1v4.cfg # Distance: 15516.762158 (m) # Estimated Time: 17215 (s) 4.782 (hr) # Abort Time: 22380 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 718 (s) # Way Points: 28 # Route Points: 43 # Survey behavior: WaypointDepth # Descent style: Spiral descent # Mapping sonar control disabled: # Benthic imaging camera control enabled: # # Mission Parameters: # Vehicle Speed: 1.000000 (m/s) 1.943846 (knots) # Desired Vehicle Altitude: 0 (m) # Minimum Vehicle Altitude: 3 (m) # Abort Vehicle Altitude: 1 (m) # Maximum Vehicle Depth: 1000.368652 (m) # Abort Vehicle Depth: 1001.868652 (m) # Descent Vehicle Depth: 3 (m) # Spiral descent depth: 991.868652 m # Spiral descent altitude: 0 m # Waypoint Spacing: 500 (m) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -122.277129 36.745801 -1001.868652 0.000000 3 # 1 -122.275785 36.744314 -999.857829 204.026578 1 # 2 -122.274029 36.742842 -1000.601156 430.367172 1 # 3 -122.271957 36.741174 -999.586507 692.021361 1 # 4 -122.269716 36.739642 -998.693522 954.545437 1 # 5 -122.267195 36.738110 -999.469727 1236.595821 1 # 6 -122.264898 36.737389 -999.480957 1456.714785 1 # 7 -122.262564 36.736292 -999.542480 1698.030590 1 # 8 -122.259651 36.735346 -1000.177816 1978.516530 4 # 9 -122.193380 36.751119 -800.008789 8148.476297 3 # 10 -122.195322 36.752081 -800.735026 8352.021474 1 # 11 -122.197675 36.752712 -799.921143 8573.411029 1 # 12 -122.200196 36.752847 -799.329264 8798.945168 1 # 13 -122.202661 36.752892 -798.543945 9019.035695 1 # 14 -122.205201 36.752697 -800.673340 9246.770107 1 # 15 -122.207721 36.752471 -802.030924 9473.189448 1 # 16 -122.210354 36.752156 -803.034668 9710.818147 1 # 17 -122.213155 36.752021 -798.583577 9961.308062 1 # 18 -122.216012 36.751570 -798.497233 10221.204325 4 # 19 -122.219205 36.776537 -599.106689 13005.598533 3 # 20 -122.221558 36.778160 -599.892944 13282.148643 1 # 21 -122.223743 36.780188 -599.883993 13579.851854 1 # 22 -122.226320 36.782757 -601.195638 13946.032595 1 # 23 -122.228598 36.785295 -599.400513 14293.374728 1 # 24 -122.230110 36.788540 -599.530518 14677.813682 1 # 25 -122.231249 36.790914 -599.370687 14960.059205 1 # 26 -122.231922 36.793302 -599.968180 15231.741176 1 # 27 -122.231866 36.795871 -598.729329 15516.762158 4 # # A total of 43 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.000000 #define MISSION_DISTANCE 15516.762158 #define MISSION_TIME 17215 #define MISSION_TIMEOUT 22380 #define DEPTH_MAX 1000.368652 #define DEPTH_ABORT 1001.868652 #define ALTITUDE_DESIRED 0.000000 #define ALTITUDE_MIN 3.000000 #define ALTITUDE_ABORT 1.000000 #define GPS_DURATION 600 #define DESCENT_DEPTH 3.000000 #define SPIRAL_DESCENT_DEPTH 991.868652 #define SPIRAL_DESCENT_ALTITUDE 0.000000 #define DESCEND_DURATION 300 #define SETPOINT_DURATION 30 #define GPSMINHITS 10 #define ASCENDRUDDER 3.000000 #define ASCENDPITCH 45.000000 #define ASCENDENDDEPTH 2.000000 #define DESCENDRUDDER 3.000000 #define DESCENDPITCH -30.000000 #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 = 718; horizontalMode = rudder; horizontal = ASCENDRUDDER; pitch = ASCENDPITCH; speed = MISSION_SPEED; endDepth = ASCENDENDDEPTH; } # # Acoustic update - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # Turn off camera imaging # Distance along survey: 15516.762158 #behavior stopCamera #{ #duration = 1; #} ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 285.020982 meters # Minimum depth: 598.729329 meters looking forward 0.000000 meters along route # Maximum depth: 598.729329 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1000.368652 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 598.729329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795871; longitude = -122.231866; captureRadius = 10; duration = 855; # abortOnTimeout = True; initialDepth = 599.968180; finalDepth = 598.729329; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 271.681971 meters # Minimum depth: 599.968180 meters looking forward 0.000000 meters along route # Maximum depth: 599.968180 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1000.368652 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 599.968180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793302; longitude = -122.231922; captureRadius = 10; duration = 815; # abortOnTimeout = True; initialDepth = 599.370687; finalDepth = 599.968180; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 282.245523 meters # Minimum depth: 599.370687 meters looking forward 0.000000 meters along route # Maximum depth: 599.370687 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1000.368652 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 599.370687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790914; longitude = -122.231249; captureRadius = 10; duration = 846; # abortOnTimeout = True; initialDepth = 599.530518; finalDepth = 599.370687; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 384.438954 meters # Minimum depth: 599.530518 meters looking forward 0.000000 meters along route # Maximum depth: 599.530518 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1000.368652 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 599.530518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.788540; longitude = -122.230110; captureRadius = 10; duration = 1153; # abortOnTimeout = True; initialDepth = 599.400513; finalDepth = 599.530518; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 347.342133 meters # Minimum depth: 599.400513 meters looking forward 0.000000 meters along route # Maximum depth: 599.400513 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1000.368652 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 599.400513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.785295; longitude = -122.228598; captureRadius = 10; duration = 1042; # abortOnTimeout = True; initialDepth = 601.195638; finalDepth = 599.400513; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 366.180741 meters # Minimum depth: 601.195638 meters looking forward 0.000000 meters along route # Maximum depth: 601.195638 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1000.368652 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 601.195638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782757; longitude = -122.226320; captureRadius = 10; duration = 1098; # abortOnTimeout = True; initialDepth = 599.883993; finalDepth = 601.195638; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 297.703211 meters # Minimum depth: 599.883993 meters looking forward 0.000000 meters along route # Maximum depth: 599.883993 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1000.368652 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 599.883993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780188; longitude = -122.223743; captureRadius = 10; duration = 893; # abortOnTimeout = True; initialDepth = 599.892944; finalDepth = 599.883993; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 276.550110 meters # Minimum depth: 599.892944 meters looking forward 0.000000 meters along route # Maximum depth: 599.892944 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1000.368652 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 599.892944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778160; longitude = -122.221558; captureRadius = 10; duration = 829; # abortOnTimeout = True; initialDepth = 599.106689; finalDepth = 599.892944; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### # Start taking pictures with camera. # Distance along survey: 13005.598533 # Length of camera run: 2511.163625 # Number of photos: 276 behavior startCamera { duration = 1; nPhotos = 276; nSamplePeriods = 50; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 775.676672 meters # Minimum depth: 599.106689 meters looking forward 0.000000 meters along route # Maximum depth: 599.106689 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1000.368652 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 599.106689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.776537; longitude = -122.219205; captureRadius = 10; duration = 2327; # abortOnTimeout = True; initialDepth = 631.113667; finalDepth = 599.106689; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 502.598248 meters # Minimum depth: 631.113667 meters looking forward 0.000000 meters along route # Maximum depth: 631.113667 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1000.368652 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 631.113667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.769582; longitude = -122.218316; captureRadius = 10; duration = 1507; initialDepth = 659.051010; finalDepth = 631.113667; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # # # Waypoint_depth behavior during line 19 # Segment length 502.598227 meters # Minimum depth: 659.051010 meters looking forward 0.000000 meters along route # Maximum depth: 659.051010 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1000.368652 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 659.051010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.765075; longitude = -122.217739; captureRadius = 10; duration = 1507; initialDepth = 691.657942; finalDepth = 659.051010; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # # # Waypoint_depth behavior during line 19 # Segment length 502.598205 meters # Minimum depth: 691.657942 meters looking forward 0.000000 meters along route # Maximum depth: 691.657942 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1000.368652 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 691.657942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.760568; longitude = -122.217163; captureRadius = 10; duration = 1507; initialDepth = 741.123237; finalDepth = 691.657942; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # # # Waypoint_depth behavior during line 19 # Segment length 500.922856 meters # Minimum depth: 741.123237 meters looking forward 0.000000 meters along route # Maximum depth: 741.123237 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1000.368652 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 741.123237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.756062; longitude = -122.216587; captureRadius = 10; duration = 1502; initialDepth = 798.497233; finalDepth = 741.123237; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### # Stop taking pictures with camera. # Distance along survey: 10221.204325 #behavior stopCamera #{ #duration = 1; #} # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 259.896263 meters # Minimum depth: 798.497233 meters looking forward 0.000000 meters along route # Maximum depth: 798.497233 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1000.368652 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 798.497233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.751570; longitude = -122.216012; captureRadius = 10; duration = 779; # abortOnTimeout = True; initialDepth = 798.583577; finalDepth = 798.497233; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 250.489915 meters # Minimum depth: 798.583577 meters looking forward 0.000000 meters along route # Maximum depth: 798.583577 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1000.368652 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 798.583577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.752021; longitude = -122.213155; captureRadius = 10; duration = 751; # abortOnTimeout = True; initialDepth = 803.034668; finalDepth = 798.583577; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 237.628699 meters # Minimum depth: 803.034668 meters looking forward 0.000000 meters along route # Maximum depth: 803.034668 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1000.368652 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 803.034668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.752156; longitude = -122.210354; captureRadius = 10; duration = 712; # abortOnTimeout = True; initialDepth = 802.030924; finalDepth = 803.034668; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 226.419341 meters # Minimum depth: 802.030924 meters looking forward 0.000000 meters along route # Maximum depth: 802.030924 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1000.368652 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 802.030924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.752471; longitude = -122.207721; captureRadius = 10; duration = 679; # abortOnTimeout = True; initialDepth = 800.673340; finalDepth = 802.030924; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 227.734412 meters # Minimum depth: 800.673340 meters looking forward 0.000000 meters along route # Maximum depth: 800.673340 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1000.368652 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 800.673340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.752697; longitude = -122.205201; captureRadius = 10; duration = 683; # abortOnTimeout = True; initialDepth = 798.543945; finalDepth = 800.673340; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 220.090527 meters # Minimum depth: 798.543945 meters looking forward 0.000000 meters along route # Maximum depth: 798.543945 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1000.368652 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 798.543945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.752892; longitude = -122.202661; captureRadius = 10; duration = 660; # abortOnTimeout = True; initialDepth = 799.329264; finalDepth = 798.543945; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 225.534139 meters # Minimum depth: 799.329264 meters looking forward 0.000000 meters along route # Maximum depth: 799.329264 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1000.368652 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 799.329264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.752847; longitude = -122.200196; captureRadius = 10; duration = 676; # abortOnTimeout = True; initialDepth = 799.921143; finalDepth = 799.329264; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 221.389555 meters # Minimum depth: 799.921143 meters looking forward 0.000000 meters along route # Maximum depth: 799.921143 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1000.368652 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 799.921143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.752712; longitude = -122.197675; captureRadius = 10; duration = 664; # abortOnTimeout = True; initialDepth = 800.735026; finalDepth = 799.921143; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 203.545177 meters # Minimum depth: 800.735026 meters looking forward 0.000000 meters along route # Maximum depth: 800.735026 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1000.368652 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 800.735026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.752081; longitude = -122.195322; captureRadius = 10; duration = 610; # abortOnTimeout = True; initialDepth = 800.008789; finalDepth = 800.735026; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### # Start taking pictures with camera. # Distance along survey: 8148.476297 # Length of camera run: 2072.728028 # Number of photos: 228 behavior startCamera { duration = 1; nPhotos = 228; nSamplePeriods = 50; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 658.841659 meters # Minimum depth: 800.008789 meters looking forward 0.000000 meters along route # Maximum depth: 800.008789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1000.368652 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 800.008789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.751119; longitude = -122.193380; captureRadius = 10; duration = 1976; # abortOnTimeout = True; initialDepth = 838.891072; finalDepth = 800.008789; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 500.658482 meters # Minimum depth: 838.891072 meters looking forward 0.000000 meters along route # Maximum depth: 838.891072 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1000.368652 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 838.891072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.749435; longitude = -122.200458; captureRadius = 10; duration = 1501; initialDepth = 862.841882; finalDepth = 838.891072; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # # # Waypoint_depth behavior during line 9 # Segment length 500.665701 meters # Minimum depth: 862.841882 meters looking forward 0.000000 meters along route # Maximum depth: 862.841882 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1000.368652 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 862.841882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.748155; longitude = -122.205835; captureRadius = 10; duration = 1501; initialDepth = 875.303318; finalDepth = 862.841882; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # # # Waypoint_depth behavior during line 9 # Segment length 500.672923 meters # Minimum depth: 875.303318 meters looking forward 0.000000 meters along route # Maximum depth: 875.303318 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1000.368652 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 875.303318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.746875; longitude = -122.211213; captureRadius = 10; duration = 1502; initialDepth = 889.984904; finalDepth = 875.303318; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # # # Waypoint_depth behavior during line 9 # Segment length 500.680148 meters # Minimum depth: 889.984904 meters looking forward 0.000000 meters along route # Maximum depth: 889.984904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1000.368652 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 889.984904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.745595; longitude = -122.216591; captureRadius = 10; duration = 1502; initialDepth = 899.458940; finalDepth = 889.984904; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # # # Waypoint_depth behavior during line 9 # Segment length 500.687374 meters # Minimum depth: 899.458940 meters looking forward 0.000000 meters along route # Maximum depth: 899.458940 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1000.368652 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 899.458940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.744315; longitude = -122.221969; captureRadius = 10; duration = 1502; initialDepth = 910.209819; finalDepth = 899.458940; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # # # Waypoint_depth behavior during line 9 # Segment length 500.694604 meters # Minimum depth: 910.209819 meters looking forward 0.000000 meters along route # Maximum depth: 910.209819 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1000.368652 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 910.209819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.743035; longitude = -122.227347; captureRadius = 10; duration = 1502; initialDepth = 917.810919; finalDepth = 910.209819; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # # # Waypoint_depth behavior during line 9 # Segment length 500.701836 meters # Minimum depth: 917.810919 meters looking forward 0.000000 meters along route # Maximum depth: 917.810919 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1000.368652 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 917.810919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.741755; longitude = -122.232725; captureRadius = 10; duration = 1502; initialDepth = 934.891577; finalDepth = 917.810919; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # # # Waypoint_depth behavior during line 9 # Segment length 500.709071 meters # Minimum depth: 934.891577 meters looking forward 0.000000 meters along route # Maximum depth: 934.891577 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1000.368652 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 934.891577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.740475; longitude = -122.238102; captureRadius = 10; duration = 1502; initialDepth = 946.938888; finalDepth = 934.891577; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # # # Waypoint_depth behavior during line 9 # Segment length 500.716308 meters # Minimum depth: 946.938888 meters looking forward 0.000000 meters along route # Maximum depth: 946.938888 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1000.368652 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 946.938888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.739195; longitude = -122.243480; captureRadius = 10; duration = 1502; initialDepth = 961.162010; finalDepth = 946.938888; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # # # Waypoint_depth behavior during line 9 # Segment length 500.723548 meters # Minimum depth: 961.162010 meters looking forward 0.000000 meters along route # Maximum depth: 961.162010 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1000.368652 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 961.162010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737915; longitude = -122.248858; captureRadius = 10; duration = 1502; initialDepth = 980.682443; finalDepth = 961.162010; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # # # # Waypoint_depth behavior during line 9 # Segment length 504.208113 meters # Minimum depth: 980.682443 meters looking forward 0.000000 meters along route # Maximum depth: 980.682443 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1000.368652 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 980.682443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.736635; longitude = -122.254236; captureRadius = 10; duration = 1512; initialDepth = 1000.177816; finalDepth = 980.682443; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### # Stop taking pictures with camera. # Distance along survey: 1978.516530 #behavior stopCamera #{ #duration = 1; #} # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 280.485940 meters # Minimum depth: 1000.177816 meters looking forward 0.000000 meters along route # Maximum depth: 1000.177816 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1000.368652 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 1000.177816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735346; longitude = -122.259651; captureRadius = 10; duration = 841; # abortOnTimeout = True; initialDepth = 999.542480; finalDepth = 1000.177816; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 241.315805 meters # Minimum depth: 999.542480 meters looking forward 0.000000 meters along route # Maximum depth: 999.542480 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1000.368652 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 999.542480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.736292; longitude = -122.262564; captureRadius = 10; duration = 723; # abortOnTimeout = True; initialDepth = 999.480957; finalDepth = 999.542480; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 220.118964 meters # Minimum depth: 999.480957 meters looking forward 0.000000 meters along route # Maximum depth: 999.480957 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1000.368652 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 999.480957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737389; longitude = -122.264898; captureRadius = 10; duration = 660; # abortOnTimeout = True; initialDepth = 999.469727; finalDepth = 999.480957; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 282.050384 meters # Minimum depth: 999.469727 meters looking forward 0.000000 meters along route # Maximum depth: 999.469727 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1000.368652 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 999.469727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.738110; longitude = -122.267195; captureRadius = 10; duration = 846; # abortOnTimeout = True; initialDepth = 998.693522; finalDepth = 999.469727; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 262.524076 meters # Minimum depth: 998.693522 meters looking forward 0.000000 meters along route # Maximum depth: 998.693522 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1000.368652 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 998.693522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.739642; longitude = -122.269716; captureRadius = 10; duration = 787; # abortOnTimeout = True; initialDepth = 999.586507; finalDepth = 998.693522; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 261.654189 meters # Minimum depth: 999.586507 meters looking forward 0.000000 meters along route # Maximum depth: 999.586507 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1000.368652 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 999.586507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.741174; longitude = -122.271957; captureRadius = 10; duration = 784; # abortOnTimeout = True; initialDepth = 1000.601156; finalDepth = 999.586507; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 226.340594 meters # Minimum depth: 1000.601156 meters looking forward 0.000000 meters along route # Maximum depth: 1000.601156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1000.368652 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 1000.368652 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.742842; longitude = -122.274029; captureRadius = 10; duration = 679; # abortOnTimeout = True; initialDepth = 999.857829; finalDepth = 1000.368652; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 204.026578 meters # Minimum depth: 999.857829 meters looking forward 0.000000 meters along route # Maximum depth: 999.857829 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1000.368652 meters # Desired vehicle altitude: 0.000000 meters # Minimum vehicle altitude: 3.000000 meters # Behavior depth of 999.857829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.744314; longitude = -122.275785; captureRadius = 10; duration = 612; # abortOnTimeout = True; initialDepth = 1001.868652; finalDepth = 999.857829; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } # ####################################################### # Start taking pictures with camera. # Distance along survey: 0.000000 # Length of camera run: 1978.51653 # Number of photos: 217 behavior startCamera { duration = 1; nPhotos = 217; nSamplePeriods = 50; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 204.026578 meters # Minimum depth: 1001.868652 meters looking forward 0.000000 meters along route # Maximum depth: 1001.868652 meters looking forward 0.000000 meters along route # Vehicle depth: 1000.368652 meters behavior waypoint { latitude = 36.745801; longitude = -122.277129; captureRadius = 10; duration = 750; depth = 1000.368652; speed = MISSION_SPEED; } # # Zero speed hang to allow final nav updates over acoustic modem # - must get start survey command over acoustic modem or mission aborts behavior StartSurvey { duration = 300; } # # Acoustic update - sent status ping at beginning of StartSurvey behavior # behavior acousticUpdate { duration = 2; dummy = 1; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 1000.368652 meters set to maximum vehicle depth behavior descend { duration = 2883; horizontalMode = rudder; horizontal = DESCENDRUDDER; pitch = DESCENDPITCH; speed = MISSION_SPEED; maxDepth = SPIRAL_DESCENT_DEPTH; minAltitude = SPIRAL_DESCENT_ALTITUDE; } # # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # Waypoint behavior to get to start of line 1 # Segment length 204.026578 meters # Minimum depth: 1001.868652 meters looking forward 0.000000 meters along route # Maximum depth: 1001.868652 meters looking forward 0.000000 meters along route # Vehicle depth: 30.000000 meters behavior waypoint { latitude = 36.745801; longitude = -122.277129; captureRadius = 10; duration = 1500; depth = 30.000000; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 143.530524; 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 = 143.530524; speed = MISSION_SPEED; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } ####################################################### #######################################################